CAJ | 학술논문

针对现有遥机器人人机交互系统依赖于视频信息使操控性能不稳定的问题，设计并实现一种基于姿态传感器的人机交互系统。利用姿态传感器获取人的姿态信息并对其进行解算，通过基于D‐S证据理论的信息融合法对姿态进行判定，使用语音确定动作指令的发送，对复杂动作进行组合，简化操作，通过“双虚拟模型”获取远端机器人的姿态，对运动轨迹进行修正。实验结果表明，该系统具有高稳定、高准确率及易操作的特点。
침대현유요궤기인인궤교호계통의뢰우시빈신식사조공성능불은정적문제，설계병실현일충기우자태전감기적인궤교호계통。이용자태전감기획취인적자태신식병대기진행해산，통과기우D‐S증거이론적신식융합법대자태진행판정，사용어음학정동작지령적발송，대복잡동작진행조합，간화조작，통과“쌍허의모형”획취원단궤기인적자태，대운동궤적진행수정。실험결과표명，해계통구유고은정、고준학솔급역조작적특점。
A human‐robot interaction (HRI) system based on gesture recognition was designed and implenmented to address the unstable performance problem of the current operation systems .The gesture information was aquired and calculated using ges‐ture recognition sensors ,and the gesture was judged using the information fusion of D‐S evidence theory .Moreover ,the action command was sent using speech and complex movements were grouped together with speech instruction to simplify the opera‐tion .Using the feedback from double virtual model ,the knowledge of romote robot gesture was obtained and the movement locus was adjusted accordingly .The experimental results demonstrate the high stablebility ,accuracy and easy operation of the pro‐posed HRI system .