Tele-Operation of Robot Using Gestures

摘要

This paper proposes an idea to develop a tele-operated humanoid robot, which has capability to perform assigned task at a long distance based on the gestures given by the human. Tele-operation of robots is the field that bridges the transition between manual control and complete autonomous control of robots. Controlling robots at anyplace in the world by accessing the sensory data from the robot gives the humans the capability to perform several tasks. To start with this idea a framework is implemented in which the user can send commands to control a humanoid from anywhere in the world over Transmission control protocol. An extension is being developed to control the robot remotely using gestures. A communication channel to transfer image feedback data from the robot via a TCP socket is also being developed. Users just need to use the most natural body gestures to interact with the robot. Microsoft Kinect is applied in this system to recognize different body gestures and generate visual Human-Robot interaction interface, then the controlling signals of different body gesture modules are sent to the humanoid robot thorough a infrared transmitter, which can stimulate the robot to complete tasks.