Online control programming algorithm for human-robot interaction system with a novel real-time human gesture recognition method
文献类型：期刊论文
| 作者 | Han JD(韩建达)1 ; He YQ(何玉庆)4,5; Dai B(代波)3,4,5; Hua CS(华春生)2; Chen B(陈博)3,4,5
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 出版日期 | 2019 |
| 卷号 | 16期号:4页码:1-18 |
| 关键词 | Human-robot interaction multifeature cascade classifier algorithm online pretraining flight robot platform gesture recognition system |
| ISSN号 | 1729-8814 |
| 产权排序 | 1 |
| 英文摘要 | This article proposes an online control programming algorithm for human-robot interaction systems, where robot actions are controlled by the recognition results of gestures performed by human operators based on visual images. In contrast to traditional robot control systems that use pre-defined programs to control a robot where the robot cannot change its tasks freely, this system allows the operator to train online and replan human-robot interaction tasks in real time. The proposed system is comprised of three components: an online personal feature pretraining system, a gesture recognition system, and a task replanning system for robot control. First, we collected and analyzed features extracted from images of human gestures and used those features to train the recognition program in real time. Second, a multifeature cascade classifier algorithm was applied to guarantee both the accuracy and real-time processing of our gesture recognition method. Finally, to confirm the effectiveness of our algorithm, we selected a flight robot as our test platform to conduct an online robot control experiment based on the visual gesture recognition algorithm. Through extensive experiments, the effectiveness and efficiency of our method has been confirmed. |
| 资助项目 | National Natural Science Foundation of China[U1609210] ; National Natural Science Foundation of China[61573338] ; National Natural Science Foundation of China[U1508208] ; National Natural Science Foundation of China (NSFC)[U1608253] ; Liaoning Province[U1608253] ; State Key Laboratory of Robotics[2017-Z07] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000474887300001 |
| 资助机构 | National Natural Science Foundation of China ; National Natural Science Foundation of China (NSFC) ; Liaoning Province ; State Key Laboratory of Robotics |
| 源URL | [http://ir.sia.cn/handle/173321/25327]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Hua CS(华春生) |
| 作者单位 | 1.Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China 2.College of Information, Liaoning University, Shenyang, China 3.University of Chinese Academy of Sciences, Beijing, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 5.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Han JD,He YQ,Dai B,et al. Online control programming algorithm for human-robot interaction system with a novel real-time human gesture recognition method[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2019,16(4):1-18. |
| APA | Han JD,He YQ,Dai B,Hua CS,&Chen B.(2019).Online control programming algorithm for human-robot interaction system with a novel real-time human gesture recognition method.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,16(4),1-18. |
| MLA | Han JD,et al."Online control programming algorithm for human-robot interaction system with a novel real-time human gesture recognition method".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 16.4(2019):1-18. |
入库方式： OAI收割
来源：沈阳自动化研究所
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