Humanoid Robot Learning How to track and grip
Journal Title: INTERNATIONAL JOURNAL OF COMPUTERS & TECHNOLOGY - Year 2013, Vol 11, Issue 7
Abstract
Interaction with its environment is a key requisite for designing a humanoid robot especially to have the ability to recognize and manipulate unknown objects and it is crucial to successfully work in natural environments. However visual object recognition still remains a challenging problem. To get the robot capable of identifying the geometric shapes and colors of the objects, this paper proposes new approach using neuro Zernike moments. Furthermore, the paper proposes a natural language understanding system, where the robot will be able to effectively communicate with human through a dialogue developed in Arabic language. The developed dialogue and a dynamic object model are used for learning semantic categories, object descriptions, and new words acquisition for object learning. In this paper, a robot will be developed to interact with the users performing some specified actions. Moreover, integration between the proposed vision and natural language understanding systems has been presented. Finally, a hardware circuit is designed and Q-learning technique is presented assisting the robot to track and grip objects. Intensive experiments have been conducted indoor to address the validity of the complete system. Qualitative comparison among different techniques is accomplished. The achieved results show that the overall system performance of the proposed system outperforms in terms of accuracy and response time.
Authors and Affiliations
Rasha F. A. Mostafa, El Sayed M. Saad, Medhat H. Awadalla, Hosam Eldin I. Ali
Keywords
Related Articles
- EP ID EP650343
- DOI 10.24297/ijct.v11i7.3493
- Views 106
- Downloads 0
Performance Comparison of AODV, OLSR and ZRP Protocol in MANET using Grid Topology through QualNet Simulator
In MANET mobile nodes are communicating through wireless medium and do not require any pre-existent infrastructure. In MANET all mobile nodes behaves as router and when required they takes part in discovery and maintenan...
DEVELOPMENT OF AN INTRUSION DETECTION SYSTEM IN A COMPUTER NETWORK
The development of network technologies and application has promoted network attack both in number and severity. The last few years have seen a dramatic increase in the number of attacks, hence, intrusion detection has...
Dose distributions verification for High dose rate brachytherapy plans by using ionization chambers 2D array
The purpose of this paper is to perform dosimetric verification (in-phantom) of dose distributions calculated with treatment planning system (TPS) by using 2D chamber array device in HDR brachytherapy. HDR brachytherap...
Intuitionistic Fuzzy Modeling to Travelling Salesman Problem
This paper presents solution technique for travelling salesman problem (TSP) under intuitionistic fuzzy environment. Travelling salesman problem is a non-deterministic polynomial-time (NP) hard problem in combinatoria...
AN ENHANCED CLUSTERING APPROACH FOR ENERGY EFFICIENT ROUTING IN WIRELESS SENSOR NETWORKS
Energy consumption is the core issue in wireless sensor networks (WSN). To generate a node energy model that can accurately reveal the energy consumption of sensor nodes is an extremely important part of protocol develop...