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GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition

Lei Chen, Chunxu Li Orcid Logo, Ashraf Fahmy Abdo Orcid Logo, Johann Sienz Orcid Logo

Scientific Reports, Volume: 14, Issue: 1

Swansea University Authors: Chunxu Li Orcid Logo, Ashraf Fahmy Abdo Orcid Logo, Johann Sienz Orcid Logo

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Abstract

Gestures are a common way people communicate. Gesture-based teleoperation control systems tend to be simple to operate and suitable for most people’s daily use. This paper employed a LeapMotion sensor to develop a mobile robot control system based on gesture recognition, which mainly established con...

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Published in: Scientific Reports
ISSN: 2045-2322
Published: Springer Science and Business Media LLC 2024
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa66028
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Abstract: Gestures are a common way people communicate. Gesture-based teleoperation control systems tend to be simple to operate and suitable for most people’s daily use. This paper employed a LeapMotion sensor to develop a mobile robot control system based on gesture recognition, which mainly established connections through a client/server structure. The principles of gesture recognition in the system were studied and the relevant self-investigated algorithms—GestureMoRo, for the association between gestures and mobile robots were designed. Moreover, in order to avoid the unstably fluctuated movement of the mobile robot caused by palm shaking, the Gaussian filter algorithm was used to smooth and denoise the collected gesture data, which effectively improved the robustness and stability of the mobile robot’s locomotion. Finally, the teleoperation control strategy of the gesture to the WATER2 mobile robot was realized, and the effectiveness and practicability of the designed system were verified through multiple experiments.
Keywords: GestureMoRo, Gesture recognition, LeapMotion, Mobile robot, Teleoperation, Gaussian filter
College: Faculty of Science and Engineering
Funders: Swansea University
Issue: 1