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This paper presents the development and field test of a novel unmanned aerial vehicle (UAV) for bridge inspections. The proposed UAV, which consists of a quadrotor, a cylindrical cage installed in it, and two spokeless wheels freely rotating around the cage, can climb and run on the bridge surface. Its structure improves durability and reduces air resistance compared with conventional UAVs with a...
We have been trying to induce a quadruped robot to walk dynamically on irregular terrain by using a neural system model consisting of a CPG (central pattern generator) and reflexes. In this paper, we define adaptive walking using a neural system model as “coupled-dynamics-based motion generation”, in which a neural system and a mechanical system are coupled and generate motion by interacting with...
Several methods of recognizing hand actions by examining the vibrations conducted through the body from muscular activity (we call them “body-conducted sounds” in this paper) were proposed in previous works. However, they did not consider the transfer characteristic of body-conducted sounds. In this paper, we propose a method for hand action recognition that extracts the main frequency elements of...
In this paper, we propose a method for representing “neighborhoods” of moving objects such as people. By using neighborhoods, it is possible to determine whether the spatial relations between objects and their surrounding spatial information are strong. It can be said that a neighborhood is the spatial area of an object's attention, interest or concern. It is preferable that neighborhoods move while...
Positioning systems have gained importance in situations where various location-based services have been installed. Although the combination of Wi-Fi positioning with inertial navigation is considered to be accurate for indoor use, it is important to avoid increasing the error when using estimated positions for location-based services. In this paper, we propose a positioning system that combines several...
In this paper, we describe a power assist method for a nonholonomic mobile robot designed to carry out office-oriented services. We developed a new mechanism for obtaining an approximate measurement of the zero moment point (ZMP) using three single-axis force sensors so that a robot pushed from any direction by a human can detect the direction and magnitude of the external force. We also propose impedance...
This paper proposes using CORBA as communication architecture to integrate network-distributed software and robotic systems in support systems for the aged or disabled. The proposed method keeps system costs low and expands availability. Its high scaling and inter-operating ability allows clients and server objects that are written in different languages, run in different operating systems, and connected...
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