We designed the new teleoperation interface for a hexapod walking robot. The interface is based on the Kinect sensor and hand tracking libraries. The set of gestures is used to switch between motion modes of the robot. The estimated position of the operator's hands is used to define the reference motion of the robot. We show in the experiments that the operator can control the robot to reach the goal position and manipulates objects using hand gestures only.

 

References:
[1] W. Cieślak, S. Rodykow, D. Belter, Teleoperation of a Six-legged Walking Robot Using a Hand Tracking Interface, Human-Centric Robotics, World Scientific, M.E. Silva et al. (Eds.), Singapore, pp. 527-536, 2017