Teach-in of a robot by showing the motion

A computer controlled life size marionette, which is equipped with twelve mechanical degrees of freedom, can be taught to move by a human dancer. The person carries a rucksack with four flashing infrared light emitting diodes, which are strobed by radio transmission. Two CCD-cameras observe the motions. The generalized coordinates of the dancer are computed by use of the images of the light sources and filtered by several methods. When the same music is played, the marionette shows the choreographical motions of the dancer. The delays of the servo-systems are taken into account and the playback speed is synchronized by correlation control