Mobile manipulator control based on voice and visual signal

Kam Fong Kong, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 32nd Chinese Control Conference, CCC 2013
PublisherIEEE Computer Society
Pages4286-4291
Number of pages6
ISBN (Print)9789881563835
Publication statusPublished - 18 Oct 2013
Externally publishedYes
Event32nd Chinese Control Conference, CCC 2013 - Xi'an, China
Duration: 26 Jul 201328 Jul 2013

Conference

Conference32nd Chinese Control Conference, CCC 2013
CountryChina
CityXi'an
Period26/07/1328/07/13

Keywords

  • Control
  • Mobile manipulator
  • Visual signal
  • Voice signal

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modelling and Simulation

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