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This research aims to study the parameters that contribute to the crawling performance of the snake robot inside an inclined pipe. The shape and motion propagation of the snake robot directly affect the forward crawling speed of the robot inside a pipe. Motion shape code is proposed as the simplified method for describing shape of a modular snake robot. The motion propagation can be created by shifting...
In this paper, a new method based on multi-layered dynamic neural group network for analyzing event series is introduced. By the embedded multiple parallel structures, the new method can identify the character patterns contained in the event series. Then, a selective evaluation strategy is applied to integrate the different pattern clusters and predict the event in the next step. The aim is to generate...
Serpentine Locomotion is the most common and simplest locomotion form of a snake-like robot; its main characteristic is the wave-like undulation of the snake's body. In order to realize the noticeable features of the snake-like robot's serpentine locomotion in water, we have developed an amphibious snake-like robot which can adapt to terrestrial and underwater environments. After we derived the dynamic...
This study deals with a guide robot for blind people. User inputs (i.e., commands for movements) are obtained from blind people through a joystick, which has two potentiometers. Some noise unintentionally caused by the user is included in this input. To reject the unwanted signal, the robot has to recognize the intention of the user even with these noises. In order to make the robot follow the intention,...
Image-based control, using a mobile terminal, is a widely used control method for many remote robot applications since it provides valuable visual information from around the remote robot to the operator. However, the computational power of the mobile terminal is normally limited, compared with that of the stationary computing machine, because it has a number of constraints such as size, power, and...
An input device is a communication method between human and telecommunication device. General public input devices include keyboard, mouse, and joystick. These input devices are used to communicate between humans and telecommunication devices. Many kinds of telecommunication device are emerging, including intelligent robots. We must develop adaptable input devices for many telecommunication devices...
This paper presents the autonomous mobile robot interactive behavior in ubiquitous computing environment. We have constructed multimodal network-based interfaces for human-robot interactions (HRI) and present examples in providing services via the direct or indirect interaction in responding to the user's demands. The mobile robot consists of seven systems including vision, speech, remote supervisory...
The humanoid bipedal robot WABIAN-2R was developed to be used as human motion simulator. It is able to perform similar human-like walking motion. Moreover, the robot is able to perform walking motions with a walking support device. This walking device was moving passively helping the robot to move easily. However, to go further with this development, we have to test the robot using the walking device...
Wearable computing has been actively investigated as the dimensions of devices such as computers, sensors and motors are getting smaller. In this work our aim is to develop an image stabilization system for a small-sized humanoid robot as the first step for sharing of visual information between humans. A small-sized humanoid robot is used to simulate a person who captures visual information of a distant...
This paper focuses on the controller design of the walking system of a power transmission line inspection robot that is redundantly actuated by two wheels. After an analysis the kinematics and dynamic model of the driven system, the controller is designed as a master-slave model to avoid the ldquoconflictrdquo between the two wheels. To effectively damp the elastic vibration caused by the flexible...
In this study, we manufactured small butterfly-style flapping robots with wing veins and investigated their flight characteristics for different design parameters such as swept-forward wing angle and center of mass (COM). The butterfly-style flapping robot is characterized by a total mass of less than 1 g, the COM at its rear, a tailless wing, a few degrees of freedom (DOF), a low aspect ratio, a...
Ostraciiform is the simplest swimming strategy in the aquatic environment. The bio-mimicking of this swimming mode makes it possible to be the alternative propulsion method for underwater vehicles. Both swimming thrust and steering can be controlled with the caudal fin; and the turning parameters are the flapping frequency and amplitude. In this research, experiments were conducted to characterize...
This paper introduces some preprocedures that eliminate nonzero mean errors of odometry result and range sensor data of a wheeled mobile robot. After that, the sensing results from odometry and range sensor are more reliable. In the beginning of this paper, some analyses of sensor characteristics are discussed and three kinds of error are classified. Because of these errors, results of sensing data...
We investigate the flight characteristics of the beetle (Allomyrina dichotoma), which has hind wings and elytra, based on the numerical simulation. Flapping kinematics of both the hind wings and the elytra are obtained by visualization in a wind tunnel. One can observe veins and membrane on the hind wings, which allow corrugated patterns on the cross section of the wing along streamwise direction...
This paper focuses on technical endeavors to develop bio-inspired dolphin-like robots, involving dynamic modeling, mechanical design, as well as motion control. The inspiration and motivation comes from the remarkable swimming abilities of dolphins together with some promising applications in aquatic environments. The thrust in dolphin-like movements in a robotics context can be generated by the up-down-motioned...
In this paper, a methodology for gait rehabilitation, combines over-ground walking, body weight support, pelvic control, and gait assistance are introduced and the integrated platform has been developed. This paper also discusses the gap of state-of-the-art research in gait rehabilitation. Systems like Lokomat and Kineassist were studied and discussed. Initial testing and EMG experiments have been...
To support disabled people with less muscle strength like muscular dystrophy patients, we are developing simple robot arm systems. In this paper, we report the improvements of the inter-face part of the system. The user can change the buttons' position on the input panel only with the single switch. The user can let the buttons on the input panel scan with single click and can select a button with...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-degree-of-freedom system expands upon conventional control methods and combines the 7-DoF robotic arm control with the 2-degree-of-freedom power wheelchair control...
The paper firstly presents a mobile humanoid robot whose upper human-like body is rigidly mounted on the mobile platform with three wheels: two driving wheels and one caster wheel. The wheeled mobile platform moves on the ground subjected to nonholonomic constraints. Then the static equilibrium of the robot on a plane is discussed and tip-over stability of mobile humanoid robot moving on the slope...
This paper firstly presents a method to formulate the dynamics of the mobile humanoid robot which is composed by the mobile platform and the upper body. As tip-over is an important stable issue for the mobile robot, the dynamic stability constraint is carefully studied to keep the robot stable. Stable support for the robot moving on a plane is solved. With the consideration of the stability problem...
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