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A planar biped robot that can generate continuous walking with body pose information is presented in this paper. It employs semi-passive structure, which consists of five links connected by two active hip joints and two passive knee joints, in order to mimic human-like walking motion utilizing the principle of pendulum dynamics. Besides, a specialized passive joint is proposed and installed at both...
This paper presents a human detection algorithm and an obstacle avoidance algorithm for a marathoner service robot (MSR) that provides a service to a marathoner while training. To be used as a MSR, the mobile robot should have the abilities to follow a running human and avoid dynamically moving obstacles in an unstructured outdoor environment. To detect a human by a laser range finder (LRF), we defined...
The purpose of this paper is to examine how the humans learn and percieve the weight of objects corresponding to visual information in virtual environment. We conducted two kinds of load-on-tasks with two virtual objects that have same weight but different visual cues; different sizes and different brightness. We found that the subject could not generate appropriate force for the smaller and brighter...
In order to cope with many problems of everyday activities which requires robots to accomplish complex yet routine tasks in changing environments, this study focuses on universality and proposes seven principles of universal design with robots. These principles are used to design a robot management system that manages and controls information-structured environment with robots, ambient intelligent...
This paper investigates a collision-free navigation algorithm for a mobile robot to work in daily environment which includes multiple walking people. The proposed algorithm consists of two main parts: recognizing walking people and collision-free path planning. For the recognition of randomly changing human walking motion, a people tracking method using laser range finder (LRF) is utilized. Robust...
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