Reconhecimento de movimentos humanos para imitação e controle de um robô humanoide

In human-robot interactions there are still many restrictions to overcome regarding the provision of a communication as natural to the human senses. The ability to interact with humans in a natural way in social contexts (the use of speech, gestures, facial expressions, body movements) is a key point to ensure the acceptance of robots in a society of people not specialized in manipulation of robotic devices. Moreover, most existing robots have limited abilities of perception, cognition and behavior in comparison with humans. In this context, this research project investigated the potential of the robotic architecture of the NAO humanoid robot, in terms of ability to perform interactions with humans through imitation of body movements of a person and the robot control. As for sensors, we used a non-intrusive sensor depth-camera built into the device Kinect. As to techniques, some mathematical concepts were discussed for abstraction of the spatial configurations of some joints/members of the human body – these configurations were captured through the use of the OpenNI library. The performed experiments were about imitation and the control of the robot through the evaluation of various users. The results of these experiments showed a satisfactory performance for the developed system.

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