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A motion controller which has an acceleration sensor increases reality and intuitiveness in sports games. But we adjust not only visible posture but also invisible force like stiffness and viscosity when we play sports. We propose a game controller using player's movement and force by using acceleration and electromyogram(EMG). In this research, we compared conventional motion controller and proposed...
Skilled workers decrease in these years. Then it is a problem that skilled techniques and know-how of specific work are not taken over to next generations. Therefore, a controller which is based on a human-skill is needed to design. On the other hand, in recent year, various neural networks (NNs) have been proposed. These technologies of the NNs enable us to deal with the nonlinear systems, and they...
In this research, an interface to instruct robots by the movement of the human head is presented. In the proposed interface, a robot moves in cooperation with the movement of the human head. The intersection point between the extension line of the head direction and a plane on which robots work is regarded as the instruction point and an interface system in which the robot follows the movement of...
Robots that support humans cooperatively should move as being accepted emotionally. To form such a movement, it is one of the effective methods for the robots to make the gentle movement to take care of the humans. The humanpsilas cooperative movement and support movement have changes in the generated trajectory with cherishing a desire. In this research, we propose an algorithm to generate the handing...
Our research on the anthropomorphic flutist robot has been focused on understanding the human motor control, enabling the communication between human and robots, proposing novel applications for humanoid robots and introducing novel ways of musical expression. In this video, we are presenting the musical skills of the Waseda Flutist Robot. In particular, we are presenting the WF-4RIV; which is able...
A tethered space robot, which is connected to a mother spacecraft through a piece of tether, is a new space system proposed in the previous work. The tethered subsystem is envisioned to be a multi-body system for a robot, whose attitude can be controlled under tether tension by its own link motion. This paper discusses about microgravity experiment for attitude control of a tethered space robot. Design...
It is expected that robots will play an important role in social welfare and service for the older citizens. These robots should display an emotional aspect to make them more acceptable to humans. Humans shake hands in order to greet each other and display a feeling of closeness. A handshake is the embodied interaction with contact by which humans can directly share embodied rhythms. In this paper,...
PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. For such a problem, the robust controller has been proposed. Although it is important...
Aiming at opening up a new stage of humanoid robotics, we have been studying on the mechanically soft structure for humanoids and have developed a full-body muscle-driven flexible-spine humanoid robots. In this paper, we discuss body structure of humanoids, describing the advantages of musculoskeletal flexible body and briefly introducing the previous works on constructing hardware and software of...
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