Nobuyasu Tomokuni

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In this paper, the ubiquitous mobile manipulator system, which could realize the concept of ubiquitous robotics, is proposed. The ubiquitous robot might be able to give several services in human environments, beside classical robots have many problems to realize services, because of the complexity of environments and the amount of information. The(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 paper, we describe the motion control for a personal mobility robot (PMR) that is a wheeled inverted pendulum vehicle. The structure of the PMR consists of a seat slider and two independent leg wheels attached on either side; this enables the driver to mount the PMR by changing the vehicle's height from the squatting position to the standing(More)
The authors describe a mechanical design and control strategy for an inverted pendulum type robotic wheelchair. The structure of the wheelchair consists of a seat slider and two rotary links between the wheels and tires on either side. In addition, the integrated control is based on a linear-quadratic regulator consisting of a gravity-center control stage(More)
In this paper, we investigated the relationship between motion of the human upper limb and weight perception during weight lifting experiments in a real environment. The weight lifting experiments were completed with and without elbow restraints and with various lifting heights. In the lifting experiments, subjects evaluated their perceptions of the lifted(More)
The wheelchair is the major means of transport for physically disabled people. However, it cannot overcome architectural barriers such as curbs and stairs. In this paper, the authors proposed a method to avoid falling down of a wheeled inverted pendulum type robotic wheelchair for climbing stairs. The problem of this system is that the feedback gain of the(More)
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