Departmental Papers (ESE)


We present a system for generation and recognition of oscillatory gestures. Inspired by gestures used in two representative human-to-human control areas, we consider a set of oscillatory motions and refine from them a 24 gesture lexicon. Each gesture is modeled as a dynamical system with added geometric constraints to allow for real time gesture recognition using a small amount of processing time and memory. The gestures are used to control a pan-tilt camera neck. We propose extensions for use in areas such as mobile robot control and telerobotics.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

October 1996


Copyright 1996 IEEE. Reprinted from Proceedings of the Second International Conference on Automatic Face and Gesture Recognition, 1996, pages 60-65.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 03 June 2008

This document has been peer reviewed.