Control de un robot bípedo humanoide en un espacio 3D mediante el sensor kinect

Abstract

This program is about an assistance system for disabled people and workers. This will capture and replicate the movements of the human body limbs, the robot is the way through which the person can perform their occupational activities without danger or in the case of the disabled by assisting them. The system includes two working modes which are: 1) Imitate mode which allows to replicate the movements of the 4 extremities of the human body; for this, the robot is hung on its pedestal. 2) The control mode which allows the movement of the robot by using voice commands. Furthermore, it allows the user to direct the robot for taking specific objects through the replica of arm movements. As the interpreter of the user, the Kinect sensor has been used. This sensor is used in video game consoles, and has the ability to capture the user's movements and voice, additionally, Programming language named C # development by Microsoft has been used in this project because of both compatibility and stability with Kinect.The platform called RoboPhilo was used in the hardware.