bluuebunny/crossref_metadata_2025 huggingface dataset:
Development of Jumping & Rolling Inspector to Improve the Debris-traverse Ability
Authors: Tsukagoshi Hideyuki ,   Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152-8552 Japan, Mori Yotaro , Sasaki Masashi , Tanaka Takahiro , Kitagawa Ato
Published: April 2016

The design and motion experiments of the newly constructed jumping & rolling inspector Leg-in-rotor-II are discussed. The features of Leg-in-rotor-II are as follows: (i) The driving method of 3-D jumping & rolling by the reduced degrees of freedom on the separated drive. (ii) The introduction of the passively stored leg. (iii) The introduction of the wheel with the light anisotropy elasticity of the high changing ratio. (iv) The pneumatic jumping control method and its energy saving. (v) The sensing method to estimate the desired jumping start point. (vi) The structure of the sideway tumble prevention and the shock buffer. Finally, the motion experiments of Leg-in-rotor-II to roll, jump and land on debris are shown and the validity of the introduced design methods is verified.
Autonomous Flight Control System for Intelligent Aero-robot for Disaster Prevention
Authors: Nakanishi Hiroaki ,   Graduate School of Engineering, Kyoto University, Yoshidahonmachi, Sakyo-ku, Kyoto, 606-8501 Japan, Hashimoto Hiroyuki , Hosokawa Naomi , Inoue Koichi , Sato Akira ,   Osaka Sangyo University, 3-1-1 Nakagaito, Daito City, Osaka, 574-8530 Japan,   YAMAHA MOTOR CO., LTD. 2500 Shingai, Iwata, Shizuoka, 438-8501 Japan
Published: April 2016

This paper describes methods to develop autonomous flight control systems for an aero-robot using an unmanned helicopter RMAX developed by YAMAHA Co., LTD. Such systems are difficult to develop because helicopter dynamics are nonlinear. We propose an efficient method to design controllers by training neural networks. The proposed method is easy to use with online training or adaptive controllers to compensate for undesirable effects not modeled or sudden changes of the controlled object and environment, making the control system highly reliable. Results of flight experiments demonstrate the effectiveness of our approach.
Autonomous Flight Control of Unmanned Small Hobby-Class Helicopter Report 2: Modeling Based on Experimental Identification and Autonomous Flight Control Experiments
Authors: Hazawa Kensaku ,   Graduate School of Science and Technology, Chiba University, 1-33, Yayoi-cho, Inage-ku, Chiba, Japan, Shin Jinok , Fujiwara Daigo , Igarashi Kazuhiro , Fernando Dilshan , Nonami Kenzo ,   Faculty of Engineering, Chiba University
Published: April 2016

We developed a small autonomous hobby-class unmanned helicopter that weighs about 9 kg, focusing on attitude and velocity models and controller design. Simge Input Single Output (SISO) transfer function models are derived from brief kinematical analysis and system identification for each of the helicopter dynamics of pitch, roll, yaw, and three direction velocities. We designed six separate controllers based on derived models using LQG and LQI control theory. The models and control structure are verified by experimental results. Accurate position control, namely, hover control and trajectory-following control, is achieved by a simple control algorithm using a designed attitude and velocity control structure. Robustness of the controller against wind was confirmed in a windy-day experiment. To verify robustness against the perturbation of physical helicopter parameters, the controller is applied to a larger helicopter.
Special Issue on Microrobots
Authors: Ishihara Hidenori ,   Associate Professor, Kagawa University
Published: April 2016

Micromechatronics has become a key issue in engineering. Robotics and mechatronics are a global concern. Micromechatronics contributes especially to the development of electrical and mechanical systems through miniaturization and advanced functions. Micromechatronics was defined by Prof. Fukuda, Prof. Fujita et. al in the 1980's. In 1980's, Microelectromechanical Systems (MEMS) was developed in the USA and then expanded to Japan and Germany. In the same time frame, devices based on precious machining technology were miniaturized in Japan and Switzerland as Michromachine. MEMS combines electronics and mechatronics and promotes new-conceptual devices such as intellectual sensors, e.g., pressure and acceleration sensors. Precious machining has improved manufacturing and achieved the find control. Thorough these development, Micromechatronics was born as an integrated technology. This special issue introduces basic technologies and applications of micromechatronics, which includes such vital technologies as mechanical, electric, and electrical engineering, machining, and MEMS. This issue, which features several topics on micromechatronics, will give readers a welcome chance to acquaint themselves with state-of-the-art information on micromechatronics. This issue contains nine technical papers on micro robots, intelligent microsensors, and their applications, together with related letters. It opens with a paper on microsensors by Fujiyoshi et al. and the application of miniaturized motors to a robotic hand by Nishibori et al. Included also are articles on micro robots by Aoyama, Torii, Wakimoto and Guo, work on unique micromanipulation systems by Nakamura et al., and the application of micro units to robotic systems by Yamada et al. Letters discuss objectives and achievements of micro robot contests held in Japan that serve to popularize and disseminate unique mechanisms and new concepts in this exciting field. I am certain this issue will provide readers with information that is both interesting and informative. In closing, I would like to thank the authors, members of the editorial board, and the publisher, without whose hard work and careful consideration this issue would not have been possible.
Analysis and Design of A New Micro Jerk Sensor with Viscous Coupling
Authors: Fujiyoshi Motohiro ,   Toyota Central R&D Labs., Inc., Nagakute, Aichi, 480-1192, Japan, Nonomura Yutaka , Arai Fumihito , Fukuda Toshio ,   Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya, 464-8603 Japan
Published: April 2016

