shadow bot

Topics: Robotics, Gesture, Robot Pages: 5 (2217 words) Published: November 8, 2014
Humanoid Shadow Robot Using Kinect Technology
Ratul Aggarwal *, Pranjal Katara**

Abstract - The Shadow bot is a basic humanoid with 19 degrees of freedom. At first site, it appears to be just like any other humanoid robot but the real difference comes in when we go inside its working mechanism. Shadow bot works on the principle of wireless human-robot interface. It will take user’s body motion as an input and move just like him/her. It’s more like giving sight to the robot and it’ll mimicries user’s motion. Unlike any other humanoid robot, the controller in this bot’s architecture is the user himself. Manipulators can direct communicate with the computer just relying on body movements, and thus control the actions of remote robot in real time, coordination, and harmonization. The design is a combination of new human motion capture methods, intelligent agent control method, network transmission, multiple sensor fusion technology. The name ‘Shadow bot’ is used because just like our shadow, it’ll move precisely in the same fashion as we are. This paper briefly describes all the segments of the humanoid robot using Kinect technology. Key words – Shadow bot, humanoid, kinect, wireless human-robot interface.

I. INTRODUCTION

The Shadow bot is a basic humanoid (as shown in figure 1) with 19 degrees of freedom, 39 cms height, 1.65 kgs weight and made up of light aluminium. At first site, it appears to be just like any other humanoid robot but the real difference comes in when we go inside its working mechanism. Shadow bot works on the principle of wireless human-robot interface. It will take user’s body motion as an input and move just like him/her. It’s more like giving sight to the robot and it’ll mimicries user’s motion. Unlike any other humanoid robot, the controller in this bot’s architecture is the user himself. Manipulators can direct communicate with the computer just relying on body movements, and thus control the actions of remote robot in real time, coordination, and harmonization. The design is a combination of new human motion capture methods, intelligent agent control method, network transmission, multiple sensor fusion technology. The name ‘Shadow bot’ is used because just like our shadow, it’ll move precisely in the same fashion as we are.

The principle of Human-Machine interaction to humanoid robot mainly includes the four types of machinery, acoustics, electromagnetism and optics. To achieve the sight function of the bot, we are using Microsoft’s ‘Kinect Technology’ developed with PrimeSense at its heart. This method not only makes people no longer wear all kinds of sensors, but also decline costs of equipment. Kinect is a new Controller technology introduced by Microsoft in 2010(1 ). Kinect has the ability to track movements and voices, and even identify faces without need of any additional devices (2).

Figure 1: The Kinect device by Microsoft with the Kinect or camera reference frame. The z–axis is pointing out of the camera (courtesy of Microsoft).

This paper presents an attempt to use Kinect technology in designing humanoid shadow robot with 19 degrees of freedom. -------------------------------------------------------------- *ratul.aggarwal2011@vit.ac.in

**pranjal.katara2011@vit.ac.in

Address: B.Tech , School of Electronics Engineering, Vellore Institute of Technology Vellore, Tamil Nadu, India

Figure 2: Basic Structure

II. KINECT

To recognize body gesture and motion, it makes use of depth mapping and then infer the body position. For making a depth map, structured light is used which is projected using Infrared Laser Light Projector at 830 nm, and the reflection is captured by Infrared CMOS camera with matching bandpass filter. This light has a specific pattern and any change in the reflected pattern is be detected. This can be done under any ambient light condition and can detect up to 20 joints of human body, thus making it an extremely robust technique....


References: 1. Wikipedia. Kinect — Wikipedia, the free encyclopedia. http://en.wikipedia.org/wiki/Kinect, 2011.
2
3. Prime Sense. Prime sense kinect’s hardware. http://www.primesense.com, 2010
4
7. Jae-Han Park, Yong-Deuk Shin, Ji-Hun Bae, and
Moon- Hong Baeg, Spatial uncertainty model for visual features using a kinect sensor, Sensors, 2012.
10. David Fiedler and Heinrich Mu ̈ller, Impact of thermal and environmental conditions on the kinect sensor, International Workshop on Depth Image Analysis at the 21st International Conference on Pattern Recognition, 2012.
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