A Real-Time Human Imitation System Using Kinect

	A Real-Time Human Imitation System Using Kinect
	Yongsheng Ou; Jianbing Hu; Zhiyang Wang; Yiqun Fu; Xinyu Wu; Xiaoyun Li
刊名	International Journal of Social Robotics
	2015
英文摘要	Robots are commonly used in harsh environments where it is difficult for humans to carry out dangerous tasks. Robot imitations provide a natural approach for humanoid robots to mimic the behavior of humans in real time. However, it is never an easy task to build an efficient and robust imitation system because of the high degree of freedom involved in motions. In this paper, we propose a human imitation system based on the Aldebaran NAO robot and the Microsoft Kinect, which can mimic the motions of the whole body in real time. By solving inverse kinematics through an optimization process, motions are split up into critical frames which are represented by a list of robot joint angles. Each joint angle is then derived through the control of the joint motors in NAO. In addition, balance maintenance in both the single and double supporting phases as well as the self-collision avoidance are taken into consideration. Experimental results show that the system is robust and flexible enough to imitate various human motions.
收录类别	SCI
原文出处	http://link.springer.com/article/10.1007/s12369-015-0296-9/fulltext.html
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/6673]
专题	深圳先进技术研究院_集成所
作者单位	International Journal of Social Robotics
推荐引用方式 GB/T 7714	Yongsheng Ou,Jianbing Hu,Zhiyang Wang,et al. A Real-Time Human Imitation System Using Kinect[J]. International Journal of Social Robotics,2015.
APA	Yongsheng Ou,Jianbing Hu,Zhiyang Wang,Yiqun Fu,Xinyu Wu,&Xiaoyun Li.(2015).A Real-Time Human Imitation System Using Kinect.International Journal of Social Robotics.
MLA	Yongsheng Ou,et al."A Real-Time Human Imitation System Using Kinect".International Journal of Social Robotics (2015).