Publicado:
2024-10-02Número:
Vol. 18 Núm. 2 (2024)Sección:
Visión de Ingeniería AplicadaReal-time Teleoperation of a Humanoid Robot (avatar) with the Motion Capture System Perception Neuron
Teleoperación en tiempo real de un robot humanoide (avatar) con el Sistema de Captura de Movimiento Perception Neuron
Palabras clave:
Motion capture, Perception Neuron, Socially assistive robotics, Humanoid robot, NAO robot, Teleoperation, ROS (en).Palabras clave:
Captura de movimiento, Perception Neuron, Robot de asistencia social, Robot humanoide, Robot NAO, Teleoperación, ROS (es).Descargas
Resumen (en)
This research describes a real-time teleoperation system for a NAO humanoid robot, visualized in a virtual environment, using an inertial motion capture system known commercially as Perception Neuron. To achieve this goal, the data captured by the MoCap system hardware is transmitted to the Axis Neuron software, where a model of the human skeleton will be automatically generated and each frame of movement will be captured, then all the captured data will be transmitted from this software to another computer with ROS, using a TCP/IP communication protocol, with insignificant latency. In Rviz (ROS - 3D visualization tool) the virtual model of the NAO robot will be observed. As a result, one-way teleoperation was achieved with an acceptable imitation of the movements performed by the non-technical operator. These routines involved different joint segments of the arms, legs and head. The results are promising to advance in the implementation and strengthening of this system with a therapeutic purpose, given that the NAO robot is considered a Social Assistance Robot, a recent field of study that is interested in the use of this and other robotic platforms in rehabilitation therapies.
Resumen (es)
En esta investigación se describe un sistema de teleoperación en tiempo real de un robot humanoide NAO, visualizado en un entorno virtual, utilizando un sistema de captura de movimiento inercial conocido comercialmente como Perception Neuron. Para alcanzar este objetivo, los datos capturados por el hardware del sistema MoCap son transmitidos al software Axis Neuron, donde se generará automáticamente un modelo del esqueleto humano y se capturará cada cuadro de movimiento, enseguida se transmitirán todos los datos capturados desde este software hasta otro computador con ROS, utilizando un protocolo de comunicación TCP/IP, con una latencia poco significativa. En Rviz (una herramienta de visualización 3D de ROS) se observará un modelo virtual del robot NAO. Como resultado, se logró una teleoperación unidireccional con una imitación aceptable de los movimientos realizados por un operador no-técnico. Estas rutinas involucraban diferentes segmentos articulares de los brazos, las piernas y la cabeza. Los resultados son prometedores para avanzar en la implementación y fortalecimiento de este sistema con un propósito terapéutico, dado que el robot NAO se considera un Robot de Asistencia Social, un campo de estudio reciente que se interesa por el uso de esta y otras plataformas robóticas en terapias de rehabilitación.
Referencias
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