Yavsan, EmrehanUcar, Aysegul2024-02-232024-02-2320160263-22411873-412Xhttps://doi.org/10.1016/j.measurement.2016.09.026https://hdl.handle.net/20.500.12452/12334This study presents a framework that recognizes and imitates human upper-body motions in real time. The framework consists of two parts. In the first part, a transformation algorithm is applied to 3D human motion data captured by a Kinect. The data are then converted into the robot's joint angles by the algorithm. The human upper-body motions are successfully imitated by the NAO humanoid robot in real time. In the second part, the human action recognition algorithm is implemented for upper-body gestures. A human action dataset is also created for the upper-body movements. Each action is performed 10 times by twenty-four users. The collected joint angles are divided into six action classes. Extreme Learning Machines (ELMs) are used to classify the human actions. Additionally, the Feed-Forward Neural Networks (FNNs) and K-Nearest Neighbor (K-NN) classifiers are used for comparison. According to the comparative results, ELMs produce a good human action recognition performance. (C) 2016 Elsevier Ltd. All rights reserved.eninfo:eu-repo/semantics/closedAccessHuman Action RecognitionNao Humanoid RobotXbox 360 KinectExtreme Learning MachinesArticle948528612-s2.0-84988699181Q1WOS:000390512100092Q110.1016/j.measurement.2016.09.026