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In this paper, an egocentric teleoperation approach to overcome human cognitive and operation limits for multi body motions (robot motions) is proposed. This approach minimizes the degrees of freedom that a human operator has to operate by providing a virtual geometric constraint on the work path;the slave robot autonomously maintains the geometric constraint. The experimental results of an operation...
In a tele-operation system, the work efficiency can be improved by altering the impedance of a slave robot in accordance with the characteristics of the work. The impedance intended by an operator should be measured because the impedance of a slave robot should reflect the intention of the operator. Besides, the measured impedance should be obliged to include the information of its value and direction...
In this paper, composition of components based on OPRoS and its interface for software service robots are described. The service robots have large variety of functionalities, such as navigation, manipulation and recognition. Due to the complexity of software with variety software modules, reusability and portability of software become important. In recent year, in order to increase the reusability,...
The electro-hydrostatic actuator (EHA) system is a kind of compact high power actuator module through the integration of electric motor, pump, accumulator, and oil tank in a component. In order to achieve high efficiency with fast response characteristics for EHA systems, it is required to understand the effect of system parameters on the components such as hydraulic pump, cylinder, accumulator, and...
An android is a robot which resembles human especially appearance and behavior. This robot is usually used for an emcee, a desk clerk, a teacher and so on. Its motion should be accurate and correspond to what it tells because a little difference of motion may bring misunderstanding. Comparing a humanoid, an android should resemble human more strictly because not-quite-high quality of mimicry leads...
In this paper, we present the design of an emotional reactive system based on three-layered hybrid architecture. The purpose of emotional reactive system is to make robot software system that has its autonomous emotion in interaction with human. The three-layered hybrid architecture is composed of Hardware abstraction layer, Reactive Layer and Deliberative Layer and developed for autonomous mobile...
To improve the maneuverability of underwater vehicles, accurate thruster control is required based on a precise thrust model. Especially, in real systems, the ambient flow velocity and angle effects on the thrust force are very important, because vehicles are continuously moving and/or hovering with thruster actions. In this paper, we execute preliminary experiments with the model containing ambient...
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