ジェスチャ指令による人とマニピュレータの協調作業システム

抄録

This paper provides a cooperative work system between human and manipulator using hand gesture instructions. The goal of our system is that the manipulator can work with humans in the same workspace according to the instructions of hand gestures. Our cooperative work system is composed of the manipulator, a PC and a trinocular stereovision hardware. Since the system has to recognize the position and posture of the hand in the three dimensional workspace, we use the trinocular stereovision hardware. The three dimensional positions of the hand and object are obtained through range images. The gesture is recognized based on the length and width of the hand. We propose the method in which the hand area is divided into two blocks in order to recognize the hand gesture rapidly. Through experimental results, we will show the effectiveness of our system.