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http://dx.doi.org/10.5391/JKIIS.2014.24.1.064

Motion Control of a Mobile Robot Using Natural Hand Gesture  

Kim, A-Ram (Department of Advanced Engineering, Graduate School, Kyungnam University)
Rhee, Sang-Yong (Department of Computer Engineering, Kyungnam University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.24, no.1, 2014 , pp. 64-70 More about this Journal
Abstract
In this paper, we propose a method that gives motion command to a mobile robot to recognize human being's hand gesture. Former way of the robot-controlling system with the movement of hand used several kinds of pre-arranged gesture, therefore the ordering motion was unnatural. Also it forced people to study the pre-arranged gesture, making it more inconvenient. To solve this problem, there are many researches going on trying to figure out another way to make the machine to recognize the movement of the hand. In this paper, we used third-dimensional camera to obtain the color and depth data, which can be used to search the human hand and recognize its movement based on it. We used HMM method to make the proposed system to perceive the movement, then the observed data transfers to the robot making it to move at the direction where we want it to be.
Keywords
Natural hand gesture; Kinect sensor; Depth image; Hidden markov model; Mamdani Fuzzy Inference System; Gesture recognition; Mobile robot control;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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