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Vol: 54(68) No: 3 / September 2009 Method for Programming Complex Robots with Simple Human Motion with the Help of Stereoscopic Visualization H. Frindt Budapest University of Technology and Economics, Hungary G. Horváth Budapest University of Technology and Economics, Hungary Keywords: hexapods, stereoscopic visualisation Abstract This paper describes a hardware and a method for motion programming robots having six or more legs. The hardware consists of 3 low-cost capacitive accelerometers placed on the human body. Each accelerometer can measure 3 perpendicular axis. Each sensor has a microcontroller connected to it, this way the generated signal can be post-processed, avoiding a few noise sources. The controlled robot has six legs, each leg has 3 degrees of freedom. The whole robot has eighteen degrees of freedom. Because of this the motion control is a very difficult task and there are situations that can’t be solved with algorithms. That is why we used human motion for controlling the robot. The method can be used even when the robot is far from the user, because the movements are animated using 3D stereoscopic visualization. During the operation the user’s motion generates the necessary coordinates for the leg tips. And a mathematical transformation is used for calculating the joint angles for the legs. These angles are then sent to the robot and to the 3D model. This paper’s main contribution to the development is the transformation of human motion with the help of accelerometers to a robots walking motion with 3D stereoscopic visualization feedback. References [1] D. Campbell and M. Buehler, “Stair Descent in the Simple Hexapod ‘RHex’”, in Proceedings of the 2003 IEEE International Conference on Robotics & Automation, Taipei, Taiwan, 2003. [2] Gary B. Parker and Zhiyi Lee “Evolving Neural Networks for Hexapod Leg Controllers”, in Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, 2003. [3] Hiroshi Kimura and Hideaki Katano, “Vision-Based Motion Recognition of the Hexapod for Autonomous Assistance”, in Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, B.C., Canada, 1998. [4] M. Hardt K. Kreutz-Delgado J.W. Helton O. von Stryk, “Obtaining Minimum Energy Biped Walking Gaits with Symbolic Models and Numerical Optimal Control”. [5] Peter Zanaty, Drazen Brscic and Zsolt Frei, “3D Visualization for Intelligent Space: Time-Delay Compensation in a Remote Controlled Environment”, in Proceedings of HSI 2008 Conference, Krakow, Poland, 2008. [6] B. Kulcsár, Robottechnika, LSI Informatikai Oktatóközpont A Mikroelektronika Alkalmazásának Kultúrájáért Alapítvány , Budapest, Hungary 2002. [7] OpenGL handbook: http://www.opengl.org. |