Teleoperation control of Baxter robot using Kalman filter-based sensor fusion
Kalman filter has been successfully applied to fuse the motion capture data collected from Kinect sensor and a pair of MYO armbands to teleoperate a robot. A new strategy utilizing the vector approach has been developed to accomplish a specific motion capture task. The arm motion of the operator is...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2017-01-01
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| Series: | Systems Science & Control Engineering |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/21642583.2017.1300109 |
| _version_ | 1818249694177918976 |
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| author | Chunxu Li Chenguang Yang Jian Wan Andy SK Annamalai Angelo Cangelosi |
| author_facet | Chunxu Li Chenguang Yang Jian Wan Andy SK Annamalai Angelo Cangelosi |
| author_sort | Chunxu Li |
| collection | DOAJ |
| description | Kalman filter has been successfully applied to fuse the motion capture data collected from Kinect sensor and a pair of MYO armbands to teleoperate a robot. A new strategy utilizing the vector approach has been developed to accomplish a specific motion capture task. The arm motion of the operator is captured by a Kinect sensor and programmed with Processing software. Two MYO armbands with the inertial measurement unit embedded are worn on the operator's arm, which is used to detect the upper arm motion of the human operator. This is utilized to recognize and to calculate the precise speed of the physical motion of the operator's arm. User Datagram Protocol is employed to send the human movement to a simulated Baxter robot arm for teleoperation. In order to obtain joint angles for human limb utilizing vector approach, RosPy and Python script programming has been utilized. A series of experiments have been conducted to test the performance of the proposed technique, which provides the basis for the teleoperation of simulated Baxter robot. |
| first_indexed | 2024-12-12T15:40:34Z |
| format | Article |
| id | doaj.art-c133864b7bec4013898ca25c7695209a |
| institution | Directory Open Access Journal |
| issn | 2164-2583 |
| language | English |
| last_indexed | 2024-12-12T15:40:34Z |
| publishDate | 2017-01-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Systems Science & Control Engineering |
| spelling | doaj.art-c133864b7bec4013898ca25c7695209a2022-12-22T00:19:55ZengTaylor & Francis GroupSystems Science & Control Engineering2164-25832017-01-015115616710.1080/21642583.2017.13001091300109Teleoperation control of Baxter robot using Kalman filter-based sensor fusionChunxu Li0Chenguang Yang1Jian Wan2Andy SK Annamalai3Angelo Cangelosi4Plymouth UniversityPlymouth UniversityPlymouth UniversityMoray College, University of Highlands and IslandsPlymouth UniversityKalman filter has been successfully applied to fuse the motion capture data collected from Kinect sensor and a pair of MYO armbands to teleoperate a robot. A new strategy utilizing the vector approach has been developed to accomplish a specific motion capture task. The arm motion of the operator is captured by a Kinect sensor and programmed with Processing software. Two MYO armbands with the inertial measurement unit embedded are worn on the operator's arm, which is used to detect the upper arm motion of the human operator. This is utilized to recognize and to calculate the precise speed of the physical motion of the operator's arm. User Datagram Protocol is employed to send the human movement to a simulated Baxter robot arm for teleoperation. In order to obtain joint angles for human limb utilizing vector approach, RosPy and Python script programming has been utilized. A series of experiments have been conducted to test the performance of the proposed technique, which provides the basis for the teleoperation of simulated Baxter robot.http://dx.doi.org/10.1080/21642583.2017.1300109Kalman filter-based sensor fusionvector approachBaxterMYO armbandKinect |
| spellingShingle | Chunxu Li Chenguang Yang Jian Wan Andy SK Annamalai Angelo Cangelosi Teleoperation control of Baxter robot using Kalman filter-based sensor fusion Systems Science & Control Engineering Kalman filter-based sensor fusion vector approach Baxter MYO armband Kinect |
| title | Teleoperation control of Baxter robot using Kalman filter-based sensor fusion |
| title_full | Teleoperation control of Baxter robot using Kalman filter-based sensor fusion |
| title_fullStr | Teleoperation control of Baxter robot using Kalman filter-based sensor fusion |
| title_full_unstemmed | Teleoperation control of Baxter robot using Kalman filter-based sensor fusion |
| title_short | Teleoperation control of Baxter robot using Kalman filter-based sensor fusion |
| title_sort | teleoperation control of baxter robot using kalman filter based sensor fusion |
| topic | Kalman filter-based sensor fusion vector approach Baxter MYO armband Kinect |
| url | http://dx.doi.org/10.1080/21642583.2017.1300109 |
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