Intuitive and Adaptive Robotic Control Using Leap Motion

Abstract

There has been a global increase in arms and ammunition production and procurement and the use of these arms and ammunition recently has been coupled with various new technologies. The bomb squads of various countries have started using robots for defusing and detonating bombs but the use of the robots has been very inefficient due to use of joysticks. We propose a solution to this problem by making use of Leap motion controller instead of the traditional joystick. Along with this we have implemented inverse kinematics and tremor cancellation to ensure that the robot can exactly mirror the users hand movement. Therefore, with prior training and knowledge about bomb diffusion and detonation the use of robot with this will be much simpler and easier to control. The results shows us that the effective movement can be achieved through our system and it also provides us with a keen insight on errors that could occur sometimes.