Document 7

Material of Lectures
Contents
Speaker of First Lecture … … … … … …
Lecture 1 “Introduction of Robot Creation”

23Speaker of Second Lecture … … … … …
Lecture 2 “An ABCs of Robot”… … … …

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<Speaker of First Lecture>
Shigeo Hirose
CTO of HiBot Corp.,
Professor Emeritus of Tokyo Institute ofTechnology, andVisiting Professor of Ritsumeikan University
Shigeo Hirose is a CTO of HiBot Corp., Professor Emeritus of Tokyo
Institute of Technology, and Visiting Professor of Ritsumeikan
University. He received Dr. E. degree in 1976 in Control Engineeringfrom Tokyo Institute of Technology. His research interest is in thecreative design of robotic mechanisms and their control. He wasawarded more than 70 academic awards, including Joseph
Engelberger Robotics (2009), Carlos Ghosn Award (2008), Medal withPurple Ribbon from Japanese government (2006), Award of Merits
from IFToMM (2004), the first Pioneer in Robotics & Automation
Award (1999). He is a Fellow of IEEE, JSME and RSJ.

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Example of Design Problem

Introduction of Robot Creation
CTO
SMS.

HiBot Corp. CTO
Professor Emeritus , Research Fellow
Tokyo Institute of Technology
Visiting Professor
Ritsumeikan University
Shigeo Hirose

Design a bath alarm to notify that the bath water has reached the desired
level and the faucet needs to be turned off. Electric instrument should not beused.

Why snakeIt acts as leg, hand, and trunk

In spite of its simple shape,snake has versatile function.

Leg

Snake is ideal source ofinspiration for the design of
new type of versatile robots!

Hand-3-

Snake-like robots can be:

Snake-like robots can be:

Active Rope

Active Endoscope

Active hose

Off-the-road Vehicle

4

Amphibious Vehicle

1972

World-first snake-likerobot I made in 1972

Four types of thegliding motion ofthe snake

ACM R11990
The model I made in 1990s-4-

ACM R-5

ACM-R3

Amphibious Snake-like Robot

D.O.F.: 20
Length: 1755[mm]Width:
110 [mm]
Height: 110 [mm]Weight : 12.1[kg]ACM-R72010

ACM-R7

ACM-R7

Yaw J oint

Pedal-Wave Gait

Pitch Joint

Dimension : 1589

140 74 mm

Weight : 11.7 kg
Number of 18
Joint :
Motor : 6W DC Motor

18

Battery : 7.2V-900mAh NiMH
CPU : SH2 7047

Side Winding Gait

9-5-

ACM-R7
Access to the victim at thedisaster site is normally narrow

Loop Gait

Connection by Jaw

Snake-like rescue robot is ideal
for this application

VictimSouryu-III

Furniture

Human-drive Snake-Vehicle

3

2008 winter by students of Strathclyde students of Scotland
2008-6-52012 7 5 18 35
Training of Tokyo Metropolitan Police against tero-attack

Souryu-V

Spider

About half of the land on earth is said to be inaccessible by normal wheeledvehicle. Walking machine will greatly enlarge the area of human activities.

Spider with long legs

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TITAN III

Optimum Leg Numberof Walking Vehicle
Mechanism should be simple andlightweight
Smaller the Better
KUMO ICapable of statically stable walkMore than three legs is needed tostand4

Quadruped is BestTITAN IV

Background

Quadruped Walking Robot for
Steep Slope Construction Task-8-Experiment with first model to walk on the slope of 70 degrees inclination

Reinforcement task on a steep slope to prevent landslide
It is needed to makeOmni-directional locomotion
Avoiding the damage of frame

Terrain adaptive walk of TITAN VII by using the laser range finder

Introduction of the mirror tracking 3D laser sensor

Total Station (TOPCON Co.

Feature of the TS1.

kmMeasuring range: more than 2 km.
2.
km
4mm
Accuracy: 4-5 mm in x,y,z directions at
1000 m away
3.
Automatic motion: automatic searching of
the corner cube.

