Push Recovery for Humanoid Robot in Dynamic Environment and Classifying the Data Using K-Mean

Push recovery is prime ability that is essential to be incorporated in the process of developing a robust humanoid robot to support bipedalism. In real environment it is very essential for humanoid robot to maintain balance. In this paper we are generating a control system and push recovery controller for humanoid robot walking. We apply different kind of pushes to humanoid robot and the algorithm that can bring a change in the walking stage to sustain walking. The simulation is done in 3D environment using Webots. This paper describes techniques for feature selection to foreshow push recovery for hip, ankle and knee joint. We train the system by K-Mean algorithm and testing is done on crouch data and tested results are reported. Random push data of humanoid robot is collected and classified to see whether push lie in safer region and then tested on given proposed system

Robust recognition technique for handwritten Kannada character recognition using capsule networks

Automated reading of handwritten Kannada documents is highly challenging due to the presence of vowels, consonants and its modifiers. The variable nature of handwriting styles aggravates the complexity of machine based reading of handwritten vowels and consonants. In this paper, our investigation is inclined towards design of a deep convolution network with capsule and routing layers to efficiently recognize  Kannada handwritten characters.  Capsule network architecture is built of an input layer,  two convolution layers, primary capsule, routing capsule layers followed by tri-level dense convolution layer and an output layer.  For experimentation, datasets are collected from more than 100 users for creation of training data samples of about 7769 comprising of 49 classes. Test samples of all the 49 classes are again collected separately from 3 to 5 users creating a total of 245 samples for novel patterns. It is inferred from performance evaluation; a loss of 0.66% is obtained in the classification process and for 43 classes precision of 100% is achieved with an accuracy of 99%. An average accuracy of 95% is achieved for all remaining 6 classes with an average precision of 89%

Arabic/Latin and Machine-printed/Handwritten Word Discrimination using HOG-based Shape Descriptor

In this paper, we present an approach for Arabic and Latin script and its type identification based onHistogram of Oriented Gradients (HOG) descriptors. HOGs are first applied at word level based on writingorientation analysis. Then, they are extended to word image partitions to capture fine and discriminativedetails. Pyramid HOG are also used to study their effects on different observation levels of the image.Finally, co-occurrence matrices of HOG are performed to consider spatial information between pairs ofpixels which is not taken into account in basic HOG. A genetic algorithm is applied to select the potentialinformative features combinations which maximizes the classification accuracy. The output is a relativelyshort descriptor that provides an effective input to a Bayes-based classifier. Experimental results on a set ofwords, extracted from standard databases, show that our identification system is robust and provides goodword script and type identification: 99.07% of words are correctly classified

Arabic/Latin and Machine-printed/Handwritten Word Discrimination using HOG-based Shape Descriptor

In this paper, we present an approach for Arabic and Latin script and its type identification based onHistogram of Oriented Gradients (HOG) descriptors. HOGs are first applied at word level based on writingorientation analysis. Then, they are extended to word image partitions to capture fine and discriminativedetails. Pyramid HOG are also used to study their effects on different observation levels of the image.Finally, co-occurrence matrices of HOG are performed to consider spatial information between pairs ofpixels which is not taken into account in basic HOG. A genetic algorithm is applied to select the potentialinformative features combinations which maximizes the classification accuracy. The output is a relativelyshort descriptor that provides an effective input to a Bayes-based classifier. Experimental results on a set ofwords, extracted from standard databases, show that our identification system is robust and provides goodword script and type identification: 99.07% of words are correctly classified