Information Technology Reference
In-Depth Information
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Hand: The system calculates the robot's hand angles (pitch and roll) by directions
of the user's head.
Each marker is attached to the human body as in Fig. 3 right. Head markers are at-
tached on the top of the manipulator's head. Hand markers are attached on the back of
the manipulator's hands.
Fig. 4.
Calculation method for the position of each part
All origins are calculated as in Fig. 4. First, the system calculates the centre of the
human body using the top of the head. The average position of the centre of the body
is 300 mm below the head top. Second, the system calculates the origins of the right
and left arm from the centre of the body. Each origin is on average 200 mm from the
centre of the body. We can estimate that the origins of the arms are stable because the
manipulator stands in front of the video and does not change her/his shoulder angle.
Third, we calculate the arms' vectors from each angle and arm's length (average 500
mm). Last, we assign the hands' directions toward the pitch and roll axis of the robot's
hands.
4.3
System Connections
All modules are connected as in Fig. 5. In PoRoS, the input data to the human mani-
pulator is the video image and the output data from the human manipulator are the
motion-capturing data and angles of each motor. The latency from the robot to the
user is below 200 ms and this delay does not cause any critical communication prob-
lems. All input (video) and output (motor angles) data are stored to the data server for
later analysis.
Note that this PoRoS system is just one example of realizing the Possessed Robot me-
thod and we can select other inputs (motion-captured data by the player) and output
method (joystick) for other implementations.
