Masaki Fukuchi

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With the development of biped robots, systems became able to navigate in a 3 dimensional world, walking up and down stairs, or climbing over small obstacles. We present a method for obtaining a labeled 2.5D grid map of the robot's surroundings. Each cell is marked either as floor or obstacle and contains a value telling the height of the floor or obstacle.(More)
This work presents methods for path planning and obstacle avoidance for the humanoid robot QRIO, allowing the robot to autonomously walk around in a home environment. For an autonomous robot, obstacle detection and localization as well as representing them in a map are crucial tasks for the success of the robot. Our approach is based on plane extraction(More)
For the fully autonomous navigation in a 3 dimensional world, a humanoid robot must be capable of stepping up and down staircases and other obstacle where a sufficient large flat surface can support the robot's feet. This paper presents methods for the recognition of stairs and a control architecture that enable the humanoid robot QRIO to safely climb up(More)
We present a data structure and an algorithm for real-time path planning of a humanoid robot. Due to the many degrees of freedom, the robots shape and available actions are approximated for finding solutions efficiently. The resulting 3 dimensional configuration space is searched by the A* algorithm finding solutions in tenths of a second on lowperformance,(More)
A humanoid robot that can go up and down stairs, crawl underneath obstacles, or simply walk around requires reliable perceptual capabilities for obtaining accurate and useful information about its surroundings. In this work we present a system for generating 3D environment maps from data taken by stereo vision. At the core is a method for precise(More)
In this paper, we propose a motion planning method for cooperative transportation of a large object by multiple mobile robots in a 3 dimensional environment. This task has various kinds of problems, such as path planning, manipulation, and so on. All of these problems can’t be solved at once, since computational time is exploded. Accordingly, we divide a(More)
While a single approaching object is known to attract spatial attention, it is unknown how attention is directed when the background looms towards the observer as s/he moves forward in a quasi-stationary environment. In Experiment 1, we used a cued speeded discrimination task to quantify where and how spatial attention is directed towards the target(More)
This paper describes a method for identifying an environment a robot is operating in by comparing the geometry of landmarks of a map the robot is currently building with a set of previously created maps. Landmark maps are created using the stochastic map approach originally presented by Smith, Self and Cheeseman [12]. The paper provides a method for(More)
In this paper, we propose a method of an object manipulation by multiple mobile robots using sticks as tools. In the conventional cooperative work by multiple mobile robots, manipulation technique based on force-control has been proposed. However, mobile robots are moving by position-control, and motion errors can easily arise. Then, we build the(More)
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