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Kinect-based man-machine interaction method for two-arm robot

A human-computer interaction and robot technology, applied in the field of human-computer interaction, can solve the problems of unnatural communication of operation tasks and limitations of action commands.

Active Publication Date: 2012-12-12
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

However, motion commands are restricted to a subset of the true end-effector degrees of freedom
In addition, those gestures that are not related to specific manipulation tasks are used to change the robot's mode of operation, so these make the communication of manipulation tasks unnatural.

Method used

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  • Kinect-based man-machine interaction method for two-arm robot

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Embodiment Construction

[0053] The purpose of the invention of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, and the embodiments cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following embodiments. Unless otherwise specified, the materials and processing methods used in the present invention are conventional materials and processing methods in the technical field.

[0054] The invention provides a Kinect-based human-computer interaction method for a dual-arm robot, wherein the Kinect is a 3D somatosensory camera; comprising the following steps:

[0055] S1. Establish a coordinate system for the operator's arm through the 3D somatosensory camera;

[0056] S2, carry out skeleton extraction to operator's arm image by computer;

[0057] S3. Determine the positions of the index finger and the thumb through image analysis including the arm;

[005...

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Abstract

The invention discloses a Kinect-based man-machine interaction method for a two-arm robot. In the method, operators are allowed to control a six-degree-of-freedom virtual robot to complete an operation task through a natural hand three-dimensional action; and the operators are helped to control the robot and know the action and ambient environment of the robot on the basis of the visual man-machine interaction. According to the method, the visual guidance-based semi-autonomous shared control can be realized, and an end effector with an object grabbing task obtains the more exact position and range due to the semi-autonomous shared control of the visual guidance, so that the grabbing is more exact.

Description

technical field [0001] The invention relates to the technical field of human-computer interaction, in particular to a Kinect-based human-computer interaction method for a dual-arm robot. Background technique [0002] Utilizing an operator to steer a telerobot in an unstructured dynamic environment is necessary when a human presence is not suitable for the robot. [0003] Mechanical and other contact interfaces used for teleoperation require unnatural human motions that often interfere with human motion in order to achieve the targeted manipulation tasks. [0004] The existing vision-based man-machine exchange methods either only use a few degrees of freedom of the human hand, or require the operator to make large movements, which is very laborious to operate. [0005] Commonly used teleoperated mechanical HMIs include a variety of devices worn by the operator, such as skeletal mechanisms, tool gloves, electromagnetic or inertial motion tracking sensors, or myoelectric sensi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 张平杜广龙李泽玲
Owner SOUTH CHINA UNIV OF TECH
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