-9-Map generation of the slope

As the worker have to survey the site beforehand, we
introduced the way to measure the site by placing
the corner cube at the crossing points of the ferroconcrete frames.

Rotating corner cube on the robot to measure the positionand orientation of the robot

Generated 3D map of the frame

TITAN11
Terrain Adaptive Walking of the TITAN XI- 10 -TITAN
Drilling Operation by the TITAN XI

Operation Experiment on the South Alps Site

Former examples of leg-and-wheel hybrid vehicles

Disaster-Prevention Robot (KOBE STEEL Ltd.)

Combination ofLeg and Wheel

Underground Excavating Machine(Mechanical Engineering Laboratory, AIST, MITI)- 11 -

Chariot II (Tohoku University)

TITAN IV (Tokyo Institute of Technology)

Combination ofJumping Leg and Wheel

What if we can jump!

Expected Motion of AirHopper
Actively-suspended Wheeled Motion

Comparatively Flat groundJumping and soft landing

Large obstacles- 12 -

Jumping of Air Hopper without Wheels

Leg driving mechanism

Vertical Jump 0.8m
Forward Jump 1.3
Soft landing

4-bar-linkage mechanism togenerate pseudo-linear movement

2 parallel cylinders act as coupled drive
large vertical force is obtained

Supplied Pressure 0.6[MPa]LengthWidth
Height
Mass

AirHopper On-going Research

AirHopper with Active Wheels and Piston-Wire Mechanism- 13 -

1.3m
1.2m
0.5 m
29 kg

AirHopper Getting Better

Crawler

TAQTCarrier(1991, with TAKAOKA Co.

TAQTCarrier- 14 -JCOMARSThe robots developed as the reaction of JCO accident (2001)Combination ofLeg and Crawler

HELIOS VII

HELIOSVII- 15 -HELIOS IX

Survey Runner
Toppy Industry
Length 505
Width 510
Mass 45
Speed 2km/hr
Continous Operation time 5hr
45
235
Possible to climb 45 degrees wet stairs, across
235 mm step

2012 Development of the Search Robot at Nuclear Power Plant- 16 -

TITAN X:
Leg and crawler hybrid robot

Crawler belt
Product of joint developmentwith TOPPY Co.

Lightweight and high load supportingbelt

It can be use as crawler and at thesame time it can be used as torquetransmission member

Locking Mechanism of the leg

Pin forShin holding

Transition between Crawler
Mode to Walking Mode

Coil spring

Pin stopper

Shank locking mechanism

Sliderankle

Motor

Slide screw

PulleyBelt

Pin for drive
transmission- 17 -Large Obstacle Crossing

Crawler Motion

300mm

Inspection Robotfor
High-Voltage Transmission Lines

Unconventional Shape Robots- 18 -

Previous attempts of automation

Preventive maintenance of transmission lines
Problems:

Main limitations of previous works:(SENSING)-Pylons usually locate in remote,difficult to reach areas-workers must walk on lines, tens ofmeters above ground- Inspection sensors far fromcables,
provide only partial data
- Dangerous to fly close to powerlines
R. Ishino and F. Tsutsumi, Detection System of Damaged
Cables Using Video Obtained from an Aerial Inspection ofTransmission Lines , IEEE Power Engineering Society
General Meeting, 2, 2004, pp. 1857-1862.

I. Golightly and D. Jones, Visual control of an unmanned
aerial vehicle for power line inspection , Proc. IEEE Int l
Conference on Advanced Robotics, 2005, pp. 288-295.

-power transmission must be
interrupted during inspection

Expliner High voltage lines inspection robot

Rover for Space Exploration- 19 -Tri-Star IVConcept of the Moon Robotsof 2025 to survey interestingrock samples at the South
Pole of the moon

SMC Rover

Swarm- 20 -

Robot Creation

How to become the robot engineer

201- 21 -3 22(Street Artist Robot Contest

Scavenger Robot Contest

4Lancer Robot Contest

3
Robot Creation course
Tokyo Tech Department ofMechanical and Aersopace Eng.

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1212

3

4- 23 -

1 3

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An idea of my high school days
whistleconnecting parts

hookheavycupringwater level

hoseConclusion

How to become the robot engineer

Robot development is extremely interesting.

