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Different components are needed to control a service robot, which helps people in the household environment to do daily tasks. Controllers in closed loop are needed to control the actuators and sensors to provide actions. A sequencer schedules and coordinates these actions to finish a given task. And an AI planner is also needed to generate the sequence of the actions. Followed this well-known three-layer...
Four wheeled and four legged flexible personal robot is designed for a personal robot following a person indoors. This robot is expected to serve a various kind of service to a person and peoples with the tri-camera stereo vision system. This paper describes on the vision assisted stride over a step with the hybrid locomotion by wheels and legs.
Attempts to put robots to practical use have been increased, as robots become more human-friendly. In the human-robot interaction field, main issues are how variously the robot can express its emotion and how much the expression is socially acceptable. This paper proposed the editing toolkit which allows us to simulate a 3D model robot in order to express robot's emotions and intentions for human-robot...
In this research, we develop an interactive robot system for object manipulation, which uses interactive GUI for supporting robot operation to acquire target object such as book picking from bookshelf. Interactive functions of service robotic system are indispensability because robot has not enough capability in recognition and judgment even using many kinds of sensors. The developed system supports...
Many applications call for robots to perform the tasks that the robot can accurately grasp and assemble many kinds of industrial parts. Using robots to perform these tasks can afford human safety as well as the high productivity. In this paper, an industrial robot system aiming to assemble the industrial parts with high precision is presented. The paper focuses on the design of the robot control system...
This paper presents the simulation of a three-dimensional laser range finder based on a two-dimensional laser scanner and different moving units. We examine and describe two methods differing in the way the laser range finder is mounted. In addition, a Pan-Tilt-Unit and a robot manipulator are used as moving platforms. The qualities of the laser scanner and the originating point density, which are...
An industrial robot calibration algorithm is presented, which uses a laser-stripe range finder. In the proposed method, the sensor is attached to the robot's end-effector and the centre of a ball with known radius is regarded as a virtue point and the robot carries the sensor to measure this virtue point. The kinematic parameters of the robot are estimated due to the coordinates of the virtue point...
MANET is pervasive for the communication of a group of mobile robot or robot swarm. To facilitate the cooperation between mobile robots which fulfill a complicated task or monitor an area, MANET cooperation based on mobile agent is presented in this paper. For decreasing the overhead of communication, robot swarm MANET is clustered. Mobile agents (MAs) move around the cluster heads of the network...
High mobility, large obstacle performance, narrow space crossing-over capacity and stable data communication are important features for a rescue robot. The authors proposed a parent-child robot system that could achieve all of these abilities. The robot system is composed of a parent robot, a tracked child robot and a legged robot. The parent robot has high mobility and can climb over ordinary obstacles...
For the environmental detection, survivors searching and long distance communication in the underground mine disasters, a heterogeneous multi-robot system was built based on the wireless sensor network (WSN). Two kinds of robots were proposed, and the circumstance was analyzed for the obstacle surmounting capability of the robots. A chain-based wireless sensor network was established with the robot...
We have been developing a MKR (Muratec Keio Robot), an autonomous omni-directional mobile transfer robot system for hospital applications. This robot has a wagon truck to transfer luggage, important specimens and other materials. This study proposes a safe obstacle collision avoidance technique that includes a human detection algorithm for omni directional mobile robots that realizes a safe movement...
Robot easy programming is a keen requirement in GI (General Industrial) company using low skilled people. This paper deals with the problem of a novel active, online, lead-through robot programming method based on a 6-DOF wire-based tracking device, RoboPuppet, with the 3-2-1 configuration. The kinematics analysis of this configuration is addressed by finding analytic expressions for the unique solution...
Robot software development using real machine involves inevitable high risks, such as robot's breakdown or accident by unexpected action. In order to avoid these risks, it is desired such simulator that the robot software can be developed in virtual environment. However, conventional simulators lack for visual reality sufficient to develop vision-based robot program. In this research, the authors...
This paper proposes that a vision based robust person following method under varying illumination. The person following method is using a color stereo camera and a laser range sensor. The person detected method is based on disparity images and HSV color spaces from a color stereo camera and distance information from the laser range sensor. The developed person following method applies for an inverted...
In this paper, we proposed a new concept for omnidirectional mobile robot that not only can fulfill the walking support or walking rehabilitation for the elderly or the disabled, but also can realize power assistance for the caregiver when he/she holds the robot handle to move the robot while the elderly or the disabled is sitting in the seat. We postulated four necessary functions the robot should...
This paper focuses on kinematics analysis for the 7-DOF (degree of freedom) hybrid robot in minimally invasive surgery. The serial structure of the hybrid robot has three DOF; the parallel structure of the hybrid robot has four DOF. First, the traditional method `D-H method' is used to try to solve the kinematics of hybrid robot, but without success. Then a kinematics modeling method based on the...
As a novel service robot, the automatic cooking robot (ACR) has been attracting many people's attentions. But the existing products still have some disadvantages, especially the quick-return mechanism used as the main mechanism to turn over the pan. There are always large vibrations and noises accompanying with the motions of the quick-return turning-over mechanism. And its stability and reliability...
Service robot, bionic robot and agricultural robot must directly contact with organism, which requires high security and adaptability. Flexible pneumatic actuators and joints can meet this demand. A type of flexible pneumatic rotary joint is proposed in this paper, based on the flexible pneumatic actuator FPA. The rotation movement is realized by inflating and deflating the rotary joint chamber. According...
A mathematical model was firstly built for investigating the contact deformation distribution in a wire race ball bearing. The numerical computing program was developed in MATLAB??, by employing an example of a wire race ball bearing with a 1000 mm diameter used in a large-scale caterpillar disaster relief robot. The contact deformation distribution in the elliptical contact zone of the wire and the...
The aging of population has become a social problem and fall is a major health risk in the elderly. To this end, this paper presents a novel approach for fall detection applied to an intelligent household surveillance robot. Silhouette based features are extracted, including aspect ratio of minimal bounding box of the human silhouette, approximated elliptical eccentricity, normalized central moments...
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