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This paper presents that support vector machine (SVM) is used to classify three gait patterns: level walking, stair ascent and stair descent based on ground reaction force (GRF). The recognition process consists of three stages: i) a three layers wavelet packet analysis is used for feature extraction, with which squared and standard deviation of decomposition coefficients compose features; ii) with...
To segment gait phases of human locomotion tasks, such as level walking and stairway walking, ground reaction force(GRF) data during walking are collected. This paper presents a fuzzy logic inference (FLI) technique tuned by particle swarm optimization (PSO), which is used to find optimal triangular membership functions. To discriminate flexion and extension of swing leg, ground reaction force of...
This paper establishes the spatial kinematic model of the six-wheeled-legged robot by combining its spatial motion. In the process of the robot's crossing the obstacle, the position of its centroid determines whether the robot can cross the obstacle successfully or not, so the paper establishes the spatial kinematic model and the kinematic model of the centroid, and furthermore, simplifies the model...
Stair-climbing and moving object grasping both require high precision information feedback of the feature coordinate. This manuscript mainly describes how to process the information acquired from the stereovision system in a fast and accurate way and how to use the data to compensate the progressive error caused by the humanoid robot. From camera calibration to image processing to stereo match, every...
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