ROS를 이용한 사용자 동작 인식 기반 로봇 팔 제어 = User Motion Recognition Based Robot Arm Control Using ROS

다국어 초록 (Multilingual Abstract)

In this study, a motion recognition-based remote-control technique for a robot operating system implemented in arobot arm is proposed; additionally, the system can reproduce this recognized motion repeatedly to allow the robotto perform repetitive tasks without additional guidance. Using the inertial measurement unit (IMU) and 8-channelelectromyogram (EMG) sensor built into the commercial armband MYO, the user's arm movement and handmovement are recognized, respectively. The movement of the 4-DOF slave robot arm is controlled by the movementof the user's recognized arm motion, and the 1-DOF movement of the gripper is controlled using the recognizedhand motion. The control process for the robot arm according to the user's demonstration motion is memorized sothat the robot can repeatedly perform the same motion. It is confirmed that, through the proposed technique, theworking motion of the robot can be intuitively implemented and used in various fields without additional coding.