https://scholars.lib.ntu.edu.tw/handle/123456789/630111
Title: | Development of a Visual Perception System on a Dual-Arm Mobile Robot for Human-Robot Interaction | Authors: | Weng, Wei Ting HAN-PANG HUANG Zhao, Yu Lin CHUN-YEON LIN |
Keywords: | hand-gesture recognition | human-robot interaction | mobile robots | model-based tracking | visual-servo control | Issue Date: | 1-Dec-2022 | Publisher: | MDPI | Journal Volume: | 22 | Journal Issue: | 23 | Source: | Sensors | 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. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/630111 | ISSN: | 14248220 | DOI: | 10.3390/s22239545 |
Appears in Collections: | 機械工程學系 |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.