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1997 Fiscal Year Final Research Report Summary

THE DEVELOPMENT OF A GUIDE DOG ROBOT

Research Project

Project/Area Number 07555428
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section展開研究
Research Field 計測・制御工学
Research InstitutionYAMANASHI UNIVERSITY

Principal Investigator

MORI Hideo  YAMANASHI UNIVERSITY・FACULTY OF ENGINEERING,PROFESSOR, 工学部, 教授 (40020383)

Co-Investigator(Kenkyū-buntansha) HUJIMA Kazumi  YAMANASHI UNIVERSITY・FACULTY OF ENGINEERING,ASSOCIATE PROFESSOR, 工学部, 助教授 (90209081)
KIYOHIRO Noriaki  YAMANASHI UNIVERSITY・FACULTY OF ENGINEERING,ASSOCIATE PROFESSOR, 工学部, 助教授 (00016586)
Project Period (FY) 1995 – 1997
KeywordsGuide dog robot / DGPS / Autonomous mobile robot / Welfare robot / Image understanding / Robotic Travelaid
Research Abstract

We have developed two kinds of guide dog robots, vision-based guide dog robot and sonar-based one. The both robots consist of a motor wheelchair, a dead reckoning system, a sensor system (vision or sonar) and navigation system and move along the passage in the campus or corridor avoiding obstacles.
1) A differential GPS system is equipped on the vision-based guide dog robot HARUNOBU-6 to get the absolute location from satelite. We found that The differential GPS was useful in the open place.
2) We did a demonstration in the 8th International Symposium of Robotic Research (ISRR) at HAYAMA on 3-7 October 1997 and showed the periomance of vision-based guide dog robot.
3) A psychologist estimated the sonar-based guide dog robot after two days of masking his eye, and found that the robot was useful to guide the visually impaired.
4) We have developed a pedestrian recognition system in which the rhythm of walking was detected by analyzing the intensity change of the feet part of the moving object. The rhythm of walking is independent of clothes, distance and weather.
5) A half of traffic accidents happen in or near the interchange. We have developed a danger estimation system at the intersection. The system detects a vehicle by the shadow underneath the vehicle, predicts its feature path based on the traffic regulation, and make the decision of safe, warning and dangerous.

  • Research Products

    (25 results)

All Other

All Publications (25 results)

  • [Publications] 丹沢 勉, 清弘 智昭, 森 英雄: "屋外移動ロボットのための雑音に強い超音波センサ" 日本ロボット学会誌. 15・4. 62-69 (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 小谷 信司, 清弘 智昭, 森 英雄: "視覚障害者のための歩行ガイドロボット" 映像情報メディア学会誌. 51・6. 878-885 (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 丹沢 勉, 渡部 貴文, 清弘 智昭: "相関を用いた超音波センサの高速演算手法" 日本ロボット学会誌. 15・8. 37-42 (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Mori, K.Kobayashi, N.Ohtsuki&S.Kotani: "Color Impression Factor:an Image Understanding Method for Outdoor Mobile Robots" IEEE/RSJ Int.Conf.on Inteligent Robots and Systems. 380-387 (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Mori&S.Kotani: "A Robotic Travel Aid for the Blind-Attention and Custom for Safe Behavior-" The Eighth Int'l Symp.of Robotics Research. (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 森 英雄: "動物行動学から何を学ぶか" 日本ロボット学会誌. 14・4. 20-25 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] N.M.Charkari, K.Ishi, H.Mori: "Sensory selection in vehicle detection and avoidance" Robotics and Autonomous Systems. 17. 3-13 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] S.Yasutomi, H.Mori&S.Kotani: "Finding pedestrians by estimating temporal-frequency and Spatial-period of the moving objects" Robotics and Autonomous Systems. 17. 25-34 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] S.Kotani, H.Mori&N.Kiyohiro: "Development of the robotic travel aid “HITOMI"" Robotics and Autonomous Systems. 17. 119-128 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] S.Kotani, H.Mori&N.M.Charkari: "Danger estimation of the Robotic Travel Aid(RoTA)at intersection" Robotics and Autonomous Systems. 18. 235-242 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] S.Yasutomi, H.Mori&N.Kiyohiro: "A Method of pedestrian Detection Based on Rhythm of Walking" SYSTEMS and COMPUTERS in JAPAN. 27・2. 1-10 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 安富 敏, 森 英雄, 清弘 智昭: "歩行のリズムに基づく歩行者検出の一手法" 電子情報通信学会論文誌. J78-D-II. 608-617 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Mori, N.M.Charkari, S.Kotani: "Danger Estimation of Robotic Travel Aid(RoTA)at Intersection" Proc.of Int"l Workshop on Biorobotics Human-Robot Symbiosis. S5-S6 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Mori, N.M.Charkari, S.Kotani: "Danger Estimation of Vehicle at Intersection" Proc.of Int'l Conference on Robotics and Automation. 781-787 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Mori, K.Nishikawa, S.Kotani: "A Locomotion Performance Learning of the Mobile Robot" Proc.of the 1995 Int'l Conf.on Intelligent Robot and Systems. 447-452 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] T.Tanzawa, N.Kiyohiro, S.Kotani and H.Mori: "The Ultrasonic Range Finder for Outdoor Mobile Robots" Proc.of the 1995 Int'l Conf.on Intelligent Robot and Systems. 368-373 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Mori & S.Kotani: "A robotic Travel Aid for the Blind-Attention and Custom for Safe Behavior" 8th Int'l Symp.of Robotic Research (ISRR). (1997)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H.Mori, K.Kobayashi, N.Ohtuki & S.Kotani: "Color Impression Factor, an Image Understanding Method for Outdoor Mobile Robots" Proc.of the 1997 Int'l Conf.on Intelligent Robot and Systems. (1997)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] N.M.Charkari, K.Ishii & H.Mori: "Sensory selection in vehicle detection and avoidance" Robotics and Autonomous Systems. No.17. 3-13 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Yasutomi, H.Mori & S.Kotani: "Finding pedestrians by estimating temporal-frequency and spatial-period of the moving objects" Robotics and Autonomous Systems. No.17. 25-34 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Kotani, H.Mori & N.Kiyohiro: "Development of the robotic travel aid HITOMI" Robotics and Autonomous Systems. No.17. 119-128 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Kotani, H.Mori & N.M.Charkari: "Danger estimation of the Robotic Travel Aid (RoTA) at intersection" Robotics and Autonomous Systems. No.18. 235-242 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H.Mori, N.M.Charkari, S.Kotani: "Danger Estimation of Vehicle at Intersection" Proc.of Int'l Conference on Robotics and Automation. 781-787 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H.Mori, K.Nishikawa, S.Kotani: "A Locomotion Performance Learning of the Mobile Robot" Proc.of the 1995 Int'l Conf.on Intelligent Robot and Systems. 447-452 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Tanzawa, N.Kiyohiro, S.Kotani and H.Mori: "The Ultrasonic Range Finder for Outdoor Mobile Robots" Proc.of the 1995 Int'l Conf.on Intelligent Robot and Systems. 368-373 (1955)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1999-03-16  

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