Online Robot Teleoperation Using Human Hand Gestures: A Case Study for Assembly Operation

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2016

Autores

Mendes, N (Autor) Outra; Neto, P (Autor) Outra; Safeea, M (Autor) Outra; António Paulo Moreira (Autor) FEUP

Ata de Conferência Internacional

Título: ROBOT 2015: SECOND IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, VOL 2

Páginas: 93-104

2nd Iberian Robotics Conference (ROBOT)

Lisbon, PORTUGAL, NOV 19-21, 2015

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-00K-2G0

DOI: 10.1007/978-3-319-27149-1_8

Abstract (EN): A solution for intuitive robot command and fast robot programming is presented to assemble pins in car doors. Static and dynamic gestures are used to instruct an industrial robot in the execution of the assembly task. An artificial neural network (ANN) was used in the recognition of twelve static gestures and a hidden Markov model (HMM) architecture was used in the recognition of ten dynamic gestures. Results of these two architectures are compared with results displayed by a third architecture based on support vector machine (SVM). Results show recognition rates of 96 % and 94 % for static and dynamic gestures when the ANN and HMM architectures are used, respectively. The SVM architecture presents better results achieving recognition rates of 97 % and 96 % for static and dynamic gestures, respectively.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12