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Human can perform variety of limber whole-body motions using numerous muscles and huge number of various sensors. The human brain has all the connections to the sensors and muscles, and learn how to manage them for whole-body motions. In this research, we have aimed to build a complex body with physically massive parallel sensor-motor systems to enter the next stage for studying humanoid brain systems...
We propose a design of musculo-skeletal humanoid whose muscles can be easily added, removed, or re-arranged, which can be compared to the ability of growing up of a human’s (or an animal’s) body. This paper presents a design and development of the reconfigurable complex-body robot, and a method to build a system which can acquire the body information and can be used for realization of motions...
In the research to realize high standard task-oriented assistant robots, a general and strategic way of development is essential. Otherwise high functionality and potential for evolution of those robots cannot be achieved. Robotic systems are socially expected to assist our daily life in many situations. As a result, projects related to those robots are becoming large, involving many researchers and...
In order for humanoid robots to work actively around humans, they are expected to move autonomously in public spaces. For achieving such mobile intelligence, so many researches have been conducted so far. However, most of them deal with only elements for constructing necessary mobile intelligence. While moving around public spaces, composite recognition including self-motion recognition, moving objects'...
Recognizing environmental contact on whole body of a humanoid robot can be very advantageous to work with people in human's environment. In the tasks with environmental contacts, it is important as an interface with the environment to detect pushing, shearing and twist on the whole body of a robot such that it gets to know its current state and what to do next. In this paper, we describe a full body...
We present an actively altruistic mobile robot system that implements a neural network to perform head pose tracking to identify a person who looks lost. Our results show that a 3-level discretization of head pose performed better than 9 levels, but that 9 levels perform better at detecting head pose change. We also present results from analyzing a method that determines whether or not a person looks...
In order for the activity area and application range for robots to expand significantly, it is preferable that robots have a soft outer cover and absorb smaller impact from contact with humans or their surroundings. Although self-protection is a very important function and inevitably required for robust robot architecture, simply introducing thick ”flesh” to a robot tends to impede movability and...
In order to achieve robots working around humans, whole-body tactile sensation is one of important keys. One problem for achieving such whole-body tactile sensation is data processing for enormous amount of data from distributed sensor elements. Some kinds of sensor data structuring method is necessary for efficient processing of such tactile information. From a view point of whole system architecture...
We propose in the following paper to tackle the multi-robot exploration problem. Our approach does not presuppose the availability of maps of the environment. We first describe a laser based on-line map building associated with a landmark based methodology to fuse team robots observations in the general case where no relative poses are given. We then explain how to assign the next best target in case...
In order to achieve tactile sensing exterior for humanoid robots expected to have close interaction with humans or environments, not only the distribution of the sensors, but also softness of the sensor element itself and detection capability for multi-axis deformation are crucial. Although there's some studies on developing tactile sensor with both softness and multi-axis deformation, few of them...
Realtime ego-motion / moving objects' motions recognition function enables robots to behave under dynamic environments. Especially, visually guided multi-robot collaborative dynamic motion generation, such as trapeze motion, is focused as a challenging application of such realtime motion recognition function in this paper. For achieving that, we propose a realtime recognition method for ego-motion...
We have been studying on how to realize robots that have physical flexibility and redundant multiple degrees of freedom. How to control the machine is still a problem and even maintaining standing was difficult. After joining the Prototype Robot Exhibition at the EXPO'05 with our novel musculoskeletal humanoid `Kotaro,' we have made various improvements to the robot. This paper describes the improvements,...
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