Human-Manipulator Interface Using Particle Filter
Joint Authors
Du, Guanglong
Zhang, Ping
Wang, Xueqian
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-16
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
This paper utilizes a human-robot interface system which incorporates particle filter (PF) and adaptive multispace transformation (AMT) to track the pose of the human hand for controlling the robot manipulator.
This system employs a 3D camera (Kinect) to determine the orientation and the translation of the human hand.
We use Camshift algorithm to track the hand.
PF is used to estimate the translation of the human hand.
Although a PF is used for estimating the translation, the translation error increases in a short period of time when the sensors fail to detect the hand motion.
Therefore, a methodology to correct the translation error is required.
What is more, to be subject to the perceptive limitations and the motor limitations, human operator is hard to carry out the high precision operation.
This paper proposes an adaptive multispace transformation (AMT) method to assist the operator to improve the accuracy and reliability in determining the pose of the robot.
The human-robot interface system was experimentally tested in a lab environment, and the results indicate that such a system can successfully control a robot manipulator.
American Psychological Association (APA)
Du, Guanglong& Zhang, Ping& Wang, Xueqian. 2014. Human-Manipulator Interface Using Particle Filter. The Scientific World Journal،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1050631
Modern Language Association (MLA)
Du, Guanglong…[et al.]. Human-Manipulator Interface Using Particle Filter. The Scientific World Journal No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-1050631
American Medical Association (AMA)
Du, Guanglong& Zhang, Ping& Wang, Xueqian. Human-Manipulator Interface Using Particle Filter. The Scientific World Journal. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1050631
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1050631