Showing papers by "Yoshikazu Mori published in 2015"
TL;DR: Gait transitions in simulations that included the bio-inspired gait modulation method were similar to those observed in animals, even from the perspective of energy consumption, and this method should be a preferred choice for motion generation and control in biomimetic quadrupedal locomotion.
Abstract: We have proposed a bio-inspired gait modulation method, by means of which a simulated quadruped model can successfully perform smooth, autonomous gait transitions from a walk to a trot to a gallop, as observed in animals. The model is equipped with a rhythm generator called a central pattern generator (CPG) for each leg. The lateral neighbouring CPGs are mutually and inhibitorily coupled, and the CPG network is hardwired to produce a trot. Adding only the simple feedback of body tilt to each CPG, which was based on input from the postural reflex, led to the emergence of un-programmed walking and galloping at low and high speeds, respectively. Although this autonomous gait transition was a consequence of postural adaptation, it coincidentally also resulted in the minimization of energy consumption, as observed in real animals. In simulations at a variety of constant speeds the energy cost was lower for walking at low speeds and for galloping at high speeds than it was for trotting. Moreover, each gait transition occurred at the optimal speed, such that the model minimised its energy consumption. Thus, gait transitions in simulations that included the bio-inspired gait modulation method were similar to those observed in animals, even from the perspective of energy consumption. This method should therefore be a preferred choice for motion generation and control in biomimetic quadrupedal locomotion.
10 citations
21 Jul 2015
TL;DR: A pair of step-climbing units that can be installed in a standard manual wheelchair are developed to enable manual wheelchair users to establish an independent life that they can lead without assistance.
Abstract: We have developed a pair of step-climbing units that can be installed in a standard manual wheelchair. We aim to enable manual wheelchair users to establish an independent life that they can lead without assistance. This mechanism is simpler because it uses the capabilities of the wheelchair user. Each unit comprises two actuators and has two degrees of freedom: telescopic motion and rotational motion. We mainly discuss a step-climbing motion using this system. Experimental results obtained when ascending the step of 15 cm height confirm the design's effectiveness.
2 citations
01 Nov 2015
TL;DR: An information collection system that can collect environmental information efficiently and can reduce the operational load for controlling a robot by realizing reduction of a travelling distance without reducing amount of collected information is developed.
Abstract: A robot is an important tool for collecting data such as camera images at a remote site. These camera images are also used for robot operation. In this paper our aim is to develop an information collection system that can collect environmental information efficiently and can reduce the operational load for controlling a robot by realizing reduction of a travelling distance without reducing amount of collected information. An omnidirectional camera unit is used to capture an omnidirectional image around a robot at a time. When we need to access information around the place where the robot has already passed by at least once, the robot does not need to return to the place to get the information but it can be collected from stored omnidirectional images by choosing the point of gaze and gaze direction that indicate the place where an operator wants to look at. The conducted experiments show effectiveness of the developed system.