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In this paper, authors proposes an idea of “mechanical messaging” for inter-robot communication using actuators and force sensors equipped on robots. In their previous works, they have proposed the decentralized multiple autonomous monopedal robots system "Universal Unipods" for universal object transportation. Their statement is that a very simple yet widely applicable function such as...
This paper investigates the cooperative work of distributed robot maintaining retention of swarm, especially in the case of going up slope. Our control law to keep the high retention of the robot swarm has been developed, and its effectiveness for an environment with obstacles has been confirmed by using ODE (Open Dynamics Engine). This paper considers an environment with the slope and investigates...
Recently, many researchers have paid attention to researches on flock behavior in multi-robot system. In most of those researches, an absolute coordinate system is used for identifying a position of each agent consists a flock. It is costly to obtain the position in the absolute coordinates under practical applications because special devices, such as GPS, are necessary. Therefore we have developed...
This paper addresses a quantification method for role sharing in cooperative tasks. By the method, we found that the ratio of three typical indexes relate to task performance. Most of conventional human-machine systems assumed to assist single operator. In such case, the systems should only pay attention his/her operation characteristics. If there were multiple operators, they also include altruistic...
This paper deals with a new object transportation scheme performed by a herd of autonomous monopedal robots. The system is named as ldquoUniversal Unipods,rdquo in which each robot is attached on a load to be transported and works as if it were one of the legs of a large multipedal robot. The system is designed not only for generality of application but also for easiness of operation. The authors...
Many robotic hands or prosthetic hands have been developed in the last several decades, and many use tendon-driven mechanisms for their transmissions. Robotic hands are now built with underactuated mechanisms, which have fewer actuators than degrees of freedom, to reduce mechanical complexity or to realize a biomimetic motion such as flexion of an index finger. The design is heuristic and it is useful...
This paper proposes a method of cooperative interaction that a human and distributed robots move cooperatively so as to maintain the swarm situation that robots surround the moving human. This paper is concerned with the control for maintaining the high stability of the swarm, and proposes a control algorithm for the robotic swarm in obstacle or slope space. The proposed algorithm for overcoming above...
To automate linen supply factories, we have been developing the flexible objects handling robot system. This system is constructed of two multi-joint robots on which a 3-D vision sensor is mounted. In order to handle flexible objects by this system, it is necessary to be able to determine the grasping attitude of robot-hand based on the shape of the flexible object. Especially, in this case, the grasping...
We have been developing a wearable robot that directly and physically supports human movement. A ldquomuscle suitrdquo for the arm that will provide muscular support for the paralyzed or those otherwise unable to move unaided is one example. Whereas low back pain is one of the most serious issue for the manual worker and in this paper, we focus on developing the support system for forward tilting...
This paper proposes a control algorithm for a robotic swarm based on the center of gravity of the local swarm. In order to be compatible with maintaining a high stability of the whole swarm and advancing to the goal, virtual forces; local forces and an advancing force which are produced by the algorithm, are applied to multiple autonomous mobile robots. Local forces such as an attraction and a repulsion,...
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