GESTURE CONTROL VIRTUAL TELEPRESENCE

ROBOT
Submitted in partial fulfillment of the requirements for
the award of
Bachelor of Engineering degree in

ELECTRONICS AND INSTRUMENTATION

By

SHANTANU SAHA (3618036)

PURUSHOTTAM ROY (3618028)

DEPARTMENT OF ELECTRONICS AND INSTRUMENTATION

ENGINEERING SCHOOL OF ELECTRICAL AND ELECTRONICS
ENGINEERING

SATHYABAMA
INSTITUTE OF SCIENCE AND TECHNOLOGY

(DEEMED TO BE UNIVERSITY)
Accredited with Grade “A” by NAAC
JEPPIAAR NAGAR, RAJIV GANDHI SALAI,
CHENNAI - 600 119

MARCH - 2020

1
 SATHYABAMA
INSTITUTE OF SCIENCE AND TECHNOLOGY
(DEEMED TO BE UNIVERSITY)

Accredited with Grade “A” by NAAC

JEPPIAAR NAGAR, RAJIV GANDHI SALAI, CHENNAI-600119

www.sathyabama.ac.in

DEPARTMENT OF ELECTRONICS AND INSTRUMENTATION ENGINEERING

BONAFIDE CERTIFICATE

This is to certify that this Project Report is the bonafide work of PURUSHOTTAM ROY
(Reg. No. 3618028) AND SHANTANU SAHA (Reg. No. 3618036) who carried out the
project entitled “GESTURE CONTROLLED VIRTUAL TELEPRESENCE ROBOT”
under our supervision from NOVEMBER 2019 to MARCH 2020.

Internal Guide Head of the Department

Ms .G.RAJALAKSHMI M.E,( Ph. D)., Dr.SUJATHA KUMARAN, M.E., Ph.D.,

Submitted for Viva voce Examination held on

Submitted for Viva voce Examination held on

Internal Examiner External Examiner

2
 DECLARATION

WE PURUSHOTTAM ROY (Reg. No. 3618026) AND SHANTANU SAHA

(Reg.No.3618038) hereby declare that the Project Report entitled “GESTURE
CONTROLLED VIRTUAL TELEPRESENCE ROBOT” done by us under the guidance
of Ms.G.RAJALAKSHMI,M.E,(Ph.D)., is submitted in partial fulfilment of the
requirements for the award of Bachelor of Engineering degree in Electronics And
Instrumentation Engineering.

DATE:

PLACE: SIGNATURE OF THE CANDIDATE

3
 ACKNOWLEDGEMENT

We pleased to acknowledge my sincere thanks to Board of Management of

SATHYABAMA for their kind encouragement in doing this project and for completing it
successfully. I am grateful to them.

We convey my thanks to Dr.SUJATHA KUMARAN, M.E., Ph.D.,Head of the

Department, Department of Electronics and Instrumentation Engineering for
providing me necessary support and details at the right time during the progressive
reviews.

We would like to express my sincere and deep sense of gratitude to my Project Guide
Ms.G.RAJALAKSHMI,M.E.,(Ph.D)., for her valuable guidance, suggestions and
constant encouragement paved way for the successful completion of my project work.

We wish to express my thanks to all Teaching and Non-teaching staff members of the
department of ELECTRONICS AND INSTRUMENTATION ENGINEERING who were
helpful in many ways for completion of the project

4
 ABSTRACT

In today’s world telepresence is nothing less than a necessity as a person can’t be

everywhere and it can be used for variety of reasons including saving lives of people.
This can be solved by a robot which can be controlled from a distant location. This
project deals with a new virtual telepresence robot with gesture control which can be
used in defence as well as life threatening jobs like mining, for educational purposes.
Robots when compared to humans can easily survive the atmosphere which is
developed in the field of mining and in defence. A telepresence robot is a remote-
controlled, wheeled device with a display to enable video streaming which enable the
participants to view remote locations, as if they were there. The project consist of a
VR headset, with a smartphone in dual screen to experience virtual reality and 4
wheeled robotic vehicle. The movement of the Robot is controlled using hand gestures
by the help of accelerometer present inside the smart phone .The motion of the camera
of the robot is controlled by the accelerometer and magnetometer data processed by
Arduino and Raspberry Pi. Video streamed is received by the smartphone using the
IP address specified by the Raspberry Pi experiments done are really promising. This
method is robust and can really be helpful in the field of defence and mining.

5
 Chapter-1

Introduction

From time immemorial, people faced a lot of limitations without technology. But now
as time has passed, people are unable to live without technology. The evolution of
mechanical computers to portable tablets and mobile phone has advanced the human
race to a next higher level. The world we live in now is one that provides the required
entity at just one click. It is also to be noted that the development in science and
technology has introduced the concept of virtual reality and robotics. The term virtual
means near and reality is what we experience as human beings. Hence ‘virtual reality’
means ‘near reality’. Robots have increased widely in today’s world. In almost all the
industries the concept of robotics is used. It is also user friendly. Like all real world
applications robots has its own disadvantages. A rechargeable battery is being used
in the project as a source of power supply. Telepresence is the use of virtual reality
technology, especially for remote control of machinery or for apparent participation in
distant events. Virtual telepresence robot allows the user to experience virtual reality
even when the robot is in a remote location.

A Telepresence being one of the most efficient ways of interacting with people over
long distance is gaining importance and popularity. It is also being used as a useful
tool in homes as well as in work in order to increase productivity and also to connect
people. It is one of the emerging fields which allow an individual to be in some other
place from their actual location.

Video telepresence results in interactive participation of users from any part of the
world. Also the ability of operating an object in any remote location facilitates the feel
of actual presence of the user. The emergence of video conferencing in mobile
devices, tablets, portable computers paved the way to drastic growth of Telepresence
robots.

Telepresence robots are basically ,a tele -operated robotic systems which all in all
helps an individual in any remote locations through video conference via Smartphone
or tablets and also to interact with the environment through various techniques which
includes sensorial and motor abilities. On the other hand when it comes to gesture

6
control It has been decades that we are using keyboards and mouse as the main
input devices for our computers however as the time is passing the increasing
popularity of ubiquitous devices which allows people to seize or clasp virtual objects,
body gestures are becoming essential.

