Wearable Robotics as a Behavioral Interface - The Study of the Parasitic Humanoid
ISWC '02 Proceedings of the 6th IEEE International Symposium on Wearable Computers
Fast Ego-motion Estimation with Multi-rate Fusion of Inertial and Vision
International Journal of Robotics Research
Fast hand detection using posture invariant constraints
KI'09 Proceedings of the 32nd annual German conference on Advances in artificial intelligence
Real-time dynamic 3-D object shape reconstruction and high-fidelity texture mapping for 3-D video
IEEE Transactions on Circuits and Systems for Video Technology
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This paper describes a wearable visuo-inertial interface for humanoid robot control, which allows a user to control motion of a humanoid robot intuitively. The interface composed of a camera and inertial sensors and estimates body motion of the user: movement (walk), hand motion, and grasping gesture. The body motion (walk) estimation is performed by a combination of a monocular SLAM and a vision-inertial fusion using an extended Kalman filter. The hand motion is also estimated by using the same motion model and sensor fusion as the body motion estimation. The estimated motion was used to operate the movement or arm motion of the humanoid robot. We conducted the experiment on robot operation. The results revealed that the user intuitively controlled the robot and it responded to the operator commands correctly.