| Meno: | Anastasiya |
|---|---|
| Priezvisko: | Ihnatovich |
| Názov: | Recognition and Imitation of Gestures by Semi-Humanoid Robot NICO |
| Vedúci: | prof. Ing. Igor Farkaą, Dr. |
| Rok: | 2026 |
| Kµúčové slová: | gesture imitation, joint angle reconstruction, angle mapping |
| Abstrakt: | Seamless human-robot interaction (HRI) requires a number of perceptual and motor abilities from the robot, one of them being the imitation of human gestures. Humanoid robots have an advantage in HRI thanks to their anthropomorphic features. In this work, we develop a system for recognition and imitation of human hand and arm gestures by the semi-humanoid robot NICO based on analytical geometry and a pretrained MediaPipe pose-estimation model. For each input RGB frame, 3D coordinates of relevant human body landmarks, including arm joints and hand keypoints, are obtained using the MediaPipe framework. Joint angles are then computed from these coordinates using derived geometric relations. Finally, the computed angles are properly mapped to NICO’s motor configuration and executed in a predefined motion sequence. Preliminary experiments on several representative upper-body gestures indicate that the proposed method can produce meaningful imitative motions from monocular RGB input only, while also highlighting limitations in more complex poses and wrist-related movements. |
Súbory bakalárskej práce:
Autor nedal súhlas so zverejnením svojej bakalárskej práce.
Súbory prezentácie na obhajobe: