Controlling Humanoid Robot Using Head Movements

This paper presents the framework on vision based interface that has been designed to instruct a humanoid robot through head movements using image processing. Face Detection and Face tracking techniques were used to obtain movements. Then we analyze the movements given by the user in front of a web camera and take an appropriate action (like stepping forward, backward etc). The application is developed using OpenCV (Open Computer Vision) libraries and Microsoft Visual C++. The movements obtained by processing the live images are used to command a humanoid robot with simple capabilities. A commercial humanoid toy robot-Robosapien was used as the output module of the system. The robot was interfaced to computer by USB-UIRT (Universal Infrared Receiver and Transmitter) module.