In recent years, the fields in which robots work is extended. But almost mobile robots move along the pathway for robot that is blocked off from human or other machines. To enlarge the fields for application of robots, robot must obtain the ability to move through the area that human are acting. The robot we developed is able to move through the walkway mingle with human. To do that, this robot has many kinds of sensors and operated by the algorithm for recognize the environment and obstacle avoidance. And to certify this ability, we tested this robot at our campus and attend the "TSUKUBA CHARENGE".

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Trochoid is a complete solution in geometry for realizing omnidirectional mobility with rotating mechanism. Quasi-trochoid curve in previous works makes much friction loss. We propose a simple mechanism for geometrically complete trochoid as a novel omnidirectional translation mechanism. As a mechanism using conventional wheels, it can avoid the week point of omniwheel for bump. This is the most efficient type of omnidirectional mobile mechanism with steering conventional wheels. Like as helicopter blade mechanisms, the angle of the wheel is changed in a predetermined orientation. This mechanism is available to very wide range of mobile speed continuously. The axial symmetry of this mechanism is useful for indoor mobile robots.

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In order to assist and guide the seniors or the physically handicapped, we have developed the autonomous vehicle with a handrail. The vehicle equipped with a LRF can avoid the obstacles in the environments and the trajectory and the speed of the vehicle can be easily calculated by a dead reckoning method. First, we have examined the speeds and the trajectories of the cart when the subject will push with the handrail in turning the corner. Furthermore, we examined the trajectories by the autonomous mobile robot with a LRF. Then we evaluated the path and the velocity data obtained in the experiments to make the autonomous mobile robot assist and guide the flowing persons, and to walk safely. We will also discuss what may affect them.

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This report describes an in-pipe locomotion robots for small radius (50 [mm]) pipe-lines. We have made two robots connected to each other which can run inside of the pipe-lines using pendulums with magnet. The first robot can inspect inside of the pipe by a CCD camera, which is operated by the controller, and the second robot follows the first one, automatically. The authors proposed to use connected robots to increase payload in small environment. Experiments to follow the second robot to the former one were done successfully on plane or inside of the straight pipe. However, the robots need more than 100 [mm] to run 90° curves.

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A mobility scooter is widely used due to increase of elderly people. We propose a simple method to detect obstacles based on distance measured by a single laser range finder. First, we approximate the relation between sensing direction and distance with a quadratic. Then we evaluate existence of obstacles and unevenness of the road surface by comparing the approximated quadratic with measured distance information. The proposed method can be used to develop a compact driving support system mounted on small mobility scooters.

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Position estimation by odometry has accumulated errors. Therefore, robots correct errors using landmarks. In this research, the landmarks are generated from map on "Google Maps". We propose the system of the position correction using the map acquired from "Google Maps". In this research, we assumed that landmarks are possible to be generated from the map. Based on this assumption, we developed the system of self-position correction by adopting "Monte Carlo localization".

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The approximation of humanoid robot by an inverted pendulum is one of the most used model to generate a stable walking motion using a planned Zero Moment Point (ZMP) trajectory. Many studies have been carried out to improve the reliability of this model. One of the proposed models is the quadratic system model, which has been validated by conducting real experiments on the humanoid robot. In this paper, we propose on-line controlling algorithm for the quadratic system. In order to validate this algorithm, dynamically stable walking patterns have been generated. The stability and feasibility of walking patterns have been confirmed using dynamical simulation and conducting real experiments on the humanoid robot HRP-4C.

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In this study we explored basic dimensions used to perceive humanoid robots and developed a scale to evaluate perception of humanoid robots, PERNOD. Previous studies of perception of humanoid robots used psychological scales created for interpersonal perception between humans. This study clarified the basic dimensions of perception of humanoid robots and developed PERNOD by means of psychological methodology. The results revealed six basic dimensions of perception of humanoid robots: Utility, Clumsiness of motion, Possibility of communication, Controllability, Vulnerability, and Objective hardness. The 6 dimensions of PERNOD were originally developed for humanoid robots. Thus, these dimensions represent the organization of knowledge used in the recognition of humanoid robots. Usability of PERNOD was discussed.

