Show simple item record

dc.contributor.authorLi, Chunxu
dc.contributor.authorYang, C
dc.contributor.authorWan, Jian
dc.contributor.authorAnnamalai, ASK
dc.contributor.authorCangelosi, Angelo
dc.date.accessioned2017-03-24T16:03:14Z
dc.date.accessioned2017-08-11T10:31:38Z
dc.date.available2017-03-24T16:03:14Z
dc.date.available2017-08-11T10:31:38Z
dc.date.issued2017-03-17
dc.identifier.issn2164-2583
dc.identifier.issn2164-2583
dc.identifier.urihttp://hdl.handle.net/10026.1/9779
dc.descriptionpeerreview_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.extent156-167
dc.languageen
dc.language.isoen
dc.publisherInforma UK Limited
dc.relation.replaceshttp://hdl.handle.net/10026.1/8684
dc.relation.replaces10026.1/8684
dc.titleTeleoperation control of Baxter robot using Kalman filter-based sensor fusion
dc.typejournal-article
dc.typeJournal Article
plymouth.issue1
plymouth.volume5
plymouth.publication-statusPublished
plymouth.journalSystems Science & Control Engineering
dc.identifier.doi10.1080/21642583.2017.1300109
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.dateAccepted2017-02-23
dc.identifier.eissn2164-2583
dc.rights.embargoperiodNot known
rioxxterms.versionofrecord10.1080/21642583.2017.1300109
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserved
rioxxterms.licenseref.startdate2017-03-17
rioxxterms.typeJournal Article/Review
plymouth.oa-locationhttp://dx.doi.org/10.1080/21642583.2017.1300109


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record


All items in PEARL are protected by copyright law.
Author manuscripts deposited to comply with open access mandates are made available in accordance with publisher policies. Please cite only the published version using the details provided on the item record or document. In the absence of an open licence (e.g. Creative Commons), permissions for further reuse of content should be sought from the publisher or author.
Theme by 
Atmire NV