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面向月面探测的空间机器人-航天员手势交互方法的研究
Alternative TitleResearch on Space Robot-Astronaut Gestures Interactive Method in Lunar Exploration
高庆1,2; 刘金国1; 张飞宇1; 郑永春3
Department空间自动化技术研究室
Source Publication载人航天
ISSN1674-5825
2018
Volume24Issue:3Pages:321-326
Indexed ByCSCD
CSCD IDCSCD:6277190
Contribution Rank1
Funding Organization国家自然科学基金(51775541) ; 载人航天预先研究项目(030201)
Keyword手势识别 人机交互 卷积神经网络 空间机器人
Abstract

针对月面探测机器人-航天员手势交互的问题,以航天员助手机器人(AAR-2)为实验平台,运用卷积神经网络模型,提出了一种静态手势识别方法。采用该方法对设计的8种空间人机交互手势进行了手势识别试验,并将试验结果与单通道的CNN等方法的结果进行对比,证明了该方法能在一定程度上提高静态手势识别率,识别准确率达到93.3%。并自制了一套小型空间人机交互的手势数据集,用以补充该方法在月面探测的实际任务中的不足。

Other Abstract

To solve the problem of hand gesture interaction between the lunar surface detection robot and the astronaut,the Astronaut Assistant Robot ( AAR-2) was used as the experiment platform and a static gesture recognition method was proposed based on the convolutional neural network model. Then,the proposed method was used to perform hand gesture recognition experiments on eight kinds of spatial human-robot interaction hand gestures. The test results were compared with the results of the single-channel CNNs and other methods. It was proved that the method could improve the recognition accuracy of static hand gestures to a certain extent with the accuracy rate reached 93. 3%. In addition,a small set of spatial human-robot interaction hand gesture dataset was created to supplement the inadequacy of the method in the actual task of lunar surface exploration.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22309
Collection空间自动化技术研究室
Corresponding Author高庆
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
3.中国科学院国家天文台
Recommended Citation
GB/T 7714
高庆,刘金国,张飞宇,等. 面向月面探测的空间机器人-航天员手势交互方法的研究[J]. 载人航天,2018,24(3):321-326.
APA 高庆,刘金国,张飞宇,&郑永春.(2018).面向月面探测的空间机器人-航天员手势交互方法的研究.载人航天,24(3),321-326.
MLA 高庆,et al."面向月面探测的空间机器人-航天员手势交互方法的研究".载人航天 24.3(2018):321-326.
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