Human-Manipulator Interface Using Particle Filter
Identifieur interne : 001137 ( Main/Exploration ); précédent : 001136; suivant : 001138Human-Manipulator Interface Using Particle Filter
Auteurs : Guanglong Du [République populaire de Chine] ; Ping Zhang [République populaire de Chine] ; Xueqian Wang [République populaire de Chine]Source :
- The Scientific World Journal [ 1537-744X ] ; 2014.
Abstract
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.
Url:
DOI: 10.1155/2014/692165
PubMed: 24757430
PubMed Central: 3976865
Affiliations:
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University of Technology, Higher Education Mega Center, Guangzhou 510006, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>South China University of Technology, Higher Education Mega Center, Guangzhou 510006</wicri:regionArea><placeName><settlement type="city">Jiangmen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Zhang, Ping" sort="Zhang, Ping" uniqKey="Zhang P" first="Ping" last="Zhang">Ping Zhang</name><affiliation wicri:level="1"><nlm:aff id="I1">South China University of Technology, Higher Education Mega Center, Guangzhou 510006, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>South China University of Technology, Higher Education Mega Center, Guangzhou 510006</wicri:regionArea><placeName><settlement type="city">Jiangmen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Wang, Xueqian" sort="Wang, Xueqian" uniqKey="Wang X" first="Xueqian" last="Wang">Xueqian Wang</name><affiliation wicri:level="1"><nlm:aff id="I1">South China University of Technology, Higher Education Mega Center, Guangzhou 510006, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>South China University of Technology, Higher Education Mega Center, Guangzhou 510006</wicri:regionArea><placeName><settlement type="city">Jiangmen</settlement><region type="province">Guangdong</region></placeName></affiliation></author></analytic><series><title level="j">The Scientific World Journal</title><idno type="eISSN">1537-744X</idno><imprint><date when="2014">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>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.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Cho, K B" uniqKey="Cho K">K-B Cho</name></author><author><name sortKey="Lee, B H" uniqKey="Lee B">B-H Lee</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Mitsantisuk, C" uniqKey="Mitsantisuk C">C Mitsantisuk</name></author><author><name sortKey="Katsura, S" uniqKey="Katsura S">S Katsura</name></author><author><name sortKey="Ohishi, K" uniqKey="Ohishi K">K Ohishi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hirche, S" uniqKey="Hirche S">S Hirche</name></author><author><name sortKey="Buss, M" uniqKey="Buss M">M Buss</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Ando, T" uniqKey="Ando T">T 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