Body Gestures Recognition System to Control a Service Robot

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Jose L. Medina-Catzin 1,* Anabel Martin-Gonzalez 2 Carlos Brito-Loeza 2 Victor Uc-Cetina 2

1. Universidad Autónoma de Yucatán/Facultad de Matemáticas, Merida, 97205, Mexico

2. Universidad Autónoma de Yucatán/Computational Learning and Imaging Research, Merida, 97205, Mexico

* Corresponding author.


Received: 27 Jun. 2017 / Revised: 10 Jul. 2017 / Accepted: 15 Jul. 2017 / Published: 8 Sep. 2017

Index Terms

Intelligent control, service robots, gesture recognition, Adaboost, Haar features


Personal service robots will be in the short future part of our world by assisting humans in their daily chores. A highly efficient way of communication with people is through basic gestures. In this work, we present an efficient body gestures’ interface that gives the user practical communication to control a personal service robot. The robot can interpret two body gestures of the subject and performs actions related to those gestures. The service robot’s setup consists of a Pioneer P3-DX research robot, a Kinect sensor and a portable workstation. The gesture recognition system developed is based on tracking the skeleton of the user to get the body parts relative 3D positions. In addition, the system takes depth images from the sensor and extracts their Haar features, which will train the Adaboost algorithm to classify the gesture. The system was developed using the ROS framework, showing good performance during experimental evaluation with users. Our body gesture-based interface may serve as a baseline to develop practical and natural interfaces to communicate with service robots in the near future.

Cite This Paper

José L. Medina-Catzin, Anabel Martin-Gonzalez, Carlos Brito-Loeza, Victor Uc-Cetina, "Body Gestures Recognition System to Control a Service Robot", International Journal of Information Technology and Computer Science(IJITCS), Vol.9, No.9, pp. 69-76, 2017. DOI:10.5815/ijitcs.2017.09.07


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