Teleoperation control of Baxter robot using Kalman filter-based sensor fusion
dc.contributor.author | Li, Chunxu | |
dc.contributor.author | Yang, C | |
dc.contributor.author | Wan, Jian | |
dc.contributor.author | Annamalai, ASK | |
dc.contributor.author | Cangelosi, Angelo | |
dc.date.accessioned | 2017-03-24T16:03:14Z | |
dc.date.accessioned | 2017-08-11T10:31:38Z | |
dc.date.available | 2017-03-24T16:03:14Z | |
dc.date.available | 2017-08-11T10:31:38Z | |
dc.date.issued | 2017-03-17 | |
dc.identifier.issn | 2164-2583 | |
dc.identifier.issn | 2164-2583 | |
dc.identifier.uri | http://hdl.handle.net/10026.1/9779 | |
dc.description | peerreview_statement: The publishing and review policy for this title is described in its Aims & Scope. aims_and_scope_url: http://www.tandfonline.com/action/journalInformation?show=aimsScope&journalCode=tssc20 | |
dc.description.abstract |
Kalman filter has been successfully applied to fuse the motion capture data collected from Kinect sensor and a pair of MYO armbands to teleoperate a robot. A new strategy utilizing the vector approach has been developed to accomplish a specific motion capture task. The arm motion of the operator is captured by a Kinect sensor and programmed with Processing software. Two MYO armbands with the inertial measurement unit embedded are worn on the operator's arm, which is used to detect the upper arm motion of the human operator. This is utilized to recognize and to calculate the precise speed of the physical motion of the operator's arm. User Datagram Protocol is employed to send the human movement to a simulated Baxter robot arm for teleoperation. In order to obtain joint angles for human limb utilizing vector approach, RosPy and Python script programming has been utilized. A series of experiments have been conducted to test the performance of the proposed technique, which provides the basis for the teleoperation of simulated Baxter robot. | |
dc.format.extent | 156-167 | |
dc.language | en | |
dc.language.iso | en | |
dc.publisher | Informa UK Limited | |
dc.relation.replaces | http://hdl.handle.net/10026.1/8684 | |
dc.relation.replaces | 10026.1/8684 | |
dc.title | Teleoperation control of Baxter robot using Kalman filter-based sensor fusion | |
dc.type | journal-article | |
dc.type | Journal Article | |
plymouth.issue | 1 | |
plymouth.volume | 5 | |
plymouth.publication-status | Published | |
plymouth.journal | Systems Science & Control Engineering | |
dc.identifier.doi | 10.1080/21642583.2017.1300109 | |
plymouth.organisational-group | /Plymouth | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics | |
plymouth.organisational-group | /Plymouth/REF 2021 Researchers by UoA | |
plymouth.organisational-group | /Plymouth/REF 2021 Researchers by UoA/UoA11 Computer Science and Informatics | |
plymouth.organisational-group | /Plymouth/Research Groups | |
plymouth.organisational-group | /Plymouth/Research Groups/Institute of Health and Community | |
plymouth.organisational-group | /Plymouth/Research Groups/Marine Institute | |
plymouth.organisational-group | /Plymouth/Users by role | |
plymouth.organisational-group | /Plymouth/Users by role/Academics | |
plymouth.organisational-group | /Plymouth/Users by role/Researchers in ResearchFish submission | |
dcterms.dateAccepted | 2017-02-23 | |
dc.identifier.eissn | 2164-2583 | |
dc.rights.embargoperiod | Not known | |
rioxxterms.versionofrecord | 10.1080/21642583.2017.1300109 | |
rioxxterms.licenseref.uri | http://www.rioxx.net/licenses/all-rights-reserved | |
rioxxterms.licenseref.startdate | 2017-03-17 | |
rioxxterms.type | Journal Article/Review | |
plymouth.oa-location | http://dx.doi.org/10.1080/21642583.2017.1300109 |