Abstract
This article presents a strategy for hand-free control of an NAO humanoid robot via head gesture detected by Google Glass-based multi-sensor fusion. First, we introduce a Google Glass-based robot system by integrating the Google Glass and the NAO humanoid robot, which is able to send robot commands through Wi-Fi communications between the Google Glass and the robot. Second, we detect the operator’s head gestures by processing data from multiple sensors including accelerometers, geomagnetic sensors and gyroscopes. Next, we use a complementary filter to eliminate drift of the head gesture reference, which greatly improves the control performance. This is accomplished by the high-pass filter component on the control signal. Finally, we conduct obstacle avoidance experiments while navigating the robot to validate the effectiveness and reliability of this system. The experimental results show that the robot is smoothly navigated from its initial position to its destination with obstacle avoidance via the Google Glass. This hands-free control system can benefit those with paralysed limbs.
Highlights
Since the 20th century, intelligent robots have been applied into various fields due to the development of human machine interaction (HMI) technology to effectively apperceive the environment for dynamic decision-making and planning, behavior control and execution
Liu et al proposed a novel object recognition method using visual– tactile fusion information based on a sparse coding method[1,2,3], which greatly improves the object recognition accuracy; Li et al designed a grasping posture control for a robotic arm based on novel adaptive particle swarm optimization, which made the object grasping of home service robot quicker and more accurate[4]
In order to improve the accuracy of the head gestures, the following sensor fusion algorithm based on a complementary filter is proposed to remove the high-frequency noise and to eliminate the drift in low frequency, separately, and to combine the processed signals
Summary
Since the 20th century, intelligent robots have been applied into various fields due to the development of human machine interaction (HMI) technology to effectively apperceive the environment for dynamic decision-making and planning, behavior control and execution. Keywords Hand-free control, Google Glass, head gesture, NAO humanoid robot, reference drift, sensor fusion, complementary filter
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