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A key skill for autonomous exploration and inspection missions is the ability to find safe and traversable paths within previously unknown environments. We present an approach for mapping typical environments encountered by autonomous planetary exploration robots, a pre-interpreted multi-resolution 3-D environment model generated from point cloud data, and a hybrid planner for basically any kind of...
In this paper, we propose a gait analysis based walking stabilization system on an active robotic walker for Parkinson's Disease patient. We developed a vision based gait analysis that lower limbs from the frontal view which is captured by single RGB-D camera on the robotic walker. Our system constructs the lower limbs skeleton and kinematic model for calculating the walking gait features such as...
This paper proposes a robotic walking-aid system which aims to provide mobility assistance and remote monitoring for the elderly or the disable. The robotic system is able to provide physical support and guidance while avoiding static and dynamic obstacles. To effectively solve different situations against obstacles, a training stage of learning human user-adaptive characteristics is adopted. Through...
The purpose of this research is to assess an applicability of wearable robot for the shipbuilding works. We developed two types of wearable robot that can be separated by actuation mechanism; one is directly actuated by electric motors and another is actuated by electro-hydraulic actuators. The lifting capacity of both of the robot is currently about 30kg. We performed field tests in 7 kinds of workplaces...
The study of quadruped robots is an important branch of robotics. As is known to all, quadruped robots can go through the rough terrain easily and they are useful in field operation. Whether quadruped robot can interact softly with the environment is an important index to value its property. This paper presents the preliminary research of a quadruped robot, mainly focus on the mechanical design and...
Along with the coming of the aging society, the passive robot walking helper is introduced for providing safe mobility for the elderly, which features continuous energy dissipation from the system with brakes for steering. When this passive walking helper is applied for guidance and obstacle avoidance, it is crucial to determine proper braking torques in accordance with user-applied force for avoiding...
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