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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)
— 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)
— 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)
— 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)
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 is concerned with an early recognition and prediction algorithm of gestures. Early recognition is the algorithm to provide recognition results before input gestures are completed. Motion prediction is the algorithm to predict the subsequent posture of the performer by using early recognition. In addition to them, this paper considers a gesture(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)