12 accepted papers
Fiducial markers enable reliable service robot control. In human-robot coexistence environments, efficient placement of square or circular markers can be challenging due to limited space. In this study, we developed a world-first, elongated fiducial marker, capable of high-accuracy 6-DoF measurement…
As people age, walking can become difficult. This difficulty in walking can lead to further physical decline and eventually result in the need for caregiving. To prevent this, wearable robots supporting walking rehabilitation have been developed. In this study, we aim to develop a modular robot wear…
To extend the coverage of people able to receive high-quality rehabilitation, remote rehabilitation is required in addition to traditional face-to-face rehabilitation. Although remote rehabilitation using video conferencing systems has been realized to date, communication through physical sensations…
Lenticular angle gauge (LEAG) is a planar pattern that visualizes relative attitude by the position of the black line, which moves according to the viewing angle. The authors developed a new LEAG in which the direction of movement of the black line is 90◦ different from the previous LEAG, and used i…
Technologies for estimating self-position and orientation are important for both humans and robots. These technologies allow robots to perform tasks such as carrying objects and allow people to reach their destinations. Although self-position estimation technologies using GPS and laser rangefinders…
Automatic control of mobile robots and robot arms requires techniques for estimating the position and orientation of objects with high accuracy and robustness. Although methods using markers or machine learning have been developed, general-purpose and highly accurate estimations have not been realiz…
This paper describes the development of a whole-body robotic simulator of an elderly person for evaluating robotics devices for nursing care. To improve the quality of life of the elderly persons, physical assistance such as transfer, movement, and bathroom assistance is important. It is also import…
Some stroke patients are affected by hemiplegia, which is the complete paralysis of half of the body, and need to train in upper limb motions with high frequency to improve their quality of life. Therefore, the authors developed a portable robot with a main processor, actuators, motor drivers, a for…
Visual markers are useful tools that aid autonomous robots in object recognition and pose measurement; however, conventional markers have two fundamental problems in orientation estimation: (1) inaccurate estimation in the frontal direction and (2) pose ambiguity. We previously developed a visual ma…
This paper introduces a method of force control for a jumping biped robot to correctly control the ground reaction force during continuous jumping. Assuming dynamic motion, such as jumping and running, the attitude of the robot depends on the dynamics in response to the ground reaction force. Theref…
This paper introduces the control method for the impact force based on feed-forward control considering the stiffness ellipse of a biped robot. Assuming dynamic motion, such as jumping and running, the jumping direction depends on the dynamics in response to the ground reaction force. Therefore, it…