Journal
SENSORS
Volume 22, Issue 23, Pages -Publisher
MDPI
DOI: 10.3390/s22239545
Keywords
hand-gesture recognition; model-based tracking; visual-servo control; human-robot interaction; mobile robots
Funding
- National Science and Technology Council, Taiwan
- [MOST 110-2221-E-002-110-MY3]
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This paper presents the development of a visual-perception system for a dual-arm mobile robot, and validates its effectiveness in human-robot interaction applications through experiments.
This paper presents the development of a visual-perception system on a dual-arm mobile robot for human-robot interaction. This visual system integrates three subsystems. Hand gesture recognition is utilized to trigger human-robot interaction. Engagement and intention of the participants are detected and quantified through a cognitive system. Visual servoing uses YOLO to identify the object to be tracked and hybrid, model-based tracking to follow the object's geometry. The proposed visual-perception system is implemented in the developed dual-arm mobile robot, and experiments are conducted to validate the proposed method's effects on human-robot interaction applications.
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