A new method for jerk detection (derivative of acceleration) is proposed. By using a 2 degrees of freedom (DOF) model with viscous coupling, we measure jerk directly as a position change in mass without differential circuit. Analysis by numerical formulas show the principle of the proposed jerk detection and simulation results show suitable parameters such as viscosity, mass ratio, and spring coefficient ratio for jerk detection. We also propose a micro jerk sensor based on the micro electro mechanical system (MEMS). Results of analysis show that the microstructure is suitable for the proposed viscous coupling.
The Challenge of Micro Robot Creation at the Nippon Institute of Technology
Authors: Nakazato Yuichi ,   Department of Mechanical Engineering, Nippon Institute of Technology, 4-1, Gakuendai, Miyasiro-Machi, Minamisaitama-Gun, Saitama Pref. 345-8501, Japan
Published: April 2016

Robot contests are attracting much attention as a tool for encouraging students to familiarize themselves with mechatronics and manufacturing skills. In this respect, robot researchers are revaluating robot contests in a new light. The Japan Society of Precision Engineering (JSPE) has thus hosted microrobot contests with miniature robots 2 × 2 × 2 cm. These contests have proven that students exhibit original concepts, some of which have developed into academic work, and further advantages are anticipated. The Nippon Institute of Technology selected fabrication of microrobots based on specifications prepared by the JSPE for microrobot contests as part of its curriculum. This paper reports the effectiveness of microrobot contests on mechatronics education and manufacturing skills. The implementation of such a prudently prepared curriculum in work to manufacture microrobots by students of the Nippon Institute of Technology has produced valuable results.
Development of Robot Using Pneumatic Artificial Rubber Muscles to Operate Construction Machinery
Authors: Kawashima Kenji ,   Tokyo Institute of Technology, Department of Computational Intelligence and Systems Science, 4259 Nagatsuta, Midori-ku, Yokohama-shi, 226-8503, Japan, Sasaki Takahiro , Miyata Toshiyuki , Nakamura Naohiro , Sekiguchi Masato , Kagawa Toshiharu ,   OLYMPUS CORPOPATION, 2951 Ishikawa-cho, Hachioji-shi, Tokyo 192-8507, Japan,   NS Solutions Corporation, 3-3-1, Minatomirai, Nishi-ku, Yokohama, Kanagawa, Japan
Published: April 2016

After disasters, remote control of construction machinery is often required to ensure the safety of workers during excavation. However, only limited numbers of remote-controlled construction machinery exist, and they are typically larger than conventional machinery. After a disaster, the transportation of such machinery takes additional time and is often troublesome. Therefore, it would be desirable to develop a remote-control system that could easily be installed on ordinary construction machinery. A pneumatic humanoid robot arm is in the process of being developed. While considering the portability issue, a lightweight fiber knitted pneumatic artificial rubber muscle (PARM) was selected as the actuator for the arm. This arm can be installed on all construction machinery models, can be controlled remotely, and has been designed for easy installation and portability. In this research, construction machinery was retrofitted with a pneumatic robot that enables it to be operated remotely. This robot has 6 degrees of freedom and utilizes the fiber knitted PARM. Experiments were conducted to measure the static characteristics of the new PARM and to measure their performance in the remote control of construction machinery. Experimental results showed that the developed system is able to achieve handling two levers of machinery, one that controls back and forward movement and the other that controls the bucket. Experimental results showed that the developed system successfully operated construction machinery remotely.
Fast, Accurate Sonar-Ring System
Authors: Yata Teruko ,   Intelligent Robot Laboratory, University of Tsukuba, 1-1-1 Tennodai, Tsukuba 305-8573, Japan, Ohya Akihisa , Iijima Jun’ichi , Yuta Shin’ichi
Published: April 2016

Mobile robots often require distance to objects surrounding them for navigation tasks. The sonar ring is widely used to measure distance because it is easy to use and provides distance information all around the robot. Although accurate in range, a sonar ring has difficulty determining bearings to surrounding objects. Conventional sonar rings are slow in covering a full 360 degrees due to sequential driving of transducers for avoiding interference. In this paper, we propose a new sonar-ring sensor system for a mobile robot that can accurately measure bearing angles to objects in a single measurement. The proposed system simultaneously transmits and receives ultrasound in all directions and measures time-of-flight (TOF) differences, achieving fast, accurate measurement of points reflected around a robot. System design and implementation of the proposed sonar ring are also described and the effectiveness of the proposed system shown by experimental results.
Expert Skill-Based Gain Tuning in Discrete-Time Adaptive Control for Robots
Authors: Kawasaki Haruhisa ,   Faculty of Engineering, Gifu University, 1-1 Yanagito, Gifu 501-1193, Japan, Li Geng
Published: April 2016

