A Kinect-Based Motion Capture System for Robotic Gesture Imitation

  • José Rosado
  • Filipe Silva
  • Vítor Santos
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 252)


Exploring the full potential of humanoid robots requires their ability to learn, generalize and reproduce complex tasks that will be faced in dynamic environments. In recent years, significant attention has been devoted to recovering kinematic information from the human motion using a motion capture system. This paper demonstrates and evaluates the use of a Kinect-based capture system that estimates the 3D human poses and converts them into gestures imitation in a robot. The main objectives are twofold: (1) to improve the initially estimated poses through a correction method based on constraint optimization, and (2) to present a method for computing the joint angles for the upper limbs corresponding to motion data from a human demonstrator. The feasibility of the approach is demonstrated by experimental results showing the upper-limb imitation of human actions by a robot model.


3D pose estimation constraint optimization articulated structures inverse kinematics gesture imitation 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Department of Computer Science and Systems EngineeringCoimbra Institute of Engineering, IPCCoimbraPortugal
  2. 2.Institute of Electronics Engineering and Telematics of Aveiro, Department of Electronics, Telecommunications and InformaticsUniversity of AveiroAveiroPortugal
  3. 3.Institute of Electronics Engineering and Telematics of Aveiro, Department of Mechanical EngineeringUniversity of AveiroAveiroPortugal

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