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The development in this work is to evaluate analytically human-robot system for collaboration based on performance requirements in cellular manufacturing system. This work continues from a previous task modeling study to further evaluate quantitatively the collaboration planning of the human-robot system. The analysis study is based on Analytic Hierarchy Process (AHP) approach. Four criteria (productivity,...
In this paper, user-friendly micro manipulation system for the bio-medical scientist is introduced. An operator usually is not familiar with robot technology. However, supports for RT system have great means for such users. So, user friendly system architecture is necessary to provide useful operation scheme. In this paper, the component-based architecture for micro manipulation system is proposed...
A new convergence calculation method of the normal distributions transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs interactive closest point (ICP) algorithm to find corresponding point, and it also enlarges the...
The key challenge of this work is to research the safety design and development of a close range active human-robot collaboration system in which no governing safety standards and regulations are currently present. Active robot assistance in a human-centered cellular manufacturing system is very promising proposal, however safety is the uppermost consideration before this idea can be materialized...
The objective of this work is to enhance man-machine collaboration in cell production by task modeling approach. Task modeling provides a method to define and study the collaboration between man and machine. Six requirements have been derived as basis of development. In this work, the task modeling has extended classical HTA method to represent collaborative operation in a hierarchical structure with...
In the near future robots will be used in home environments to provide assistance for the elderly and challenged people. The arrangement of sensors influences greatly the quality of information provided to the robot. We, therefore, examine the problem of the optimal arrangement of vision sensors for the case of a robot following a pre-defined path. A methodology to evaluate the arrangement of sensors...
A stair recognition with laser range scanning for continuous stair climbing by limb mechanism ldquoASTERISKrdquo is proposed. In this research, laser range scanning is divided into rough scan for fast scanning, and precise scan for range scanning. We use 2D laser range finder attached with motor for 3D laser range scanning. As a result of the experiment, the robot could recognize a stair position...
In this paper, assembly skills for dry battery insertion are analyzed with respect to the applied force control. First, force control parameters used in dry battery insertion are identified based on human demonstration data. The time series data of force control parameters are then modeled based on a hidden Markov model (HMM). By analyzing the obtained HMM, basic motions necessary for achieving the...
In the renewal process of office interiors, a robotic system is needed in order to assist the human workers engaged in this kind of job. Regarding the items in the ceiling side, after the dismantling task of the ceiling panels, it is necessary to remove carefully the screws that once held these boards to the Light Gauge Steel (LGS), with the purpose of reusing. The proposed methodology to achieve...
We propose a method for generating robot motions by integrating multiple policies effective for task achievement. The method obtains a new policy efficiently based on the applied policies. However, there might be some states in which the applied policies fail to achieve the task. The failing states are found by means of a decrease in the state values. The policies for the states are then modified...
Psychological acceptance among users must be considered when service robots intended to work in a human population. We assessed such psychological effects using virtual reality instead of actual robots. Subjects filled out questionnaires after viewing computer graphics (CG) images of robots. Based on questionnaires, we identified potential psychological effects. In earlier work, we defined impressions...
In this paper, we investigate characteristics of a dynamic programming (DP) algorithm when it is applied to a control problem of a chaotic system. We choose a height task of the Acrobot, which is an underactuated robot. For various reasons, a straightforward method of DP is thought that it is not suitable for such a system. However, DP is attractive because of its conciseness, versatility, and flexibility...
The minimum-time motion coordination is an important subject in robotics. In this study, the arrangement of several goals, which is treated as a traveling salesman problem (TSP), is incorporated to this subject. Although TSP has been studied in most previous works; but, solving a TSP that takes into account collision occurrences has not received much attention. This instance arises when a robot arm...
We have proposed "attentive workbench (AWB)," a deskwork support system. Using cameras, projectors, and self-moving trays, the system supports human user from both physical and informational aspects. In this paper, an interface between the user and AWB based on pointing gestures is developed. Considering the usage of AWB, a simple and reliable interface with quick response is implemented...
We aim to realize a robotic system that hands over a necessary object to a user as soon as he/she attempts to reach out for it. In order to realize such system, the following is required: 1) detection of the reaching movement, 2) prediction of the target object among multiple objects, and 3) handing over the object to a user. In this paper, the first two of them are described and discussed. We apply...
In this paper, an algorithm that acquires the intermediate goals between the initial and goal states is proposed for an agent executing multiple tasks. We demonstrate the algorithm in the problem of rearranging multiple objects. The result shows that the moving distance to transfer the entire objects to their goal configuration is 1/15 of that without using intermediate goals. We experiment using...
Parallel mechanism has some good advantages, but small workspace is a big drawback (Merlet, 2000). We have proposed a parallel mechanism with adjustable link parameters in the previous paper (Arai and Takayama, 2000; Arai and Koseki, 2004, 1998). In this mechanism, there is a need to adjust the suitable link parameters for the required workspace for certain task. In this paper, we discuss the workspace...
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