Remote robot control through mimicing operator’s movement

Matevž Poberžnik (2013) Remote robot control through mimicing operator’s movement. EngD thesis.

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Abstract

In this thesis I describe the development of a human robot interface, specifically, an interface to control the arm of humanoid robot Nao. My controller consists of low-cost sensors - gyroscopes, accelerometers and magnetometers, which are strapped to a human arm. Using this hardware, my goal was to implement software filters to establish an accurate mapping between a human and a robot arm. The hardware part of the interface that takes care of data acquisition consists of a microcontroller, the sensors and a Bluetooth communication interface. I describe all hardware parts in details and explain the communication between the microcontroller and sensors and PC. Furthermore, I designed an algorithm for computation of spatial rotation from the obtained sensory data. I used complementary filter to join the data. I describe sensor calibration procedures, the problems I encountered during calibration and propose the solutions, which diminish the errors as much as possible. I study the differences between a human and Nao's arm and propose a method for Nao arm control from gathered data. I test my system on three simple tasks with respect to the complexity and accuracy of controlling Nao's arm.

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