Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot

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	Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot
	Mao, Xiaoqian; Wen, Xi; Song, Yu; Li W(李伟); Chen, Genshe
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2017
卷号	14 期号:2 页码:1-10
关键词	Hand-free control Google Glass head gesture NAO humanoid robot reference drift sensor fusion complementary filter
ISSN号	1729-8814
通讯作者	李伟
产权排序	2
中文摘要	This article presents a strategy for hand-free control of an NAO humanoid robot via head gesture detected by Google Glass-based multi-sensor fusion. First, we introduce a Google Glass-based robot system by integrating the Google Glass and the NAO humanoid robot, which is able to send robot commands through Wi-Fi communications between the Google Glass and the robot. Second, we detect the operator's head gestures by processing data from multiple sensors including accelerometers, geomagnetic sensors and gyroscopes. Next, we use a complementary filter to eliminate drift of the head gesture reference, which greatly improves the control performance. This is accomplished by the high-pass filter component on the control signal. Finally, we conduct obstacle avoidance experiments while navigating the robot to validate the effectiveness and reliability of this system. The experimental results show that the robot is smoothly navigated from its initial position to its destination with obstacle avoidance via the Google Glass. This hands-free control system can benefit those with paralysed limbs.
关键词[WOS]	MULTIROBOT CONTROL ; SPACE TETHER
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000400392100001
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/20289]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Mao, Xiaoqian,Wen, Xi,Song, Yu,et al. Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2017,14(2):1-10.
APA	Mao, Xiaoqian,Wen, Xi,Song, Yu,Li W,&Chen, Genshe.(2017).Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,14(2),1-10.
MLA	Mao, Xiaoqian,et al."Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 14.2(2017):1-10.