Development of a Visual Perception System on a Dual-Arm Mobile Robot for Human-Robot Interaction
Wei‐Ting Weng, Han‐Pang Huang, Yu-Lin Zhao, Chun-Yeon Lin · Sensors · 2022
This paper presents the development of a visual-perception system on a dual-arm mobile robot for human-robot interaction. This visual system integrates three subsystems. Hand gesture recognition is utilized to trigger human-robot interaction. Engagement and intention of the participants are detected and quantified through a cognitive system. Visual servoing uses YOLO to identify the object to be tracked and hybrid, model-based tracking to follow the object's geometry. The proposed visual-perception system is implemented in the developed dual-arm mobile robot, and experiments are conducted to validate the proposed method's effects on human-robot interaction applications.