Proceedings of the International Conference on Logistics, Engineering, Management and Computer Science

The Design and Implementation of Natural Human-Robot Interaction System Based on Kinect Sensor

Authors
Fengli Ma, Zhifeng Sun, Hao Wang
Corresponding Author
Fengli Ma
Available Online July 2015.
DOI
https://doi.org/10.2991/lemcs-15.2015.46How to use a DOI?
Keywords
Kinect; Skeleton tracking; Depth data; Robot arm; Hu Moment
Abstract
In this paper, researchers propose a method to build a natural human-robot interaction system based on Kinect sensor. Taking the advantage of skeleton tracking technology, researchers can easily get the depth data from Kinect sensor and capture body movements, which greatly simplify the recognition algorithms. After establishing the 3D coordinates of human joints, the rotation angles of human waist, shoulder, elbow and wrist can be calculated according to the spatial geometry, and these joints correspond with the joints of the robot arm one to one. Further, researchers need to extract the palm characteristic information to recognize hand gesture based on Hu Moment. Finally, the results of identification will be converted to commands and sent to controller via Bluetooth to manipulate the robot arm. Experiments show that by this method, researchers can effectively control the rotation of the 5-DOF robot arm to grab object. As the relationship between people and robots becomes more and more closely, this kind of human-robot interaction interface will play an important role in the future development of robot
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This is an open access article distributed under the CC BY-NC license.

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Proceedings
International Conference on Logistics Engineering, Management and Computer Science (LEMCS 2015)
Part of series
Advances in Intelligent Systems Research
Publication Date
July 2015
ISBN
978-94-6252-102-5
ISSN
1951-6851
DOI
https://doi.org/10.2991/lemcs-15.2015.46How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Fengli Ma
AU  - Zhifeng Sun
AU  - Hao Wang
PY  - 2015/07
DA  - 2015/07
TI  - The Design and Implementation of Natural Human-Robot Interaction System Based on Kinect Sensor
BT  - International Conference on Logistics Engineering, Management and Computer Science (LEMCS 2015)
PB  - Atlantis Press
SN  - 1951-6851
UR  - https://doi.org/10.2991/lemcs-15.2015.46
DO  - https://doi.org/10.2991/lemcs-15.2015.46
ID  - Ma2015/07
ER  -