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Multi-legged robot system enabled to decide route and recognize obstacle based on hand posture recognition
손모양 인식기반의 경로교사와 장애물 인식이 가능한 자율보행 다족로봇 시스템

Min-Sung Kim, Woo-Won Jeong, Bae-Guen Kwan, Dong-Joong Kang
2010 The Journal of the Korean Institute of Information and Communication Engineering  
In this paper, multi-legged robot was designed and produced using stable walking pattern algorithm. The robot had embedded camera and wireless communication function and it is possible to recognize both hand posture and obstacles. The algorithm decided moving paths, and recognized and avoided obstacles through Hough Transform using Edge Detection of inputed image from image sensor. The robot can be controlled by hand posture using Mahalanobis Distance and average value of skin's color pixel,
more » ... n's color pixel, which is previously learned in order to decide the destination. The developed system has shown obstacle detection rate of 96% and hand posture recognition rate of 94%. 키워드 다족로봇, 6족 로봇, 손 검출, 장애물인식 Key word multi-legged robot, six leg robot, hand detection, obstacle recognition
doi:10.6109/jkiice.2010.14.8.1925 fatcat:5sseuvb4dzbldptyha4trf25km