Accelerometer-based Gesture Interface for Remote Control of Snake Robots
Date Issued
2009
Date
2009
Author(s)
Huang, Chung-Cheng
Abstract
This study is to design a hierarchical gesture input interface based on accelerometers mounted on a Nintendo Wii Remote Controller to improve the mobility and efficiency for controlling snake robots. This interface consists of two subunits: gesture recognition and hierarchical input approaches. We mainly use weighted cross correlation approaches to recognize user’s gestures including twelve snake motion gestures, three shape gestures, Arabic numerals from “0” to “9” and fourteen English alphabets. The average recognition rate for Snake motion gestures and shape gestures can reach up to 94.89% and for Arabic numerals and English alphabets can reach up to 93.47%. In the control of snake robots using hierarchical input approaches, users not only can directly control predefined snake robot gaits based on central pattern generator (CPG) and shapes of snake robots by using twelve snake motion gestures and three shape gestures respectively, but can also modify the motion speed or direction of snake robots by entering Arabic numerals and English alphabets. Snake motion gestures represent snake robot gaits, shape gestures represent the shapes of snake robots; English alphabets denote parameter types or hierarchical levels and Arabic numerals represent parameter values. Those Snake motion gestures, Arabic numerals and alphabets are enough for the CPG control of snake robots. Besides, the system allows self-defined gestures by providing 30 samples for each self-defined gesture in training phase. The developed human-snake robot interface can be applied to many other human-machine interaction devices such as consumer electronics products, industrial machines or other mechatronic devices.
Subjects
Accelerometers
Central pattern generator (CPG)
Gesture interface
Snake robots
Weighted cross correlation approach
Type
thesis
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