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Human to PR2 Robot Motion Imitation and Recall System

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Published on Aug 12, 2013

Developed by Michelle Youssef in the Magic Lab at the University of Technology, Sydney as an undergraduate Mechatronic Engineering project.

Using a Microsoft Kinect and OpenNI tracker, the users movements are tracked. A joint mapping technique is then used to help the PR2 robot to copy the users movements in real time, resulting in an imitation system. A modified version of this system (for the Aldebaran NAO) was showcased at IJCAI-13 in Beijing.
The save and recall parts of the video write/read from a CSV file which the user can modify to adjust the robots joint angles.

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