Humanoid Locomotion Manipulated Using Dynamic Finger Gestures

1. Humanoid Locomotion Manipulated Using Dynamic Finger Gestures Hari Krishnan R, PG Scholar, Department of ECE, Hindustan Institute Of Technology and Science, Chennai Vallikannu A.L. Assistant Professor, Department of ECE, Hindustan Institute Of Technology and Science, Chennai

2. Introduction • The fundamental technologies for Human-Computer Interaction are Hand motion tracking and Gesture Identification, same technology has been adapted for Human-Robot Interaction. • The proposed system provides a natural methodology for Human-Robot Interaction. • Here Specific Finger Gestures manipulates, the locomotion of the Humanoid robot.

3. Overview on Gestures & Gesture Recognition “A gesture is a movement usually of the body or limbs that expresses or emphasis an idea” • Gestures are classified into 2 • Static Gestures • Dynamic Gestures • Methods for Gesture Recognition • Sensor Based Systems • Vision Based Systems

4. Proposed System

5. Stages of Gesturing & Biped logic Gait Phases • There are three stages while imitating walking like gesture using fingers. • Biped Logic Gait Phases are broadly classified into 7. • For each Gesturing stages, certain biped gait phases are executed.

6. Stages and Phases

7. Electrical Design Accelerometer • An Accelerometer is an electromechanical device that will measure, acceleration forces. • The module used in proposed system is capacitive type and is based on Freescale’s MMA7361L . • It is a simple, 3 Axis accelerometer which provides analog output at each axis.

8. Firmware Development

9. Video

10. Conclusion • The proposed system is a low cost and natural way of Human Robot Interaction, to make a Humanoid robot walk successfully. • The calibration of accelerometers to acquire correct voltage ranges for each stages of gesturing is the complex action involved in the design phase. • Apart from Robot locomotion, same methodology can be used to make a robot to do a productive application.

11. References [1] P. Pramod Kumar, PrahladVadakkepat, Loh Ai Poh, “Hand Posture and face Recognition using Fuzzy-Rough Approach,” in Int. Journal of Humanoid Robotics, vol 7, No.3, 2010, pp. 331-356 [2] Ji-Hwan Kim, Nguyen DucThang, Tae-Seong Kim, “3-D Hand Motion Tracking and Gesture Recognition Using a Data Glove,” in Proc. IEEE Int. Symposium on Industrial Electronics (ISIE2009), 2009, pp. 1013-1018. [3] Thomas Allevard, Eric Benoit, Laurent Foulloy, “Fuzzy Glove For Gesture Recognition,” in Proc. XVII World Congress on Metrology in 3rd Millennium, 2003, pp. 2026-2031. [4] Marcelo Romero Huetas, J. RaymundoMarcial Romero, Hector A. Montes Venegas, “A Robotic Arm Telemanipulated through a Digital Glove,”inProc.of IEEE 4th Congress of Electronics, Robotics and Automotive Mechanics, 2007, pp. 470-475. [5] AppuuKuttan K.K, Robotics, I.K International Publishing House Pvt. Ltd, India, 2007. [6] Andre Senior, SabriTosunoglu, “Robust Bipedal Walking: The Clyon Project,” The 18th Florida Conf. on Recent Advances in Robotics, 2005. [7] Jacky Baltes, Sara McGrath , John Anderson, “Active Balancing Using Gyroscopes for a Small Humanoid Robot,” in Proc. 2nd Int. Conf. on Autonomous Robots and Agents, 2004, pp. 470-475. [8] Hari Krishnan R, Vallikannu A.L, “Design and Implementation of Simplified Humanoid Robot with 8 DoF,”accepted for ICCVR 2012, Chandigarh

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