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This paper presents a new approach based on temporal minimization for separation and extraction of high/low-energy variants embedded in human motion. A data set of over 6500 frames is used for training the proposed algorithm. Spatiotemporal cubic splines are employed for approximating the trajectories associated with walking sequences. The optimal numbers of control points required for synthesizing...
This paper presents the control concept of a semi-mobile haptic interface for extended range telepresence that enables the user to explore spatially unrestricted target environments even from a small user environment. The semi-mobile haptic interface consists of a haptic manipulator mounted on a large grounded Cartesian robot, the prepositioning unit. The prepositioning unit is controlled in such...
The work presented here focuses on humanoid gait generation. More precisely we deliberately separate the motion generation in two distinct parts: the coordination and the stability. The goal is to highlight the human coordination, and then reduce its complexity to a minimal set of relations (twelve gait descriptors with respect to an unique gait parameter). Polynomial approximations of these relations...
The importance of the organization of angular momenta during walking has been suggested by the efforts of researchers to use it to control and stabilize walking robots. However, there has been little attention to the use of angular momenta as a metric of human walking or to gain insights into the control of walking. This paper analyzes the angular momenta of the whole body (WBAM) and body segments...
We have presented a novel method for human gait recognition, which is based on detecting the electrostatic induction current generated by the walking motion under non-contact conditions. The method involves the measurement of this electrostatic induction current, which flows through a measurement electrode. A model for the electrostatic induction current generated because of a change in the electric...
Cultural behavior is an area of research that can allow us to further cross-cultural understanding, and is now starting to integrate itself within the field of information technology. One domain that expresses these behaviors is inside a crowd, however the analysis of micro-level crowd behavior is impractical in a real-world setting as passive observation has limitations on understanding true behavior...
This paper presents a new fully automatic method for segmenting upright people in the images. Is is based on the efficient graph cut segmentation. Since colour and texture prevent from discriminating this particular class, silhouette shape is used instead. The graph cut is guided by a non-binary template of silhouette that represents the probability of each pixel to be a part of the person to segment...
The Mascot Robot System has been developed by the author's group as a part of the "Development Project for a Common Basis of Next-Generation Robots" (2005–2007) sponsored by NEDO (New Energy and industrial technology Development Organization) and "Development of Mascot Robot System with Casual Communication Ability" (2009–2012) sponsored by JSPS (Japan Society for the Promotion...
Focus on the study of a simplest biped robot, the dynamics of the biped locomotion is analyzed. In order to avoid swinging leg scrape the ground as it attempts to swing in front of the support leg, in this paper, a more complicated biped robot that has knees is designed. The knee of the swinging leg is bended during the swing phase, so the swinging leg is shorten. The robot is powered by using an...
In this paper we address robot-human interactions in a multi-robot and people group framework. The objective is to develop and evaluate techniques for missions in which several robots cooperate among themselves, interacting with a group of people. The robots detect people behaviors and act consequently adopting different strategies. Probabilistic techniques for robust cooperative detection of group...
A model of a walking pattern imitating human motion is presented. An accurate imitation of human motion and a robust bipedal walking motion are, however, hardly realized together. We therefore focus on only three characteristics of human walking motion: single toe support, knee stretching, and swing leg motion. Based on a conventional pattern generator, single toe support is added, waist height is...
A method is proposed which enables testing of prosthetic devices in simulation. A hybrid model is used to represent human walking—the combination of continuous and discrete dynamics motivates the use of hybrid systems. A human walking experiment is analyzed and mathematical functions on the kinematics of the collected data are found which capture some of the fundamental behaviors associated...
In this paper we propose a framework for activity recognition based on space-time interest point in video surveillance. Single type interest point feature is not sufficient to identify the activity therefore we have considered multi-class activities fussed in three dimensional (spatial & time) coordinate to achieve our objective with maximum accuracy. Our experiment shows that fusing multi class...
This paper presents tracking algorithms of a mobile robot that follows a human body moving at high speed in unstructured outdoor environment. The mobile robot, which is a differential-driven wheel type, is equipped with one laser range finder to perform high-speed human tracking and obstacle avoidance. Initially, the waist part of the human body is found the best part of the human body for robust...
In the last years there has been an increasing interest in developing robots that are able to perform tasks cooperatively with humans instead of replacing them, for instance a robot which works as a guide in a museum. Until now the developed service guide robots only navigates through the aisles of the museums without concerning the people's movement. Then, the main purpose of the work presented in...
Removing the safety fences that separate humans and robots, to allow for an effective human-robot interaction, requires innovative safety control systems. An advanced functionality of a safety controller might be to detect the presence of humans entering the robotic cell and to estimate their intention, in order to enforce an effective safety reaction. This paper proposes advanced algorithms for cognitive...
In this paper, a multi-layers method with multi-parameters based on the characteristics of the human movements acceleration signals is proposed to recognize the human daily activities. We calculate some features of the acceleration signals that are less dependent on the individuals. The features are successfully used to divide signals into different groups which are related to the human daily activities...
In this paper, we propose a novel gait recognition framework which is Spherical Space Model with Human Point Clouds (SSM-HPC). A new gait representation is also introduced, which is called Marching in Place (MIP) gait and preserves the spatiotemporal characteristics of individual gait manner. Various researches for gait recognition have used human silhouette images from moving picture. This research...
The Internet of Things (IoT) is a new concept that refers to an Internet connecting not just computer systems but a plethora of systems, devices, and objects, collectively referred to as “Things”, and encompasses technologies for identification and tracking, sensing and actuation, both wired and wireless communications, and also, intelligence and cognition. Wireless communications, which is an integral...
A common approach to activity recognition has been the use of histogram of codewords computed from Spatio Temporal Interest Points (STIPs). Recent methods have focused on leveraging the spatio-temporal neighborhood structure of the features, but they are generally restricted to aggregate statistics over the entire video volume, and ignore local pairwise relationships. Our goal is to capture these...
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