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Aiming at the gain planning of SCUT-I humanoid robot, a stair motion pattern, controlled by step lengths, step period and other walking parameters, is designed. And stair restrict condition is described. According to the parameters and restrict equations, hip and ankle trajectories are planned based on IPM (inverted pendulum model). Finally, according to the model parameters of SCUT-I robot, the robot...
School news information system breaks through and exceeds the traditional news communication conception, and provides audiences with new taste in vision, hearing and sense. CZ college has excellent conditions in many aspects, but lack of school news information system has become the development obstacle of CZ college. School news information system for CZ college is regarded as research object in...
System visit quantity forecast is the basic aspect which needs consider when develops the basic aspect which needs consider when school news information system is developed, and is important function of the system. In the paper, effect factor of visit quantity of school news information system is analyzed, and visit quantity is forecasted. Different person amounts are respectively forecasted with...
The objective of this work is to improve the measurement accuracy of robot attitude with an adaptive filter method. Two main topics are highlighted in this work. The first topic is to build the Kalman filtering fusion equation of the acceleration and angular velocity (gyroscope) sensors. The second topic is to show that a Sage-husa adaptive Kalman filtering method is simplified and improved for the...
To solve the problem that maximally stable extremal regions (MSER) will become unstable when the image is blurred due to the change of scale, a novel affine invariant feature called Multi-Scale Maximally Stable Extremal Region (MMSER) which is maximally stable both in the image space and the scale space is proposed by defining a criterion to evaluate the stability of extremal regions in scale space...
As the precondition to perform many tasks including person following and dynamic obstacle avoiding, object tracking is very important for mobile robot systems especially in populated dynamic environment. A novel hybrid conditional random field model which has a hierarchical structure and includes hidden states is proposed for multi-object tracking with a mobile platform. Since conditional random field...
Inspired by the fact that human beings will concentrate on the Region of Interest(ROI) when facing a complex scene, a novel feature extraction algorithm named biSCAN is proposed for omni-directional vision system in RoboCup domain. The algorithm can mainly be divided into two parts: the rough scanning stage and the fine scanning stage. In rough scanning stage, the Field Region of Interest(FROI) is...
A new method of gait optimization for a humanoid robot climbing stairs based on multi-objective Genetic algorithm(GA) was proposed in this paper. Based on the humanoid robot model and the staircase model, the complicated process of climbing stairs was parameterized, and a climbing stairs mode was built. A math function, which takes the stability judgment based on zero moment point (ZMP) and energy...
Functionality debugging and performance evaluation of robotics system has always been a challenge, particularly in the case of multi-robot system. The process is tedious, time consuming, costly, or even dangerous. This paper describes a component-based hybrid testbed for multi-mobile robots. On the testbed, real and virtual robots operate together in an augmented reality environment. The simulation...
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