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As part of the NEDO robot project, we are engaged in developing a surface/underwater robot system which investigates underwater infrastructure such as dams and river facilities. In this paper, we propose a sailing control method based on “extended kite flying principle” for a moored unmanned surface vehicle (USV) system in running water. We also develop the mooring system and the miniaturized USV...
Deteriorations of social infrastructures have been progresses in Japan. To prevent accident due to its failing, effective inspection system is needed. We have been developing underwater inspection system for dam inspection which is called Dam Inspection System (DIS). It is composed by Unmanned Surface Vehicle (USV), and Remotely Operated Vehicle (ROV). USV is called Surface water platform (SWP) and...
Large debris created after natural disasters restrict access to inner parts of affected regions and slows down disaster relief operations. Power shovels are often used to clear wreckage but the process can take a lot of time. Moreover, it is dangerous to involve human workers in such conditions due to loose debris collapsing and causing severe damage. To speedup access to inner areas, instead of removing...
A casting manipulator is a robot that launches a payload as a projectile then alters the ballistic trajectory by pulling on an attached tether. Prior work in casting manipulation has focused on applying impulses through the tether to place the payload at a specific location and then retract it. In the spirit of whole-body and whole-arm manipulation, we propose that the tether itself can be used to...
Large debris created after natural disasters restrict access to inner parts of affected regions, and slows down disaster relief operations. Power shovels are often used to clear wreckage but the process can take a lot of time. Moreover, it is dangerous to involve human workers operating heavy machinery in such unstable conditions. To speedup access to inner areas, obstacles can be surmounted with...
This paper presents a high-speed transportation of capsule by launch. One of the main issues for the transportation is how to decelerate the capsule during its flight to avoid a large landing impact. In order to stop the capsule temporally in the air just before its landing, we propose a flight control method by multidirectional tension of wires. Since the capsule is connected with both auxiliary...
Supposing a space mission of setting monitoring devices at suitable positions on the moon, we discuss how to apply a casting manipulation to the mission. This paper addresses a mechanism of a casting manipulator system and control method to launch a penetrator to the desired position. First, we discuss launching methods, and focus on a method by using rotation of a boom. We then propose the mechanism...
This paper deals with the practical problem of how a humanoid robot recognizes a door and its knob in an office environment. This is the initial work where a humanoid robot recognizes, approaches, and opens a door. We propose an integrated solution for visual recognition of a door and its knob with minor constraints. In our approach, the door recognition is transformed into the classification problem...
This paper deals with the practical problem as to how a humanoid robot opens a door in an office environment. Among the several tasks for the door opening, we focus on the recognition of a door and grasping its knob and propose a systematic touch scheme that combines the visual and touch data to grasp a knob safely and robustly. The visual recognition of a door and its knob is done by feature matching...
We have been developing a casting manipulator that includes a flexible light wire in the link mechanism to enlarge the workspace of the manipulator. In this paper we focus on the motion of collecting an object via casting manipulation. We propose a method of moving the object in the air by coordinating the motions of swinging the arm and winding the wire. Then, we develop a mechanical device that...
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