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Personal space between two human beings is very important. If humans and humanoid robots are to coexist in the same environment, the personal space between them has to be taken into consideration, too. We have evaluated the personal space between a person and a humanoid robot through an experiment using a real robot and a VR robot. If the results about a VR robot and a real robot are not different, the personal space can be evaluated in the future by VR only. As a result of our experiment, we have found that the personal space between a person and a humanoid robot matches to personal distance which is seen between two persons who are in a relationship of friendship/acquaintanceship. Also, no differences were seen in the shapes of personal space for a real robot and a VR robot, respectively.

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Humans can accomplish various tasks adaptively. While doing the tasks, it is considered that the human musculoskeletal system plays an important role. In order to produce adaptive behavior and understand the role of the human musculoskeletal system, we have developed a humanoid robot with musculoskeletal system that is driven by pneumatic artificial muscles. Using this robot, we realized maintaining standing by a simple feedback based on the gyro and acceleration sensor.

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Human muscular-skeletom structure is very complex, and human uses it to realize adaptive behavior. However, functions of the structure are still not well-understood. Reproducing the structure will help us understand the functions. This paper describes a design of a robot arm with human-like structure. We evaluate perfomance of the arm and realize a pitching motion.

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We studied moving motions by using the arms and the legs of small size humanoid robot SANDY-3 (450mm, 1.6kg, 24DOF). SANDY-3 was designed based on the skeleton of human. We made the moving motion of crawl on the back, roll-over, crawl on the hands and knees and walk on the knees. And, to make the motion of robots, we considered the physics (α: Principle of conservation of angular momentum, β : Principle of conservation of linear momentum, γ: Frictional force, δ: Positional relation between gravity point (G_p) and Support polygon (S_p)).

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In this paper, a global motion planning method for humanoid robots is proposed. Humans can walk and take an object with little consciousness. However it is necessary to give some information which is where to stand, how to grasp, and so on to humanoid robot. The proposed planner decides a target standing position considering a sequence of motions according to different given task. By evaluating planned sets of the walking motion and the grasping motion, an optimal global motion for the given task is selected.

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This paper describes a fast turning method for a humanoid robot by using slipping motion with both feet. The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions by using a human-like foot mechanism with a passive toe joint. The human-like foot enables a robot to turn by using slipping motion because it can switch ground contact conditions such as heel contact, sole contact and toe contact. To realize a slipping turn, we develop an attitude control. Verification of the proposed method is conducted through experiments with WABIAN-2R. WABIAN-2R realized a quick turn by using slipping motion with both feet. We also confirmed the energy consumption of a slipping turn is less than that of a stepping turn.

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In this paper, we present a new human detection method for mobility robot and a taxi service robot using human detection and hand wave detection. This human detection method is LRF and Omniview Camera co-detection method. First, range data obtained from LRF are splitted into segments and some images are clipped from panoramic image by the segments size. Then we classify clipped images as human or not by HOG features of the image and SVM (Support Vector Machine).

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The aim of this research is to develop the robot which takes a walk together with person. At the first step, the tracking target velocity estimation system using LRF was proposed. The distance data from LRF is used for the input data of the tracking target velocity estimation system. The deviation rejection by using pseudo LPF is performed as processing of the velocity estimation system. The output of tracking target velocity estimation system is the tracking target speed and direction. We confirmed that the proposed system is usefulness through the experiments.

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This paper proposes a light-weight sensor platform that consists of gyro-assisted odometry and a 3D laser scanner for autonomous mobile robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. The system uses small and low-cost sensors, and can be applied to a variety of mobile robots in human-scale environments. Outdoor experiments were performed in our campus and at the Tsukuba Challenge 2009.

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Recently, robots are coming into our daily life. Many researches for purpose which is coexistence and cooperation of robots and people have been studied. But in our familiar environment, there is no relation of autonomous mobile robots and us in fact. The purpose of this research is the development of the autonomous mobile robot assuming a shopping cart. This robot can return to where it was by itself, after carrying packages to the car. This paper shows the system which a robot can return autonomously. We developed and evaluated self-localization, estimation of the destination, and obstacle avoidance of these functions.

