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A stable foot teleoperation method for humanoid robots

A stable foot teleoperation method for humanoid robots

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： N.E. Sian K. Yokoi S. Kajita H. Saito K. Tanie Cooperative Graduate School of Systems and Information Engineering University of Tsukuba Japan Advanced Industrial Science and Technology(AIST) National Institute for Advanced Industrial Science and Technology Tsukuba Japan

The establishment of an intuitive and effective whole body operation method is essential for the utilization of humanoid robots in real world tasks. Here we introduce a method for humanoid robot foot teleoperation, as a part of our whole body teleoperation system using only a simple joystick device. This paper explains a framework for real-time foot operation which incorporates the operator's foot command and robot's autonomy in maintaining balance. We describe the algorithm of an autonomous function which shifts the position of the robot's center of mass interactively based on the operator's command and the current feet condition of the robot. We report on successful experimental results of teleoperating a real humanoid robot HRP-2 using the proposed method.

关键词： Foot Humanoid robots Legged locomotion Humans Force control Motion control Control systems Service robots systems engineering and theory Intelligent systems

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Nanoirnprint of glass materials with glassy carbon mold fabricated by focused-lon-beam etching

Nanoirnprint of glass materials with glassy carbon mold fabr...

引用

International Conference on Microprocesses and Nanotechnology

作者： M. Takahashi K. Sugimoto R. Maeda Advanced Manufacturing Research Institute National Institute for Advanced Industrial Science and Technology Japan Department of Mechanical Systems Engineering Faculty of Engineering University of Shinshu Tsukuba Japan

Micro/Nano imprinting or hot embossing is a target of interest for industrial production of micro and Nano devices. In Fluidic MEMS (Micro Electromechanical systems) applications, polymer materials have been employed for their low cost to fabricate the economical products. However glasses are much more suitable for the higher temperature applications or strong chemical environments. In Optical MEMS as well, glasses are good candidate materials for better optical properties. In this study, Micro/Nano imprinting was employed for Pyrex glass and Quartz glass molding and the test structures were successfully fabricated with good fidelity of 10x10~7 μm and 0.3 μm line and space and 0.4 μm depth.

关键词： Nanostructured materials Glass Organic materials Embossing Temperature Machining Wet etching Dry etching Heating Micromechanical devices

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Tabulation and analysis of questionnaire results of subjective evaluation of seal robot in Japan, U.K., Sweden and Italy

Tabulation and analysis of questionnaire results of subjecti...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： T. Shibata K. Wada K. Tanie Intelligent Systems Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan Institute of Engineering Mechanics University of Tsukuba Japan

This paper describes research on a "mental commit robot". These robots have a different target audience to industrial robots, one that is not so rigidly dependent on objective measures such as accuracy and speed. The main goal of this research is to explore a new area in robotics, with the emphasis on human-robot interaction. In previous research, we classified robots into four categories, which related to their appearance. We then introduced a robot cat and a robot seal, which we evaluated by interviewing a large group of people. The results showed that physical interaction improved their subjective evaluation of the robots. Moreover, a priori knowledge of a subject has a considerable influence on the subjective interpretation and evaluation of mental commit robots. In this paper, we asked several groups of subjects to evaluate the seal robot known as 'Paro' by answering questionnaires that were given out in exhibitions that were held in four different countries; Japan, U.K., Sweden and Italy. This paper reports the results of statistical analysis of the evaluation data.

关键词： Seals Service robots Intelligent robots Human robot interaction Statistical analysis Robot sensing systems Intelligent systems Paper technology Pediatrics Velocity measurement

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Arm-pointing gesture interface using surrounded stereo cameras system

Arm-pointing gesture interface using surrounded stereo camer...

