This paper introduces HIMM (histogramic in-motion mapping), a new method for real-time map building with a mobile robot in motion. HIMM represents data in a two-dimensional array (called a histogram gjid) that is updated through rapid continuous sampling of the onboard range sensors during motion. Rapid in-motion sampling results in a statistical map representation that is well-suited to modeli...

Recently there are various kinds of research on humanoid robot, such as motion control, man-machine interface, visual or haptic feedback, artificial intelligent, and so on. For motion control, the present works still have many problems since the number of degrees of freedom (DOFs), range of joint motion, achievable joint velocity or acceleration, and dynamic motion capability of today’s humanoi...

Oppgavens tittel (norsk): Bevegelsesplanlegging og regulering av robotmanipulatorer Oppgavens tittel (engelsk): Motion planning and control of robot manipulators Bakgrunn: Robot motion planning systems can be used to plan collision-free paths between start and end robot manipulator configurations. Many motion planners assume that the robot manipulator works in a static environment. However, man...

The possibility of integrating quantum computation in a traditional system appears to be viable route drastically improve the performance systems endowed with artificial intelligence. An example such processing consists implementing teleo-reactive employing computing. In this work, we considered navigation robot an environment where its decisions are drawn from algorithm. particular, behavior i...

Guaranteeing safe behaviour of robots is not easy, especially in the presence of humans, whose behaviour is always unpredictable. We show how a frequently-updating, continually-verifying controller can guarantee safety of nearby humans in a formal way while maintaining efficiency of the robot. Two different models of the human behaviour are presented: a model based on extreme human motion as sp...

To explore an issue of a human-like motion, we have constructed a human-like biped robot called WABIAN-RII (WAseda BIped humANoid robot-Revised II) that has a total of fortythree mechanical degrees of freedom (DOF); two six DOF legs, two ten DOF arms, a four DOF neck, four DOF in the eyes and a torso with a three DOF waist. For human-robot symbiosis, the biped humanoid robot is required to have...

Robot motion planning in a cluttered environment requires knowledge about robot shape and size. These robot characteristics in uence system performance eventhough most motion planning methods do not consider them. This paper presents an ongoing work that studies general motion planning techniques in combination with knowledge related to robot shape and size. The system acquires knowledge and le...