It has become a very important part of the interaction between a computer and a
human being. Nowadays robotics are widely used in different fields including military
and hospitals. For instance we as students got this idea from a person who is divorced
and wanted to be with his children so he made a telepresence and gesture control
robot which helped him to be with his kids. These are being also used in domains
which includes search and rescue operations in dangerous environments to interactive
entertainments. All in all we can say larger numbers of robots are employed in our
daily life more will be the communication with the robots is required.

7
 Chapter-2

LITERATURE SURVEY

Telepresence and gesture control when clubbed up can be very helpful and useful in
fields like education; it can also be used commercially and even in fields like mining
and defence which is the main priority of.

Elizabeth Cha, Samantha Chen, and Maja J Mataric, “Designing Telepresence

Robots For K12 Education”2017, 26th IEEE International Symposium on Robot
and Human Interactive Communication (RO-MAN) Lisbon, Portugal, Aug 28 -
Sept 1, 2017

In this paper, they seek to better understand how a telepresence robot should function
in the classroom when operated by a remote student.In this work a field session is
conducted,in which four designers operated a telepresence robot in a real K-12
classroom. Using the results, they identify key research challenges and present design
insights meant to inform the HRI community in particular and robot designers in
general.

Nazmul Hossain, Mohammad Tanzir Kabir, “A Real-time Surveillance Mini-rover

Based on OpenCV-PythonJAVA Using Raspberry Pi 2”, 2015 IEEE International
Conference on Control System, Computing and Engineering, 27 - 29 November
2015, Penang, Malaysia

In their project, they aimed at developing a low-cost, real-time video surveillance

mini-rover which will be capable of providing real-time video footage and roam
around in the area which we want to observe. Their target was to use hardware which
is very low of cost and easily available.

In their project, they aimed at developing a low-cost, real-time video surveillance mini-
rover which will be capable of providing real-time video footage and roam around in

8
the area which we want to observe. Their target was to use hardware which is very
low of cost and easily available.

K. M. Tsui and H. A. Yanco, “Design Challenges And Guidelines For Social Interaction
Using Mobile Telepresence Robots”, Reviews of Human Factors and Ergonomics,
9(1):227–301, 2013.

In this paper, they address issues related to using mobile telepresence robotics for
social interaction between people in different locations. They examine this problem
space from three perspectives: (a) designing for the robot user, who is in a remote
location; (b) designing for people near the robot, who are interacting with the user; and
(c) designing so that the conversation is not hampered by the technology. They identify
and review a number of mobile telepresence robots that have been designed for such
social interactions across a variety of applications, including business, education, and
healthcare. Finally, they discuss areas for future research and development in mobile
telepresence robots for social applications.

Keng Peng Tee, Rui Yan, Yuanwei Chua, Zhiyong Huang, Somchaya
Liemhetcharat, “Gesture-Based Attention Direction For A Telepresence Robot:
Design And Experimental Study”, 2014 IEEE/RSJ Internatio [nal Conference on
Intelligent Robots and Systems (IROS 2014), September 1418, 2014, Chicago, IL,
USA.

In this paper, they present an attention-directed robot with audiovisual attention control system
for telepresence applications. The robot is able to automatically direct attention to the person
of interest Attention direction is based on an integration of 3D speech source localization and
visual face tracking. To study the effect of automatic attention direction on the telepresence
experience, they conducted a user study for a video-conferencing session between two groups
of participants in two separate rooms. The users’ responses show that, in the presence of
automatic attention direction, the feeling of presence (i.e. that a remote person is in the same
room) increases, the ease of show and tell increases, and the flow of the video-conferencing
communications is smoother. These results suggest that the attention-directed robot can
enhance social telepresence.

9
 CHAPTER-3

AIM AND SCOPE OF THE WORK

4.1 Existing System

In most of the cases either the robot can be controlled by the gesture or the robot can give
a real time view from its lens. Together both the applications has not been implemented
together.

4.2 Proposed System

In the proposed framework, the Gesture Controlled Virtual Telepresence Robot both the
Virtual reality and telepresecnce are implemented in one robot. The image seen by the
robot can be viewed by the user, wearing the VR. The robot will be controlled by hand
gestures instead of using a controller. The camera present on the robot will move with
respect to movement of the head. Its range will be from 30m to100m.

Block Diagram:

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  If there is a movement in our hands there will be movement in the robot.

 The robot will have wheels below its body which will move back , front, left and right.

 It will have lens as its eyes.

 The image seen by the robot we will be able to see that with the help of a VR connected
to the mobile phone.

 If there is movement in the VR the robots eyes will also follow the same movement, it
will be able to move from straight to left or straight to right or up or down.

4.2.1 Advantages of the proposed system:

 Humans no need to take too much of stress as robots itself will do it..
 No latency in camera feed.
 Low cost and affordable by everyone.

4.2.2 Disadvantages:

 We need to charge the battery repeatedly otherwise the robot will be out
of charge.
 The speed of the robot is so fast.
4.2.3 Applications of the proposed system:

 In case of military, the robot can be sent to the site instead of sending a
soldier.
 In case of medical, at times the doctor is unable to go for rounds that time
the robot can be used to check the state of the patient.
 In case of mining industry it can be sent to the mining field in place of human
beings.
 If the robot is made fireproof then it can be used in a rescue operation.
4.3 OBJECTIVES

 To give the user a real time view of what the robot will see through the camera.

11
  Instead of the user going to the location the robot will go there.

4.4 Working of Hand Gesture

Working of the hand gesture is based on the gesture we set, here for the forward
movement the gesture taken is by tilting the hand in front side, the rover starts moving
forward until the next command is not given.

Figure 1. Hand gesture for forward movement.

For the backward movement the gesture taken is by tilting the hand in backward side,
the rover from the forward state changes to move in the backward direction until the next
command is not given as shown in the Fig 2.

Figure 2. Hand gesture for backward movement.

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To move the robot left the gesture taken is by tilting the hand left side as shown in the figure
3 .

Figure 3. Hand gesture for left movement.

For turning the robot right, the gesture taken is by tilting the hand right side as shown in the
figure 4.

Figure 4. Hand gesture for right movement.

And for stopping robot we keeps hand in stable.

Figure 5. Hand gesture for stop position

13
 CHAPTER-4

MATERIALS AND METHODS

Hardware:
3.1 Materials:

The materials that we are using

3.1.1 Arduino Uno R3

The Arduino Uno R3 is a microcontroller board based on a removable, dual-inline-

package (DIP) ATmega328 AVR microcontroller. It has 20 digital input/output pins (of
which 6 can be used as PWM outputs and 6 can be used as analog inputs). Programs
can be loaded on to it from the easy-to-use Arduino computer program. The Arduino
has an extensive support community, which makes it a very easy way to get started
working with embedded electronics. The R3 is the third, and latest, revision of the
Arduino Uno.

