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This paper reports relations between force control performance and output direction at an end-effector of a limb when a human apply force to a rigid object. A highly backdrivable rehabilitation supporting system is used to provide an evaluation program. It is also used for repetitive force sensing. Measurement on twelve seated subjects can quantify force control accuracy when the subjects try to output...
Recently, the human-robot interaction systems are extending their capability to work in many applications. Appropriate haptic devices or robot systems have an important role to support the collaboration task which require close interaction between human and robot. This paper proposes a novel 3D parallel mechanism delta robot based on Kalman filter based state observer for the haptic devices. In the...
This paper focuses on extending a previously reported technique to convert a desk into a tactile interface. The original technique, based on the so-called "Haptic Desk" enables the detection of an applied force and its contact point by force sensors at the desk's supporting points. Consumer electronics and furniture can be converted into tactile interfaces with the use of this technique...
Flight tests of prototype UAV systems can be restricted by spatial constraints and they may bring risks of damage due to failures. Motivated by these, we presented a simulation approach based on Robot Operating System (ROS) and Gazebo. Unlike other state-of-the-art quadrotor simulators, we implemented the dynamics model of the UAV in ROS to achieve high fidelity behavior of the UAV. A hierarchical...
Bipedal robot has many advantages to locomotion in complex environments that wheeled robot cannot achieve. However, because of biped robot's complicated mechanism and the naturally unstable system, it is very susceptible to disturbance from the environment and humans in comparison with wheeled robots. Therefore, the prime task for biped robot walking is to maintain dynamic balance and recover from...
Swarm robotics has been focused in order to express more advanced performance using lower performance devices. Swarming behaviors of multiple robots are need for working in industries or in places where a human cannot enter. In the natural world, some creatures which have simple biological function can acquire higher intelligence by swarming. Therefore, biomimetic method is effective in order to establish...
This paper proposes an approach for observing the link states, i.e. angular position and velocity, of the robotic joints with elasticities, when only the motor-side sensing is available. By separating the state-dependent nonlinearities of the rigid manipulator dynamics a linear sub-model of the elastic joint robot is obtained in an observable state-space form. The standard asymptotic Luenberger state...
In the beginning, a dynamic sensing system including the hardware and the low-pass and Kalman filtering is designed. It is then installed at the center of gravity (CoG) of the humanoid robot (HR) and can capture the responses of the pitch and roll axes during the execution of specific task. After the analytic design, a set of desired pitch and roll trajectory for a specific task is achieved. In addition,...
A functional prototype of a friction-based object slippage detection gripper for robotic grasping and manipulation has been designed and built. Object grasping and manipulation experiments have been successfully performed to study the appropriateness of the methodology and the newly built slippage detection gripper. The main advantage of this slippage detection method is that slippage detection is...
Recently, social problems associated with a sense of isolation among elderly adults have been highlighted. To address this problem, we propose a long-term human-robot communication program inspired by human-dog relationships. An Etho-engine was improved upon to provide robot accommodations for access within rural regions. We generalized the robot's inner states and updated rules governing decision-making...
This paper proposes a way to calculate a grasping force that could adapt to a variation of mass of a grasping object. In order to grasp an object, resultant force vector consisted of grasping force and friction force has to be within a friction cone. In conventional method to grasp an object, mass of a grasping object or acceleration caused by transportation have to be measured in order to calculate...
Lots of researches on Human-Machine Systems (HMS) have been investigated to improve the task performance with human-machine cooperation. Most of the works have focused on a single operator as enhancing individual skill. Thus, few studies on teamwork assist for cooperative tasks by multiple human-beings. In our previous works, to realize a teamwork assist system, quantification technique of "Concern...
This paper considers experimental investigation of an antagonistically actuated robot manipulator. The focus of the investigation is how biarticular actuation contributes to control of the manipulator. Based on the feature that antagonistically robot manipulators can be controlled by feedforward control with constant inputs, this paper treats the case of PTP (point-to-point) control of robot postures...
Recently, a soft robot considering the contact of the human has attracted attention, and the zero stiffness torque control is required. Because a soft robot causes vibration at the load side, vibration suppression control of a soft robot is required. In this paper, the authors discuss position control and torque control of a soft robot by using a torsion torque sensor based on a resonance ratio control...
A robotic fish should be designed to swim with the obstacle avoidance capability in the real world. In this paper, a neuro-fuzzy control method is proposed for a multi-joint robotic fish using 3D printing technology. For this method, we can use the general infrared sensors to measure the existence of obstacles and the distance from the robotic fish to the obstacles. With the inference and learning...
This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications...
In this study, we aim to develop a system for improving daily lives of elderly people to ensure health. In order to realize an enriched life style among elderly people, daily health care is important. Therefore, we have proposed a system where robot partners will assist in exercising activity among elderly people. This paper proposes a method of relational trust modeling based on reinforcement learning...
In recent years, energy management of the mobile device is researched in two approaches; energy saving and energy charging. In terms of energy charging, though the wireless charging and the energy harvesting technologies have been proposed, these technologies could not satisfy all of the criteria; location-free, connection-free, reliable and human-safe. In response, the authors are proposing a new...
Robotics constitutes a multidisciplinary area, congregating knowledge from different scientific domains. The learning of robotic systems requires the acquisition of multidisciplinary scientific bases, and high integration and synthesis abilities, which is not an easy task. This paper describes the implementation of a lifelong course that aims to provide a global insight on robotics field, introducing...
This manuscript describes a robot fish, the surface of which is composed of a flexible thin plastic film. Its internal mechanism, including an actuator (e.g. a servomotor), is encapsulated in the plastic film by a vacuum packaging machine. This plastic film has electromagnetic wave-transmitting properties, allowing sensors, wireless charging modules, and communication devices to be arranged within...
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