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In this paper, we describe a human gesture recognition system developed to make a humanoid robot understand non-verbal human social behaviors, and we present the results of preliminary experiments to demonstrate the feasibility of the proposed method. In particular, we have focused on the detection and recognition of laughter, a very peculiar human social signal. In fact, although it is a direct form...
The statistical shape analysis of population-specific anatomical structures plays a pivotal role in both implant design and associated dedicated surgical robotic instruments. The sizes of current off-the-shelf humerus implants are unable to accommodate Asian patients since they are mainly produced for the American and European countries based on locally collected data. In this paper, an algorithm...
Facial expression recognition (FER) is important for robots and computers to achieve natural interaction with human. Over the years, researchers have proposed different feature descriptors, implemented different classification methods, and carried out test experiments on different datasets in realizing an automatic FER system. While achieving good performance, the most efficient feature space and...
Grasping has always been a hot topic in multidisciplinary field-anatomy, neuroscience and robotics. Recent research on robotic hand grasping has concentrated on introducing the grasp mechanism and characteristics of human hand to robotic hand. This paper analyzes the problem of generating grasp configurations for given objects. A one-step grasp synthesis is applied to a 20DoF five-finger anthropomorphic...
To solve the problem of accuracy and robustness seriously affected by the external environment when loop-closing using vision for mobile robot, a method based on RGB-D image for loop-closing detection is proposed. The front area contour which will be used for contour matching is extracted from the depth information. Then Image matching between similar scenes of candidates is done Using PCA-SIFT descriptors,...
The handling of twist-locks has been a heavy burden for the container industry. There have been many efforts in developing automated twist-lock handling solutions. To address this challenge, we are developing a customized mobile manipulator for twist-lock pose estimation and grasping. In this paper, we propose a 3D object recognition approach using Kernel Principal Component Analysis (KPCA) only based...
In this paper we present a method for the generation of hand postural synergies for different precision grasp types to be used in dextrous robot hands. Our method records the robot hand motions while teleoperated by human subjects via a dataglove, doing different grasp types on a series of objects. This exploits the fact that humans automatically compensate for calibration errors on the glove to robot...
Learning and then recognizing a path is a challenging task for state of the art algorithms in computer vision and robotics. In this paper, we present a new approach to visual localization along a path. Classically visual paths have been described using keyframes, single images taken at specific locations. Our method uses all the images of a path segment, Gabor-Gist and, principal component analysis...
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