Human robot interaction based on gesture identification

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Human robot interaction based on gesture identification

  1. 1. HUMAN-ROBOT INTERACTIONBASED ON GESTURE IDENTIFICATIONGuided By: Ms. Anuja George Submitted By,Anoop V NairRestin S EdackattilNithin SebastianToji Sebastian 1
  2. 2. CONTENTS• INTRODUCTION• BLOCK DIAGRAM• HARDWARE• SOFTWARE• CONCLUSION2
  3. 3. INTRODUCTION3
  4. 4. HRI USING GESTUREIDENTIFICATION(APING AUTOBOT)• It apes our movements• The interaction is done by transferring ourhand movements to robot• And the difficulty arises when how we makerobot understand our movements• The robot can act as a mirror image4
  5. 5. ZIGBEE PROTOCOL• It is a device which transmits and receivesdigital signals• It is comprised of a transmitter module andreceiver module• It acts as a transmission media betweenhuman and robot• Main advantage is that it is a wirelesscommunication5
  6. 6. GESTURE IDENTIFICATION• The robot understands digital voltagesignals only• There should be a compiler between humanmovements and robot’s movements• There comes the ACCELEROMETER6
  7. 7. ACCELEROMETER• Produces signals according to themovements• The signals are produced based on thevariations on x-y-z variations• Types-digital and analog• Sampling/resolutions is adjustable so thatwe can adjust our robot sensitivity byadjusting sampling rate• A small module so that we can fix itanywhere in the body 7
  8. 8. Autobot• We present a autobot• It is three wheeled autobot which is ablemove in any direction• A separate module which is controlled byPIC18F4550• Moves according to the signals received byzigbee receiver8
  9. 9. BLOCK DIAGRAM &DESCRIPTION9
  10. 10. TRANSMITTER SECTION10
  11. 11. TRANSMITTER SECTION• The accelerometer which is fixed to thehand produces signals according to thehand movements• The signals are given to a processing &encoding unit which produces sequences ofbinary digits according to the signals• The binary signals are so as to control dcmotor• Then the zigbee recieves this signals andtransmits it to to the autobot module11
  12. 12. RECEIVER SECTION12
  13. 13. RECEIVER SECTION• The zigbee receiver receives the encodedsignals and gives it to the decoding IC• The processing IC(PIC18F4550) directsthese binary signals to motor terminals• The dc motor rotates according to thesignals given to it• In effect,the autobot moves according to thebinary signals13
  14. 14. HARDWARE14
  15. 15. CONTENTS• CIRCUIT DIAGRAM• XBEE• ADXL335• PIC18F4550• PIC16F876A• AT89C205115
  16. 16. CIRCUIT DIAGRAM(Autobot)16
  17. 17. CIRCUIT DIAGRAM(Transmitter)17
  18. 18. CIRCUIT DIAGRAM(Receiver)18
  19. 19. XBEE19
  20. 20. 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 modes20
  21. 21. ADXL33521
  22. 22. FEATURES• 3-axis sensing• Supply requirements-1.8 to 3.6v,350 uA• Full scale range of +/-3g• Measures static accelerations due to tilt anddynamic accelerations due to motion , shockor vibration• Bandwidth-0.5 to 1500Hz(x&y axes),0.5 to550Hz(z-axis)22
  23. 23. AT89C205123
  24. 24. FEATURES• 8bit microcontroller• 2.7 to 6v voltage• 128*8bit RAM• 15 programmable i/o lines• Two 16 bit Timer/Counter24
  25. 25. 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 ExtendedInstruction Set• 100,000 Erase/Write cycle Enhanced Flash ProgramMemory• 1,000,000 Erase/Write cycle Data EEPROM memory• Flash/Data EEPROM Retention > 40 years25
  26. 26. 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 (Mastermode) and I2C (Master/Slave)26
  27. 27. ADDRESSABLE UNIVERSAL SYNCHRONOUSASYNCHRONOUS RECEIVER TRANSMITTER (USART)• The Universal Synchronous Asynchronous ReceiverTransmitter (USART) module is one of the two serial I/Omodules• The USART can be configured in the following modes:• Asynchronous (full duplex)• Synchronous - Master (half duplex)• Synchronous - Slave (half duplex)USART27
  28. 28. SOFTWARE28
  29. 29. PROGRAMMING• BASIC INTRODUCTION• FLOW CHART• INTERFACES29
  30. 30. BASIC INTRO• Coding has been done with assembly and c• PIC IC with C• 89C2051 with assembly• Communication used is serialcommunication30
  31. 31. FLOWCHART31
  32. 32. Transmitter Section32
  33. 33. Receiver Section33
  34. 34. ADVANTAGES• Ease of controlling• Fast response• The module can be made into various formsas per the area of application• User friendly- One need not to know aboutthe robot, as they can control by handmovement34
  35. 35. FUTURE SCOPE• HIR is going to be an important militaryapplication in future.• SPY work.• Giant machinery vehicles can be controlledby body movements.35
  36. 36. GIANT MACHINERIES36
  37. 37. CONCLUSION• This is an easy way to interact with robotswithout any special training . By properimplementation ,this concept will be a steppingstone in the robotic technology .37
  38. 38. REFERENCES• D. Grollman and O. Jenkins. Learning elements of robotsoccer from demonstration. In Proceedings of theInternational Conference on Development and Learning(ICDL),London, England, Jul 2007.• www.edaboard.com• www.microchip.com• www.mikroelectronica.com38
  39. 39. THANK YOU…39

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