bluuebunny/crossref_metadata_2025 huggingface dataset:
Force Control of Manipulators Based on H∞ Controller (Application of Joint Torque Feedback)
Authors: Zhang Guoguang ,   Department of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu-shi, Tokyo, 182 Japan, Furusho Junji , Sano Akihito ,   Department of Mechanical Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi, 466 Japan
Published: April 2016

Force control using a hierarchical structure is discussed, which consists of upper force control and lower joint position control. The force controller calculators the joint position corrections necessary to control the force in the desired manner. These correction signals from the force controller are output to the lower controller and added to the nominal joint position command. In this paper, we apply mixed sensitivity design of H∞ control theory to a force control system. The nominal model is discussed, and the robustness against modeling error is analyzed. Owing to joint torque feedback control, the change of the controlled plant is reduced, so high gain force control can be achieved. Experimental results and eigenvalue analysis are also presented.
Basic Consideration of Actuators with Multi DOF Having an Identical Center of Rotation
Authors: Yano Tomoaki ,   Mechanical Engineering Laboratory, Ministry of International Trade and Industry, 1-2 Namiki, Tsukuba, Ibaraki, 305 Japan, Kaneko Makoto ,   Industrial and System Engineering, Hiroshima University, Higashi-Hiroshima, Hiroshima, 724 Japan
Published: April 2016

Actuators with three DOF used for manipulators have been developed. First, the principle of conventional motors is extended to construct motors with three degreeof-freedom. Next, prototype induction and synchronous type motors with three DOF have been developed and examined. Experimental results show that the induction motor has a large slide and that the rotary speed varies with the direction of the axis of the rotary magnetic field, while the synchronous motor rotates the same rotary speed as the rotary magnetic field. With each type, the rotor can move in any direction by following the rotary magnetic field.
Motion Control of a Piezopolymer Bimorph Flexible Microactuator
Authors: Sasaki Minoru ,   Department of Mechanical Engineering, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu, 501-11 Japan, Okugawa Masayuki
Published: April 2016

An optimal feedback control of a flexible microactuator made of a bimorph piezoelectric high-polymer material (PVDF: Poly Vinylidene Fluoride), is proposed in this paper. This optimal feedback control is based on the assumption that the full state vector of the system is available for measurement although practically all state variables are very difficult to measure in the case of a distributed parameter system. An observer is used to estimate the entire state vector of the system, but the presence of sensor noise tends to adversely affect the convergence of the observer. This naturally leads to a stochastic observer commonly known as the Kalman filter. Numerical and experimental results demonstrate the effectiveness of the proposed controller design method.
Control of Vertebrate Backbone System by Using Artificial Rubber Muscles (Control of Two-Degree-of-Freedom System by Using Three Artificial Rubber Muscles)
Authors: Kawamura Takashi ,   Shinshu University, 3-15-1, Tokida, Ueda, Nagano, 386 Japan, Kawahara Hisayoshi , Nakazawa Masaru ,   Kawagoe Plant, Nitiyu Giken Kogyo Co., Ltd., 21-2, Matoba-Shinmachi, Kawagoe, Saitama pref., 350-11 Japan
Published: April 2016

This paper deals with the mechanism and control of a vertebral backbone system which operates on compressed air. This backbone system is composed of layered plates, balls, and artificial rubber muscles driven by pneumatics. The bending angle and direction of the backbone are fixed by displacement of wires that are connected to the artificial rubber muscles. In usual cases, a pair of artificial rubber muscles are used to operate a one-degree-of-freedom joint. This study proposes a mechanism and control method for a two-degreeof-freedom joint driven by three artificial rubber muscles. The structure of the backbone and its analysis in consideration of the characteristics of artificial rubber muscles are described. A control method and experimental results are also shown in this paper.
Miniature Robot with Micro Capillary Capturing Probe for Surface Clearing Operation
Authors: Aoyama Hisayuki ,   Division of Intelligent Instrument and Information Integration, Department of Mechanical Engineering, Shizuoka University, 3-5-1, Johoku, Hamamatsu, Shizuoka, 432 Japan, Iwata Futoshi , Fukaya Jisuke , Sasaki Akira
Published: April 2016

