[1]任倩,王树国,付宜利,等.机器人离线编程中虚拟现实人机接口研究[J].南京理工大学学报(自然科学版),2006,(01):34-37.
　REN Qian,WANG Shu-guo,FU Yi-li,et al.Virtual Reality Human-machine Interface in Robot Off-line Programming[J].Journal of Nanjing University of Science and Technology,2006,(01):34-37.
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机器人离线编程中虚拟现实人机接口研究
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《南京理工大学学报》（自然科学版）[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2006年01期
页码:
34-37
栏目:
出版日期:
2006-02-28

文章信息/Info

Title:
Virtual Reality Human-machine Interface in Robot Off-line Programming
作者:
任倩;王树国;付宜利;蔡鹤皋;
哈尔滨工业大学机器人研究所, 黑龙江哈尔滨150001
Author(s):
REN Qian; WANG Shu-guo; FU Yi-li; CAI He-gao
Robotics Institute,Harbin Institute of Technology,Harbin 150001,China
关键词:
虚拟现实;  机器人离线编程;  三维交互;  手势识别
Keywords:
virtual reality;  robot of-f line programming;  three dimensional interaction;  gesture recognit ion
分类号:
TP242
摘要:
研究虚拟现实人机交互技术在机器人离线编程系统中的应用,以提高系统人机交互的自然性和效率。介绍了将六自由度输入设备FASTRAK跟踪系统用于机器人运动路径交互式生成的原理。提出一种场合相关的基于模板匹配的手势识别算法,通过手势向虚拟环境发送交互命令来对虚拟机器人进行离线编程,实现了数据手套在系统中的人机交互。算法简单、实时性好、识别率高、鲁棒性强。方法已在SGI工作站上实现,应用在自主开发的机器人虚拟示教编程系统中,大大提高了离线编程的效率。
Abstract:
This paper studies the application of the virtual reality human-machine interactive technique to robot of-f line programming system for improving the naturalness and the efficiency of the system interact ion. The principle that applies the 6-DOF input device FASTRAK tracker system to interactive generation of robot path is introduced. A gesture recognition technique depending on context and based on template matching is proposed. Interact ive commands are transmitted to virtual environment through the gestures for programming the virtual robot off line, and man-machine interaction between data glove and the system is realized. The technique is easy to be realized and has a good rea-l time performance, a high recognit ion rate and high robustness. The method is realized on SGIworkstation and applied to RVTPS ( Robot virtual teaching programming system) developed in this paper, and enhances the efficiency of the of-f line programming significantly.

参考文献/References:

[ 1] 方志刚. 三维空间控制器及其在三维空间交互技术 中的应用[ J] . 计算机辅助设计与图形学学报, 1998, 10( 2) : 105- 111.
[ 2] 王家钦. 虚拟现实) ) ) 不仅是仿真[ J] . 机器人情 报, 1993, 4: 3- 7
[ 3] 刘越, 王涌天, 胡晓明. 用于人机交互的交流式电磁 跟踪系统的研究[ J] . 系统仿真学报, 2002, 14( 9) : 1 154- 1 160.
[ 4] Sturman D J. Whole- hand input [ D] . Cambridge: Media Arts and Sciences Section, Massachusetts Institute of Technology, 1992. 135- 160.
[ 5] Watson R. A survey of gesture recognition techniques [ R] . Dublin: Department of Computer Science, Trinity College, 1993. 11- 22. [6] Inaguma T, Saji H, Nakatani H. Hand motion tracking based on a constraint of three- dimensional continuity [ J] . Journal of Electronic Imaging, 2005, 14( 1) : 1- 9.
[ 7] Sharma A, Kumar D K. Moments and wavelets for classif-i cation of human gestures represented by spatio- temporal templates [ A] . Lecture Notes in Artificial Intelligence ( Subseries of Lecture Notes in Computer Science) [ C] . Cairns, Australia: Springer Verlag , 2004. 215- 226.

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备注/Memo

备注/Memo:
基金项目: 国家“8630计划”( 2002AA422240) ; 国家自然科学基金( 50105002) 。 作者简介: 任倩( 1971- ) , 女, 内蒙古通辽人, 博士生, 主要研究方向: 机器人仿真与离线编程, 虚拟现实, E-mail: renqianhit@ 163. com; 通讯作者: 王树国( 1958- ) , 男, 河北献县人, 博士生导师, 主要研究方向: 智能机器 人及仿真, E-mail: renqianhit@163. com。
更新日期/Last Update: 2006-02-28