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Online control programming algorithm for human-robot interaction system with a novel real-time human gesture recognition method
Chen B(陈博)1,2,3; Hua CS(华春生)4; Dai B(代波)1,2,3; He YQ(何玉庆)1,2; Han JD(韩建达)5
Department机器人学研究室
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8814
2019
Volume16Issue:4Pages:1-18
Indexed BySCI ; EI
EI Accession number20192907188786
WOS IDWOS:000474887300001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China ; National Natural Science Foundation of China (NSFC) ; Liaoning Province ; State Key Laboratory of Robotics
KeywordHuman-robot interaction multifeature cascade classifier algorithm online pretraining flight robot platform gesture recognition system
AbstractThis article proposes an online control programming algorithm for human-robot interaction systems, where robot actions are controlled by the recognition results of gestures performed by human operators based on visual images. In contrast to traditional robot control systems that use pre-defined programs to control a robot where the robot cannot change its tasks freely, this system allows the operator to train online and replan human-robot interaction tasks in real time. The proposed system is comprised of three components: an online personal feature pretraining system, a gesture recognition system, and a task replanning system for robot control. First, we collected and analyzed features extracted from images of human gestures and used those features to train the recognition program in real time. Second, a multifeature cascade classifier algorithm was applied to guarantee both the accuracy and real-time processing of our gesture recognition method. Finally, to confirm the effectiveness of our algorithm, we selected a flight robot as our test platform to conduct an online robot control experiment based on the visual gesture recognition algorithm. Through extensive experiments, the effectiveness and efficiency of our method has been confirmed.
Language英语
WOS SubjectRobotics
WOS Research AreaRobotics
Funding ProjectNational Natural Science Foundation of China[U1609210] ; National Natural Science Foundation of China[61573338] ; National Natural Science Foundation of China[U1508208] ; National Natural Science Foundation of China (NSFC)[U1608253] ; Liaoning Province[U1608253] ; State Key Laboratory of Robotics[2017-Z07]
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25327
Collection机器人学研究室
Corresponding AuthorHua CS(华春生)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
3.University of Chinese Academy of Sciences, Beijing, China
4.College of Information, Liaoning University, Shenyang, China
5.Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China
Recommended Citation
GB/T 7714
Chen B,Hua CS,Dai B,et al. Online control programming algorithm for human-robot interaction system with a novel real-time human gesture recognition method[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2019,16(4):1-18.
APA Chen B,Hua CS,Dai B,He YQ,&Han JD.(2019).Online control programming algorithm for human-robot interaction system with a novel real-time human gesture recognition method.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,16(4),1-18.
MLA Chen B,et al."Online control programming algorithm for human-robot interaction system with a novel real-time human gesture recognition method".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 16.4(2019):1-18.
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