Control of Two-Wheel Self-balancing Robots Based on Gesture Recognition

摘要

Currently, wearable devices have been paid a great attention in lots of practical fields. This paper discusses the design of two-wheel self-balancing robots based on gesture recognition. The objective is to control the robot's movement by using gestures. Static gesture recognition without wearing data gloves is exploited to control the motion of the robot. The gesture recognition involves the calculation the distance between the user gesture and template gesture through Hu geometric features. The remote terminal is the Two-wheel Self-balancing Robots. These are unstable and a class of special wheeled mobile robots which are multivariable, nonlinear, strong coupling dynamic system, but it has the characteristics of small, simple, flexible movement. This paper proposes a controller design of Two-wheel Self-balancing Robots, and the simulation results show the effectiveness of the proposed method, which is verified also on the DSP platform at the same time.