- Bio-Robotics


  Rodents, specially rats, can recognize distance and shape of an object and also pattern of the textures by using their whiskers. We invented whisker tactile sensor using microphone inspired by rat's whisker





  During forgating trips, deset ants Cataglyphis fortis rely on on their well-studied path integration system.






   We started the research on the crab’s special ability related with it's gait and visual system. In order to understand crab's biological characteristic, we built Crab-like robot with exactly same leg-length ratio.





    This research presents some experiments of robot control using optical flow by webcam. Our aim is to study of interaction between vision and motion, and verify stability and effectiveness of visually controlled mechanism that will be used to stabilize legged-robot posture.




   Auto gait control using genetic algorithm and neural networks






- Cognitive Science

  Weakly electric fish generate electric field to navigate, detect object, and communication. There are many studies to know how electric fish identify the object with their electroreceptor.






    An omni-directional camera is a camera with a 360-degree field of view. The raw image of pictures, acquired from omni-directional camera, are circle-like structure. After the process which converts Polar-coordinate to Cartesian coordinate, paranoid Images can be obtained.




    Optical flow or optic flow is the pattern of apparent motion of objects, surfaces, and edges in a visual scene caused by the relative motion between an observer and the scene. Optical flow techniques such as motion detection, object segmentation, time-to-collision and focus of expansion calculations, motion compensated encoding, and stereo disparity measurement utilized this motion of the objects surfaces, and edges.



    An area of computer vision is active visino, sometimes also called active computer vision. An active vision system is one that manipulate the viewpoint fo the camera in order to investigate the environment and get better information from it



- Robots

    3DOF manipulated robot arm.





   A blimp is an airship which flies without any internal supporting framework or keel. Since it does not have any solid structure, the airbag maintains its shape by relying on a higher pressure of the lifting gas (in this case, helium) inside the airbag and the tension of the airbag surface itself.




    A quadrotor, also called a quadrotor helicopter or quadrocopter, is an aircraft that is lifted and propelled by four rotors. How to control each motor for balanced lift of a quadrotor and its navigation is an interesting issue.