Publication: Desarrollo del sistema de teleoperación del brazo del robot humanoide RH2 utilizando Kinect
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2014-10
Defense date
2014-10-07
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Abstract
La finalidad de este proyecto consiste en realizar la teleoperación del brazo del robot humanoide TEO mediante el dispositivo Kinect, aunque finalmente por falta de tiempo no se pudo implementar en el robot. Para ello se partirá de un trabajo anterior realizado por Lorenzo Moral Durán y el cual se ampliará para conseguir dicha teleoperación en un espacio tridimensional programando un método para calcular las coordenadas articulares conocido como RPY (Roll Pitch Yaw) a partir de las coordenadas cartesianas de base del cuello, hombro, codo y muñeca.
Para ello nos serviremos de herramientas como Kinect for Windows SDK que nos proporcionará algunos ejemplos de esqueletización ya programados, Visual Studio para la programación en C++, OpenRave para la simulación del programa antes de utilizarlo en el propio robot o YARP para comunicar el ordenador donde se ejecuta el programa con el ordenador donde se ejecuta el simulador.
Se decidió usar las herramientas de software anteriormente citadas ya que eran las mismas que se habían utilizado en el proyecto anteriormente citado y, por lo tanto, estaba comprobado que nos ofrecían las herramientas necesarias para realizar el proyecto.
The main goal of this project is to do the teleoperation of the humanoid robot TEO’s arm through the Kinect device. For this we are going to start from another project written by Lorenzo Moral Durán and which will be expanded to get the teleoperation aforementioned but in a three-dimensional space by programming a method to calculate the articular coordinates known as RPY (Roll Pitch Yaw) from the Cartesian coordinates of the neck base, shoulder, elbow and wrist. For this we will use tools such as Kinect for Windows SDK which will give us some examples about skeletisation already programmed, Visual Studio for C++ programming, OpenRAVE for the simulation of the program before use it in the real robot or YARP to communicate the computer that runs the program and the computer that runs the simulator. We decided to use the software tools aforementioned because they were the same tools used in Lorenzo’s project and, therefore, it was checked that they offered the tools we needed to do the project.
The main goal of this project is to do the teleoperation of the humanoid robot TEO’s arm through the Kinect device. For this we are going to start from another project written by Lorenzo Moral Durán and which will be expanded to get the teleoperation aforementioned but in a three-dimensional space by programming a method to calculate the articular coordinates known as RPY (Roll Pitch Yaw) from the Cartesian coordinates of the neck base, shoulder, elbow and wrist. For this we will use tools such as Kinect for Windows SDK which will give us some examples about skeletisation already programmed, Visual Studio for C++ programming, OpenRAVE for the simulation of the program before use it in the real robot or YARP to communicate the computer that runs the program and the computer that runs the simulator. We decided to use the software tools aforementioned because they were the same tools used in Lorenzo’s project and, therefore, it was checked that they offered the tools we needed to do the project.
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Keywords
Robótica, Kinect, Teleoperación, Robots humanoides