In some complicated tabletop object manipulation task for robotic system, demonstration based control is an efficient way to enhance the stability of execution. In this paper, we use a new optical hand tracking sensor...In some complicated tabletop object manipulation task for robotic system, demonstration based control is an efficient way to enhance the stability of execution. In this paper, we use a new optical hand tracking sensor, LeapMotion, to perform a non-contact demonstration for robotic systems. A Multi-LeapMotion hand tracking system is developed. The setup of the two sensors is analyzed to gain a optimal way for efficiently use the informations from the two sensors. Meanwhile, the coordinate systems of the Mult-LeapMotion hand tracking device and the robotic demonstration system are developed. With the recognition to the element actions and the delay calibration, the fusion principles are developed to get the improved and corrected gesture recognition. The gesture recognition and scenario experiments are carried out, and indicate the improvement of the proposed Multi-LeapMotion hand tracking system in tabletop object manipulation task for robotic demonstration.展开更多
基金This research is funded by National Natural Science Foundation of China under Project no. 61210013, Science and Technology Planning Project of Guangdong Province under no. 2014A020215027.
文摘In some complicated tabletop object manipulation task for robotic system, demonstration based control is an efficient way to enhance the stability of execution. In this paper, we use a new optical hand tracking sensor, LeapMotion, to perform a non-contact demonstration for robotic systems. A Multi-LeapMotion hand tracking system is developed. The setup of the two sensors is analyzed to gain a optimal way for efficiently use the informations from the two sensors. Meanwhile, the coordinate systems of the Mult-LeapMotion hand tracking device and the robotic demonstration system are developed. With the recognition to the element actions and the delay calibration, the fusion principles are developed to get the improved and corrected gesture recognition. The gesture recognition and scenario experiments are carried out, and indicate the improvement of the proposed Multi-LeapMotion hand tracking system in tabletop object manipulation task for robotic demonstration.
