This paper presents the sinkage sensing using the grouser embed a function to measure reaction from soil for wheels of lunar rovers. The wheels that traverse loose soil like lunar surface have the grousers like puddle. The grousers transfer the trust to the wheels or the body of rovers. Therefore, the grousers are needed to traverse loose soil for wheels of lunar rovers. The interaction between the wheel with grousers and loose soil can be expressed using kinematic model. Moreover, when the wheel is traversing loose soil, the wheel sinks into soil. If the rover knows usually the sinkage, it does not become the poor condition. It is very important and effective to detect the inserting angle of the wheel to understand usually the sinkage on time. In this paper, we develop the sensing wheel with the grousers with a tactile sensor to detect the sinkage. From experiments using, we discuss about the effectiveness of this proposed wheel.

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This paper proposes a new all-round Air-Land-Sea Unmanned Aerial Vehicle (UAV) and the automatic charging device. The new UAV is a quadrotor helicopter with two rolling protect-flames, and can not only fly in the air but also move on the ground, the wall, the ceiling and the water. Firstly, some prototypes are presented of the new UAV. Secondly, a new automatic charging device for the UAV is developed based on ground running motion without precise landing from the air. The proposed method can complete the battery charging safely even in windy outdoor.

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Most of guided vehicles or automatic robots are equipped with a locomotion mechanism with two independent driving wheels. Since such robots have a nonholonomic constraint, it needs a specific control method when controlling them. We here concentrate on a stabilizing control approach using an invariant manifold. A nonholonomic controlled object always can be assured to converge to the origin in the control of using the invariant manifold, but it is not said to converge to an arbitrary point. The objective of this research is to stabilize the mobile robot with two independent driving wheels to any equilibrium point by applying the kinematic model of the robot. In this research, an extension to any point is tried by using an invariant manifold based on the kinematic model. This paper proposes a method for applying the invariant manifold theory to an error kinematic model and verifies the effectiveness of the proposed control method by simulations.

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In this paper, we investigate the relationship between lead-lag motion of a flapping robot and yaw turning motion. Although flapping flight used by insects has attractive characteristics such as right angle turn, hovering, and high acceleration, the mechanism is not yet clarified. Here we focus on the lead-lag motion of a butterfly which changes the center of lift and wing area by overlapping the fore and hind wings and analyze the mechanism using two types of butterfly-style flapping robot. The case 1 robot can move the right forewing forward and backward according to the flapping motion, while the swept forward angle of the right wing for the case 2 robot is fixed. The results showed that the case 1 robot turned more largely than that of case 2 robot by the difference of the left and right wing reaction forces and that the dynamic shift of the wing reaction force enhanced the yaw moment by the feathering effect.

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Recently, the needs of observation UAVs (Unmanned Aerial Vehicle), such as unmanned fixed-winged aircraft, unmanned helicopters and multi-rotor aircraft, have increased instead of the manned aircraft. It is expected that the UAVs are useful for aerial image acquisition, monitoring of disaster areas and so on. Especially unmanned helicopters can observe hovering in the air, that is a strong point for observation. Therefore, in AIST and NRIFD, the unmanned helicopter system for disaster prevention is being developed. This time, in order to measure the position and attitude of the unmanned helicopter or monitoring equipment, the position and attitude measuring method with stereo vision was developed. Using the method, the unmanned helicopter can know its local position and attitude with a high degree of accuracy. It and a high precision GPS can complement. In this paper, the position and attitude measuring method with stereo vision and the experimental results are described.

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This paper presents an autonomous battery exchanging system for multirotor helicopters. We develop an autonomous battery exchange system for practical use as an industrial. This is already the second system we have developed. This new system is being developed based on the previous system, however it performs an accurate take-off and landing at the battery exchanger using a high accuracy motion capture system. In addition, we develop transportable heliport, system which consists of an automatic battery exchanger, a motion capture system, a generator and other equipment. It is designed to allow for a long-time operation of the multi- rotor helicopter and the battery exchanger in dangerous places such as disaster areas where a fully automatic operation is necessary.

