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This paper presents an automatic 3-D laser measurement system of an environmental structure using the cooperation of multiple mobile robots. The robots are equipped with two types of laser sensors and measure the 3D environmental structure while moving around the environment automatically. To identify the measurement positions by the robots, Cooperative Positioning System (CPS) is utilized which is...
Traditional methods require large computation to model a contact state graph of polyhedral objects for robotic application, and moreover they are heuristic. In this paper, we propose a framework to generate the contact state graph automatically. All faces of the polyhedral objects are triangulated. A sub-contact is defined as single contact between two polyhedral objects and a contact state is presented...
We propose an object tracking system for a service robot working in an everyday environment. The system is composed of an intelligent cabinet, a floor sensing system and a data management system. The position of an object can be classified into three areas: 1) in/on furniture, 2) on the floor, 3) held by a human or a robot. Being equipped with a RFID reader and loadcells, the intelligent cabinet measures...
This paper proposes a novel control method for stable object grasping and orientation control using a dual-arm manipulator with multi-fingered hands. The control signal of the proposed method is simple but it can easily achieve stable grasping without external sensors and an orientation control of a grasped object. Firstly, holonomic constraints between a dual-arm manipulator with multi-fingered hands...
This paper describes the car park navigation system that provides WYSIWYAS navigation using M-CublTS, investigation of how to realize the system, construction of an experimental system, and on-line experiments. Positioning in this system is performed by detection of M-CublTS elements painted in car parks using an on-board camera. In addition, this system provides the WYSIWYAS, that is, intuitive navigation...
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