Management roborukoy using leap motion

Last year I put together roboruku , wrote for her « driver » for linux, learn how to keep different items. And somehow forgot about it. But yesterday I brought leap motion and come up with a new idea - to learn to manage roborukoy by means of movements of his hands.

What you need to manage
We have roboruki:

• base - can be twisted clockwise and counter-clockwise; shoulder - to move up and down; elbow - move up and down; wrist - move up and down; claws - open and close.

   & lt; code class = & quot; python & quot; & gt; from roboarm import Arm arm = Arm () arm.base.rotate_clock (3) arm.elbow.up (1) arm.grips.open (2) & lt; / code & gt;  
  
  
  
   The first implementation  
  
     
  
  
  
  Leap motion can detect  hands ,  fingers  and their direction. 
  
  So I decided to tie the motion of the fingers: 
  
   
   
   Part roboruki  
   My hand  
   Number of fingers  
   Axis   
   Database  Right  4 or 5  X  
   Shoulder  Left  4 or 5  Y  
   Elbow  Right  2 or 3  Y  
   Wrist  Any  1  Y < /  
   Claws  left  2 or 3  X 
  
  
   The second implementation  
  
  
  
  Leap motion gives the coordinates of the hands within certain limits, I have about -200 to 200 X and from 0 to 400 with respect to Y. This is an area I've broken into ten equal parts, and tied them to action: 
  
   
   
   Basis clockwise  Leverage up  Elbow up  wrist up  Open claws  
   Basis counterclockwise  Shoulder down  Elbow down  Wrist vvniz  Close claws  This realization was working  = ) 
  
  
  
   What happened  
  
  Video result where roboruka trying to raise the box: 
  
  
  
   
  
  
  
  A video where you can see hand movements better: 
  
  
  
   
  
  
  
   Links  
  
   Roboruka owi robotic arm.  
  
   Leap motion.  
  
   «Driver».  
  
   source code implementation.  
  
  
  
  Source:  habrahabr.ru/post/214613/ 
  
  
                              
  
                          
                          
  
                              
  
                                  
                                                                      roboruka
  
                                                                      leap motion
  
                                                                      python
  
                                  
                                                              
                          
                      
                  
  
  
  
  
                  
  
  
                  
  
  
                     
  
  
                          
  
  
  
  
  
                              
                          
                      
  
  
  
  
  
  
  
  
                                  
  
  
  
  
  
  
                  
  
  
  
  
  
  
  
  
  
  
  
              
  
                              
  
                                              
  
                              
  
  
                                  
                              
                          
                      
  
                      
  
  
                                          
  
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