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In this paper we are interested in knowing, if a filter and a feature selection are used, the action recognition is improved. In the filter phase, Kalman filter and Savitzky-Golay filter are proposed to analyse skeleton acquired by the Kinect, in order to minimize the noise. In the phase of feature selection, the algorithm Reduction of Feature Dimensions based on Standard Deviation (RFD-SD) and Principal...
Mobile Robot Manipulation of diverse objects is still a very difficult task. Progress in mobile robot localization, path planning and perception, have allowed to mobile robots to contend with manipulation in some domains. Parallels manipulators are commonly used, however in order to do robust grasping, as humans do, the use of independent fingers are increasing. The problem of independent fingers...
In this paper is presented the integration of diverse modules for people fallen detection by a mobile service robot. This integration has been achieved in the middleware ROS (Robotics Operation System). The proposed implementation are arranged over an modular architecture of three layers: Hardware, Processing and Decision. The modules implemented are on the processing layer. The first module uses...
In this article, we propose a software architecture for controlling a mobile robot that works as a guide on human environments. The architecture is divided into three broad action modules lead by a supervisor. The decision is based on current user behavior in order to provide better service to people.
In this paper, are presented the characterization of two force sensors, in bias to incorporate them to the fingers of a robotic hand. The main goal of this work is to determine as main characteristic, the response of each sensor, in order to decide, which of them is the most effective for manipulation tasks in a mobile robotic platform. Manipulation mobile robot tasks, require to adapt its behavior...
As a part of the final goal of introducing robots in the human environment, it also comes the problem of the close interaction between these two beings. Close cooperative activities illustrate well this problem and rises new challenges to solve. In this report we show the current work of the development of a system for acquiring information directly from human focused on a classic interaction game...
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