Showing papers by "Yoshikazu Mori published in 2009"
TL;DR: Experimental results related to these motions confirm the design’s effectiveness and mainly discuss the chair and step motions.
Abstract: A standing style transfer system, ABLE, is designed to assist a person with disabled lower limbs to travel in a standing position, to sit down in and stand up from a chair, and to go up and down a step. ABLE comprises three modules: a pair of telescopic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. In this system, the telescopic crutches are useful not only to maintain the body stability in a standing position, but to supply power when standing up from a chair, going up a step, and so forth. The powered lower extremity orthosis has an actuator on each hip and knee joint. This module actively fixes, bends, and stretches each joint. The mobile platforms use crawlers to enable the person to travel even on uneven ground. These platforms also enable the user to turn on a rotation board mechanism. In this paper, we mainly discuss the chair and step motions. Experimental results related to these motions confirm the design’s effectiveness.
7 citations
4 citations
TL;DR: A robot behavior generation scheme that generates behaviors based on the senses of "curiosity" and "boredom," to create a companion robot named SELF with which humans do not get bored is proposed.
Abstract: In this paper, we propose a robot behavior generation scheme that generates behaviors based on the senses of \"curiosity\" and \"boredom,\" to create a companion robot named SELF with which humans do not get bored. The scheme was developed using a simple but unique simulation environment. A red ball and a blue ball were displayed on the computer, and the human subject moved the red ball. A behavior generator was designed based on natural inter human interaction patterns, utilizing conditional probability. The autonomous learning capability of SELF was realized by updating this conditional probability. Our studies reveal that interaction capability and animal-like speed are required for a companion robot. In addition, this paper shows how SELF can have a sense of curiosity and boredom as seen in animals, including humans, by using the developed scheme. The impressions of the robot behavior generated by the proposed scheme were examined using the simulation environment where the blue ball was controlled by the proposed scheme.
2 citations