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Uploaded on Jul 3, 2011
UPIITA IPN MEXICO Advance Robotics Laboratory A 3 DOF robot manipulator Mitsubishi ® follows the position and velocity of the user's hand. NOT use any visual mark or gloves in the user's hands. This platform uses an orthogonal camera configuration and the task is in REAL TIME, using the RTAI API in Linux Debian "Lenny". The algorithm was programmed based on the OpenCV functions. The system uses a Skin Segmentation and a hand tracking algorithm, this information is used by a Visual-Servoing Controller (Position Based).