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If pipes with narrow diameters are not well inspected, preventing accidents become difficult. Therefore, we developed a pneumatically powered earthworm-type robot for Half-inch pipes (each having an inner diameter of approximately 16 mm); these pipes are extremely difficult to inspect. When the robot travels for a long distance, its speed significantly decreases. When the movement distance of one...
This paper presents a novel 3D measurement system, which yields both depth and color information in real time, by calibrating a time-of-flight and two CCD cameras. The problem of occlusions is solved by the proposed fast occluded-pixel detection algorithm. Since the system uses two CCD cameras, missing color information of occluded pixels is covered by one another. We also propose a robust object...
A method in which multi-valued decision diagrams (MDDs) are used to acquire robot action rules is proposed. Kanoh et al. have proposed a method, which uses multi-terminal binary decision diagrams (MTBDDs), to acquire robot action rules. But the variables of MTBDDs can only take values of 0 or 1; multiple variables are needed to represent a single joint angle. This increases the number of variables...
Recently, many researchers have paid attention to researches on flock behavior in multi-robot system. In most of those researches, an absolute coordinate system is used for identifying a position of each agent consists a flock. It is costly to obtain the position in the absolute coordinates under practical applications because special devices, such as GPS, are necessary. Therefore we have developed...
This paper describes a network system of unmanned flying observation robot which can be used to survey disaster area and transmit real time video image to distanced headquarter. In addition, the field experiment was successfully performed in the disaster area. Finally, the authors introduce a new type of flying robot.
To improve face-to-face interaction with robots, we developed a model for generating interactive facial expressions by using a simple recurrent network (SRN). Conventional models for robot facial expression use predefined expressions, so only a limited number of expressions can be presented. This means that the expression may not match the interaction and that the person may find the expressions monotonous...
In order to enhance controllability of a myoelectric hand, we focus on a gap between the time when a human intends to move a myoelectric hand and the time when the hand actually moves (i.e., time delay). Normally, the myoelectric hand users dislike the time delay because it makes them feel uncomfortable. However, the users learn the time delay within some time ranges and, eventually, get feel comfortable...
This paper describes about research on fluid analysis simulator for elastic oscillating fin of biomimetic underwater robots. Authors has been researching biomimetic underwater vehicle such as flapping wing type. In such system, new concept of fluid analysis simulator is required because of the unique fluid characteristics of elastic oscillating fin. First of all, this paper shows basic characteristics...
An earthworm moves by peristaltic crawling, which propagates extension and contraction waves along the anteroposterior direction from the anterior to posterior part, by varying the thickness and length of its segments. This locomotion mechanism is in contact with a large area on the ground when the robot moves. Furthermore, the amount of space required is less than that for other locomotion mechanisms...
An earthworm moves by peristaltic crawling, which propagates a longitudinal wave from the front of the body to the back by varying the thickness and length of its segments. This locomotion mechanism can move while keeping a large area in contact with the ground. Further, the amount of space required by this locomotion mechanism is less than that by other locomotion mechanisms. Therefore, it is desirable...
This paper presents a mobile robotic system designed to perform deep soil sampling for lunar or planetary subsurface exploration in the near future. Drilling robots have to carry the excavated fine sand, regolith backward because of the high density. Therefore a new scheme is proposed, to move forward under the soil by making use of reactive force caused by pushing the discharged regolith. The first...
In this paper, a simple and effective shepherding algorithm is presented. The shepherding is to guide or control a flocking behavior by one or more external agents which called shepherds. In general, a complex strategy is necessary for treating with a flock which has a lot of members. We propose a simple scheme using only simple rules like boid's rule proposed by C. Raynolds. Behavior of the shepherd...
Sound source tracking is an important function for a robot operating in a daily environment, because the robot should recognize where a sound event such as speech, music and other environmental sounds originates from. This paper addresses sound source tracking by integrating a room and a robot microphone array. The room microphone array consists of 64 microphones attached to the walls. It provides...
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