This paper presents a gain tuning method based on the sampling period in discrete-time adaptive control for robots. Gain matrices of model-based adaptive control in a continuous-time system are allowed a high gain positive definite. The maximum of the gains depends on the sampling period, however, and gain tuning is very time-consuming. It is thus desirable to give a gain tuning rule in discrete-time adaptive control. The proposed gain tuning consists of two steps. The first is gain tuning at the basic sampling period by a skilful specialist by trial and error. The second step, executed if the sampling period changes, is a new gain calculation based on a new sampling period. The simulation and experiments with 1-dof and 3-dof robots demonstrate that the robot controller is stable at the large variance of sampling period changes and more accurate than a fixed gain controller.
Study on In-Pipe Corrosion Diagnosis System -Estimation of Corrosion on Screw Parts Using a Surface SH Probe-
Authors: Sakamoto Shintaro ,   Research and Development Center, Shinryo Corporation, 41 Wadai, Tsukuba, Ibaraki 300-4247, Japan, Fukuda Toshio , Yui Hironori , Abe Yasuhiro , Hasegawa Yasuhisa , Kobayashi Futoshi , Arai Fumihito ,   Department of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya-shi, Aichi 464-8603, Japan,   Department of Mechanical Systems Engineering, Faculty of Engineering, Gifu University, 1-1, Yanagido, Gifu 501-1193, Japan,   Department of Machine and System Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe-shi, Hyogo 657-8501, Japan,   ForU Corporation Limited, 23/F., The Toy House100 Canton Road, Tsimshatsui, Kowloon, Hong Kong
Published: April 2016

Correlating to changes in society’s expectations, there is an increasing demand for the diagnosis of building equipment. Examination and diagnosis of air-conditioning pipes is an important safeguard against unexpected trouble such as pipe leakage. It is particularly important to inspect the screwed parts of pipes because their thickness is thinner than other parts due to the thread. In the past, radiography and endoscopy have been used for the inspection of screwed parts, but radiographic testing must be performed by a licensed technician, and endoscopy requires halting of plant operations. In this paper, we introduce a method for detecting and estimating the size and position of corrosion using ultrasonic testing, surface SH waves. We describe the algorithms used to estimate the corrosion size using the edge echo height, and the corrosion position using a simple numerical echo height model. And finally, we show the results of using the algorithms in experiments on pipes with artificial corrosion.
Development of Interference-Free Wire-Driven Joint Mechanism for Surgical Manipulator Systems
Authors: Nishizawa Kouji ,   Mechanical Engineering Research Laboratory, Hitachi Ltd. 502 Kandatsu, Tsuchiura, Ibaraki 300-0013, Japan, Kishi Kousuke ,   Advanced Biomedical Engineering & Science Graduate School of Medicine Tokyo Women’s Medical University, 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan,   Advanced Research Laboratory, Hitachi Ltd. 502 Kandatsu, Tsuchiura, Ibaraki 300-0013, Japan
Published: April 2016

A new structure of joints in surgical tools is proposed in this paper. Using this new structure, it becomes possible to operate a surgical tool with multiple degrees of freedom and smooth motion. In this new structure, a middle plate connects two parts that have rolling contact between each other. Furthermore, some drive wires are wired so that they cross between the two parts. There are two main features in this new structure. First, the path length of the wires is independent of the joint angle. Secondly, the joint and grippers are controlled independently. Using the independence of the grippers from the joint, the operation of the surgical tool becomes easier for the operator. This is because it becomes possible to control the joint and grippers like the wrist and hand of a human being.
Robotic Laser Surgery with λ=2.8μm Microlaser in Neurosurgery
Authors: Omori Shigeru ,   Faculty of Advanced Technosurgery, Institute of Advanced Biomedical Engineering and Science, Graduate School of Medicine, Tokyo Women’s Medical University, 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan, Muragaki Yoshihiro , Sakuma Ichiro , Iseki Hiroshi ,   Institute of Environmental Studies, Graduate School of Frontier Science, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo,   R&D Center, Terumo Corporation, 1500 Inokuchi, Nakai-machi, Ashigarakami-gun, Kanagawa 259-0151, Japan
Published: April 2016

Conventional surgery has limitations in completely resecting malignant brain tumors because of the need to avoid damaging healthy brain tissue, leading to the need to develop robotic alternatives in neurosurgery. Computer-controlled robotic surgery was developed using aλ=2.8μm microlaser device that is less invasive and more precise compared to conventional surgery in tumor ablation and minimizes damage to healthy tissue. In dissected porcine brain experiments the microlaser device was able to ablate the brain surface finely and shallowly in evaporation etching manner and the surrounding brain tissue was sustained undisturbed, indicating that this device is feasible for use in robotic surgery in resecting brain tissue.
Development of Wide-Angle-View Laparoscope Using Wedge Prisms
Authors: Hashimoto Takemasa ,   Graduate School of Frontier Science, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kobayashi Etsuko , Sakuma Ichiro , Shinohara Kazuhiko , Hashizume Makoto , Dohi Takeyoshi ,   Katayanagi Laboratory, Tokyo University of Technology, 1401-1 Katakura, Hachioji, Tokyo 192-0982, Japan,   Graduate School of Medical Sciences, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582, Japan,   Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

