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HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face.

Iqbal, Aseef and A Shafie, Amir and Khan, Md. Raisuddin and Alias, Mohd Farid and Radhi, Jamil (2011) HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face. International Journal of Robotics and Automation (IJRA), 2 (3). pp. 220-231. ISSN 2180-1312 (online)

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In this paper, we describe the HRI (Human-Robot Interaction) system developed to operate a humanoid robot head capable of visual tracking and servoing of human face through image processing. The robotic humanoid head named Amir-II, equipped with a camera and servoing mechanism is used as the platform. The Amir-II tracks the human face within the field-of-vision (FOV) while the servoing mechanism ensures the detected human face remains at the center of its FOV. The algorithm developed in this research utilizes the capability offered by scientific computing program MATLAB along with its Image Processing Toolbox. The algorithm basically compares the locations of the face in the image plane that is detected from the static face image captured from real-time video stream. The calculated difference is then used to produce appropriate motion command for the servo mechanism to keep track of the human face moving within the range of its FOV.

Item Type: Article (Journal)
Additional Information: 4575/18428
Uncontrolled Keywords: Humanoid Head, Human-Robot Interaction (HRI), Emotional Expression, Face Detection, Visual Servoing, SMQT, Split-up SNoW Classifier, Matlab, Image Processing.
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800 Electronics. Computer engineering. Computer hardware. Photoelectronic devices > TK7885 Computer engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Mrs. Khalida Adibah Mohd. Khalid
Date Deposited: 10 Feb 2012 08:54
Last Modified: 10 Feb 2012 09:01
URI: http://irep.iium.edu.my/id/eprint/18428

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