デプスカメラを用いたスケートロボットの滑走姿勢の解析

抄録

In this study, we developed a system to analyze the skating motion of a small biped robot using 3D point cloud obtained by depth camera. To recognize the motion of the robot, four LED feature points were installed on the body. By measuring the positions of the feature points, the position and orientation of the robot were calculated. In addition, we control the luminous pattern of a Red LED feature point fixed on the body in order to record the start time of skating motion. Within 2.0m, we were able to measure the centroid and attitude angle when skating at 30.0fps. It became possible to evaluate the skating posture.