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4856
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ir
o
n
m
e
n
t
w
a
s
s
et
u
p
f
o
r
th
e
r
eq
u
ir
ed
in
ter
f
ac
i
n
g
an
d
GUI
w
as
cr
ea
ted
u
s
in
g
th
e
J
av
a
(
ec
li
p
s
e
I
DE
)
p
latf
o
r
m
w
h
ic
h
w
a
s
i
m
p
le
m
en
ted
o
n
t
h
e
s
a
m
e
b
o
ar
d
[
8
]
[
9
]
[
1
0
]
[
1
1
]
.
So
th
at
t
h
e
f
u
ll
f
led
g
ed
s
y
s
te
m
is
s
o
lel
y
r
ea
lized
in
th
e
E
m
b
ed
d
ed
B
o
a
r
d
.
2.
SYST
E
M
O
VE
RVI
E
W
AN
D
P
L
AT
F
O
RM
SPECI
F
I
C
AT
I
O
N
S
I
n
t
h
is
p
ap
er
,
w
e
w
a
n
t
to
p
r
esen
t
t
h
e
t
y
p
e
o
f
C
o
n
tr
o
l
s
y
s
te
m
u
s
ed
,
it
s
m
et
h
o
d
o
lo
g
y
,
i
m
p
le
m
e
n
tatio
n
s
tep
s
w
it
h
t
h
e
UDOO
B
o
ar
d
an
d
its
v
ar
io
u
s
a
s
p
ec
ts
,
d
ev
elo
p
m
en
t
o
f
d
i
f
f
er
e
n
t
m
o
d
u
les,
i
n
t
eg
r
atio
n
o
f
v
ar
io
u
s
m
o
d
u
les
i
n
to
a
w
o
r
k
i
n
g
m
o
d
u
le.
I
n
th
is
s
ec
tio
n
,
d
e
v
elo
p
m
en
t
o
f
t
h
e
co
n
tr
o
l
al
g
o
r
ith
m
s
,
ac
tu
ato
r
s
,
b
o
ar
d
s
,
co
m
m
u
n
icatio
n
p
r
o
to
co
ls
,
an
d
p
r
o
g
r
am
m
i
n
g
la
n
g
u
a
g
e
w
il
l b
e
d
is
cu
s
s
ed
in
elab
o
r
ated
v
ie
w.
C
lo
s
ed
lo
o
p
C
o
n
tr
o
l
s
y
s
te
m
h
as
b
ee
n
i
m
p
le
m
e
n
ted
i
n
o
r
d
er
to
m
o
n
ito
r
th
e
p
o
s
itio
n
s
o
f
t
h
e
D
y
n
a
m
i
x
el
Mo
to
r
s
.
P
I
D
co
n
tr
o
l
h
as
b
ee
n
i
n
co
r
p
o
r
ated
to
r
e
d
u
ce
th
e
er
r
o
r
s
i
n
P
o
s
itio
n
C
o
n
tr
o
l.
A
d
atab
ase
is
cr
ea
ted
o
n
th
e
P
r
o
ce
s
s
o
r
as
w
ell
as
th
e
co
n
tr
o
ller
p
ar
t
o
f
th
e
B
o
ar
d
.
T
h
is
d
atab
ase
d
ef
in
e
s
th
e
m
o
v
e
m
e
n
ts
o
f
th
e
d
if
f
er
en
t
p
ar
ts
lik
e
Nec
k
,
e
y
es,
e
y
eb
r
o
w
s
,
e
y
e
lid
s
,
etc
w
h
ic
h
w
as
i
n
v
o
k
ed
d
u
r
in
g
t
h
e
ex
ec
u
tio
n
o
f
t
h
e
p
ar
ticu
la
r
ex
p
r
ess
io
n
.
T
o
ac
h
i
ev
e
th
e
ab
o
v
e
m
en
tio
n
ed
tas
k
p
o
s
itio
n
co
n
tr
o
l
w
a
s
in
co
r
p
o
r
ated
.
R
S2
3
2
s
er
ial
co
m
m
u
n
icatio
n
p
r
o
to
co
l
h
as
b
ee
n
i
m
p
le
m
e
n
ted
to
s
h
ar
e
d
ata
an
d
co
m
m
a
n
d
s
b
et
w
ee
n
d
if
f
er
e
n
t
m
o
d
u
les.
