Humanoid Robot Programming for the Assistance of an Artistic Performance

In this paper the methodology of programming a Darwin-Op® humanoid robot for the assistance of an artistic performance is shown. A performance is composed of elements that express emotions and feelings in people, fulfilling a series of movements defined by sequentially angles, lengths of the limbs and joints of the body. A biomechanical analysis was done for a dimensional relationship between humans and humanoid robot movements and allow a choreographic environment, which are sequences of basic movements accompanied by music in sync. The vision system Motive Tracker OptiTrack® and costume withmarkers to analyze the graphs, positions and trajectories of a skeleton in a three dimensional space generated for each routine, to obtain the angular information required was used. The extracted angles represent a sequence of movement and are placed on a table that is used to program the DarwinOp® humanoid robot with Roboplus®, this program to take care of mimicking the sequence performed by humans. The positions of the servo motors in each static pose was plotted and compared to those generated with the test subject. The degree of error is at its peak 5%, demonstrating that the humanoid robot has a mimicry of human movements. The interaction with the user is carried out by processing voice commands to call specific routines programmed into the humanoid robot.