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From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed " the sway compensation trajectory ". This method utilizes a lateral, longitudinal,(More)
The categorization of places in indoor environments is an important capability for service robots working and interacting with humans. In this paper we present a method to categorize different areas in indoor environments using a mobile robot equipped with a Kinect camera. Our approach transforms depth and grey scale images taken at each place into(More)
— This paper describes a platform of ambient intelligence for robots working in an ordinary environment for daily human life. To enable autonomous robotic activities, vision sensors and RFID tags are distributed in the environment and are connected to a network. The data from distributed sensors are integrated, and are provided to robots to support their(More)
This paper proposes a segmentation method of human manipulation task based on measurement of contact force imposed by a human hand on a grasped object. We define an index measure for segmenting a human manipulation task into primitives. The indices are calculated from the set of the contact forces measured at all the contact points during a manipulation(More)
In order to construct three-dimensional shape models of large-scale architectural structures using a laser range finder, a number of range images are taken from various viewpoints. These images are aligned using post-processing procedures such as the ICP algorithm. However, in general, before applying the ICP algorithm, these range images must be aligned(More)
In this paper, an enhancement of a dynamic object grasping and manipulation method, which has been proposed by us previously, is presented. This enhancement makes it possible to grasp more various shaped objects which could not have been grasped by our previous method. In our previous method, a force/torque equilibrium condition to satisfy stable object(More)
In medical diagnostic imaging, an X-ray CT scanner or a MRI system have been widely used to examine 3D shapes or internal structures of living organisms or bones. However, these apparatuses are generally very expensive and of large size. A prior arrangement is also required before an examination, and thus, it is not suitable for an urgent fracture diagnosis(More)