원문정보
초록
영어
Gesture based natural human-robot interface is an important function of robot teleoperation system. Such interface not only enables users to manipulate a remote robot by demonstration, but also ensures user-friendly interaction and software reusability in developing a networked robot system. In this paper, an application of gesture-based remote human-robot interaction is proposed using a Kinect sensor. The gesture recognition method combines depth information with traditional Camshift tracking algorithm by using Kinect and employs HMM in dynamic gesture classification. A Client/Server structured robot teleoperation application system is developed, which provides a favorable function of remotely controlling a dual-arm robot by gestural commands. Experiment results validate the practicability and effectiveness of the application system.
목차
1. Introduction
2. Gesture Recognition as Human-robot Interface
2.1. Camshift based Hand Tracking
2.2. Hand Motion Trajectory Recognition
3. Development of Remote Robot Control System with Gestural Interface
4. Experiments
5. Conclusion
Acknowledgements
References