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This research aims to realize a mobile robot system running in corridors of buildings by voice instructions. Voice instruction is useful and intuitive for people, because most people can use it without any special device and they use it routinely. This is the advantage of using voice instruction to control a running robot. However, the speech recognition technology has some shortages, we considered and experimented how to use voice instruction. As a result, we propose the method like a taxi driver's model, in which people give the instructions beforehand, and the robot autonomously recognizes the cross or such environment point to control itself according to the instructions. For realizing this method, we give some functions to the robot. These are the obstacle avoiding, road shape detecting, and robot state controlling functions. This paper describes the construction, experimentations and future works of the system.

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This paper describes an experiment of a mobile robot system with a robot arm, a camera, a laser range finder and wheels that can use elevators. Some of existing mobile robots can already move by using elevators. However, they have to use elevators on limitations. For example, an exclusive mechanism for calling elevators and/or a robot mode without humans must be used. That is, humans cannot use the elevator when they use the elevator. Therefore, the mobile robot, that can use elevators by pushing the buttons of elevators automatically with the robot arm itself, and that can use elevators with humans together, is required. We call the mobile robot with these requirements "A Mobile Robot Coexisting with Humans". And we try to develop such a mobile robot and an experiment of the mobile robot for using an elevator is shown.

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This paper describes the development of a sensing device that can be used to estimate the position of mobile robots on slippery terrains. The device consists of an optical sensor designed for a computer mouse and dual laser light sources for generating a laser speckle pattern. It detects the motion of a moving surface at a large distance from the surface, from 80 mm to 300 mm, by tracking the laser speckle pattern. The use of dual laser light sources makes the tracking robust for large distances from the ground. Some fundamental experiments validated the performance of the device, which tracked surfaces with high accuracy under various height conditions. Finally, the device was mounted on our mobile robot, and simple experiments were conducted on a slippery sandy terrain to evaluate the usefulness of the device as a noncontact odometry system.

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Personal robots anticipated to become popular in the future are required to be active in joint work and community life with humans. These personal robots must recognize changing environment and must conduct adequate actions like human. Object tracking can be said as a fundamental function from the view point of environmental sensing and reflex reaction against it. The authors developed an object tracking motion algorithm by using upper body. Then, we integrated it with an online walking pattern generator and developed an object tracking biped locomotion algorithm. Finally, we conducted an experimental evaluation and confirmed its effectiveness.

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A human being utilizes its singularities to achieve natural walking. However, most humanoid robots cannot utilize their singularities while walking. It seems that one of the reasons of this is their flat foot shape, which makes it difficult to perform human-like push-off motion. In this paper, we design a new prototype foot shape of humanoid robot for human-like walk. Experimental results show the effectiveness of the prototype foot shape.

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It is preferable that robots for contact with a human or an environment have soft outer cover and give them fewer impacts. However in particular a robot with multi-jointed body structures has different demands about softness by the part. For example, toe prefers to be harder, and bends of elbow and knee softer. In this paper, we realize soft and thick outer cover with distributed softness, and evaluate movability and softness.

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A Structure of multijoint and variable stiffness realizes various motion of humanoids. Especially, applying for cervical vertebrae of musculoskeletal humanoids affects its cervical part and head. However, almost cervical vertebraes of developed humanoids have basic degree of freedom and number of joints. Furthermore, plenty of tendon-driven cervical spines mount no hardware element to adjust their stiffness. In this paper, we designed a tendon-driven cervical part having three spherical joints and ten tendons. In addition, nonlinear spring elements for adjusting stiffness are inserted in all tendons. Relation between tension force acted on the head and the displacement of head shows changing its stiffness.

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We propose a strategy for performing under the environment with movable obstacles. Movable obstacles are detected by using active sensing and the color range sensor. Active sensing is that the robot tries to push an object using its arm and classify them into movable or non-movable object based on fused results from the force sensor, the joint angles, the color range sensor. The color-range sensor consists of TOF (Time Of Flight) range sensor and conventional color stereo cameras. The proposed strategy is that the robot continues to detect the movable obstacle, move the obstacle and reconstruct the environment recognition. Finally, we show the experimental result that the humanoid robot HRP-2 can navigate in the environment with movable obstacles by means of the proposed strategy.

