Control system for humanoid robot based on Kinect

XU Jun; MENG Yue-xia; WANG Tian-lun; MA Jing

doi:10.13873/j.1000-9787(2017)09-0097-04

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Control system for humanoid robot based on Kinect

更新时间：2025-09-11

- Control system for humanoid robot based on Kinect
- Vol. 36, Issue 9, Pages: 97-100(2017)
- 作者机构：
  
  哈尔滨理工大学自动化学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-9787(2017)09-0097-04
  CLC： TP242
- Published：2017
- 稿件说明：
移动端阅览
[1]徐军,孟月霞,王天伦,马静.基于Kinect的仿人机器人控制系统[J].传感器与微系统,2017,36(09):97-100.

XU Jun, MENG Yue-xia, WANG Tian-lun, et al. Control system for humanoid robot based on Kinect[J]. 2017, 36(9): 97-100.
[1]徐军,孟月霞,王天伦,马静.基于Kinect的仿人机器人控制系统[J].传感器与微系统,2017,36(09):97-100. DOI： 10.13873/j.1000-9787(2017)09-0097-04.

XU Jun, MENG Yue-xia, WANG Tian-lun, et al. Control system for humanoid robot based on Kinect[J]. 2017, 36(9): 97-100. DOI： 10.13873/j.1000-9787(2017)09-0097-04.

摘要

为实现对具有16个自由度仿人机器人的姿态控制

采用Kinect传感器对人体姿态的坐标数据进行采集

根据坐标信息利用Processing软件开发基于Simple Open NI库的上位机软件

建立人体关节模型

并利用空间向量法对仿人机器人的步态规划以及重心控制算法分析

解析各关节的转动角度

经由无线Wi Fi模块向仿人机器人发送指令以控制舵机的运动

最终实现对机器人的控制

搭建了基于Kinect传感器的测试平台。测试结果表明:仿人机器人上肢在运动范围内无死角

通过对重心的控制

下肢可实现简单的步行

符合预期效果。

Abstract

The test system based on Kinect sensor is established to realize attitude control of humanoid robot with16 degrees of freedom. The sensor of Kinect is used to collect the coordinates of the human body for the purpose of establishing joint model of human body by the way of developing PC software using the processing software based on SimpleOpenNI library. The analysis on humanoid robot gait planning and gravity control algorithm by using space vector method

analyze on rotation angle of each joint. Through module of Wi Fi wireless

send instructions to control steering engines

so as to realize the control of humanoid robot. The results of the experiment show that

the arm of humanoid can move freely in the range of motion and lower limbs can walk simply by controlling gravity

which accords with expected effect.

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references

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