Operation of the mobile robot using flick motion Switching of the control method using the neural network

Abstract

In this research, a mobile robot system moved by intuitive gesture instructions using the flick motion is suggested. The flick motion is commonly used in operating smart phones and involves sudden and rapid motion of the hand. One of the aim of this research is to move the robot quickly using this flick motion. At first, a flick motion is measured and the characteristic of the movement is analyzed. Next, a model to move a mobile robot in response to flick movement is proposed. In the model, the velocity of the hand is converted into virtual force, and the virtual force moves an object with virtual mass and viscosity. Another aim is introduction of a mechanism automatically switching the flick instruction and the following instruction. For the purpose, the switcher using the neural network is learned in advance to distinguish between the movement of the flick instruction and the following instruction. The experiment was conducted to examine the usefulness of the proposed system. As the results, flick instructions and following instructions were changed automatically and were able to operate a robot to the aim position comfortably.

Keywords

• flick motion
• robot
• human-machine interface
• neural network
• kinect
• gesture
• instruction