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깊이 카메라와 데이터 장갑을 활용한 교시로 동작하는 소셜 로봇
구민승(MinSeung Koo),박정환(JeongHwan Park),박해진(Hae-Jin Park),손준하(Jun Ha Sohn),오승화(Seungwha Oh),김성수(Sung-Soo Kim) 대한기계학회 2020 대한기계학회 춘추학술대회 Vol.2020 No.12
In recent years, as interest in social robots and the market size have increased, it becomes important to improve the ease of use and the performance of social robots to meet the needs of users. In this paper, we developed a social robot that is operated by human motion teaching using a depth camera and a data glove. Human arm motion was extracted using Skeleton Tracking of a depth camera and robot joint angles of robot right arm were calculated using inverse kinematics with obtained skeleton data. Also, we measured the angles of the human finger joint according to the variable resistance value of the bending sensors (Flex Sensors) of the homemade glove. According to the measured angles, the motors of the robot hand were driven. In order to teach and save human motion contents to the robot more conveniently, speech recognition capability was also developed. With the development of a social robot applying these new teaching methods, it is expected to improve the human motion mimicking performance of the social robot.