Sistema de Captura para la Imitación del Movimiento Humano por un Robot Planar de Base Fija

Diego Alberto Bravo Montenegro, Carlos Felipe Rengifo Rodas


En este trabajo se  muestra la implementación de un sistema de captura de movimiento de bajo costo, utilizando Kinect \texttrademark, para la imitación de movimiento en el plano frontal mediante un robot planar de base fija. Se hizo un estudio de la cinemática inversa para mapear el movimiento humano con las coordenadas cartesianas $(x,y,z)$ que entrega el sensor y transformarlas en coordenadas articulares $(q_1,q_2,\ldots,q_9)$ que son las posiciones angulares de referencia para el robot. Estas trayectorias de referencia se utilizaron para imitar el movimiento humano por medio de un robot planar de nueve grados de libertad.

Palabras clave

Captura de movimiento, Kinect, Robot, Modelos biomecánicos.



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