Open AccessAn Embedded System for Tracking Human Motion and Humanoid Interfaces
Author(s) -
MingJune Tsai,
HungWen Lee,
Trinh-Ngoc Chau,
Chia-Hong Chao
Publication year - 2012
Publication title -
international journal of automation and smart technology
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.148
H-Index - 10
ISSN - 2223-9766
DOI - 10.5875/ausmt.v2i4.144
Subject(s) - firmware , complex programmable logic device , computer science , embedded system , computer hardware , motion control , digital signal processing , interface (matter) , humanoid robot , computer vision , artificial intelligence , robot , bubble , maximum bubble pressure method , parallel computing
The aim of this research is using embedded CPU to develop a human motion tracking system and construct a motion replication interface for a humanoid robot. In the motion tracking system, we use a CPLD (Complex Programmable Logic Device) which is built in a central control unit (CCU) to generate synchronous signals for all the periphery devices and control the data flow from CCD boards to a PC via a USB chip. An embedded DSP on the CCD board is adopted to control the CCD exposure and conduct image processing. The peak position of exposure was computed by the on-board DSP within sub-pixel accuracy. In the construction of a motion replication interface, the same CCU is used to generate the PWM signals to drive the motors of the humanoid robot. All of the respective firmware coding methods are discussed in this article