This paper proposes the walking pattern generation method, the kinematic resolution method of CoM (center of mass) Jacobian with an embedded motion, and the walking controller design method for humanoid robots. First,...
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This paper proposes the walking pattern generation method, the kinematic resolution method of CoM (center of mass) Jacobian with an embedded motion, and the walking controller design method for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motion makes a humanoid robot balanced automatically during the movement of the all other limbs. Actually, it offers the ability of whole body coordination to the humanoid robot. Third, the walking controller is composed of the CoM controller minus the ZMP (zero momentum position) controller. Also, we show that the proposed walking controller brings the disturbance input-to-state stability (ISS) for the simplified bipedal walking robot model. Finally, the effectiveness of the proposed kinematic resolution method and walking controller is shown through experiments in regard to humanoid robot dancing and walking
A novel gender classification system has been proposed based on Gaussian Mixture Models, which apply the combined parameters of pitch and 10th order relative spectral perceptual linear predictive coefficients to model...
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A novel gender classification system has been proposed based on Gaussian Mixture Models, which apply the combined parameters of pitch and 10th order relative spectral perceptual linear predictive coefficients to model the characteristics of male and female speech. The performances of gender classification system have been evaluated on the conditions of clean speech, noisy speech and multi-language. The simulations show that the performance of the proposed gender classifier is excellent;it is very robust for noise and completely independent of languages;the classification accuracy is as high as above 98% for all clean speech and remains 95% for most noisy speech, even the SNR of speech is degraded to 0dB.
All-pass filtering is used to reduce the visual impact of erased subband trees. The image quality degrades gracefully with the erasure rate. The paper describes a simple subband coding method for combating packet eras...
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All-pass filtering is used to reduce the visual impact of erased subband trees. The image quality degrades gracefully with the erasure rate. The paper describes a simple subband coding method for combating packet erasures. No explicit redundancy coding is used, and provided the erasure rate is not too large, the visual impairment due to erasures is minor. The inverse all-pass filtering, at the decoder, has the "spread spectrum" effect of spreading over the whole image the spatially localised errors due to channel erasures. Since the filtering is unitary, the mean-squared error distortion is unchanged; however, the perceptual effect can be dramatic.
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