The Arduino Uno is a microcontroller board based on the ATmega328. It has 20 digital
input/output pins (of which 6 can be used as PWM outputs and 6 can be used as
analog inputs), a 16 MHz resonator, a USB connection, a power jack, an in-circuit
system programming (ICSP) header, and a reset button. It contains everything needed
to support the microcontroller; simply connect it to a computer with a USB cable or
power it with a AC-to-DC battery to get started.
The Uno differs from all preceding boards in that it does not use the FTDI USB-to-
serial driver chip. Instead, it features an ATmega16U2 programmed as a USB-to-serial

14
 converter. This auxiliary microcontroller has its own USB bootloader, which allows
advanced users to reprogram it.

The Arduino has a large support community and an extensive set of support libraries
and hardware add-on “shields” (e.g. you can easily make your Arduino wireless with
our Wixel shield), making it a great introductory platform for embedded electronics..
This is the 3rd revision of the Uno (R3), which has a number of changes:

 The USB controller chip changed from ATmega8U2 (8K flash) to ATmega16U2 (16K
flash). This does not increase the flash or RAM available to sketches.

 Three new pins were added, all of which are duplicates of previous pins. The I2C pins
(A4, A5) have been also been brought out on the side of the board near AREF. There
is a IOREF pin next to the reset pin, which is a duplicate of the 5V pin.

 The reset button is now next to the USB connector, making it more accessible when
a shield is used.

Pin Description:

Pin Category Pin Name Details

Power Vin, 3.3V, 5V, GND Vin: Input voltage to Arduino when using an external power
source.

5V: Regulated power supply used to power microcontroller and

other components on the board.

3.3V: 3.3V supply generated by on-board voltage regulator.

Maximum current draw is 50mA.

GND: ground pins.

Reset Reset Resets the microcontroller.

Analog Pins A0 – A5 Used to provide analog input in the range of 0-5V

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Input/Output Digital Pins 0 - 13 Can be used as input or output pins.
Pins

Serial 0(Rx), 1(Tx) Used to receive and transmit TTL serial data.

External 2, 3 To trigger an interrupt.

Interrupts

PWM 3, 5, 6, 9, 11 Provides 8-bit PWM output.

SPI 10 (SS), 11 (MOSI), 12 Used for SPI communication.

(MISO) and 13 (SCK)

Inbuilt LED 13 To turn on the inbuilt LED.

TWI A4 (SDA), A5 (SCA) Used for TWI communication.

AREF AREF To provide reference voltage for input voltage.

16
 Arduino Uno Technical Specifications

Microcontroller ATmega328P – 8 bit AVR family microcontroller

Operating Voltage 5V

Recommended Input 7-12V

Voltage

Input Voltage Limits 6-20V

Analog Input Pins 6 (A0 – A5)

Digital I/O Pins 14 (Out of which 6 provide PWM output)

DC Current on I/O Pins 40 mA

DC Current on 3.3V Pin 50 mA

Flash Memory 32 KB (0.5 KB is used for Bootloader)

SRAM 2 KB

EEPROM 1 KB

Frequency (Clock Speed) 16 MHz

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3.1.2 Bluetooth HC-05 module:

HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module,
designed for transparent wireless serial connection setup.

Serial port Bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced Data
Rate) 3Mbps Modulation with complete 2.4GHz radio transceiver and baseband. It
uses CSR Bluecore 04-External single chip Bluetooth system with CMOS technology
and with AFH(Adaptive Frequency Hopping Feature). It has the footprint as small as
12.7mmx27mm. Hope it will simplify your overall design/development cycle.

Specifications
Hardware Features:

 Typical -80dBm sensitivity

 Up to +4dBm RF transmit power
 Low Power 1.8V Operation ,1.8 to 3.6V I/O
 PIO control
 UART interface with programmable baud rate
 With integrated antenna
 With edge connector

Software Features:

 Default Baud rate: 38400, Data bits:8, Stop bit:1,Parity:No parity, Data control: has.

18
Supported baud rate: 9600,19200,38400,57600,115200,230400,460800.

 Given a rising pulse in PIO0, device will be disconnected.

 Status instruction port PIO1: low-disconnected, high-connected;
 PIO10 and PIO11 can be connected to red and blue led separately. When master
and slave are paired, red and blue led blinks 1time/2s in interval, while disconnected only
blue led blinks 2times/s.

 Auto-connect to the last device on power as default.

 Permit pairing device to connect as default.
 Auto-pairing PINCODE:”0000” as default
 Auto-reconnect in 30 min when disconnected as a result of beyond the range of
connection.

3.1.3 Raspberry Pi 3 Model B+:

• The Raspberry Pi 3 Model B+ is the latest product in the Raspberry Pi 3 range,

boasting a 64-bit quad core processor running at 1.4GHz, dual-band 2.4GHz
and 5GHz wireless LAN, Bluetooth 4.2/BLE, faster Ethernet, and PoE capability
via a separate PoE HAT.

19
 • The dual-band wireless LAN comes with modular compliance certification,
allowing the board to be designed into end products with significantly reduced,
wireless LAN compliance testing, improving both cost and time to market.

• The Raspberry Pi 3 Model B+ maintains the same mechanical footprint as both

the Raspberry Pi 2 Model B and the Raspberry Pi 3 Model B.

Specification:

20
Physical Specification

3.1.4 Raspberry Pi Camera Module

21
 The 5MP Raspberry Pi 3 Model B Camera Module Rev 1.3 with Cable equips flexible
cable for attaching with Raspberry Pi 3 Model B. The 5MP camera module is perfect
for small Raspberry Pi projects which have very little space allowance just boot up the
latest version of Raspbian .

The high-definition 5MP camera delivers outstanding photos but can also shoot video,
ideal for drones or a CCTV project. The lightweight camera module allows for it to be
used in more practical roles, such as a hidden camera or even a camera for a Pi-
phone, for example.

This Raspberry Pi Camera Module is a custom designed add-on for Raspberry Pi. It
attaches to Raspberry Pi by way of one of the two small sockets on the board upper
surface. This interface uses the dedicated CSI interface, which was designed
especially for interfacing to cameras. The CSI bus is capable of extremely high data
rates, and it exclusively carries pixel data.

