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For robots using elastic devices, pole vault is a particularly interesting task because poles have large differences from previously studied elastic elements in terms of their elastic capacity. The active actuation of the agent in “pole support phase” plays important roles in improving vaulting performance. Investigating this actuation can contribute to the design of novel control strategies during...
We consider a parametrized relaxation of the widely adopted quadratic assignment problem (QAP) formulation for minimum distortion correspondence between deformable shapes. In order to control the accuracy/sparsity trade-off we introduce a weighting parameter on the combination of two existing relaxations, namely spectral and game-theoretic. This leads to the introduction of the elastic net penalty...
Robots must complete motions in a short time in uncertain and variable real world environments. However, uncertainty in the real world has only rarely been considered in studies of agile motions by robots. Consequently, methods for agile motions incorporating uncertainty must be proposed. Preceding agile motions, human preparatory motions (preliminary motions) are often observed. For insight, we specifically...
Elasticity has been used in many dynamic robots because it can regenerate energy or absorb collision shock. However, the role of elasticity has remained only supplementary. Its potential usefulness in dynamic motion is largely unquantified. Therefore, we specifically examine a task with an extremely large elastic element: pole vaulting. In pole-vaulting research, active operations by an agent are...
Caging can offer robustness to uncertainties in grasping. If a robotic hand is designed based on the idea of caging, it would probably work well with noisy perception devices and low-quality control. This paper takes into account these merits and designs and implements a gripping hand based on the idea of caging. The gripping hand is concise and offers a low-cost alternative to co-operate with noisy...
Recent developmental studies have shown the importance of interaction with the environment resulting from fetal spontaneous movements for the formation of body maps in the spinal cord and primary somatosensory area. However, the underlying mechanism as well as the factors which contribute to the development of body maps is largely unknown. Here, we simulated the development of the body map using a...
This paper describes the environmental factor for structuring somatosensory cortex model in fetus. Previous studies showed that somatosensory cortex could develop through interactions with body and environment. However, it remains unclear how the somatosensory develops through environmental interactions, especially what environments contribute to the development. To verify the environment, we applied...
We propose a developmental scenario for explaining neonatal imitation. We hypothesize that the early maturation of the superior colliculus (SC) at the fetal period may strongly contribute to the construction of the social brain. We underly two mechanisms in SC potentially important which are (1) spatial topological organization of the unisensory modalities and (2) the conformed sensory alignment between...
“Grasping by caging” has been considered as a powerful tool to deal with uncertainty. In this paper, we continue to explore into “grasping by caging” and propose a new solution by using eigen-shapes and space mapping. For one thing, eigen-shapes fix dexterous hands into a series of finger formations and help to reduce dimensionality and computational complexity. For the other, space mapping builds...
We investigated whether motor and spinal circuit development in vertebrates can be accounted for by the properties underlying embodiment. We ran computer simulations of zebrafish embryo, canine and human fetus models with biologically plausible musculoskeletal bodies and spinal neural network, and quantitatively characterized their embodiments and movements by analyzing inter-muscle connectivities...
Developmental order is one of the fundamental issues of developmental science. de Vries et al. 1982 observed fetal behaviors and suggested that the orders of the timing of first appearance of the behaviors are consistent among fetuses in utero. We have investigated the fetal behavioral development by a computer simulation that has a whole fetal musculoskeletal body, a uterine environment and a nervous...
We propose a novel method of visual anomaly detection for mobile robots in daily real-life settings. Visual anomaly detection using mobile robots is important for security systems or simply for gathering information. However, this task is challenging for two reasons. First, because the number of observed images sampled at the same location is small, anomaly detection systems cannot use standard statistical...
For the design of artificial systems with the ability to co-create with humans, it is necessary to consider how robots interpret and apply its human partner's actions in its own actions. Nowadays many robots with the ability to co-create with human appeared but few research succeeded in quantifying the interaction between humans and robots, making it difficult to assess the importance of the robot's...
One problem in multi-robot cooperative manipulation is redundancy. Too many robots are waste of hardware and increase control complexity. This paper solves the problem of redundancy by robust caging. Robust caging calculates caging positions from translational immobilization with respect to translational constraints and rotational constraints. On the one hand, robust caging helps to reduce the necessary...
This paper presents a caging approach which deals with planar boundary clouds collected from a laser scanner. Given the boundary clouds of a target object and two fixed finger positions, our aim is to find potential third finger positions that can prevent target from escaping into infinity. The major challenge in working with boundary clouds lies in their uncertainty in geometric model fitting and...
This paper presents a novel approach to deal with uncertainty in grasping. The basic idea is to initiate a caging manipulation state and then shrink fingers into immobilization to perform a practical grasping. Thanks to flexibility from caging, this procedure is intrinsically safe and gains tolerance towards uncertainty. Besides, we demonstrate that the minimum caging is immobilization and consequently...
We propose a joint learning method for object classification and localization using 3D color texture features and geometry-based segmentation from weakly-labeled 3D color datasets. Recently, new consumer cameras such as Microsoft's Kinect produce not only color images but also depth images. These reduce the difficulty of object detection dramatically for the following reasons: (a) reasonable candidates...
To understand the human intelligence involved phys- ical manipulation of objects, detailed assessment of the states of contact between the surface of the hand and the objects is necessary. This paper proposes a tactile sensing glove based on a branch-shaped tactile sensor sheet that enables pressure measurement at 1052 points on a human hand without critically interfering with the movements of joints...
In this paper, we propose a news-gathering mobile robot system, and the novel visual anomaly detection method as the core function of news detection in the real world. Visual anomaly detection is important and widely applicable not only to the news-gathering robot but also to the security systems. However, visual anomaly detection from the mobile robot is highly challenging, because the appearances...
To gain a synthetic understanding of how the body and nervous system co-create animal locomotion, we propose an investigation into a quadruped musculoskeletal robot with biologically realistic morphology and a nervous system. The muscle configuration and sensory feedback of our robot are compatible with the mono- and bi-articular muscles of a quadruped animal and with its muscle spindles and Golgi...
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