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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

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.

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