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Browsing by Author "Claassens, J"

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Active object recognition using vocabulary trees

Author: Govender, Nicolin ; Claassens, J ; Nicolls, F ; Warrell, J Date: Jan 2013 For mobile robots to perform certain tasks in human environments, fast and accurate object classification is essential. Actively exploring objects by changing viewpoints promises an increase in the accuracy of object classification. This paper ... Read more
Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets

Author: Singh, GK ; Claassens, J Date: Oct 2010 This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end-effector ... Read more
Generalising human demonstration data by identifying affordance symmetries in object interaction trajectories

Author: Claassens, J ; Demiris, Y Date: Sep 2011 This paper concerns modelling human hand or tool trajectories when interacting with everyday objects. In these interactions symmetries may be exhibited in portions of the trajectories which can be used to identify task space redundancy. This ... Read more
Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator

Author: Makondo, N ; Claassens, J ; Tlale, N ; Braae, M Date: Nov 2012 This paper describes a geometrical method for solving the inverse kinematic (IK) problem of a 5 Degrees of Freedom (DOF) redundant manipulator. A geometric inverse kinematics solution is desirable as it provides complete and simple solutions ... Read more
Grasping objects from a user’s hand using time-of-flight camera data

Author: Govender, Natasha ; Claassens, J Date: Nov 2010 For a robotic platform to be able to assist/interact in human environments, the platform must be able to perform some fundamental tasks. This includes interacting with humans by grasping or releasing objects as or when required by the human. ... Read more
An RRT-Based path planner for use in trajectory imitation

Author: Claassens, J Date: 2010 The authors propose a more robust robot programming; by demonstration system planner that produces a reproduction; path which satisfies statistical constraints derived from demonstration; trajectories and avoids obstacles given the freedom; ... Read more
Statistical imitation system using relational interest points and Gaussian mixture models

Author: Claassens, J Date: Nov 2009 The author proposes an imitation system that uses relational interest points (RIPs) and Gaussian mixture models (GMMs) to characterize a behaviour. The system's structure is inspired by the Robot Programming by Demonstration (RDP) paradigm. ... Read more
ToF camera ego-motion estimation

Author: Ratshidaho, T ; Tapamo, JR ; Claassens, J ; Govender, Natasha Date: Oct 2012 We present three approaches for ego-motion estimation using Time-of-Flight (ToF) camera data. Ego-motion is defined as a process of estimating a camera’s pose (position and orientation) relative to some initial pose using the camera’s image ... Read more

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Browsing by Author "Claassens, J"

Browsing by Author "Claassens, J"

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All of ResearchSpace

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