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An exoskeleton robot is kind of a man-machine system which mostly uses combination of human intelligence and machine power. These robotic systems are used for different applications such as rehabilitation, human power amplification, motion assistance, virtual reality etc. Successful operation of an exoskeleton robot depends on correct selection of design and control methodologies. This paper reviews...
In recent years, the demand for autonomous mobile robots in outdoors environments has been increasing. In order to guide the robot, it is essential to get the current position. In this study, we propose a method to correct the self-position of the robot, which is estimated by odometry, aerial imagery, and the SOKUIKI sensor. First, we explore how to superimpose the reflection point cloud on top of...
The automated inspection is desired to detect the vehicle in large parking space, which is difficult to survey by fixed the vision-sensor. We purposed mobile robot surveillance in parking space for parking lot inspection. To obtain the parking lot information, vision sensor is wide useful for parking lot state checking which measurement is difficult to obtain the positioning of vehicle while achieved...
Walking through narrow space for multi-legged robot is optimized using reinforcement learning in this paper. The walking is generated by the virtual repulsive force from the estimated obstacle position and the virtual impedance field. The resulted action depends on the parameter of the virtual impedance coefficients. The reinforcement learning is employed to find an optimal motion. The temporal walking...
This paper aims to unify the “robot language” approach and the reinforcement learning (RL) framework in order to design behaviors of robots with a simple description. We develop a kind of robot language where we describe a robot task, then the robot employs an RL method to acquire the corresponding behavior. The remarkable feature of this approach is that we do not have to specify the procedure of...
In this research, we propose a method to distinguish different ground materials using the reflection intensities of the waves obtained by ultrasonic sensor. In previous research, the information obtained by ultrasonic sensor is only used for checking the existence of an object, and/or measuring the distance from an existent object. To go a step further, applying the information obtained by ultrasonic...
Recently, rehabilitation robots attract much attention both from engineering and medical fields due to their accurate and repetitive training capabilities. Their automated training protocol reduces the loads on clinical staff and helps effective rehabilitation by monitoring the patient's status in a quantitative manner from various sensor measurements. In the control of such robotic systems, back-drivable...
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...
Locomotion is the most important characteristic of living matter. To clarify the factor makes observers find out autonomy in locomotion of living organism is significant from the perspective of artificial intelligence or emergence. In considering physical basis of autonomy of locomotion, we have to remark following three biotic features; “unidirectional movement generated from asymmetric architecture”,...
Research on high level human-robot interaction systems that aims skill acquisition, concept learning, modification of dialogue strategy and so on requires large-scaled experience database based on social and embodied interaction experiments. However, if we use real robot systems, costs for development of robots and performing many experiments will be too huge. If we choose virtual robot simulator,...
In this paper, the new wall climbing robot, ‘Mo-Mo’, is introduced. The MoMo can be sensor mounted device for the intelligent space and the devices can be rearranged by themselves according to the situation of space through using the mobile mechanism of MoMo. The MoMo uses the screw-nut mechanism to stick to the wall and the ceiling. This mechanism makes the MoMo to be stable condition while the MoMo...
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 proposes an integrated path planner which provides global waypoints from a multi-layered merged map and a local path planner (LPP) using a built-in sensor. The LPPs can avoid obstacles within the range of built-in sensors, but it is impossible to generate an efficient path out of the sensor range. The GPPs can generate an efficient global path with a built-in global map in a target region,...
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...
Most of robotic systems introduce a directionless neighborhood area, such as a circle or sphere, for robot communication and interaction because it reflects a natural property of some physical sensors and devices. On the other hand, it has reported that some of natural birds employ directional neighborhood for neighbor observation. In this paper, we introduce the directional neighbor to a robotic...
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...
Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constraint forces are expressed by an algebraic function of states, input generalized forces, and constraint condition, and then direct position / force controller without force sensor is proposed based on the algebraic relation...
This paper proposes the method for assembling a plastic ring into a shaft with the clearance of several micrometers by using a robot manipulator. Assembly by a robot manipulator is difficult compared with other production processes in a factory. This is because there are some problems of the robot positional accuracy, the dimensional tolerance and the deformation of mating parts. The purpose of the...
Control systems for Autonomous mobile delivery robots have been described before. However, the control they provide is limited, leaving potential for serious errors. The current mobile robot systems concentrate on position accuracy and operational function but leave open management of safety hazards such as entering the dangerous and not intended areas as stairway. In order to increase the safety...
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