Development of a Visual Perception System on a Dual-Arm Mobile Robot for Human-Robot Interaction
Journal
Sensors
Journal Volume
22
Journal Issue
23
Date Issued
2022-12-01
Author(s)
Abstract
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.
Subjects
hand-gesture recognition | human-robot interaction | mobile robots | model-based tracking | visual-servo control
Publisher
MDPI
Type
journal article