Control System For Humanoid Robot Based On Kinect

Technology of robot represents the most advanced intelligent control technology in today's society.It is the collection technology of mechanical,electronic,computer,materials,sensors,control and so on.With the continuous development of wireless access network technology,it become more widely used,in addition to the original traditional control domain,also can be applied in the field of robot to make it more intelligent and better serve.Posture is perceived as a new human-computer interaction technology.With various body feeling equipment research and development success,the body sense perception and robots together has become a very popular topic.Using body feeling sensor device(Kinect)to achieve control of the humanoid body feeling robot,is to enable people to interact with the distance to the real world to achieve good real effective means,the project at the same time also greatly extend the WIFI network function and development direction,to expand the application of network communication to a whole new field of control.Especially the combination of cloud intelligent humanoid robot,after the advent of Kinect somatosensory sensors for the first time,it naturally became a hot topic.This article will shape perception,wireless Internet and robot technology,designed a humanoid robot control system based on sensor device,the device using the human body joint model is set up,the robot's gait planning,hardware and software implementation of humanoid robot,and has set up a platform test,etc.The test system based on Kinect sensor has been established to realize the attitude control of humanoid robot with 16 degrees of freedom.The sensor of Kinect has been used to collect the coordinates of the human body for the purpose of establishing the joint model of human body by the way of developing PC software using the processing software based on Simple Open NI library.The analysis of humanoid robot gait planning and locus of control algorithm by using space vector method have been researched to obtain the rotation angle of each joint.The module of WIFI wireless was used to send instructions to the steering engines,so as to realize the control of the humanoid robot.The results of the experiment show that,the arm of humanoid can be free movement in the range of motion and lower limbs can be walk with the centre of gravity theory.After extensive tests on Kinect robot control systems,we draw a conclusion of that the control system has high accuracy,with spatial positioning stability,signal refresh speed fast,track body movements efficiency,complete the intended purpose of the system design,Finally the design achieve the result that the robot can be controlled by the human body instead of electronic controller.