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- Title
Development of a Visual Perception System on a Dual-Arm Mobile Robot for Human-Robot Interaction.
- Authors
Weng, Wei-Ting; Huang, Han-Pang; Zhao, Yu-Lin; Lin, Chun-Yeon
- Abstract
This paper presents the development of a visual-perception system on a dual-arm mobile robot for human-robot interaction. This visual system integrates three subsystems. Hand gesture recognition is utilized to trigger human-robot interaction. Engagement and intention of the participants are detected and quantified through a cognitive system. Visual servoing uses YOLO to identify the object to be tracked and hybrid, model-based tracking to follow the object's geometry. The proposed visual-perception system is implemented in the developed dual-arm mobile robot, and experiments are conducted to validate the proposed method's effects on human-robot interaction applications.
- Subjects
HUMAN-robot interaction; MOBILE robots; VISUAL perception; SYSTEMS development
- Publication
Sensors (14248220), 2022, Vol 22, Issue 23, p9545
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s22239545