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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2013

Autores

Ferreira, M (Autor) Outra; Rocha, LF (Autor) Outra; Paulo Gomes da Costa (Autor) FEUP; António Paulo Moreira (Autor) FEUP

Ata de Conferência Internacional

Título: ROBOTICS IN SMART MANUFACTURING

Páginas: 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

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 9