2007). A uniform biped gait generator with ofine optimization and online adjustable parameters. Robotica, 25, pp 549-565 SUMMARY This paper presents the Genetic Algorithm Optimized Fourier Series Formulation (GAOFSF) method for stable gait generation in bipedal locomotion. It uses a Truncated Fourier Series (TFS) formulation with its coefficients determined and optimized by Genetic Algorithm. The GAOFSF method can generate human-like stable gaits for walking on flat terrains as well as on slopes in a uniform way. Through the adjustment of only a single or two parameters, the step length and stride-frequency can easily be adjusted online, and slopes of different gradients are accommodated. Dynamic simulations show the robustness of the GAOFSF, with stable gaits achieved even if the step length and stride frequency are adjusted by significant amounts. With its ease of adjustments to accommodate different gait requirements, the approach lends itself readily for control of walking on a rough terrain and in the presence of external perturbations.
Anticipating human intentional actions is essential for many applications involving service robots and social robots. Nowadays assisting robots must do reasoning beyond the present with predicting future actions. It is difficult due to its non-Markovian property and the rich contextual information. This task requires the subtle details inherent in human movements that may imply a future action. This paper presents a probabilistic method for action prediction in human-object interactions.The key idea of our approach is the description of the so-called object affordance, the concept which allows us to deliver a trajectory visualizing a possible future action. Extensive experiments were conducted to show the effectiveness of our method in action prediction. For evaluation we applied a new RGB-D activity video dataset recorded by the Sez3D depth sensors. The dataset contains several human activities composed out of different actions.
This paper presents a method of designing variable structure control systems for robots. As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a variable structure system. The task dependent part has to be exchanged, however the task governs the activities of the robot. Thus not only exchange of some task-dependent modules is required, but also supervisory responsibilities have to be switched. Such control systems are necessary in the case of robot companions, where the owner of the robot may demand from it to
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