<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In this short survey and case study we want to present our research experience through the project developed by our team, that involves the building of a LEGO MINDSTORMS EV3 robotic arm and tracked robot car which mimics the motion of the human arm and legs. We used 3 interconnected LEGO MINDSTORMS EV3 bricks to reach the desired degrees of freedom. Using a Kinect sensor, the system detects the motion of the human user’s arm and creates the skeletal image of the arm. Coordinate geometry and different approximation methods are used to calculate the rotation angles between the bones connecting the joints. In our project the key is inverse kinematics, whitch makes use of the kinematics equations to determine the joint rotation parameters that provide a desired position for each of the robot’s end-effectors – arms and legs (wheels). The combined motion of the LEGO MINDSTORMS EV3 motors results in a complete robotic forward or backward motion and arm movement which is a perfect mimic of the human arm movement.</p></abstract>

In this short survey and case study we want to present our research experience through the project developed by our team, that involves the building of a LEGO MINDSTORMS EV3 robotic arm and tracked robot car which mimics the motion of the human arm and legs. We used 3 interconnected LEGO MINDSTORMS EV3 bricks to reach the desired degrees of freedom. Using a Kinect sensor, the system detects the motion of the human user’s arm and creates the skeletal image of the arm. Coordinate geometry and different approximation methods are used to calculate the rotation angles between the bones connecting the joints. In our project the key is inverse kinematics, whitch makes use of the kinematics equations to determine the joint rotation parameters that provide a desired position for each of the robot’s end-effectors – arms and legs (wheels). The combined motion of the LEGO MINDSTORMS EV3 motors results in a complete robotic forward or backward motion and arm movement which is a perfect mimic of the human arm movement.

Gesture-Driven LEGO robots

Sapientia Hungarian University of Transylvania

Department of Mathematics and Informatics

Acta Universitatis Sapientiae, Informatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Gesture-Driven LEGO robots"}

In this short survey and case study we want to present our research experience through the project developed by our team, that involves the building of a LEGO...

Gesture-Driven LEGO robots

Published Online: Aug 21, 2019

Page range: 80 - 94

Received: Jun 30, 2019

DOI: https://doi.org/10.2478/ausi-2019-0006

Keywords
human-robot interaction, robotics, end-effectors, Kinect, LEGO MINDSTORMS EV3

© 2019 Lehel István Kovács, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Gesture-Driven LEGO robots

Published Online: Aug 21, 2019

Page range: 80 - 94

Received: Jun 30, 2019

DOI: https://doi.org/10.2478/ausi-2019-0006

Keywordshuman-robot interaction, robotics, end-effectors, Kinect, LEGO MINDSTORMS EV3

© 2019 Lehel István Kovács, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
human-robot interaction, robotics, end-effectors, Kinect, LEGO MINDSTORMS EV3