Weng, Wei TingWei TingWengHAN-PANG HUANGZhao, Yu LinYu LinZhaoCHUN-YEON LIN2023-04-112023-04-112022-12-0114248220https://scholars.lib.ntu.edu.tw/handle/123456789/630111This 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.enhand-gesture recognition | human-robot interaction | mobile robots | model-based tracking | visual-servo controljournal article10.3390/s22239545365022452-s2.0-85143736990WOS:000896211600001https://api.elsevier.com/content/abstract/scopus_id/85143736990