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International Conference on Pattern Recognition

作者： Y. Yamamoto I. Yoda K. Sakaue Systems and Information Engineering University of Tsukuba Tsukuba Ibaraki Japan Intelligent Systems Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

We propose an interface achieved using surrounding stereo cameras as a method of independently recognizing the intentional arm-pointing gestures of several users. The stereo cameras provide depth information maps in real time with resulting robustness against the influence of changes in lighting and users' clothing. Utilizing this, we developed a method capable of sensing intentional arm-pointing gestures that ignored unconscious arm-pointing gestures. This interface does not depend on the user's position, direction, or posture. We placed four stereo cameras in four corners of the ceiling and used this method in various lighting environments. We evaluated the arm-pointing gestures of seven subjects at multiple points and obtained reliable accuracy. Furthermore, we applied this method to the arm-pointing gesture interface of home electronics appliances using Bluetooth.

关键词： Clothing Humans Stereo vision Image sequences systems engineering and theory Intelligent systems Smart cameras Robustness Home appliances Bluetooth

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Forward and backward motion control of Personal riding-type wheeled Mobile Platform

Forward and backward motion control of Personal riding-type ...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： M. Sasaki N. Yanagihara O. Matsumoto K. Komoriya Faculty of Engineering Tamagawa University Machida Tokyo Japan Intelligent Systems Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan

We propose a new concept in personal vehicles called the 'Personal riding-type wheeled Mobile Platform (PMP)' consisting of two wheels and a standing base for a human. The two wheels are driven independently, and traveling and steering is achieved by simply changing the relative position of the rider's center of gravity (COG) on the base. The vehicle has two merits: reducing the total weight of the simple structure and saving space by not using a steering unit. In this paper, the mechanism of the first prototype, PMP-1, is introduced and its posture stabilizing and running control methods are proposed. The effectiveness of the posture stabilization control methods is demonstrated in computer simulations and human riding experiments. In the running control method, maneuverability by movement of the rider's COG is also investigated experimentally. The results demonstrate that the posture of the rider can be maintained and the velocity of forward and backward traveling can be controlled according to the rider's intentions.

关键词： Motion control Wheels Humans Portable media players Gravity Space vehicles Space exploration Prototypes Computer simulation Velocity control

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Aerobatic airship robot with advanced propulsors

Aerobatic airship robot with advanced propulsors

引用

IEEE Technical Exhibition Based Conference on Robotics and Automation, TExCRA

作者： M. Onda K. Matsuuchi Y. Kimura S. Hashimoto Intelligent Systems Institute (ISI) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Ibaraki Japan

Cycloidal propellers are known to be high thrust propulsors and find use in marine vessels such as tug boats and high-performance battle ships. Cycloidal propellers are the type of propulsive system that generates thrust by controlling cyclically the attack angles of the rotating blades. They have the characteristics of omni-directional and instantaneous control capabilities to yield high thrust from small control power. Research on their application to aeronautical fields has been performed in the U.S.A., but no commercial or military vehicles have reportedly flown for practical uses. The drawback of this type of propeller lies within the control mechanisms since they are so sophisticated and the number of parts are necessary. This means their weight tends to be large. AIST and UOT (University of Tsukuba) have been working in collaboration for a couple of years to analyze cycloidal propeller performances and seek potential markets for LTA vehicles such as airships with this particular propeller type. This paper introduces the propeller application to airships; robotic LTA and private smallest manned LTA vehicles. In the former case, a specific design and preliminary development model is presented as a miniature aerobatic airship.

关键词： Propellers Blades Vehicle safety Propulsion Boats Service robots Intelligent systems Intelligent robots Intersymbol interference Shipbuilding industry

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A running experiment of humanoid biped

A running experiment of humanoid biped

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： T. Nagasaki S. Kajita K. Kaneko K. Yokoi K. Tanie Graduate School of Systems and Information Engineering University of Tsukuba Tsukuba Ibaraki Japan Intelligent Systems Institute National Institute Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

Aiming for a humanoid robot of the next generation, we have been developing a biped which can jump and run. This paper introduces a method of running pattern generation and running experiment of biped robot HRP-2LR. Based on the physical parameters of HRP-2LR, running patterns are pre-calculated so that it follows the desired profiles of the total linear and angular momentum. For this purpose we used resolved momentum control. The vertical momentum is calculated considering the compliant elements in order to realize accurate flight duration. The horizontal momentum is calculated to satisfy the ZMP patterns given in advance. Using our pattern, HRP-2LR could successfully run with average speed of 0.16[m/s] with repeat flight phase 0.06 [s] and support phase 0.3 [s].

