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Real-time human arm motion translation for the WorkPartner robot
2008 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In response of ever increasing demand of the intelligent robots in our society, the natural ways of Human Robot Interaction (HRI) have been investigated in terms of speech recognition, machine perception and physical interfaces. As the speech and vision methods that require power processing and intensive calibration are difficult to implement. Hence, the physical interfaces are still in use. These interfaces improve the cooperative behavior between man and machine. The aim of this thesis is to design and investigate the use of emerging motion capture techniques for the future robots. In this thesis the human arm motion has been utilized to control the human like manipulator of the WorkPartner robot in real-time dynamic task environment. This technique offers great benefits in advance teleoperation and robotic control through motion learning and conversion. Initially various motion capture techniques are reviewed and then based on reliability, accuracy, robustness and real-time performance the Internal & Magnetic MoCAP technique has been selected. The selected approach is validated by the assembly of low cost c3D orientation sensor (tri axis accelerometer, gyroscope and magnetometer). After evaluation of accelerometer, gyroscope and magnetometer for angle measurement a sensor fusion based the real-time extended Kalman filter technique is proposed to achieve an average angle accuracy of 0.5 degree in each axis of 3D orientation measurement. The performance of the filter is validated by the experiments and their results are discussed. An idea of wearable sensor sleeve comprising four 3D orientation sensors is presented in connection with the motion translation control scheme that allows the user to control the human like robotic arm directly using his arm motion with no delay. Further, by analyzing kinematics aspects of the front part of WorkPartner robot, an integrated e3D kinematics simulator is described. In addition the interfaces of Human Robot Interaction GUI are covered. At the end, the real-time motion translation scheme is tested through the experiments and their results are briefly discussed.

Place, publisher, year, edition, pages
Keyword [en]
Technology, Human Robot Interaction, Motion Capture, 3D Orientation, Sensor, Extended Kalman Filter, e3D kinematics Simulator, Real-Time motion translation
Keyword [sv]
URN: urn:nbn:se:ltu:diva-55701ISRN: LTU-PB-EX--08/121--SELocal ID: c88ad1b5-1399-475d-9aa5-c433b34d30d7OAI: diva2:1029085
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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