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ABSTRACT
We describe the design of a modular system for untethered real-time
kinematic motion capture using sensors with inertial measuring units
(IMUs). Our system is comprised of a set of small and lightweight sensors.
Each sensor provides its own global orientation (3 degrees of freedom) and
is physically and computationally independent, requiring only external
communication. Orientation information from sensors is communicated via
wireless to host computer for processing. We present results of the
real-time usage of our untethered motion capture system for teleoperating
the NASA Robonaut1. We also discuss potential applications for untethered
motion capture with respect to humanoid robotics.
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