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A Robot Teaching Method Based on Motion Tracking with Particle Filter

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

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Abstract

Particle filters are being widely used in tracking single object for its unique advantages. According to former studies, particle filters can solve the tracking problems in the circumstances of nonlinear and non-Gaussian observation. In this paper, we propose a robot teaching method based on multi-objective particle filter for motion tracking, in which targets can be recognized by the value of H in HSV color space. After the targets are recognized, particle filtering is applied to achieve motion tracking. PnP algorithm is another essential part of this method, which can obtain translation and rotation matrix of the moving objects. All these pose information is sent to robot to reproduce the targets’ motions. The experiment in this paper is divided into three parts, firstly, a single robot arm achieve the linear motion along three-axis respectively, and then move along a particular trajectory. Finally, to achieve both arms tracking hands movements at the same time. When the single target is tracked, the experimental results are better compared with track hands simultaneously.

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Acknowledgments

This work was partially supported by the Scientific and technological project of Guangzhou (2015090330001, 201707010318), partially supported by the Natural Science Foundation of China (51505151), partially supported by the Research Project of State Key Laboratory of Mechanical System and Vibration (MSV201605), and partially supported by the Natural Science Foundation of Guangdong Province (2015A030310239).

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Authors and Affiliations

  1. Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, Guangzhou, China

    Yanjiang Huang, Jie Xie, Haopeng Zhou, Yanglong Zheng & Xianmin Zhang

  2. School of Mechanical and Automative Engineering, South China University of Technology, Guangzhou, China

    Yanjiang Huang, Jie Xie, Haopeng Zhou, Yanglong Zheng & Xianmin Zhang

  3. Research into Artifacts, Center for Engineering, The University of Tokyo, Chiba, Japan

    Yanjiang Huang

Authors
  1. Yanjiang Huang
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  2. Jie Xie
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  3. Haopeng Zhou
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  4. Yanglong Zheng
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  5. Xianmin Zhang
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Corresponding author

Correspondence to Xianmin Zhang .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Huang, Y., Xie, J., Zhou, H., Zheng, Y., Zhang, X. (2017). A Robot Teaching Method Based on Motion Tracking with Particle Filter. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_56

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_56

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

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