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Backdrivability is a keyword with rising importance, not only in humanoid robots, but also to wearable robots. Power assist robots, namely exoskeletons are expected to provide mobility and independence to elderly and people with disability. In such robots, without backdrivability, error between human and robot motion can be painful; sometimes dangerous. In this research, we apply a type of hydraulic...
Biological creatures, some of them are very simple, seem to perform efficient search strategy. Recent researches show that noise in their internal mechanism may have an important role to manage this behavior. This paper focuses on realizing a simple, noise utilizing, mathematical framework that enables a mobile robot to perform random search adaptively and efficiently under changing target density...
This paper proposes a novel approach for extracting a model of movement primitives and their sequential relationships during online observation of human motion. In the proposed approach, movement primitives, modeled as hidden Markov models, are autonomously segmented and learned incrementally during observation. At the same time, a higher abstraction level hidden Markov model is also learned, encapsulating...
In recently years, the production method has changed from the diversification of a sense of values from mass production to diverse-types-and-small-quantity production on the production site. Therefore, a productive system that can correspond to changes in the environment is required. In a productive system that performs handling tasks, we use a hand-eye system with a camera and a manipulator and perform...
Living organisms have various kinds of flexibility and robustness which are realized by ??yuragi,?? i.e. biological fluctuations or noises. Bacterial motion is a form of noise-based motion, since bacteria can move towards a higher concentration of some chemical which they prefer even though they have only a limited 1-DOF of flagella for mobility. Bacteria also have only a limited sensory device which...
Many biologically inspired approaches have been investigated in relation with researches on mobile robot(s) that can effectively locate targets that induce gradient information. Here, we concentrate on realizing an adaptive searching behavior in mobile robot that is simple, yet effective with and without sensing the gradient information. We are interested in two searching behaviors found in biological...
Robots must have similar mechanical impedance characteristics to humans in order to make safe and efficient contact. This impedance requirement applies not only to the surface but also to the actuation mechanisms. The objective of this research is to develop inherently flexible actuator by realizing backdrivability. A class of hydraulic actuation called electro-hydrostatic actuator was applied to...
In this paper, mimetic communication is extended to human-robot interaction tasks, in which physical contact transitions must be handled. The mimetic communication consists of imitation learning for learning low level motion primitives and a higher level interaction learning stage in which also the information about the human-robot contacts is included. For the imitation learning, Cartesian marker...
This paper proposes a novel approach for motion primitive segmentation from continuous full body human motion captured on monocular video. The proposed approach does not require a kinematic model of the person, nor any markers on the body. Instead, optical flow computed directly in the image plane is used to estimate the location of segment points. The approach is based on detecting tracking features...
Biologically inspired techniques have been widely investigated for realizing adaptive searching behaviour in a mobile robot. In this paper, we propose a framework based on ldquoYuragirdquo, a Japanese word for biological fluctuation. Yuragi-based framework is simple, has a noise-utilizing novelty to keep the robot searching for the goal, while its basic expression enables the robot to switch elegantly...
This paper describes the novel approach to integration of natural language processing and symbolization of motion patterns in order to allow for humanoid robotpsilas acquisition of language. This framework consists of two models : motion language model and natural language model. In the motion language model, morpheme words are stochastically associated with symbolized motion patterns via latent variables...
This paper describes an approach for on-line, incremental learning of full body motion primitives from observation of human motion. The continuous observation sequence is first partitioned into motion segments, using stochastic segmentation. Motion segments are next incrementally clustered and organized into a hierarchical tree structure representing the known motion primitives. Motion primitives...
The knowledge of the inertial parameters of a dynamic systems is crucial to understand, simulate and eventually control it. Identification theory in robotics is well formulated and often used however it requires the knowledge of the actuation torque. When considering humanoid system: robots or humans identification is seldom used as the actuation torque is difficult to measure. We have developed an...
When simulating and controlling robot dynamics it is necessary to know the inertial parameters and the joint dynamics accurately. As these parameters are usually not provided by manufacturers, identification is then an essential step in robotics. In addition with the up coming wide-spreading of humanoid robots in the society the identification of humanoid dynamics has became mandatory to insure safety...
This paper describes an improved methodology for human motion recognition and imitation based on factorial hidden Markov models (FHMM). Unlike conventional hidden Markov models (HMMs), FHMMs use a distributed state representation, which allows for more efficient representation of each time sequence. Once the FHMMs are trained with exemplar motion data, they can be used to generate sample trajectories...
We present a solution to estimate in-vivo the joint dynamics of the human limbs during passive movements. The method is based on well-known modelling and approach used in robotics that allow simultaneous multi-joint estimation. The modelling of the human body and the human joint as well as the method are described. The experimental set-up based on the use of an optical motion capture system is detailed...
This paper is about development of an omni directional vehicle on a spherical tire. The vehicle moves by rolling a spherical tire and balancing on it. We selected a basketball as a spherical tire, because basketball is made of rubber. In general, rubber tire has three features, which are durability, adaptabilities to the ground surface and force transmissivity. We think that using a basketball as...
This paper presents an online dynamical retouch method of referential motion patterns for humanoid robots. It converts transition sequences of desired posture and supporting state which are rough in terms of both time and space to a set of smooth piecewise functions applicable to actual robots with dynamical constraints taken into account. It is based on boundary condition relaxation method, and has...
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