Performance evaluation of an inverse kinematic based control system of a humanoid robot arm using MS Kinect

Abstract

This paper presents an inverse kinematic based control system of a novel self-developed humanoid robot using a Microsoft Kinect as 3D sensor. Based on the processed sensory data from the Kinect, human gestures and motions are captured, analyzed and mapped into joint variables by using inverse kinematic equations. A significant improvement in the inverse kinematic algorithm has been made to achieve better perception of human gestures. The performance of the proposed system is evaluated in a newly developed test-bed under real-world conditions, which effectively shows perception-related error control in order to further improve the system.