1.Gesture recognition enables humans to communicate with the machine and interact naturally without any mechanical devices 2.Gestures can originate from any bodily motion or state but commonly originate from the face or hand 3.This project we have tried to control a robot by hand gestures using an accelerometer sensor in conjunction with a MCU and RF link.

1. GESTURE CONTROLLED
ROBOT
( An insignia on technology )
By : Group 56
Group members: Group mentor:
1. Sujit Singh Mr. Sandeep Gulia
2. Varun Kumar
3. Niketan Singh
4. Rajeev Ranjan

2. CONTENT
• Introduction
• Components Used
• Components Specifications
• Complete schematics
• Code
• Algorithm
• Applications
• Acknowledgement
• Progress

3. INTRODUCTION
1.Gesture recognition enables humans to communicate with
the machine and interact naturally without any mechanical
devices
2.Gestures can originate from any bodily motion or state
but commonly originate from the face or hand
3.This project we have tried to control a robot by hand
gestures using an accelerometer sensor in conjunction with
a MCU and RF link.

4. RF Link 434 MHz HT12E Decoder IC
Accelerometer
ADLX335
100 rpm DC motors
HT12D Encoder IC
PIC Microcontroller
Voltage regulator
(7805)
Motor Driver
(L293D)

5. Components Specifications
• Accelerometer Sensor
-The ADXL335 is a small, thin, complete 3-axis accelerometer
-Measures acceleration with a minimum full-scale range of ±3 g
-It is can be used in the static as well as dynamic applications.

6. Components Specifications
• RF Link 434 MHz
-This RF link comprises of an RF Transmitter and an RF Receiver.
-The (Tx/Rx) pair operates at a frequency of 434 MHz
-RF transmitter receives serial data and transmits it wirelessly through RF through its
antenna connected at pin4
-The transmitted data is received by an RF receiver operating at the same frequency
as that of the transmitter.

7. Components Specifications
• HT12E Encoder IC
-HT12E is an encoder integrated circuit of 212 series of encoders
-It encodes the 12 bit parallel data into serial for transmission
through an RF transmitter
-These 12 bits are divided into 8 address bit s and 4 data bits.

8. • Encoding :

9. Components Specifications
• HT12D Decoder IC
-It is a decoder integrated circuit that belongs to 212 series
of decoders.
-It is capable of decoding 12 bits, of which 8 are
address bits and 4 are data bits.
-The data on 4 bit latch type output pins remain unchanged until new is
received.

10. • Decoding :

11. Components Specifications
• 100 rpm DC motors
- It is a low cost DC motor suitable for most robotic and general
applications
- It has a output shaft with a hole for easy mounting of wheels or pulleys
- Input Voltage: 6-12 V
- Stall Current: 500 - 600 mA
- Shaft length: 2.4 cm

12. Components Specifications
• Motor Driver
-The L293 and L293D are quadruple high-current half-H drivers
-The L293 is designed to provide bidirectional drive currents of up to 1 A at
voltages from 4.5 V to 36 V
-The L293D is designed to provide bidirectional drive currents of up to 600-mA at
voltages from 4.5 V to 36 V

13. Components Specifications
• PIC Microcontroller
•RISC has very few
instructions (approx. ~ 35)
which are used in the
program.
•Length of the instruction
is small and fixed and takes
same amount of time for
processing.
•As the instruction is small
it will take less time to
process another words CPU
will be fast.
•Compiler need not be
complex and debugging
will be very easy in the
programmer point of view.

14. Components Specifications
• Voltage regulator (7805)
- 7805 is a voltage regulator integrated circuit
- The voltage regulator IC maintains the output voltage at a
constant value
- It provides +5V regulated power supply.

15. Complete Schematics
Image from simulation file of Proteus
Transmitter Side

16. Complete Schematics
Receiver Side
Image from simulation file of Proteus

17. CODE
Transmitter side:
while (1)
{ x=read_adc(0);
y= read_adc(1);
itoa(x,a);
itoa(y,b);
lcd_gotoxy(0,0);
lcd_putsf("X axis=");
lcd_gotoxy(0,1);
lcd_putsf("Y axis=");
lcd_gotoxy(10,0);
lcd_puts(a);
lcd_gotoxy(10,1);
lcd_puts(b);
PORTB=0x00;
if(x>370)
PORTB=0b00000001;
else if(x<280)
PORTB=0b00000010;
else if(y>370)
PORTB=0b00000100;
else if(y<290)
PORTB=0b00001000;
}

18. CODE
Receiver Side
while(1)
{
if(PIND&(1<<4))
motor_forward();
else if(PIND&(1<<5))
motor_backward();
else if(PIND&(1<<6))
motor_left();
else if(PIND&(1<<7))
motor_right();
else
motor_stop();
}
}

19. ALGORITHM
Accelerometer
• It will detect the gesture and send analog
output to the ADC of Atmega16 on the
corresponding axis.
Atmega16
• The Microcontroller will send the command
based on threshold set on the ADC of
respective axis to the RF encoder Module .
RF Encoder
• The Encoder Module (IC HT12E) will
send the corresponding Data bits using
RF transmitter to the RF Receiver
• Transmitter Side

20. RF Decoder
• The RF Receiver will send the command to IC
HT12D and the corresponding Data bit will be
pulled high.
PIC
Microcontroller
• By checking the status of Data bits of the Decoder IC
the microcontroller will send the command to the
motor Driver to start or stop the motors.
L293D
• It will Receiver the commands from the
Atmega16 and will Reverse the
polarity/direction whenever required.
ALGORITHM
• Receiver Side

21. Limitations & Further Developments
Speed Control
Hardware
Complications
Specific gestures

22. REFERENCES
1. http://www.wikipedia.org
2. http://www.freescale.com
3. http://www.ablabs.co.in
4. http://www.onlinetps.com
5. http://www.atmel.com