International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395 -0056
Volume: 04 Issue: 04 | Apr -2017
p-ISSN: 2395-0072
www.irjet.net
Human Follower Robot Using Kinect Purvi Agarwal1, Pranjal Gautam2, Anmoal Agarwal3, Vijai Singh4 1Department of Computer Science and Engineering, IMS Engineering College, Ghaziabad, India 2Department of Computer Science and Engineering, IMS Engineering College, Ghaziabad, India 3Department of Computer Science and Engineering, IMS Engineering College, Ghaziabad, India 4 Professor, Department of Computer Science and Engineering, IMS Engineering College, Ghaziabad, India ---------------------------------------------------------------------***---------------------------------------------------------------------
Abstract - This paper throws light on the aspects of human
following robot using Kinect technology. The goal of this study is to eliminate the limitations of human robots by presentation of a Human follower robot which moves and is directly controlled by the human in front of the camera. This paper is focusing on the fact, how the Kinect sensor captures the 3-d information of a scene and recognizes the human body by retrieving the depth information. Microsoft Kinect is one of the latest advancement in the field of human and computer interaction (HCI). Various studies are being conducted using Kinect in the field of computer vision and action recognition techniques. In this process, the distance of human from the Kinect camera is being calculated in the form of the depth data, which is being Instantiated to move the robot forward and backwards. The robot being used here is a two legged robot powered by Arduino Uno microcontroller and a Bluetooth module ( HC-05) for the interfacing and data transfer unto the robot. The whole process has a wide range of applications based upon application areas. The robot is independent of the particular human standing in front of him and will follow any other user after losing the field of view during its movements. Key Words: Human Follower Robot, Kinect Sensor, Human Computer Interaction
1.INTRODUCTION
Figure 1 : Kinect Body Joints
Robotics is a field that has seen much advancement in the past few years and before. This field has found many applications in the field of military, industry, medicine and many others. The absence of robotics in daily use has led to the need of an intelligent robot. Thus the human following robots come into action due to their capability as working assistants for the humans and the further developments can see these carrying heavy loads in the various hauling activities. Currently this field is under many researches which use various technologies so as to locate the person standing in front of the camera using depth sensors and digital image processing. And Kinect camera has a quite less area limitation compared to the others along with its various qualities, this makes it the best in the business.[7] Kinect sensors are versed with human tracking capabilities, which provide a full 3-D motion capture thus making it the backbone of the human following systems. The accuracy of the Kinect sensor can be judged by its capability to represent
Š 2017, IRJET
|
the full body of the human standing before it by showing 20 joints of the human body. The data calculated in the form of the distance between the human and the Kinect camera is fed to the computer that is the bridge between the two systems- the robot and the Kinect.
Impact Factor value: 5.181
|
2. ROBOT PLATFORM The mobile robot used here is a two wheeled robot having approximate height of 0.15cms which is powered by an arduino uno microprocessor. There are two 9 volt batteries being used to power the whole system. The wheels are in direct connection to a dc motor for movement facility forward and backward.[6] Hc-05 bluetooth module is being used in the form of wireless technology to make the system mobile, which can be further improved by using infrared and laser communication systems to increase the range which is currently 10 metres. The robot is capable of forward and backward motion currently obeying the movement of the human before it.
ISO 9001:2008 Certified Journal
|
Page 1635