Abstract
Robots attract strong interest from human beings, and ordinary people seriously expect to acquire intuitive understanding from the process of interacting with robots. In this paper, a teleoperation framework based on gesture recognition was developed and the recognized human gestures were mapped to corresponding swimming behaviors of underwater robotic fish. By this means, the robotic fish can be remotely controlled by hand gestures. Most significantly, the teleoperation framework offers the opportunity for onlookers to directly interact with the robotic fish, and the intuitive experience of onlookers about human-robot interaction can be augmented. Compared with traditional control structures of underwater robotic fish systems, the presented teleoperation framework can be built quickly, the influence of light condition can be eliminated entirely, and the onlookers can interact with robotic fish directly rather than need to learn about the system architecture and control strategy. Several tests were taken in a water pool to verify the performance of the presented teleoperation framework. The experimental results showed that the developed teleoperation framework is suitable for remote controlling underwater robotic fish, and the teleoperation framework can be widely applied to other application scenarios. The experiment setup was exhibited in IROS2015, Hamburg, the described teleoperation framework greatly attracted onlooker's interest.
Published Version
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