The board itself is tiny, at around 25mm x 23mm x 8mm. It also weighs just over 3g,
making it perfect for mobile or other applications where size and weight are important.
It connects to Raspberry Pi by way of a short flexible ribbon cable. The camera
connects to the BCM2835 processor on the Pi via the CSI bus, a higher bandwidth
link which carries pixel data from the camera back to the processor. This bus travels
along the ribbon cable that attaches the camera board to the Pi.

The sensor itself has a native resolution of 5 megapixels and has a fixed focus lens
onboard. In terms of still images, the camera is capable of 2592 x 1944 pixel static
images, and also supports 1080p30, 720p60 and 640x480p60/90 video.

No adapters required! This camera will plug directly into the Raspberry Pi 3 Model B
camera port!

Hardware connection:

1. Soft cable, 90-degree vertical connector, HDMI port next to it. When connecting the
contact side facing the HDMI interface.
2. Tear protective film on the lens
3. Bare boards, pay attention to ESD damage, beware of static electricity!

22
 Software:

1. RPi firmware and raspi-config has been updated to the camera, do an apt-get
update; apt-get upgrade;
2. Raspi-config, select the camera, start RPi firmware camera driver, and then restart
3. Using the command-line program raspivid and raspistill operate a camera to capture
video clips or images
4. To capture video clips need to play with mplayer.
5. How will the data through the network camera live broadcast out:
6. By nc command (ncat – Concatenate and redirect sockets) of the input data of the
camera, directly to the output ports of the network redirection.

3.1.5 Robot Metal Chassis and Wheels

Robot chassis:

Black for 4 Wheel ( 4WD ) 4 motors Robotics DIY Kit - 190x130x40 mm Aluminum
Chassis comprise the body of a robot. Roll cages, bumpers and other body
accessories can also be found in this category.

23
 Robot Wheels:

Specification:

Material Plastic+Rubber
Shaft Diameter (mm) 6
Wheel Diameter(mm) 70
Wheel Width(mm) 40

3.1.6 L293D Motor Shield

L293D motor control shield. L293D is a monolithic integrated, high voltage, high
current, 4-channel driver. Basically this means using this chip you can drive
DCmotors with power supplier up to 36 Volts, and the chip can supply a maximum
current of 600mA per channel. L293D chip is also known as a type of H-Bridge.

24
 L293D Motor Driver & 74HC595
Shift Register

The L293D is a dual-channel H-Bridge motor driver capable of driving a pair of DC

motors or single stepper motor.

As the shield comes with two L293D motor driver chipsets, that means it can
individually drive up to four DC motors making it ideal for building four-wheel robot
platforms.

The shield offers total 4 H-Bridges and each H-bridge can deliver up to 0.6A to the
motor.

The shield also comes with a 74HC595 shift register that extends 4 digital pins of the
Arduino to the 8 direction control pins of two L293D chips.

25
 Power Supply

There exists three scenarios when it comes to supplying power for the motors through
shield.

 Single DC power supply for both Arduino and motors: If you would like to have a single
DC power supply for both Arduino and motors, simply plug it into the DC jack on the
Arduino or the 2-pin EXT_PWR block on the shield. Place the power jumper on the
motor shield. You can employ this method only when motor supply voltage is less than
12V.

 Arduino powered through USB and motors through a DC power supply: If you would
like to have the Arduino powered off of USB and the motors powered off of a DC power
supply, plug in the USB cable. Then connect the motor supply to the EXT_PWR block
on the shield. Do not place the jumper on the shield.

 Two separate DC power supplies for the Arduino and motors: If you would like to have
2 separate DC power supplies for the Arduino and motors. Plug in the supply for the

26
 Arduino into the DC jack, and connect the motor supply to the EXT_PWR block. Make
sure the jumper is removed from the motor shield.

As a bonus, the shield offers below features:

 The shield comes with a pulldown resistor array to keep motors switched off during
power-up.

 The on-board LED indicates the motor power supply is Okay. If it is not lit, the motors
will not run.

 The RESET is nothing but Arduino’s reset button. It just brought up top for
convenience.

Output Terminals

The output channels of both the L293D chips are broken out to the edge of the shield
with two 5-pin screw terminals viz. M1, M2, M3 & M4. You can connect four DC motors
having voltages between 4.5 to 25V to these terminals.

Each channel on the module can deliver up to 600mA to the DC motor. However, the
amount of current supplied to the motor depends on system’s power supply.

You can also connect two stepper motors to output terminals. One stepper motor to
motor port M1-M2 and other to M3-M4.

27
The GND terminal is also provided if you happen to have a unipolar stepper motor.
You can connect the center taps of both stepper motors to this terminal.

The shield brings out the 16bit PWM output lines to two 3-pin headers to which you
can connect two servo motors.

3.1.7Mini Bread Board

The modern breadboard is a plug-and-play way to make connections between

electronic components. It gets its name from the long-dead practice of using a wooden
board ( an actual bread-board if it was handy ) to prototype circuits. Hobbyists would
hammer small nails or thumbtacks into the board and wind wires around them to
prototype a circuit.

28
3.1.8 DC 12V 300RPM Metal Geared Motor

300 RPM Side Shaft Heavy Duty DC Gear Motor is suitable for large robots /
automation systems. It has sturdy construction with gear box built to handle stall torque
produced by the motor. Drive shaft is supported from both sides with metal bushes.
Motor runs smoothly from 4V to 12V and gives 300 RPM at 12V. Motor has 8mm
diameter, 17.5mm length drive shaft with D shape for excellent coupling.

Features

 300RPM 12V DC motors with Gearbox

 3000RPM base motor
 6mm shaft diameter with internal hole
 125gm weight
 Same size motor available in various rpm
 0.35kgcm torque
 No-load current = 60 mA(Max), Load current = 300 mA(Max)

29
3.1.9 9V High Watt Battery and Power bank

Lithium 9-volt batteries are consumer-replaceable, disposable high-energy-

density batteries. In the PP3 size they are typically rated at 0.8-1.2Ah (e.g., >1.2Ah @
900 ohms to 5.4V @ 23 °C for one type), about twice the capacity of alkaline batteries.

30
3.1.10 Jumper Cables

Jumper cables are electrical cables between the road tractor and a semi-trailer or a
full trailer or the electrical cables between an automobile and any trailer.And also
known as booster cables or jump leads, are a pair of insulated wires of sufficient
capacity with alligator clips at each end to interconnect the disabled equipment/vehicle
with an auxiliary source, such as another vehicle or equipment with the same system
voltage or to another battery.

