Attitude Algorithm of Human Motion Capture System for Teleoperation of Humanoid Robots

To solve the problem of insufficient autonomous operation capability of intelligent service robots, the human-in-the-loop strategy is a useful mean to apply robotic technology for practical application. This paper introduces an attitude algorithm of a wearable human motion capture system we designed to control humanoid robot to perform human-like action. First, the design of this human capture system consisting of multi inertial navigation parts was described. Then, an attitude solution algorithm for this system was put forward, which inputs human postures and output accurate human joint data by the quaternion method and the unscented Kalman filter (UKF). Experiments for attitude data analyses and telecontrol of humanoid robot were performed. The results show that the system and its attitude algorithm can realize human joint angle calculation with high precision during motion, and can be applied to the teleoperation of humanoid robot.