ソウサクキュウナンオヨビリハビリテーションヘノロボットコウガクヲトオシタカダイカイケツ

博士（工学）東京農工大

Sound source localization through shape reconfiguration in a snake robot

This paper describes a snake robot system that uses sound source localization. We show in this paper as to how we can localize a sound source in 3D and solve the classic forward backward problem in sound source localization using minimum number of audio sensors by using the multiple degrees of freedom of the snake robot. We describe the hardware and software architecture of the robot and show the results of several sound tracking experiments we did with our snake robot. We also present biologically inspired sound tracking behavior in different postures of a biological snake robot as "Digital Snake Charming"

CameraRoach : a WiFi- and camera-enabled cyborg cockroach for search and rescue

We describe here our design and implementation of a cyborg insect, called CameraRoach, with onboard camera feedback that can be navigated via remote control providing a first-person view. The camera pack is mounted on the Madagascar hissing cockroach, which is small enough to fit into crevices but also can carry a printed circuit boards with power, communication, and sensor components (visual camera). For navigating the cockroach, we implemented a unique electronic backpack neural stimulator, which allows the cockroach to be maneuvered on a desired path with a joystick. A high-resolution wireless camera, also included in the backpack, sends live images via a WiFi (Wireless Fidelity) network. We present the results of an evaluation experiment with the CameraRoach and compare it with the other state of the art systems like the Beetle-Cam