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GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition
Scientific Reports, Volume: 14, Issue: 1
Swansea University Authors: Chunxu Li , Ashraf Fahmy Abdo , Johann Sienz
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DOI (Published version): 10.1038/s41598-024-54488-w
Abstract
Gestures are a common way people communicate. Gesture-based teleoperation control systems tend to be simple to operate and suitable for most people’s daily use. This paper employed a LeapMotion sensor to develop a mobile robot control system based on gesture recognition, which mainly established con...
Published in: | Scientific Reports |
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ISSN: | 2045-2322 |
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Springer Science and Business Media LLC
2024
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URI: | https://cronfa.swan.ac.uk/Record/cronfa66028 |
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v2 66028 2024-04-09 GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition e6ed70d02c25b05ab52340312559d684 0000-0001-7851-0260 Chunxu Li Chunxu Li true false b952b837f8a8447055210d209892b427 0000-0003-1624-1725 Ashraf Fahmy Abdo Ashraf Fahmy Abdo true false 17bf1dd287bff2cb01b53d98ceb28a31 0000-0003-3136-5718 Johann Sienz Johann Sienz true false 2024-04-09 ACEM Gestures are a common way people communicate. Gesture-based teleoperation control systems tend to be simple to operate and suitable for most people’s daily use. This paper employed a LeapMotion sensor to develop a mobile robot control system based on gesture recognition, which mainly established connections through a client/server structure. The principles of gesture recognition in the system were studied and the relevant self-investigated algorithms—GestureMoRo, for the association between gestures and mobile robots were designed. Moreover, in order to avoid the unstably fluctuated movement of the mobile robot caused by palm shaking, the Gaussian filter algorithm was used to smooth and denoise the collected gesture data, which effectively improved the robustness and stability of the mobile robot’s locomotion. Finally, the teleoperation control strategy of the gesture to the WATER2 mobile robot was realized, and the effectiveness and practicability of the designed system were verified through multiple experiments. Journal Article Scientific Reports 14 1 Springer Science and Business Media LLC 2045-2322 GestureMoRo, Gesture recognition, LeapMotion, Mobile robot, Teleoperation, Gaussian filter 14 3 2024 2024-03-14 10.1038/s41598-024-54488-w COLLEGE NANME Aerospace, Civil, Electrical, and Mechanical Engineering COLLEGE CODE ACEM Swansea University SU College/Department paid the OA fee Swansea University 2024-05-22T14:49:12.4063644 2024-04-09T20:22:33.7945085 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Lei Chen 1 Chunxu Li 0000-0001-7851-0260 2 Ashraf Fahmy Abdo 0000-0003-1624-1725 3 Johann Sienz 0000-0003-3136-5718 4 66028__29995__ae8d28b1f55d420895c6d61780ef0eb4.pdf 66028.VOR.pdf 2024-04-11T13:08:01.2158983 Output 4243113 application/pdf Version of Record true Distributed under the terms of a Creative Commons Attribution 4.0 CC-BY licence. true eng http://creativecommons.org/licenses/by/4.0/ |
title |
GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition |
spellingShingle |
GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition Chunxu Li Ashraf Fahmy Abdo Johann Sienz |
title_short |
GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition |
title_full |
GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition |
title_fullStr |
GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition |
title_full_unstemmed |
GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition |
title_sort |
GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition |
author_id_str_mv |
e6ed70d02c25b05ab52340312559d684 b952b837f8a8447055210d209892b427 17bf1dd287bff2cb01b53d98ceb28a31 |
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e6ed70d02c25b05ab52340312559d684_***_Chunxu Li b952b837f8a8447055210d209892b427_***_Ashraf Fahmy Abdo 17bf1dd287bff2cb01b53d98ceb28a31_***_Johann Sienz |
author |
Chunxu Li Ashraf Fahmy Abdo Johann Sienz |
author2 |
Lei Chen Chunxu Li Ashraf Fahmy Abdo Johann Sienz |
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Scientific Reports |
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14 |
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2024 |
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Swansea University |
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2045-2322 |
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10.1038/s41598-024-54488-w |
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Springer Science and Business Media LLC |
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Faculty of Science and Engineering |
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description |
Gestures are a common way people communicate. Gesture-based teleoperation control systems tend to be simple to operate and suitable for most people’s daily use. This paper employed a LeapMotion sensor to develop a mobile robot control system based on gesture recognition, which mainly established connections through a client/server structure. The principles of gesture recognition in the system were studied and the relevant self-investigated algorithms—GestureMoRo, for the association between gestures and mobile robots were designed. Moreover, in order to avoid the unstably fluctuated movement of the mobile robot caused by palm shaking, the Gaussian filter algorithm was used to smooth and denoise the collected gesture data, which effectively improved the robustness and stability of the mobile robot’s locomotion. Finally, the teleoperation control strategy of the gesture to the WATER2 mobile robot was realized, and the effectiveness and practicability of the designed system were verified through multiple experiments. |
published_date |
2024-03-14T14:49:11Z |
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11.037144 |