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PEOPLER-II is a hybrid robot with 8-leg ends and 4-wheels attached to a knee joint rim rotating around a hip joint. It has been developed to assist people who needs enhancement for their capability of locomotion. In order to cope with different environments, investigation of the robot trajectory is of significant importance while a frictional condition of the surface influences the form of trajectory...
Recently mobile robots act in various situations such as disaster areas, office buildings, factories and homes. When these new mobile robots are released, they should be confirmed to work correctly and safety from evaluation. In this paper, we propose large-scale simulation environment of mobile robots on StarBED which is a large-scale networked testbed. By using the simulation environment, we could...
This paper presents smooth switching phases utilized in the mode change between leg-type and wheel-type locomotion for ascending and descending a slope. The phases are classified into three, i.e, walking, mode change, and rolling phases. In each case, we simulate the robot motion to visualize for verification. Also, we show that the balanced control between right and left side of the robot in the...
In disaster areas, office buildings, or at home, multiple autonomous networked mobile robots may act instead of human beings. These robots have to move to their destiantion so as to perform their function. For this purpose they need to be able to recognize the changes in the surrounding environment. They are equipped with a motion-planning method in order to avoid in real time collisions with other...
We propose a method of measuring not only distance but also surface-normal of an object at several meters away with a single light source. Basically, one light beam source is enough to measure the distance, since the light beam is scanned toward wide area mechanically, however we use a pair of wedge-prisms for the purpose of collecting three distance data within a small surface of the object. That...
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