3.1.11 MG995 Metal Gear Servo Motor :

MG995 Metal Gear Servo Motor is a high-speed standard servo that can rotate
approximately 180 degrees (60 in each direction) used for airplane, helicopter, RC-
cars and many RC model. Provides 10kg/cm at 4.8V, and 12kgcm at 6V. Compatible

31
with RKI-2323, RKI-2322, RKI-2321, RKI-2320, RKI-2319, RKI-2318, RKI-2317, RKI-
2316.

It is a Digital Servo Motor which receives and processes PWM signal faster and better.
It is equipted by a sophisticated internal circuitry that provides good torque, holding
power, and faster updates in response to external forces.

They are packed within a tight sturdy plastic case which makes them water and dust
resistant which is a very useful feature in RC planes, Boats, and RC Monster Trucks
etc. It equips 3-wire JR servo plug which is compatible with Futaba connectors too.

Specifiaton:

Model MG995
Weight(gm) 55
Operating Voltage 4.8 – 7.2 V
Operating Speed @4.8V 0.20sec/60°
Operating Speed @6.6V 0.16sec/60°
Stall Torque @4.8V 10 kg-cm
Stall Torque @6.6V 12 kg-cm
Operating Temperature (°C) -30 to 60
Dead Band Width 1 μs
Gear Type Metal
Rotational Degree 180
Servo Plug JR
Cable Length 30 mm
Length (mm) 40.5
Width (mm) 20
Height (mm) 44
Shipment Weight 0.065 kg
Shipment Dimensions 10 × 8 × 6 cm

32
Software:

Arduino IDE:

The Arduino Integrated Development Environment - or Arduino Software (IDE) -

contains a text editor for writing code, a message area, a text console, a toolbar with

33
buttons for common functions and a series of menus. It connects to the Arduino and
Genuino hardware to upload programs and communicate with them.

Writing Sketches
Programs written using Arduino Software (IDE) are called sketches. These sketches
are written in the text editor and are saved with the file extension .ino. The editor has
features for cutting/pasting and for searching/replacing text. The message area gives
feedback while saving and exporting and also displays errors. The console displays
text output by the Arduino Software (IDE), including complete error messages and
other information. The bottom righthand corner of the window displays the configured
board and serial port. The toolbar buttons allow you to verify and upload programs,
create, open, and save sketches, and open the serial monitor.

NB: Versions of the Arduino Software (IDE) prior to 1.0 saved sketches with the
extension .pde. It is possible to open these files with version 1.0, you will be prompted
to save the sketch with the .ino extension on save.

Verify
Checks your code for errors compiling it.

Upload
Compiles your code and uploads it to the configured board.
See uploading below for details.

Note: If you are using an external programmer with your board, you can hold
down the "shift" key on your computer when using this icon. The text will
change to "Upload using Programmer"

New
Creates a new sketch.

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 Open
Presents a menu of all the sketches in your sketchbook. Clicking one will
open it within the current window overwriting its content.

Note: due to a bug in Java, this menu doesn't scroll; if you need to open a
sketch late in the list, use the File | Sketchbook menu instead.

Save
Saves your sketch.

Serial Monitor
Opens the serial monitor.

Additional commands are found within the five menus: File, Edit, Sketch, Tools, Help.
The menus are context sensitive, which means only those items relevant to the work
currently being carried out are available.

File

 New
Creates a new instance of the editor, with the bare minimum structure of a sketch
already in place.
 Open
Allows to load a sketch file browsing through the computer drives and folders.
 Open Recent
Provides a short list of the most recent sketches, ready to be opened.
 Sketchbook
Shows the current sketches within the sketchbook folder structure; clicking on any
name opens the corresponding sketch in a new editor instance.
 Examples
Any example provided by the Arduino Software (IDE) or library shows up in this menu
item. All the examples are structured in a tree that allows easy access by topic or
library.

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 Close
Closes the instance of the Arduino Software from which it is clicked.
 Save
Saves the sketch with the current name. If the file hasn't been named before, a name
will be provided in a "Save as.." window.
 Save as...
Allows to save the current sketch with a different name.
 Page Setup
It shows the Page Setup window for printing.
 Print
Sends the current sketch to the printer according to the settings defined in Page Setup.
 Preferences
Opens the Preferences window where some settings of the IDE may be customized,
as the language of the IDE interface.
 Quit
Closes all IDE windows. The same sketches open when Quit was chosen will be
automatically reopened the next time you start the IDE.

Edit

 Undo/Redo
Goes back of one or more steps you did while editing; when you go back, you may go
forward with Redo.
 Cut
Removes the selected text from the editor and places it into the clipboard.
 Copy
Duplicates the selected text in the editor and places it into the clipboard.
 Copy for Forum
Copies the code of your sketch to the clipboard in a form suitable for posting to the
forum, complete with syntax coloring.
 Copy as HTML
Copies the code of your sketch to the clipboard as HTML, suitable for embedding in
web pages.

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 Paste
Puts the contents of the clipboard at the cursor position, in the editor.
 Select All
Selects and highlights the whole content of the editor.
 Comment/Uncomment
Puts or removes the // comment marker at the beginning of each selected line.
 Increase/Decrease Indent
Adds or subtracts a space at the beginning of each selected line, moving the text one
space on the right or eliminating a space at the beginning.
 Find
Opens the Find and Replace window where you can specify text to search inside the
current sketch according to several options.
 Find Next
Highlights the next occurrence - if any - of the string specified as the search item in
the Find window, relative to the cursor position.
 Find Previous
Highlights the previous occurrence - if any - of the string specified as the search item
in the Find window relative to the cursor position.

Sketch

 Verify/Compile
Checks your sketch for errors compiling it; it will report memory usage for code and
variables in the console area.
 Upload
Compiles and loads the binary file onto the configured board through the configured
Port.
 Upload Using Programmer
This will overwrite the bootloader on the board; you will need to use Tools > Burn
Bootloader to restore it and be able to Upload to USB serial port again. However, it
allows you to use the full capacity of the Flash memory for your sketch. Please note
that this command will NOT burn the fuses. To do so a Tools -> Burn
Bootloader command must be executed.

