TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 79(797) 1-16 2013
An obstacle avoidance method using a virtual impedance wall is proposed for a multi-legged robot. The swing legs use compliance control to make soft contact and avoid colliding with objects, so that the robot maintains the moving direction as far ...
IEEJ Transactions on Sensors and Micromachines 132(7) 203-211 Jul 2012
We propose a sensor that provides position measurement for a particle in a micro channel fabricated with polydimethylsiloxane (PDMS) chip. By irradiating a plastic optical fiber (POF) array arranged across the micro channel with a light source, th...
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 78(793) 3186-3201 2012
A new convergence calculation method of the Normal Distributions Transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the d...
TAKUBO Tomohito, Fukano Yohei, OHARA Kenichi, MAE Yasushi, ARAI Tatsuo
FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies 2011(21) 269-272 Sep 2011
Wearable mobile base walking assist system is simulated by the developed bipedal simulator. The simulator employs Central Pattern Generator (CPG) for bipedal walking pattern generation. The CPG based walking pattern is one of the candidates for si...
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