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UAVs have been actively researched as a means of collecting information during disasters. In particular, helicopter-type UAVs using four rotors are often called an X4-Flyer, and it has been attracting attention. The X4-Flyer has excellent maneuverability, compared to conventional helicopters that change the angle of attack of the rotor. Therefore it can be used at a space such as indoor or low altitude in which many obstacles exist. When the X4-Flyer is used at such a space, it needs to fly not so as to collide with obstacles, and so the precise control of the X4-Flyer is required. The objective of this research is to develop the X4-Flyer that can fly while detecting and avoiding obstacles. This paper presents the attitude and altitude stabilization of the X4-Flyer. We describe on measuring of the physical parameters related to the rotors and on correcting individual differences in motors, and finally conduct a hovering experiment.

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This paper describes the facial recognition system using two optical zoom cameras. It is a purpose that the system can recognize a face regardless of distance by using a zoom camera. When zooming in, the face of the subject comes off from an angle of view, but it is the characteristic of the system to control a pan-tilt mount so that a face is projected in the center of the image. We have confirmed by experiments that the range which could recognize the face of the subject had been expanded. Moreover, we have succeeded in projecting the face of the subject in the center of the image by using the pan-tilt mount.

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Now, many pet robots for animal therapy are developed. Since the pet robot needs to come into contact with people, weight reduction and improvement of touch are important. In this research, improved is the use number reduction and miniaturization actuator, of touch and weight of the pet robot. As for the mechanism to transmit the power to each joint, flexible resin wires were adopted to decrease the rigidity of the joints, thereby reducing the possibility of injury in case a finger is caught, etc.

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We propose the running repeat function for operation support of an electric wheelchair. When using an electric wheelchair indoors, forward movement operation is easy, however backward motion operation is difficult. In such a situation, a running repeat function is useful as the backward-motion operation support method. This function is how to carry out an autonomous running by recording the running data at the time of forward movement, and reverse-playing back the data. The control method of this function was established by our studies. However, passenger of the Autonomous Wheelchair is dangerous if there is no information presentation of the next operation. Therefore, in this paper, it verifies by experiment about the timing of information presentation.

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Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA Technology(fatigue-reduction) which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. The authors have developed power assist suits named "smart suit". The authors have evaluated the effect that the purpose of dairy work assistance, to measure EMG of the worker, compared to the potential of the surface of the non-wearing and wearing "smart suit".

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In artificial forest, thinning is essential for maintaining the forest normal. Usually, human power or winch are used in the case of carrying short distance. However, it involves danger and a lot of efforts to carry thinnings by those means. Add to that, those means limit the distance to be able to carry the thinnings. Sometimes, tractor is also used, but it is dangerous to drive rough terrain on it because there is a possibility to overturn. Therefore, we propose Non-boarding operation and hyper-tether. Non-boarding operation avoid the danger of vehicle tumbling accident previously and hyper tether enables to intuitive operation. This robot consists of several units which has two wheels and both wheels are able to drive and steer individually, so this system is all wheel drive and all wheel steer in the total.

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We developed the Active Scope Camera (ASC) for pipe inspection, which promote by the Ciliary Vibration Drive mechanism. However, pipes consist of many bent pipes, so required insertion and drawing performance, which stably pass through these pipes. In this paper, we design configuration that takes into account an ease of drawing and propose the flexible tube type ASC for improvement of insertion. In addition, we propose the drawing function using a wire, and can draw in status of combination of the eight bent pipes. Finally, we valuate insertion and drawing performance by use of simulated pipe, which was assembled in three dimensions.

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Large volcano observation robots are suitable for traversing rapidly vast range of land. Otherwise, small observation robots are not because of its slow speed, but suitable for climbing steep slope like around a Caldera and soft ground. Therefore, we propose the robot which is able to carry small observation robots to Caldera as soon as possible when a volcano erupts. Add to small observation robots, large volcanic observation equipment are also possible to be carried. Also, this robot has in-wheel-motor in each tire and made of commercially available frame. On the contrary its cheap constitution, this robot has high ability to go rough terrain by using off-road vehicle tires of a passenger car.

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This paper presents a motion-control and commanding algorithm of remotely-operated multiple degrees of freedom robot systems in poor communication environments. As a practical application target, a camera arm system mounted on disaster response robots is taken, and its required functionality in terms of operator stress alleviations and operation stability under asynchronous information delays and loses among human-interface controller and on-board robot controller is discussed with actual implementations and evaluation experiments.

