KiNaomatics
Spencer Lee and William McDermid
Group Pichu
Abstract:
Humanoid robots have many applications ranging from the fun to the incredibly useful. Humanoid robots are currently programmed to play soccer against each other autonomously, and much work is currently being done to find other, more helpful uses for them as well. Humanoids are ideal automatons for navigating a world built for humans, and there is a lot of research going into developing artificial intelligence to control them. However, there are many applications of humanoids entirely separate from the realm of artificial intelligence.
Introducing KiNaomatics: Taking small humanoids where they haven’t gone before--into YOUR shoes! Using data taken from a Microsoft Kinect, we compute the joint angles of the tracked human’s upper torso, then map these angles to the servos in an Aldebaran Nao’s upper torso. This effectively allows the human to control the Nao robot’s arms simply by moving. We also track the user’s position in free space to command a ZMP-based walk engine onboard the robot.
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