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Journal : TELKOMNIKA Telecommunication, Computing, Electronics and Control

Realistic Motion Preservation-Imitation Development Through Kinect and Humanoid Robot Muis, Abdul; Indrajit, Wisnu
TELKOMNIKA Telecommunication, Computing, Electronics and Control Vol 10, No 4: December 2012
Publisher : Universitas Ahmad Dahlan

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Abstract

Motion imitation has been a must for driving long-duration specific motion especially on humanoid robot. Generally, motion generation on robot is usually done through complex computation in off-line mode. Whereas for straightforward method, the operator drives robot to certain pose either with moving manipulator tool-tip with hand or remotely. Once the desired pose achieved, the current pose is saved to memory. On the other hand, an easy and  quick approach is by imitating an object motion to robot with sensing devices. There have been numerous efforts for motion imitation either by using position sensitive detector (PSD) or by using stereo camera. However, a calibrated pre-condition should be done initially, which is not possible for natural movement. Here, this paper developed motion preservation by capturing human motion naturally  through Kinect. And then reproduced human motion on humanoid robot simultaneously. The motions are also preserved in database for later used on robot motion generation and teaching as well. The proposed method has been validated in experimental results by capturing and reproducing human motion on robot in rate of 20Hz and computation cost of 340us for each process.
Co-Authors ', Ramadi . Supriyatna, . Adnan B. Gassing, Adnan Afsani, Nazhat Agus Prianto Alamsyar, Al Alfarishy, Salman Alimuddin Laapo Alimudin Laapo Amanah, Novi Fajar Anang Aditya Antonius Galih Prasetyo Aprilia Umar, Ayu Silviani Ardiah Juita Arifah Novia Arifin, Arifah Novia Arifuddin Lamusa Aristiawan, Aristiawan Arsat, Arsat Asgar, Muhammad Christoporus, Christoporus Dafina Howara Dance Tangkesalu Dina Astriana Effendy Effendy Fadlun, Fadlun Farid Hidayat Fikry, Fikry Fitrianingsih Fitrianingsih Gantima, Febrian M. Glorida P. S., Glorida Hadayani Hadayani Hadayani, Hj. Hadirawati, Syifa Hamjah, Muhammad Reza Hasan, Herlianti Heri Susanto Ilah Nurlaelah Ilyas, Nurmala Indra Herlamba Siregar Jaib, Abd. Jamaluddin Jamaluddin Juliani, Neng Wulan Evi Kadar, Darma Kartini Kartini Lahandu, Sumiati A. Lantose, Lianti S. Laweangi, Fleiss Amelia Lukmanul Hakim Lusnita, Lusnita M, Rizka. Made Antara Mantende, Ferdison S. Mapatoba, Marhawati Marhawati Mappatoba Marliyah, Marliyah Marwan Yantu Max Nur Alam Muchsin Muchsin Muddin, Saripuddin Muhammad Arief Muhammad Hasan Basri Nasarudin, Akram Nurfadillah Nurfadillah Purwanto, Ahmad Z. A. Ratni, Ratni Ronald Simorangkir, Ronald Rukavina Baksh Saharia Kassa Sasmita Sasmita Sholikah, Mar'atus sisfah yuni, sisfah Soedjanaatmadja, Ukun M.S. Srawati, Feni Sulaeman Sulaeman SUPRAYITNO Supriyatna Supriyatna Surya, Erdi Surya, Erdi Syafruddin Syafruddin Syaiful Bachri Tari, Dewi Sulis Tiwi Dianti Tri Setyawan, Moh. Arief Eka Trijeti Trijeti Veronica Rumintjap wahyuni, Noni sri Widiani, Ni Kade Wisnu Indrajit Yani Lukmayani Yantu, MR Yulianti Kalaba Yusnia, Yusnia