Multi-Robot and Human Interaction based on Gesture Recognition for Service Applications
Date Issued
2014
Date
2014
Author(s)
Tang, Wan-Ju
Abstract
Robotics has been much development over the last few decades. In the near future, there may be multiple robots able to perform household chores, dangerous work or exhausting jobs in families, work places or hospitals. However, most studies do not consider these multi-robot system and human-robot interaction together. The thesis attempts to integrate gesture recognition techniques and multi-robot formation control to promote the functionality of multi-robot coordination under human commanding. We firstly discuss the method used for gesture recognition system including hand segmentation and localization, classification, post-processing in real-time applications. Then, combining the gesture system, natural multi-robot human interaction is divided into two cases: gesture target identification for a multi-robot system and adaptive humans-robots group behavior formation. The first case deals with developing a strategy for determining the robot that a gesture command is intended for to coordinate a reasonable outcome. The second case regards robots and humans as companions and as group members and the adaptation of formations according to humans when request. Finally, we demonstrate that naturally multi-robot human interaction based on the gesture recognition to close the gap between humans and multi-robot.
Subjects
Multi-Robot Human Interaction
Gesture Recognition
Multi-Robot Coordination
Mobile Robot
Type
thesis
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