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Article
Open AccessToward Error-Tolerant Robot Navigation: Sequential Inducement Based on Intent Conveyance from Robot to Human and Its Achievement
Human symbiotic mobile robots are required to smoothly reach destinations while avoiding humans. Human-intent information, e.g., a moving direction, must be carefully estimated since its lack leads to the hesi...
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Chapter and Conference Paper
Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter
This paper presents a thorough experimental evaluation of an extended Gaussian Mixture Probability Hypothesis Density filter which is able to provide state estimates for the maintenance of a multi-robot format...
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Article
Open AccessA framework of physically interactive parameter estimation based on active environmental gro** for safe disaster response work
Disaster response robots are expected to perform complicated tasks such as traveling over unstable terrain, climbing slippery steps, and removing heavy debris. To complete such tasks safely, the robots must ob...
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Article
Open AccessDevelopment of a Situational Awareness Estimation Model Considering Traffic Environment for Unscheduled Takeover Situations
In semi-autonomous vehicles (SAE level 3) that requires drivers to takeover (TO) the control in critical situations, a system needs to judge if the driver have enough situational awareness (SA) for manual driv...
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Article
Open AccessHuman-Centered Intervention Based on Tactical-Level Input in Unscheduled Takeover Scenarios for Highly-Automated Vehicles
Due to functional limitations in certain situations, the driver receives a request to intervene from automated vehicles operating level 3. Unscheduled intervention of control authority would lead to insufficie...
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Article
Open AccessA Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario
Human-aware navigation is an essential requirement for autonomous robots in human-coexisting environments. The goal of conventional navigation is to find a path for a robot to pass through safely and efficient...
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Article
Open AccessCompound locomotion control system combining crawling and walking for multi-crawler multi-arm robot to adapt unstructured and unknown terrain
How to improve task performance and how to control a robot in extreme environments when just a few sensors can be used to obtain environmental information are two of the problems for disaster response robots (...
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Chapter and Conference Paper
Usability Test in Different Types of Control-Authority Allocations for Multi-Operator Single-Robot System OCTOPUS
Four-arm four-flipper disaster response robot called OCTOPUS, which has 26 degrees of freedom (DOF), has been developed to engage in complex disaster response work. OCTOPUS adopts a multi-operator single-robo...
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Chapter and Conference Paper
Estimating Driver Workload with Systematically Varying Traffic Complexity Using Machine Learning: Experimental Design
Traffic complexity is one of the factors affecting driver workload. In order to study the relationship between traffic complexity levels and workload, a designed experiment is required, especially to vary tra...
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Chapter and Conference Paper
A Prototype of a Small Tracked Robot for Gas Pipeline Inspection and Maintenance
The gas pipeline networks cover approximately 200,000 km in urban region in Japan. The risk caused by severe leakage, cracking, or corrosion will lead to a big accidence for human. Therefore, the gas pipeline...
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Chapter and Conference Paper
Performance Analysis in Advanced Tele-operation System Based on Introduction of Danger-Avoidance View
Unmanned construction machines are used after disasters. Compared with manned construction, time efficiency is lower because of incomplete visual information, communication delay, and lack of tactile experienc...
