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Humanoid robot based on leap motion of Kinect

A somatosensory control and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems that robots cannot move quickly, fall down, and the stability is not good, and achieve rich functions, strong visual impact, and flexible movement Effect

Inactive Publication Date: 2017-01-11
NANCHANG UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, because of the small size of the NAO robot and the structural design of the legs, the robot cannot move quickly, the stability is not very good, and it may fall, so the robot can only be used in a relatively small range at home

Method used

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  • Humanoid robot based on leap motion of Kinect
  • Humanoid robot based on leap motion of Kinect
  • Humanoid robot based on leap motion of Kinect

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Embodiment Construction

[0026] In conjunction with the drawings, the invention is described as follows

[0027] Such as figure 1 with figure 2 As shown, the robot of the present invention is composed of three parts: Kinect perception and upper computer processing part, STM32 lower computer part and human mechanical skeleton part;

[0028] The Kinect perception and host computer processing part includes a Kinect depth sensor module, a four-element microphone array voice recognition module and a personal PC;

[0029] The Kinect depth sensor module is used to collect human bone information; the voice recognition module is used to collect voice commands for function switching; the personal PC acts as an intermediate information bridge, passing the bone information and voice information obtained by the Kinect depth sensor module The processing is then sent to the STM32 lower computer part through the local area network, and the STM32 lower computer completes the corresponding functions;

[0030] The STM32 lower ...

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Abstract

A humanoid robot based on leap motion of Kinect is composed of a Kinect sensing and upper computer processing part, an STM32 lower computer part and a humanoid mechanical skeleton part. More natural and flexible control is achieved by means of the Kinect, and man-machine interaction is friendly; and the robot has the real-time remote imitation control function, the teaching replay function and the gesture control function, and the functions are rich. By means of local area network control, wide-range remote control can be achieved, and movement is flexible and stable; mechanical arms are controlled through RE-series servo motors of the MAXCON company, large torque output can be provided through planetary reducers on the motors to stably drive the large and heavy dual mechanical arms, angular velocity information obtained through encoders at the tails of the motors is used for closed-loop control of the mechanical arms, the mechanical arms can obtain the precise and stable state by combining the PID algorithm, and made actions are more similar to the actions of an operator; and higher entertainment performance is achieved.

Description

Technical field [0001] The invention relates to a humanoid robot based on Kinect's somatosensory control, which belongs to the field of service robots or humanoid robots. Background technique [0002] In recent years, robot technology has been widely used in aerospace, medical, education, service industries and other fields in the continuous development process. In this process, the robot changes from being out of reach to being accessible to ordinary people. The service robot is a kind of semi-autonomous or fully autonomous robot that can complete service work that is beneficial to human health, including welcome robots and educational robots. [0003] Kinect is a body-aware external device specially developed by Microsoft for the XBOX360 game console, originally named Natal. Using real-time dynamic capture, image recognition, microphone input, voice recognition, social interaction and other functions, players can get rid of the shackles of traditional gamepads, control the game...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J13/00B25J9/16B25J5/00
CPCB25J11/003B25J5/007B25J9/1694B25J13/003
Inventor 刘国平胡竹龚昕蓓李松黄繁章江子奔
Owner NANCHANG UNIV
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