This paper documents the implementation of point-and-follow gesture control on
a hydraulic backhoe using infrared camera feedback. The goal of the control is to
allow an operator to point with a remote and have the backhoe move to the directed
position. Three di erent control schemes were formulated and tested using a Nintendo
Wii remote as the IR camera. The rst constrained the position and roll rotation of the
remote. The second permitted variable position of the remote, such as being carried
in hand, but limited the roll angle. The third scheme allowed both variable position
and roll angle of the remote. Point-and-follow control was successfully achieved with
the rst two control schemes. Areas of future work are suggested to improve the
performance of the working schemes and enable control with an unconstrained remote.
Point-and-Follow Gesture Control of Hydraulic Arm Using Infrared Camera Feedback.
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