Robot body feeling programming method based on Kinect

A robot body feeling programming method based on Kinect comprises the steps of firstly, through Kinect frame tracking technology, acquiring three-dimensional coordinates of 20 joint points of the human body and converting the three-dimensional coordinates to world coordinates; secondly, filtering the coordinates by means of a weighted recursive mean filtering algorithm, eliminating coordinate fluctuation and performing characteristic extraction, extracting an angle characteristic of a joint point coordinate vector, and storing the characteristic into a TXT text; and finally reading the stored angle characteristic into a robot control program, thereby realizing robot body feeling programming. The robot body feeling programming method has advantages of simple and convenient operation, and no effect by external factors. 种基于Kinect的机器人体感编程方法，首先，通过Kinect骨架追踪技术，获取人体20个关节点的三维坐标并将其转化为世界坐标；其次，采用加权递推平均滤波算法对坐标进行滤波，去除坐标的波动然后进行特征提取，提取关节点坐标向量所成的角度特征，同时将特征保存于TXT文本中；最后，将上述保存的角度特征读取到机器人控制程序中，实现机器人的体感编程；本发明具有简单，方便，不受外界因素影响的特点。