Recognition of Human Motions for Imitation and Control of a Humanoid Robot

摘要

Most of the works in the field of teleoperation of humanoid robots do not use the whole-body of the robot to perform some task. This work treats the teleoperation of a humanoid robot through the recognition of human motions by using a natural interface mechanism. We propose the use of simple mathematical techniques to allow, in a satisfactory level, the user order in real-time a robot to mimic a person, to walk, to manipulate the environment with its hands and to perform some predetermined behaviors. Also, we provide an appropriate discussion around the findings of this research. The results of the experiments show a satisfactory performance for the system developed.