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This paper proposes a method to calculate operational force in time-delayed 4-channel bilateral control systems. In 4-channel bilateral control systems, operational force becomes unnecessary force for haptic sense transmission. Under time-delay, it is known that this force becomes larger than the force without time-delay. In this paper, it is shown that new force, communicative operational force,...
This paper investigates motion control of a biomimetic robotic fish through a general internal model (GIM)-based learning approach. By virtue of the universal function approximation ability and the temporal/spatial seal-abilities of the GIM, the learning approach is able to generate the same or similar fish swimming motion patterns. Through experimental analysis, we also find out that motion of the...
This paper deals with a master-slave robotic system with haptic feedback that has been recently proposed by the authors for supporting the clinician during the execution of immerse ultrasound examinations. The focus is on providing additional details on how to tune the force feedback controller, in order to guarantee stability of the overall control system. After arguing the stability conditions by...
Recently emerging paradigms of the so called Future Internet induce significant changes in consumer and industrial ICT applications. Remote collaboration in mixed physical and virtual realities made possible thanks to the increasing network bandwidth further empowered by the achievements of Internet of Things, Cloud Computing and Internet of Services. This enticing vision brings benefits for several...
Lacking in adequate care for the elders, especially those who are walking with inconvenience is becoming a growing problem for the aging society. The elders who walk with inconvenience, once they fall down, it is very dangerous. It is also necessary for the elders to exercise walking in order to keep normal social life. Many kinds of walking aids have been developed, but most of them are fail to avoid...
Noise characteristics for the Microsoft Kinect sensor are presented. Horizontal (x) and vertical (y) stochastic noise are measured using a novel 3D checker board. Results show that the noise is affected mostly by the depth at which the object is sensed and by the radial distance from the center of the field of view. Measurement-based models for the noise in horizontal and vertical axes are presented...
In this paper we detail the implementation of a Differential GPS system using only low-cost GPS receivers. The nature of the errors generated by low-cost modules is investigated and contrasted against typical error models of traditional, commercial DGPS systems. It is found that the error profile unique to low-cost GPS modules leads to a system that offers particular advantage in the horizontal plane...
The presented paper is a follow up work and improvement of a previously published research of a 3D Vision System for mobile robot navigation application. Sensor fusion and redundancy are integrated to the system in order to increase the overall robustness as well as the accuracy of the system measurements by finding the energetic center of the laser signal used by the vision system. New experimental...
In the field of industrial processing, there are still many parts performed manually. For this problem, a motion-copying system was proposed to put into practical use to create the labor force instead of human. Moreover, motion data that can be processing and reproducing are needed to extend the viability of motion-copying system. In this paper, a temporal compensation method is proposed in order...
This paper describes a technique to provide tactile sense to a desk by a simple mechanism. The tactile sense is provided to the whole body of the desk by fixing a force sensor on each leg. One of the advantages of this technique is that the contact point can be estimated without any sensor device on the surface of the desk. The desk can be used as a kind of a tactile interface by utilizing the advantage...
This paper proposes a new surface recognition method by a robot. Nowadays, demands for “Real World Haptics” are increasing. Tactile sensation which is acquired by rubbing motion is important for haptics. Therefore, surface recognition based on haptic information is focused in this paper. First, the surface sensing is needed to collect feature values. There are some researches which focus on sensing...
Recently, various types of mobile robots have clearly gained attention and some are readily available. In response to this, the authors have been studying on realizing both wireless charging and self-localization as an integrated compact system using magnetic resonance coupling. However, due to the fact that sensing range depends on the fixed quality factor of antenna, the narrow sensing range of...
This paper presents a novel auction-based structure to multi-robot coalition formation problem. The structure, which is called multi-robot Coalition Structure Generation based on Credit Mechanism (CoSGCrM), contains a sub-optimal coalition member selection algorithm with an analysis of its soundness and completeness. A credit mechanism is introduced to reduce the complexity for the coalition leader...
This paper deals with the problem of odor source localization by designing a collective decision-making mechanism based on Shannon's entropy and using two finite-time motion control algorithms for multiple mobile robots. Specifically, for the collective decision-making mechanism, a discrete grid map is first used to model the search environment. Then, the posteriori probability distribution for the...
In this paper, we address the identification and design of the sensorless torsion control of elastic robotic joints which has been proposed in our previous work. We discuss some practical aspects of the proposed method which should be accounted for a ready-assembled robotic manipulator at hand. The series of identification experiments required for determining the model-based components is designed...
The paper presents a novel landing foot angle detection for biped walking robot under uneven ground environments. The authors have past proposed a vision-based motion stabilization method with considering landing foot angle. However, since the landing angle is calculated from internal relative angle between both feet, the past method causes accumulated error of the estimation of landing foot angle...
To sustain effective and long-term human-robot communications, we propose a robot behavior model based on dog behavior in human-dog relationships. The model includes behavioral factors that produce different behavioral characteristics. In this study, we improved the "play with the owner" behavior, which is the only mutual interaction between a person and the robot among the robot's attachment...
This paper proposes a new wideband bilateral motion-scaling control to apply in the small size robot system. The scaling Hadamard matrix is applied to reduce or magnify the force and position response of bilateral motion-scaling control. The technique to estimate the action/reaction forces of master-slave robot is designed using Kalman-filter based disturbance observer (KFDOB). Optical encoder and...
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