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Arabian Journal for Science and Engineering
Published in: Arabian Journal for Science and Engineering 2/2022

08-09-2021 | Review-Computer Engineering and Computer Science

NAO Robot Teleoperation with Human Motion Recognition

Authors: Archana Balmik, Mrityunjay Jha, Anup Nandy

Published in: Arabian Journal for Science and Engineering | Issue 2/2022

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Abstract

Teleoperation is one of the most efficient ways to control a robot remotely. It reproduces the movements of the robot as a human exhibits in real time. In this paper, a framework is proposed for a Kinect-based teleoperation which allows the NAO humanoid robot to imitate the recognised human motions using Hidden Markov Model (HMM). Microsoft Kinect v2.0 is used to capture the human motions, which makes the framework more user-friendly. The skeleton joint positions obtained from Kinect are processed to generate the robot’s joint angles using simple analytical geometry and vector algebra methods. Data collection of all kinds of motions that human can do is a challenging and time-consuming process in humanoid robot teleoperation. Therefore, a data augmentation method is introduced and applied to the joint angles mapped from the human skeleton data. It increases the data artificially without actually collecting new data and performs well to train the model. A promising result as compared to state-of-the-art techniques is achieved with our proposed method for teleoperating a NAO humanoid robot.
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Metadata
Title
NAO Robot Teleoperation with Human Motion Recognition
Authors
Archana Balmik
Mrityunjay Jha
Anup Nandy
Publication date
08-09-2021
Publisher
Springer Berlin Heidelberg
Published in
Arabian Journal for Science and Engineering / Issue 2/2022
Print ISSN: 2193-567X
Electronic ISSN: 2191-4281
DOI
https://doi.org/10.1007/s13369-021-06051-2

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