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A new method for bipedal walking on rough terrain by using ZMP criteria map is proposed. The rough terrain walking is classified to “step up” and “step down” by landing timing of a swing leg. The walking pattern is modified in real-time according to the difference between the ideal timing and the measured timing by a force sensor(More)
In this paper, a novel approach of knowledge management for the space/location perceiving capacity of robots is proposed. First, the ubiquitous function services composed of smart object, smart logic, and smart discovery service are proposed in order to distribute knowledge flexibly and reliably to changing environment and also for a robot to invoke and(More)
In this work, we propose a new framework for better deployment and utilization of robots in our uncertain, unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with many challenges in the user programming, this work is to provide an open environment for(More)
In this study we explored basic dimensions used to perceive humanoid robots and developed a scale to evaluate perception of humanoid robots, PERNOD. Previous studies of perception of humanoid robots used psychological scales created for interpersonal perception between humans. This study clarified the basic dimensions of perception of humanoid robots and(More)
In the field of life science, such as regeneration medicine or cloning, the manipulation and analysis of cells is performed by researchers. However, in micro environments, manipulating objects by hand is often not feasible or practical. We have developed a two-fingered microhand, which will help to improve operation efficiency. Using the microhand, we can(More)
For potential applications in bioscience, a two-fingered microhand with dexterous manipulation capability was developed. This microhand system could perform dexterous tasks such as cell rotation, single cell pick-and-place, cell patterning, and measurement of mechanical properties of living cells. However, it is a tedious task to manipulate micro objects(More)