Dissertation/Thesis Abstract

Kalman filter application on a Bluetooth driven anthropomorphic system
by Ly, Lisa Phung, M.S., California State University, Long Beach, 2016, 63; 10105269
Abstract (Summary)

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.

Indexing (document details)
Advisor: Hamano, Fumio
Commitee: Ary, James, Haggerty, Kip
School: California State University, Long Beach
Department: Engineering, General
School Location: United States -- California
Source: MAI 55/04M(E), Masters Abstracts International
Source Type: DISSERTATION
Subjects: Electrical engineering
Keywords: Bluetooth, Kalman filter, Wireless
Publication Number: 10105269
ISBN: 9781339687551
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