An open platform telepresence robot with natural human interface

Author

Do, Ha M. ; Mouser, Craig J. ; Ye Gu ; Weihua Sheng ; Honarvar, Sam ; Tingting Chen

Author_Institution

Sch. of ECE, Oklahoma State Univ., Stillwater, OK, USA

fYear

2013

fDate

26-29 May 2013

Firstpage

81

Lastpage

86

Abstract

This paper explains our low-cost approach to building an open platform telepresence robot, which uses an iRobot Create, ROS (Robot Operating System) and mobile devices. Besides using existing ROS packages we developed an Android application based on rosjava_core and android_core to control and view a live video stream from the remote robot. The robot could be used to have a video conference with people at a remote location. It is also equipped with capabilities such as autonomous navigation, hand-gesture recognition, and speech recognition through cloud computing services provided by Google. Experimental results verify the effectiveness of the developed telepresence robot.

Keywords

Android (operating system); cloud computing; control engineering computing; gesture recognition; human-robot interaction; mobile computing; mobile robots; robot vision; speech recognition; telerobotics; video streaming; Android application; Google; ROS packages; android_core; autonomous navigation; cloud computing services; hand-gesture recognition; human-robot interface; iRobot Create; live video stream; mobile devices; natural human interface; open platform telepresence robot; remote robot; robot operating system; rosjava_core; speech recognition; video conference; Accuracy; Hidden Markov models; Robots; Speech recognition; ROS; human-robot interface; telepresence robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Cyber Technology in Automation, Control and Intelligent Systems (CYBER), 2013 IEEE 3rd Annual International Conference on

Conference_Location

Nanjing

Print_ISBN

978-1-4799-0610-9

Type

conf

DOI

10.1109/CYBER.2013.6705424

Filename

6705424