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For a robot to operate efficiently in a human centered environment, it should be able to interact and learn unknown objects autonomously. Such capabilities will enable a robot to enrich its internal knowledge of the environment without human assistance. However, a crucial limitation of robots is their inability to comprehend representations of novel objects without priors. Human efforts are required...
In this paper, we present a design and development an autonomous tomato harvesting robot. We developed a harvesting robot with stereo camera which can measure depth in short range and direct sunlight and plucking gripper using the infinity rotational joint. We also evaluate the developed robot through harvesting in the tomato robot competition and the real farm. In the tomato robot competition, the...
This study proposes the development of a simple remote-controlled daily assistive robot to assist physically challenged individuals. Specifically, we present a method for target object selection using a single click on a graphical user interface. Using this information, the robot can automatically estimate the unknown target object region to plan to grasp and fetch the object. The challenging task...
In this paper, we introduce the design of the 4-legged semi humanoid robot platform Aero. Concepts of Aero are; Light weight, Simple structure, and Robust, and its objective is safety for human cooperation as a robot platform. We devised the placements of the motors by utilizing smart actuators that use ball spline to actuate cross-linked joints, and to avoid crushing objects, the motors used are...
As humanoids work alongside people, there will be many situations where they need to handover objects to people. If humanoids are to fulfill their purpose effectively, it is imperative that they perform handovers properly. When handing over an object, the giver needs to determine where to grasp and how to orient the object properly in order to ensure a safe and efficient handover. We propose and implement...
We present a vision cognition framework for tomato harvesting humanoid robot based on geometrical and physical reasoning. Inspired from the natural human harvesting behaviour, our goal is to build a humanoid robot to pick tomatoes autonomously or with minimal human efforts. The proposed vision approach uses fusion of calibrated observation data from two RGB-D sensors installed on the head and the...
This paper describes dressing assistance by an autonomous robot. We especially focus on a dressing action that is particularly problematic for disabled people: the pulling of a bottom along the legs. To avoid injuring the subject's legs, the robot should recognize the state of the manipulated clothing. Therefore, while handling the clothing, the robot is supplied with both visual and force sensory...
This paper presents a method for daily assistive robots to manipulate objects whose contact relationships are important. In our approach, contact relationships between multiple objects such as “on” and “into” are estimated using the hierarchical relationships between the objects' regions in the images. The hierarchical states are used for failure recovery processes so that the target contact state...
This paper describes a method of clothing recognition using dynamic state matching. One purpose of this research is to develop a function that is used to observe the progress of dressing a bottom at a toilet or a bedside. In this dressing, although we just have to do is to put my or others' legs on the bottom. some undesirable situations may occur. For instance, the feet gets hung up on the part of...
This paper describes a vision system that is for using character information for robots working on daily environments. It is mainly composed of image-based recognition module that detects character candidates by taking particular note of closed contour in an image. In addition, to cope with tiny or distant characters, a camera system with mechanical gaze adjustment is collaborated with the image processing...
In this paper, we propose a novel method to estimate a tool's function for a humanoid robot observing a person using a tool. In this method, two types of evaluations are integrated: the relational hierarchy between a tool and objects, and their accompanying movements. This enables to estimate not only moving or conveying function but also cutting or stinging function. To estimate the relational hierarchy,...
This paper describes an approach of multi-target tracking for gaze control to know the motions of end points on a moving object. In order to track several moving parts from image streams, three different types of tracker to observe temporal, spatial and appearance changes are combined. Also, we developed a composite vision system on which two wide-angle cameras and two zoom-enabled cameras are mounted...
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