Implementation of Ergonomic Contactless Management Interface for Anthropomorphic Robot's Virtual Model by Using Kinect

A. V. Maltsev, Senior Researcher, e-mail: avmaltcev@mail.ru, M. V. Mikhayluk, Head of Department, e-mail: mix@niisi.ras.ru, Scientific Research Institute of System Analysis (Russian Academy of Sciences), Moscow

At this work the approach is considered to implementation ergonomic contactless management interface of anthropomorphic (humanoid) robot's virtual model in so-called copying mode which provides a repetition of operator's movements by this model. This interface includes hardware and software parts. The hardware part is based on using the Microsoft Kinect device that connects to a personal computer via USB port. It provides a coordinate determination of skeleton's reference points for operator which is in the device's working area. The software part of proposed interface calculates current values of angles in robot model's joints by using found reference points and send these values to management system. The management system in its turn changes a posture of robot model in accordance with received parameters. The essence of proposed methods for calculating angles and transfer of them by a network to management system is described in detail on the example of left hand control of the humanoid robot's virtual model (SAR-401). The methods for implementation of ergonomic contactless interface, considered in this article, allow managing not only this virtual model but also other models of anthropomorphic robotic systems. The described solutions are also applicable in the case of the control interface creation for real mechanical humanoid robot.

Keywords: anthropomorphic robot, management, virtual model, reference points, contactless interface, Kinect

pp. 12–18