Paper Info
Title
An architecture for gesture-based control of mobile robots
Abstract
Gestures provide a rich and intuitive form of interaction for controlling robots. This paper presents an approach for controlling a mobile robot with hand gestures. The system uses hidden Markov models (HMMs) to spot and recognize gestures captured with a data glove. To spot gestures from a sequence of hand positions that may include nongestures, we have introduced a “wait state” in the HMM. The system is currently capable of spotting six gestures reliably. These gestures are mapped to robot commands under two different modes of operation: local and global control. In the local control mode, the gestures are interpreted in the robot's local frame of reference, allowing the user to accelerate, decelerate, and turn. In the global control mode, the gestures are interpreted in the world frame, allowing the robot to move to the location at which the user is pointing
Year
DOI
Venue
1999
10.1109/IROS.1999.812786
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference
Keywords
Field
DocType
data gloves,gesture recognition,hidden Markov models,mobile robots,user interfaces,HMM,data glove,gesture-based control,global control,hand gestures,hidden Markov models,local control,mobile robots,wait state
Computer vision,Wired glove,Computer science,Gesture,Gesture recognition,Artificial intelligence,Robot,User interface,Hidden Markov model,Frame of reference,Mobile robot
Conference
Volume
ISBN
Citations 
2
0-7803-5184-3
21
PageRank 
References 
Authors
1.51
10
4
Name
Order
Citations
PageRank
Soshi Iba1707.27
J. Michael Vande Weghe2211.51
Christiaan J. J. Paredis351956.69
Khosla, P.K.4931123.84