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JRM Vol.35 No.2 pp. 288-297
doi: 10.20965/jrm.2023.p0288
(2023)

Paper:

Gesture Interface and Transfer Method for AMR by Using Recognition of Pointing Direction and Object Recognition

Takahiro Ikeda ORCID Icon, Naoki Noda, Satoshi Ueki, and Hironao Yamada

Faculty of Engineering, Gifu University
1-1 Yanagido, Gifu 501-1193, Japan

Received:
September 30, 2022
Accepted:
November 25, 2022
Published:
April 20, 2023
Keywords:
pointing gesture, key gesture, human interface, autonomous mobile robot (AMR)
Abstract

This paper describes a gesture interface for a factory transfer robot. Our proposed interface used gesture recognition to recognize the pointing direction, instead of estimating the point as in conventional pointing gesture estimation. When the autonomous mobile robot (AMR) recognized the pointing direction, it performed position control based on the object recognition. The AMR traveled along our unique path to ensure that its camera detected the object to be referenced for position control. The experimental results confirmed that the position and angular errors of the AMR controlled with our interface were 0.058 m and 4.7° averaged over five subjects and two conditions, which were sufficiently accurate for transportation. A questionnaire showed that our interface was user-friendly compared with manual operation with a commercially available controller.

AMR control using gesture interface

AMR control using gesture interface

Cite this article as:
T. Ikeda, N. Noda, S. Ueki, and H. Yamada, “Gesture Interface and Transfer Method for AMR by Using Recognition of Pointing Direction and Object Recognition,” J. Robot. Mechatron., Vol.35 No.2, pp. 288-297, 2023.
Data files:
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