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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...
One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control...
This paper presents a hierarchical method of region division for mobile robot system based on spectral clustering algorithm. Firstly, to improve the exploration efficiency, topological map is constructed incrementally using a hybrid map model with grid-topplogy structure. And then, topology-based Voronoi Diagram is introduced to divide the map and express the whole environment uniquely. Meanwhile,...
This paper presents an asynchronous method for localizing multiple odor sources one by one. We use adapted ant colony optimization algorithm and flux divergence based idea for plume tracing and source declaration, respectively. By selective olfaction, we mean that the concentration sensors are halted when the robots are searching in the declared areas. Thus, the robots can successfully jump out of...
Recognition of human actions using a vision based approach is a challenging task. To improve the action recognition performance, we proposed a hierarchical probabilistic model based framework which not only models the dynamics of the actions but also considers contextual constraints in terms of object/action correlation and action sequential constraints. By considering the action/object correlation,...
Human Machine Interaction (HMI) plays a very important role in intelligent service robot research. Traditional HMI methods such as keyboard and mouse cannot satisfy the high demands in some environments. To solve this problem, many researchers pay attention to vision-based gesture recognition research recently. This paper proposes a simple method to control the movement of a robot based on Kinect...
A 2D simulator for vision based autonomous road following is designed using MATLAB. The simulator provides options for selecting road image, placing hurdles on road and the algorithm for following the road autonomously. With the road image containing hurdles and algorithm selected, the simulator draws the robot trajectory and also plots the error curves. A real time implementation of simulated algorithms...
Legged systems theoretically offer the potential to better traverse rugged terrains than traditional wheeled and tracked designs due to no need for paths of continuous contact with the ground, and therefore have been given great concern. In this paper, a geometric feature-based footholds identification system for a small six-legged robot HITCR-II was presented. For this algorithm, a novel local terrain...
This paper describes two novel cartesian control algorithms, in order to balance a humanoid robot on a variable slope surface. Two approaches have been developed, one takes into account the body attitude sensors feedback; and the other one, the body forward kinematics feedback. The first method takes the robot's body attitude sensors measures, that is the robot body configuration in the 3D space,...
In this study, we model the disaster victim detection problem as a sub-problem of a larger casualty assessment problem, and propose a framework to solve it. The framework of algorithm independent components contains a victim detector, detection history component and a human robot interaction component that presents information obtained by the robot in a meaningful manner. The algorithm independence...
Localization is one of the fundamental problems for mobile robots. Hence, there are several related works carried out for both metric and topological localization. In this paper, we present a lightweight technique for on-line robot topological localization in a known indoor environment. This approach is based on the Generalized Voronoi Diagram (GVD). The core task is to build local GVD to match against...
The popularization of service robots requires that robots are not expensive and can work very well in human daily living environment. Due to lighting condition and/or cluttered background, there are false detections occasionally for landmark-based robot localization with low-cost color camera or infrared sensors. However, traditional frequently used methods, such as Extended Kalman Filter (EKF) and...
The paper presents a method of infrared communication link maintaining for multiple mobile microrobots, so as to enlarge their whole inspection range. A carrier sense multiple access protocol of infrared communication is employed. A motion control model based on virtual spring-damper system is established to avoid communication network splitting by monitoring infrared link quantity information among...
Crossing a door is usually a necessary action for autonomous patrol of an indoor surveillance robot. However, it is difficult for a large robot to cross narrow doors. In this paper, a method for detecting, locating and crossing a door for an indoor surveillance robot with Kinect is presented. Firstly, doors are detected and located based on RGB-D data collected form Kinect. Then, the conversion between...
Legged robots are intrinsically nonlinear hybrid dynamic systems due to the intermittent contact of the feet with the ground. For optimal performance, in the sense of maximizing speed or energy consumption, different motion control affects the stance from the swing leg during a stride. Designing such controllers, however, can be a daunting task when there is a lack of knowledge about the exact operating...
The paper presents a new method to realize mobile robot arm grasping in indoor laboratory environments. This method adopts a blind strategy, which does not need the robot arms be mounted any kind sensors and avoid calculating the complex kinematic equations of the arms. The method includes: (a) two robot on-board ultrasonic sensors in base are utilized to measure the distances between the robot base...
We present a developmental approach that allows a humanoid robot to continuously and incrementally learn entities through interaction with a human partner in a first stage before categorizing these entities into objects, humans or robot parts and using this knowledge to improve objects models by manipulation in a second stage. This approach does not require prior knowledge about the appearance of...
For a wirelessly-connected multi-robot system operating in a realistic environment, the wireless communication condition among mobile robots is generally unstable and fluctuating due to the signal loss, attenuation, multi-path fading and shadowing. This paper presents a decentralized control strategy, using the technique of reinforcement learning artificial neural network, to learn and approach a...
In contrast to the high movement adaptability of quadruped animals in many environmental conditions, it is hard for conventional quadruped robots to operate in complex environment conditions. We investigate the adaptability of animals' musculo-skeletal systems, by building a bio-inspired quadruped robot named ”Pneupard” which duplicates a feline musculo-skeletal system. In this study, we built Pneupard's...
In this paper, a novel precise pick and place device (PPD) is proposed for robotic manipulators. It is capable of accurately picking the work pieces and placing them when they are deviated from their initial taught picking positions. In addition, a new muti-line identification algorithm is also developed, which is very effective, especially when the obtained data is limited but needs precise identification...
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