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Biped Robot Walking Control using Image Processing
Stephen Karungaru,Masakazu Sugizaki,Minoru Fukumi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, a vision system for controlling an autonomous biped robot is presented. Robots need sensors to understand circumstances. There are several types of sensors. Recently, a camera is rapidly becoming the sensor of choice due to the remarkable improvement in computer technologye specially inprocessing power. However, there is the blurred image problem because of camera shake due to robot’s walking. Our method focuses on the use of image processing to control a human oid robot’s walking. We fixa camera on a biped robot, and input the images from the camera to PC for processing. The results of the image processing are sent to the robot for control immediately. The sereal-time image processing and control systems give us an efficient application on future robots. In the initial experiment the objective is to control robot walking up stairs.
A Circle-Based Region-Of-Interest Segmantation Method for Palmprint Recognition
H. Kipsang Choge,Tadahiro Oyama,Stephen Karungaru,Satoru Tsuge,Minoru Fukumi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a novel method for optimal Region-Of-Interest(ROI) segmentation for palmprint feature extraction based on the largest inscribed circle. This ensures that the optimal amount of features can be extracted, unlike square-based methods which exclude a substantial area on the outside region of the palmprint image. After position normalization, the middle portion of the palmprint is searched to determine the center from which the largest inscribed circle can be extracted. The circular area is then unwrapped into a fixed-size rectangular strip which is further preprocessed to remove redundancies and then split into seven equal square sub-images. A layered approach is then adopted during the matching stage where each square is successively matched and polled to produce a matching score. Experiments are performed using the "PolyU Palmprint Database" and results show that this is a viable method for palmprint feature extraction, with a recognition rate of above 90% obtained.
Identification of Wrist EMG Signals using Dry Type Electrodes
Tadahiro Oyama,Hillary Choge,Stephen Karungaru,Satoru Tsuge,Yasue Mitsukura,Minoru Fukumi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Recently, researches of artificial arms and pointing devices using Electro Myo Gram(EMG) have been actively done. However, EMG is usually measured from a part with comparatively big muscular fibers such as arms and shoulders. Therefore, if we can recognize wrist motions using EMG which was measured from the wrist, the range of application will extend further more. However, when we use the wrist EMG, there are problems that the individual difference is large and its repeatability is low and soon. In this paper, we aim the construction of wrist EMG recognition system that is robust to these problems.