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Recently various driving support systems have been developed to improve safety. It is necessary to design systems based on information that human driver perceives in order not to give a sense of fear on the passenger. Therefore, we focus on optical flow, which is one of the human visual information. Humans are said to perceive the direction of self-motion from optical flow, and are also utilizing it during driving. In this paper, we derive the FOE (focus of expansion) that is the direction of self-motion, and propose a control method based on FOE. The effectiveness of the proposed method is verified by vehicle experiments.

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In this paper, we propose a driving safety support system (DSSS) which employs high-speed vision installed in surrounding environments such as highways, urban roads, and crossroads. The system is aiming to recognize traffic situations including hidden places from mobilities and utilize such information for driving safety support. The system consists of synchronized high-speed cameras which enable us to acquire images every millisecond, and mobilities capable of communicating with these high-speed cameras via communication stations. We conducted experiments on collision avoidance and demonstrate that the proposed system can resolve the deficiency of readiness, which is common to environmental vision systems, by introducing high-speed vision.

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In this study, a Haptic Adaptive Cruise Control (HACC) is proposed. The HACC is a preceding vehicle following system that attempts to cope with the intention mismatch using haptic communication. The haptic information is displayed to indicate the lateral position of the preceding vehicle by the system. In addition, the driver's intention such as lane-changing can be easily communicated to the system by his/her steering operation. By the driving simulator experiments, it is shown that the HACC's haptic information is effective to increase driver's understanding of the system's intention and also to communicate driver's intention to the system quickly.

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We propose a motion planning method that cars can automatically stop at road shoulder. This system is used in order to prevent causing a crash car runs away when the driver is unconscious. The proposed method generates paths in consideration of the car's non-holonomic restriction its deceleration, and obstacle avoidance. In addition, the proposed method can generate a path which the car run without slip by limiting the acceleration during its turn. Simulation results show that the proposed method can generate a path that pulls over a car, slowing down from 80km/h to 5km/h. It is confirmed that the proposed method can generate an appropriate path within 12〜16ms at the case of obstacle avoidance.

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In the present paper, driver models of merging behaviors into the main lances from a side lane was proposed for application to driver assistance systems. The first model, a merging position judgment model determines the position where the driver merges based on the states of vehicles driving in the main lanes before merging. The second model, a merging timing judgment model judges whether the host vehicle can merge into the main lane in the current states of the vehicles. Driving simulator experiments with 10 participants were conducted to build models. The accuracy of the models was evaluated by comparing the drivers' behaviors and the model output. The rate of correct judgment by the merging position judgment model was 79% according to the experiments. Furthermore, a prototype of a merging assistance system was developed using the proposed driver models. The simulator experiments with the assistance system demonstrated that high subjective rating by the participants for the appropriateness of the assistance and decrease of mental workload in merging.

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In order to decrease traffic accidents caused by aged drivers due to delay of perception and judgment, advanced driver assistance systems with autonomous driving intelligence is promising. This paper proposes Clothoidal Path Tracking Control System to realize vehicle can steer smoothly in urban roadways automatically. This system generates a clothoidal path which a preview point will track the desired path, and then calculates desired steering wheel angle from a clothoidal path's curvature change rate. Finally, the effectiveness of the proposed system was verified by the simulation and the experiment in the scenario course turning a right corner because vehicle could drive without departure and steer smoothly.

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This paper proposes a rollover prevention system for small-scale electric vehicle by using transversal distribution of longitudinal forces. The system is composed of a yaw moment controller and a longitudinal force distribution controller. The yaw moment is calculated from full state feedback control lows based on 3-DOF vehicle model. Two type of braking force distributed are used here. One is the DYC with constant speed type, and the other is the DYC accompanied by a desired deceleration. Consequently, the vehicle is controlled by direct yaw moment control (DYC) using distributed longitudinal forces. Finally, the effectiveness of the proposed rollover prevention systems is verified by simulation in double lane change scenario.

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This thesis focuses on collision avoidance automatic braking control system based on pedestrian motion prediction in order to enhance the effectiveness of automatic emergency braking. In the situation that a pedestrian suddenly change his moving direction, current active safety systems cannot avoid collisions in the critical situations due to physical limits in braking capability. Therefore, in order to develop high-performance advanced driver assistance systems, it is important to predict pedestrian motion. This research focuses on the situation that there is the parked vehicle in front of pedestrian who will avoid the parked vehicle and change his moving direction to the center of road. In order to predict pedestrian motion correctly, pedestrian motion model is formulated based on experimental result by using LAIDAR. In addition, an automatic braking control method is constructed based on pedestrian motion prediction.

