Using Gesture To Control The X80 Robot’s Movement Based On Kinect Sensor

Human Computer Interaction technology is the study of the interaction relationship between users and system technology, also is a very important factor to determine whether the computer system is “friendly”. Human Computer Interaction principle is using the body’s own movements and subtle changes, to interact with the computer system. This new form of interactive will greatly improve the recognition accuracy and humanized interaction.Gestures, as one of the most widely used means of communication, plays a more and more important role in the field of interaction between human and machine, such as Xbox game player, smart phones and advertising board and so on. Moreover, based on the gesture recognition, natural Human Computer Interface plays an important function in the robot operating system. Such technology not only enables users to control a remote robot by using natural gesture recognition, but also ensures users of interaction the developing networked robot system friendly.Nowadays, with the continuous progress of robot science, robots seem to be endued with stronger and stronger vitality. Intelligent mobile robot technology is very important to research robot. How to using the non-contact gesture interaction to command a robot’s movement naturally under the complex and changeful environment is the main focus of this paper.In this paper, we use the kinect sensor and mobile robot to control the X80 robot moving. The main content includes:(1) Basing on the working principle of the kinect device sensor and the operation requirements of the device, we designed five kind of basic interactive gestures, including push, back, turn left, turn right and stop.(2) Compared Hidden Markov Model algorithm with Dynamic Time Warping algorithm. Choose a relatively efficient algorithm which is suitable for the study of this paper’s demand——DTW Algorithm. Then by limiting the global path and distortion threshold optimize DTW algorithm. Verified the exactness of the above five kinds of gesture recognition.(3) Based on the principle of PID, and wireless robot Software development Kit, according to the result of gesture recognition, decoder outputcorresponding values, to control the operation of the wireless robot motor.(4) Using the dynamic gesture recognition to control X80 robot moving freely all around.