Dual arm robot control by hands gestures using ROS

Inhalt:
The human-robot interaction can be realized during robot programming or robot program execution. In both cases a methodology is needed through which the actions of the user will influence the operation of the robot. This paper will present a further development of previous work concerning human-robot communication. It is based on the LeapMotion hand-tracking sensor implemented on Robot Operating System (ROS), which is used to control a dual arm collaborative robot, the ABB YuMi, by two hands of an operator: the overall system and the architecture of the ROS nodes are presented. Using this approach, the proof of concept is done: the robot is controlled by hand gestures in the ABB RobotStudio virtual environment and in reality as well.