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Flexible driving is essential in enhancing security during human-robot interactions and improving the adaptability of robots to complex environments. Based on these principles, we developed a variable stiffness actuator with automatic rigidity/ compliance switching. The actuator contains two motors-one for position control and the other for adjusting the stiffness. The stiffness adjustment motor independently...
We propose an approach that combines human demonstrated posture-control skill defined by the motion in the lower limb joints with an inverse kinematics solution of an arbitrary hand motion. The posture-control skill for humanoid robot was obtained through the human-in-the-loop teaching approach. The collected data during the teaching phase was used to approximate functional relation between the state...
Decision aiding sometimes fails not because following guidance would not improve performance but because humans have difficulty in following guidance as it is presented to them. This paper presents a new analysis of data from multi-robot control experiments in which guidance in a demonstrably superior robot selection strategy failed to produce improvement in performance. We had earlier suggested that...
This paper is concerned with the formation method for multi-robot systems with obstacles. Consensus formation cannot avoid obstacles in the process of movement, and algorithms based on relative distances are not applicable to the situations requiring rigid topology. An algorithm has been designed combining consensus protocols and the modified artificial potential field method for the second-order...
This paper presents a penalized Gaussian mixture probability hypothesis density tracker with multi-feature fusion to track close moving targets in video. A weight matrix that contains all updated weights between the predicted target states and the measurements is first constructed. The ambiguous weights in the constructed weight matrix is then determined according to the total weight and the predicted...
In an aging society, it is important to closely monitor elderly people, especially those with cognitive disorders, because they can easily fall down and sustain serious injuries. Therefore, the demand of the monitoring system which can detect dangerous situation automatically is increased. In this paper, we propose a low-cost and highly reliable monitoring device which is called the MIMAMORI device...
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