Design And Control Of Autonomous Robot Using Gesture Based Intuitive Interaction

Abstract

Robots now a days are performing tasks, which were complex and difficult for humans, for example, working in nuclear power plant, in chemical industries and even in outer space. Some of these tasks are autonomous (obstacle avoidance etc.) and some are remotely controlled by humans. In general, a robotic platform with manipulator arm has several joints and is difficult to control remotely, especially in a rescue mission, through joystick or a computer keyboard. A natural and intuitive way to interact with a robot is using gestures. As leap motion controller provides a simple and effective method to accurately track the movement of human hands and fingers, can be used to provide intuitive control of robot. In this work, we show a design a robotic platform which is controlled by hand gestures being tracked by the leap motion controller. The left hand is used for controlling platform mobility, using gestures to provided different motions, for example, moving forward and moving backwards and the right hand is used for controlling arm for pick and place tasks. The developed robot can be used for remote monitoring of the difficult environment and affect changes to it via a manipulator arm. Also, it can autonomously avoid obstacles using Ultrasonic sensors. Overall, the designed system prototype has shown its potential capabilities for environment monitoring and surveillance through practical demonstrations using gestures.