Behavioral synchronization of human and humanoid robot

摘要

This paper explores interaction design and real time implementation of behavioral synchronization of Human and Humanoid robot. Human postures are captured into a 3D skeleton using Kinect sensor. Single 3D coordinates of joints can be derived from the skeleton. For the behavioral synchronization primitive humanoid robot with 16 servo motors are used. Human's joint coordinates are extracted from the standing posture. Using mechanism suggested in this paper, the joints information converted and mapped to the humanoid robot. The overall architecture was designed and implemented in expandable way. This gives opportunity to control humanoid robot locally as well as remotely. Suggested behavioral synchronization method from this work is implemented and validated. Time delay issues are also considered as a significant topic in instance implementation. Behavior synchronization of human and robot have totally 400 millisecond time delays, where 50% is related to humanoid's internal latency. Additionally suggested architecture provides another mode, where user can use alternative controllers.