All of the machine will be evolved as robot in future,so it is very important to study about robotics.
Let us contribute to the society by the robot creation.

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<Speaker of Second Lecture>
NODA Akio
Mitsubishi Electric Corporation
Advanced Technology R&D Center
Head Researcher(Amagasaki, Hyogo, JAPAN)•In the Company– Engaged in research and development and its business promotion ofintelligent technology of mechanical system, such as Industrial Robot,
FA processing equipment, and Manufacturing Information SystemIntegration.

•Outside (Academic Society and Education)– Director and Committee of Robotic Society of Japan, The institute ofSystems Control and Information engineers, The Japan Society ofMechanical Engineers, and The Society of Instrument and ControlEngineers.
– Part-time lecturer at Some University.

•Outside (National Organizations and Industrial Associations)– Committee of METI, NEDO, COCN, JARA, and MSTC.

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1969

1978

2012

1996

- 28 -1977

1983

ExportDomesticSeries ofterror

•

•

––••

•

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–

OK, let sgo!

- 29 -

Univ.
SalesOffice
Overseas
SalesOffice

Headquarter,PlantLabo.

ServiceCustomer- 30 -

Createrequiredproducts

Increase
the people
who useourproducts

FromMETIRobot IndustryTrendsSurvey2012

Sell to all
over theworld- 31 -••••••––•––•––––––- 32 -

MainBody

TeachingPendant(Manual operation device)
Robot Controller

Composed byArm, Motor,Gear, Cable

5 Axis vertical joint type

Composed byPower
Supply, Processing
Unit(CPU),
Communication
Circuit, Operation
Panel, Coolingsystem.

5 Axis vertical joint type

6 Axis vertical joint type

6 Axis vertical joint type- 33 -

Correct Position Error with Vision Sensor

Adjust Force with Force Sensor

•–•–•–•Cable
HollowMotor

Bendingand Twisting- 34 -

7.5million times••••(- 35 -)Sustainable
Disruptive

DataFromProf. Shimizu at Keio Univ. Record, CDis100 times, Pay music
distribution display the value of one tenth

Current

http://toyokeizai.net/articles//9978 page=3

Usefulnessinthe Society
The Spirit asentrepreneurs, engineers, researchers

Low birthrate and longevity,

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•

Next generation autonomous robotic cell production system
The productivity and reliability of automated lines
The flexibility of human cells and human linesFuture- 36 -–––

1

Subject:Fast movingrobots
Theme:Species andapplications of theeachrobot

2

Subject:large sizerobots
Theme:Species andapplications of theeachrobot

3

Subject:Small sizerobots
Theme:Species andapplications of theeachrobot

4(5()

Subject:Robots which handlemachinery products(automobile,machinery parts, metal, etc.)
Theme:Species of the eachrobot and howtheywork
Subject:Robots which handleElectric appliances(Electroniccomponents, consumer electronics, etc.)
Theme:Species of the eachrobot and howtheywork)

Subject:Robots which handleproducts other thanElectric appliancesand machineryproducts
Theme:Species of the eachrobot and howtheywork.

678- 37 -Subject:Endeffectors(Devices attached to thewrist of therobots,
such as hand)for each application
Theme:Species of the eachend effector and howtheywork()(,)

Subject:Robots which use vision sensors (TV camera, 3
dimensional laser scanner, etc.)
Theme:Species of vision sensors usedby therobots and howthey
work

9

Subject:Robots which use force sensors
Theme:Species of force sensorsand howthey work

10

Subject:Industrial robots
Theme:Classification of mechanismtypesof theindustrial robots andapplications of theeachtype

MEMO- 38 -MEMO- 39 -

MEMO- 40 -