In this report, a micro capillary capturing probe based on the surface tension of water is described. This probe is composed of a capillary of glass, small solenoids, and a micro magnetic piston. The quick reciprocating motion of the magnetic piston which is accelerated by solenoids current can push and pull the water in the capillary. At the end of the capillary, the water drop can grow to reach the small object on the surface, contain it with the help of surface tension, and retract into the capillary. The basic principle and design will be discussed, and the experimental results of capturing small objects will be demonstrated. We successfully implement this active probe into our miniature precise robot for surface clearing operation.
Position Estimation Method for Wheeled Mobile Robot by Integrating Laser Navigation and Dead Reckoning Systems
Authors: Hashimoto Masafumi ,   Faculty of Engineering, Hiroshima University, 4-1, 1-chome, Kagamiyama, Higashi-Hiroshima, Hiroshima, 739 Japan, Oba Fuminori , Fujikawa Yasushi , Imamaki Kazutoshi , Nishida Tetsuo ,   Sanyo Electric Co., Ltd., 1-1-1, Sakata, Oizumi-machi, Ora-Gun, Gumma, 370-05 Japan,   Shimizu Corp., 2-3-10, Seavan South, Shibaura, Minato-ku, Tokyo, 105-07 Japan,   Shin Nippon Koki Co., Ltd. 2-500-1, Takao, Sakai, Osaka, 593 Japan
Published: April 2016

This paper describes a position estimation method for a wheeled mobile robot by integrating information in an odometric dead reckoning and a laser navigation system. Dead reckoning regularly gives the robot positions by the rotational counts of the two side wheels. The laser navigation system successively observes the bearing angles relative to the corner cube reflectors fixed in the robot environment. The chi-squared hypothesis testing is applied to reliably identify the corner cubes. The identified angle measurements modify the robot positions calculated by the dead reckoning based on the Extended Kalman filtering. A plant model is introduced from the kinematic equation concerning the dead reckoning, which-regards both the robot position and the wheel’s radius as state variables and the encoder measurement as an input variable. A measurement model is built concerning the bearing to a corner cube reflector in the environment observed by the scanned laser. The proposed method enables the robot to accurately estimate its position even under uncertainty of the wheel’s radius and the robot motion with slippage in a cluttered environment. The simulation and experimental results justify the proposed method.
Special Issue on Biological Information
Authors: Ide Hideto ,   Professor, College of Science and EngineeringAoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo, 157 Japan
Published: April 2016

The issues facing Japan at the present moment may be represented by three key phrases: population aging, information, and internationalization. Among these, the problem of population aging is not such a relaxed research issue involving the question 'I wish we had such a machine.', but rather a serious one which might destroy the very fabric of society unless some machines were used to solve the problem. The average age of the population in Japan is rising at an alarming rate, and the fact that the population composition is top-heavy does not need any explanation. An abrupt change causes a transitory phenomenon, and the problem becomes even more serious. Soon after the beginning of the 20th century, the aging of the population became the most serious condition, and it was thought that the situation would improve if that condition could be overcome. Population aging causes not only a lack of capacity in medical treatments, maintenance of health, and nursing for the society as a whole but also a variety of problems, in a wider sense, related to aged workers, the morale of the society, etc. The society would certainly like to see workable, healthy old people work and only slightly handicapped people do what they want to do on their own. There is every likelihood that in the future an increasing number of people will require nursing help, thereby causing a shortage of nursing people. This shortage must be filled by machines. Unless machines come to assistance, the society will not function on its own. There are people who talk of the aged as people having handicapped, dark images, but since a majority of the society will become aged, the society itself must be designed to suit the aged. Who is going to take care of the aged? Your own children or spouse? The answer is No. From now on, one should take care of his needs entirely by himself. However, those who are physically unwell cannot take care of themselves. Then who? It is a 'robot'. For that, a robot must be developed who is understanding, warm-hearted, resembling a grandchild or a sweetheart. At present, robots are used in every industrial sector. At first, each of them had a single function. Today, robots with multi-functionality, with intelligence, and with learning capability have made their appearance. In addition, robots can now carry out tasks in such extreme environments as deep seas, the outer space, and radioactive situations.
Recognition System for Awakening and Sleeping by Fuzzy Reasoning
Authors: Oyabu Takashi ,   Faculty of Humanities, Toyama University of International Studies, 65-1, Higashi-kuromaki, Ohyama-machi, Kami-niikawa-gun, Toyama, 930-12 Japan
Published: April 2016

