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It is important for robots that act in human-centered environments to build image processing in a bottom-up manner. This paper proposes a method to autonomously acquire image feature extraction that is suitable for motion generation while moving in unknown environment. The proposed method extracts low level features without specifying image processing for robot body and obstacles. The position of...
In this paper, we propose a new example of non-holonomic mobile robot, which we call the surface walker. This robot is composed of a hemisphere-shaped shell and a 2-d.o.f. mass-control device (pendulum) inside it, and undergoes the rolling contact constraint between the hemispherical surface of the robot and the ground. Unlike a lot of non-holonomic robots which have ever been researched, the drift...
Safe use of master-slave robots for endoscopic surgery requires autonomous motions to avert contact with vital organs, blood vessels, and nerves. Here we describe an avoidance control algorithm with delay compensation that takes the dynamic characteristics of the robot into account. To determine the operating parameters, we measured frequency characteristics of each joint of the slave-manipulator...
We model the rebound phenomenon between a ping-pong ball and the table/racket rubber. In the model between the ball and racket rubber, it is assumed that the kinetic energy of the contact velocity is stored as the potential energy due to the elasticity of the rubber. This assumption leads to that the impulse in the horizontal direction is proportional to the contact velocity. The vertical and horizontal...
Nonverbal behavior plays an important role in human communication. In this paper, we propose a novel museum guide robot that has three different types of communication modes (autonomous, remote-control, and remote-interactive), which are integrated to interact with visitors through nonverbal behavior. First, the autonomous mode is an autonomously controlled mode in which the robot can directly interact...
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