GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition
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 establ...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2024-03-01
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| Series: | Scientific Reports |
| Subjects: | |
| Online Access: | https://doi.org/10.1038/s41598-024-54488-w |
| _version_ | 1827316053177270272 |
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| author | Lei Chen Chunxu Li Ashraf Fahmy Johann Sienz |
| author_facet | Lei Chen Chunxu Li Ashraf Fahmy Johann Sienz |
| author_sort | Lei Chen |
| collection | DOAJ |
| description | 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 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. |
| first_indexed | 2024-04-24T23:08:05Z |
| format | Article |
| id | doaj.art-5c1c51d5f0824e859decb10b2445d7bf |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-04-24T23:08:05Z |
| publishDate | 2024-03-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-5c1c51d5f0824e859decb10b2445d7bf2024-03-17T12:23:43ZengNature PortfolioScientific Reports2045-23222024-03-0114111610.1038/s41598-024-54488-wGestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognitionLei Chen0Chunxu Li1Ashraf Fahmy2Johann Sienz3College of Mechanical and Electrical Engineering, Hohai UniversityDepartment of Machenical Engineering, Faculty of Science and Engineering, Swansea UniversityDepartment of Machenical Engineering, Faculty of Science and Engineering, Swansea UniversityDepartment of Machenical Engineering, Faculty of Science and Engineering, Swansea UniversityAbstract 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.https://doi.org/10.1038/s41598-024-54488-wGestureMoRoGesture recognitionLeapMotionMobile robotTeleoperationGaussian filter |
| spellingShingle | Lei Chen Chunxu Li Ashraf Fahmy Johann Sienz GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition Scientific Reports GestureMoRo Gesture recognition LeapMotion Mobile robot Teleoperation Gaussian filter |
| title | 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_short | 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 |
| topic | GestureMoRo Gesture recognition LeapMotion Mobile robot Teleoperation Gaussian filter |
| url | https://doi.org/10.1038/s41598-024-54488-w |
| work_keys_str_mv | AT leichen gesturemoroanalgorithmforautonomousmobilerobotteleoperationbasedongesturerecognition AT chunxuli gesturemoroanalgorithmforautonomousmobilerobotteleoperationbasedongesturerecognition AT ashraffahmy gesturemoroanalgorithmforautonomousmobilerobotteleoperationbasedongesturerecognition AT johannsienz gesturemoroanalgorithmforautonomousmobilerobotteleoperationbasedongesturerecognition |