Development of a Visual Perception System on a Dual-Arm Mobile Robot for Human-Robot Interaction.

Journal: Sensors (Basel, Switzerland)
Published Date: Dec 6, 2022

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.

Authors

  • Wei-Ting Weng
    Department of Mechanical Engineering, National Taiwan University, Taipei 10617, Taiwan.
  • Han-Pang Huang
    Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan.
  • Yu-Lin Zhao
    Department of Mechanical Engineering, National Taiwan University, Taipei 10617, Taiwan.
  • Chun-Yeon Lin
    Department of Mechanical Engineering, National Taiwan University, Taipei 10617, Taiwan.

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