Establising a natural HRI system for mobile robot through human hand gestures

Ming Shaung Chang, Jung Hua Chou

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)

Abstract

A robust human robot interface system for intelligent robot commands based only on hand gesture is developed. It has a triple-stage face detection scheme and a FLC-Kalman filter to track current user position in a dynamic and cluttered working environment. Through the combined classifier of PCA and BPANN, the commands defined by facial positions and hand gestures are identified by dynamic programming for real-time controls of a mobile robot. The results show that the system accurately perform real-time face detection and tracking robustly at a speed of 8 frames per second.

Original languageEnglish
Pages (from-to)723-728
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume42
Issue number16
DOIs
Publication statusPublished - 2009
Event9th IFAC Symposium on Robot Control, SYROCO 2009 - Gifu, Japan
Duration: 2009 Sept 92009 Sept 12

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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