HUMAN-ROBOT INTERACTION BASED ON GESTURE IDENTIFICATION

Guided By: Ms. Anuja George Submitted By, Anoop V Nair Restin S Edackattil Nithin Sebastian Toji Sebastian 1

CONTENTS

• INTRODUCTION• BLOCK DIAGRAM• HARDWARE• SOFTWARE• CONCLUSION

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INTRODUCTION3

HRI USING GESTURE IDENTIFICATION(APING AUTOBOT)

• It apes our movements• The interaction is done by transferring our

hand movements to robot• And the difficulty arises when how we make

robot understand our movements• The robot can act as a mirror image

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ZIGBEE PROTOCOL

• It is a device which transmits and receives digital signals

• It is comprised of a transmitter module and receiver module

• It acts as a transmission media between human and robot

• Main advantage is that it is a wireless communication

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GESTURE IDENTIFICATION

• The robot understands digital voltage signals only

• There should be a compiler between human movements and robot’s movements

• There comes the ACCELEROMETER

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ACCELEROMETER

• Produces signals according to the movements

• The signals are produced based on the variations on x-y-z variations

• Types-digital and analog• Sampling/resolutions is adjustable so that we

can adjust our robot sensitivity by adjusting sampling rate

• A small module so that we can fix it anywhere in the body 7

Autobot

• We present a autobot• It is three wheeled autobot which is able

move in any direction• A separate module which is controlled by

PIC18F4550• Moves according to the signals received by

zigbee receiver

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BLOCK DIAGRAM & DESCRIPTION

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TRANSMITTER SECTION

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TRANSMITTER SECTION

• The accelerometer which is fixed to the hand produces signals according to the hand movements

• The signals are given to a processing & encoding unit which produces sequences of binary digits according to the signals

• The binary signals are so as to control dc motor

• Then the zigbee recieves this signals and transmits it to to the autobot module 11

RECEIVER SECTION

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RECEIVER SECTION

• The zigbee receiver receives the encoded signals and gives it to the decoding IC

• The processing IC(PIC18F4550) directs these binary signals to motor terminals

• The dc motor rotates according to the signals given to it

• In effect,the autobot moves according to the binary signals

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HARDWARE14

CONTENTS

• CIRCUIT DIAGRAM• XBEE• ADXL335• PIC18F4550• PIC16F876A• AT89C2051

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CIRCUIT DIAGRAM(Autobot)

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CIRCUIT DIAGRAM(Transmitter)

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CIRCUIT DIAGRAM(Receiver)

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XBEE

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FEATURES

• Range-133ft(40m)• Serial data rate-1200bps to 1mbps• Interface-USRT serial data communication• Frequency band-2.4GHz • Supply voltage-2.1 to 3.6 v(dc)• Temperature ratings- -40 t0 85 deg.cls• Low power sleep modes

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ADXL335

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FEATURES

• 3-axis sensing• Supply requirements-1.8 to 3.6v,350 uA• Full scale range of +/-3g• Measures static accelerations due to tilt and

dynamic accelerations due to motion , shock or vibration

• Bandwidth-0.5 to 1500Hz(x&y axes),0.5 to 550Hz(z-axis)

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AT89C2051

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FEATURES

• 8bit microcontroller• 2.7 to 6v voltage• 128*8bit RAM• 15 programmable i/o lines• Two 16 bit Timer/Counter

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PIC18F4550(FEATURES)

• 8bit microcontroller• Operating voltage-2 to 5v• 40 pin package• USB V2.0 with speed 1.5Mb/s to 12Mb/s• C compiler Optimized architecture with optional Extended

Instruction Set• 100,000 Erase/Write cycle Enhanced Flash Program

Memory• 1,000,000 Erase/Write cycle Data EEPROM memory• Flash/Data EEPROM Retention > 40 years

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PIC16F876A(FEATURES)

• 28pin package

• High performance CPU• Up to 8Kb Internal FLASH Program Memory• Up to 368 x 8 bytes of Data Memory (RAM)• Up to 256 x 8 bytes of EEPROM Data Memory• Wide operating voltage range: 2.0V to 5.5V• Synchronous Serial Port (SSP) with SPI (Master

mode) and I2C (Master/Slave)

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ADDRESSABLE UNIVERSAL SYNCHRONOUS ASYNCHRONOUS RECEIVER TRANSMITTER (USART)• The Universal Synchronous Asynchronous Receiver

Transmitter (USART) module is one of the two serial I/O modules

• The USART can be configured in the following modes:

• Asynchronous (full duplex)

• Synchronous - Master (half duplex)

• Synchronous - Slave (half duplex)

USART

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SOFTWARE28

PROGRAMMING

• BASIC INTRODUCTION• FLOW CHART• INTERFACES

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BASIC INTRO

• Coding has been done with assembly and c• PIC IC with C • 89C2051 with assembly• Communication used is serial

communication

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FLOWCHART31

Transmitter Section

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Receiver Section

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ADVANTAGES

• Ease of controlling• Fast response• The module can be made into various forms

as per the area of application• User friendly- One need not to know about

the robot, as they can control by hand movement

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FUTURE SCOPE

• HIR is going to be an important military application in future.

• SPY work. • Giant machinery vehicles can be controlled

by body movements.

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GIANT MACHINERIES

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CONCLUSION

• This is an easy way to interact with robots without any special training . By proper implementation ,this concept will be a stepping stone in the robotic technology .

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REFERENCES

• D. Grollman and O. Jenkins. Learning elements of robot soccer from demonstration. In Proceedings of the International Conference on Development and Learning (ICDL),London, England, Jul 2007.• www.edaboard.com• www.microchip.com• www.mikroelectronica.com

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THANK YOU…39