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This paper presents a method to optimize motion from human motion for a humanoid robot with physical limits. Using the optimization scheme, objective functions incorporate spatial similarity with manipulability to preserve salient characteristics of trajectories, whereas constraints focus on representing angle, collision, velocity, and dynamic force as B-spline coefficients. To refine precision, in...
This paper presents a method to generate motion from human motion for a humanoid robot with physical limits. The method focuses on representing constraints for angle, collision, velocity, and dynamic force as B-spline coefficients. The constraints can be applied for offline optimization and online filtering. For optimization, the objective function is responsible for mimicking human trainers, while...
This paper presents a supervised foreground segmentation method that uses local and global feature similarity with edge constraint. This framework integrates and extends the notion of region growing and classification to deal with local and global fitness. It parameterizes constraint of growing using Chebyshev's inequality. The constraint is used to stop segmentation before matting. Matting relies...
This paper presents visual perception discovered in high-level manipulator planning for a robot to reproduce the procedure involved in human painting. First, we propose a technique of 3D object segmentation that can work well even when the precision of the cameras is inadequate. Second, we apply a simple yet powerful fast color perception model that shows similarity to human perception. The method...
This paper presents visual perception discovered in high-level manipulator planning for a robot to reproduce the procedure involved in human painting. First, we apply a technique of 2D object segmentation that considers region similarity as an objective function and edge as a constraint with artificial intelligent used as a criterion function. The system can segment images more effectively than most...
This paper presents a method to optimize and filter trajectories generated from recorded human motion for a humanoid robot with physical limits. The objective function is responsible for mimicking human trainers, enhancing the possibility for fast convergence, while constraints are used to transform motion within the limit of the capabilities of the humanoid robot. Those constraints for angle, velocity,...
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