File(s) not publicly available
Using the Microsoft Kinect to model the environment of an anthropomimetic robot
chapter
posted on 2023-06-08, 08:55 authored by Owen Holland, D Devereux, M Bhargav, A DiamondThe control of compliantly actuated anthropomimetic robots with complex and multiarticular joints, such as those developed within the ECCEROBOT project, is extremely challenging. We are approaching the problem by using a physics engine to run a highly detailed simulation of such a robot's structure and dynamic behaviour, and then searching for sequences of motor activations that will achieve particular goals. This requires the simulated robot to be situated accurately in a physics-based representation of its environment which includes the object with which it is to interact. In this paper we present our environmental sensing and modelling scheme which uses data from a single headmounted Kinect sensor to provide and locate the environmental model, and to identify and locate the target object accurately in the presence of significant motion blur.
History
Publication status
- Published
Publisher
ACTA Press ScientificPage range
752-061Event name
2nd IASTED Intl. Conf. on Robotics (Robo2011)Event location
Pittsburgh, PAEvent type
conferenceEvent date
07 November 2011- 09 November 2011Book title
Biomechanics / 752: Robotics (BioMech 2011)Place of publication
Pittsburgh, USADepartment affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Editors
B Morrison, M H HamzaLegacy Posted Date
2013-05-14Usage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC