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Symmetric lifting posture recognition of skilled experts with linear discriminant analysis by center-of-pressure velocity
Springer Science and Business Media LLC - - 2017
Although it has been well known that novices should train a good lifting posture, there was little way to recognize whether the current posture was good or not based on measured data. The purpose of this paper was to classify the difference between skilled experts working at a freight transport company and unskilled novices without any experience during symmetric lifting by using center-of-pressur...... hiện toàn bộ
Deployment of nursing robot for seasonal flu: fast social distancing detection and gap-seeking algorithm based on obstacles-weighted control
Springer Science and Business Media LLC - - 2024
Seasonal flu is currently a major public health issue the world is facing. Although the World Health Organization (WHO) suggests social distancing is one of the best ways to stop the spread of the flu disease, the lack of controllability in keeping a social distance is widespread. Spurred by this concern, this paper developed a fast social distancing monitoring solution, which combines a lightweig...... hiện toàn bộ
Dynamic modulation of multi-task priority for controlling redundancy insufficient robots
Springer Science and Business Media LLC -
Low-altitude contour mapping of radiation fields using UAS swarm
Springer Science and Business Media LLC - Tập 12 - Trang 219-230 - 2019
This paper addresses the design of lightweight radiation sensors for the small-scale unmanned aerial system (UAS) and its implementation for low-altitude radiation source localization and contour mapping. The compact high-resolution gamma-ray CZT sensors were integrated into UAS platforms as plug-and-play components using robot operating system. The swarm of UAS has advantages over a single agent-...... hiện toàn bộ
A new torque minimization method for heavy-duty redundant manipulators used in nuclear decommissioning tasks
Springer Science and Business Media LLC - Tập 14 - Trang 459-469 - 2021
This paper presents an approach to optimize the control torque of heavy-duty redundant manipulators used for dismantling nuclear power plants. Such manipulators must endure intensive and repetitive tasks over long periods. In this regard, the torque minimization is essential for decreasing power consumption and the fatigue load acting on the joint bearings. This in turn can increase the lifespan o...... hiện toàn bộ
Realization of sign language motion using a dual-arm/hand humanoid robot
Springer Science and Business Media LLC - Tập 9 - Trang 333-345 - 2016
The recent increase in technological maturity has empowered robots to assist humans and provide daily services. Voice command usually appears as a popular human–machine interface for communication. Unfortunately, deaf people cannot exchange information from robots through vocal modalities. To interact with deaf people effectively and intuitively, it is desired that robots, especially humanoids, ha...... hiện toàn bộ
Hybrid impedance and admittance control of robot manipulator with unknown environment
Springer Science and Business Media LLC - Tập 16 - Trang 49-60 - 2022
This paper presents a novel impedance control strategy to improve the performance of a robot manipulator. Impedance control and admittance control have complementary effects on the stability and performance of a control system. Impedance control works well in stiff environments, whereas admittance control works well in soft environments. In this paper, we propose a hybrid impedance and admittance ...... hiện toàn bộ
The multi-modal interface of Robot-Era multi-robot services tailored for the elderly
Springer Science and Business Media LLC - Tập 11 Số 1 - Trang 109-126 - 2018
Dynamic localization with hybrid trilateration for mobile robots in intelligent space
Springer Science and Business Media LLC - Tập 1 - Trang 221-235 - 2008
In this paper, we propose a new localization algorithm based on a hybrid trilateration algorithm for obtaining an accurate position of a robot in intelligent space. The proposed algorithm is also able to estimate a position of the moving robot by using the extended Kalman filter, taking into consideration time synchronization and velocity of the robot. For realizing the localization system, we emp...... hiện toàn bộ
ZMP-based motion planning algorithm for kinematically redundant manipulator standing on the ground
Springer Science and Business Media LLC - Tập 8 - Trang 35-44 - 2014
The human body can be modeled as a kinematically redundant manipulator which exploits “redundant degrees of freedom” to execute various motions in a suitable fashion. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the zero moment point (ZMP) condition should be taken into account not to fall down. Thus, this paper investigates a motion planning a...... hiện toàn bộ
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