• Login
    View Item 
    •   SMARTech Home
    • College of Engineering (CoE)
    • The George W. Woodruff School of Mechanical Engineering (ME)
    • Systems Realization Laboratory (SRL)
    • Systems Realization Laboratory Publications
    • View Item
    •   SMARTech Home
    • College of Engineering (CoE)
    • The George W. Woodruff School of Mechanical Engineering (ME)
    • Systems Realization Laboratory (SRL)
    • Systems Realization Laboratory Publications
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    An Architecture for Gesture-Based Control of Mobile Robots

    Thumbnail
    View/Open
    cp.confpro.IROS.a.1999.pdf (601.1Kb)
    Date
    1999-10
    Author
    Iba, Soshi
    Vande Weghe, J. Michael
    Paredis, Chris
    Khosla, Pradeep K.
    Metadata
    Show full item record
    Abstract
    Gestures provide a rich and intuitive form of interaction for controlling robots. This paper presents an approach for controlling a mobile robot with hand gestures. The system uses Hidden Markov Models (HMMs) to spot and recognize gestures captured with a data glove. To spot gestures from a sequence of hand positions that may include non-gestures, we have introduced a "wait state" in the HMM. The system is currently capable of spotting six gestures reliably. These gestures are mapped to robot commands under two different modes of operation: local and global control. In the local control module, the gestures are interpreted in the robot's local frame of reference, allowing the user to accelerate, decelerate, and turn. In the global control module, the gestures are interpreted in the world frame, allowing the robot to move to the location at which the user is pointing.
    URI
    http://hdl.handle.net/1853/33034
    Collections
    • Systems Realization Laboratory Publications [45]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    • About
    • Terms of Use
    • Contact Us
    • Emergency Information
    • Legal & Privacy Information
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    • Login
    Georgia Tech

    © Georgia Institute of Technology

    • About
    • Terms of Use
    • Contact Us
    • Emergency Information
    • Legal & Privacy Information
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    • Login
    Georgia Tech

    © Georgia Institute of Technology