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ROMAN
2015
IEEE

Visual pointing gestures for bi-directional human robot interaction in a pick-and-place task

4 years 2 months ago
Visual pointing gestures for bi-directional human robot interaction in a pick-and-place task
Abstract— This paper explores visual pointing gestures for two-way nonverbal communication for interacting with a robot arm. Such non-verbal instruction is common when humans communicate spatial directions and actions while collaboratively performing manipulation tasks. Using 3D RGBD we compare human-human and human-robot interaction for solving a pick-and-place task. In the human-human interaction we study both pointing and other types of gestures, performed by humans in a collaborative task. For the human-robot interaction we design a system that allows the user to interact with a 7DOF robot arm using gestures for selecting, picking and dropping objects at different locations. Bi-directional confirmation gestures allow the robot (or human) to verify that the right object is selected. We perform experiments where 8 human subjects collaborate with the robot to manipulate ordinary household objects on a tabletop. Without confirmation feedback selection accuracy was 70-90% for both h...
Camilo Perez Quintero, Romeo Tatsambon Fomena, Mon
Added 17 Apr 2016
Updated 17 Apr 2016
Type Journal
Year 2015
Where ROMAN
Authors Camilo Perez Quintero, Romeo Tatsambon Fomena, Mona Gridseth, Martin Jägersand
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