| Project/Area Number |
07455108
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (B)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Intelligent mechanics/Mechanical systems
|
|---|
| Research Institution | The University of Tokyo |
|---|
Principal Investigator |
INABA Masyuki The University of Tokyo, Dept. of Mechano-Informatics, Associate Professor, 大学院・工学系研究科, 助教授 (50184726)
|
|---|
| Project Period (FY) |
1995 – 1996
|
| Project Status |
Completed (Fiscal Year 1996)
|
| Budget Amount *help |
¥5,800,000 (Direct Cost: ¥5,800,000)
Fiscal Year 1996: ¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 1995: ¥4,000,000 (Direct Cost: ¥4,000,000)
|
|---|
| Keywords | Robotics / Multiple Sensor / Sensor Interation / Behavior Control / Micro Processor / One Chip Processor / Onboard Processor / Super Impose |
|---|
| Research Abstract |
Last year we developed aplike robot and vision control system. The current year, multiple sensor data integration based on the sensor image apporach are studied. We combined multiple-sensor data, generated integrated sensor image, and did experiment of the real behavior with and apelike robot. The results are as follows,
1. Sensor Image Generation Circuit
In order to standardize multiple sensor information processing, we developed hardware circuit that combined sensor data ionto the NTSC video image.
2. Development of Multiple-Sensor Data Integration Software
Sensor image are processed on-line using fast tracking module. At first, in order to obtain balancing information by detecting robot posture and movement, a) falling down switch, b) posture sensor, c) posture derection from image processing are atacched. Next tactile sensor that distributed all over the body are developed. Finally, an environment in which top-level software can treat any sensor information are developed.
3. Experimentla Behavior based on the Multiple-Sensor Imformation
Experiments of apelike motion control based on sensor image changes in time sequences are succeeded by investigating sensor image pattern while basic motion of the robot. Through out this study the advantages of sensor image approach are shown.
|
