Accelerometer-Based Gesture-Controlled Robot

Mayur Naganur Ashwini Kotiyavar Sneha Murashilli Guruprasad Samasgikar

Department of ECE Department of ECE Department of ECE Department of ECE
AGMRCET, Hubli AGMRCET, Hubli AGMRCET, Hubli AGMRCET, Hubli
mayur.g.naganur@gmail.com ashwinikotiyavar@ymail.com snehamurashilli@gmail.com gurusamasgikar@gmail.com

Under the guidance of : Asst.Prof Rajshekhar Patil. Department of ECE, AGMRCET, Hubli.

Abstract
Now a days robots are controlled by
remote or cell phone or by direct wired
connection. If we think about cost and required This robot is mainly divided into 2 parts:
1. Transmitter –The gesture device.
hardware all this things increases the
2. Receiver – The Robot.
complexity, especially for low level application.
Now the robot that we have designed is
 Block Diagram
different from above one. It doesn’t require any
type of remote or any communication module.
It is self activated robot, which drive itself LCD
according to position of user. It does what the
user desires to do. It decodes all the movement
of the user and move accordingly. Hardware
Accelerometer

required is very small, and hence low cost and

small in size.
Microcontroller
AT89C52

Motor
1. Introduction 1

Motor
The gesture controlled robot is a special Driver
kind of robot which can be controlled by simple Motor
hand gestures. It is possible to control the 2
movement of robot in desired direction just with
hand gestures. Accelerometer sensor acts as the
input device which is mounted on the hand.
According to the tilt of the accelerometer sensor
mounted on hand, the microcontroller drives the Fig. 1.1 Hand gesture controlled robot
Robot in forward, reverse, left and right
direction based on the tilting of the hand in
forward, reverse, left and right movements
respectively, and it stops when there is no tilt in
hand.
 2. Design 3. Module details
Transmitter device or Gesture device:  Accelerometer module
This part contains four modules. An accelerometer is an electro
mechanical device that can measure
 Accelerometer (ADXL335) acceleration of anything that it is mounted on.
 Comparator (LM339) The accelerometer module used here is based
 Encoder(HT12E)
on ADXL335 triple-axis accelerometer from
 RF Transmitter
Analog Devices. It is a kind of sensor which
Acceler Compa Encode RF gives an analog data while moving in X,Y,Z
ometer rator r transmi direction or may be X,Y direction. Here a
ADXL33 LM339 HT12E tter
5 module small image of an Accelerometer shown.

Fig. 2.1: Block diagram of Transmitter (Gesture

device)

Receiver or Robot: This part contain four

modules
 The comparator
 RF Receiver
 Decoder(HT12D) For the purpose to change the analog
 Microcontroller (AT89C52) voltage into digital we use comparator which
 Actuator (Motor driver L293D) compare that analog voltage to a reference
voltage and give a particular high or low
RF Decoder Microc Motor voltage.
receiver (HT12D) ontrolle Driver
module r
(AT89C  The Encoder (HT12E)
52) It is a 4bit encoder which encodes the
Fig. 2.2: Block diagram of Receiver (Robot) input data applied on it, and then this
encoded data will be transmitted by an RF
Transmitter module.

 RF Transmitter and Receiver

Software
The source program is written in 'C'
language and compiled using Keil uVision4
compiler to generate the hex code.
The generated hex code is burnt into the
microcontroller using a suitable programmer.
The transmitter module is working at
the frequency of 433MHz and 315MHz.
433MHz is good for indoor use while
315MHz is good for outdoor use. This is
used to transmit the encoded data. The RF
receiver module will receive the data which
is transmitted by the gesture device. It will
be working similar to the transmitter
module.

 The Decoder (HT12D)

 The decoder HT12D converts the serial
data into parallel which is received by the
RF receiver module .The input data is
decoded when no error or unmatched codes
are found.
 Microcontroller (AT89C52)
The processing is the most important
part of the robot. The digital values are
processed by the AT89C52 microcontroller
and according to the tilt of the accelerometer
sensor mounted on hand ,the microcontroller
drives the motors in forward, reverse, left,
right direction and stops.
 The Actuator (L293D Motor
driver)
The Actuators are those devices which
actually gives the movement or to do a task
like motors. We need motor driver for
running them through the controller. To get
interface between motor and
microcontroller, we use L293D motor driver
IC in our circuit.
 Alphanumeric LCD display
Alphanumeric LCD acts as the display
device. When you make a gesture to move
the robot in forward direction, the LCD will
show ‘receiving signal’ in the first line and
‘going forward in the second line. Similarly,
messages are displayed for other directions.
4. Working
The movement of gesture transmitter is
sensed by the accelerometer and the voltage
levels corresponding to movement of the robot
along X and Y axes are compared by a
comparator, following which corresponding
instructions are transmitted through the RF
transmitter to control the robot. The robot
receives the instructions. The microcontroller
drives motors corresponding to the
instructions received and displays the related
message on the LCD.
5. Applications
 This robot is very useful for physically
challenged (lame) people. They can travel
easily sitting on the gesture controlled wheel
chair just by using simple hand gestures.
 We generally find people working in
chemical industries under different
hazardous condition. These people suffer
with many dangerous diseases like skin
cancer, lungs problem and many more. So
we finally thought of designing a robot that
can copy that instant action of human being
under various conditions and situations. So
in that place of industry it can be used.
 Most of the computer games are now using
motion detecting remote technology.
 It can be also used in mine.
6. Conclusion
A Gesture Controlled robot is a kind of
robot which can be controlled by your
hand gestures not by old buttons. You just
need to wear a small transmitting device in
your hand which includes an acceleration
meter. This will transmit an appropriate
command to the robot so that it can move
however we need. The transmitting device
includes a comparator IC for analog to
digital conversion and an encoder which is
used to encode the four bit data and then it
will be transmitted by an RF Transmitter
module.
At the receiving end an RF Receiver
module receives the encoded data and
decodes it by a decoder.