Robot mimicking: A visual approach for human machine interaction

Uskarci, A
Alatan, Abdullah Aydın
Dindaroglu, MS
Ersak, A
The proposed method is the preliminary step for a human-machine interaction system, in which a robot arm mimics the movements of a human arm, visualized through a camera set-up. In order to achieve this goal, the posture of a model joint, which simulates a human arm, is determined by finding the bending and yaw angles from captured images. The image analysis steps consist of preprocessing of noise via median filtering, thresholding and connected component analysis. The relation between the relative positions of these markers can be used to determine the unknown bending and yaw angles of the model joint. This information is further passed to a PUMA 760 robot arm to finalize the goal. The preliminary simulation results are promising to present that the proposed system can be utilized in a real environment in which a human (arm) can be mimicked by a machine with visual sensor.


Visual object representations: effects of feature frequency and similarity
Eren Kanat, Selda; Hohenberger, Annette Edeltraud; Department of Cognitive Sciences (2011)
The effects of feature frequency and similarity on object recognition have been examined through behavioral experiments, and a model of the formation of visual object representations and old/new recognition has been proposed. A number of experiments were conducted to test the hypothesis that frequency and similarity of object features affect the old/new responses to test stimuli in a later recognition task. In the first experiment, when the feature frequencies are controlled, there was a significant increas...
AKSOY, Yagiz; Alatan, Abdullah Aydın (2014-10-30)
Most of the mobile applications require efficient and precise computation of the device pose, and almost every mobile device has inertial sensors already equipped together with a camera. This fact makes sensor fusion quite attractive for increasing efficiency during pose tracking. However, the state-of-the-art fusion algorithms have a major shortcoming: lack of well-defined uncertainty introduced to the system during the prediction stage of the fusion filters. Such a drawback results in determining covarian...
Motion control of flexible-link manipulators
KILIÇASLAN, SEMA; Ider, S. K.; Özgören, Mustafa Kemal (2008-12-01)
A new method is proposed for the end-effector trajectory tracking control of flexible robot manipulators. The equations of motion are separated into two parts that represent the pseudostatic equilibrium and the deviations from it, The part of the control input for the pseudostatic equilibrium is determined algebraically, and the other part of the control input for the stabilization of the deviations is obtained by a state variable feedback law, by using strain, joint variable, and end-effector position meas...
7-DOF Haptic device and interface design
Baser, Ozgur; Konukseven, Erhan İlhan (2013-01-01)
In this study, the developed 7-DOF haptic device (HaP-7) and its virtual reality interface are presented. The design issues, design constraints, and alternative design configurations are discussed and the potential advantages of the HaP-7 are put forward. The kinematic model of the proposed device looks like a simplified human arm kinematic model. The redundant characteristic of the device provides larger workspace and allows for appropriate posture selection for the purposes of maximization of the rigidity...
Trajectory tracking control of robots with flexible links
Ider, SK; Özgören, Mustafa Kemal; Ay, V (2002-11-01)
A new method is developed for the end-effector trajectory tracking control of robots with flexible links. In order to cope with the non-minimum phase property of the system, the closed-loop poles are placed at desired locations using full state feedback. The dynamic equations are linearized about the rigid motion. A composite control law is designed to track the desired trajectory while at the same time the internal dynamics is stabilized. The proposed method is valid for all types of manipulators with any ...
Citation Formats
A. Uskarci, A. A. Alatan, M. Dindaroglu, and A. Ersak, “Robot mimicking: A visual approach for human machine interaction,” COMPUTER AND INFORMATION SCIENCES - ISCIS 2003, pp. 474–481, 2003, Accessed: 00, 2020. [Online]. Available: