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Real time virtual simulation of an underactuated pendulum-driven capsule system

Keattikorn Samarnggoon, Hongnian Yu
2012 Proceedings of 2012 UKACC International Conference on Control  
In this paper, a real time virtual simulation framework which is the foundation for studying human adaptive mechatronics (HAM) is proposed.  ...  This framework allows researchers to interact and experiment with the system in real time. Thus, motion control patterns can be identified and learned with, for example, a heuristic strategy.  ...  of an assisting control system based on human adaptive mechatronics.  ... 
doi:10.1109/control.2012.6334692 fatcat:bidz63qlrbht3jm75zk6476gw4

Vision-Based Walking Parameter Estimation for Biped Locomotion Imitation [chapter]

Juan Pedro Bandera Rubio, Changjiu Zhou, Francisco Sandoval Hernández
2005 Lecture Notes in Computer Science  
The walking parameters are then extracted in real time, using a local tracking system to follow the markers and a fast decision layer to detect the main features of the leg movement.  ...  This paper proposes a new vision-based system that can extract walking parameters from human demonstration.  ...  Perception System Our perception system relies on a fast and efficient color-based tracking algorithm to extract the movement of a human leg.  ... 
doi:10.1007/11494669_83 fatcat:jpmq3avwffdedionlhq7wjygfm

Network-based Humanoid 'MAHRU' as Ubiquitous Robotic Companion

Bum-Jae You, Doik Kim, Changhwan Kim, Yong-Hwan Oh, Mun-Ho Jeong, Sang-Rok Oh
2008 IFAC Proceedings Volumes  
The other is for real-time data transmission of image data, voice data, and sensor data for motion control by wireless network to the external computer system.  ...  It is noted that the humanoid can recognize faces, gestures of human beings in real-time, three-dimensional objects, and 100 voice words with the help of the external computer system connected through  ...  , and real-time transmission of image data, voice data, force/torque data, and motion data for each joint from various sensors.  ... 
doi:10.3182/20080706-5-kr-1001.00124 fatcat:puetcbywejbr7e55ukanjj4wvu

Robust shared autonomy for mobile manipulation with continuous scene monitoring

Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher E. Mower, Maurice Fallon, Sethu Vijayakumar
2017 2017 13th IEEE Conference on Automation Science and Engineering (CASE)  
The particular motion sequences are composed automatically based on high-level objectives provided by a human operator, with continuous scene monitoring during execution automatically detecting and adapting  ...  to dynamic changes of the environment.  ...  the robot's redundancy (or lack thereof) to solve a task as well as work with real sensor data. • Dynamic changes: Causing created plans or motion under execution to be in collision, requiring adaptive  ... 
doi:10.1109/coase.2017.8256092 dblp:conf/case/MerktYSMFV17 fatcat:2phiai7bzrhhnitzwv3avdxkeq

Probing dynamic human facial action recognition from the other side of the mean

Cristóbal Curio, Martin A. Giese, Martin Breidt, Mario Kleiner, Heinrich H. Bülthoff
2008 Proceedings of the 5th symposium on Applied perception in graphics and visualization - APGV '08  
Abstract Insights from human perception of moving faces have the potential to provide interesting insights for technical animation systems as well as in the neural encoding of facial expressions in the  ...  In addition, by a quantitative analysis of the optic flow patterns corresponding to the adaptation and test expressions we rule out that the observed changes reflect a simple low-level motion after-effect  ...  MODELING OF DYNAMIC FACIAL EXPRES-SION SPACE For our perception experiment dynamic face stimuli were created using a three-dimensional dynamic morphable face model that is based on 3D scans of human heads  ... 
doi:10.1145/1394281.1394293 dblp:conf/apgv/CurioGBKB08 fatcat:pfbgs3qrwrgwdovau2gvjpce2m

Can we distinguish biological motions of virtual humans?

Ludovic Hoyet, Franck Multon, Anatole Lecuyer, Taku Komura
2010 Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology - VRST '10  
Abstract Perception of biological motions is a key issue in order to evaluate the quality and the credibility of motions of virtual humans.  ...  Figure 1 : Subject lifting a 6kg dumbbell: video of a real motion (up) and corresponding captured motion applied to a virtual human (down).  ...  Videos and captured motions applied to a virtual human are used in the perceptual study. deal with dynamic constraints with different levels of accuracy and computation time.  ... 
doi:10.1145/1889863.1889878 dblp:conf/vrst/HoyetMLK10 fatcat:o472w5rzb5f2hba572r3kffzau

Model based reconfiguration of flexible production systems

Christos Gkournelos, Niki Kousi, Angelos Christos Bavelos, Sotiris Aivaliotis, Christos Giannoulis, George Michalos, Sotiris Makris
2019 Procedia CIRP  
This paper proposes a scalable assembly execution control framework that facilitates the real time a) process level reconfiguration and b) resource level behavior adaptation considering the dynamic changes  ...  A synthesis of multiple sensors' data is created comprising a digital twin of the workplace that is real time updated based on the sensors' input.  ...  Acknowledgements This work has been partially funded by the EC research project "THOMAS -Mobile dual arm robotic workers with embedded cognition for hybrid and dynamically reconfigurable manufacturing  ... 
doi:10.1016/j.procir.2020.01.042 fatcat:uj32puimkbanpgpcc2uur2kgwe

Manual Control Cybernetics: State-of-the-Art and Current Trends

Max Mulder, Daan M. Pool, David A. Abbink, Erwin R. Boer, Peter M. T. Zaal, Frank M. Drop, Kasper van der El, Marinus M. van Paassen
2017 IEEE Transactions on Human-Machine Systems  
that facilitate the analysis of adaptive, and possibly time-varying, human behavior in realistic control tasks.  ...  Manual control cybernetics aims to understand and describe how humans control vehicles and devices using mathematical models of human control dynamics.  ...  Most notably, we need an ability to explicitly capture the time-varying nature of human controllers, perhaps even in real-time.  ... 
doi:10.1109/thms.2017.2761342 fatcat:uh5jup6z6vgetjjglvp5b7kkwq

Virtual humans: thirty years of research, what next?