T
h
ese
d
if
f
er
e
n
t
m
o
d
u
les
in
v
o
lv
e
GUI
,
D
y
n
a
m
i
x
el
co
n
tr
o
l
m
o
d
u
le,
m
icr
o
s
er
v
o
m
o
to
r
co
n
tr
o
l
m
o
d
u
le
a
n
d
v
o
ice
p
la
y
i
n
g
m
o
d
u
le
as
s
h
o
wn
in
t
h
e
Fi
g
u
r
e
1
.
Fig
u
r
e
1
.
S
y
s
te
m
O
v
er
v
ie
w
Fig
u
r
e
2
.
UDOO
Qu
ad
B
o
ar
d
T
h
e
co
m
p
lete
s
y
s
te
m
i
s
r
ea
lized
u
s
in
g
UDO
O
B
o
ar
d
w
h
i
ch
h
a
s
q
u
ad
co
r
e
A
9
p
r
o
ce
s
s
o
r
an
d
a
co
n
tr
o
ller
m
o
u
n
ted
o
n
it
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
I
t
is
ca
p
ab
le
o
f
h
a
n
d
li
n
g
n
u
m
er
o
u
s
tas
k
s
s
i
m
u
ltan
eo
u
s
l
y
.
T
h
e
p
r
o
ce
s
s
o
r
m
ai
n
l
y
r
u
n
s
t
h
e
G
UI
an
d
D
y
n
a
m
ix
e
l
co
m
m
an
d
s
an
d
t
h
e
co
n
tr
o
ller
tak
e
s
ca
r
e
o
f
th
e
m
icr
o
s
er
v
o
m
o
to
r
s
.
I
n
ter
-
p
r
o
ce
s
s
o
r
co
m
m
u
n
ica
tio
n
is
ca
r
r
ied
o
u
t
to
p
as
s
co
m
m
a
n
d
s
f
r
o
m
P
r
o
ce
s
s
o
r
to
th
e
co
n
tr
o
ller
an
d
m
o
n
ito
r
t
h
e
o
u
tp
u
t.
T
h
e
GUI
i
s
d
ev
elo
p
ed
u
s
in
g
j
av
a
p
latf
o
r
m
,
t
h
e
m
o
d
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le
s
to
co
n
tr
o
l
D
y
n
a
m
ix
el
an
d
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v
o
mo
to
r
s
w
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d
ev
elo
p
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u
s
i
n
g
C
/C
++
a
n
d
th
e
m
o
d
u
le
s
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h
ich
co
n
tr
o
l
m
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m
o
to
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s
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e
w
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itte
n
i
n
E
m
b
ed
d
ed
C
.
UDOO
B
o
ar
d
is
a
n
e
w
l
y
la
u
n
c
h
ed
B
o
ar
d
in
t
h
e
m
ar
k
e
t
on
Kick
s
tar
ter
an
d
m
ar
k
ete
d
b
y
T
en
et
T
ec
h
n
o
tr
o
n
ics
i
n
I
n
d
ia
.
I
t
s
u
p
p
o
r
ts
L
i
n
u
x
a
s
w
el
l
as
An
d
r
o
id
.
W
e
h
ad
in
s
talled
Ub
u
n
t
u
w
h
ic
h
i
s
a
L
in
u
x
b
ased
Op
er
atin
g
s
y
s
te
m
a
n
d
w
h
ich
ca
n
b
e
d
o
w
n
lo
ad
ed
f
r
o
m
UDOO
B
o
ar
d
h
o
m
e
p
ag
e
[
1
2
]
.
Op
er
atin
g
s
y
s
te
m
s
u
p
p
o
r
ts
all
t
h
e
p
r
o
g
r
am
m
in
g
la
n
g
u
a
g
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n
d
g
i
v
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u
s
n
u
m
er
o
u
s
ch
o
ices to
i
m
p
le
m
e
n
t o
u
r
s
y
s
te
m
.
3.
M
E
T
H
O
DO
L
O
GY
T
h
is
s
ec
tio
n
d
escr
ib
es t
h
e
v
ar
i
o
u
s
Mo
d
u
les,
t
h
eir
f
u
n
ctio
n
al
i
t
y
an
d
d
ev
elo
p
m
e
n
tal
s
tep
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
I
mp
leme
n
ta
tio
n
o
f H
u
ma
n
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o
b
o
t
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n
tera
ctio
n
o
n
UDOO
B
o
a
r
d
(
Min
R
a
j Nep
a
li)
31
3
.
1
.
Dev
elo
p
m
e
nt
o
f
G
UI
A
f
lo
w
ch
ar
t
s
u
m
m
ar
izi
n
g
t
h
e
w
o
r
k
f
lo
w
o
f
o
u
r
p
r
o
p
o
s
ed
Gr
ap
h
ical
User
I
n
ter
f
ac
e
f
o
r
Hu
m
an
o
id
R
o
b
o
tic
h
ea
d
is
d
ep
icted
in
Fi
g
u
r
e
3
ab
o
v
e.
I
n
o
r
d
er
to
s
tar
t
th
e
p
r
o
ce
s
s
,
u
s
er
h
as
to
p
r
ess
i
n
itializa
tio
n
b
u
t
to
n
to
ac
tu
ate
m
o
to
r
s
,
w
h
ic
h
r
eq
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ests
u
s
er
to
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ter
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p
ass
w
o
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.
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f
p
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et
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alid
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th
en
th
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u
s
er
g
ets
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s
s
p
er
m
is
s
io
n
to
o
p
er
ate
ac
tio
n
s
w
it
h
H
u
m
an
o
id
R
o
b
o
tic
Hea
d
.
Fig
u
r
e
3
.
P
r
o
ce
s
s
f
lo
w
f
o
r
th
e
GUI
Seco
n
d
s
tep
is
to
p
r
ess
START
b
u
tto
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to
b
eg
in
A
lg
o
r
ith
m
.
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o
n
click
o
f
ST
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b
u
tto
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,
W
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KE
UP
/S
L
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P
b
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tto
n
g
et
s
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tiv
ated
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y
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u
lt,
all
t
h
e
b
u
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icate
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t
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r
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o
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h
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d
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ill b
e
d
is
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la
y
ed
.
T
h
er
e
ar
e
2
2
ac
tio
n
b
u
tto
n
s
.
Am
o
n
g
w
h
ic
h
,
6
b
u
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n
s
s
h
o
w
s
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ec
k
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r
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T
ir
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)
d
em
o
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tr
ates
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p
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an
d
o
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1
0
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u
tto
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s
(
C
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m
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d
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n
s
elec
tio
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f
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ch
b
u
t
to
n
,
c
o
r
r
esp
o
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d
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g
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ar
e
in
v
o
k
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th
e
UDO
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b
o
ar
d
an
d
in
tu
r
n
in
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tiates t
h
e
m
o
to
r
m
o
v
e
m
e
n
ts
o
f
R
o
b
o
tic
h
ea
d
.
3
.
2
.
Co
ntr
o
l o
f
Dy
na
m
i
x
el
m
o
t
o
rs a
nd
m
icro
s
er
v
o
m
o
t
o
rs
Ass
u
m
in
g
th
a
t
Hu
m
an
Facia
l
E
x
p
r
ess
io
n
a
n
d
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k
m
o
v
e
m
e
n
ts
ar
e
s
tr
aig
h
t
f
ac
e
ex
p
r
es
s
io
n
,
P
o
s
itio
n
C
o
n
tr
o
l
m
et
h
o
d
h
as
b
ee
n
i
m
p
le
m
en
ted
to
ac
tu
ate
th
e
m
o
t
o
r
s
to
th
e
r
eq
u
ir
ed
g
o
al
p
o
s
it
io
n
an
d
b
ac
k
to
th
e
o
r
ig
in
al
p
o
s
itio
n
.
Ho
m
e
p
o
s
i
tio
n
is
d
ef
i
n
ed
as
t
h
e
No
r
m
a
l
p
o
s
itio
n
o
f
h
u
m
an
Hea
d
.
T
h
e
r
eq
u
ir
ed
g
o
al
p
o
s
itio
n
ar
e
p
r
ed
ef
in
ed
w
h
ic
h
ar
e
f
ed
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6
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IJ
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I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
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1
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Ma
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ch
2
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1
6
:
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4
34
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f
a
b
rica
te
th
e
Ro
b
o
ti
c
He
a
d
w
h
ich
e
x
h
ib
it
s
m
o
re
d
e
g
r
e
e
s
o
f
f
r
e
e
d
o
m
a
ll
o
ws
to
re
a
li
z
e
D
y
n
a
m
ics
o
f
Hu
m
a
n
R
o
b
o
t
In
tera
c
ti
o
n
i
n
a
p
re
c
ise
wa
y
.
T
h
e
Ro
b
o
ti
c
He
a
d
c
a
n
b
e
in
c
o
rp
o
ra
ted
w
i
th
v
a
rio
u
s
o
th
e
r
A
lg
o
rit
h
m
s an
d
c
a
n
b
e
u
p
g
r
a
d
e
d
to
c
a
rry
o
u
t
f
o
ll
o
w
in
g
A
p
p
li
c
a
ti
o
n
s.
[1
]
W
e
b
-
M
in
in
g
,
w
h
e
re
th
e
Ro
b
o
ti
c
He
a
d
w
il
l
lo
g
in
in
to
t
h
e
in
ter
n
e
t,
se
a
rc
h
f
o
r
th
e
u
se
r
d
e
f
in
e
d
p
ro
d
u
c
t,
it
s rev
ie
w
(p
ro
s
a
n
d
c
o
n
s) an
d
g
iv
e
s u
s th
e
f
e
e
d
b
a
c
k
re
g
a
rd
in
g
th
e
p
r
o
d
u
c
t.
[2
]
L
e
a
f
id
e
n
ti
f
ica
ti
o
n
,
w
h
e
re
th
e
Ro
b
o
ti
c
He
a
d
w
il
l
id
e
n
ti
fy
w
h
e
th
e
r
t
h
e
lea
f
is
h
e
a
lt
h
y
o
r
n
o
t,
if
th
e
lea
f
is
u
n
h
e
a
lt
h
y
th
e
Ro
b
o
t
w
il
l
tell
h
o
w
m
u
c
h
th
e
lea
f
is
a
ff
e
c
ted
b
y
th
e
d
ise
a
se
.
[3
]
A
c
ti
v
it
y
T
ra
c
k
in
g
,
w
h
e
re
ro
b
o
t
w
il
l
f
in
d
o
u
t
m
o
v
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m
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n
t
in
th
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n
v
iro
n
m
e
n
t
a
n
d
in
f
o
r
m
w
h
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h
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r
th
e
o
b
jec
t
o
f
c
o
n
sid
e
ra
ti
o
n
is
m
o
v
in
g
slo
w
o
r
f
a
st.
[4
]
S
e
n
ten
c
e
re
c
o
g
n
iza
ti
o
n
a
n
d
re
a
d
i
n
g
o
u
t
th
e
se
n
te
n
c
e
f
ro
m
a
wa
ll
o
r
a
b
o
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rd
.
ACK
NO
WL
E
D
G
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M
E
NT
Ou
r
sin
c
e
re
th
a
n
k
s
g
o
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s
to
t
h
e
Visio
n
G
ro
u
p
o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
l
o
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y
(V
G
S
T
),
Ka
rn
a
tak
a
to
a
c
k
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led
g
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o
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r
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se
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rc
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a
n
d
p
ro
v
id
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t
h
e
f
in
a
n
c
ial
su
p
p
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rt
to
c
a
rry
o
u
t
th
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se
a
rc
h
w
o
rk
a
t
NMIT
.
W
e
e
x
p
r
e
ss
o
u
r
th
a
n
k
s
to
o
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r
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ll
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t
th
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b
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ti
c
s
Re
se
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rc
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Ce
n
ter,
N
M
IT
w
h
o
m
a
d
e
si
g
n
if
ica
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t
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tri
b
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ti
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i
n
t
h
is
m
u
lt
i
d
isc
ip
li
n
a
ry
re
se
a
rc
h
w
o
rk
.
RE
F
E
R
E
NC
E
S
[1
]
P
r
o
f
.
Dr.
Ir.
S
.
S
tra
m
ig
io
li
,
ir.
E.
C.
De
rti
e
n
,
ir.
G
.
v
a
n
Oo
rt,
“
Ch
a
ra
c
teriz
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ti
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a
n
d
m
o
d
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li
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o
f
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D
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a
m
ix
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rv
o
”
,
Un
iv
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rsit
y
o
f
Tw
e
n
te,
Re
p
o
rt
n
r.
0
3
5
CE
2
0
0
8
,
No
v
e
m
b
e
r
2
0
0
8
[2
]
Da
ta
sh
e
e
t
f
o
r
d
y
n
a
m
i
x
e
l
m
o
to
r
in
se
c
ti
o
n
o
f
tec
h
n
ica
l
su
p
p
o
r
t
h
tt
p
:
//
su
p
p
o
rt.
r
o
b
o
ti
s.co
m
/en
/t
e
c
h
su
p
p
o
rt_
e
n
g
.
h
tm
#
p
ro
d
u
c
t/
d
y
n
a
m
i
x
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l/
m
x
_
se
rie
s/
m
x
-
28.
h
tm
[3
]
No
riak
i
M
it
n
u
n
a
g
a
,
C
h
risti
a
n
S
m
it
h
,
T
a
k
a
y
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k
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k
a
n
d
a
,
Hiro
s
h
i
Ish
ig
u
ru
,
No
ri
h
ir
o
Ha
g
it
a
,
“
Ro
b
o
t
Be
h
a
v
io
r
A
d
a
p
tatio
n
f
o
r
Hu
m
a
n
-
Ro
b
o
t
In
tera
c
ti
o
n
b
a
se
d
o
n
p
o
li
c
y
g
ra
d
ie
n
t
Re
in
f
o
rc
e
m
e
n
t
L
e
a
rn
in
g
”
,
In
t
e
ll
ig
e
n
t
Ro
b
o
ts
a
n
d
S
y
ste
m
s,
2
0
0
5
.
(IROS
2
0
0
5
)
.
2
0
0
5
IEE
E/
RS
J
,
Da
te o
f
Co
n
f
.
2
-
6
A
u
g
.
2
0
0
5
,
p
a
g
e
s 2
1
8
–
2
2
5
[4
]
Co
ry
D.
Kid
d
,
”
Hu
m
a
n
-
Ro
b
o
t
In
t
e
ra
c
ti
o
n
:
Re
c
e
n
t
Ex
p
e
rim
e
n
ts
a
n
d
F
u
t
u
re
W
o
rk
”
,
M
IT
M
e
d
ia L
a
b
.
[5
]
Ka
rste
n
Be
rn
s,
Jo
c
h
e
n
Hirth
,
“
Co
n
tro
l
o
f
f
a
c
ial
e
x
p
re
ss
io
n
s
o
f
th
e
h
u
m
a
n
o
id
ro
b
o
t
He
a
d
ROMAN”
,
In
telli
g
e
n
t
Ro
b
o
ts
a
n
d
S
y
ste
m
s,
2
0
0
6
I
EE
E/
RS
J
,
Da
te o
f
Co
n
f
.
9
-
1
5
Oc
t.
2
0
0
6
,
p
a
g
e
s 3
1
1
9
-
3
1
2
4
.
[6
]
M
a
re
n
Be
n
n
e
w
it
z
,
F
e
li
x
F
a
b
e
r,
D
o
m
in
ik
Jo
h
o
,
M
ich
a
e
l
S
c
h
re
ib
e
r,
a
n
d
S
v
e
n
Be
h
n
k
e
,
”
En
a
b
l
in
g
a
H
u
ma
n
o
id
R
o
b
o
t
to
In
ter
a
c
t
wit
h
M
u
lt
i
p
le P
e
rs
o
n
s
”
,
DA
RH2
0
0
5
Co
n
f
e
re
n
c
e
,
S
e
ss
io
n
3
.
4
[7
]
Yo
n
a
sT
a
d
e
ss
e
,
S
h
a
sh
a
n
k
P
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a
,
”
A
n
a
l
y
sis
a
n
d
De
sig
n
M
e
th
o
d
:
A
n
A
p
p
ro
a
c
h
to
De
term
in
e
Hu
m
a
n
o
id
S
k
i
n
De
f
o
r
m
a
ti
o
n
”
,
T
ra
n
sa
c
ti
o
n
s o
f
th
e
A
S
M
E,
0
2
1
0
1
0
-
4
/
Vo
l.
4
,
M
AY
2
0
1
2
[8
]
UD
OO
S
tartin
g
M
a
n
u
a
l:
h
tt
p
:/
/
u
d
o
o
.
o
rg
/d
o
w
n
lo
a
d
/f
il
e
s/Do
c
u
m
e
n
ts/UDO
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S
tartin
g
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M
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n
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b
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ta0
.
4
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1
1
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2
8
_
2
0
1
3
.
p
d
f
[9
]
S
c
h
e
m
a
ti
c
s:
h
tt
p
:/
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d
o
o
.
o
rg
/
d
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w
n
lo
a
d
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il
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s/sc
h
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m
a
ti
c
s/UD
O
O_
REV
_
D
_
sc
h
e
m
a
ti
c
s.p
d
f
[1
0
]
UD
OO
P
i
n
o
u
t:
h
tt
p
:/
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d
o
o
.
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rg
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o
w
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s/p
in
o
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t/
Ud
o
o
_
p
i
n
o
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t
_
d
iag
ra
m
.
p
d
f
[1
1
]
Da
tas
h
e
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t:
h
tt
p
:/
/www
.
se
c
o
.
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m
/
m
is
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t.
p
d
f
[1
2
]
h
tt
p
:
//
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li
n
u
x
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rg
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