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A system for humanoid robot arm movement concerns about generating a human-like point-to-point (p2p) trajectory. For more than a decade, numerous systems have been devised and many of them were based on complex dynamical systems. In this paper, we introduce a simpler system, integrating support vector machine (SVM) learning model, which can achieve same p2p objective. In our experiment, we compare...
It is generally difficult to estimate surface and deep layer muscle activity using surface electrodes. Because, EMG signals that was measured by surface electrode is sum of the signals that are observed in the close of the electrode. Thus, the mixture of surface layer muscle signal and deep layer muscle signal are observed. In previous study, we focused on propagation direction of EMG signal, and...
This paper describes improvements for training game of physical posture adaptive for people with developmental disorders, which is developed and already reported by the authors. The Game is a game for exercise user's body posture control. Though it is said that ASD people generally have resistance against new, inexperienced items, all of the ASD subjects are interested in the games without refusal...
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...
A wearable elbow joint with three passive joints is proposed in this paper. The joint has an advantage of easy attachment to a human arm, without thorough adjustment when attached. This paper describes kinematics, statics and a prototype of the proposed joint, and then reports results of preliminary evaluation.
This paper proposes new reinforcement learning approaches for dispersion games in multi-agent systems. Multi-agent systems can establish orderly systems autonomously through interaction with autonomous agents. We expect to be able to build flexible and robust systems for the environmental changes by using multi-agent system approaches. However, it is difficult for designers to preliminarily embed...
This paper proposes the laser extraction system by adjusting camera parameters. This system is based on presentation tool with laser pointer, and it detects the laser spot overlapped with projection image by CCD/CMOS camera. In this research, we confirmed the method of extracting laser spot from projection image by adjusting camera parameters. We determined essential parameters and optimal threshold...
This research was conducted to develop the system for an installation-type remote control operation for the existing excavator without renovation. It was also conducted to supplement the shortcomings of the existing remote control operation, and to develop a system for applying the multi-yoke-type transmission mechanism and the slide roller mechanism. In addition, this study seeks to develop a system...
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...
In this paper, a pedaled, self-balanced, personal mobility vehicle is developed. The vehicle is structurally similar to a pedaled unicycle but uses a brushless DC (BLDC) hub motor as its main driving wheel. In order to reduce the interference and provide a better human-machine interaction, a novel balancing controller with the adaptation capability is proposed. This balancing controller, when working...
This paper proposes a self-position estimate algorithm for the multiple mobile robots, each robot uses two omnidirectional cameras and an accelerometer. In recent years, in Japan, the Great East Japan Earthquake and large-scale disasters have occurred frequently. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable...
Our life has become useful by electrical products, but not all elderly people and disabled people can get contribution by it. Wearable supporting systems are needed to for such people to get usefulness anywhere. Since supporting systems vary according to what support to and the characteristics of target person, it must satisfy the high-mix low-volume nature of such products. Also, in a low-end embedded...
A wind-hydrogen project which converts offshore wind energy into hydrogen has been proposed. Because wind speed changes rapidly in wide range, the system safety boundaries are often violated. This paper deals with the problem of system control for the wind-hydrogen system, in order to avoid dangerous conditions like over-temperature and over-pressure. First, the mathematical models of the wind-hydrogen...
With the increase of vehicle amount all over the world, vehicle safety has become a tremendous problem. Chained accidents, which result in numerous losses of lives and properties, happen due to the fact that the following drivers are unaware of the accident occurrence. In this paper, a real-time vehicle safety system is proposed. A prototype test platform, consisting of collision detection and classification...
The advantages of using force control in industrial or other type of robotic systems are well known. Study of such systems in virtual environment in the form of simulation is of great help for the design of a controller or a robot. In this paper, we show how to simulate different force control algorithms of a typical serial robot used in the industries before deciding to choose a suitable one for...
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...
A robust color image segmentation method based on weighting Fuzzy C-Means Clustering (RWFCM) is proposed for color image segmentation. The first component of color feature set is chosen as the one-dimensional eigenvector. In order to reduce the computational complexity, the mapping from pixel space to eigenvector space is used for modifying the object function. Feature distance which is applied to...
Human Behavior Understanding (HBU) is a major challenge facing intelligent agents. Most approaches to solve this problem assume a recognition/detection context in which the agent/robot tries to match the perceived behavior to one or more predefined motion patterns (e.g. walking, running etc). A more challenging problem is discovering these motion patterns without apriori assumption about the motions...
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...
Robots need to be dependable to work closely with humans. Further they must be accountable for the system design and development process. This makes some of the safety related standards such as IEC61508 adopt module based architecture and model driven engineering process. On the other hand, module-based architectures using middlewares are popular in the integration phase, when developing robot systems...
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