Awakening and sleeping are recognized as human behaviors by a gas-sensor output using a fuzzy reasoning. The gas sensor is made from a tin oxide and is sensitive for various gases. The sensor output has a daily periodical pattern. The pattern descends gradually during sleeping and ascends suddenly as of awakening. Recognition is performed using the characteristics of the pattern. At that time, the min-max compositional method is adopted. There are only six rules in this system.
Servo System Design Considering Low-Stiffness of Robot
Authors: Shimada Akira ,   Seiko Seiki Co., Ltd., 4-3-1 Yashiki, Narashino, Chiba, 275 Japan
Published: April 2016

This paper describes the practical design method of an advanced servo system for industrial robot manipulators, where it includes a disturbance and velocity observer. It is first assumed that the feature on frequency response of the robot is approximated to the feature of two-mass mechanism. Actually this is confirmed by some experiments. On the other hand, it is insisted that the actual servo system should be simple for industrial use. The observer is designed for the load which has the feature of single moment of inertia. Based on the assumption that there is a difference between these features, it is introduced that the servo system can be effectively used if only the qualified gains are selected considering lowstiffness. The special relation between the frequency analysis and the pole allocations are then shown, and Finally the experimental results are introduced.
Variable-Structure Disturbance Observer for Decoupling Control of Robot Manipulators
Authors: Kuroe Yasuaki ,   Department of Electronics and Information Science, Kyoto Institute of Technology, Matsugasaki, Sakyo-ku, Kyoto, 606 Japan, Lin Hsin-Nan ,   Graduate School of Science and Technology, Kobe University, Rokkodai, Nada-ku, Kobe, 657 Japan
Published: April 2016

In recent years, disturbance observers have been used extensively for decoupling control of robot manipulators. But the conventional disturbance observers are sometimes useless for decoupling control because they are usually constructed under the assumption that the disturbance is constant during the sampling period. Therefore the trade-off between decay rate of the estimation error and the sensitivity to sensor noise becomes inevitable problem. In this paper we propose a variable-structure disturbance observer for decoupling and linearizing control of robot manipulators. The proposed observer can treat a general class of disturbances and overcome the problems of the conventional disturbance observers, that is, sensitiveness to sensor noise and delay of convergence. A method for decoupling control of robot manipulators by applying the proposed observer is also discussed. The proposed control method is implemented into an experimental 3-degree-of-freedom DD robot. It is shown through experimental results that the proposed method can realize decoupling control for robot manipulators more precisely and robustly.
An Approach to Chaos and Self-Organizing Behaviors in Symbiotic Relationships between Human and Robots
Authors: Wada Mitsuo ,   Faculty of Engineering, Hokkaido University, Kita-13, Nishi-8, Sapporo, Hokkaido, 060 Japan, Mikami Sadayoshi
Published: April 2016

This paper describes the role of chaos and the self-organization for achieving a symbiosis between the human and robots through an evolution of the robots and an adaptability of the robots to a complexity. It will be our great pleasure if this paper is helpful for promoting discussions among the readers.
"""Mind"" Left by Modern Science"
Authors: Yabuta Tetsuro ,   NTT Access Network System Labs., Tokai, lbaraki, 319-11 Japan
Published: April 2016

