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In this paper, we describe the architecture of a wafer-size CMOS image sensor enabling to enlarge the size of the large-format sensor while maintaining good signal quality. The good signal quality is the key for a low-noise and high-frame rate image sensor. For this purpose, each pixel of our sensor has a programmable voltage amplifier. In addition, the differential readout circuitry on the column...
This paper presents a haptic sensor foot system for humanoid robot and an active tactile sensing technique to balance the humanoid robot with two legs for human and robot interaction task. The proposed sensors are implemented on two robotic foots. The sensor unit contains three thin sheets of force sensitive resistors. Those elements are arranged triangularly on the back of each foot. The research...
This paper presents a tactile sensor foot system for humanoid robot and an active tactile sensing technique to recognize a ground slope with experimental results. A tactile sensor unit implemented on the robot foot consists of three thin sheets of force sensitive resistors arranged triangularly with the peripheral circuits. The proposed tactile sensing foot can detect the ground slope for natural...
This paper describes a telescopic-arm type, climbing support robot. Although there are various kinds of wall climbing robots, there is a possibility that they may fall, due to the wall concavity/convexity or insufficient adhesion. To solve this problem, we developed the wall climbing support robot, which uses a telescopic-arm to support the climbing robot. The telescopic are includes a joint with...
This paper presents a tactile sensor torch system for robot manipulator and an active sensing technique to realize a 3-D object edge tracking with experimental results. The tactile sensor torch implemented on the robot hand consists of two automatic swap functions. One is tactile sensing for object edge detection with three thin sheets of force sensitive resistors arranged triangularly. Another is...
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