https://scholars.lib.ntu.edu.tw/handle/123456789/630111
標題: | Development of a Visual Perception System on a Dual-Arm Mobile Robot for Human-Robot Interaction | 作者: | Weng, Wei Ting HAN-PANG HUANG Zhao, Yu Lin CHUN-YEON LIN |
關鍵字: | hand-gesture recognition | human-robot interaction | mobile robots | model-based tracking | visual-servo control | 公開日期: | 1-十二月-2022 | 出版社: | MDPI | 卷: | 22 | 期: | 23 | 來源出版物: | Sensors | 摘要: | 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. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/630111 | ISSN: | 14248220 | DOI: | 10.3390/s22239545 |
顯示於: | 機械工程學系 |
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