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This paper describes the current status of the development of a simulation system for remotely operated robots. The system will be used for operator proficiency training and robot performance verification. Our purpose for developing this system is to contribute to decommissioning of the Fukushima Daiichi Nuclear Power Station (FDNPS). The simulator system was designed using Choreonoid, a simulator...
This paper considers the visual impression in a human robot interaction where a robot imitates the human motion obtained by Microsoft Kinect. In this interaction, a subject swings both arms up and down while Kinect measures the subject's motion and this motion is sent to the robot with a certain delay time. In the above situation, fristly, this paper quantitatively shows the perceptible delay time...
This paper proposes the contactless measurement scheme for human body motion interface including twisting motion for a personal motility. We have already proposed the saddle type human body motion interface. This interface uses not only conventional translational human motions but also twisting motion, namely it makes full use of the human motion characteristics. The mechanism of the interface consist...
This paper investigated the repeatability of the human motion as a first step to improve the usability of the saddle type interface using human twisting motion for the Personal Mobility. Our proposed interface uses not only conventional translational human motion but also twisting motion, namely it makes full use of the human motion characteristics. The basic experimental results also showed that...
This paper studies the difference between two scenes of a real time motion imitation by two persons: one scene is when the subject feels him/herself imitated and another scene is when the subject does not feel him/herself imitated. And this paper also considers that "Which body parts of the subject are frequently gazed by another person?". There has been researches focused on imitating human...
In this paper, we propose a method of estimating amount of attitude change of stationary sensor node which is important to realize observation of identical spot for a long term based on the tracked position data of underwater landmark generated on underwater image, and then in order to see a target, in here a coral, in the fixed position on image, attitude of captured image is corrected based on the...
This paper presents an image-based position measurement of underwater objects using a low-cost maritime mobile robot with a monocular camera. Visual recognition of distant underwater objects is possible in the water with high transparency, for example, in the coastal sea area of Okinawa prefecture, Japan. In this paper, we apply the proposed method to estimate the position of an old anchor that is...
We have been developing the underwater robot which can be used for environmental protection and research work in the coastal sea area of Okinawa prefecture. It is difficult to get the global position of the underwater robot, because GPS does not work in water. Visual recognition of distant underwater objects is possible in the water high transparency, for example, in the coastal sea area of Okinawa,...
This paper considers the selection of feature points about the imitation motion when the subject felt to have been imitated by another person, in the scene of real time imitation on the body motion. There are many researches regarding imitation motion, most of them consider it from the view point of the person imitating another person's motion. The imitation motion is cooperative motion by both persons...
This paper introduces an efficient motion planning method for on-road driving of the autonomous vehicles, which is based on the rapidly exploring random tree (RRT) algorithm. RRT is an incremental sampling-based algorithm and is widely used to solve the planning problem of mobile robots. However, due to the meandering path, the inaccurate terminal state, and the slow exploration, it is often inefficient...
This paper proposes a trajectory generation method for mobile robot by extending the trajectory segment iteratively. Considering the practical uses of the mobile robot like service purpose in the real world, it requires that the trajectory planning is done adaptively by depending on the situation changes. For that, designated waypoints for future motion are given sequentially from the environment...
In recent years, it says that the number of the coral decreases by the change in the marine ecosystem, the change of marine environment and increase of crown-of-thorns starfish. Therefore, the research and preservation of coral is necessary urgently. Then, authors have been developing the device which is called the stationary sensor node to observe underwater environment with wide range for a long...
The purpose of this paper is to derive the suggestion towards to the design guideline of Personal Mobility (PM) for giving a good visual impact for the pedestrian. For this purpose, first of all, pre-experiment has been done to briefly evaluate the impression to the whole body size of PM by using Semantic Differential method and factor analysis. From the results, it turned out that big PM is associated...
This paper discusses the design and evaluation of the interface for a small boarding type vehicle. First, we consider the structure of the interface and explain the framework to design the intuitive interface, and outline that the interface should be 3 layers structure “input layer, processing layer, output layer”. Next, the concept of the human body motion interface is presented. And we describe...
This paper proposes a trajectory generation method for mobile robots based on trajectory segment extension. The trajectory for mobile robot must be generated by depending on the conditions during the robot traveling. Such conditions to design the trajectory are given when the robot comes around those locations and are not provided before arriving around there. From this point of view, we have started...
This paper describes about experimental verifications on the cricket's response against frequent interactions and how it changes in time development. In order to investigate behavior modification, we took the approach to utilize automated interaction systems with a robotic agent and observe the reactions of the male cricket. The robotic agent robes cricket's pheromone and is controlled by designing...
The Rapidly-exploring Random Tree (RRT) is a classical algorithm of motion planning based on incremental sampling, which is widely used to solve the planning problem of mobile robots. But it, due to the meandering path, the inaccurate terminal state and the slow exploration, is often inefficient in many applications such as autonomous road vehicles. To address these issues and considering the realistic...
This research proposes the motion design for the service robot to give the positive impression to the human. The impression to the robot affects the quality of the service being provided by the robot. Thus the positive impression may maintain or improve the quality of the service. This paper, therefore, considers the normative motion to give the positive impression to users, and implements the motion...
This paper describes a path planning method for mobile robots/vehicles be extending the path sequentially. Considering practical use and applications of the mobile robot/vehicles, additional via-points for future path are given sequentially from sensor processing and environment recognition process. Thus, the path should be calculated sequentially with such additional conditions during mission execution...
This paper proposes the saddle type human body motion interface for personal mobility. The proposed interface uses not only conventional translational body motion but also twisting motion, and makes easy operation. The saddle is attached on the personal mobility by using the seat post with the universal joint at the floor of the personal mobility. The universal joint has three rotational joints where...
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