We describe a novel robotic laparoscope system. It can be used to observe a wide area without moving or bending the laparoscope. The system consists of an endoscope with zoom facility and two wedge prisms at the tip. This new concept produces excellent characteristics as follows. Firstly, it can change the field of view even in a small space. Secondly, it is safe because it avoids the possibility of hitting internal organs. Finally, because it does not require a large mechanism for manipulation of the endoscope, it does not obstruct the surgeon’s operation. We performed basic characteristics evaluation experiment andin-vivoexperiment. During evaluation, we confirmed that the positioning accuracy and image quality were acceptable for clinical use.
Dynamic Switching of a Controller Based on Diagnostic Tasks in Remote Ultrasound Diagnostics
Authors: Koizumi Norihiro ,   Department of Engineering Synthesis, School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, JapanDepartment of Orthopaedic Surgery Graduate school of medicine and dentistry Okayama University, 2-5-1 Shikata-cho, Okayama 700-0914, Japan, Warisawa Shin’ichi , Hashizume Hiroyuki , Mitsuishi Mamoru
Published: April 2016

The controller we developed for master-slave remote ultrasound diagnostics for an aging society has a variable impedance control capability for master/slave manipulator positions. Diagnostic tasks are classified in remote ultrasound diagnosis, then methods and devices are proposed to change virtual viscosity based on diagnostic tasks. Remote ultrasound diagnostic experiments demonstrated that health-care professionals could perform diagnosis efficiently using the proposed system.
Configuration and Robustness in Visual Servo
Authors: Chesi Graziano ,   Department of Information Physics and Computing, The University of Tokyo Hongo 7-3-1, Bunkyo-ku, Tokyo 113-8656, Japan, Hashimoto Koichi
Published: April 2016

Effects of camera calibration errors on the point-to-point task are investigated in static-eye and hand-eye visual servoing realized with position-based and image-based control laws. For these four configurations, the effect of uncertainty on the extrinsic parameters is analyzed. The results show local stability for all configurations under small calibration errors. However, a steady state error is found in the hand-eye position-based configuration. Simulations have been done to confirm the theoretical results and evaluate the effects of the uncertainty in terms of stability region. Another contribution of the paper consists of providing a method for estimating the stability region robust against uncertainty directions for the static-eye position-based case with uncertainty on the camera centers.
Functionally Distributed Control Architecture for Autonomous Mobile Robots
Authors: Taira Tetsuya ,   Anzai, Yamasaki, and Imai Lab. Department of Information and Computer Science Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan, Yamasaki Nobuyuki
Published: April 2016

This paper explains the design and implementation of functionally distributed control architecture that realizes real-time control of autonomous mobile robots. To operate successfully in human society, autonomous mobile robots must achieve both local and global control in real-time. We focus on robots operating in parallel, such as moving while sensing, and propose a functionally distributed control architecture designed as a parallel/distributed computer consisting of many functionally distributed modules. Each module has an exclusive Processing Unit (PU) that processes one function of robot, such as image processing, auditory processing, and wheel control, independently in real-time. The robot can perform global action by cooperating with such modules. We then evaluate the efficiency of the proposed architecture by implementing prototype robots based on this architecture.
Special Issue on Selected Papers from ROBOMEC'03 (Part 2)
Authors: Yokoi Kazuhito ,   Co-director, Dr. Eng.,ISI/AIST-STIC/CNRS, Joint Japanese-French Robotics Laboratory, AIST Tsukuba Central 2, 1-1-1 Umezono, Tsukuba 305-8568, Japan, Furukawa Masashi ,   Program Chair of ROBOMEC'03, Professor, Dr., Asahikawa National College of Technology, 1-6 2-2 Shunkoudai, Asahikawa 071-8142, Japan
Published: April 2016

This special issue commemorates the designation of the Journal of Robotics and Mechatronics as the International Journal of the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers from 1999. The 2003 JSME Conference on Robotics and Mechatronics (ROBOMEC'03) was held in Hakodate May 23-25, 2003, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. The general chair was Prof. Mikami and the program chair was Prof. Furukawa. The purpose of the conference was to aid in the establishment of new industries using advanced robotics and mechatronics technologies. Technical sessions featured 70 organized sessions and 770 papers enjoyed by some 1,000 participants. This special issue presents a wide range of ROBOMEC'03 papers to disseminate informative and innovative results. The program committee selected 95 outstanding papers, or about 10%. Of the 36 submitted and reviewed by the Journal's referees, 28 were selected for publication. Special Issue Part 2 on Selected Papers from ROBOMEC'03 (Vol.16, No.3) presents 14, with others having already been presented in Part 1 (Vol.16, No.2). We thank the authors featured in this special issue for their time and effort. We also thank Editor-in-Chief Prof. Makoto Kaneko of Hiroshima University for his invaluable effort in organizing this special issue and the editors for selecting the papers.
Development of Electromagnetic Nutation Motor (Electromagnetic Investigation)
Authors: Suzumori Koichi ,   Okayama University, 3-1-1 Tsusima-naka, Okayama 700-8530, Japan, Nagata Takashi , Kanda Takefumi , Uzuka Kazuo , Enomoto Isao ,   TOK Bearings Co. LTD. 2-21-4 Azusawa, Tokyo, Japan
Published: April 2016

