Ken'ichi Koyanagi

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— This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact between a humanoid robot and terrain should be maintained by keeping the contact wrench sum between them inside the contact wrench cone under the sufficient friction assumption. A(More)
For functional training, however it is important to evaluate the motion functions of trainee, traditional evaluations have problems on subjectivity. We aimed to quantitatively and objectively recreate clinically relevant motion function evaluations by VR technology; to use data gained from traditional evaluations and to computerize evaluation. We also aimed(More)
Movements of upper limbs are complicated, various and indispensable for daily activities. For patients with impairment of their upper limb, rehabilitation along with medical treatment is needed to recover function. For elderly as well, training is needed to keep their ADL or social activities. Application of robotics and virtual reality technology makes(More)
This paper describes an plane extraction method using point cloud data to perceive an unknown object for a service robot. Recently, depth sensors are used to perceive 3D space for a robot. A depth sensor have been used to recognize unknown environment, such as surface reconstruction, model fitting and so on. Point Cloud Library is typical open source(More)