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Author |
Sebastián Fuenzalida; Keyla Toapanta; Jonathan S. Paillacho Corredores; Dennys Paillacho |
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Title |
Forward and Inverse Kinematics of a Humanoid Robot Head for Social Human Robot-Interaction |
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Conference Article |
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2019 |
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IEEE ETCM 2019 Fourth Ecuador Technical Chapters Meeting; Guayaquil, Ecuador |
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This paper presents an analysis of forward and inverse kinematics for a humanoid robotic head. The robotic head is used for the study of social human-robot interaction, such as a support tool to maintain the attention of patients with Autism Spectrum Disorder. The design of a parallel robot that emulates human head movements through a closed structure is presented. The position and orientation in this space is controlled by three servomotors. For this, the solutions made for the kinematic problem are encompassed by a geometric analysis of a mobile base. This article describes a non-systematic method,
called the geometric method, and compares some of the most popular existing methods considering reliability and computational cost. The geometric method avoids the use of changing reference systems, and instead uses geometric
relationships to directly obtain the position based on joint variables; and the other way around. Therefore, it converges in a few iterations and has a low computational cost. |
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113 |
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Author |
Stalin Francis Quinde |
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Title |
Un nuevo modelo BM3D-RNCA para mejorar la estimación de la imagen libre de ruido producida por el método BM3D. (Ph.D. Angel Sappa, Director.). M.Sc. thesis |
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Book Chapter |
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2019 |
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Ediciones FIEC-ESPOL |
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Ph.D. Angel Sappa, Director. |
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Master's thesis |
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Español |
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117 |
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Author |
Shendry Rosero Vásquez |
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Reconocimiento facial: técnicas tradicionales y técnicas de aprendizaje profundo, un análisis. (Ph.D. Angel Sappa, Director & Ph.D. Boris Vintimilla, Codirector.). M.Sc. thesis |
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Book Chapter |
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2019 |
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Ediciones FIEC-ESPOL |
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Ph.D. Angel Sappa, Director de tesis & Ph.D. Boris Vintimilla, Codirector |
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Master's thesis |
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yes |
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114 |
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Santos V.; Angel D. Sappa.; Oliveira M. & de la Escalera A. |
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Special Issue on Autonomous Driving and Driver Assistance Systems |
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Journal Article |
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2019 |
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In Robotics and Autonomous Systems |
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121 |
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gtsi @ user @ |
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119 |
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