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Robotic application of. Human Hand Gesture. S. Ali El-Gabri, Al- Noor Academy Nathaniel Mahowald , Mass Academy Grad Students: Dimitri Kanoulas and Andreas Ten Pas PI: Robert Platt. Introduction. The fundamental point of this project is:

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slide1
Robotic application of

Human Hand Gesture

S

Ali El-Gabri, Al-Noor Academy

Nathaniel Mahowald, Mass Academy

Grad Students: DimitriKanoulas and Andreas Ten Pas

PI: Robert Platt

slide2
Introduction
  • The fundamental point of this project is:
    • Making gestures that make the robot pick up objects
    • Pointing at the object the user wants the Robot to pick up.
  • How?
    • Creating interfaces between the computer and the sensor
    • Creating interfaces between the sensor and Robot.
slide3
Materials
  • The materials used were:
    • ROS Hydro Medusa
      • Robot Operating System
      • Provides several helpful tools
      • Hydro Medusa 7th Version
    • Xtion Pro
      • Like a Kinnect
      • Makes gesture tracking precise
    • Baxter
      • Robot – two hand manipulator
slide4
Methods
  • Install ROS Hydro Medusa
  • Install openni_launch
    • Camera driver
  • Install openni_tracker
    • Creates a skeleton for any person in front of it
  • Set up a catkin workspace
  • Write python code to communicate
slide5
Sub-project 1: Directional Pointer
  • Work with Rviz
    • ROS Visualization; visualizes camera feed
  • Set up the Transforms (TF) in Rviz
    • Keeps track of 3D frames’ change over time
    • Operates in a distributed system
  • Created a TF listener in python
    • Receives coordinate frames
    • Query for specific TFs between frames
  • Functional code
    • Informs user of the direction arm is in the xyz plane
slide6
Sub-project 2: Body Part Pointer
  • Have two users on screen
  • Point with left hand
    • Display body part being pointed at for either user
    • Display which user is pointing at which
  • How this helps:
    • More work with Rviz
    • Rviz already recognized human bodies
    • Experimented with Dot Product, Matrices, and creation of Vectors
    • First step to pointing at other things
slide7
Sub-project 3: Gesture Control
  • Method of gesture based control without fixed frame
  • This is the first place where we fixed our user buildup problem
  • Went through a few drafts of what positions worked
  • First project we worked with on the robot
slide8
Final Project: Any Frame Pointer
  • We couldn’t get a “true” pointer without creating a fixed frame; our solution was calibration
  • Extremely accurate
  • Uses left hand as a signal that user is pointing
    • Potential extensions
slide10
Next Steps
  • Use voice recognition software to interact with the user
  • Create a pointer that does not require calibration and uses frame to run
  • Compile all the code onto a usable device, so that a disabled person could use a robotic arm to pick up objects they need
slide11
Acknowledgements
  • A special thanks to our very helpful Grad students, DimitriKanoulas and Andreas Ten Pas.
  • A very warm appreciation to Robert Platt, our ever wise PI.
  • And, of course, to those who made it possible and walked us every step of the way:
  • Duggan Claire, Program Director
  • Kassi Stein, Program Coordinator
  • Chi-Yin Tse, Program Coordinator
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