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 Export Compiled Binary
Saves a .hex file that may be kept as archive or sent to the board using other tools.
 Show Sketch Folder
Opens the current sketch folder.
 Include Library
Adds a library to your sketch by inserting #include statements at the start of your
code. For more details, see libraries below. Additionally, from this menu item you can
access the Library Manager and import new libraries from .zip files.
 Add File...
Adds a source file to the sketch (it will be copied from its current location). The new
file appears in a new tab in the sketch window. Files can be removed from the sketch
using the tab menu accessible clicking on the small triangle icon below the serial
monitor one on the right side o the toolbar.

Tools

 Auto Format
This formats your code nicely: i.e. indents it so that opening and closing curly braces
line up, and that the statements inside curly braces are indented more.
 Archive Sketch
Archives a copy of the current sketch in .zip format. The archive is placed in the
same directory as the sketch.
 Fix Encoding & Reload
Fixes possible discrepancies between the editor char map encoding and other
operating systems char maps.
 Serial Monitor
Opens the serial monitor window and initiates the exchange of data with any
connected board on the currently selected Port. This usually resets the board, if the
board supports Reset over serial port opening.
 Board
Select the board that you're using. See below for descriptions of the various boards.
 Port
This menu contains all the serial devices (real or virtual) on your machine. It should
automatically refresh every time you open the top-level tools menu.

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 Programmer
For selecting a harware programmer when programming a board or chip and not
using the onboard USB-serial connection. Normally you won't need this, but if
you're burning a bootloader to a new microcontroller, you will use this.
 Burn Bootloader
The items in this menu allow you to burn a bootloader onto the microcontroller on an
Arduino board. This is not required for normal use of an Arduino or Genuino board
but is useful if you purchase a new ATmega microcontroller (which normally come
without a bootloader). Ensure that you've selected the correct board from
the Boards menu before burning the bootloader on the target board. This command
also set the right fuses.

Help

Here you find easy access to a number of documents that come with the Arduino
Software (IDE). You have access to Getting Started, Reference, this guide to the IDE
and other documents locally, without an internet connection. The documents are a
local copy of the online ones and may link back to our online website.

 Find in Reference
This is the only interactive function of the Help menu: it directly selects the relevant
page in the local copy of the Reference for the function or command under the
cursor.

Sketchbook
The Arduino Software (IDE) uses the concept of a sketchbook: a standard place to
store your programs (or sketches). The sketches in your sketchbook can be opened
from the File > Sketchbook menu or from the Open button on the toolbar. The first time
you run the Arduino software, it will automatically create a directory for your
sketchbook. You can view or change the location of the sketchbook location from with
the Preferences dialog.

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Beginning with version 1.0, files are saved with a .ino file extension. Previous versions
use the .pde extension. You may still open .pde named files in version 1.0 and later,
the software will automatically rename the extension to .ino.

Tabs, Multiple Files, and Compilation

Allows you to manage sketches with more than one file (each of which appears in its
own tab). These can be normal Arduino code files (no visible extension), C files (.c
extension), C++ files (.cpp), or header files (.h).

Uploading
Before uploading your sketch, you need to select the correct items from the Tools >
Board and Tools > Port menus. The boards are described below. On the Mac, the
serial port is probably something like /dev/tty.usbmodem241 (for an Uno or Mega2560
or Leonardo) or /dev/tty.usbserial-1B1 (for a Duemilanove or earlier USB board),
or /dev/tty.USA19QW1b1P1.1 (for a serial board connected with a Keyspan USB-to-
Serial adapter). On Windows, it's probably COM1 or COM2 (for a serial board)
or COM4, COM5, COM7, or higher (for a USB board) - to find out, you look for USB
serial device in the ports section of the Windows Device Manager. On Linux, it should
be /dev/ttyACMx , /dev/ttyUSBx or similar. Once you've selected the correct serial port
and board, press the upload button in the toolbar or select the Upload item from
the Sketch menu. Current Arduino boards will reset automatically and begin the
upload. With older boards (pre-Diecimila) that lack auto-reset, you'll need to press the
reset button on the board just before starting the upload. On most boards, you'll see
the RX and TX LEDs blink as the sketch is uploaded. The Arduino Software (IDE) will
display a message when the upload is complete, or show an error.

Libraries provide extra functionality for use in sketches, e.g. working with When you
upload a sketch, you're using the Arduino bootloader, a small program that has been
loaded on to the microcontroller on your board. It allows you to upload code without
using any additional hardware. The bootloader is active for a few seconds when the
board resets; then it starts whichever sketch was most recently uploaded to the

40
microcontroller. The bootloader will blink the on-board (pin 13) LED when it starts (i.e.
when the board resets).

Libraries
hardware or manipulating data. To use a library in a sketch, select it from the Sketch
> Import Library menu. This will insert one or more #include statements at the top of
the sketch and compile the library with your sketch. Because libraries are uploaded to
the board with your sketch, they increase the amount of space it takes up. If a sketch
no longer needs a library, simply delete its #include statements from the top of your
code.

There is a list of libraries in the reference. Some libraries are included with the Arduino
software. Others can be downloaded from a variety of sources or through the Library
Manager. Starting with version 1.0.5 of the IDE, you do can import a library from a zip
file and use it in an open sketch. See these instructions for installing a third-party
library.

To write your own library, see this tutorial.

Third-Party Hardware
Support for third-party hardware can be added to the hardware directory of your
sketchbook directory. Platforms installed there may include board definitions (which
appear in the board menu), core libraries, bootloaders, and programmer definitions.
To install, create the hardware directory, then unzip the third-party platform into its own
sub-directory. (Don't use "arduino" as the sub-directory name or you'll override the
built-in Arduino platform.) To uninstall, simply delete its directory.

For details on creating packages for third-party hardware, see the Arduino IDE 1.5 3rd
party Hardware specification.

41
 Serial Monitor
This displays serial sent from the Arduino or Genuino board over USB or serial
connector. To send data to the board, enter text and click on the "send" button or press
enter. Choose the baud rate from the drop-down menu that matches the rate passed
to Serial.begin in your sketch. Note that on Windows, Mac or Linux the board will reset
(it will rerun your sketch) when you connect with the serial monitor. Please note that
the Serial Monitor does not process control characters; if your sketch needs a
complete management of the serial communication with control characters, you can
use an external terminal program and connect it to the COM port assigned to your
Arduino board.

Boards
The board selection has two effects: it sets the parameters (e.g. CPU speed and baud
rate) used when compiling and uploading sketches; and sets and the file and fuse
settings used by the burn bootloader command. Some of the board definitions differ
only in the latter, so even if you've been uploading successfully with a particular
selection you'll want to check it before burning the bootloader. You can find a
comparison table between the various boards here.

