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The surface electromyography signal extracted from the stump was applied to recognize the movement, and be translated into on-off signal to fulfill the conversion from standing to walking. According to the different situation of stump, the signals extracted from different muscles were applied to control the prosthesis. Factor analysis was applied to find(More)
In the actual course of target tracking, the measurement noise is changing at any time because of the impact of external environment, the problem of the sensors system and other reasons. Meanwhile, there are outliers in the measurements because of the clutter environment. However, the measurement noise covariance is changeless in standard Kalman filter, and(More)
Ant colony optimization and artificial potential field were used respectively as global path planning and local path planning methods in this paper. Some modifications were made to accommodate ant colony optimization to path planning. Pheromone generated by ant colony optimization was also utilized to prevent artificial potential field from getting local(More)
Until now, many methods are used to solve the problems of task-allocation and path planning in multi mobile robot system. There are two new algorithms presented in this paper. The task-allocation algorithm resolves the puzzle of task getting and accomplishing with the least cost based on the optimal notion. The environment of the system is constructed with(More)
A rescue robot can not directly find the target which is in other rooms or invisible places by using visual, ultrasonic or infrared ray sensors, because of the smoke or collapsed walls. According to the diffraction property of audio signal, the sound can bypass obstacles. To find the survivors which are often in far field, an audio-based robot localization(More)
The mammalian used to direct its vision field to a sound source by its auditory system. So an auditory system of robot for sound source localization is proposed in this paper. Through using the four-element microphone array, the time differences of arrival can be achieved and the sound-source target can be localized. The experiment system is introduced.(More)
A path planning structure based on hierarchical idea was adopted in this paper. In this structure, the global path planning is done firstly by the robot and the local online adjusting is done afterward. This kind of structure can debase the calculation complexity of path planning. Then, aiming at the problem of local motion planning, a conflict-resolution(More)
In order to improve the gait of disable people, a control concept of above-knee prosthesis was presented. The surface electromyography signal extracted from leg muscles was applied to recognize the phase of stride, and translated into on-off signal of self-lock control. A hybrid neural network-genetic algorithm was applied to describe the relation between(More)
In order for individuals suffering from transfemoral amputation to walk in a variety of circumstances, the above-knee prosthesis based on posture recognition was presented. The body posture of lower limb was classified into four classes, "stair", "sitting", "standing", and "walking". For measure the amputee's movement intent, surface EMG signals which can(More)