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Sensor Fusion
Concept
A human being recognizes external environment by using many kinds of sensory information. By integrating these information and making up lack of information for each other, a more reliable and multilateral recognition can be achieved. The purpose of Sensor Fusion Project is to realize new sensing architecture by integrating multi-sensor information and to develop hierarchical and decentralized architecture for recognizing human beings further. As a result, more reliable and multilateral information can be extracted, which can realize high level recognition mechanism.
Research Topics
Sensory-Motor Fusion System
- Throwing and Batting robot system (2009-)
- High-speed Catching System (exhibited in National Museum of Emerging Science and Innovation since 2005)
- Lightweight High-Speed Multifingered Hand System (2002-)
- High-speed Manipulation System (2000-)
- Column Parallel Vision System (CPV) (2000-)
Grasping/Manipulation
- Dynamic Manipulation of a Rhythmic Gymnastics Ribbon with a High-speed Robot Arm (2013-)
- Manipulation of cable connector with a High-speed Robot Arm (2012-)
- Fast Peg-and-Hole Alignment Using Visual Compliance (2012-)
- Card Manipulation using Card Deformation by a High-speed Multifingered Hand (2012-)
- Janken (rock-paper-scissors) robot with 100% winning rate (human-machine cooperation system) (2011-)
- Active 3D Sensing using a Multifingered Hand (2011-)
- Rotational Holding of Discotic Flexible Object using a Multifingered Hand(2011-)
- High-speed Tracking by Hand-eye Configured Visual Servoing(2011-)
- High-speed Catching Based on Inverse Motion Approach (2010-)
- Dynamic Folding of a Cloth using Dual High-speed Multifingered Hands and Sliders (2010-)
- Dynamic Manipulation of a Linear Flexible Object with a High-speed Robot Arm (2009-)
- Catching a small object in high-speed motion (2009-)
- Knotting manipulation based on skill synthesis (2008-)
- Tool Manipulation by a Multifingered Hand Using a High-speed Vision (2007-)
- One Handed Knotting of flexible rope using a High-speed Multifingered Hand (2006-)
- High-speed Throwing Motion Based on Wave Propagation (2006-)
- Ball Control in High-speed Batting Motion (2005-)
- Dynamic Regrasping Using a High-speed Multifingered Hand and a High-speed Vision System (2005-)
- Dynamic Pen Spinning Using a High-speed Multifingered Hand with High-speed Tactile Sensor (2005-)
- Dynamic Holding Using a High-speed Multifingered Hand (2004-)
- High-Speed Batting Using a Multi-Jointed Manipulator (2003-)
- Soft Catching with a soft finger (2003-)
- Dynamic Active Catching Using High-speed Multifingered Hand (2002-)
- Dynamic Grasping Using High-speed Visual Feedback (2001-)
Robot Vision
- 3D Shape Reconstruction of an Object in the Air（2012-）
- Spatial Resolution Improvement Method using High Speed Active Vision System (2011)
- Pixel-parallel collision detection for safe human-robot-coexistence
- Visual Feedback System Using Multi-High-Speed Vision for High-Speed Manipulation (2003-)
- Real time 3D Shape Recognition Using Image Moment-Based Features (2003-)
Sensor Fusion/Sensory-Motor Fusion Theory
- Adjustment of Discount Rate Using Index for Progress of Learning (2003)
- Acquisition of Dynamics Matching in Sensory-Motor Fusion System (2001-2002)