Tatsuo Mikami

Motion creating system for a small biped entertainment robot

SDR-4X is a small biped entertainment robot with expanded capabilities for a variety of motion performances. We developed the SDR motion creating system and the whole body adaptive motion control for SDR. This software system makes it easy to produce creative motion performances that include stable biped walking and dance steps synchronized to music. The motion creating system is composed of two parts: the motion editor used to edit upper body motion and whole body motion, and the foot trajectory editor used to create stable lower body motion. Once the upper and lower body motions are created, the system allows the motion designer to inspection the whole body motion before applying it to SDR-4X. The process of creating a fast-paced dance performance is introduced as an attractive application of this software system.

Precise EV robot: flight model and telerobotic operation for ETS-VII

This paper presents the development and telerobotic operation of the ARH (Advanced Robotic Hand System) which will be the worlds first precise extravehicular robot aboard the ETS-VII (Engineering Test Satellite VII). Objectives of the space test are to demonstrate the feasibility of a multiDOF multisensory hand for precise tasks under the severe extravehicular condition of space and to evaluate telerobot operation technology from the ground under the conditions of limited information from space with time delay. The concept of the space test and flight model development for the space-work system consisting of a hand, mini-arm and task board are presented, A precise space telerobotic architecture with a dual-loop structure is proposed and applied to the ARH for precise in-orbit servicing. Desktop telerobotic techniques including interactive telesensing and a virtual hypercamera utilizing multisensors are described.