Rich and robust human-robot interaction on gesture recognition for assembly tasks
Gi Hyun Lim, Eurico Pedrosa, F. Amaral, Nuno Lau, Artur Pereira, Paulo Dias, José Luís Azevedo, Bernardo Cunha, Luís Paulo Reis · 2017
The adoption of robotics technology has the potential to advance quality, efficiency and safety for manufacturing enterprises, in particular small and medium-sized enterprises. This paper presents a human-robot interaction (HRI) system that enables a robot to receive commands, provide information to a human teammate and ask them a favor. In order to build a robust HRI system based on gesture recognition, three key issues are addressed: richness, multiple feature fusion and failure verification. The developed system has been tested and validated in a realistic lab with a real mobile manipulator and a human teammate to solve a puzzle game.