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Leg-wheel composite robot based on Xtion equipment and gesture control method thereof

A robot and robot ontology technology, applied in the field of robots, can solve the problems of poor ability to cross obstacles, restrict the wide application of robots, slow walking speed, etc., and achieve the effect of improving naturalness, versatility and portability.

Inactive Publication Date: 2016-10-12
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Legged robots can adapt to complex terrain, but the walking speed is slow, while wheeled robots walk faster, but can only walk on relatively flat ground, and the ability to cross obstacles is poor. The combination of legs and wheels It provides new convenience for the movement of the robot, how to design a mechanism that combines the two modes of wheels and legs has become a problem that needs to be solved at present
[0004] Leg-wheeled robots usually require specific people to input specific control commands to control the movement of the robot. Ordinary people who do not have professional knowledge cannot directly operate it. This interactive method restricts the wide application of robots to a certain extent.

Method used

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  • Leg-wheel composite robot based on Xtion equipment and gesture control method thereof
  • Leg-wheel composite robot based on Xtion equipment and gesture control method thereof
  • Leg-wheel composite robot based on Xtion equipment and gesture control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0071] Example 1: Using dynamic gestures to control robot movement

[0072] The user waves to the Xtion PRO LIVE camera 9. After the robot recognizes the user's wave motion, the robot steps on the spot. When the user's hand moves up and vertically, the robot walks straight forward, and when the user's hand moves down vertically, the robot goes straight back , When the user's hand draws a circle clockwise, the robot turns clockwise and then walks on the spot. When the user's hand pushes forward, the robot stops moving.

Embodiment 2

[0073] Embodiment 2: Using static gestures to control robot movement

[0074] The static gesture recognition module can predefine the mapping relationship between gesture types and robot actions. For example, it can predefine the user's one-handed 1-9 digital gestures, as shown in Table 1:

[0075] Table 1 Pre-defined static gestures

[0076]

[0077]

[0078] By default, the hexapod robot walks in a legged "3+3" gait. The user makes the number 1 gesture, the hexapod robot moves forward; the user makes the number 3 gesture, the hexapod robot turns left; the user makes the number 4 gesture, the hexapod robot turns to the right; the user makes the number 5 gesture, the hexapod robot Stop; the user makes the number 6 gesture, and the hexapod robot switches from leg walking to wheeled walking; the user makes the number 2 gesture, and the hexapod robot retreats in turns; the user makes the number 7 gesture, and the hexapod robot switches in turn Walk with legs; the user makes the number...

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Abstract

The invention discloses a leg-wheel composite robot based on Xtion equipment and a gesture control method thereof, including a robot body and six robot single-leg structures; a sensing layer, a driving layer, a control layer and a power layer inside the robot body for installation and control system; the gesture control is realized through the XtionPRO LIVE camera installed on the sensing layer combined with the gesture recognition module and the motion control module installed on the control layer; wherein, the gesture recognition module is divided into a dynamic gesture control sub-module and a static gesture control sub-module, which can be Realize dynamic and static gesture control respectively. The invention has the advantages of providing more information for subsequent image processing, realizing map construction and human-computer interaction functions, improving the naturalness of human-robot interaction, enabling users to control the six-legged wheel-leg composite robot through gestures, It is beneficial to the practical application of the hexapod wheel-leg composite robot; and the gesture recognition control part of the present invention is based on ROS design, has strong portability, and can be used in other robot control systems.

Description

Technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a composite robot based on Xtion equipment with legs and wheels and a gesture control method and device thereof. Background technique [0002] Robots have broad application prospects in social life and industrial production. Industrial production applications, such as planetary exploration, post-disaster rescue, etc. Application prospects in social life, such as helping the elderly and the disabled. As our country enters an aging society, the elderly need to be taken care of, while the young and middle-aged people need work to make ends meet, and they have no time to take care of the elderly. Robots can serve as part of the labor force, supplement the shortage of labor force, and have a wide range of application prospects in helping the elderly and the disabled to become pregnant. [0003] Legged robots can adapt to complex terrain, but their walking speed is slow, while w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032G06F3/01
CPCB62D57/032G06F3/017
Inventor 丁希仑齐静徐坤彭赛金杨帆尹业成郑羿
Owner BEIHANG UNIV
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