3-D Interface for Humanoid Robot Operation

Authors

  • Jacobo E. Cruz Silva Instituto Politécnico Nacional, Centro de Investigación en Computación
  • J. Yalja Montiel Pérez Instituto Politécnico Nacional, Centro de Investigación en Computación
  • J. Humberto Sossa Azuela Instituto Politécnico Nacional, Centro de Investigación en Computación

DOI:

https://doi.org/10.13053/cys-27-4-4554

Keywords:

Fuzzy control, human body, kinematics, modelling, NAO robot, roll-pitch-yaw

Abstract

The study of human body motions, especially upper and lower limbs motions, help to understand how the human body works. This paper presents a method to obtain the human limb angles through a kinematic model depicted by Roll-Pitch-Yaw rotation matrix and subsequently control the humanoid robot motions. The main advantage of this model is the detailed representation of each joint motion expressed in the coordinate axes (x, y, z). The estimation of human limb angles is performed with information obtained by algorithms of artificial vision and artificial intelligence. In order to reduce the latency between the human motion capture and robot motions, a fuzzy logic controller is implemented to control each robot joint due the less complexity of these kind of algorithms. The final robot limbs angles are compared with the human limbs angles to obtain a final error between those measurements. This method shows an improvement of 5% on the final robot posture regarding previous works.

Author Biographies

Jacobo E. Cruz Silva, Instituto Politécnico Nacional, Centro de Investigación en Computación

Jacobo E. Cruz-Silva received his BS degree in Control and Automation from the Superior School of Mechanical and Electrical Engineering (ESIME), Zacatenco, National Polytechnic Institute (IPN). He obtained his Master degree in Computer Engineering from Computing Research Center (CIC), National Polytechnic Institute (IPN), Mexico City.

J. Yalja Montiel Pérez, Instituto Politécnico Nacional, Centro de Investigación en Computación

J. Yaljá Montiel-Pérez received his PhD in Communications and Electronics, graduated from the Superior School of Mechanical and Electrical Engineering (ESIME), Culhuacán, National Polytechnic Institute (IPN), Mexico City. He is currently a teacher-researcher at the IPN Computing Research Center (CIC)

J. Humberto Sossa Azuela, Instituto Politécnico Nacional, Centro de Investigación en Computación

J. Humberto Sossa-Azuela received his BS degree in Communications and Electronics from the University of Guadalajara in 1980. He obtained his Master degree in Electrical Engineering from CINVESTAV-IPN in 1987 and his PhD in Informatics form the INPG, France in 1992. He is currently a full-time professor at the Robotics and Mechatronics Laboratory of the Center for Computing Research of the National Polytechnic Institute from Mexico since 1996. He has co-authored 5 books, 11 patents and more than 450 publications in international journals, books and national and international conferences

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Published

2023-12-17

Issue

Vol. 27 No. 4 (2023): 27(4) 2023

Section

Articles

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