title: Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home.
abstract: This paper describes the development of a low-cost mini-robot that is controlled by visual gestures. The prototype allows a person with disabilities to perform visual inspections indoors and in domestic spaces. Such a device could be used as the operator's eyes obviating the need for him to move about. The robot is equipped with a motorised webcam that is also controlled by visual gestures. This camera is used to monitor tasks in the home using the mini-robot while the operator remains quiet and motionless. The prototype was evaluated through several experiments testing the ability to use the mini-robot's kinematics and communication systems to make it follow certain paths. The mini-robot can be programmed with specific orders and can be tele-operated by means of 3D hand gestures to enable the operator to perform movements and monitor tasks from a distance.
authors.affiliation: Physics, Systems Engineering and Signal Theory Department, University of Alicante, San Vicente del Raspeig, E-03690 Alicante, Spain. adss1@alu.ua.es.
authors.forename: Angel D
authors.initials: AD
authors.lastname: Sempere
authors.affiliation: Physics, Systems Engineering and Signal Theory Department, University of Alicante, San Vicente del Raspeig, E-03690 Alicante, Spain. asl37@alu.ua.es.
authors.forename: Arturo
authors.initials: A
authors.lastname: Serna-Leon
authors.affiliation: Physics, Systems Engineering and Signal Theory Department, University of Alicante, San Vicente del Raspeig, E-03690 Alicante, Spain. Pablo.gil@ua.es.
authors.forename: Pablo
authors.initials: P
authors.lastname: Gil
authors.affiliation: Physics, Systems Engineering and Signal Theory Department, University of Alicante, San Vicente del Raspeig, E-03690 Alicante, Spain. Santiago.puente@ua.es.
authors.forename: Santiago
authors.initials: S
authors.lastname: Puente
authors.affiliation: Physics, Systems Engineering and Signal Theory Department, University of Alicante, San Vicente del Raspeig, E-03690 Alicante, Spain. Fernando.torres@ua.es.
authors.forename: Fernando
authors.initials: F
authors.lastname: Torres
keywords: 3D descriptors; 3D gesture perception; human-robot interaction; robot systems