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A Framework for User-Defined Body Gestures to Control a Humanoid Robot

Mohammad Obaid, Felix Kistler, Markus Häring, René Bühling, Elisabeth André

A Framework for User-Defined Body Gestures to Control a Humanoid Robot

erschienen April 2014 International Journal of Social Robotics

Verlag: Springer Netherlands


ISBN: 1875-4791 DOI: 10.1007/s12369-014-0233-3


This paper presents a framework that allows users to interact with and navigate a humanoid robot using body gestures. The first part of the paper describes a study to define intuitive gestures for eleven navigational commands based on analyzing 385 gestures performed by 35 participants. From the study results, we present a taxonomy of the user-defined gesture sets, agreement scores for the gesture sets, and time performances of the gesture motions. The second part of the paper presents a full body interaction system for recognizing the user-defined gestures. We evaluate the system by recruiting 22 participants to test for the accuracy of the proposed system. The results show that most of the defined gestures can be successfully recognized with a precision between 86−100 % and an accuracy between 73−96 %. We discuss the limitations of the system and present future work improvements.


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