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This paper proposes a novel fast classification system consisting of feature extraction and classifier to decode human hand configurations from multi-channel surface electromyogram (sEMG) signals that allows real-time classification of human movement intention as well as prothesis control. In order to enhance the learning speed and the performance of the classifier, we used a supervised feature extraction...
In recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of DOFs have been proposed. In comparison with the conventional approaches, the proposed...
This paper presents a Text-To-Gesture (TTG) system which enables an embodied agent to generate proper gestures for a given text input. To transform text information to a sequence of gestural motions, it is important to analyze coverbal gestures linguistically. It should be also concerned to reproduce natural motions synchronized with speech signals in a human-like fashion. This paper proposes a TTG...
There are many difficulties in operating a humanoid which has high degree-of-freedom and instability in balancing its body. In addition, due to the shape of a humanoid, it is expected to have motions like a human. In order to overcome its operational difficulties and to provide a humanlike motion, a teleoperation with the motion imitation is studied in this paper. Specifically, a framework for online...
In this paper, we have developed a novel control law to exhibit human-motion characteristics in redundant robot arm-trunk systems for reaching tasks. This newly developed method nullifies the need for the computation of pseudo-inverse of Jacobian while the formulation and optimization of any artificial performance index is not necessary. The time-varying properties of the muscle stiffness and damping...
When a humanoid lifts a heavy object, or carries an object in a bag or a carriage, it needs to change the reference CoM(center of mass) and ZMP(Zero Moment Position) in order not to fall down. However, it is not natural to design a reference CoM and ZMP to lift or to carry an object every time. In this paper, objects held by a hand are considered as an augmented virtual link connected at the end of...
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