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Gesture Based Programming (GBP) This project is no longer active. Head: Pradeep Khosla Contact: Pradeep Khosla (pkk@ece.cmu.edu) Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated center: VASC Associated lab/group: Advanced Mechatronics Lab For more information, see this project's homepage.

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Project Description

Gesture-Based Programming (GBP) is a form of programming by human demonstration. The process begins by observing a human demonstrate the task to be programmed. Observation of the human's hand and fingertips is achieved through a sensorized glove with special tactile fingertips. The modular glove system senses hand pose, finger joint angles, and fingertip contact conditions.

The output of the GBP system is the executable program for performing the demonstrated task on the target hardware. This program consists of a network of encapsulated expertise agents of two flavors. The primary agents implement the primitives required to perform the task and come from the pool of primitives represented in the skill base. The secondary set of agents includes many of the same gesture recognition and interpretation agents used during the demonstration. These agents perform on-line observation of the human to allow supervised practicing of the task for further adaptation.

Past members

	Name	Title	Email Address
	Pradeep Khosla	Dean and Philip and Marsha Dowd Prof ECE, RI/ECE	pkk@ece.cmu.edu
	Richard Voyles	PhD Student, RI

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• An Architecture for Gesture Based Control of Mobile Robots
  S. Iba, M. Vande Weghe, C. Paredis, and P. Khosla
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 2, October, 1999, pp. 851 - 857. [Abstract]
  Download: pdf [365 KB] copyrighted

• Toward Gesture-Based Programming: Agent-Based Haptic Skill Acquisition and Interpretation
  R. Voyles
  doctoral dissertation, tech. report CMU-RI-TR-97-36, Robotics Institute, Carnegie Mellon University, August, 1997. [Abstract]
  Download: pdf [4480 KB], ps.gz [10703 KB] copyrighted