Gesture Based Robot Control

The paper proposes a method of controlling robotic manipulators with use of human gestures and movement. Experiments were performed with the use of 4 degree-of-freedom AX-12 Robotic Arm manipulator with force gripper and ASUS Xtion depth sensor also called motion controller. Depth and video capture has been done via OpenNI library. The infrastructure is based on Windows Communication Foundation (WCF) for remote access, authorization, multimedia streaming and servo control. Control of robotic manipulator is implemented with use of human computer interaction algorithm basing on depth sensor information.

Authors and Affiliations

1. Silesian University of Technology, Akademicka 2, 44-100, Gliwice, Poland

   Tomasz Grzejszczak, Michał Mikulski, Tadeusz Szkodny & Karol Jędrasiak

Editors and Affiliations

1. Polish-Japanese Institute of Information Technology, 86 Koszykowa, 02-008, Warsaw, Poland

   Leonard Bolc

2. AGH University of Science and Technology, Mickiewicza 30, 30-059, Kraków, Poland

   Ryszard Tadeusiewicz

3. Faculty of Applied Informatics and Mathematics, Department of Informatics, Warsaw University of Life Sciences (SGGW), Nowoursynowska 159, 02-776, Warsaw, Poland

   Leszek J. Chmielewski

4. Polish-Japanese Institute of Information Technology, Koszykowa 86, 02-008, Warszawa, Poland

   Konrad Wojciechowski

Reprints and permissions

© 2012 Springer-Verlag Berlin Heidelberg

Policies and ethics