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Motion control of multi-legged machines
Naoya Okamoto,Yosuke Kurihara,Kajiro Watanabe 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a control strategy for stable walking by a robot with six legs. While walking, the robot always has three legs in contact with the ground. Walking motion is controlled so that the center of gravity of the robot is within the triangle formed by the three contact points. It was confirmed that the proposed strategy enabled stable walking on a flat plane and on a plane with steps.
Development of electric wheelchair interface based on laser pointer
Yoshihisa Fukuda,Yosuke Kurihara,Kazuyuki Kobayashi,Kajiro Watanabe 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The rapidly aging society in Japan has resulted in an increased demand for electric wheelchairs to enhance the mobility of elderly persons. However, the increased use of electric wheelchairs means an increase in the number of accidents related to wheelchair operation errors. The majority of errors involve the joystick interface because its controllability is highly sensitive and not very intuitive compared to the vehicle-type interface. This paper describes a newly developed intuitive electric wheelchair interface that uses a laser pointer. The direction of the laser pointer is automatically detected by camera and analyzed for movement direction. To ensure smooth driving by using the laser pointer, we apply fuzzy logic. To confirm the proposed method, several simulations were conducted and examined.
Development of safety system for electric wheelchair with thermography camera
Tomoyuki Ohkubo,Kazuyuki Kobayashi,Kajiro Watanabe,Yosuke Kurihara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes the development of a safety system for electric wheelchairs applying a thermography camera, laser range finder, and head mounted display. The combination of thermography camera and laser range finder can detect obstacles and/or humans even in the dark. The main problem the thermography camera is the narrow viewing angle. To overcome this problem, we developed a real-time obstacle tracking system that consists of a thermography camera and laser range finder. The combination of devices achieves robust tracking without the time-consuming complicated image processing required in conventional obstacle tracking. To confirm the validity of the proposed approach, we tested the newly developed system in an actual environment.
A Study on Spin-rate Measurement Using a Uniquely Marked Moving Ball
Sho Furuno,Kazuyuki Kobayashi,Tomoyuki Okubo,Yosuke Kurihara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
A method is proposed for measuring the spin rate of a ball moving through 3D space. The method uses only one high-speed camera and a uniquely marked ball. Five lines, each one a different color, are painted on the??ball’s equator and on its perpendicular great circle, enabling measurement of both the rotational angular velocity (spin rate) and translational velocity. The proposed measurement algorithm consists of two steps. The first step is to measure the translational velocity, for which we developed a new semi-automatic translational speed measurement algorithm. The second step is to measure the ball spin rate employing a unique marker tracking method using a spin rate estimation algorithm based on a rotation matrix. Simulations and experiments were carried out to show the validity of the method, and reasonable results were obtained.
Yuki Sakamoto,Tomoyuki Ohkubo,Kazuyuki Kobayashi,Kajiro Watanabe,Shuzo Matsuda,Yosuke Kurihara 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
According to a British black tea exporter, boiling water of ideal temperature is poured over tealeaves, more than half of the leaves will float while the rest drop to the bottom. Such a movement of tea leaves is well known as "jumping" phenomena. However, depending on the condition of the boiling water, it does not always occur "jumping". In order to analyze the "jumping" phenomena, we investigate automatic "jumping" phenomena through the teapot image sequence.