This paper shows ""Mind"" problem which is left by Modern Science. This paper discusses ""Mind"", ""Sprit"" and ""Consciousness"", which are beyond Modern Science.
An Application for Diagnosis by Chaotic Approach (An Application to Discrimination of Arrhythmia)
Authors: Iokibe Tadashi ,   System Technology Division, Meidensha Corporation, Hakozaki 36-2, Nihonbashi, Chuo-ku, Tokyo, 103 Japan, Koyama Masaya , Sugiura Toshifumi ,   Research Institute of Electronics, Shizuoka University, Jyohoku 3-5-1, Hamamatsu, Shizuoka, 432 Japan
Published: April 2016

In a healthy state, the human heart beat shows an extensive spectrum and its attractor has a chaotic orbit. However, in a damaged state, fluctuations in the heart beat become periodical. An Implantable Cardioverter/Difibrillator (ICD), along with an implanted pace maker until in either the subcutaneous chest wall, or subpectoral or subcutaneous abdomen, or sub-muscles rectus abdominis serve to detect abnormalities and eliminate them quickly. The abnormalities affected include: ventricular fibrillation (non-regulated electrical activity in a ventricle) and other arrhythmia, such as ventricular tachycardia (VT) or supra ventricular tachycardia (SVT). There are two methods for detecting arrhythmia available with the present ICD. One is to investigate the heart beat or period, and the other is to investigate the electrocardiographic wave. However, the employment of these techniques, either singly or in combination, doesn't always provide the required accuracy. This paper describes traditional analysis methods and the problems of ICD in brief. Subsequently, it discusses the chaotic approach. Finally, the results suitable for real testing, as well as future topics, are presented.
Intelligent Robot Prototyping Based on Chaotic Retrieval
Authors: Yamaguchi Toru ,   Department of Information Science, Faculty of Engineering, Utsunomiya University, 2753 Ishii-machi, Utsunomiya, Tochigi, 321 Japan, Yoshihara Michihiro , Wakamatsu Yoshiyuki
Published: April 2016

This paper proposes a self-organization based on chaotic retrieval which can realize human creativity. We applied the proposed method to a moving. robot which avoids obstacles. By using the proposed method, a robot can search out a right way by itself and can learn new control rules, even when the environment changes. We show the proposed method’s usefulness from simulation results.
Artificial Emotional Creature Project to Intelligent Systems
Authors: Shibata Takanori ,   Massachusetts Institute of Technology, Artificial Intelligence Laboratory
Published: April 2016

I came to the Massachusetts Institute of Technology in September, 1995, intending to stay as a researcher at its Artificial Intelligence Laboratory for two years. Cambridge and the environs of Boston where MIT is located is dotted with a number of universities and colleges, including Harvard University and Tuft College, and also with businesses related to universities. In addition, the area is full of venture-capital enterprises related to computers. Because of the presence of numerous universities and colleges a large number of people are gathered here from all over the world.
Collaborative Manipulation by Independent Manipulators
Authors: Kawabata Kuniaki ,   Dept. of Electrical and Electronics Engineering, Hosei University, 3-7-2 Kajino, Koganei, Tokyo, 184 Japan, Kobayashi Hisato
Published: April 2016

This paper shows a method to handle a target object by plural manipulators. Where, the manipulators works independently, but the target object can be driven into the specified position. The information fed to each manipulator is same, thus communication can be done by broadcasting. Such simple information structure is excellent from a viewpoint of system robustness.
Clock Synchronization Mechanisms for a Distributed Autonomous System
Authors: Kokaji Shigeru ,   Mechanical Engineering Laboratory, AIST, MITI, 1-2, Namiki, Tsukuba, Ibaraki, 305 Japan, Murata Satoshi , Kurokawa Haruhisa , Tomita Kohji
Published: April 2016

