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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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DOI (Published version): 10.1038/s41598-024-54488-w

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
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URI: https://cronfa.swan.ac.uk/Record/cronfa66028
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spelling v2 66028 2024-04-09 GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition e6ed70d02c25b05ab52340312559d684 0000-0001-7851-0260 Chunxu Li Chunxu Li true false b952b837f8a8447055210d209892b427 0000-0003-1624-1725 Ashraf Fahmy Abdo Ashraf Fahmy Abdo true false 17bf1dd287bff2cb01b53d98ceb28a31 0000-0003-3136-5718 Johann Sienz Johann Sienz true false 2024-04-09 ACEM 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. Journal Article Scientific Reports 14 1 Springer Science and Business Media LLC 2045-2322 GestureMoRo, Gesture recognition, LeapMotion, Mobile robot, Teleoperation, Gaussian filter 14 3 2024 2024-03-14 10.1038/s41598-024-54488-w COLLEGE NANME Aerospace, Civil, Electrical, and Mechanical Engineering COLLEGE CODE ACEM Swansea University SU College/Department paid the OA fee Swansea University 2024-05-22T14:49:12.4063644 2024-04-09T20:22:33.7945085 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Lei Chen 1 Chunxu Li 0000-0001-7851-0260 2 Ashraf Fahmy Abdo 0000-0003-1624-1725 3 Johann Sienz 0000-0003-3136-5718 4 66028__29995__ae8d28b1f55d420895c6d61780ef0eb4.pdf 66028.VOR.pdf 2024-04-11T13:08:01.2158983 Output 4243113 application/pdf Version of Record true Distributed under the terms of a Creative Commons Attribution 4.0 CC-BY licence. true eng http://creativecommons.org/licenses/by/4.0/
title GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition
spellingShingle GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition
Chunxu Li
Ashraf Fahmy Abdo
Johann Sienz
title_short GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition
title_full GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition
title_fullStr GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition
title_full_unstemmed GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition
title_sort GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition
author_id_str_mv e6ed70d02c25b05ab52340312559d684
b952b837f8a8447055210d209892b427
17bf1dd287bff2cb01b53d98ceb28a31
author_id_fullname_str_mv e6ed70d02c25b05ab52340312559d684_***_Chunxu Li
b952b837f8a8447055210d209892b427_***_Ashraf Fahmy Abdo
17bf1dd287bff2cb01b53d98ceb28a31_***_Johann Sienz
author Chunxu Li
Ashraf Fahmy Abdo
Johann Sienz
author2 Lei Chen
Chunxu Li
Ashraf Fahmy Abdo
Johann Sienz
format Journal article
container_title Scientific Reports
container_volume 14
container_issue 1
publishDate 2024
institution Swansea University
issn 2045-2322
doi_str_mv 10.1038/s41598-024-54488-w
publisher Springer Science and Business Media LLC
college_str Faculty of Science and Engineering
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hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 1
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description 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.
published_date 2024-03-14T14:49:11Z
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score 11.016235

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