Arduino Software (IDE) includes the built in support for the boards in the following list,
all based on the AVR Core. The Boards Manager included in the standard installation
allows to add support for the growing number of new boards based on different cores
like Arduino Due, Arduino Zero, Edison, Galileo and so on.

 Arduino Yùn
An ATmega32u4 running at 16 MHz with auto-reset, 12 Analog In, 20 Digital I/O and
7 PWM.
 Arduino/Genuino Uno
An ATmega328P running at 16 MHz with auto-reset, 6 Analog In, 14 Digital I/O and
6 PWM.
 Arduino Diecimila or Duemilanove w/ ATmega168
An ATmega168 running at 16 MHz with auto-reset.

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 Arduino Nano w/ ATmega328P
An ATmega328P running at 16 MHz with auto-reset. Has eight analog inputs.
 Arduino/Genuino Mega 2560
An ATmega2560 running at 16 MHz with auto-reset, 16 Analog In, 54 Digital I/O and
15 PWM.
 Arduino Mega
An ATmega1280 running at 16 MHz with auto-reset, 16 Analog In, 54 Digital I/O and
15 PWM.
 Arduino Mega ADK
An ATmega2560 running at 16 MHz with auto-reset, 16 Analog In, 54 Digital I/O and
15 PWM.
 Arduino Leonardo
An ATmega32u4 running at 16 MHz with auto-reset, 12 Analog In, 20 Digital I/O and
7 PWM.
 Arduino/Genuino Micro
An ATmega32u4 running at 16 MHz with auto-reset, 12 Analog In, 20 Digital I/O and
7 PWM.
 Arduino Esplora
An ATmega32u4 running at 16 MHz with auto-reset.
 Arduino Mini w/ ATmega328P
An ATmega328P running at 16 MHz with auto-reset, 8 Analog In, 14 Digital I/O and
6 PWM.
 Arduino Ethernet
Equivalent to Arduino UNO with an Ethernet shield: An ATmega328P running at
16 MHz with auto-reset, 6 Analog In, 14 Digital I/O and 6 PWM.
 Arduino Fio
An ATmega328P running at 8 MHz with auto-reset. Equivalent to Arduino Pro or Pro
Mini (3.3V, 8 MHz) w/ ATmega328P, 6 Analog In, 14 Digital I/O and 6 PWM.
 Arduino BT w/ ATmega328P
ATmega328P running at 16 MHz. The bootloader burned (4 KB) includes codes to
initialize the on-board bluetooth module, 6 Analog In, 14 Digital I/O and 6 PWM..
 LilyPad Arduino USB
An ATmega32u4 running at 8 MHz with auto-reset, 4 Analog In, 9 Digital I/O and 4
PWM.
43
 LilyPad Arduino
An ATmega168 or ATmega132 running at 8 MHz with auto-reset, 6 Analog In, 14
Digital I/O and 6 PWM.
 Arduino Pro or Pro Mini (5V, 16 MHz) w/ ATmega328P
An ATmega328P running at 16 MHz with auto-reset. Equivalent to Arduino
Duemilanove or Nano w/ ATmega328P; 6 Analog In, 14 Digital I/O and 6 PWM.
 Arduino NG or older w/ ATmega168
An ATmega168 running at 16 MHz without auto-reset. Compilation and upload is
equivalent to Arduino Diecimila or Duemilanove w/ ATmega168, but the bootloader
burned has a slower timeout (and blinks the pin 13 LED three times on reset); 6
Analog In, 14 Digital I/O and 6 PWM.
 Arduino Robot Control
An ATmega328P running at 16 MHz with auto-reset.
 Arduino Robot Motor
An ATmega328P running at 16 MHz with auto-reset.
 Arduino Gemma
An ATtiny85 running at 8 MHz with auto-reset, 1 Analog In, 3 Digital I/O and 2 PWM.

MIT app Inventor:

44
App Inventor lets you develop applications for Android phones using a web browser
and either a connected phone or emulator. The App Inventor servers store your work
and help you keep track of your projects.

45
46
You build apps by working with:

 The App Inventor Designer, where you select the components for your app.
 The App Inventor Blocks Editor, where you assemble program blocks that specify how
the components should behave. You assemble programs visually, fitting pieces
together like pieces of a puzzle.

Your app appears on the phone step-by-step as you add pieces to it, so you can test
your work as you build. When you're done, you can package your app and produce a
stand-alone application to install.

If you don't have an Android phone, you can build your apps using the Android
emulator, software that runs on your computer and behaves just like the phone.

The App Inventor development environment is supported for Mac OS X, GNU/Linux,

and Windows operating systems, and several popular Android phone models.
Applications created with App Inventor can be installed on any Android phone. (See
system requirements.)

Before you can use App Inventor, you need to set up your computer and install
the App Inventor Setup package on your computer.

Raspian OS:

Raspian OS is one of the official Operating systems available for free to download and
use. The system is based on Debian Linux and is optimized to work efficiently with the
Raspberry Pi computer. As we already know an OS is a set of basic programs and
utilities that runs on a specified hardware, in this case the Pi. Debian is very lightweight
and makes a great choice for the Pi. The Raspbian includes tools for browsing, python
programming and a GUI desktop.

The Raspian desktop environment is known as the “Lightweight X11 Desktop

Environment” or in short LXDE. This has a fairly attractive user interface that is built

47
 using the X Window System software and is a familiar point and click interface. We
shall look more into how to install and use this OS in the next section.

Setting Up Raspian OS:

Let’s first connect the board with all the necessary accessories to install and run an
operating system.Step 1: Take the Pi out of its anti static cover and place it on the
non-metal table.

Step 2: Connect the display – Connect the HDMI cable to the HDMI port on the Pi and
the other end of the HDMI cable to the HDMI port of the TV.

Step 3: Connect your Ethernet cable from the Router to the Ethernet port on the Pi

Step 4: Connect your USB mouse to one of the USB ports on the Pi

Step 5: Connect your USB Keyboard to the other USB port on the Pi

Step 6: Connect the micro USB charger to the Pi but don’t connect it to the power
supply yet

Step 7: Flash the SD Card with the Raspian OS.