Nadia Magnenat-Thalmann, Daniel Thalmann
2005 The Visual Computer  
To realize these modeling goals, real-time realistic representation is essential, but we also need interactive and perceptive Virtual Humans to populate the Virtual Worlds.  ...  To give a level of believable behavior, challenges are laid on generating on the fly flexible motion and complex behaviours of Virtual Humans inside their environments using a realistic perception of the  ...  , and real-time systems require adaptive and spontaneous motion, which is hard to accomplish with motion capture.  ... 
doi:10.1007/s00371-005-0363-6 fatcat:66uenhkqv5citi5jss22wqxk7e

Tire mounting on a car using the real-time control architecture ARCADE

Thomas Nierhoff, Lei Lou, Vasiliki Koropouli, Martin Eggers, Timo Fritzsch, Omiros Kourakos, Kolja Kuhnlenz, Dongheui Lee, Bernd Radig, Martin Buss, Sandra Hirche
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Approaches of object detection (applied to car, tires, and humans), robust real-time control of robot arms under perception uncertainty, and human-friendly haptic interaction are detailed.  ...  This video presents a generic control and system architecture ARCADE, applicable for real-time robot control in complex task situations.  ...  ARCADE can seamlessly merge distributed perception, decision-making, and real-time control.  ... 
doi:10.1109/iros.2012.6386094 dblp:conf/iros/NierhoffLKEFKKLRBH12 fatcat:2rshvujnc5cvtnehejzcyb3kti

Multimodal motion guidance

Christian Schönauer, Kenichiro Fukushi, Alex Olwal, Hannes Kaufmann, Ramesh Raskar
2012 Proceedings of the 14th ACM international conference on Multimodal interaction - ICMI '12  
Our system also introduces motion retargeting through time warping, motion dynamics and prediction, to allow more flexibility and adaptability to user performance.  ...  This paper focuses on the design and development of such systems from a human cognition and perception perspective.  ...  . • Dynamically adapting feedback based on a user's motion through motion retargeting, employing time warping, motion dynamics, speed indication and movement prediction for precise timing of feedback.  ... 
doi:10.1145/2388676.2388706 dblp:conf/icmi/SchonauerFOKR12 fatcat:klplwfsnqbch3k3ub3i7hn6mim

Computer vision methods for robot tasks: Motion detection, depth estimation and tracking

E. Martínez-Martín
2012 AI Communications  
On this regard, inspired by humans, we have studied motion as a primary cue.  ...  The proposed approach has been validated with an extensive set of experiments and applications using different testbeds of real environments with real and/or virtual targets.  ...  The motion detection algorithm allows a good environment adaptation of the system as it properly deals with most of the vision problems when dynamic, nonstructured environments are considered.  ... 
doi:10.3233/aic-2012-0520 fatcat:57rmryqemzg7fprb5s26i5lmdm

Walking with Virtual People: Evaluation of Locomotion Interfaces in Dynamic Environments

Anne-Helene Olivier, Julien Bruneau, Richard Kulpa, Julien Pettre
2018 IEEE Transactions on Visualization and Computer Graphics  
Locomotion interfaces induce some biases both in the perception of the self-motion or in the formation of virtual locomotion trajectories.  ...  The objective of this article is to evaluate whether small scale interactions during locomotion between a real user and a virtual human (right) are similar in virtual conditions in comparison with real  ...  RELATED WORK VR-based human behavior studies VR-based experimental platforms are powerful tools to perform perception-action experiments [24] .  ... 
doi:10.1109/tvcg.2017.2714665 pmid:28613177 fatcat:57eanj64kfhwnafuwyraducory

Velocity-Based Models for Crowd Simulation [chapter]

Julien Pettré, David Wolinski, Anne-Hélène Olivier
2013 Pedestrian and Evacuation Dynamics 2012  
Velocity-based models belong to the category of microscopic crowd simulation models. They recently appeared in the crowd simulation literature.  ...  They mathematically formulate microscopic interactions as a function of agents' states and their derivatives.  ...  Even though the Tangent model also models motion perception error to better simulate the timing of an interaction, real humans do not process information this way to control their locomotion.  ... 
doi:10.1007/978-3-319-02447-9_88 fatcat:zatsdgcqvfhczdj22vc3utfqxy

Analyzing urban daylighting ambiences by walking in a virtual city

Souha Tahrani, Guillaume Moreau
2007 2007 IEEE Virtual Reality Conference  
Contemporary psychology emphasizes the relation between perception and action and shows that perception can be enhanced by the receptor's motion.  ...  The urban environment is defined by the interaction between the city morphological characteristics and its physical behavior based on the human interpretation.  ...  The motion of the treadmill is adapted in real time to match the subject's walk. 2D treadmills are also in development but remain complex research products at the moment.  ... 
doi:10.1109/vr.2007.352487 dblp:conf/vr/TahraniM07 fatcat:sgviysqzhfa4xeupfuhjyopjyu
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