Mimicking Hybrid Manipulator Humanoid Torso by Applying Vector Multiplication Using Microsoft Kinect for Xbox One

Abstract

The study aimed to use the skeletal tracking feature of Microsoft Kinect for Xbox One for acquiring angle in mimicking hybrid manipulator humanoid torso using vector multiplication. The proponents make use of the design of a humanoid torso that enhances the workspace and bending of the humanoid torso using a hybrid manipulator designed from a previous study. The position of the user’s joint was obtained by using the Kinect’s skeletal tracking feature. Using LabVIEW, the proponents acquired the needed vector through cross product and the needed angle through dot product from the two vectors created by two points. The angles obtained were fed to the microcontroller through serial communication to convert it to signals to actuate the servo motors in the hybrid manipulator humanoid torso.