File(s) not publicly available
Using the Microsoft Kinect to model the environment of an anthropomimetic robot
presentation
posted on 2023-06-08, 07:03 authored by David Devereux, Bhargav Mitra, Owen Holland, Alan DiamondThe control of compliantly actuated anthropomimetic robots with complex and multiarticular joints, such as those developed within the ECCEROBOT project, is extremely challenging. We are approaching the problem by using a physics engine to run a highly detailed simulation of such a robot’s structure and dynamic behaviour, and then searching for sequences of motor activations that will achieve particular goals. This requires the simulated robot to be situated accurately in a physics-based representation of its environment which includes the object with which it is to interact. In this paper we present our environmental sensing and modelling scheme which uses data from a single headmounted Kinect sensor to provide and locate the environmental model, and to identify and locate the target object accurately in the presence of significant motion blur.
History
Publication status
- Published
Presentation Type
- paper
Event name
The second IASTED international conference on robotics: Robo 2011Event location
Pittsburgh, USAEvent type
conferenceEvent date
7-9 November, 2011Department affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2013-05-10Usage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC