Point-and-Follow Gesture Control of Hydraulic Arm Using Infrared Camera Feedback

Abstract

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.