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This paper considers the bilateral teleoperation of wheeled mobile robot with time delay using the virtual image robot. In this paper, we introduce the virtual image robot as a master robot. The human operator commands the virtual image robot, the slave wheeled mobile robot tracks the motion of the virtual image robot. The kinematics and dynamics of master/slave robots is considered. The scattering...
This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we...
Since cell production system meets the frequent change of products, it has excluded automatic assembly systems. However, its benefits mainly depend on the operators' ability. As wage level of the operators stays high and availability of expertise turns difficult in Japan, a new assembly system has been developed since 2006 so as to combine both the competitiveness of human workers and automatic machinery...
In this paper, we investigate coverage control for robotic camera sensor networks. The main objective is to establish a camera sensor network system in practice and to perform an experiment of coverage control. However, the camera sensor is one of the typical anisotropic sensors and we cannot apply most conventional algorithms assuming isotropic sensors. We thus employ the algorithm in which is one...
This paper proposes a multi-objective, highly generalized and efficient control framework for a virtual character performing various physical interactions in a dynamically simulated world. The framework comprises 1) a generalized inverse dynamics that determines joint forces satisfying multiple objectives considering priorities, unactuated joints and inequality constraints about contacts, 2) a generalized...
In this paper, we describe a system developed for evaluating channel availability in wireless LAN environment. The system named WevMap provides a new approach to support setting up of wireless multihop networks. The team ldquochannel availabilityrdquo refers to a quantitative measure of the quality of a wireless communication channel considering interference stability and signal strength aspects....
In this paper we demonstrate an effective way of description and control for network-controlled formations of mobile robots using minimized inter-robot communication. Therefore we use a global centralized planning algorithm and solve the optimal trajectory problem of the formation of mobile robots by mixed integer quadratic programming (MIQP). This description of formation can be used for non-static...
In this paper we demonstrate an effective way of description and control for network-controlled formations of mobile robots using minimized inter-robot communication. Therefore we use a global centralized planning algorithm and solve the optimal trajectory problem of the formation of mobile robots by mixed integer quadratic programming (MIQP). This description of formation can be used for non-static...
We present a three level architecture for humanoid robot navigation. The perception layer creates a 2D environment model from range data and foot step information and classifies areas into one of six different types. The control layer is organized into behavior modules each representing different motion capabilities of the robot. Based on the environment classification, a suitable sequence of actions...
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