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The objective of this paper is to present an online trajectory tracking based on model predictive control for service robot. The key point of model predictive control (MPC) algorithm is to consider an on-line optimization problem so as to obtain the optimal control input sequence in a specific time period. The main characteristics of MPC are only the first element of the control sequence is implemented...
In this paper, we proposes an approach to generate arbitrary quasi-natural foot gait for the walking biped robot with variate COM height preview control. The arbitrary foot gait planning is generated by zero moment point (ZMP) mapping method and a curve with certain radius. In order to walk smoothly in turning gait, the walking pattern is designed in variate height COM motion. However, this method...
The objective of this paper is to investigate alignment and tracking of facial features with component based active appearance models and optical flow. Face tracking becomes essential issue in the area of human-computer interactions. With accurate tracking and analysis of facial features, computers or robots can response properly to user's facial emotional movements and facial expressions. We apply...
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