A self-organizing mechanical system is currently developed at the Mechanical Engineering Laboratory. The system is composed of many mechanical units and in order to generate cooperative motion, it is required to establish common clock timing. In this paper, two algorithms are proposed to establish the common clock without being trapped in a deadlock condition. The algorithms work in the situation that all units follow the same procedure and neighbor-neighbor communication is possible. The operation of the units is analyzed with a physical spring damper model and it is concluded that with these algorithms the common clock timing can be established if parameters are chosen correctly in each unit.
An Approach to Emergence Mechanism of Affordance
Authors: Hakura Jun ,   Faculty of Engineering, Hokkaido University, Kita-13, Nishi-8, Kita-ku, Sapporo, 060 Japan, Kakazu Yukinori
Published: April 2016

It is fatal for the autonomous robots in the real world, filled with enormous amount of information, to catch only the useful and related information of their actions. Affordance would be one of the key words to make them available the ability to catch those useful information. This paper, therefore, tries to enable an autonomous robot affordance by introducing Inner Perceptual Model (IPM) as a field that will make the sensory inputs as a grounded symbol. An emergent mechanism of Affordance is proposed by means of IPM, Active Sensing System, and Information Processing System. Four necessary conditions to be satisfied is settled to clarify whether the Perceptual Pattern in IPM could be the inner representation of the environment. Computer simulations show the possibility that IPM would be an inner representation of the environment as grounded symbols.
Intelligent Control of a Mobile Robot for Service Use in Office Buildings and Its Soft Computing Algorithms
Authors: Tanaka Takayuki ,   Department of Mechanical and Control Engineering, The University of Electro-Communications, Chofu, Tokyo 182, Japan, Ohwi Junji , Litvintseva Ludmila V. , Yamafuji Kazuo , Ulyanov Sergei V. ,   Artificial Intelligence Research Centre of Program System Institute, Russian Academy of Science, Botik, Pereslavl-Zallesky, 152140, Russia
Published: April 2016

The arrangement principles and design methodology on soft computing for complex control framework of AI control system are introduced. The basis of this methodology is computer simulation of dynamics for mechanical robotic system with the help of qualitative physics and search for possible solutions by genetic algorithms (GA). On fuzzy neural network (FNN) optimal solutions for navigation with avoidance of obstacles and technological operations as opening of door with a manipulator are obtained and knowledge base (KB) for fuzzy controller is formed. Fuzzy qualitative simulation, GA and hierarchical node map (HN), and FNN have demonstrated their effectiveness for path planning of a mobile robot for service use. New approach for direct human-robot communication with natural language and cognitive graphics is introduced. The results of fuzzy robot control simulation, monitoring, and experimental investigations are presented.
Forecast Method of Obstacle Region in Dynamic Environment
Authors: Uchida Masafumi ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-1, Chitosedai, Setagaya-ku, Tokyo, 157 Japan, Ide Hideto , Yokoyama Syuichi ,   Kogakuin University, 1-24-2, Nishishinjuku, Shinjuku-ku, Tokyo 163 Japan
Published: April 2016

This study especially take notice of a path plan of a mobile robot in a motion plan of an autonomous robot. We considered that a transfer from a pattern of environment information to one of a plan is a path plan and studied ways to proccess an occupied region pattern of a working environment in parallel. This Paper proposes a technique for to forecast of environment changes and to plan ahead motion for the future.
Study of the Stability and Motion Control of a Unicycle (5th Report: Experimental Results by Fuzzy Gain Schedule PD Controllers)
Authors: Sheng Zaiquan ,   Department of Mechanical and Control Engineering, University of Electro-communications, 1-5-1 Chofugaoka, Chofu Tokyo, 182 Japan, Yamafuji Kazuo , Ulyanov Sergei V.
Published: April 2016

In this paper, the use of three gyrosensors for detection of a unicycle robot's posture in three dimensions, and experiments on the unicycle robot's postural stability control are conducted with fuzzy gain schedule PD control. Experimental results show that both the robot's longitudinal and lateral posture can be stabilized successfully. Comparing the experimental results with one PD and one D controller, those by two fuzzy gain schedule PD controllers are much better. Real-time experimental results indicate that the fuzzy gain schedule PD control proposed here is quite effective in robot postural stability control. Experimental results also show that proposed fuzzy gain schedule PD control provides a reasonable approach to handling nonlinear problems that exist in the system.
Human Friendly Soft Pneumatic Actuator and Application to Rehabilitation Robot
Authors: Noritsugu Toshiro ,   Okayama University, 3-1-1 Tsushimanaka, Okayama 700, Japan
Published: April 2016

