Non-contact sensing system for telerobotic applications

M. Karkoub, M. G. Her, M. I. Ho, J. C. Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The work presented here describes a novel vision-based motion detection system for telerobotic operations. The system uses a CCD camera and image processing to detect the motion of a master robot or operator. Color tags are placed on the arm and head of a human operator to detect the up/down, right/left motion of the head as well as the right/left motion of the arm. The motion of the color tags are used to actuate a slave robot or a remote system. The determination of the color tags' motion is achieved through image processing using eigenvectors and color system morphology. Through inverse dynamics and coordinate transformation, the relative head, shoulder, and wrist rotation angles are determined. A program is used to transform this motion data into motor control commands and transmit them to a slave robot or remote system through wireless internet. The system performed well even in complex environments with errors that did not exceed 2 pixels with a response time of about 0.1 seconds.

Original languageEnglish
Title of host publication19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010
PublisherIEEE Computer Society
Pages371-380
Number of pages10
ISBN (Print)9781424468867
DOIs
Publication statusPublished - 1 Jan 2010
Event19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 - Balatonfured, Hungary
Duration: 26 Jun 201027 Jun 2010

Publication series

Name19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 - Proceedings

Other

Other19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010
CountryHungary
CityBalatonfured
Period26/6/1027/6/10

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

Cite this

Karkoub, M., Her, M. G., Ho, M. I., & Huang, J. C. (2010). Non-contact sensing system for telerobotic applications. In 19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 (pp. 371-380). [5524558] (19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 - Proceedings). IEEE Computer Society. https://doi.org/10.1109/RAAD.2010.5524558