This document describes a human-robot interaction system based on gesture identification. The system uses an accelerometer worn on the hand to detect gestures and transmit the gesture data wirelessly via Zigbee to a PIC microcontroller. The microcontroller then directs a three-wheeled robot to mirror the detected gestures by moving in accordance. The system aims to allow intuitive control of a robot through natural hand gestures without any specialized training.

1. 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

2. CONTENTS
• INTRODUCTION
• BLOCK DIAGRAM
• HARDWARE
• SOFTWARE
• CONCLUSION
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3. INTRODUCTION
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4. 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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5. 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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6. 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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7. 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

8. 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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9. BLOCK DIAGRAM &
DESCRIPTION
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10. TRANSMITTER SECTION
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11. 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
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12. RECEIVER SECTION
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13. 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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14. HARDWARE
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15. CONTENTS
• CIRCUIT DIAGRAM
• XBEE
• ADXL335
• PIC18F4550
• PIC16F876A
• AT89C2051
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16. CIRCUIT DIAGRAM(Autobot)
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17. CIRCUIT DIAGRAM(Transmitter)
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18. CIRCUIT DIAGRAM(Receiver)
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19. XBEE
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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 modes
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21. ADXL335
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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 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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23. AT89C2051
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24. 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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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 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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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 (Master
mode) and I2C (Master/Slave)
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27. 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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28. SOFTWARE
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29. PROGRAMMING
• BASIC INTRODUCTION
• FLOW CHART
• INTERFACES
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30. 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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31. FLOWCHART
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32. Transmitter Section
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33. Receiver Section
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34. 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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35. 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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36. GIANT MACHINERIES
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37. 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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38. 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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39. THANK YOU…
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