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In this paper, we propose an online hand gesture recognition algorithm for a robot assisted living system. A neural network-based gesture spotting method is combined with the hierarchical hidden Markov model (HHMM) to recognize hand gestures. In the segmentation module, the neural network is used to determine whether the HHMM-based recognition module should be applied. In the recognition module, Bayesian...
Service robots are anticipated to be used in unstructured areas such as homes, hospitals, and public areas in the near future. However, safety issues need to be addressed before this can occur. In particular, robot manipulators that handle objects by physical contact run the risk of colliding with people or objects. Thus, it is important to prevent collisions that could injure people and damage robot...
To reduce rear-end crash of automobiles, it is important to judge necessity of deceleration assistance as earlier as possible and initiate the assistance naturally. On the other hand, we have derived a mathematical model of driver's perceptual risk of proximity in car following situation and successfully derived driver deceleration model to describe deceleration patterns and brake initiation timing...
The ultimate success of a human-robot-interface system depends on how accurately user control signals are classified. This paper is aimed at developing and testing a strategy to accurately classify human-robot control signals. The primary focus is on overcoming the dimensionality problem frequently encountered in the design of Gaussian multivariate signal classifiers. The dimensionality problem is...
Utilizing multiple paths between network hosts (such as robots or sensors) will improve network performance, path availability and connection reliability. This paper presents a cross layer multiple path approach named proxy server based multipath connection. Multiple paths are set up via a set of intermediate proxy servers using IP tunneling. Packet distribution and reassembly are achieved by inserting...
Human-robot interaction using free hand gestures is gaining more importance as more untrained humans are operating robots in home and office environments. The robot needs to solve three problems to be operated by free hand gestures: gesture (command) detection, action generation (related to the domain of the task) and association between gestures and actions. In this paper we propose a novel technique...
The goal of this paper is to serve as a reference for researchers in robotics and control that are interested in realistic modeling, theoretical analysis and simulation of wireless links. To realize the full potentials of networked robotic systems, an integration of communication issues with motion planning/control is necessary. While considerable progress has been made in the area of networked robotic...
Several approaches have been proposed recently for building shapes with swarms of self-assembling robots. However, there is a dearth of information about the performance of each approach, and how to compare them. This paper considers the active self-assembly scheme introduced by Arbuckle and Requicha, and investigates its performance through extensive simulations. The difficulties encountered in the...
This paper addresses the problem of robot grasping in conditions of uncertainty. We propose a grasp controller that deals robustly with this uncertainty using feedback from different contact-based sensors. This controller assumes a description of grasp consisting of a primitive that only determines the initial configuration of the hand and the control law to be used. We exhaustively validate the controller...
Robotic teams are often proposed for solving a number of problems, ranging from exploring unknown environments to monitoring areas for security or environmental contamination. These teams are composed of individual robots which may lack the capabilities to complete a task on their own. One critical capability required by teams regardless of the mission is the ability to have sufficient battery life...
Periodicity has been recognized as an important cue for tasks like activity recognition and gait analysis. However, most existing techniques analyze periodic motions only in image coordinates, making them very dependent on the viewing angle. In this paper we propose a new technique for reconstructing periodic point trajectories in 3D given only their apparent trajectories in image coordinates from...
In order to improve the efficiency of a terrain covering algorithm for a robot (AUV), an artificial island(AI) technique is developed. Such an algorithm is necessary to acquire information and make a terrain map in an unknown three dimensional underwater environment. This algorithm considers that the three dimensional environment consists of a number of planes, at various ocean depths. The artificial...
In this paper we present a new approach for labeling 3D points with different geometric surface primitives using a novel feature descriptor - the Fast Point Feature Histograms, and discriminative graphical models. To build informative and robust 3D feature point representations, our descriptors encode the underlying surface geometry around a point p using multi-value histograms. This highly dimensional...
We consider the problem of tracking multiple moving robots using noisy sensing of inter-robot and inter-beacon distances. Sensing is local: there are three fixed beacons at known locations, so distance and position estimates propagate across multiple robots. We show that the technique of Nonparametric Belief Propagation (NBP), a graph-based generalization of particle filtering, can address this problem...
This paper considers the issue of calibrating a camera with narrow angular field of view using standard, perspective methods in computer vision. In doing so, the significance of perspective distortion both for camera calibration and for pose estimation is revealed. Since narrow angular field of view cameras make it difficult to obtain rich images in terms of perspectivity, the accuracy of the calibration...
Algorithms such as Field-D* use linear interpolation to infer continuous fields of costdistance-to-goal, where costdistance is cost integrated over distance. Traditionally, field values have been used as direct input to trajectory planners. In contrast, we focus on extracting a minimum costdistance path between two points, given the continuous field. We identify a suboptimal phenomenon that occurs...
We present a setup for simple and fast experimental estimation of drag coefficients. Our system can accurately determine the parameters of fluid-object interaction for complicated geometry and boundary conditions in the realm of classical Stokes equations. Obtained results are compared with theoretical and numerical solutions. Good agreement with those references is achieved in both cases. An advantage...
This paper presents a novel technique to register a set of two 3D laser scans obtained from a ground robot and a wall-climbing robot which operates on the ceiling to construct a complete map of the indoor environment. Traditional laser scan registration methods like the Iterative Closest Point (ICP) algorithm will not converge to a global minimum without a good initial estimate of the transformation...
This paper focuses on the design and test results of an adaptive variation of Kalman filter (KF) estimator based on fusing data from Inertial Measurement Unit (IMU) and two Real Time Kinematic (RTK) Global Positioning Systems (GPS) for driftless 3-D attitude determination and robust position estimation of mobile robots. GPS devices are notorious for their measurement errors vary from one point to...
This paper presents a 2D teleoperation task at microscales with force feedback. At this scale, two major problems arise while performing manipulation tasks: the lack of 3D real time visual feedback, and the difficulty to determine the interaction forces. Therefore, indications must be provided to help the user perform a given task. In this paper, we provide the user with intuitive force feedback,...
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