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This paper describes a software system integration of daily assistive robots. Several tasks related to cleaning and tidying up rooms are focused on. Recognition and motion generation functions needed to perform daily assistance are developed, and these functions are used to design various behaviors involved in daily assistance. In our approach, the robot(More)
A vision based object recognition subsystem on knowledge-based humanoid robot system is presented. Humanoid robot system for real world service application must integrate an object recognition subsystem and a motion planning subsystem in both mobility and manipulation tasks. These requirements involve the vision system capable of self-localization for(More)
This paper describes daily assistive task experiments that conducting on the HRP2JSK humanoid robot. We present overall action and recognition integrated system design to realize daily assistive behaviors autonomously and robustly, along with the demonstration that the HRP2JSK pours tea from a bottle to a cup and wash it after human drink it. To obtain(More)
— This paper describes a demonstrative research of daily assistive robots. Several tasks related to cleaning and tidying up rooms are focused on, a real robot performs these tasks. A software system combining environment recognition with motion generation provides functions of finding failures and planning retry behaviors, the robot can do the given tasks(More)
We developed straight style transfer equipment for a person with disabled legs. It realizes travel in a standing position even on uneven ground, standing-up motion from a chair, and ascending stairs. This equipment consists of three modules: a pair of telescopic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. The prototype of(More)
In this paper, we present a method of position estimation for a mobile robot using a novel accelerometer. Compared to other methods, involving landmark utilization, odometry and GPS, an accelerometer-based method has the following advantages: (1) it is easy to install, (2) it is possible to estimate position on uneven ground and indoors. However, it is(More)
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