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Nowadays, certain kinds of robots have been developed to be used in proximity to daily human activities. Backdriveability is important for robots to act according to users' movements. We want to develop a linear actuator of high power and backdriveability. In this study we aim to achieve high generative force and backdriveability with a novel linear actuator, because there are many straight line operations...
The paper focuses on the teleoperation system TeleTA with haptic feedback designed to realize haptic communication with remote human, to achieve high level of maneuverability of robot arm in unstructured environment, and to increase effectiveness of physical human-robot interaction. The human operator directs the robot arm to the target position, while manipulator sensory system provides safe physical...
Pose recognition is important in many practical applications. For example, a driver assistance system can detect if the driver is tired, sleepy, or careless from the poses. A pet robot can detect certain behavior patterns of the human user. The main purpose of this study is to develop a driver assistance system that can protect the drivers from careless accidents. As the first step, we propose a system...
It is expected that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous manipulations. Therefore, we have developed a new type of finger-shaped haptic sensor that can measure a three-dimensional force vector field over a contact surface. The sensor consists of a transparent elastic body, two layers of internal blue...
Walk movement of a humanoid robot is necessary on undulation surface. However, efficiency is not so good because much energy losses occur by friction at the time of reaching the ground. Therefore, think about slide movement to assume the foot is a blade. This case, it is necessary to control balance because there are few ground contact areas. In this paper, propose of the skating robot mechanism and...
This paper introduces a multi-aspect modeling approach to designing human-robotic system interaction. With embedded technologies and network technologies, robotic systems can be implemented in highly distributed forms in the spaces of our daily life and work forming ambient intelligence environments with a wide range of informational and physical functions. In such environments, human-robotic system...
This paper considers an adaptive Hinfin control method with link frictions compensation and external disturbances rejection for robotic systems. It is assumed that all the system parameters for friction model and robot are unknown. The proposed method ensures that the unknown parameters are estimated and approximation errors of friction model and external disturbances are attenuated by means of Hinfin...
This paper considers an adaptive Hinfin control method with link frictions compensation and external disturbances rejection for robotic systems. It is assumed that all the system parameters for friction model and robot are unknown. The proposed method ensures that the unknown parameters are estimated and approximation errors of friction model and external disturbances are attenuated by means of Hinfin...
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