Gesture Based Robot Control
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.
KeywordsRobotic Manipulator Depth Sensor Multimedia Streaming Dynamical Gesture User Hand
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