Stereoscopic Vision System for Human Gesture Tracking and Robot Programming by Demonstration

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

Ferreira, M (Author) Other; Rocha, LF (Author) Other; Paulo Gomes da Costa (Author) FEUP; António Paulo Moreira (Author) FEUP

Conference proceedings International

Title: ROBOTICS IN SMART MANUFACTURING

Pages: 82-90

International Workshop on Robotics in Smart Manufacturing (WRSM 2013) / 23rd International Conference on Flexible Automation and Intelligent Manufacturing (FAIM 2013)

Porto, PORTUGAL, JUN 26-28, 2013

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Other information

Authenticus ID: P-008-HPH

DOI: 10.1007/978-3-642-39223-8_8

Abstract (EN): This paper presents a framework for robot programming by demonstration using gesture. It is based on a luminous multi-LED marker which is captured by a pair of industrial cameras. Using stereoscopy the marker supplies a complete 6-DoF human gesture tracking output with both position and orientation. Tests show that the developed setup is industrial grade, being precise for many industrial applications and robust particularly to lighting conditions. Attaching the marker to an operator work tool provides an efficient way to track the human movements without further intrusion in the process. The resulting path is used to generate a program for an industrial manipulator ending the cycle in an human-robot skill transfer framework.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 9