The nutation motor, a new type of stepping motor we developed, features a simple structure, high resolution, and speed reduction, and operates on electromagnetic power. Our previously developed nutation motor operated on air pressure. We designed an electromagnetic coil based on magnetic field analysis using the finite element method (FEM) and optimized dimensions. The result was an electromagnet having an maximum force of 60N and an electric current of 0.3A. Using this electromagnet, we developed a motor having a maximum torque of 0.67N × m, a maximum rotation of 4.3rpm, and a minimum resolution of 1248step/rev.
Applications of Motion Control Originated from Robot Technology
Authors: Kosuge Kazuhiro ,   Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan
Published: April 2016

A new research model proposed by the Science Council of Japan in 1999 [1, 2] is based on how research is conducted and culturally integrated into society. Motion control systems developed for robots as part of the robot technology (RT) has potential applications both in actual robot systems and other systems, as demonstrated in several examples showing how motion control schemes developed for robots can be used.
Synchronous Positioning Control in Pressure Control Among Multi-AC Servomotors in Injection Molding Machine
Authors: Akasaka Noriyuki ,   Department of Control and Information Engineering, Kurume National College of Technology, 1-1-1 Komorino, Kurume-City, Fukuoka 830-8555, Japan
Published: April 2016

With the trend toward higher-power electric-motor-driven injection molding machines, multi-AC servomotor control is needed to control the molding machine, making synchronous positioning control inevitable to prevent excessive mechanical stress in equipment. Synchronous positioning control in injection velocity control is implemented by using position feedback signals from motor pulse generators. In injection pressure control synchronous positioning control is difficult to realize because pressure-detector signals are used in place of position feedback signals. We clarified synchronous positioning control during injection pressure control by using both pressure-detector and position feedback signals. Simulation results showed that synchronous positioning control error was less than ±4μm in pressure control.
Control of a Handwriting Robot with DOF Redundancy Based on Feedback in Task Coordinates
Authors: Hashiguchi Hiroe ,   Department of Robotics, Ritsumeikan University, 1-1-1 Noji-Higashi, Kusatsu, Shiga 525-8577, Japan, Arimoto Suguru , Ozawa Ryuta
Published: April 2016

To enhance robot hand dexterity, it is said that the robot should be designed to have a redundant number of degrees of freedom. In redundant robotic systems, inverse kinematics from task description space to joint space becomes ill-posed, making it difficult to determine joint motions. To avoid this ill-posedness, most proposed methods introduce an additional input term calculated from an intentionally introduced artificial index of performance. We propose a 4 DOF redundant handwriting robot using novel simple control to solve the problem of ill-posedness based on sensory feedback. We demonstrate the effectiveness of proposed control in computer simulation of closed-loop dynamics with the constraint that the robot’s endpoint be always on a two-dimensional plane.
Torque Control in Harmonic Drives with Nonlinear Dynamic Friction Compensation
Authors: Dhaouadi Rached ,   Department of Electrical Engineering, School of Engineering, American University of Sharjah, P.O. Box 26666, Sharjah, UAE
Published: April 2016

This paper proposes a nonlinear observer-based controller designed to compensate for friction in harmonic drives with hysteresis. Hysteresis in a harmonic drive is described by a nonlinear differential equation representing the combination of nonlinear stiffness and nonlinear friction. Nonmeasurable friction is derived using a nonlinear observer to provide asymptotic stability and position tracking. The performance of the proposed system is confirmed by computer simulation.
Biologically-Inspired Locomotion Controller for a Quadruped Walking Robot: Analog IC Implementation of a CPG-Based Controller
Authors: Nakada Kazuki ,   Department of Electrical Engineering, Hokkaido University, Kita 13 Nishi 8, Sapporo 060-8628, Japan, Asai Tetsuya , Amemiya Yoshihito
Published: April 2016

The present paper proposes analog integrated circuit (IC) implementation of a biologically inspired controller in quadruped robot locomotion. Our controller is based on the central pattern generator (CPG), which is known as the biological neural network that generates fundamental rhythmic movements in locomotion of animals. Many CPG-based controllers for robot locomotion have been proposed, but have mostly been implemented in software on digital microprocessors. Such a digital processor operates accurately, but it can only process sequentially. Thus, increasing the degree of freedom of physical parts of a robot deteriorates the performance of a CPG-based controller. We therefore implemented a CPG-based controller in an analog complementary metal-oxide-semiconductor (CMOS) circuit that processes in parallel essentially, making it suitable for real-time locomotion control in a multi-legged robot. Using the simulation program with integrated circuit emphasis (SPICE), we show that our controller generates stable rhythmic patterns for locomotion control in a quadruped walking robot, and change its rhythmic patterns promptly.
Acquisition of Adaptive Behavior for the SMA-Net Robot Using Chaotic Neural Networks
Authors: Suzuki Ikuo ,   Life Oriented Software Laboratory, Muroran Institute of Technology, 27-1 Mizumoto-cho, Muroran 050-8585, Japan, Fujii Masaru , Naruse Keitaro , Yokoi Hiroshi , Kakazu Yukinori ,   Graduate School of Engineering, Hokkaido University, Kita-13 Nishi-8, Kita-ku, Sapporo 060-8628, Japan,   School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

