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The multi-fingered robot hand has much attention in various fields. Many robot hands have been proposed so far. However, the robot hand cannot execute any tasks autonomously because the robot hand does not have enough motion and sensing ability to task complexities. Therefore, we have developed a robot hand teleoperation system with the motion capture data glove CyberGlove. Here, each joint of the...
This paper presents a robust formation control method independent on noise of camps sensor. There are various formation control method for multi-robot system. These methods offer great way to keep the (d, ϕ)-formation. In real environment, however, heading angle of each robot is affected by noise of compass sensor. Because of this reason, follower can't keep exact formation. In this paper, we suggest...
Executing challenging tasks in field robotics, commonly depends on the locomotive capabilities of the robot. Particularly, modular snake robots have shown an increasing ability to perform mobility and manipulation tasks in different environments. However, its locomotion strategies are not trivial and the modeling of such type of motion is still an important research goal. Consequently, robust controlling...
We propose and implement a solution for applying an infrared radiation (IR) image sensor to step-on interface (SOI). SOI is a kind of natural human-robot interface what consists of a projector and a laser range scanner (LRG) sensor. And it enables any interactive touch applications on desktop or floor. We attempt to introduce an IR image sensor such as ASUS Xtion to SOI instead of LRG sensor. In this...
Aim to improve upper limb rehabilitation effect, we design and develop an Image-projective Desktop Arm Trainer (IDAT). Compared with conventional therapy, IDAT provides a more effective and interesting training method. IDAT's goal is to maintain and improve patients' upper limb function by training their eye-hand coordination. We select step-on interface (SOI) as the input system which makes trainees...
This paper presents a software interface that allows a user to control different types of robotic systems by using a Brain-Machine Interface. Unlike common device-specific BMI systems, our software architecture maps simple EEG-based commands to diverse functionalities depending on the robotic platform, so the user does not have learn to generate new EEG commands for different robots. The graphic user...
The 3D shape measurement of a cloth is indispensable for a robot to autonomously handle the cloth. When a humanoid hangs a large cloth using its arm, the cloth is very close to its head and extends across a very wide field of view. A normal stereo camera mounted on the humanoid robot's head cannot capture the whole shape; however, a fisheye stereo can. Because the cloth is very close to the stereo...
This paper presents a high-precision three-dimensional laser measurement system of an architectural structure by cooperative multiple mobile robots. This system is composed of three mobile robots, that is, a parent robot and two child robots. The parent robot is equipped with a three-dimensional laser scanner, attitude sensor, total station, and auto-leveling device. On the other hand, the child robots...
The automated inspection is desired to detect the vehicle in large parking space, which is difficult to survey by fixed the vision-sensor. We purposed mobile robot surveillance in parking space for parking lot inspection. To obtain the parking lot information, vision sensor is wide useful for parking lot state checking which measurement is difficult to obtain the positioning of vehicle while achieved...
Research on high level human-robot interaction systems that aims skill acquisition, concept learning, modification of dialogue strategy and so on requires large-scaled experience database based on social and embodied interaction experiments. However, if we use real robot systems, costs for development of robots and performing many experiments will be too huge. If we choose virtual robot simulator,...
An exoskeleton robot is kind of a man-machine system which mostly uses combination of human intelligence and machine power. These robotic systems are used for different applications such as rehabilitation, human power amplification, motion assistance, virtual reality etc. Successful operation of an exoskeleton robot depends on correct selection of design and control methodologies. This paper reviews...
Swarm robotics is the research field of multi-robot systems which consist of many homogeneous autonomous robots without any type of global controllers. In this paper, an evolutionary robotics approach, i.e., the method that the robot controllers are designed by evolutionary algorithms with artificial neural networks, is applied. And we apply an incremental approach to evolution within the context...
In recent years, the demand for autonomous mobile robots in outdoors environments has been increasing. In order to guide the robot, it is essential to get the current position. In this study, we propose a method to correct the self-position of the robot, which is estimated by odometry, aerial imagery, and the SOKUIKI sensor. First, we explore how to superimpose the reflection point cloud on top of...
Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constraint forces are expressed by an algebraic function of states, input generalized forces, and constraint condition, and then direct position / force controller without force sensor is proposed based on the algebraic relation...
This paper proposes, for the purpose of offsetting the limited capability of the heterogeneous sensors stationed in the environment to collect the user information, the active information supplement framework. In this framework, the communication robots used for offering services to users are utilized as new sensors to actively collect user information by interacting with the user; the information...
This paper gives an overview of UNR-PF, an open-source, standards-based platform to enable multi-location daily life support services using abstracted functionality from a cloud of robots. Such services require seamless ability-adapted physical support and interaction across multiple areas, provided through collaboration of multiple robots, ubiquitous sensors and smartphones over a network. UNR-PF...
This paper presents laser-based pedestrian tracking system in outdoor environments using multiple mobile robots. Each robot detects pedestrians using its own laser scan image by an occupancy-grid-based method and tracks the detected pedestrians via Kalman filtering. When the robots are in close proximity to each other, they exchange pedestrian tracking information through intercommunication, and tracking...
In this paper, the new wall climbing robot, ‘Mo-Mo’, is introduced. The MoMo can be sensor mounted device for the intelligent space and the devices can be rearranged by themselves according to the situation of space through using the mobile mechanism of MoMo. The MoMo uses the screw-nut mechanism to stick to the wall and the ceiling. This mechanism makes the MoMo to be stable condition while the MoMo...
This paper proposes an integrated path planner which provides global waypoints from a multi-layered merged map and a local path planner (LPP) using a built-in sensor. The LPPs can avoid obstacles within the range of built-in sensors, but it is impossible to generate an efficient path out of the sensor range. The GPPs can generate an efficient global path with a built-in global map in a target region,...
In this research, we propose a method to distinguish different ground materials using the reflection intensities of the waves obtained by ultrasonic sensor. In previous research, the information obtained by ultrasonic sensor is only used for checking the existence of an object, and/or measuring the distance from an existent object. To go a step further, applying the information obtained by ultrasonic...
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