Artículo
Vision-based interface applied to assistive robots
Pérez Berenguer, María Elisa
; Soria, Carlos Miguel
; López Celani, Natalia Martina
; Nasisi, Oscar Herminio; Mut, Vicente Antonio
Fecha de publicación:
10/2012
Editorial:
Sage Publications
Revista:
International Journal of Advanced Robotic Systems
ISSN:
1729-8806
e-ISSN:
1729-8814
Idioma:
Inglés
Tipo de recurso:
Artículo publicado
Clasificación temática:
Resumen
This paper presents two vision-based interfaces for disabled people to command a mobile robot for personal assistance. The developed interfaces can be subdivided according to the algorithm of image processing implemented for the detection and tracking of two different body regions. The first interface detects and tracks movements of the user's head, and these movements are transformed into linear and angular velocities in order to command a mobile robot. The second interface detects and tracks movements of the user's hand, and these movements are similarly transformed. In addition, this paper also presents the control laws for the robot. The experimental results demonstrate good performance and balance between complexity and feasibility for real-time applications.
Palabras clave:
Vision Based Interface
,
Assistance Robot
,
Non Linear Control
Archivos asociados
Licencia
Identificadores
Colecciones
Articulos(INAUT)
Articulos de INSTITUTO DE AUTOMATICA
Articulos de INSTITUTO DE AUTOMATICA
Articulos(SEDE CENTRAL)
Articulos de SEDE CENTRAL
Articulos de SEDE CENTRAL
Citación
Pérez Berenguer, María Elisa; Soria, Carlos Miguel; López Celani, Natalia Martina; Nasisi, Oscar Herminio; Mut, Vicente Antonio; Vision-based interface applied to assistive robots; Sage Publications; International Journal of Advanced Robotic Systems; 10; 2; 10-2012; 1-10
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