Inverse Kinematics Based Computational Framework for Robot Manipulation Inspired by Human Movements

Autor:	Roshani, Tapas Kumar Maiti, Bhaskar Chaudhury, Geet Patel, Tanya Garg, Sarangi Patel
Rok vydání:	2020
Předmět:	Computer Science::Robotics Forward kinematics Match moving Inverse kinematics Computer science business.industry Robot Computer vision Artificial intelligence business Humanoid robot
Zdroj:	Advances in Intelligent Systems and Computing ISBN: 9789811580604 ICMC
DOI:	10.1007/978-981-15-8061-1_17
Popis:	This paper presents the implementation of an inverse kinematics based computational framework for robot manipulation inspired by human movements. The implementation consists of two parts, firstly a motion tracking experimental setup that has been developed to accurately capture the movements of a human body, especially arm movements. Secondly, in-house developed inverse kinematics based computational framework which has been applied on the data obtained from the experiments for robot manipulation. We describe the experimental challenges involved during the implementation such as setting up the experiment, camera operation, conversion of the video files into desired data. Subsequently, the application of inverse kinematics in our model has been explained in detail. Finally, the obtained results have been verified with forward kinematics as well as with humanoid robot simulator.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::983316ed8492dcf2565d80c3476fcd4e https://doi.org/10.1007/978-981-15-8061-1_17 Zobrazit plný text záznamu