Abstract：Based on imitation learning and human-computer interaction technology, Kinect depth camera sensor is used to study the upper body motion imitation of humanoid robots. Firstly, the modified D-H model is applied to the arms of the NAO robot to complete the accurate establishment and solution of the kinematics model of the arms, and solve the singularity problem when two adjacent joints are parallel. Secondly, an improved gesture recognition algorithm based on depth image is proposed, which judges and imitates the gestures of the teacher. Compared with the traditional gesture recognition based on color image, it is not affected by light and improves recognition accuracy of the system and the average recognition accuracy of the improved algorithm reaches 96.2%. Finally, the experiments using the NAO robot as a test platform show that the system enables the NAO robot to simulate the upper body movements of the teacher in real time, with smooth and stable motion trajectory, and it also shows good accuracy in the grasping experiment.
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2021, Vol. 42 
