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The authors and the students in the group have been developing a unique robot used in the university campus. The base of the robot is Segway RMP 200, which was used for the research of localization. Now it is mainly used at the entrance hall of the library for showing various useful information of the library and to attract the visitors to the robot technology. Although the software is replaced every...
In this paper, we propose an age estimation system on the AIBO. AIBO is an entertainment robot produced by SONY co., Ltd.. AIBO has many sensors to get information around itself and moves according to its instinct. This autonomous action is considerably natural. However, it is inadequate to communicate with people. If AIBO can estimate the human age from a face image, it becomes more excellent entertainment...
This paper presents a path-tracking control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. Although the velocity commands for exact path tracking can be calculated using past command signals due to the omni-directional...
In this paper, we propose a control method for a snake-like robot with screw drive units, which aims to achieve singular configuration avoidance as well as tracking control of the head position and orientation. A cost function measuring nonsingularity is introduced, and a control input is chosen such that the cost function is increased by using redundant degrees of freedom. The effectiveness of the...
This paper describes modeling and control of a snake robot which can switch grounded parts dynamically. A snake lifts up some parts of its body and dynamically switches grounded parts during locomotion, for example, sinus-lifting and sidewinding motion. We model the lifting up 3D motion of the snake as a switching constraints system in 2D motion and propose the control strategy for the trajectory...
In this paper, we consider the trajectory tracking control of a 3-dimensional (3D) snake robot by using redundancy. We discuss the motion control which accomplishes the trajectory tracking and other tasks, for example singular configuration avoidance, obstacle avoidance, etc., for the 3D snake robot. Features of the internal motion caused by the kinematic redundancy are considered and the dynamic...
Simultaneous Localization And Mapping (SLAM) has been an important topic for robotics. The technology will also be useful for walking navigation for, e.g., blind persons. We are developing a system using a laser range sensor and a pushcart designed to assist walking persons. Recently, interests in localization and map building with laser range sensor have been increasing in robotics community. A system...
Authors are developing a rotorcraft with autonomous controller for the remote sensing of agricultural fields. Accurate position sensing is essential to the development of the autonomous control system. One major method for the position sensing is to use the image processing technique. Among the image processing techniques labeling processing is most practical and is widely used for detecting the position...
In this paper we consider modeling and control of a redundant snake robot with wheeled link mechanism based on kinematic model. We derive a kinematic model of a snake robot with introducing links without wheels and shape controllable points in the snake robot's body in order to make the system redundancy controllable. By using redundancy, it becomes possible to accomplish the main objective of controlling...
In this paper, we derive a dynamic model and a control law for cooperative task of three snake robots which have wheeled links and demonstrate the validity of proposed controller by simulation. First, we derive a dynamic model of single snake robot with redundancy by introducing the shape controllable points. Next, we extend it to the model for the cooperative task of three redundant snake robots...
In this paper, we derive a dynamic model and a control law for cooperative task of two snake robots which have wheeled links and demonstrate the validity of proposed controller by simulation and experiment. First, we derive a dynamic model of single snake robot with redundancy by introducing the shape controllable points. Next, we extend it to the model for the cooperative task of two redundant snake...
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