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Radiofrequency (RF) ablation delivered through interventional procedure is a good alternative to hepatic resection or liver transplant for treatment of liver tumor. However, inefficient RF needle navigation and limited thermal ablation region challenge surgeons' manipulations. This paper presents robot-assisted RF ablation system for liver tumor treatment with interactive planning and mixed reality...
This paper presents a method to detect slope by using two-dimensional laser range finder (LRF) for robot navigation tasks in indoor environment. Considering the slope existing indoor environments, ordinary two-dimensional scanning map is not enough since the parameters of the slope and the condition of the floor also become extremely important for robot movement. In our research, one laser range finder...
Virtual robot models are often used for developing, testing, and using robot systems. Such activities can be efficiently conducted by using software tools for visualizing and operating virtual robots with a graphical user interface (GUI). However, existing GUI tools such as robot simulators do not provide all the functions necessary for handling a target robot system, and the development of new GUI...
In this work, we propose a system that has the ability to reproduce imitated motions of human during continuous and online observation with a humanoid robot. In order to achieve this goal, the problems for imitation have to be solved. In this paper, we treat two main issues. One is mapping between different kinematic structures and the other is computing humanoid body pose that satisfies the static...
This paper presents a method for generating whole body motion including the walking based on the hand trajectory. It is necessary to generate the hand and walking trajectory considering the interaction between manipulation and walking for mobile manipulation. However, to generate the walking trajectory, many elements need to be considered simultaneously. This study aims to generate whole body motion,...
This paper presents a high-precision three-dimensional laser measurement system of an architectural structure by cooperative multiple mobile robots. This system is composed of three mobile robots, that is, a parent robot and two child robots. The parent robot is equipped with a three-dimensional laser scanner, attitude sensor, total station, and auto-leveling device. On the other hand, the child robots...
A propulsion method to improve a mobility on the plane without hampering walking ability and increasing its mass too much is proposed. That is the method to attach the passive wheels to their feet and uses the difference of reaction force, toward the axial direction and rotational direction. Propulsion method utilized the anisotropic friction property of wheels which are atacched to the legs of the...
This paper proposes a self-position estimate algorithm for the multiple mobile robots, each robot uses two omnidirectional cameras and an accelerometer. In recent years, in Japan, the Great East Japan Earthquake and large-scale disasters have occurred frequently. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable...
This paper proposes the task management system to decompose service request from a user into detailed robotic task plans. User's request should be simple, such as “Bring me the newspaper”. However, robotic task plan is complicated and needs to be dynamically generated depending on actual environment and system status. We propose robot profile with capability properties to select robot depending on...
Aim to improve upper limb rehabilitation effect, we design and develop an Image-projective Desktop Arm Trainer (IDAT). Compared with conventional therapy, IDAT provides a more effective and interesting training method. IDAT's goal is to maintain and improve patients' upper limb function by training their eye-hand coordination. We select step-on interface (SOI) as the input system which makes trainees...
This paper presents laser-based pedestrian tracking system in outdoor environments using multiple mobile robots. Each robot detects pedestrians using its own laser scan image by an occupancy-grid-based method and tracks the detected pedestrians via Kalman filtering. When the robots are in close proximity to each other, they exchange pedestrian tracking information through intercommunication, and tracking...
Swarm robotics is the research field of multi-robot systems which consist of many homogeneous autonomous robots without any type of global controllers. In this paper, an evolutionary robotics approach, i.e., the method that the robot controllers are designed by evolutionary algorithms with artificial neural networks, is applied. And we apply an incremental approach to evolution within the context...
Bone drilling and cutting procedures are widely used in orthopedic surgery. Relatively high forces and temperatures experienced during bone drilling and cutting can cause significant damage to the bone as necrosis, widening of holes, breaking the tendons or blood vessels, which can make patient recovery long and painful. This paper presents a concept design of a hand-held robotized orthopedic system...
The purpose of this research is to achieve a user friendly interface for teleoperation in versatile purpose. However, it is difficult to teleoperate a robot for general persons. In this paper, we propose a new interface to improve usability with a touch based Multi-Modal interface for teleoperation for non-expert. The operator is able to operate a robot without spatial restriction since the proposed...
To date, the complex and diverse demands on robotic software can only be handled by large teams which are often distributed geographically, with each team working on a specific aspect of the robot's functionality. The distributed nature of development and differences in the configuration of standard robot platforms impose particular challenges on the process of system integration. To address these...
We have developed an autonomous mobile robot to perform in-hospital transportation. When an autonomous mobile robot moves in a hospital, it needs to detect and avoid such obstacles as beds, wheelchairs, patients, visitors, and hospital staff. These obstacles move and often have overhanging parts that cannot be detected by only 2D sensor which measures horizontal surface. The robot, therefore, must...
We deal in this paper with the exploration problem using a team of heterogeneous robots. Since no assumption is made on the type of robot used, our system has to handle correctly in one single framework the specificities arising from each type of commonly used robots such as UAVs, ground vehicles or humanoids. To do so, we introduce a framework that handles efficiently the autonomous exploration problem...
This paper presents a robust formation control method independent on noise of camps sensor. There are various formation control method for multi-robot system. These methods offer great way to keep the (d, ϕ)-formation. In real environment, however, heading angle of each robot is affected by noise of compass sensor. Because of this reason, follower can't keep exact formation. In this paper, we suggest...
This paper gives an overview of UNR-PF, an open-source, standards-based platform to enable multi-location daily life support services using abstracted functionality from a cloud of robots. Such services require seamless ability-adapted physical support and interaction across multiple areas, provided through collaboration of multiple robots, ubiquitous sensors and smartphones over a network. UNR-PF...
This paper proposes, for the purpose of offsetting the limited capability of the heterogeneous sensors stationed in the environment to collect the user information, the active information supplement framework. In this framework, the communication robots used for offering services to users are utilized as new sensors to actively collect user information by interacting with the user; the information...
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