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The purpose of this study is to develop traffic lane recognition system. The system consists of white line detection part and lane prediction part. The detection part extracts the painted lane marking by applying a special operator to the reflection intensity of the LIDAR. The prediction part estimates the shape of the forward road from the white line detected in the past. Finally, its performance and efficiency through experiments at the real environment are shown.

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Recently, dense disparity map is employed in many researches of real environmental recognition. Semi-Global Matching is one of the calculation techniques for a dense disparity map. This technique calculates disparities based on minimization of matching costs and disparity variations. However, some invalid disparities sometimes are included in the dense disparity map. They are obtained in the position which connects objects, and will harm to the object detection and the estimation of its size. In this manuscript, we propose an invalid disparity detection technique using DBSCAN. This technique is confirmed that can detect invalid disparities in experiment using real environmental scene.

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Passive dynamic walk has attracted attention from many researchers. Because passive dynamic walk use the energy that is only gravity field. This research is kinematic analysis using smartphone. In this paper, passive dynamic walker is analyzed using a smartphone.

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In this paper, a collision avoidance method by steering for automobiles is proposed. A collision avoidance system by steering is expected to avoid collision in the case of the high-speed range in which collision can not be avoided by only braking. However, such systems need to have ability of environmental recognition and trajectory planning in highly dynamic situations. The present paper proposes a collision avoidance method based hydrodynamic velocity potential approach for collision avoidance by steering. Simulation results of collision avoidance demonstrated that the proposed method can avoid collision with obstacles even in the case with a moving obstacle and multiple obstacles.

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This paper proposes a motion control algorithm for an electric vehicle with a large sideslip angle. The proposed control algorithm is derived based on a planar vehicle dynamics with four wheels. A control algorithm for the sideslip angle of the vehicle is derived based on lateral translational motion dynamics of the vehicle using the steer angle of the front wheels as an input. The proposed control algorithm is implemented in a small experimental vehicle, and experimental results illustrate the effectiveness of the proposed motion control algorithm.

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The purpose of this study is motion control of the vehicle with wheel side slips, which is generally difficult to control. The vehicle motion is governed friction force largely generated by each tire. The friction force varies depending on the amount of slip between tire and road surface. The motion control of the vehicle has been studied in the small area of the tire slip. However, in motor racing, such as rally, drifting with large side slip which is in the nonlinear region of the tire friction force is often used when turning. By operating steering, accelerator, and brake skillfully, the driver stabilizes unstable behavior of the vehicle and runs the course as wanted. Therefore, it is considered that control of the motion with the large side slip such as the drifting becomes possible, it is useful in terms of a new motion control of the vehicle.

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This study proposes a vehicle following system using mechanical coupling device for the increasing use and operation of Electric Light Vehicle. We focus on the point that this system is hardly affected by the operation environment. However, in this system, there is a problem that pulling and pushing force from following vehicle is applied to the leading vehicle. Thus, we conduct driving experiment in order to confirm reduction of the force. From the results of the evaluation experiment, it was suggested possibility of improvement (It feels as if we drive one vehicle) of articulated vehicle maneuverability by using mechanical coupling devise.

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This paper investigates the roles and effects of dynamic absorbers attached to the leg frames on the gait properties of passive dynamic walking. First, we model a passive compass-like biped robot that consists of two identical leg frames with passive dynamic absorbers that represent micromechanical vibration or human flesh dynamics. Second, we conduct gait analysis through numerical simulations to observe how the small oscillation of the leg frames affects the gait properties. The simulation results show that the generated walking gait is nonlinearity. Furthermore, we mathematically model the dominant effect of the dynamic absorbers which represents the micro vibration the metal leg frame produces by using an input-output linearization.

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The aim of this study is to realize the experiment of biped running, and we focus on the bouncing rod dynamics and its mechanism. The key point of bouncing rod dynamics is to transfer horizontal velocity into lifting momentum. In this study, we aim at a stable continuous running by human's assistance. And, we conducted experiment on running biped with knees.

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In this paper, we show propulsive effects of asymmetric swing-leg motion on bipedal limit cycle walking. We have known that a specific swing-leg motion of biped robots can generate mechanical energy for achieving level ground walking. These swing-leg trajectories mainly are asymmetry with respect to the torso. We thus analyze and show the effects of the asymmetric swing-leg motion on walking speed of limit cycle walkers.

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The aim of this study is to understand the mechanism of human walking. We particularly focus on the stabilization mechanism of 3D motion. In this paper, we demonstrate stabilization phenomenon of 3D motion of rimless wheel. We consider that the rimless wheel is important for understanding the mechanism of human walking.

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In swarm robotics, one of the important purposes to be required is to deploy robots to desirable formation. It is proposed several methods which deploy the robots to desirable formation, but there exists no index to measure the degree of convergence to pre-defined formation. Considering from practical viewpoint, to observe the motion of swarm robots, it is important to measure how robots are close to target formation. So, in this paper, assuming the case robots form an equilateral triangle formation, we introduce new evaluation indices which measure the degree of convergence of robot to pre-defined formation quantitatively, and show its validity.

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In this paper, the authors present the development of a method for detecting robust local features for the change of environments and the solution of an occlusion problem based on the feature quantity extraction technique called features from accelerated segment test (FAST) for an omnidirectional image taken indoor and outdoor using panoramic annular lens. This method can solve the above problems by detecting a set of feature points on edges of a ground surface captured by a visual sensor. In addition, the authors have verified how accurately the edges can be found by the proposed method. As a result, the proposed method is effective to extract an arc as the feature point, but it was not effective against edges of the ground surface detection.

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This paper proposes a behavior model for swarm robotic systems that can be externally guided, with agreement on their heading direction with other robots. Alignment rules are often used in conventional studies, and have been shown to be effective for generating flocking behavior for robotic swarms. However, this rule is hard to implement to real robots due to technical difficulties. In order to tackle this challenge, we implement two types mechanisms. The first mechanism is two biomimetic rules: (1) a frontal-sector interaction rule in surf scorters, and (2) a leader rule for providing information about the desired direction to its flockmates. The second mechanism is estimation of the moving direction of other individual by using visual information. By conducting physical experiments, the effectiveness of the proposed method is evaluated quantitatively.

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Currently, the development of a variety of robot is in progress, but the research that a robot coordinated action does not advance. In this study, we tried to develop a smart control mechanism of appropriate behaviors of swarm robots for multiple cooperative tasks. Given cooperative tasks are a 3-Dimensional balancing task and a formation keeping task. Swarm robots system has to satisfy both tasks simultaneously. For this purpose, swarm robots have behavior controller constructed by artificial neural networks(ANN). The ANN controllers output control signals of motors from sensor values of each robot. Weight values of ANN controller are optimized by particle swarm optimization technique which is one of useful meta heuristics. Based on the proposed approach, computer simulations are carried out. Obtained experimental results illustrate effectiveness of our approach.

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This paper treats a swarm robots system that constructs a given structure by collecting distributed materials in the field. In our proposal, the robots with simple algorithm and the materials with simple rules construct the structure cooperatively. Efficiency of our proposal is confirmed by computer simulation through the task of simple structure construction. Such as the line,the rectangle,octagon and soon.

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Swarm robotics is the research field of multi-robot systems which consist of many homogeneous autonomous robots without any type of global controllers. In this paper, an evolutionary robotics (ER) approach, i.e., the method that robot controllers represented using artificial neural networks are designed by evolutionary algorithms, is applied. For complex tasks in ER approach, however, all individuals in the first generations are often scored with the same null value, and as a consequence the selection process cannot operate. In order to overcome this "bootstrap" problem, we apply an incremental approach to evolution within the context of evolutionary robotics. As a benchmark of robotic swarms, cooperative food-foraging problems are conducted to examine their performance.

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Medical doctor must understand the structure of the human body for safe surgery. The aim of this is development of micro anatomy training system. In this system, two haptic devices for left and right hands are used to operate virtual autopsy devices. Existing haptic device has a problem that it collides with each other in a small operation space. Redundant degrees of freedom is adopted for the haptic device as a solution. In order to provide the operator comfortable operation, multi-CPU control system was constructed. Control software including inverse Jacobian matrix, the haptic device was operated freely and to present stiff objects. The performance of the haptic device was confirmed by the experiment.

