Abstract
This paper presents the implementation of an inverse kinematics based computational framework for robot manipulation inspired by human movements. The implementation consists of two parts, firstly a motion tracking experimental setup that has been developed to accurately capture the movements of a human body, especially arm movements. Secondly, in-house developed inverse kinematics based computational framework which has been applied on the data obtained from the experiments for robot manipulation. We describe the experimental challenges involved during the implementation such as setting up the experiment, camera operation, conversion of the video files into desired data. Subsequently, the application of inverse kinematics in our model has been explained in detail. Finally, the obtained results have been verified with forward kinematics as well as with humanoid robot simulator.
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Patel, G., Roshani, Garg, T., Patel, S., Maiti, T.K., Chaudhury, B. (2021). Inverse Kinematics Based Computational Framework for Robot Manipulation Inspired by Human Movements. In: Giri, D., Buyya, R., Ponnusamy, S., De, D., Adamatzky, A., Abawajy, J.H. (eds) Proceedings of the Sixth International Conference on Mathematics and Computing. Advances in Intelligent Systems and Computing, vol 1262. Springer, Singapore. https://doi.org/10.1007/978-981-15-8061-1_17
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DOI: https://doi.org/10.1007/978-981-15-8061-1_17
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