Real-time gestural control of robot manipulator through Deep Learning human-pose inference

Jesus Bujalance (1) , Fabien Moutarde (1)

1 CAOR - Centre de Robotique

With the raise of collaborative robots, human-robot interaction needs to be as natural as possible. In this work, we present a framework for real-time continuous motion control of a real collabora-tive robot (cobot) from gestures captured by an RGB camera. Through deep learning existing techniques, we obtain human skeletal pose information both in 2D and 3D. We use it to design a controller that makes the robot mirror in real-time the movements of a human arm or hand.

Domaines: Informatique [cs]; Vision par ordinateur et reconnaissance de formes [cs.CV]; Informatique [cs]; Intelligence artificielle [cs.AI]; Informatique [cs]; Interface homme-machine [cs.HC]; Informatique [cs]; Apprentissage [cs.LG]; Informatique [cs]; Réseau de neurones [cs.NE]; Informatique [cs]; Robotique [cs.RO]

Jesus Bujalance, Fabien Moutarde. Real-time gestural control of robot manipulator through Deep Learning human-pose inference. Int. Conf. on Computer Vision Systems, Sep 2019, Thessalonique, Greece. ⟨hal-02276236⟩