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The authors are researching about Three dimensional mapping using mobile robot and 3-D laser scanner. We developed 3-D laser scanner which can measure whole 3-D shape with a combination of 2-D laser scanner and Pan-Tilt base. However, measuring surrounding areas using the scanner on mobile robot, there are some areas where can't measure whole 3-D shape caused by overview camera and wireless LAN's...
Retrieving a large collection of environment maps built by mapper robots is a key problem for mobile robot self-localization. The current paper studies this map retrieval problem from a novel perspective of a multi-scale Bag-Of-Features (BOF) approach. In general, multi-scale approach is advantageous in capturing both the global structure and the local details of a given map. On the other hand, BOF...
The paper is aimed at establishing a platform of robotic fish propelled by paired pectoral fins, so as to research pectoral fin propulsion. Locomotion of nature sample, cow-nosed ray, was analyzed before simplified mathematical model was obtained for design of the robotic fish. Locomotion of the pectoral fins is equivalent to the pass of oscillating motion from front to back in the form of cubic function...
The Transverse Function (TF) approach is applied to the tracking control problem for a nonholonomic three-segments/snake-like wheeled mechanism similar to a planar low-dimensional version of Hirose's Active Cord Mechanism (ACM). Unlike earlier studies devoted to this type of serpentine mechanism and based on the computation and sequential application of a discrete number of open-loop control primitives,...
We are developing a Semi-Autonomous Remote Maintenance Robot for power distribution line maintenance tasks. The system is operated by task instructions; for examples, “Peeling electric cable cover”, “Remove the insulator” and so on. When the system receives a task instruction it measures the task object position; modifies the arm positions in the move commands; and then performs the task. In this...
In this paper, we propose a robotic catapult based on closed elastica utilizing bending and twisting deformation of an elastic strip. By using snap-through buckling generated from not only bend but also twist of thin rectangle elastic strip, impulsive forces can be generated repeatedly by the frequency of 3[Hz] without changing added torque directions. The compact jumping robot based on the proposed...
A snake-like robot has an advantage in moving into a narrow space. Particularly “pedal wave”, which is one of its locomotion styles, is suitable for entering a thin path. However, pedal wave have been used only for going straight in most of the prior studies. In particular horizontal steering of pedal wave by a real robot has not been investigated sufficiently. Therefore in this paper we studied a...
We present the Viewpoint Feature Histogram (VFH), a descriptor for 3D point cloud data that encodes geometry and viewpoint. We demonstrate experimentally on a set of 60 objects captured with stereo cameras that VFH can be used as a distinctive signature, allowing simultaneous recognition of the object and its pose. The pose is accurate enough for robot manipulation, and the computational cost is low...
This paper discusses the design of a new snake-like robot without wheels, named ACM-R7. It has 18 DOFs, is 1.6 m in length and weighs 11.7 kg. It features a water-tight structure, a large motion range pitch joint of ±90 degree and a high output-power actuator arrangement, based on the coupled drive concept. Furthermore the control method “Loop Gait” is discussed. For this gait the ACM-R7 forms a loop...
Pectoral foil structure and motion discipline of cow-nosed ray as nature prototype is analyzed. A bionic pectoral fin is designed according to the analysis results. Propulsion performance of the bionic fin at sinusoidal motion law is studied experimentally on a towing platform, at the oscillating frequency from 0.2 Hz to 2 Hz and amplitude from 2.5° to 30°. Well driving ability is obtained, and maximal...
Tracked vehicles are frequently used as search-and-rescue robots for exploring disaster areas. To enhance their traversability on rough terrain, some are equipped with “active flippers.” However, manual control of such flippers also increases the operator's workload, particularly for teleoperation with limited camera views. To eliminate this tradeoff, we developed a shared autonomy system using an...
Fish type underwater robots has a lot of possibilities such as good mobility and high efficiency. Most of the fish type robots developed up to now have complicated mechanisms with complicated motion control. It results in that the structure and the movement of robots are different from that of fishes. The purpose of our work is to develop creature-like flexible underwater robots by using piezoelectric...
This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots (RB) metamodules. We explore how reconfiguration by locomotion from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using Roombots metamodules-two Roombots modules connected serially-that...
This paper proposes a novel face detection method that finds tiny faces located at a long range even with low-resolution input images captured by a moving robot. The proposed approach can locate extremely small-sized face regions of 12x12 pixels by combining the results from mean-shift color tracking, short- and long-range face detection, and omega shape detection. According to the experimental results...
Leader-following formation is one of the common used formation strategies, but when using this method, behavior of the leader will certainly influence behavior of other team members. In obstacle environment, a fixed leader may experience maneuver and this will destroy formation shape and increase energy consumption while not necessary. In this paper, some evaluation factors are discussed to judge...
This paper describes the initial steps in the development of an object detection system for manipulation purposes, to be embedded in a mobile robot. The goal is to design a robotic system to aid workers in a manufacturing plant. The proposed implementation involves the integration of a Field Programmable Gate Array (FPGA) based electronic module with the manipulator arm of the robotic platform. The...
This paper describes the development of a FPGA-based object detection algorithm for manipulation purposes in a mobile robot. The target application is a robotic system which aids workers in a manufacturing plant. The whole system is provided with a camera which captures images of the objects that can be found in the environment. The FPGA extracts the most useful data from these images and performs...
This paper presents a new formulation to the waypoints following control of mobile robotic platforms, which directly uses the original waypoints sequence, typically obtained from discrete path planning, in order to achieve proper motion behaviors with regards to speed transitions, overall motion duration and path smoothness. The approach produces realtime smooth effective paths while ensuring waypoints...
A complete program of object search and recognition is proposed in the paper in order to realize the object recognition in the complex indoor environment. We design a kind of new object mark to assist object recognition. The mark is composed of two parts: the inner information representation and the outer logo. The inner information including attribute information and operating information is stored...
This paper discusses the design of a flexible micro robotic fish that takes advantage of the energy saving feature of fish. The body of the fish is made of soft material with embedded electromagnets. It has a flexure link made of polyimide. Carbon-fiber reinforced composite material sandwiches the flexible link at four locations, allowing the four rigid links to be connected by a flexure joint. Nd-Fe-B...
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