A human-robot coexisting system requires the essential function such as safety and flexibility which are not common in general industrial robots. To build up such a robot system, an inherently flexible actuator must be effectively used rather than a conventional rigid actuator. A pneumatic actuator seems just available as such a human friendly actuator. In this paper, a property of the flexibility of pneumatic actuator is analyzed compared with a DC electric motor. Also the application of a pneumatic rubber artificial muscle actuator to a rehabilitation robot is discussed. The results show that a pneumatic actuator can well work as one of human friendly actuators with cooperation of a proper control strategy.
On Robotic Rescue Facilities for Disastrous Earthquakes -From the Great Hanshin-Awaji (Kobe) Earthquake
Authors: Tadokoro Satoshi ,   Dept. of Computer & Systems Engineering, Kobe University, Rokkodai, Nada, Kobe 657 Japan, Takamori Toshi , Tsurutani Saburo , Osuka Koichi ,   Kobe Steel, Co. Ltd., 5-5, Takatsukadai 1-chome, Nishi-ku, Kobe, Hyogo, 651-22 Japan,   Dept. of Mechanical Systems Engineering, Osaka Prefecture University, 1-1 Gaken-cho, Sakai, Osaka 593, Japan
Published: April 2016

The Great Hanshin-Awaji (Kobe) Earthquake killed more than 6,000 on Jan. 17, 1995. Many people barely escaped from the debris and actively saved buried lives. Rescue facilities are really important for robust social systems. They should be researched as applications of robotics and mechatronics. In this paper, the processes of rescue just after the disaster were investigated. It considers specifications of rescue robotic facilities for huge earthquakes on the basis of the real processes.
Direct Interpretation of Dynamic Images and Camera Motion for Visual Servoing Without Image Feature Correspondence
Authors: Deguchi Koichiro ,   Department of Mathematical Engineering and Information Physics, University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113, Japan
Published: April 2016

A general scheme to represent the relation between dynamic images and camera motion is presented. Then its application to visual servoing is proposed. For a specific object, every possible combination of the camera pose and the obtained image should be constrained on a lower dimensional hyper surface in the product space of the whole combination of image data and camera position. Visual servoing, for example, is interpreted as finding a path on this surface leading to a given image. Our approach is to analyze the properties of this surface, and use its differential or tangential property for visual servoing. The coefficient matrix of the tangent plane of this surface is related to the so-called Interaction Matrix. For this approach, the reduction of the dimension of the image information becomes a key problem. We propose to use the principal component analysis and to represent images with a composition of small number of ""eigenimages"" by using Karhune Loève (K-L) expansion. A normal vector We confirm the feasibility of our basic idea for visual servoing with some experiments using a real robot arm.
A Study on Tele-Existence of the Tactile Sense
Authors: Ifukube Tohru ,   Research Institute for Electronic Science, Hokkaido University, Kita-12, Nishi-6, Kita-ku, Sapporo, Hokkaido, 060 Japan
Published: April 2016

This report describes, first, a glove with joint angle sensors made of chip coils to detect the joint angles of human fingers in real time and also describes artificial fingers with multiple joints used for a tele-existence system on the tactile sense. Characteristics of the artificial skin to be attached to the artificial fingers are based on the experimental results of force-displacement characteristics of the human skin. Secondly, sensations produced by the pressure and the strain applied to the finger tip surface were measured as functions of pressure force level and the direction of the strain force using psychophysical techniques. A study of pressure sense and a force vector sensor is useful from the view point of the tele-existence system for the tactile sense.
Promises and Problems of Locomotion and Manipulation Integrated Robot
Authors: Taguchi Kan ,   Cooperative Research Center, University of Electro-Communications, 1-5-1, Chofugaoka, Chofu-shi, Tokyo, 182 Japan
Published: April 2016

