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Robotic application of

Robotic application of. Human Hand Gesture. S. Ali El-Gabri, Al- Noor Academy Nathaniel Mahowald , Mass Academy Grad Students: Dimitri Kanoulas and Andreas Ten Pas PI: Robert Platt. Introduction. The fundamental point of this project is:

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Robotic application of

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  1. Robotic application of Human Hand Gesture S Ali El-Gabri, Al-Noor Academy Nathaniel Mahowald, Mass Academy Grad Students: DimitriKanoulas and Andreas Ten Pas PI: Robert Platt

  2. Introduction • The fundamental point of this project is: • Making gestures that make the robot pick up objects • Pointing at the object the user wants the Robot to pick up. • How? • Creating interfaces between the computer and the sensor • Creating interfaces between the sensor and Robot.

  3. Materials • The materials used were: • ROS Hydro Medusa • Robot Operating System • Provides several helpful tools • Hydro Medusa 7th Version • Xtion Pro • Like a Kinnect • Makes gesture tracking precise • Baxter • Robot – two hand manipulator

  4. Methods • Install ROS Hydro Medusa • Install openni_launch • Camera driver • Install openni_tracker • Creates a skeleton for any person in front of it • Set up a catkin workspace • Write python code to communicate

  5. Sub-project 1: Directional Pointer • Work with Rviz • ROS Visualization; visualizes camera feed • Set up the Transforms (TF) in Rviz • Keeps track of 3D frames’ change over time • Operates in a distributed system • Created a TF listener in python • Receives coordinate frames • Query for specific TFs between frames • Functional code • Informs user of the direction arm is in the xyz plane

  6. Sub-project 2: Body Part Pointer • Have two users on screen • Point with left hand • Display body part being pointed at for either user • Display which user is pointing at which • How this helps: • More work with Rviz • Rviz already recognized human bodies • Experimented with Dot Product, Matrices, and creation of Vectors • First step to pointing at other things

  7. Sub-project 3: Gesture Control • Method of gesture based control without fixed frame • This is the first place where we fixed our user buildup problem • Went through a few drafts of what positions worked • First project we worked with on the robot

  8. Final Project: Any Frame Pointer • We couldn’t get a “true” pointer without creating a fixed frame; our solution was calibration • Extremely accurate • Uses left hand as a signal that user is pointing • Potential extensions

  9. Video of Final Product

  10. Next Steps • Use voice recognition software to interact with the user • Create a pointer that does not require calibration and uses frame to run • Compile all the code onto a usable device, so that a disabled person could use a robotic arm to pick up objects they need

  11. Acknowledgements • A special thanks to our very helpful Grad students, DimitriKanoulas and Andreas Ten Pas. • A very warm appreciation to Robert Platt, our ever wise PI. • And, of course, to those who made it possible and walked us every step of the way: • Duggan Claire, Program Director • Kassi Stein, Program Coordinator • Chi-Yin Tse, Program Coordinator

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