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In this paper, we propose a method of parallel processing of one-shot structured-light system to realize online 3D reconstruction of moving objects. The proposed method is based on a projector-camera system that reconstructs a shape from a single image where a static pattern is cast by a projector; such a method is ideal for acquisition of moving objects at a high frame rate. The structured-light...
A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we...
This paper proposed a concept of flexible wing-mechanism for the underwater fishlike robots. The proposed system consists of a fishlike body and a pair of flexible wing. The flexible wing mechanism utilizes a Shape Memory Alloy (SMA) actuator to realize small and lightweight system with high output/weight ratio. The SMA actuator can be controlled to adjust the shape. In the flow of water, shape of...
Automatic endoscope video analysis is an essential function for medical robot and computer-aided diagnosis system. However, the performance of these video analysis algorithms are often degraded by low quality endoscope images under the uncontrolled environment, where some of them are difficult even for human ourselves for analysis, such as over-saturated by reflection, too dark or obscure. In this...
A novel robot arm called deformable arm for the service robot is presented in this paper. A flexible working space and the ability to deal with multiple tasks are obtained with a single arm by changing the arm shape. However more flexible use brings difficulties in actual use, the arm's parameters will be changed with the different arm structure and cannot be calibrated with conventional methods....
This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. In particular, we aim to stabilize a desired straight line path for the position of the center of mass of the robot, and to regulate the forward velocity of the robot along the path to a constant reference velocity. In order to solve this problem, we first stabilize...
The maneuverable tether-net space robot (MTNSR) is a promising space robot in the capture of non-cooperative space debris. For its shape keeping problem, a novel dynamic model and a corresponding shape keeping controller are proposed in this paper. The net is modeled by four triangle shells and the tether is modeled using interval functions, firstly. Secondly, the dynamic model is presented based...
In this paper, we report the autonomous driving actuator like living organisms. Many researchers have developed the biomimetic actuators and applied many kinds of stimuli-responsive polymers and gels to the soft actuators. Generally, robots are composed of various parts and require the external device such as thermal energy or electricity. On the other hand, many living organisms can generate an autonomous...
The traditional six-dimensional force/torque sensor calibration method requires a lot of precision loading force and can only be off-line calibration. In this paper, to solve the problem, an online calibration and decoupling method based on the shape from motion combined with complex algorithm is proposed. It does not require accurate and redundant loading force information, and have better noise...
This paper proposes a fabric wrapping method for robots, provides a description method that uses such target lines to describe the wrapping state between a piece of fabric and an object, and describes an offhand path generation method based on that description. This target-line based description method can be used to generate wrapping instructions for curved and planar objects more easily than can...
In general, it is difficult to construct an object recognition system, because such a system has many design variables and often these cannot be designed independently. However, in certain manufacturing tasks, it is not always necessary to design all variables. In this study, we selected a picking task as the target task for the experiment. We restricted the design variables to parameters of the preprocessing...
In the recent years, contour-based shape representation is an important issue in the object recognition research area. In this paper, a new shape descriptor A-DCE is proposed based on DCE and DP for contour deformation and recognition. Firstly, the object contour is evolved adaptively by DCE to extract the contour information with important visual parts. Secondly, the costing feature descriptor is...
Recently micro soft actuators have been developed actively, because they have possibility to be applied to micro hands, catheters, and so on. Especially pneumatic rubber actuators have high potential because of simple structure and non-electrical drive leading high safety. In our previous research, the pneumatic rubber actuator that can bend into two directions by positive and negative pneumatic pressures...
In real-time anomaly detection problems, reducing the dimensionality and improving recognition rate are two most crucial problems. The unbalanced data distribution is one of main reasons of leading to low recognition rate. In this paper, a hybrid approach using Tabu search (TS) and ensemble classification algorithm is proposed. Tabu search is simultaneously applied to select features and weights of...
A high-frame-rate (HFR) structured light vision is developed for observing moving three-dimensional (3-D) scenes; it is mountable on the end of a robot manipulator for 3-D shape inspection. Our system can simultaneously obtain depth images of 512×512 pixels at 500 fps by implementing a motion-compensated coded structured light method on an HFR camera-projector platform; the 3-D computation is accelerated...
We have developed the robotic vehicle on water that moves by the rider's balance. Previously, due to the lack of stability of the vehicle, balancing skill was required for the rider. In general, the center of buoyancy of the floating body influences on the stability. Therefore, in this paper, the floating vehicle was modeled and the appropriate body shape and size that improves the stability was simulated...
Developing soft fish robots by biomimetic approach is a useful way to achieve high efficiency, high performance and fish-like motions. Comparing to the conventional rigid fish robots, the design and control of soft fish robots are difficult, because the coupling between the flexible structure and fluid should be considered. But the coupling problem is very difficult to be solved due to large deformation...
This paper focuses on the design of a gripper that can grasp objects with shape, size and pose uncertainty. Rather than a dexterous hand with multiple actuators and sensors, a passively adaptive gripper made of soft material can conform to various objects by using compliance. In this paper, we present a novel design methodology for a passively adaptive gripper by employing a level-set-based topology...
The paper presents a novel reactive algorithm for safe navigation of mobile robots in uncertain complex dynamic environments. The proposed law is computationally non-demanding, directly converts the current observation into the current control, and does not require measurements of the velocities, shapes, or orientations of the obstacles. It is applicable to scenes with time-varying and deforming obstacles...
In many human robot cooperation tasks, robotic agents are usually controlled by commands which are explicitly input by human. Although the explicit control method is straightforward and easy to implement, it will decrease the efficiency, fluency and adaptiveness of human robot cooperation. In this paper, we proposed an implicit control method that recognizes human intention and facilitates human robot...
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