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This paper describes a pedestrian detection method using a LRF and a small omni-view camera. In outdoor environment, the resolutions of LRFs are too low to recognize human reliably, and high resolution image requires high calculation cost for detecting walking persons. We propose a combination approach using these data. Particle filter based tracking and HOG (Histogram of Oriented Gradients) feature...
The fingertips and fingerpads are very important organs in human hand for handling minute objects, for example, picking up, carrying and rolling them. Therefore, imitating the advantages of these organs can lead robot hand to improving dexterity of the finger operations. In this paper, dexterity of pinching and rolling the minute objects is brought by explicit designing of the tip part of fingers...
In order for humanoid robots to behave with soft contacts among humans, whole-body tactile sensing function is indispensable. For enclosing whole-body regions of a humanoid, softness and the stretchable property is necessary especially for the regions around joints. Although there are some studies to realize a whole-body enclosing-type tactile sensing exterior so far, most of them have difficulties...
Model-based approaches in recognition and planning of robots work effectively, and these approaches can apply to model-less situation using autonomous model construction by an agent. There are problems about segmentation or shape fitting of various objects with different scales or shapes. In this paper, we construct a Head-mounted 3D multi sensor for 3D environment modeling and propose a method of...
In order for robots to be able to assist humans at a very close distance, robots should allow contacts occurred at many places and deal with them. For realizing such functions, robots should have whole-body soft sensor exterior for preparing contacts against almost every body parts since it is difficult to limit where to be touched from humans. Although several groups have developed humanoid type...
Humanoid robots for home daily assistance need to have an autonomous behavior selection system. To realize this, situation recognition capability is important. In this paper, we propose a situation recognition system where the use of daily life sounds enables to recognize situations difficult to understand using only visual sensor data and where the use of time series of information enables robust...
In order for humanoids to be able to have close interactions with humans or environments using whole body contacts, development of humanoids with soft sensor flesh is one of the key issues. Therefore we have been developed dasiamacrapsila, a humanoid with soft sensor flesh, and it can sense distributed 3D force directions during interaction behavior with humans or environments. However, development...
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