An Affordable, Accessible Human Motion Controlled Interactive Robot and Simulation through ROS and Azure Kinect

Abstract

We integrate a low-cost, open-source system to create a human-machine interface to control a robot by tracking human motion. Controlling a robot with human motion is intuitive and can readily be used to perform tasks that require precise control. We envision using this system will provide an interactive learning experience to students during the stay-at-home period. Existing solutions require an expensive and precise setup which is not portable. We use open-source components such as Robotics Operating System (ROS) and OpenMANIPULATOR-X and low cost commercially available Azure Kinect DK to create an accessible and portable motion-controlled human-machine interface.