Kalman filter application on a Bluetooth driven anthropomorphic system.

摘要

This report describes two enhancements implemented on an existing anthropomorphic robot with eight degrees of freedom. The robot is controlled with natural human body motion, i.e., it mimics the body movement, using a MicrosoftRTM Kinect(TM) sensor. The robot's arms are modeled after a three-link manipulator and are controlled through the application of inverse kinematics and geometry generated by the MicrosoftRTM Kinect(TM) sensor data. The two enhancements are wireless control via Bluetooth connection and improvement on the robot movements by applying a Kalman filter to the control system.