In this paper, we propose control for the SMA-Net Robot, a flexible structure consisting of many units and shape memory alloy (SMA) springs. To generate greater force for movement, more than one SMA spring is required. Since SMA springs are driven by thermal transition, controlling individual spring heating patterns is important in SMA-Net Robot behavior. It is a problem in controlling SMA spring that its detailed control is difficult because of the nonlinearity. We propose methodology that arranges heating and cooling as a rhythm pattern memorized by many chaotic neural networks (CNNs). To renew connecting weights in the network, we use the modified dynamic learning method (DLM) in online learning. The results of computational experiments showed that the SMA-Net Robot with the proposed control generates movement automatically.
Input of Japanese Characters by Recognizing the Number of Fingers
Authors: Yamagishi Takashi ,   Graduate School of Sciences and Engineering, Chuo University (currently Hitachi, Ltd.), Umeda Kazunori ,   Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
Published: April 2016

Many recent studies centered on recognizing human gestures using images for man-machine interfaces do not deal with information on Japanese or other characters. We propose inputting Japanese characters by recognizing the number of fingers of one hand. Recognized numbers are converted to characters using the “pocket-bell” rule. The number is recognized by image processing. Range images are used as image information to implement the method. We also discuss how to control recognition timing and canceling input data. Experimental results using a range image sensor show the effectiveness of the proposed methods.
The Evaluation of Agreement Between Dynamics of Electric Wheelchair and Human Behavior
Authors: Shimada Shigenobu ,   Division of Systems and Information Engineering, Graduate School of Engineering, Hokkaido University, Ishimura Kosei , Wada Mitsuo ,   Division of Synergetic Information Science, Graduate School of Information Science and Technology, Hokkaido University, N14-W9, Kita-ku, Sapporo 060-0814, Japan
Published: April 2016

We studied the problem of interaction of movement between the electric wheelchair and the user. Almost all current products have indexes such as roll stability and operability, but such indexes do not always agree with user behavior because such indexes are static. Another problem arises from the fact that the disagreement of movement causes uncontrollable situations and turnover of the wheelchairs. We evaluated wheelchairs that consider user behavior, first in an experiment to understand the cause of disagreement among users during movement by measuring straight line ands turning, then, based on this result, derived a mathematical model for disagreement in wheelchair motion. Computer simulation, showed that vibration occurred within certain parameters. We present simple roll stability analysis of wheelchairs turning. Simulation confirmed the viability of our proposals.
Stiffness Teaching and Motion Assist System Using Functional Electrical Stimulation and Electromyogram Signals
Authors: Uechi Masaaki ,   Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan, Naito Yutaka , Shin Duk , Sato Makoto , Koike Yasuharu
Published: April 2016

In skilful tasks and sports, not only movement but also joint stiffness and the force are important. It is easy to watch and replicate the movement, but not to replicate the stiffness and the force. Muscle tensions cause our movement, which can be measured by EMG. Using the signals from EMG, we develop the technique to estimate the joint torque, joint stiffness, and equilibrium posture. So, while watching the hand movement, we can also feel the force and the joint torque are used. In this paper, we propose a motion assist system (MAS) that uses the pieces of internal information that are joint stiffness and joint torque based on muscle tensions. The experimental results show that the joint torque and hand stiffness were transmitted precisely using functional electrical stimulation (FES). This system will be useful not only for learning a skill, but also for supporting elder persons.
Development of Straight Style Transfer Equipment for Lower Limbs Disabled: Verification of Basic Motion
Authors: Mori Yoshikazu ,   Graduate School of Engineering, Tokyo Metropolitan University, 1-1 Minami-Osawa, Hachioji, Tokyo 192-0397, Japan, Takayama Kazuhiro , Zengo Takeshi , Nakamura Tatsuya ,   Engineering Development Department B6, Honda R&D Co., Ltd., Tochigi R&D Center, 4630 Shimotakanezawa, Haga-machi, Haga-gun, Tochigi 321-3393, Japan,   IJ Technology Development Center Technology & Development Group, Fuji Xerox Co., Ltd. 2274 Hongo, Ebina-shi, Kanagawa 243-0494, Japan
Published: April 2016

We developed straight style transfer equipment for a person with disabled legs. It realizes travel in a standing state even on uneven ground, standing-up motion from a seated position, and ascending stairs. This equipment comprises three modules: a pair of telescopic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. We detail the conceptual design of the equipment and the motion of each module. Cooperative operations using three modules are discussed through simulations. We verified travel in a standing state, including rotation, and standing-up motion from a chair through experiments using prototypes of telescopic crutches and mobile platforms.
Wearable Heart Rate Counter
Authors: Takanobu Hideaki ,   Department of Mechanical Systems Engineering, Kogakuin University, 1-24-2 Nishi-shinjuku, Shinjuku-ku, Tokyo 163-8677, Japan, Saito Satoshi , Tsuboi Hideki , Miura Hirofumi , Naemura Kiyoshi ,   Tokyo University of Technology, Tokyo, Japan
Published: April 2016

