PDA Interface for Robota: Imitation Game  

This project develops a vision-based module for detecting the motion of the user's arm and head, and letting the mini-humanoid robot Robota imitate the motion of the user. The project uses a Compaq iPAQ-3850 Pocket-PC, provided with a FlyCAM-CF camera.

A built-in module allows the robot to imitate (in mirror fashion) the user's motion of the arms and the head.


People involved in this project

  • Sylvain Calinon: PDA Interface for Humanoid Robots (MSc - Diploma, winter 2002-2003)


  • Aude Billard: Head of the group and main advisor

Robota imitates in mirror fashion the user's upwards movement of the right arm

The camera image is divided into 9 areas to track
separately the head and the two arms.


TRACKING ALGORITHM

The tracking of the arms is based on optical flow detection, and the tracking of the head is based on a local template matching of the tip of the nose. This feature has symmetry and convexity properties, that ensure robust tracking during head rotation.


Papers


Videos