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In this paper, we compare three different trotting techniques and five different turning strategies on a small, compliant, biologically inspired quadrupedal robot, the Oncilla. The locomotion techniques were optimized on the actual hardware using a treadmill setup, without relying on models. We found that using half ellipses as foot trajectories resulted in the fastest gaits, as well as the highest...
In this paper we present a method to detect and localize abnormal events in crowded scene. Most existing methods use the patch of optical flow or human tracking based trajectory as representation for crowd motion, which inevitably suffer from noises. Instead, we propose the employment of a new and efficient feature, short-term trajectory, which represent the motion of the visible and constant part...
Current laparoscopic surgeries suffer from inconvenient, limited visualization due to the small incisions. It normally needs an assistant to hold and readjust a laparoscope to view the surgical set when performing procedures. This assistant can be either a human or a robotic laparoscope holder. However, at the current state, both of them only passively follow the control commands from the surgeon...
An unmanned rover is widely used for exploration, for example planetary rovers and surveying in places too dangerous for a person to enter, such as poisonous, radioactive and high volcanic activity areas. It is very important for the rover to be able to maintain mobility in all ground conditions, as the success of the operation depends on it. Most of the current rovers are equipped with wheels or...
The flexible endoscope has great potential to reach a diseased organ through a natural opening of the human body to perform surgeries without leaving a scar on the body surface. Despite such advances in reaching the diseased organ, using the conventional flexible endoscope to complete surgical procedure is still largely constrained by the limited degree-of-freedoms (DOFs) of endoscopic instruments...
The purpose of this study is to develop a new system to synchronously control the simulated robot and humanoid robot based on the skeletal tracking technology. This system is a human-robot interaction system. Human can control the robot through the skeletal tracking technology without placing any marker on the subject's body. We use the Microsoft Kinect to get the skeleton framework information of...
This paper describes the design and implementation of a two-dimension motion platform equipment, which can meet the requirements to simulate the vibration of the real vehicle. According to the modeling and simulation of vehicle trajectories, the mechanical structure of the platform has been designed, and a motion controller has been developed based on DSP and ARM, with corresponding motion control,...
Both manipulative accuracy and system safety are important for teleoperation. Traditional virtual fixture has good accuracy in fully known environment, however it is unable to handle suddenness (avoiding obstacles and etc.) in unstructured environment teleoperation which is crucial to system safety. In this paper we present the flexible virtual fixture enhanced by vision and haptics for unstructured...
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