This paper describes the development and experimental results of two prototype wearable heart rate (HR) counters. Portable and wearable HR counters were developed to measure the heart rate, an important vital sign and basic in vivo information. We developed acceleration and strain gage HR counters. The strain gage HR counter measures the heart rate during walking at 1.0-2.0m/s.
Development of Portable Color Discrimination for the Visually Impaired and Color Blindness
Authors: Maekawa Mitsuyoshi ,   Industrial Research Institute of Ishikawa, 2-1 Kuratsuki, Kanazawa, Ishikawa 920-8203, Japan, Hashizume Shinya , Touma Yasunori , Imai Yukiko , Seki Hiroaki , Hifumi Yoshikatsu ,   Hokkei Co., Ltd. 3-4-20 Masuizumi, Kanazawa, Ishikawa 921-8025, Japan,   Graduate School of Natural Science & Technology, Kanazawa University, 2-40-20 Kodatsuno, Kanazawa, Ishikawa 920-8667, Japan,   Reha Vision Co., Ltd., 2-13 Asahidai, Tatsunokuti, Nomi, Ishikawa 923-1211, Japan
Published: April 2016

The inability to discriminate color is an ongoing problem for the visually impaired and those with color blindness. We propose a portable color discrimination unit that communicates color information to users in verbal messages and sound. The unit states what color the target is and, by scanning its surface, transmits a continuous musical tone corresponding to color variations in the scanned area. The targetive is to make color patterns and the target layout recognizable, requiring 1) colorimetric stability, 2) translation of colorimetric information into an appropriate color name, and 3) setting of a relationship between color and sound. We propose using automated calibration and developed a colorimetric unit with high environmental robustness. Colorimetric data consists of RGB data, which does not lend itself readily to color discrimination, so we developed a way to convert RGB data to 220 color names. To develop easy-to-remember color-sound correspondence, we propose using the Shepard Tone Method, in which Shepard tones are mapped onto color hues. These are combined so users scan a target and hear a continuous sound and, if necessary, a color name, to recognize the target’s overall color pattern, somewhat akin to how a visually impaired person recognizes a sculpture by touching its surface.
Prospects for Hyper Performance Robots and Mechatronics
Authors: Morita Toshio ,   Dept. of Mechanical Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
Published: April 2016

Various media have recently reported the contributions of robots, and there is much anticipation for robots that have a larger impact on society to appear. For this purpose, it is necessary to review the technology of robotics or mechatronics in the terms of “performance” that stretches the evaluation in the past of high speed, high precision, high output, small size, safety, etc. and rise above it with flexible ideas. This paper uses the key word hyper performance to describe my opinion of the directivity of future robot development.
Insertion of Long Peg into Tandem Shallow Hole Using Search Trajectory Generation
Authors: Matsuno Takayuki ,   Department of Micro-Nano Systems Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Fukuda Toshio , Hasegawa Yasuhisa ,   Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan
Published: April 2016

In this paper, we propose a method to insert a long peg into a tandem shallow hole using search trajectory generation without force feedback. The use of RCC (Remote Center Compliance) is a possible solution for robotic assembly, but it is no longer useful when the remote center cannot be set correctly. We focus a task to insert a peg into the tandem shallow hole as an example that cannot be accomplished by robots using RCC devices. For this task, firstly, a new peg insertion method using search trajectory generation is proposed to continuously adjust the peg position. Secondly, a floating unit is made in order to reduce the number of positions to be corrected. And then, a method to estimate an indication of the insertion axis and a method to revise the inclination in order to avoid a jamming phenomenon are also proposed. Finally, the effectiveness of these methods is verified by an experiment.
Effects of the Lower Leg Bi-Articular Muscle in Jumping
Authors: Oshima Toru ,   Department of Mechanical Systems Engineering, Faculty of Engineering, Toyama Prefectural University, Kurogawa 5180, Kosugi, Toyama 939-0398, Japan, Toriumi Kiyoshi , Fujikawa Tomohiko , Momose Noboru ,   Faculty of Education, Toyama University, Gofuku 3190, Toyama 939-8555, Japan,   Department of Electronic Control Engineering, Toyama National College of Maritime Technology, Ebieneriya 1-2, Shinminato, Toyama 939-0293, Japan
Published: April 2016

We studied the effects of the lower leg bi-articular muscle in vertebrates in jumping. We used the proposed Jumping Jack model in computer simulation to analyze the impact of bi-articular muscle on postural jumping stability, energy transition caused by postural change, and the relationship between the ground reaction force and the center of gravity. We made a trial model and measured the jumping posture, ground reaction force, and jumping height to verify simulation results. The bi-articular muscle adjusted the ground reaction force so that the line of action invariably passed near the center of gravity and the conversion of elastic energy to rotational kinetic energy was suppressed, leading to a stable posture after takeoff.
sMML - A Smart MetaModeling Language for Flexible Modeling
Authors: Oya Makoto ,   Graduate School of Information and Technology, Hokkaido University, N14, W9, Kita-ku, Sapporo 060-0814, Japan
Published: April 2016

