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To achieve ultra-realistic communications (URC), a three-dimensional (3D) sound field recording and reproducing system using spatial sound features is promising. It utilizes sound source positions and original source signals as features. On the other hand, sound source orientations (such as speaker's orientation) have been neglected, though they are necessary for high-performance URC. In this paper,...
Finding objects and tracking their poses are essential functions for service robots, in order to manipulate objects and interact with humans. We present an approach for object detection and 3D pose estimation for autonomous mobile robots, that is suitable for general uses in a modularized robot control system. Our approach extracts local features from the input images, searches for the reference pattern,...
In the near future robots will be used in home environments to provide assistance for the elderly and challenged people. As home environments are complicated, external sensors like ceiling cameras need to be placed on the environment to provide the robot with information about its position. The pose of cameras influences the area covered by the cameras, as well as the error of the robot localization...
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...
During the human-robot cooperation assembly process, detecting an operator's position not only protects the operator, but can also predict the operator's intention according to his position. This paper describes an image-based operator monitoring system based on the direct linear transformation (DLT) method. To overcome the changing light conditions in actual factories, a special color filter method...
A micro hand consisting of two rotational fingers is proposed. Each finger has 4 DOF: 3-DOF translation and 1-DOF rotation around the finger's axis. Two fingers grasp a small object and translate it in 3D space by moving themselves in the same direction. They can rotate the object by moving themselves back and forth in the opposite direction. Rotating the fingers around their own axes in the same...
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...
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