Robots with integrated locomotion and manipulation are widely expected for practical use. Some problems still remained in this field. The problems and promises are introduced.
Robots with Integrated Locomotion and Manipulation and Their Future
Authors: Arai Tatsuo ,   Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka, 560, Japan
Published: April 2016

A robot should be capable of both locomotion and manipulation when applied to tasks in construction, agriculture, home, office, and hospital services. This paper describes why and how locomotion and manipulation should be integrated, the benefits, and problems to be solved in practical application. This paper is based mainly on RSJ research committee discussions.
Control Strategy for Mobile Manipulators
Authors: Osumi Hisashi ,   Faculty of Science and Engineering, Chuo University, Kasuga Bunkyo-ku, Tokyo, 112, Japan, Konishi Eisuke
Published: April 2016

Control strategies for mobile manipulators consisting of a serial link manipulator and a 2DW type platform are reviewed. Since a mobile manipulator has kinematic redundancy and non-holonomic constraints, these two characteristics must be considered in designing controllers. First, the relationship between a target trajectory and a motion command for the mobile manipulator is formulated. Based on the formulation, the characteristics of the least square norm solution for moving a mobile manipulator along a target trajectory is analyzed by a simple simulation. Second, some performance indices for exploiting kinematic redundancy to improve mobility or manipulability of the mobile manipulator are introduced.
Honda's Humanoid Leads A New Robotic Century
Authors: Tanaka Takayuki ,   Department of Mechanical Control Engineering, University of Electro Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, Japan 182
Published: April 2016

The Honda Humanoid announced in the Nikkei Newspaper December 20, 1996, impressed down not only our generation of the famous animation named “Gundom,” but also professors as a great impulse. I had, through talks with colleagues, assumed that this type of human robot would be realized far in the future. I was given an opportunity to see the real product at a workshop sponsored by the International Robot and Factory Automation Association in February 1997. Representative researchers and students came to this workshop with high expectations and excitement. The Honda Humanoid was presented by Hiroyuki Yoshino, vice president of Honda Motor Co. Ltd. The real product was not exhibited at the workshop but presented through video films. However, it was worthy of being called a “fantastic” humanoid. The Humanoid caused viewers to imagine that it was created part of mankind in the real world. It had lived only in the animation or imaginary world. I was really amazed at the shocking behavior of the Humanoid. This is reality! The Humanoid walks on flat floors, on stairs, and on irregular surface smoothly just like a person. It also changes direction freely. If it is pushed from the front, it moves one leg backward to resist the force applied. It walks dynamically like a person wearing space gear. I got gooseflesh. During a break, I found some people mortified at being “beaten” in the creation of a biped walking robot and also those who were excited by the development. The Honda Humanoid will open a new century of robots, and shows the value of taking up a pioneering challenge. I congratulate the Honda development team and its great achievement!
Simulation Language for Multiple Mobile Robots
Authors: Adachi Yoshinobu ,   SECOM CO., LTD., 8-10-16 Shimorenjaku, Mitaka-shi, Tokyo 181, Japan, Kakikura Masayoshi ,   Tokyo Denki University, 2-2 Nisiki-cho, Kanda, Chiyoda-ku, Tokyo 101, Japan
Published: April 2016

The purpose of this paper is to propose a design concept for a simulation language to be used in path planning in a multiple mobile robots system. The paper also includes some examples of programming of path planning for multiple mobile robots. In some path planning problems with mobile robots, graph theory can be a powerful tool. In our system, the environment information of the robots is represented in a graph structure. By handling this graph with a programming language, path planning tasks can be executed in a systematic way. Each task of the multiple mobile robots can be described using a Petrinet expression, and several features of the given robot system, for example, the optimum path problem, the deadlock problem of multiple robots, etc., can be deduced using the network model.
Study on Non-Contact Hold and Transfer Control of Spherical Magnetic Body by Magnetic Robot Hand with Prototype Gap Sensor System
Authors: Kojima Hiroyuki ,   Faculty of Engineering, Gunma University, 1-5-1 Tenjin-cho, Kiryu-shi, Gunma 376, Japan, Itagaki Osamu , Okabe Toshikazu , Kobayashi Toshio
Published: April 2016

