Intuitive robot teaching by hand guided demonstration

Lijun Zhao; Xiaoyu Li; Peidong Liang; Chenguang Yang; Ruifeng Li

doi:10.1109/ICMA.2016.7558799

Intuitive robot teaching by hand guided demonstration

Lijun Zhao
, Xiaoyu Li
, Peidong Liang
, Chenguang Yang
, Ruifeng Li

School of Mechatronics Engineering

Harbin Institute of Technology
Swansea University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

In this paper, we have developed an intuitive robot teaching method based on hand guided demonstration. A depth camera is used to recognize various hand gestures which are used as the commands to control the robot gripper. Support Vector Machine (SVM) technique is used to classify different hand gestures. By an inverse kinematics approach, the human hand and robot endpoint workspace mapping has been performed. A preliminary experiment has been carried out on the Baxter robot simulator to verify the effectiveness of the proposed method. Test results indicates that the proposed hand guided robot teaching is intuitive, natural and effective and is of great potential for applications in human robot interaction.

Original language	English
Title of host publication	2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1578-1583
Number of pages	6
ISBN (Electronic)	9781509023943
DOIs	https://doi.org/10.1109/ICMA.2016.7558799
State	Published - 1 Sep 2016
Event	13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 - Harbin, Heilongjiang, China Duration: 7 Aug 2016 → 10 Aug 2016

Publication series

Name	2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016

Conference

Conference	13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Country/Territory	China
City	Harbin, Heilongjiang
Period	7/08/16 → 10/08/16

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10.1109/ICMA.2016.7558799

Cite this

Zhao, L., Li, X., Liang, P., Yang, C., & Li, R. (2016). Intuitive robot teaching by hand guided demonstration. In 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 (pp. 1578-1583). Article 7558799 (2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2016.7558799

@inproceedings{6bc6d8d24f7e412f8810a3250c992a40,

title = "Intuitive robot teaching by hand guided demonstration",

abstract = "In this paper, we have developed an intuitive robot teaching method based on hand guided demonstration. A depth camera is used to recognize various hand gestures which are used as the commands to control the robot gripper. Support Vector Machine (SVM) technique is used to classify different hand gestures. By an inverse kinematics approach, the human hand and robot endpoint workspace mapping has been performed. A preliminary experiment has been carried out on the Baxter robot simulator to verify the effectiveness of the proposed method. Test results indicates that the proposed hand guided robot teaching is intuitive, natural and effective and is of great potential for applications in human robot interaction.",

author = "Lijun Zhao and Xiaoyu Li and Peidong Liang and Chenguang Yang and Ruifeng Li",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 ; Conference date: 07-08-2016 Through 10-08-2016",

year = "2016",

month = sep,

day = "1",

doi = "10.1109/ICMA.2016.7558799",

language = "英语",

series = "2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016",

address = "美国",

}

Zhao, L, Li, X, Liang, P, Yang, C & Li, R 2016, Intuitive robot teaching by hand guided demonstration. in 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016., 7558799, 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016, Institute of Electrical and Electronics Engineers Inc., pp. 1578-1583, 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016, Harbin, Heilongjiang, China, 7/08/16. https://doi.org/10.1109/ICMA.2016.7558799

Intuitive robot teaching by hand guided demonstration. / Zhao, Lijun; Li, Xiaoyu; Liang, Peidong et al.
2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1578-1583 7558799 (2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Intuitive robot teaching by hand guided demonstration

AU - Zhao, Lijun

AU - Li, Xiaoyu

AU - Liang, Peidong

AU - Yang, Chenguang

AU - Li, Ruifeng

PY - 2016/9/1

Y1 - 2016/9/1

N2 - In this paper, we have developed an intuitive robot teaching method based on hand guided demonstration. A depth camera is used to recognize various hand gestures which are used as the commands to control the robot gripper. Support Vector Machine (SVM) technique is used to classify different hand gestures. By an inverse kinematics approach, the human hand and robot endpoint workspace mapping has been performed. A preliminary experiment has been carried out on the Baxter robot simulator to verify the effectiveness of the proposed method. Test results indicates that the proposed hand guided robot teaching is intuitive, natural and effective and is of great potential for applications in human robot interaction.

AB - In this paper, we have developed an intuitive robot teaching method based on hand guided demonstration. A depth camera is used to recognize various hand gestures which are used as the commands to control the robot gripper. Support Vector Machine (SVM) technique is used to classify different hand gestures. By an inverse kinematics approach, the human hand and robot endpoint workspace mapping has been performed. A preliminary experiment has been carried out on the Baxter robot simulator to verify the effectiveness of the proposed method. Test results indicates that the proposed hand guided robot teaching is intuitive, natural and effective and is of great potential for applications in human robot interaction.

UR - https://www.scopus.com/pages/publications/84991268542

U2 - 10.1109/ICMA.2016.7558799

DO - 10.1109/ICMA.2016.7558799

M3 - 会议稿件

AN - SCOPUS:84991268542

T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016

SP - 1578

EP - 1583

BT - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016

Y2 - 7 August 2016 through 10 August 2016

ER -

Zhao L, Li X, Liang P, Yang C, Li R. Intuitive robot teaching by hand guided demonstration. In 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1578-1583. 7558799. (2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016). doi: 10.1109/ICMA.2016.7558799

Intuitive robot teaching by hand guided demonstration

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