https://scholars.lib.ntu.edu.tw/handle/123456789/631930
標題: | The Application of Dual-arm Mobile Robot Systems in the Care of the Older Adults | 作者: | Weng, Wei Ting HAN-PANG HUANG Zhao, Yu Lin |
關鍵字: | hand gesture recognition | human-robot interaction | model-based tracking | service robot | visual servo control | 公開日期: | 1-一月-2022 | 來源出版物: | ICSSE 2022 - 2022 International Conference on System Science and Engineering | 摘要: | With the rapid development of science and technology, in addition to the application of robots in industry, applications that provide services in daily life are also booming, such as shopping mall robots and elderly care robots. Therefore, this paper proposes to further enhance the effect of human-robot interaction based on hand gesture recognition and visual tracking, the robot system, and with the application of dual arms so that it can be used in general home or care centers.In hand gesture recognition, the hand gesture can be further known by the position of each keypoint after using OpenPose to obtain the information of the keypoints. In visual servoing, using YOLOv4 to identify the object to be tracked, and then uses hybrid model-based tracking to track the geometry of the object. In a robot cognitive system, it will get the engagement and intention of the elderly. Moreover, triggering human-robot interaction. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/631930 | ISBN: | 9781665488525 | DOI: | 10.1109/ICSSE55923.2022.9948250 |
顯示於: | 機械工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。