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This paper explores visual pointing gestures for two-way nonverbal communication for interacting with a robot arm. Such non-verbal instruction is common when humans communicate spatial directions and actions while collaboratively performing manipulation tasks. Using 3D RGBD we compare human-human and human-robot interaction for solving a pick-and-place task. In the human-human interaction we study...
We propose and develop an interactive semi-autonomous control of robot arms. Our system controls two interactions: (1) A user can naturally control a robot arm by a direct linkage to the arm motion from the tracked human skeleton. (2) An autonomous image-based visual servoing routine can be triggered for precise positioning. Coarse motions are executed by human teleoperation and fine motions by image-based...
Pointing to indicate direction or position is one of the intuitive communication mechanisms used by humans in all life stages. Our aim is to develop a natural human-robot command interface using pointing gestures for human-robot interaction (HRI). We propose an interface based on the Kinect sensor for selecting by pointing (SEPO) in a 3D real-world situation, where the user points to a target object...
Visual servoing was introduced in robotics nearly 4 decades ago. However until now, there are still only a handful of known examples of application of this technique in addressing real word robotics problems such as disaster response, assistance for elderly or handicapped people, etc. As the world is moving towards the use of robotics to improve quality of life, it is time to assess the challenges...
This paper deals with visual servoing from three points. Using the geometric properties of the spherical projection of points, a new decoupled set of six visual features is proposed. The main originality lies in the use of the distances between spherical projection of points to define three features that are invariant to camera rotations. The three other features present a linear link with respect...
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