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Distributed Actuation Module for Ubiquitous Robot
Kazutaka Takaki,Tetsuo Tomizawa,Tamio Tanikawa,Kohtaro Ohba,Makoto Mizukawa 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Ubiquitous robots consist of distributed and networked robot elements such as sensor, computer, actuator, and etc. Distributed Actuation Module (DAM) is one of the ubiquitous robot elements, which provide physical services. If the technology of the DAM develops as well as sensor and computer technology, a user can match up and set robot elements freely. The ubiquitous robot can be designed according to the knowledge of the engineer as well as the true needs of the user. This paper describes problems of communication method and synchronization method for the DAM, and proposes a method to solve them. We also implemented the proposed methods to actual Active Caster which is wheel type actuator and evaluated the concept and functionalities.
Universal Design of Robot Management System for Daily-Life-Supporting Robots
Bong Keun KIM,Tetsuo TOMIZAWA,Hyun Min DO,Jae Hoon LEE,Hideyiki TANAKA,Yasushi SUMI,Hiromu ONDA,Tamio TANIKAWA,Kohtaro OHBA 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In order to cope with many problems of everyday activities which requires robots to accomplish complex yet routine tasks in changing environments, this study focuses on universality and proposes seven principles of universal design with robots. These principles are used to design a robot management system that manages and controls information-structured environment with robots, ambient intelligent systems, and everyday objects. A particular scenario is considered to verify the feasibility of the proposed design method.
Visual Marker System for Control of Flexible Manipulator Supporting Daily Living
Hideyuki Tanaka,Tetsuo Tomizawa,Yasushi Sumi,Jae Hoon Lee,Yong Shik Kim,Bong Keun Kim,Tamio Tanikawa,Hiromu Onda,Kohtaro Ohba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Structuring of environment is indispensable for practical application of domestic robots. We developed a supporting system for a service robot which is in practical use and assists human daily living. In this system, we used a flexible manipulator of which fine position control is difficult to conduct. In order to fulfill the precision requirement needed to autonomous object handling, we implemented a visual marker system which provides robots with assistive information for fine manipulation, combining with a visual servoing scheme. We verified the basic design of the marker system under a home environment through preliminary experiments.