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Gait rehabilitation is conducted using treadmills or parallel bars. However, there are reports of those who can walk in a training room of a medical facility but cannot in other places. These are because real-life situations totally differ from gait situations in the training rooms in the presence of uneven ground and others cutting across in front of them, so gait rehabilitation is expected to be achieved based on daily living environments for each subject. In this paper, we suggest a walking rehabilitation system for every user.

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Rubber hand illusion is a phenomenon that Subject has an illusion that the rubber hand as the real hand by giving synchronous visual and tactile stimulation on a visible rubber hand and the hidden real hand. By applying the rubber hand illusion, we develop an environment that illusion with subjects hand as well to virtual hand. We assess the degree of motor imagery of the subject to get the surface myoelectric potential (EMG) when allowed to exercise only the virtual hand after the virtual hand illusion (VHI) has inducted. Further, we study the effect of the illusion occurs by adding a stimulus in the environment.

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Many assistive technologies have been developed to extend the capability of human to complete different tasks. Assistive devices such as intraoral interfaces, devices inserted into mouth, are particularly useful given the rich facial muscle abilities. In this paper, we present a novel multipurpose intraoral interface which aims to extend human's manipulation ability. Our intraoral interface consists of an inertial measurement unit (IMU) mounted on a stick attached to a ball joint. The user manipulates the stick using their tongue, and so is hands-free. The stick's orientation data is measured and translated into control commands. An additional IMU mounted on the head is used to compensate for head and body movement. Separate experiments to control a mouse pointer and an electric wheelchair were conducted to evaluate the performance of the proposed interface. The effectiveness of our proposed method as compared to conventional inputs are reported and discussed.

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Recently, wearable computer are investigated widely in many fields. The projection by the mobile projector is enabled to operate as touch screen every planes such as wall or palm. In this paper, we propose a method projecting information from mobile projector on the palm which is detected by Kinect for Windows. In addition, we propose the method projecting information on the palm even if it has moved.

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The research of the manufacturing task support technology is advanced. It can present the appropriate instruction during performing tasks. However, there are many manufacturing tasks which are difficult to undo if they fail. In such tasks, it is preferable that the training is performed beforehand. To solve the problem, the task training support system is developed. The system can detect the worker's operation, simulates the task result corresponding to the detected operation, and presents it to the worker. In this paper, the concept of the task training support technology is introduced. Next, an experimental system we constructed is explained. In addition, the result that the system is applied to the pouring task in casting process is reported.

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Recently, the devices called "3D interface", which get gesture including Kinect and Leap Motion, attract people. Most of them use vision sensors for detecting human motion. However, we try to produce a new 3D interface without vision sensor, focusing on the net-structure proximity sensor our lab developed by. In some previous studies, it was made known that the interface used this sensor can get not only gesture but also identify multi-point. In this paper, we developed a new non-touch human interface device by using modularized net-structure proximity sensor, and proposed new wiring technique. This device can get four points identified positions (four fingers) in wide area.

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This paper describes an immersive virtual environment in which one can cooperate with a virtual character through spoken dialogue and arrange animals, flowers, musical instruments, and pieces of furniture in a dedicated area. This study is motivated by animal therapy and sandplay therapy and directed for building a virtual environment that gives a sense of peace.

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In previous study, we developed a CoP sensor with pressure conductive sensor and a net-structure proximity sensor with optical detection elements. CoP sensor is a contact sensor that detects the strength and the center position of the load. Net-like Proximity sensor is a sensor for acquiring distance and the center position of the object in non-contact with the reflected light of the object. Since the circuit configuration is very similar, integration of the these sensors is easy. In this paper, we develop an interface that can be input in both contact and non-contact. By integrating the non-contact interface and the contact interface, it is expected to expand the diversity of the operation.

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Recently, robots are requested to cover various kinds of needs flexibly. Especially in factories, since a lot of objects are requested to transfer properly in fabrication process, mobile robots are expected to transfer objects according to requirements flexibly. For such needs, we developed a mobile robot the self-localization system using dots pattern on floor. The system enables the robot to recognize its position precisely and move exactly to any position. In order to take advantage of such mobile robot with self-localization capability, the effective interface system to design the motion path is expected. For such requirements, we developed an interface system using the AR technology to design various motion paths flexibly according requirements of fabrication. This paper shows the outline of the interface system for the mobile robot with the self-localization system, and results of verification experiments.

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