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

• Type: Article in International Conference Proceedings Book
• Date: 2016

Authors

Mendes, N (Author) Other; Neto, P (Author) Other; Safeea, M (Author) Other; António Paulo Moreira (Author) FEUP

Conference proceedings International

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

Pages: 93-104

2nd Iberian Robotics Conference (ROBOT)

Lisbon, PORTUGAL, NOV 19-21, 2015

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Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12