Abstract
In this paper, two kinds of methods are used to control the mobile manipulator in terms of voice signal control approach and visual signal control approach. In voice signal control approach, the mobile manipulator can perform some actions according to the operator's speaking voice input through a microphone. For example, the robot can be commanded to go forward or backward in specified distance, turn left or right with specified angle, even can follow up '8' shape trajectory and catch a ball. In visual approach, the mobile robot can accomplish some actions according to the operator's gestures of two hands using Kinect sensor information. It gets the depth image of two hands in spatial coordinates and calculates the relative distance of them to take some actions by an onboard computer. An embedded single board computer is installed in mobile robot Pioneer2 DX for enhancing remote control and running program's ability.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 32nd Chinese Control Conference, CCC 2013 |
| Publisher | IEEE Computer Society |
| Pages | 4286-4291 |
| Number of pages | 6 |
| ISBN (Print) | 9789881563835 |
| Publication status | Published - 18 Oct 2013 |
| Externally published | Yes |
| Event | 32nd Chinese Control Conference, CCC 2013 - Xi'an, China Duration: 26 Jul 2013 → 28 Jul 2013 |
Conference
| Conference | 32nd Chinese Control Conference, CCC 2013 |
|---|---|
| Country/Territory | China |
| City | Xi'an |
| Period | 26/07/13 → 28/07/13 |
Keywords
- Control
- Mobile manipulator
- Visual signal
- Voice signal
ASJC Scopus subject areas
- Computer Science Applications
- Control and Systems Engineering
- Applied Mathematics
- Modelling and Simulation