关键词： Humanoid robots Springs Legged locomotion Hardware systems engineering and theory Intelligent systems Intelligent robots Mobile robots Humans Graphics

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Planning behaviors of a modular robot: an approach applying a randomized planner to coherent structure

Planning behaviors of a modular robot: an approach applying ...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： E. Yoshida H. Kurokawa A. Kamimura K. Tomita S. Kokaji S. Murata National Institute of Advanced Industrial Science and Technology AIST Intelligent Systems Institute AIST Tsukuba Ibaraki Japan Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama Kanagawa Japan

A method for behavior planning is presented for a modular robot that applies a randomized planner to coherent structure of the robot. To cope with difficulty in planning of many degrees of freedom (DOFs) of a modular robot, coherent structure is introduced in terms of control system and robot configuration. As the control system, a simple phase synchronization mechanism is introduced that can control the robot with many DOFs with reduced number of parameters. Together with symmetrical configuration, this control system generates various dynamic motions. In order to plan the behaviors of the modular robot determined by the parameters of the control system, we adopt a randomized planner called rapidly exploring random trees (RRTs). This can benefit from a number of advantages of RRT planner, including simple implementation, uniform search, and applicability to a dynamic system with differential constraints. By exploring parameter space of the coherent control system, behaviors including dynamic motions can be planned. We have applied the proposed planner to M-TRAN modular robot to demonstrate the effectiveness of the proposed method through preliminary simulation results.

关键词： Orbital robotics Intelligent robots Motion control Robot sensing systems Motion planning Control systems technology planning Service robots Robot control Intelligent systems

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Assessment of vulnerable coronary plaque by intravascular elasticity imaging

Assessment of vulnerable coronary plaque by intravascular el...

引用

IEEE Symposium (IUS) Ultrasonics

作者： T. Shiina N. Nitta H. Endo M. Yamagishi Graduate school of Systems and Information Engineering University of Tsukuba Tsukuba Japan Institute for Human Science and Biomedical Engineering National Institute for Advanced Industrial Science and Technology Tsukuba Japan National Cardiovascular Center Osaka Japan

Plaque rupture is regarded as one of the main causes of acute coronary syndromes. To prevent plaque rupture and guide a pharmacological treatment, it is important to image the weak (fragile) part of atherosclerotic plaque. Our preliminary experiments revealed the feasibility of a strain image using IVUS (intravascular ultrasound) to discriminate between different types of plaque. For the purpose of obtaining finer and more stable assessments of vulnerable plaque under interventional conditions, we propose a strain power image as an index of tissue deformability by analyzing the time-varying strain profiles obtained from the IVUS data. We also conducted an in vivo test with a new acquisition device that allows us to capture a large scale of RF data. The results demonstrate that strain power imaging has the potential to evaluate the vulnerability of plaques.

关键词： Elasticity Capacitive sensors Ultrasonic imaging Heart beat Radio frequency Lipidomics Catheters Blood pressure Arteries Biomedical imaging

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Estimation of absorption coefficient of the lower layer in layered turbid media with time-resolved measurement

Estimation of absorption coefficient of the lower layer in l...

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Biomedical Topical Meeting, BIOMED 2004

作者： Sato, C. Shimada, M. Hoshi, Y. Yamada, Y. Department of Integrated Neuroscience Tokyo Institute of Psychiatry 2-1-8 Kamikitazawa Setagaya Tokyo156-8585 Japan Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications 1-5-1 Chofugaoka Chofu Tokyo182-8585 Japan Institute for Human Science and Biomedical Engineering National Institute of Advanced Industrial Science and Technology 1-2-1 Namiki Ibaraki Tsukuba305-8564 Japan

By dividing the temporal profiles of reflected light intensity with time-resolved measurement, we have developed a new approach to selective determination of the absorption coefficient of the lower layer in two-layere... 详细信息

ISBN: (纸本)1557527695

关键词： Turbidity

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