Imirok: Real-Time Imitative Robotic Arm Control for Home Robot Ap.pdf (5.93 MB)
Imirok: Real-Time Imitative Robotic Arm Control for Home Robot Applications
journal contributionposted on 2010-01-01, 00:00 authored by Heng-Tze Cheng, Zheng Sun, Pei Zhang
Training home robots to behave like human can help people with their daily chores and repetitive tasks. In this paper, we present Imirok, a system to remotely control robotic arms by user motion using low-cost, off-the-shelf mobile devices and webcam. The motion tracking algorithm detects user motion in real-time, without classifier training or predefined action set. Experimental results show that the system achieves 90% precision and recall rate on motion detection with blank background, and is robust under the change of cluttered background and user-to-camera distance.