Modeling is the key to software design, from large information systems to embedded software. Without well-considered software models, the developed implementation becomes inconsistent or distant from the original requirement. A model is created using a modeling language. UML is a standardized general-purpose modeling language widely used in enterprise systems design. Because it is very large language, UML is not always appropriate for designing small software. Designers also often want to describe models differently based on the immediate need preferring simple, application-specific but flexible notation rather than the rigidity of UML. We propose a metamodeling language, called sMML, to define custom-made modeling language that enables designers to define a suitable modeling language on demand, then write actual models using it. sMML is a metamodeling language small enough to define a variety of modeling languages, self-closed and independent of other modeling languages, and aligned with UML. After completely defining sMML, we present experimental results applying sMML, taking a simple modeling language and UML as examples, which demonstrates that sMML is useful for flexible modeling and capable of defining a wide range of modeling languages.
Quantitative Evaluating Reactions to Gustatory Stimuli
Authors: Ide Hideto ,   Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara, Kanagawa 229-8558, Japan, Ide Yoshinori ,   Tamagawa University, Machida 194-0041, Japan
Published: April 2016

Vital reactions to the gustatory stimulus of sweetness were quantitatively evaluated via facial skin thermography, correlating nasal skin temperature with subjective emotional status based on the visual analog scale (VAS). We found that the sweet gustatory stimulus inhibited transition to an unpleasant status.
Experiments on Motion Control of Two-Joint Articulated Hopping Robot with Stopper Mechanisms
Authors: Kato Gustavo ,   Department of Mechanical System Engineering, Gunma University, 1-5-1 Tenjin-cho, Kiryu, Gunma 376-8515, Japan, Kojima Hiroyuki , Yoshida Mamoru , Wakabayashi Yusuke ,   Japan High Comm Co. Ltd., 5-14-18 Ishimura-machi, Maebashi, Gunma, Japan
Published: April 2016

In this report, a new-type two-joint articulated hopping robot with two stopper mechanisms is developed. The two rotary joints are actuated by two DC motors with reduction gears. In this new-type two-joint articulated hopping robot with two stopper mechanisms, the hopping motion actions are achieved by the two joint rotational dynamics and the two stopper mechanisms. Using the two stopper mechanisms, the angular momentums and momentums of the two links are transformed into the hopping motion action according to the law of conservation of angular momentum and momentum. Then, the hopping motion control system is constructed to fit the DC motor characteristics, and the effects of the stopper settings and the delay time of the control voltage of the DC motor on the hopping motion performance are experimentally investigated. Furthermore, the examples of the hopping motion control experiments are demonstrated, and it is confirmed that the forwards and backwards hopping motion actions can be successfully performed.
Mine Remote Sensing Using a Working Robot
Authors: Shimoi Nobuhiro ,   Department of Mechanical Engineering, Tokyo National College of Technology, 1220-2 Kunugida-machi, Hachioji-shi, Tokyo 193-0997, Japan, Takita Yoshihiro ,   Department of Computer Science, National Defense Academy, 1-10-20 Hashirimizu, Yokosuka, Kanagawa 293-8686, Japan
Published: April 2016

In conducting mine detection experiments using our prototype robot COMET-1, we developed end effectors on the robot’s working legs. When detecting a mine, a robot must step safely and stably without hitting it. For this study, we created a simulation model to test the movement of a robot having an optical proximity sensor on each foot and used a walking algorithm having compliance control. We verified its efficiency in walking experiments. We also studied the use of remote sensing technology with an IR camera combined with other sensors. Tests with trial mines were used to study the detection of an IR camera and studied technologies for collecting and processing image data in real time for optimum mine detection.
Design and Realization of 2-Dimensional Optical Range Sensor for Environment Recognition in Mobile Robots
Authors: Kawata Hirohiko ,   Hokuyo Automatic Co., Ltd., 1-10-9 Niitaka, Yodogawa-ku, Osaka 532-0033, Japan, Mori Toshihiro , Yuta Shin’ichi ,   School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennoudai, Tsukuba, Ibaraki 305-8577, Japan
Published: April 2016

We developed a 2-D laser range sensor suitable for different mobile robot platform sizes. The sensor features compactness, lightweight, high precision and low power consumption and has wide scan angle with high resolution essential for environment recognition in mobile robots. The principle applied to calculate the distance between the sensor and the object involves, applying amplitude modulation to the wave of light and detecting the phase difference between transmitted and received light. In this paper we explain the sensor specifications, the principle of distance measurement and experimental results.
Multi-Target Tracking Using a Vision Chip and its Applications to Real-Time Visual Measurement
Authors: Watanabe Yoshihiro ,   Department of Information Physics and Computing, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Komuro Takashi , Kagami Shingo , Ishikawa Masatoshi
Published: April 2016

Real-time image processing at high frame rates could play an important role in various visual measurement. Such image processing can be realized by using a high-speed vision system imaging at high frame rates and having appropriate algorithms processed at high speed. We introduce a vision chip for high-speed vision and propose a multi-target tracking algorithm for the vision chip utilizing the unique features. We describe two visual measurement applications, target counting and rotation measurement. Both measurements enable excellent measurement precision and high flexibility because of high-frame-rate visual observation achievable. Experimental results show the advantages of vision chips compared with conventional visual systems.