Navigation, Gesture Command and Behavior Design for a Servant Robot

• Main Authors: Lung-Sheng Liu, 劉隆盛
• Other Authors: Kai-Yew Lum
• Format: Others
• Language: en_US
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/98232686358569930542

碩士 === 國立暨南國際大學 === 電機工程學系 === 102 === This study proposes a new robot behavior where the servant robot runs alongside walls while it follows the human at a distance certain because the common robot follows the human at the closer distance or follows at the back. The human shall give command using gestures at the same time. Consequently, by statistically matching observed gestures with pre-defined templates, the robot changes its behavior depending on the command received. This behavior can make the robot appear more like a servant. The navigation uses fuzzy logic estimation of wall direction for robot navigation in an indoor environment. And the human gesture recognition is based on statistical matching of Kinect skeletal data.