Development of Kinect based teleoperation of Nao robot

C. Li, C. Yang, P. Liang, A. Cangelosi, J. Wan

Research output: Chapter in Book/Published conference outputConference publication

Abstract

In this paper, an online tracking system has been developed to control the arm and head of a Nao robot using Kinect sensor. The main goal of this work is to achieve that the robot is able to follow the motion of a human user in real time to track. This objective has been achieved using a RGB-D camera (Kinect v2) and a Nao robot, which is a humanoid robot with 5 degree of freedom (DOF) for each arm. The joint motions of the operator's head and arm in the real world captured by a Kinect camera can be transferred into the workspace mathematically via forward and inverse kinematics, realitically through data based UDP connection between the robot and Kinect sensor. The satisfactory performance of the proposed approaches have been achieved, which is shown in experimental results.
Original languageEnglish
Title of host publication2016 International Conference on Advanced Robotics and Mechatronics (ICARM)
PublisherIEEE
Pages133-138
ISBN (Electronic)9781509033645
DOIs
Publication statusPublished - 27 Oct 2016
Event2016 International Conference on Advanced Robotics and Mechatronics - Macau, China
Duration: 18 Aug 201620 Aug 2016

Conference

Conference2016 International Conference on Advanced Robotics and Mechatronics
Abbreviated titleICARM
Country/TerritoryChina
CityMacau
Period18/08/1620/08/16

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