Non-contact sensing system for telerobotic applications

Mansour 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
Pages371-380
Number of pages10
DOIs
Publication statusPublished - 2010
Event19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 - Balatonfured, Hungary
Duration: 26 Jun 201027 Jun 2010

Other

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

Fingerprint

Color
Robots
Image processing
CCD cameras
Eigenvalues and eigenfunctions
Pixels
Internet

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] https://doi.org/10.1109/RAAD.2010.5524558

Non-contact sensing system for telerobotic applications. / Karkoub, Mansour; Her, M. G.; Ho, M. I.; Huang, J. C.

19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010. 2010. p. 371-380 5524558.

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

Karkoub, M, Her, MG, Ho, MI & Huang, JC 2010, Non-contact sensing system for telerobotic applications. in 19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010., 5524558, pp. 371-380, 19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010, Balatonfured, Hungary, 26/6/10. https://doi.org/10.1109/RAAD.2010.5524558
Karkoub M, Her MG, Ho MI, Huang JC. Non-contact sensing system for telerobotic applications. In 19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010. 2010. p. 371-380. 5524558 https://doi.org/10.1109/RAAD.2010.5524558
Karkoub, Mansour ; Her, M. G. ; Ho, M. I. ; Huang, J. C. / Non-contact sensing system for telerobotic applications. 19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010. 2010. pp. 371-380
@inproceedings{91a447ff8d2044de90ea840a4afe322a,
title = "Non-contact sensing system for telerobotic applications",
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.",
author = "Mansour Karkoub and Her, {M. G.} and Ho, {M. I.} and Huang, {J. C.}",
year = "2010",
doi = "10.1109/RAAD.2010.5524558",
language = "English",
isbn = "9781424468867",
pages = "371--380",
booktitle = "19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010",

}

TY - GEN

T1 - Non-contact sensing system for telerobotic applications

AU - Karkoub, Mansour

AU - Her, M. G.

AU - Ho, M. I.

AU - Huang, J. C.

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=77956032725&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77956032725&partnerID=8YFLogxK

U2 - 10.1109/RAAD.2010.5524558

DO - 10.1109/RAAD.2010.5524558

M3 - Conference contribution

SN - 9781424468867

SP - 371

EP - 380

BT - 19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010

ER -