1 / 11

Control points

AUs and Control Points. Control points. The number of McKibben air muscles①. Head part (for facial expression) ・ 80[mm] × 4 ・ 90[mm] × 12 ・ 100[mm] × 6. 90mm×1. 90mm×1. 90mm×1. 90mm×1. 100mm×1. 90mm×1. 90mm×1. 100mm×1. 80mm×2. 80mm×2. 110mm×1. 90mm×1. 90mm×1. 90mm×1. 90mm×1.

janus
Download Presentation

Control points

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. AUs and Control Points Control points

  2. The number of McKibben air muscles① Head part (for facial expression) ・80[mm] × 4 ・90[mm] × 12 ・100[mm] × 6 90mm×1 90mm×1 90mm×1 90mm×1 100mm×1 90mm×1 90mm×1 100mm×1 80mm×2 80mm×2 110mm×1 90mm×1 90mm×1 90mm×1 90mm×1 90mm×2 100mm×1 100mm×1 100mm×2

  3. The number of McKibben air muscles② Head part (for nodding) ・110[mm] × 2 ・120[mm] × 2 110mm×2 120mm×2 Neck part ・90[mm] × 8 90mm×2 90mm×2 90mm×2 90mm×2

  4. DC motor and CCD camera Oculomotor ・DC motor RE13 Φ13 0.75W (#118453) × 2 ・Gear-head GP13 Φ13 0.2-0.35Nm (#110316) × 2 ・Encoder MEnc13 16[ppr] 2ch (#110778) × 2 (Maxon motor) Camera ・CCD camera CCN3412Y-2.3M × 1 (Plum net Co., Ltd (Japan)) Neck part ・DC motor TG-05D-SM-150 6[V] × 1 (TSUKASA ELECTRIC CO., LTD (Japan))

  5. System Configuration USB Video Capture CCD camera Serial (RS232C) Eye (Pitch) Eye (Yaw) Neck (Yaw) Micro computer Motor driver (×3) PC1 McKibben USB Controlled air D/A Electro-pneumatic regulator PC2 : : Compressed air Air compressor

  6. Software Configuration User Ask, Question Mike Control PC Speaker Answer Answer selection Dialogue control Data base Facial expression selection SP_DLG.exe Visual C++ Microsoft Speech SDK 5.1 Facial expression control Facial expression USB Face robot Compressor D/A Face tracking Compressed air Regulator Actuators Control PC Motor driver Micro Computer Face area extraction Gaze control Image Image capture Camera controller Video_Capture.exe Visual C++ Microsoft Direct X 8.1 USB Camera

  7. SP_DLG SP_DLG Debug dic saya.xml ・・・ un-compiled grammar file saya.cfg ・・・ compiled grammar file res.txt ・・・ response file ex 0.csv ・・・ pattern file for controlling air pressure SP_DLG.exe ・・・ exe. file winmain.cpp DA_Func.cpp SpEngine.h DA_Func.h HUSB002.h resource.h Script.rc

  8. dic/saya.xml <GRAMMAR LANGID="409"> <RULE NAME="SAYAControl" TOPLEVEL="ACTIVE"> <L> <P> <RULEREF NAME="SAYA" /> </P> </L> </RULE> <RULE NAME="SAYA"> <L PROPNAME="MOVE"> <P VAL="100">angry</P> <P VAL="101">surprise</P> <P VAL="102">laugh</P> </L> </RULE> </GRAMMAR > Recognition words Add recognition words here : : :

  9. dic/res.txt Response words Name of .csv files Recognition words hello / Hello / 0 angry / Angry / 1 saya / I am saya / 2 laugh / ha ha ha / 3 surprise / wow wow / 4

  10. ex/○○○.csv Channel of air muscle Value of air pressure

  11. Video_Capture Video_Capture Debug Video_Capture.exe ・・・ exe. file winmain.cpp Feature_extraction.cpp RGB_Converter.cpp Serial_Comm.cpp Video_Capture.cpp Feature_extraction.h Parameter.h RGB_Converter.h Serial_Comm.h resource.h Video_Capture.rc

More Related