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In the Expectation-based, Multi-focal, Saccadic (EMS-) Vision system of UBM, the vision sensor consists of four cameras with different focal lengths mounted on a highly dynamic pan-tilt camera head. Image processing, gaze control and behavior decision interact with each other in a closed loop form. The behavior decision module specifies the relevance of obstacles like road segments, crossings or landmarks...
This paper presents our experience towards the conception of a virtual reality medical simulator coupled with haptic interaction aimed at training surgeons. This area of research has a long history and a wide variety of approaches have been used. Generally, human tissue can be considered as a deformable body of viscoelastic material. To enable dynamic simulation of these bodies, we have patched three...
In order for a mobile robot to provide information services in real offices, the robot has to maintain the map of the office. Rather than a completely autonomous approach, we chose to interact with office people to learn and update the topological map using spoken dialogue. To successfully apply a speech recognition technology to conversation understandings in real offices, we implemented a multiple...
In this paper the use of robots as intelligent appliances is discussed. A number of advertised systems are reviewed and their basic characteristics analyzed. Open issues in terms of navigation, user interfaces, robustness, price are discussed as a basis for issues for future research to enable commercial delivery of such systems.
We demonstrate an adaptation strategy for adjusting the stride period in a hexapedal running robot. The robot is inspired by discoveries about the self-stabilizing properties of insects and uses a sprawled posture, a bouncing alternating-tripod gait, and passive compliance and damping in the limbs to achieve fast, stable locomotion. The robot is controlled by an open-loop clock cycle that activates...
We have been trying to induce a quadruped robot to walk dynamically on irregular terrain by using a neural system model consisting of a CPG (central pattern generator) and reflexes. In this paper, we define adaptive walking using a neural system model as “coupled-dynamics-based motion generation”, in which a neural system and a mechanical system are coupled and generate motion by interacting with...
An optimal kinematic design method suited for parallel manipulators is described. The optimal configuration for a Delta-type three-degree-of-freedom spatial, translational manipulator, known as the New University of Western Australia Robot (NUWAR) is presented, and shown to be advantageous over the Delta configuration in terms of workspace volume. These results led to the construction of a prototype...
Field Robots are machines that work in unstructured environments, including un- der water, in mines, in forests and on farms, and in the air. These applications involve both advanced ideas in robotics and careful attention to engineering details. This paper discusses the overall challenges of field robotics and the current state of the art. The paper is not a thor- ough survey, nor a tutorial; but...
The capability of action imitation constitutes a fundamental basis of higher human intelligence. In this paper, we first analyze the concept of imitation and mark the essential problems underlying imitation, e.g. redundant sensory and motor degrees of freedom, adaptive mapping, and strong embodiment. It supports a synthetic approach to understanding imitation capabilities, which requires a versatile...
This paper describes our research efforts aimed at developing several low-level autonomous capabilities required for remote-operation tasks involving humanoid-type robots. The low-level autonomy considered falls into three categories: 1) walking functions, such as online dynamic balance compensation and online walking trajectory generation, 2) manipulation functions such as arm motion planning and...
This paper introduces an open architecture humanoid robotics platform (OpenHRP for short) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a virtual humanoid robot platform with a compatible humanoid robot, and consists of a simulator of humanoid robots and motion control library for them which can also be applied to a compatible humanoid robot as it is. OpenHRP...
Human can perform variety of limber whole-body motions using numerous muscles and huge number of various sensors. The human brain has all the connections to the sensors and muscles, and learn how to manage them for whole-body motions. In this research, we have aimed to build a complex body with physically massive parallel sensor-motor systems to enter the next stage for studying humanoid brain systems...
We have developed a humanoid robot called “Robovie”. The task is to communicate with humans and establish relationships by using various sensors and actuators. For designing the robot behavior, we have performed cognitive experiments, implemented the results on the software architecture, and verified the effectiveness in human-robot communication. This paper proposes an interdisciplinary approach...
In this paper a brief overview on the German Collaborative Research Center on Humanoid Robots is given. The research topics focused by the collaborative research center are multimodal man-machine interaction, learning of motion, skills and tasks, man-robot cooperation, perception and action and mechatronics and controls for a human like torus consisting of 2 redundant arms, 2 dexterous 5-finger hands,...
This paper describes the overall control structure of a new generation of compliance controlled manipulators implemented by the design and control of the DLR lightweight robot. To achieve the compliance property, the manipulator does not have to revert to a human-like, bionic design. A serial link manipulator, control technology, and sensorized joint actuators can generate a kinesthesis similar to...
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