This report describes two enhancements implemented on an existing anthropomorphic robot with eight degrees of freedom. The robot is controlled with natural human body motion, i.e., it mimics the body movement, using a Microsoft® Kinect™ sensor. The robot’s arms are modeled after a three-link manipulator and are controlled through the application of inverse kinematics and geometry generated by the Microsoft® Kinect™ sensor data. The two enhancements are wireless control via Bluetooth connection and improvement on the robot movements by applying a Kalman filter to the control system.
|Commitee:||Ary, James, Haggerty, Kip|
|School:||California State University, Long Beach|
|School Location:||United States -- California|
|Source:||MAI 55/04M(E), Masters Abstracts International|
|Keywords:||Bluetooth, Kalman filter, Wireless|
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