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This paper describes the method of configuration and calibration of the color depth image sensor for humanoids. The color depth image sensor consists of a range sensor and conventional stereo cameras and is located on the head of HRP-2. This sensor is simply calibrated by using a checker board. In order to avoid the occlusion, corresponding color is estimated by using both images captured by stereo cameras. This sensor can acquire denser 3-D points than conventional stereo cameras. Color depth images of 176x144 are captured more than 10 frames per second by this sensor.

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The identification method for industrial manipulators considering physical consistency such as positive definiteness of inertial parameters has been developed, however it has to solve the quadratic programming with the non-linear inequality constraints. In identifying the large-DOF systems like humanoid robots, the converged solution is difficult to be obtained. In this paper, we propose the method to realize physical consistency and computational stability. As inertial parameters of each link are represented with a finite number of mass points, the constraints can be approximated by linear inequalities. We also propose to solve the optimization problem, which minimizes the errors both from measured data and the priori parameters extracted from the geometric model like CAD data. The method can estimate standard inertial parameters, which is a useful notation to be used for other applications.

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Our research developed a novel teleoperation system for an UGV (unmanned ground vehicle) using a low-bandwidth communication. In this system, the 3D environmental map measured by mobile mapping System is used for the remote control interface. The low-bandwidth and high-delay transmission links cause a serious problem for the vehicle control. To solve this problem, the time synchronization by two GPS receivers is proposed in this paper. The transmit delay time can be measured by two GPS receivers, and the current position and attitude of the UGV can be estimated from the delay time. The result of the field experiment showed that the proposed system was easy to grasp the remote environment for teleoperation.

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The automated facilities demand working vehicles with advanced moving ability. Therefore, various driving devices have been invented, but each of them has problems. For example, vehicles with omni-directional wheels are often used but they are hard to control because the surrounding rollers of omni-directional wheel have unstable rotational resistances by some degree. Although omni-directional wheels with motors rotating surrounding rollers directly is developed, the sizes of the motors are limited and it makes electrical wiring difficult. In order to solve these problems, an omni-directional driving wheel is proposed in this research. This wheel has the structure similar to the omni-directional wheel but it can drive the surrounding rollers. Sizes of the motors are not limited and electrical wiring is easy.

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In this paper, we propose a method of robot motion control for the outdoor autonomous mobile robot in the sidewalk. GPS and Odometry are used for self-position estimation. In addition, it corrects the position using the information of a camera, a direction sensor, and more. When performing self-position estimation, it is performed in consideration of the reliability of sensor information. We clarify usefulness of this method through real world experiments.

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This paper describes the development of autonomous mobile robot technology for "Real World Robot Challenge 2009". The required function to complete the course in common outdoor environment is that, robot can return to the course from anywhere. We developed high accuracy position estimation method by using of Extended Kalman Filter, and the navigation method which have toughness against position estimation error. As the result, the robot completed the course several times in test runs.

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This paper describes an autonomous mobile robot "QUVIC", capable of outdoor navigation in a crowd. Robustness and dependability are important for autonomous navigation. Therefore we applied Model Based Development framework to perception system in order to make it robust. Then, we used Failure Mode and Effect Analysis method to improve dependability. On Tsukuba Challenge experiments in a crowded environment up to 40 people per 100 m^2, "QUVIC" autonomously ran 1 km 9 times in 14 times.

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Recently, various mechanism have been developed combining linkage mechanisms and wheels, especially, the combination of passive linkage mechanisms and small wheels is one of main research trends, because, standard wheeled mobile mechanisms have difficulties on rough terrain movements. In our research, a 6-wheeled mobile robot employing a passive linkage mechanism has been developed to enhance maneuverability and achieved climbing capability over a 0.20[m] height of bump. In this paper, we propose environment recognition system for wheeled mobile robot which consists of multiple classification analyses like self-organizing map, and image processing for self-localization.