1. To prepare the car for use with the Pi we will need to put a OS on the card. We certainly
cannot drag and drop the OS files on to the card but the flashing the card is not too
difficult either.
2. Since we have already decided to install Raspbian, lets download the RASPBIAN
image from the following link. http://www.raspberrypi.org/downloads/.
3. Unzip the contents of the Zip file into a folder on your machine, one of the unzipped
files would be a .img file which is what needs to be flashed on to the SD card.[In case
there are more than one file, the current version of the zip has only this file and none
other]
4. Flashing from Linux instructions.
1. Start the terminal on your Linux OS
2. Insert the empty SD Card into the card reader of your machine.
3. Type sudo fdisk -l to see all the disks listed. Find the SD card by its size,and note the
device address (/dev/sdX, where X is a letter identifying the storage device. Some

48
 systems with integrated SDcard readers may use /dev/mmcblkX— format, just change
the target in the following instructions accordingly).
4. Use cd to change to the directory with the .img file you extracted from the Zip archive.
5. Type sudo dd if=imagefilename.img of=/dev/sdX bs=2M to write the file
imagefilename.img to the SDcard connected to the device address. Replace
imagefilename.img with the actual name of the file extracted from the Zip archive. This
step takes a while, so be patient! During flashing, nothing will be shown on the screen
until the process is fully complete.
1.

6. Flashing from Windows Instructions

1. The Image Writer for Windows is used in place of dd which designed specifically for
creating USB or SDcard images of Linux distributions, it features a simple graphical
user interface that makes the creation of a Raspberry Pi SDcard straight forward.
Download the latest version of Image Writer for Windows from the
website: https://launchpad.net/win32-image-writer. Below are the steps.

49
 i. Download the binary (not source) Image Writer for Windows Zip file, and extract it to
a folder on your computer.

ii. Plug your blank SDcard into a card reader connected to the PC.

iii. Double-click the Win32DiskImager.exe file to open the program, and click the blue
folder icon to open a file browse dialogue box.

iv. Browse to the imagefilename.img file you extracted from the distribution archive,
replacing imagefilename.img with the actual name of the file extracted from the Zip
archive, and then click the Open button.

v. Select the drive letter corresponding to the SDcard from the Device drop-down
dialogue box. If you’re unsure which drive letter to choose, open MyComputer or
Windows Explorer to check.

vi. Click the Write button to flash the image file to the SDcard.

2. Once the OS is flashed, insert the SD card into the Pi SD Card slot
3. Connect the MicroUSB to the power source and switch it on.
4. Now the system boots into the below screen and the LED’s on the board will Blink.
Below is a small GIF showing the boot screen

50
5.
6. Now you will need to login with username/password combination of pi/raspberry.

51
7. If you would like to use the GUI interface type startx. Below is the image showing the
previous two steps.

You are now all set with the OS installed and your Pi up and running.

52
Wireless IMU app:

This app (Fig. 16) measures and reports a body’s specific force, angular rate and
sometimes the magnetic field surrounding the body, using a combination of
accelerometers and gyroscopes, and sometimes magnetometers. An inertial
measurement unit (IMU) works by detecting the current rate of acceleration using one
or more accelerometers, and detects changes in rotational attributes like pitch, roll and
yaw using one or more gyroscopes. And some also include a magnetometer, mostly
to assist calibration against orientation drift. The accelerometers are placed such that
their measuring axes are orthogonal to each other. Three gyroscopes are placed in a
similar orthogonal pattern, measuring rotational position in reference to an arbitrarily
chosen coordinate system. Magnetometers allow better performance for dynamic
orientation calculation in attitude and heading reference systems.

53
Dual screen:

The DualScreen app by Goestoweb allows the screen of the smartphone to be shown
in two different parts. This is done to get accurate visuals through the VR lens. There
are two eyepieces in VR headset, hence dual-screen mode is used.

Gesture Control app:

The gesture control app uses the accelerometer and gyroscopic sensor of the
smartphone to control the robot by sending the data through Bluetooth module.

54
 CHAPTER-5

RESULTS & DISCUSSION

Accurate controlling of the robot with Hand Gesture with range of communication,
taken to 70m (ideal case) this range can be varied as it depends on the bluetooth pair
range. Video streaming is done by using hotspot and another method is done by using
Internet which can be streamed from anywhere.

A) Model of the Robot:

B) Out through the VR(Virtual Reality) headset:

55
 CHAPTER-6
CONCLUSION

The report focuses on two parts, first is telepresence, which gives us an esthesis of
being elsewhere, made by virtual reality technology. The other is gesture control by which
we can actually interact or even control robots. These two things together play a critical
role, if one is planning to make a robot especially in the fields like mining and defence.
People working in mining should work on one condition which clearly states that it will be a
threat to their lives. In this situation we go for using telepresence and gesture control
robots to give different directions.

In defence our report is majorly focusing on surveillance. These robots are of low
cost, efficient and give a good performance which makes our lives more automated and
simple. Here we are designing or operating the robot for two ranges one which is of WiFi,
which has a range of about 20 meters (66 feet) and second which is operated from
anywhere around the world with internet.

The work has scope in different applications like for office purposes, industries,
education, driver less automobiles, hospitals. Further the camera movement can be with
respect to the head movement of the operator by which again the telepresence feel will be
improved.

56
REFERENCE

[1] Elizabeth Cha, Samantha Chen, and Maja J Mataric, “Designing Telepresence Robots For
K12 Education””,2017, 26th IEEE International Symposium on Robot and Human Interactive
Communication (RO-MAN) Lisbon, Portugal, Aug 28 - Sept 1, 2017

[2] Nazmul Hossain, Mohammad Tanzir Kabir, “A Real-time Surveillance Mini-rover

Based on OpenCV-PythonJAVA Using Raspberry Pi 2”, 2015 IEEE International
Conference on Control System, Computing and Engineering, 27 - 29 November 2015,
Penang, Malaysia

[3] K. M. Tsui and H. A. Yanco, “Design Challenges And Guidelines For Social Interaction
Using Mobile Telepresence Robots”, Reviews of Human Factors and Ergonomics, 9(1):227–
301, 2013

4] Keng Peng Tee, Rui Yan, Yuanwei Chua, Zhiyong Huang, Somchaya
Liemhetcharat, “Gesture-Based Attention Direction For A Telepresence Robot: Design
And Experimental Study”, 2014 IEEE/RSJ Internatio [nal Conference on Intelligent
Robots and Systems (IROS 2014), September 1418, 2014, Chicago, IL, USA.

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58