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This paper presents a robust and fully-automatic human motion tracking system without motion priors information using a camera in a fixed location. Bottom-up estimation approaches have recently been applied to such tasks with some success. However, the performance of these approaches is limited by the difficulty of building an effective appearance model. In particular, the appearance model must be...
Robots designed for navigation use one or more of the three basic locomotion configurations viz rotational devices such as wheels or crawler tracks, legs and articulated bodies. In this paper we present the design and characterization of a hybrid locomotion mechanism for mobile robots navigating in unstructured and possibly treacherous environments. We fuse the advantages offered by the three classes...
This paper aims to answer the questions whether human height measurement from video is affected by human motion and how accurately human static height can be measured from a video or from a single image frame that captures a walking subject. In this paper, we present a new approach for measuring human height based on the cross ratio. This approach is performed in parallel with the vanishing point...
In a walking rehabilitation, the cooperative walking between therapist and patient is implemented and the synchrony of walking rhythm is often observed. So, we suggest that the interpersonal synchrony is important for walking rehabilitation. Our group has proposed gait assistive system using interactive rhythmic auditory stimulation to emulate interpersonal synchrony. It is called “Walk-Mate”. In...
Social interaction and group coordination are important factors in the simulation of human crowd behavior. To date, few simulation methods have been informed by models of human group behavior from the social science studies. In this paper we advance a computational model informed by Common Ground (CG) Theory that both inherits the social realism provided by the CG model and is computationally tractable...
Mixed reality (MR) combines virtual elements with the real, physical world. Virtual elements can be more dynamic - easily moving around or changing appearance. Physical elements are more static but improve immersion and presence. The combination of the two creates dynamic, immersive MR environments. However, individual entities in MR environments, e.g. an object or a character, are typically either...
Nowadays people's life become more rich and convenient than before, but the obesity also become a problem with people. One cause of obesity is lack of exercise. Although the reason is known by people and the method of keeping health is self maintenance, but it is hard for most people, especially the elderly people. Because of this, we design a daily exercise support application, which is based on...
In this paper, a collaborative work between a human worker and an adult-sized humanoid robot (HUBO) is presented. Through the task, HUBO decided its movement just based on captured data from motion capture system (MoCap), which was equipped in provided working environment. Human co-workers did not provide any cues for determining a desired moving velocity or orientation. Whenever human workers changed...
This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, and a foot. It weighs 6.5 [kg], and is 594 [mm] tall. It has a total of 9 actuators: 6 mono-articular types and 3 bi-articular types. A pneumatic artificial muscle actuator that can expand radially and contract axially is used...
This paper studies the feasibility of emergency response humanoid robots. The 2011 Tohoku Earthquake was the most powerful earthquake ever measured in Japan. It is also referred to as the Great East Japan Earthquake and happened on March 11, 2011. Following the earthquake, several tsunami hit the Pacific coast of eastern Japan and damaged the Fukushima Daiichi Nuclear Power Plant. Some robots are...
Recently, a sensor network to support a human living by sensing environmental data has been investigated. These systems require accurate information such as a human location and a temperature et al. to estimate a surrounding situation. To obtain an accurate estimation, installation and management costs for the communication system equipped with a sensor network increase since many sensors are used...
The human motion analysis is an attractive topic in biometric research. Common biometrics is usually time-consuming, limited and collaborative. These drawbacks pose major challenges to recognition process. Recent researches indicate people have considerable ability to recognize others by their natural walking. Therefore, gait recognition has obtained great tendency in biometric systems. Gait analysis...
In this study, an effective noncontact technique for the detection of human physical activity is proposed. The technique is based on detecting the electrostatic induction current generated by the walking motion under non-contact and non-attached conditions. A theoretical model for the electrostatic induction current generated because of a change in the electric potential of the human body is proposed...
The background subtraction is an important method to detect the moving objects, and effective background reconstruction is the key for the background subtraction. Based on the idea that the pixel average appearing with high frequency in an image series is the background points, the pixel intensity classification (PIC) algorithm can reconstruct background accurately. In this paper, a new background...
This paper describes the development of a new expressive robotic head for the bipedal humanoid robot. Facial expressions of our old robotic head have low facial expression recognition rate and in order to improve it we asked amateur cartoonists to create computer graphics (CG) images. To realize such expressions found in the CGs, the new head was provided with 24-DoFs and facial color. We designed...
In this paper we describe an event-based walking control system for biped robots. Classically, the control of biped robots has been separated into walking pattern generation and stabilizing control. While this is an effective strategy in well-known environments, walking in rough, unmodelled terrain can easily destabilize the system. Findings from neurobiology suggest that gait generation in animals...
This paper describes a walking stabilization control on a soft ground based on gait analysis for a humanoid robot. There are many researches on gait analysis on a hard ground, but few scientists analyze the walking ability of human beings on a soft ground. Therefore, we conducted anthropometric measurement using a motion capture system on a soft ground. By analyzing experimental data, we obtained...
Human's spinal reflexes response rapidly to the change of states of muscles, therefore, they are supposed to play an important role for dynamic motion. In order to realize three dimensional stable jumping, rapid control system is indispensable. In this paper, we investigate contribution of the stretch reflex for stabilizing roll motion of continuous jumping by constructing a musculoskeletal biped...
In this paper, we investigate an adaptive bipedal walking control that exploits sensory information stemming from “soft deformable” feet. To this end, we developed a bipedal robot with soft deformable feet and proposed an unconventional CPG (central pattern generator)-based control that exploits the local force feedback generated from such deformation. Through experiments with the constructed robot,...
Human is capable of adaptive and supple locomotion in the real world characterized by rapid changes, high uncertainly, and limited availability of information. In order to understand the human walking, this work was motivated by the concept of passive dynamic walking robots, which have no actuation or control system except for gravity are capable of stable, human-looking walking. On the other hand,...
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