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Overview
Overview
- PKD is one of the predecessors of now famous Sophia robot.
- Research concentrated on social robotics:
- Mimicking facial expression.
- Object tracking.
- Neck-eye coordination.
Projects
Projects
Facial Expression Generation in PKD
Facial Expression Generation in PKD
- Facial expressions generated using
- Software Tools:
- Faceshift
- .NET Framework (C#)
- Target: Generate human-like facial expressions.
Facial Expression Generation using Genetic Algorithm
Target Tracking by PKD with Multiple Cameras
Target Tracking by PKD with Multiple Cameras
- Used two camera system to track people far away from the range of USB eye camera.
- Microsoft Kinect was used as an external camera.
- Pin-hole camera model used to localize identified target and transform to PKD's coordinate.
- Programming Language:
- C# (.NET framework)
- Can be extended to multiple camera based system.
Neck-Eye Co-Ordination for PKD
Neck-Eye Co-Ordination for PKD
- Follow Donders' Law and Listing's Law of human head and eye movement to track targets.
- Target tracking done through both external camera as well as the USB camera in the eye.
- External Camera provides location for neck movement.
- USB eye camera used for finer tracking and movement
- A potential controller was implemented for motion.
- Programming Language:
- C# (.NET framework)
Mimic User Expressions
Mimic User Expressions
- Facial expressions generated using
- One-to-one expression mapping
- Software Tools:
- Faceshift
- .NET Framework (C#)
- Linear mapping of identified user expressions to drive robot's facial actuators.
ROS Package for PKD
ROS Package for PKD
- Built a ROS package from scratch for PKD
- Platform used:
- Solidworks (to model PKD)
- SW2URDF
- ROS C++
- Controlled Neck and Eye movements using a joystick
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