Main Staff Prof. Jun OTA
Sub Staff Prof. Tamio ARAI
Students Rie KATSUKI,Takahisa MIZUTA,Tomomi KITO
Contents  In recent years, there is a movement that robots will be expanded into home and office. In this case, it is necessary for robots to be able to recognize surroundings and objects to move and work accordingly. Our group proposes the way that robots can do self-positioning and some work by using the information of the visual marks in the environment that show its position, orientation and property of an object.
Abstract of Projects
(1) Support navigation for Mobile robots using visual marks

 A mobile robot executes a planned path by measuring its position relative to visible landmarks at known positions and then using this information to estimate its own absolute position. We propose a method that a robot tracks landmarks and renew information continuously to reduce a cumulative error.

Fig.1 A mark for navigation

(2) Support manipulation for Manipulators using visual marks
 The mark showed in Fig. 2 stick on a work object. The mark consists of the position presentation unit (except barcode) that assumes the position attitude of marker and a memory unit (barcode) that mentioned the property information about an object. A robot can manipulate various objects using the marks (Fig. 4).

Fig.2 A mark to recognize an object

(3) Movement Decision Method of Robots Based on Reliability and Trial Time
 We classify a mission of a robot into the work realization approaches first. Next, we divide each work realization approach in action units, and describe the units as diagrams. Then, by doing fundamental experiments on each action unit, we calculate reliability and average trial time of each action unit and apply the result to each diagram. Finally, as a result, we can decide the most suitable approach method from the evaluation considering reliability and trial time. We show "Turning off a faucet" Experiment in Fig. 5.

Fig.3 Navigation by Tracking Marks      Fig.4 Manipulate Various Objects
                               Using Marks

Fig.5 Turning off a Faucet


Movie 1

Mobile robot runs observing marks (shown in fig.1) with two cameras placed on opposite sides of the robot.

Camera changes marks to observe based on the plan.

Movie 2
The manipulator searches over the table with its camera, then operates based on found marks (shown in fig.2).

Movie 3

Turning off a Faucet by a Manipulator.

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