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A robotic exoskeleton system of lower extremity controlled by central pattern generators (CPGs) was developed for physical rehabilitation of paraplegic patients. The exoskeleton system has two degrees of freedom for each limb to assist motion of hip and knee joints with help of a body weight support device. Mechanical design of the exoskeleton considering ergonomics adopted some regulation mechanisms...
This paper develops a hemiplegic walking functional recovery training device. This paper proposes a power assist mechanism, hip joint and knee joint motion adaptation mechanism based on the movement of the joints of the human body, mechanism corresponding to the individual differences in body shape, and mechanism to prevent side-overturning. The designed prototype of the device, then the effectiveness...
We present the design and implementation of a multi-input and multi-controller system architecture for mobile robots. The proposed system architecture is divided into interchangeable modular subsystems with common interfaces. The paper details the development of a prototype to test the proposed architecture and the implementation of the architecture with the Robot Operating System. Results from indoor...
The rescue robot becomes necessary for searching the survivors in the disaster area. Autonomous rescue robot is developed to increase the searching efficiency while the rescue robot's Tele-Operation is limited. The victim detecting system normally spots the victim with heat sensors. Thermophile array sensor is generally employed to read temperature in the fan-shape fashion. The statically equipped...
In this paper, we propose a novel pictograph detection scheme by removing miss matching points. In our previous work, we developed a robot navigation which uses only one CCD camera equipped on the robot and estimates localize self-position by pictographs on a general environment. However, our system sometimes misjudges feature points on the background as feature points on pictographs. Threfore, our...
In this paper, we propose a path-planning algorithm for mobile robots having sensors with a limited field of view. The proposed method predicts the observable region in the planning phase and minimizes incursions into unobservable regions. The path-planning process of the proposed method not only involves the actions required for reaching a destination but also the actions required for obtaining information...
Considering stability problems of the current corridor recognition algorithm based on laser scanner, this paper proposes a method for mobile robot fast laser-based corridor recognition. Firstly, Median filter is used to deal with the laser scan to reduce the noise. Then, it employs segmentation method to cluster the data to remove some isolated points. After that, it is feasible to calculate the direction...
Map application has played a more and more important role in today's autonomous drive and navigation techniques. However, most of the existing maps can only reach road-level (meter scale) accuracy, which cannot meet the needs of driving with no hands. Based on this situation, a method to generate lane-level (centimeter scale) orthophoto maps is proposed. This method utilizes a multiple onboard cameras...
A novel robot arm called deformable arm for the service robot is presented in this paper. A flexible working space and the ability to deal with multiple tasks are obtained with a single arm by changing the arm shape. However more flexible use brings difficulties in actual use, the arm's parameters will be changed with the different arm structure and cannot be calibrated with conventional methods....
This paper presents a novel scheme for Vanishing Points (VPs) estimation and lanes identification through monocular images of mobile robots. VPs detection based on probable vanishing direction hypothesizes and Bayesian posterior probability verification in image Hough space is a foremost contribution. VPs estimation is an optimal resolution based on a weighted objective function. The selected linear...
In this paper, we investigate two camera models for fisheye camera, namely, the pinhole camera model and spherical projection model. The former one has been successfully applied in calibration modeling of monocular vision system. However, for fisheye camera calibration modeling, we demonstrate that the spherical projection model is more appreciate for nonlinear image system. Moreover, to deal with...
This paper presents a means to approximate an object's pose, suitable for initialization of the Iterative Closest Point algorithm. The class of problems considered is objects lying stably on a planar surface, for which a relatively small number of pose types are possible. Within each pose type, the registration problem is reduced to 3 dimensions. Using contours computed from horizontal slices, it...
It is a new challenge in robotics to enable robots with limited communication and sensing capabilities to accomplish complex group tasks. An emerging research is that a robot equipped with wireless network modules acts as a mobile router to bridge the communications of among the robot network. How to configure the robot network topology adaptively to fulfill both the task allocation and execution...
Leader-follower based formation control is a promising technique in multi-robot motion planning system. When the pose of leader-robot mutated or disturbed by external disturbance, the follower-robot usually cannot react quickly, resulting in loss tracing. A redundant adaptive robust Kalman filter (RAREKF) is adopted to predict the relative movement parameters between the leader and follower, so that...
This paper presents a novel approach to path planning for the formation of a swarm of autonomous robots to track a moving target in an unknown environment. This approach is based on the traditional potential fields combined with the rotational vector field. The potential field is used to repel the robots away from obstacles while the rotational vector field is added to drive robots to avoid obstacles...
In this paper, we analyze a formation control problem of two disk-shaped holonomic mobile robots without collision each other. We show that the tracking control problem can be reduced to sample stabilization of the origin of the nonlinear system defined on noncontractible manifold by exact linearization via coordinate transformation. We propose a tracking control method which is applying the Rifford-Sontag...
The localization is an important task for intelligent mobile robot systems and the robot cooperation may bring benefits for the task in a multi-robot team. A localization method for leader-follower formations is proposed in this paper. In the proposed method, the leader robot adopts an Extended Kalman filter to fuses data from multiple sensors. Kinect with depth camera is a rich source of information...
In this paper we introduced a new method to optimally select the time window for a single-trial classification problem in BCI system. As a hybrid-BCI, we combine EEG and NIRS signals to improve the performance of BCI system. Since there's a coupled relationship between EEG and NIRS, we try to define the activation state of subject's brain according to the changes of hemoglobin. We therefore defined...
Dance has become compulsory in the physical education courses in Japan, recently. Especially for the creative dance, it is possible to cultivate capacities for expression and communication abilities. However, it is hard to presuppose the creativity and skill of creative dance for beginner level dancers without experience. This paper describes a novel supporting method for the beginners by using a...
The paper describes audio-visual feedback to assist people's cognitive activities by using a mobile robot. Robot assistance provides promising aid for people in rehabilitation. In literature, physical assistance with power-assist limbs and mobile support platforms have been studied well. On the other hand, cognitive assistance also plays an important role in rehabilitation especially for recognition...
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