A Human-Following Mobile Robot Providing Natural and Universal Interfaces for Control With Wireless Electronic Devices

[minha62]

논문에서 제안한 것

1. a human-following algorithm based on human path prediction
2. a natural gesture interaction using RGB-D sensor

the human-following control system ➡ two feedback control loops 1) for linear motions 2) for rotational motions

To follow an operator effectively, a feedback control system is developed to maintain a certain distance between the operator and the robot and an anticipation for human-following.

Two operation modes

1. the human-tracking mode
   • laptop
   • process the position data from the Kinect sensor & RGB camera
   • calculate the distance and angular position error
   • plan robot's motion
   • send the commands to the robot to track the designated person

2. gesture-control mode
   • laptop
   • process the positional data of joints of the person being tracked by the Kinect sensor
   • send pulse width modulation signals to the Arduino board of the lamps through the XBee modules

• Arduino board
  • process these signals(pulse width modulation signals) to turn the lamp ON/OFF

[SEOJIN-Lab]

흥미로운 내용 잘 읽었습니다 :>

[m0oon0]

잘 읽었습니다!!