Reference : Robot control based on human motion analysis with IMU measurements
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Multidisciplinary, general & others
http://hdl.handle.net/2268/214324
Robot control based on human motion analysis with IMU measurements
English
Pellois, Robin mailto [Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
Joris, Laura mailto [Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes microélectroniques intégrés >]
Bruls, Olivier mailto [Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
6-Jun-2017
Shaker Verlag GmbH
Proceedings of the Robotix Academy Conference for Industrial Robotics (RACIR)
Müller, Rainer
Plapper, Peter
Bruls, Olivier mailto
Gerke, Wolfgang
Abba, Gabriel
Hichri, Bassem
Vette, Matthias
No
Yes
International
Herzogenrath
Germany
1st Robotix-Academy Conference on for Industrials Robotics
6 & 7 Juin 2017
Université du luxembourg
Luxembourg
Luxembourg
[en] Robot ; IMU ; Human-Robot collaboration
[en] The measurement of the operator motions can lead to innovation in the field of human-robot collaboration. Motion capture data can be used for robot programming by demonstration
as well as controlling and adapting robot trajectories. To measure motion, IMUs represent an interesting alternative compared to other sensing technologies such as vision. In order
to illustrate this strategy, a demonstrator has been created to command a robot by human motion. Two IMU sensor modules are set on the human arm and forearm. The orientation of
the module with respect to the inertial frame is computed by the fusion of accelerometer, magnetometer and gyroscope data. This information coupled with a simple human arm kinematic
model is used to compute the wrist trajectory. The accuracy of this measurement has to be quantified. For that purpose, the estimated trajectory based on the IMU measurement is compared to the trajectory measured using a reference 3D optoelectronic motion analysis system (Codamotion, Charnwood Dynamics Ltd) available in the Laboratory of Human Motion Analysis of the University of Liège.
laboratoire des systémes multicorps et mécatronique
Interreg - Robotix-Academy
PhD project : Robot control based on human motion analysis with IMU measurements
Researchers ; Professionals ; Students
http://hdl.handle.net/2268/214324

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