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Robot control based on human motion analysis with IMU measurements
Pellois, Robin; Joris, Laura; Bruls, Olivier
2017In Müller, Rainer; Plapper, Peter; Bruls, Olivier et al. (Eds.) Proceedings of the Robotix Academy Conference for Industrial Robotics (RACIR)
 

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Keywords :
Robot; IMU; Human-Robot collaboration
Abstract :
[en] The measurement of the operator motions can lead to innovation in the field of human-robot collaboration. Motion capture data can be used for robot programming by demonstration as well as controlling and adapting robot trajectories. To measure motion, IMUs represent an interesting alternative compared to other sensing technologies such as vision. In order to illustrate this strategy, a demonstrator has been created to command a robot by human motion. Two IMU sensor modules are set on the human arm and forearm. The orientation of the module with respect to the inertial frame is computed by the fusion of accelerometer, magnetometer and gyroscope data. This information coupled with a simple human arm kinematic model is used to compute the wrist trajectory. The accuracy of this measurement has to be quantified. For that purpose, the estimated trajectory based on the IMU measurement is compared to the trajectory measured using a reference 3D optoelectronic motion analysis system (Codamotion, Charnwood Dynamics Ltd) available in the Laboratory of Human Motion Analysis of the University of Liège.
Research center :
laboratoire des systémes multicorps et mécatronique
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Pellois, Robin ;  Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Joris, Laura ;  Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes microélectroniques intégrés
Bruls, Olivier  ;  Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Language :
English
Title :
Robot control based on human motion analysis with IMU measurements
Publication date :
06 June 2017
Event name :
1st Robotix-Academy Conference on for Industrials Robotics
Event organizer :
Université du luxembourg
Event place :
Luxembourg, Luxembourg
Event date :
6 & 7 Juin 2017
By request :
Yes
Audience :
International
Main work title :
Proceedings of the Robotix Academy Conference for Industrial Robotics (RACIR)
Author, co-author :
Müller, Rainer
Plapper, Peter
Bruls, Olivier  ;  Université de Liège - ULiège > Département d'aérospatiale et mécanique
Gerke, Wolfgang
Abba, Gabriel
Hichri, Bassem
Vette, Matthias
Edition :
Shaker Verlag GmbH
Name of the research project :
PhD project : Robot control based on human motion analysis with IMU measurements
Funders :
Interreg - Robotix-Academy
Available on ORBi :
since 18 September 2017

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