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J. Mar. Sci. Eng. 2018, 6(3), 91; https://doi.org/10.3390/jmse6030091

A Novel Gesture-Based Language for Underwater Human–Robot Interaction

1
Institute of Intelligent Systems for Automation—National Research Council of Italy, Via E. De Marini 6, 16149 Genova, Italy
2
Institute of Computational Linguistics—National Research Council, Via E. De Marini 6, 16149 Genova, Italy
Main author.
*
Author to whom correspondence should be addressed.
Received: 30 May 2018 / Revised: 23 July 2018 / Accepted: 27 July 2018 / Published: 1 August 2018
(This article belongs to the Special Issue Intelligent Marine Robotics Modelling, Simulation and Applications)
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Abstract

The underwater environment is characterized by hazardous conditions that make it difficult to manage and monitor even the simplest human operation. The introduction of a robot companion with the task of supporting and monitoring the divers during their activities and operations underwater can help to solve some of the problems that usually arise in this scenario. In this context, a proper communication between the diver and the robot is imperative for the success of the dive. However, the underwater environment poses a set of technical challenges which are not readily surmountable thus limiting the spectrum from which possibilities can be chosen. This paper presents the design and development of a gesture-based communication language which has been employed for the entire duration of the European project CADDY (Cognitive Autonomous Diving Buddy). This language, the Caddian, was built upon consolidated and standardized underwater gestures that are commonly used in recreational and professional diving. Its use and integration during field tests with a remotely operated underwater vehicle (ROV) is also shown. View Full-Text
Keywords: marine robotics; underwater human–robot interaction; gesture-based language; field trials marine robotics; underwater human–robot interaction; gesture-based language; field trials
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Chiarella, D.; Bibuli, M.; Bruzzone, G.; Caccia, M.; Ranieri, A.; Zereik, E.; Marconi, L.; Cutugno, P. A Novel Gesture-Based Language for Underwater Human–Robot Interaction. J. Mar. Sci. Eng. 2018, 6, 91.

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