**4.2 Software description**

A Microsoft Kinect v2 camera is used to track human motion using skeleton tracking. This technique has some limitations on tracking particular motions, especially motions of the palm of the hand that cannot yet be recognized. For example, the motion primitive "close hand" can be commanded while remotely operating the arm to hover over the grasping position. An online tracking system has been developed to control the arm of a Bioloid robot using Kinect sensor. The task of this work was hand-guiding robot arms using Microsoft Kinect v2. This objective has been achieved using a Kinect v2 and a Bioloid robot, which is a humanoid robot with 18 degrees of freedom (DOF) in total. The joint motions of the operator's arms and legs in the real world captured by a Kinect camera can be transferred into the workspace mathematically via forward and inverse kinematics, realistically through data-based UDP connection between the robot and Kinect sensor. The user assumes a specific pose to initiate a skeletal tracking. After the tracking begins, the user can start controlling the robot. After turning the motors on, the user can operate the robot remotely. The initial location of the user becomes the origin of the control coordinate system.
