Body activity interaction for a service robot

摘要

Body activity interaction plays an essential role in the field of intelligent robots. In this paper, we design a body activity interaction system for a service robot. In order to realize body activity interaction, the Microsoft Kinect is utilized to capture owner body movements and provide input signals of the action recognition module. Based on the RGBD and skeleton information from Microsoft Kinect, action recognition module can analyze meaning of owner body movements effectively and send orders to service robot quickly. Besides, kinematics model of the service robotic arm is built and the motion planning on the joint space is also executed. Finally, service robot receives orders and conducts robotic arm to implement handshaking or hand waving. Extensive experiments illustrate the correctness and effectiveness of our developed body activity interaction system on the platform of service robot.