Mechanical Engineering Commons^™

Human Motion Tracking For Assisting Balance Training And Control Of A Humanoid Robot, Ahmad Adli Manasrah

USF Tampa Graduate Theses and Dissertations

Abstract

This project illustrates the use of the human's ability to balance according to his center of gravity as demonstrated in two applications. The center of gravity of a human is explained in detail in order to use it in controlling the Aldebaran NAO robot and in the robot-assisted balance training.

The first application explains how a humanoid robot can mimic a human's movements via a three dimensional depth sensor where the sensor analyzes the position of a user's limbs and how the robot can lift one foot and balance on the other by redistributing the its body mass when …