A 4-legged mobile robot control to observe a human behavior

Abstract

Describes a 4-legged walking robot that is navigated by human gesture. The navigation process is composed of two phases. The first is a human following phase. To follow a human, the robot tracks a human head by a visual tracking system. The latter phase is the recognition of human gestures. To achieve reliable and real-time recognition of the human gesture, we focus on such gestures expressed by cyclically repeated motion of the hands. We show how these gestures are recognized successfully to control the 4 legged robot.