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In this paper, we demonstrate the usefulness of the micro-manipulation system with a robotic straw proposed by the authors for the microorganism isolation task. Isolating microorganism is one of the fundamental bio-manipulation tasks. This task has been conventionally achieved with a straw connected with a rubber tube. However, some skill is required by an operator for this isolation task, because...
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...
Android robots that have a human-like appearance have been developed recently. A one of the purpose of android robots is to realize natural communication between human and robot by implementing human-like behaviors. In human communication, since it is said that facial expressions contribute to face-to-face communication effectively as a non-verbal medium, we have been developing the face robot that...
In this paper, we propose a new internal model control based controller for sensorless force control. Simplification of the proposed controller is discussed, and stability of the controller is proved theoretically. Two controllers based on internal model control are applied to sensorless grasping control on a myoelectric robotic hand. Effectiveness of the proposed controllers is verified by comparative...
A robust self-consistent humanoid navigation method is proposed. For any given targeted position and orientation, the robot robustly chases them without bankruptcies such as leg-crossing, excess stride and deadlock. The key idea is to define a canonical stance with respect to the target independently from the current configuration, and trace them by each step alternately. It locally prioritizes the...
We investigated eye movement in a transportation task using remote control. Participants controlled two sets of joysticks to move a toy excavator and a toy truck monitoring the task process through video displays. They repeated the task ten times. At an early stage of skill acquisition, the participants tended to look at both task related objects (e.g., material to transport and the shovel) and the...
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...
Android robots that have a human-like appearance have been developed recently. The purpose of android robots is to realize realistic communication between human and robot by implementation of human-like behaviors. Then knowledge and techniques for generating human-like natural motions and behaviors with android robot are required. In human, head and body are moved consciously or unconsciously even...
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 anteversion posture...
ldquoUniversal unipodsrdquo - it is a decentralized robots system for universal object transportation, which has been proposed by the authors. In this paper, the authors extends its ability by giving a new feature of estimating relative geometrical placement of each robot aiming at smooth and efficient object handling. The way of estimations are very simple by ldquoshakingrdquo the object to observe...
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...
This paper proposes a method that a human and a swarm robot move cooperatively so as to maintain the swarm situation that the swarm robot 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 space. In this paper, the robotic swarm which includes whole robots is defined...
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,...
A "muscle suit" that provides muscular support for the paralyzed or those otherwise unable to move unaided is developed as a wearable robot. The lack of a metal frame and use of McKibben artificial muscle allow the muscle suit to be lightweight, making it realistic to use in daily life. The basic concept and the structure of the muscle suit are shown in this paper in order to realize all...
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