Shogo Kamiya

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Uncertainty of self-localization is one of the most serious problems related to navigation of autonomous mobile robots. There are some studies that deal with this problem. However, most of them assume that the extent of the uncertainty is known or has been measured previously, though it changes easily with some trivial changes of the environment. To avoid(More)
Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. Each leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, each leg supports their body weight, and the reaction forces from its ground must be(More)
Though Monte Carlo localization is a popular method for mobile robot localization, it requires a method for recovery of large estimation error in itself. In this paper, a recovery method, which is named an expansion resetting method, is newly proposed. A blending of the expansion resetting method and another, which is called the sensor resetting method, is(More)
Team ARAIBO (Advanced Robotics with Artificial Intelligence for Ball Operation) has taken part in RoboCup since 1999. Even though we could not get the top three positions in Four-legged Robot League, we have proposed several novel issues such as jumping heading, uniform Monte Carlo localization, dynamic programming, memory squeeze by strategy maps and so(More)
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