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404 results on '"Aoyama, Tadayoshi"'

209. Shaping Energetically Efficient Brachiation Motion for a 24-DOF Gorilla Robot

Author

Pchelkin, Stepan S., Shiriaev, Anton, Mettin, Uwe, Freidovich, Leonid, Aoyama, Tadayoshi, Lu, Zhiguo, Fukuda, Toshio, Pchelkin, Stepan S., Shiriaev, Anton, Mettin, Uwe, Freidovich, Leonid, Aoyama, Tadayoshi, Lu, Zhiguo, and Fukuda, Toshio

Abstract

We consider a 24-degrees-of-freedom monkey robot that is supposed to perform brachiation locomotion, i.e. swinging from one row of a horizontal ladder to the next one using the arms. The robot hand is constructed as a planar hook so that the contact point about which the robot swings is a passive hinge. We identify the 10 most relevant degrees of freedom for this underactuated mechanical system and formulate a tractable search: (a) introduce a family of coordination patterns to be enforced on the dynamics with respect to a path coordinate; (b) formulate geometric equality constraints that are necessary for periodic locomotion; (c) generate trajectories from integrable reduced dynamics associated with the passive hinge; (d) evaluate the energetic cost of transport. Moreover, we observe that a linear approximation of the reduced dynamics can be used for trajectory generation which allows us to incorporate the gradient of the cost function into the search algorithm.

Published
2011
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250. Fast 3-D shape measurement using blink-dot projection.

Author

Chen, Jun, Gu, Qingyi, Gao, Hao, Aoyama, Tadayoshi, Takaki, Takeshi, and Ishii, Idaku

Abstract

We propose a novel dot-pattern-projection three-dimensional (3-D) shape measurement method that can measure 3-D displacements of blink dots projected onto a measured object accurately even when it moves rapidly or is observed from a camera as moving rapidly. In our method, blinking dot patterns, in which each dot changes its size at different timings corresponding to its identification (ID) number, are projected from a projector at a high frame rate. 3-D shapes can be obtained without any miscorrespondence of the projected dots between frames by simultaneous tracking and identification of multiple dots projected onto a measured 3-D object in a camera view. Our method is implemented on a field-programmable gate array (FPGA)-based high-frame-rate (HFR) vision platform that can track and recognize as much as 15×15 blink-dot pattern in a 512×512 image in real time at 1000 fps, synchronized with an HFR projector. We demonstrate the performance of our system by showing real-time 3-D measurement results when our system is mounted on a parallel link manipulator as a sensing head. [ABSTRACT FROM PUBLISHER]

Published
2013
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