Computer Vision Body Modeling for Gesture Based Teleoperation

  • Manel Frigola
  • Alberto Rodriguez
  • Josep Amat
  • Alícia Casals
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 31)


Dependable robots and teleoperation, taken in its broadest sense, require natural and friendly human-robot interaction systems. The work presented consists of a methodology for human-robot interaction based on the perception of human intention from vision and force. The vision system interprets human gestures from the integration of a stereovision and a carving system, from which it extracts a model of the human body when a person approaches the robot. The interaction can be performed by contact as well, from the perception of the forces applied to the robot either through a force sensor on the wrist or a sensing skin. The perception of human intention makes possible an intuitive interaction to modify on line the robot trajectory when required.


Singular Point Torque Sensor Human Intention Robot Trajectory Gesture Interface 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Manel Frigola
    • 1
  • Alberto Rodriguez
    • 1
  • Josep Amat
    • 1
  • Alícia Casals
    • 1
  1. 1.Automatic Control and Computer Engineering Department Center of Research on Biomedical EngineeringTechnical University of Catalonia (UPC)BarcelonaSpain

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