Gesture based control of robotic arm using Kinect

A robotic arm to replicate the arm gestures of a human operator.

This projects aims to develop a robotic arm, which can replicate the arm movement of a human operator. The human operator arm gestures are acquired from the Kinect’s depth image using skeletal tracking applications. Then, this arm gestures are used to calculate the angular position of each joints in the robotic arm using laws of cosines (Ref: http://www.terecop.eu/TRTWR-RIE2014/files/00_WFr1/00_WFr1_10.pdf). This angular position is calibrated into the corresponding commands applied to each of the joints.
Please refer the video demonstration of the project: https://www.youtube.com/watch?v=UJ1d0Z1D104
Hardware Requirements:
1. Robotis Bioloid Premium Humanoid (CM-530) (Ref: http://support.robotis.com/en/product/bioloid/bioloid_prem_main.htm)
2. Microsoft Kinect Xbox 360 (Ref: http://support.xbox.com/en-GB/xbox-360/accessories/kinect-sensor-setup)

Software Requirements:

1. Bioloid Toolbox for MATLAB (Ref: http://incognite.felk.cvut.cz/index.php?page=projects/bioloid&cat=projects)
2. Kinect SDK (Ref: https://www.microsoft.com/en-in/download/details.aspx?id=40278)
3. MATLAB R2013