Controlling an Entertainment Robot through Intuitive Gestures
Controlling an Entertainment Robot through Intuitive Gestures
复制标题
通过直观手势控制娱乐机器人
DOI：
10.1109/icsmc.2006.385009
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
S. Tano
中科院分区：
文献类型：
--
作者：
T. Hashiyama;Keiichiro Sada;Mitsuru Iwata;S. Tano
本文提出了一种新的系统，学习用户想要如何控制娱乐机器人与直观的手势。本文主要研究两个问题。一个是如何区分用户的直观手势，另一个是如何使手势和控制命令之间的对应关系。用户希望使用他们自己的手势，而这些手势是事先不知道的。这些手势必须由系统自己分类。在分类之后，系统必须将用户意图解释为用户想要输入的控制命令。例如，一个人可以使用挥动的手势作为关机命令，而另一个人可以将相同的手势分配给不同的命令，例如转身。在娱乐机器人AIBO上实现了原型系统。AIBO识别手势，并使用自创建和组织神经网络进行分类。AIBO还学习如何使用Q-Learning技术将它们解释为命令。实验结果表明了该方法的可行性。
This paper presents a novel system which learns how the users want to control the entertainment robot with intuitive gestures. Two major problems are focused on this paper. One is how to distinct the user intuitive gestures, another is how to make the correspondence between the gestures and the control commands. Users want to use their own gestures which are not known a priori. These gestures must be classified by the systems by themselves. After the classification, the system must interpret the user intention to the control command which the user want to input. For instance, one may use waving hand gesture as the shutdown command, and another may assign the same gesture to the different command such as turning around. The primitive systems are implemented on the entertainment robot named AIBO. AIBO recognizes the gestures which are classified using Self-creating and organizing neural network. AIBO also learns how to interpret them into its command using Q-Learning technique. Some experimental results show the feasibility of the proposed approach.