Humanoid robot control using depth camera

Most human interactions with the environment depend on our ability to navigate freely and to use our hands and arms to manipulate objects. Developing natural means of controlling these abilities in humanoid robots can significantly broaden the usability of such platforms. An ideal interface for humanoid robot teleoperation will be inexpensive, person-independent, require no wearable equipment, and will be easy to use, requiring little or no user training. This work presents a new humanoid robot control and interaction interface that uses depth images and skeletal tracking software to control the navigation, gaze and arm gestures of a humanoid robot. To control the robot, the user stands in front of a depth camera and assumes a specific pose to initiate skeletal tracking. The initial location of the user automatically becomes the origin of the control coordinate system. The user can then use leg and arm gestures to turn the robot´s motors on and off, to switch operation modes and to control the behavior of the robot. We present two control modes. The body control mode enables the user to control the arms and navigation direction of the robot using the person´s own arms and location, respectively. The gaze direction control mode enables the user to control the focus of attention of the robot by pointing with one hand, while giving commands through gestures of the other hand. We present a demonstration of this interface, in which a combination of these two control modes is used to successfully enable an Aldebaran Nao robot to carry an object from one location to another. Our work makes use of the Microsoft Kinect depth sensor.