A wearable visuo-inertial interface for humanoid robot control

This paper describes a wearable visuo-inertial interface for humanoid robot control, which allows a user to control motion of a humanoid robot intuitively. The interface composed of a camera and inertial sensors and estimates body motion of the user: movement (walk), hand motion, and grasping gestur...

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Bibliographic Details
Published in2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI) pp. 235 - 236
Main Authors Sugiyama, J., Miura, J.
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 01.03.2013
Subjects
Cameras
Conferences
Grasping
human robot interaction
Humanoid
Humanoid robots
Mobile communication
Movement
Robot control
Robot vision systems
Robots
Sensors
Wearable
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Summary:This paper describes a wearable visuo-inertial interface for humanoid robot control, which allows a user to control motion of a humanoid robot intuitively. The interface composed of a camera and inertial sensors and estimates body motion of the user: movement (walk), hand motion, and grasping gesture. The body motion (walk) estimation is performed by a combination of a monocular SLAM and a vision-inertial fusion using an extended Kalman filter. The hand motion is also estimated by using the same motion model and sensor fusion as the body motion estimation. The estimated motion was used to operate the movement or arm motion of the humanoid robot. We conducted the experiment on robot operation. The results revealed that the user intuitively controlled the robot and it responded to the operator commands correctly.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Conference-1
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SourceType-Conference Papers & Proceedings-2
ISBN:9781467330992
146733099X
ISSN:2167-2121
2167-2148
2167-2121
DOI:10.1109/HRI.2013.6483588