Development of a Visual Perception System on a Dual-Arm Mobile Robot for Human-Robot Interaction

Autor:	Wei-Ting Weng, Han-Pang Huang, Yu-Lin Zhao, Chun-Yeon Lin
Jazyk:	angličtina
Rok vydání:	2022
Předmět:	hand-gesture recognition model-based tracking visual-servo control human-robot interaction mobile robots Chemical technology TP1-1185
Zdroj:	Sensors, Vol 22, Iss 23, p 9545 (2022)
Druh dokumentu:	article
ISSN:	22239545 1424-8220
DOI:	10.3390/s22239545
Popis:	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.
Databáze:	Directory of Open Access Journals
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