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Gesture Based Robot Control

  • Tomasz Grzejszczak
  • Michał Mikulski
  • Tadeusz Szkodny
  • Karol Jędrasiak
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7594)

Abstract

The paper proposes a method of controlling robotic manipulators with use of human gestures and movement. Experiments were performed with the use of 4 degree-of-freedom AX-12 Robotic Arm manipulator with force gripper and ASUS Xtion depth sensor also called motion controller. Depth and video capture has been done via OpenNI library. The infrastructure is based on Windows Communication Foundation (WCF) for remote access, authorization, multimedia streaming and servo control. Control of robotic manipulator is implemented with use of human computer interaction algorithm basing on depth sensor information.

Keywords

Robotic Manipulator Depth Sensor Multimedia Streaming Dynamical Gesture User Hand 
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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References

  1. 1.
    ASUS: Xtion pro documentation (2012), http://www.asus.com/Multimedia/Motion_Sensor/Xtion_PRO/
  2. 2.
    CrustCrawler Inc.: Dynamixel AX-12 User’s Manual (2006)Google Scholar
  3. 3.
    Future Technology Devices International Ltd.: FT232RL USB UART IC Datasheet Version 1.9 (2009)Google Scholar
  4. 4.
    Mikulski, M.A., Szkodny, T.: Remote Control and Monitoring of AX-12 Robotic Arm Based on Windows Communication Foundation. In: Czachórski, T., Kozielski, S., Stańczyk, U. (eds.) Man-Machine Interactions 2. AISC, vol. 103, pp. 77–83. Springer, Heidelberg (2011)CrossRefGoogle Scholar
  5. 5.
    organization, O.: Openni documentation (2012), http://openni.org/Documentation/

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Tomasz Grzejszczak
    • 1
  • Michał Mikulski
    • 1
  • Tadeusz Szkodny
    • 1
  • Karol Jędrasiak
    • 1
  1. 1.Silesian University of TechnologyGliwicePoland

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