Design of a wireless remote monitoring and object tracking robot

Mansour Karkoub, M. G. Her, C. C. Huang, C. C. Lin, C. H. Lin

Research output: Contribution to journalArticle

10 Citations (Scopus)


A vision-based motion detection system is designed to remotely control the motion of a service robot. Color tags are placed on the operator to control the robot motion. The motion of the color tags is detected using a CCD camera and used to actuate the remote robot wirelessly. The computation of the color tags' motion is achieved through image processing using eigenvectors and color system morphology. Through inverse dynamics and coordinate transformation, the rotation angles of the arm, head, and foot of the operator and the corresponding robot motor angles are determined. It takes, on average, 65 ms per calculation. The system performed well even in complex environments with errors that did not exceed 2 pixels with a response time of about 0.1 s. The results of the experiments are available at and The videos have to be watched simultaneously in order to observe the command and the corresponding robot response.

Original languageEnglish
Pages (from-to)133-142
Number of pages10
JournalRobotics and Autonomous Systems
Issue number2
Publication statusPublished - Feb 2012



  • Computer vision
  • Object tracking
  • Robot control
  • Visual joystick

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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