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This paper proposes a new manipulator concept applied to a mobile robot manipulation system for reducing robot size and weight or increasing its work capacities such as a payload, operating radius, and operating speed. In detail, we propose a new robotic manipulator that uses stackable 4-BAR mechanisms for mobile manipulation robot. The proposed mechanism provides a clear advantage in which all the...
This paper presents a zero vibration control for mobile medical robot system when the gantry is rotated. ISO center needs to maintain its position while gantry is rotated to take multiple X-ray images for reconstructed 3D CT image. The gantry includes X-ray source and detector module causing unbalanced weight of rotor and the gantry is support in cantilever manner by support structure. This fact causes...
This paper presents the hardware mechanism and software architecture of a singer robot system called EveR-2. EveR-2 is an android robot platform has human-like appearance and shows its emotion with facial expression and gestures. The skin of the head, arms, hands and legs is made of silicon jelly to give human-like texture. EveR-2 has sixty-two degrees of freedom in the head, neck, arms, hands, torso,...
Converging robot technology into medical applications allowed surgeons to achieve accurate and enhanced surgical results. In laparoscopic surgery, da Vinci system consisting of master and slave robot system allows to perform operation more precisely. In fluoroscopic surgery, C-arm systems are widely used to monitor status of patient instantly during the operation. However, one of the drawbacks of...
This paper presents a behavior generating method for reflecting emotional probabilities. The proposed method consists of two processes: an emotion-behavior probability generating process and a unit behavior combination generating process. 1) In the emotion-behavior probability generating process, the emotional probabilities of behaviors are determined on the basis of user preferences in terms of the...
This paper presents a novel method for natural changing of emotional expression. Although formal behavior generation method using the simulated annealing algorithm selects various behaviors, there are weak correlations among behavior history. To make strong correlations, we restrict the randomness of the simulated annealing algorithm. This method sifts unapt candidate behavior combinations out by...
Emotional reaction should be different from the purpose of the robot system. The method for emotional reaction is also different from the specification of the robot system. Therefore, emotional behavior decision model, which is applied to social robots regardless of specifications and purposes, is necessary. This paper introduces a universal emotional behavior decision model designed for applying...
In the operations of laser gyros, geometric variations due to temperature, manufacturing misalignments and operation environments cause thermo-elastic deformations of their components, which lead to changes of the area and perimeter of their resonator block. The ray transfer matrix in the geometric optics can be utilized to predict the optical ray paths on the basis of the temperature environments...
To improve the maneuverability of underwater vehicles, accurate thruster control is required based on a precise thrust model. Especially, in real systems, the ambient flow velocity and angle effects on the thrust force are very important, because vehicles are continuously moving and/or hovering with thruster actions. In this paper, we execute preliminary experiments with the model containing ambient...
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