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Interactive Programming of a Humanoid Robot


[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee

Year of publication


Published in

Journal of Automation, Mobile Robotics & Intelligent Systems - JAMRIS

Journal year: 2014 | Journal volume: vol. 8 | Journal number: no. 3

Article type

scientific article

Publication language


  • bipeds
  • control of robotic systems
  • humanoid robots
  • legged robots
  • teleoperation

EN This paper presents a control system for a humanoidrobot based on human body movement tracking. The system uses the popular Kinect sensor to capture the motion of the operator and allows the small, low-cost, and proprietary robot to mimic full body motion in real time. Tracking controller is based on optimization-free algorithms and uses a full set of data provided by Kinect SDK, in order to make movements feasible for the considerably different kinematics of the humanoid robot compared tothe human body kinematics. To maintain robot stability we implemented the balancing algorithm based on a simple geometrical model, which adjusts only the configuration of the robot’s feet joints, maintaining an unchanged imitated posture. Experimental results demonstrate that the system can successfully allow the robot to mimic captured human motion sequences.

Pages (from - to)

3 - 9




License type

CC BY-NC-ND (attribution - noncommercial - no derivatives)

Open Access Mode

open journal

Open Access Text Version

final published version

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