Servant robot navigation using gesture recognition and fuzzy logic sensor fusion

This paper proposes a new robot behavior where the servant robot runs alongside walls while it follows the human at a distance certain. The human shall give command using gestures at the same time. It changes its behavior depending on the command received. This behavior can make the robot appear more like a servant. The navigation uses fuzzy logic to estimate wall direction for robot control in an indoor environment. In addition, human gesture recognition is based on statistical matching of Kinect skeletal data.