Design of a wireless remote monitoring and object tracking robot

Authors:
M. Karkoub;M. -G. Her;C. -C. Huang;C. -C. Lin;C. -H. Lin
Affiliations:
Mechanical Engineering Program, Texas A&M University, Qatar;Mechanical Engineering Department, Tatung University, Taipei, Taiwan;Mechanical Engineering Department, Tatung University, Taipei, Taiwan;Mechanical Engineering Department, Tatung University, Taipei, Taiwan;Mechanical Engineering Department, Tatung University, Taipei, Taiwan
Venue:
Robotics and Autonomous Systems
Year:
2012

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Abstract

A vision-based motion detection system is designed to remotely control the motion of a service robot. Color tags are placed on the operator to control the robot motion. The motion of the color tags is detected using a CCD camera and used to actuate the remote robot wirelessly. The computation of the color tags' motion is achieved through image processing using eigenvectors and color system morphology. Through inverse dynamics and coordinate transformation, the rotation angles of the arm, head, and foot of the operator and the corresponding robot motor angles are determined. It takes, on average, 65 ms per calculation. The system performed well even in complex environments with errors that did not exceed 2 pixels with a response time of about 0.1 s. The results of the experiments are available at http://www.youtube.com/watch?v=5TC0jqlRe1U and http://www.youtube.com/watch?v=3sJvjXYgwVo. The videos have to be watched simultaneously in order to observe the command and the corresponding robot response.