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The article presents the preliminary concept of facial emotion recognition system. The approach focuses on the feature extraction and selection process which simplifies the stage of defining and adding new elements to the feature set. The evaluation of the system was performed with two discriminant analysis classifiers, decision tree classifier and four variants of k-nearest neighbors classifier....
The article presents a navigation system based on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. First, existing methods of 3D scene data acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described in a formal way, as well as exemplary applications that verify the...
This article presents a proposal of impedance controller, which is able to infulence the compliance of a robot, based on information obtained from a lowlevel controller about robot interaction with the environment. The proposed system consists of a lowlevel controller with proximity sensor, based on which mechanical impedance is adjusted. The intention of the creators was to develop a universal impedance...
Modern robotic systems are able to localize doors and its handle or knob, grasp the handle and open the door. Service robots need to open doors and drawers to autonomously operate in human environment. The mechanical properties of doors lead to incorporation of force and velocity constraints into the control law, to avoid the environment damage. In the article the impedance control law was expanded...
In this paper an idea of the elastic band method was exploited to design a repeatable inverse kinematics algorithm for robot manipulators. The method incorporates an optimization process at many stages of its performance and admits some extensions. Performance of the algorithm was illustrated on models of the three DOF planar pendulum and the PUMA robot. A comparison with a standard pseudo-inverse...
The paper presents a speech emotion recognition system for social robots. Emotions are recognised using global acoustic features of the speech. The system implements the speech parameters calculation, features extraction, features selection and classification. All these phases are described. The system was verified using the two emotional speech databases: Polish and German. Perspectives for using...
In this paper we investigate methods for self-localisation of a walking robot with the Kinect 3D active range sensor. The Iterative Closest Point (ICP) algorithm is considered as the basis for the computation of the robot rotation and translation between two viewpoints. As an alternative, a feature-based method for matching of 3D range data is considered, using the Normal Aligned Radial Feature (NARF)...
The paper presents a motion planning algorithm for a robot walking on rough terrain. The motion-planer is based on the improved RRT (Rapidly Exploring Random Tree)-Connect algorithm. The Particle Swarm Optimizati on (PSO) algorithm is proposed to solve a posture optimization problem. The steepest descent method is used to determine the postion of the robot's feet during the swing phase. The gradient...
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