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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)
— 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)
– The level set method (LSM) has been widely used for various applications such as motion tracking and 3D geometrical modeling. However, the calculation cost of reinitialization and updating of an implicit function is considerably expensive as compared with conventional active contour models such as " Snakes ". To tackle this problem, we propose an(More)
People detection and tracking is a key technology for social robotics and human-robot interaction, both growing research fields with many future application areas. Social interaction with people, navigation in populated environments, recognition of human activities and intentions , tracking pedestrians in urban areas or detection of intruders are examples(More)
This paper presents a new methodology for generating a straight legged walking pattern for a biped robot utilizing up-and-down motion of an upper body. Firstly, we define two new indexes, the knee stretch index (KSI) and the knee torque index (KTI), which indicate how efficiently the knee joints are utilized. Next, up-and-down motion of the upper body is(More)