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We present a high-speed planning method with compact precomputed search trees using a new pruning method and evaluate the effectiveness and the efficiency of our precomputation planning. We define two obstacle rates which express a dispersion in a real indoor environment, and we introduce the limitation of precomputation planning using these obstacle rates. Its speed is faster than an A* planner in maps in which the obstacle rate is the same as indoor environments. Precomputed search trees are one way of reducing planning time; however, there is a time-memory trade off. Our precomputed search tree (PCS) is built with pruning based on a rule of constant memory, the maximum size pruning method (MSP) which is a preset ratio of pruning. We apply the node selection strategy (NSS) to MSP. We extend the outer edge of the tree and enhance the path reachability. Additionally, the alternate branch backtracking (ABBT) enhances a success rate in crowded environments. In maps less than 30% obstacle rates on a map, the runtime of precomputation planning is more than one order of magnitude faster than the planning without precomputed search trees. Our precomputed tree finds an optimal path in maps with 25% obstacle rates. Then our precomputation planning speedily produces the optimal path in indoor environments.

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In our earlier work, we have demonstrated a passive running based on bouncing rod dynamics (hinged-movement) by experiment and simulation. However, stability of the passive running is unstable. In this paper, we first analyze the causes of running failure. Secondly, we stabilize the passive running by foot. Finally, we demonstrate a possibility of existence of stable limit cycle.

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In this study, a new control method that would be able to stabilize passive walker without torque input at leg joints by utilizing entrainment and mechanical oscillator was examined. It is difficult to stabilize the three dimensional biped passive walker in various environments because the range of the initial conditions for stable walk is narrow. Therefore, a three dimensional biped passive walker was designed by considering the results of human gait analysis in order to make the success rate of the passive walk high. Stability of this passive walker was analytically examined by analyzing limit cycle of the frontal movement. A period of the frontal movement is synchronized with the period of the swing leg by mechanical oscillator. The controller of the mechanical oscillator that is fixed on the passive walker generates the target path in order to synchronize the oscillator movements with the frontal movements. The passive walker is stabilized when a frontal motion period is synchronized with a swing leg period by periodic input generated by the mechanical oscillator. It was experimentally examined that the passive walker could be stabilized on various slopes and flat floor.

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In the present study, we discuss a design scheme for an explicit control law that well fits with the implicit control law underlying a Poincare map for passive dynamic running (PDR). In our previous study, we have found that an "implicit two-delay feedback structure" is an inherent stabilization mechanism in PDR. In this paper, we have designed an explicit control law based on our knowledge of the implicit control law in PDR and investigated the effect of the coupling between implicit and explicit control laws on the stability of PDR. Through our simulations, we have found that the proposed explicit control law plays a pivotal role to enhance the stability of running. To the best of our knowledge, this has not previously been addressed. The results obtained are expected to shed new light on the "well-coupling" between implicit and explicit control laws.

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It is well-known that Passive dynamic walking robots walk efficiently, however, the robots are not able to walk on the level ground. Therefore we try to develop a semi-passive dynamic walking robot which can walk on the level ground by adding torques of ankle region using the property of Passive dynamic walking. In this paper we report a simulation result which indicates semi-passive dynamic walking realization.

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In recent years, research on biped walking robots has been focused on passive dynamic walking. The most important benefit of passive walking is low energy consumption; however, the walking itself is not robust and cannot be sustained without control. To minimize the energy that is used for control, we propose a simple switching control method based on phase trajectory. In this paper, we simulate a planar passive biped walker descending a moderate slope and apply the proposed walking control method. A significant improvement in sustainability of walking was achieved with minimal use of energy.

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Passive dynamic walk is nearly human walk, because passive dynamic walk use the energy that is only gravity field. This research used kinematic analysis for identifying similarities and differences human walk and passive dynamic walk. As a motion analysis, we compared the trajectory that was calculated the ground reaction force from the center of gravity of human walking and stable biped passive dynamic walking. This paper reported about the result of spectral analysis of the trajectory of the center of the gravity by walking of human and passive dynamic walker.

