  This work presents a teleoperated humanoid robot system that can imitate
human motions, walk and turn. To capture human motions, a Microsoft Kinect
Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor
makes the system more comfortable to interact with. The skeleton data is
extracted from the Kinect which is processed to generate the robot's joint
angles. Robot Operating System (ROS) is used for the communication between the
various parts of the code to achieve minimal latency. Thus the robot imitates
the human in real-time with negligible lag. Unlike most of the human motion
imitation systems, this system is not stationary. The lower body motions of the
user are captured and processed and used to make the robot walk forward,
backward and to make it turn right or left thus enabling a completely dynamic
teleoperated humanoid robot system.