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The author has proposed a novel method for generating a dynamic gait based on anterior-posterior asymmetric impact posture tilting the robot's center of mass forward. The primary purpose of this method is to make overcoming the potential barrier at mid-stance easy, and the mechanical energy is accordingly restored. The validity of the method has already been confirmed by using a telescopic-legged rimless wheel model. This paper then extends the method to a planar telescopic-legged biped model, and investigates the validity through numerical simulations. We also perform efficiency analysis taking the ankle-joint actuation into account, and discuss the role of anterior-posterior asymmetric shape of human foot from the brake effect point of view.

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In this paper, we discuss the effect of upper body on the stability of passive dynamic running (PDR). To this end, we have modeled a passive dynamic running biped with upper body in a numerical simulator. Through our numerical simulations, we have found the following results: (i) Periodic stable solutions exist; (ii) The higher position of COM destabilizes PDR; and (iii) The inertia of upper body stabilizes PDR. Our results shed new light on the principles underlying bipedal locomotion; in particular to what extent of the stabilization mechanism can be explained by passive dynamics underlying whole body dynamics properties.

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In our earlier work, we realized a assist level walking of passive biped walker that added upper body by means of spring mechanism. Moreover, we demonstrated that the upper body increases efficiency of walking. However, its mechanism is not understood well. In this paper, we model a passive walking that added upper body by means of spring mechanism. We demonstrate that the passive walking with upper body can generate a stable limit cycle.

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Active scope camera is a very small robot and one of the rescue robots for search. Self-position estimation of active scope camera is needed for efficient search. Nevertheless, added sensors disturb inserting into narrow space and running by itself because sensors are too big and too heavy for active scope camera. Thus, vision-based odometry using fish-eye camera of tip is good way. However, images gotten from active scope camera are unusual. For example, particular pattern of material in disaster environment and over exposure by LED lights embedded camera tip will affect matching of feature points. Therefore, this paper introduces the method of vision-based odometry and evaluate effects of disaster environment by experiments.

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An intelligent vision sensing system with adaptive edge-enhancement filter was developed. The system is designed based on an analog-digital mixed architecture and comprised of a 128x128-pixel photosensor array, an analog resistive network circuit, a field-programmable gate array (FPGA), and a digital computer. The system operates at a frame rate of 30 fps. The adaptation process of edge-enhancement filter is implemented as a frame-by-frame selection of filter from predefined set of bandpass filters. Because these filters are normalized according to the response to the statistically-averaged natural images, an optimized filter can be selected by comparing the energy values of the filtered image.

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Recently, various types of robots have been researched and developed for supporting our life. Also, the perceptual system for the robot is researched. Visual perception includes a lot of valuable information and it is useful for all intelligent robot system. In this paper, we discuss intelligent robot vision in order to Information Structuring. There are many visual sensors and we use the range-imaging camera to detect distance and image data. We propose a method for perceive moving target by using growing neural Network and Genetic algorithm. In the experimental results, we show the potency of our method

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Based on real-time frequency filtering at pixel-level, we introduce an algorithm to extract vibrated objects from a video at a high frame rate of 1000 fps or more, which are too fast to see with naked eyes. Its effectiveness is verified by performing several experiments, in which a moving fan with a rotation at a frequency of several dozens of Hz is simultaneously tracked by controlling a 2-DOF active vision system with visual feedback information from a real-time high-speed vision.

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In this paper, a new zoom and focus mechanism for a high speed-vision is proposed. The mechanism consists of a varifocal lens and two AC servo motors. It is lightweight, and it has good performance to be controlled at high speed. We propose a visual servoing control for the zoom and focus mechanism. As the image features, the area of a target and SML (Sum of Modified Laplacian) are used. The relationships between these features and the joint angles of motors are measured to decide the parameters of control.

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In this paper, we have developed a new mini quasi passive dynamic walking robot with an upper body. This robot is controlled by delayed feedback which can stabilize periodic walking orbits without their exact information. Then, the parameters of the mini robot are determined based on the numerical simulation in which quasi passive dynamic walking of the mini robot is analyzed. Moreover, we have shown in this paper the mechanism of the mini robot and the experimental result.

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