In the exploitation of magnetic robot hands, it is extremely important to develop a gap sensor with high and stable performance for the relative motion in three-dimensional space between the held body and the magnetic robot hand. In this study, first, a prototype gap sensor system is developed for the instrument of the gap between a magnetic robot hand and a spherical magnetic body held and transferred without contact. The prototype gap sensor system consists of a magnetic flux sensor, an exciting current sensor and a data base calculation system. The data base calculation system is constructed using instrument data obtained in previous experiments for the gap, the magnetic flux and the exciting current. The magnetic robot hand is composed of a prototype gap sensor system and an electromagnet. Second, experiments on the noncontact hold and transfer control of the spherical magnetic body are carried out and it is confirmed that the spherical magnetic body can be held and transferred successfully without contact between the magnetic robot hand and the prototype gap sensor system.
Distributed Anthropocentric FA System - Manufacturing Machine and Human Interface with Intervention Support System -
Authors: Zhu Jie ,   Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112, Japan, Ihara Tohru , Amano Kimihiro , Hiraoka Hiroyuki ,   Yanagichu Factory, Toshiba Corp., Saiwai-ku, Kasasaki 210, Japan
Published: April 2016

This paper proposes an intervention support system between a manufacturing machine and a human for an anthropocentric factory automation system, which deals with feasible human interfaces and which treats unexpected problems in variable-kind variable-quantity production. In such production, repair tasks, dependent on non-deterministic human judgment, are required for raising the restorative capability of the system. An intervention support system using data carriers, engineering workstations, a point-of-production system, and PLC language is constructed. In this intervention support system, workers can understand the entire system, and heuristic information from tasks is easily accumulated as a result of experience at the shop-floor level.
Manufacture of Micropropellers by Means of Ultraprecision Milling Machine
Authors: Takeuchi Yoshimi ,   Dept, of Mechanical and Control Eng. University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182, Japan, Sawada Kiyoshi , Sata Toshio ,   Basic Research Laboratory, FANUC Ltd., Oshino-mura, Yamanashi 401-05, Japan,   Toyota Technological Institute, Hisakata 2-12-1, Tempaku-ku, Nagoya 479 Japan
Published: April 2016

The requirement for producing metallic microparts for use in micromachines and/or micromechanisms will continue to increase. This study deals with the manufacturing of tiny parts, of mm-size, using micromachining technology and an ultraprecision milling machine, which consists of a z-motion table, a positionable spindle on it as the c-rotational axis, and an x-motion table. The spindle, which has a pseudo ball end mill composed of a single crystal diamond, is mounted on the x-table. A new manufacturing procedure is devised in order to create a propeller, 3 mm in diameter, as a representative micropart, based on the CAD data of the propeller. As a result, it was found that a functional machined propeller, with a surface roughness of 0.1 μm, can be mounted onto a micromotor shaft, 0.7 mm in diameter.
Robotics and Computer Integrated Manufacturing System Laboratory
Authors: Takeuchi Yoshimi ,   Dept. of Mechanical and Control Engineering, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182, Japan
Published: April 2016

This R&CIM laboratory is one of fifteen research laboratories belonging to the Department of Mechanical and Control Engineering. It is involved in research on efficient and accurate manufacturing process automation. The research is divided roughly into three groups: multiaxis control machining, ultra-precision micro-machining and the application of industrial robots to dirty and/or dangerous tasks. The control software is based on 3DCAD data that employs solid models. The laboratory's research activities are described briefly.
Allocation of Proximity Sensors for Obstacle Detection of a Robot Manipulator
Authors: Tsuchiya Takahiro ,   Kyowa Exeo Co., 1-4-1 Fujimi-cho, Higashimurayama-shi, Tokyo 189, Japan, Masuda Ryosuke ,   School of Engineering, Tokai University, 1117 Kitakamame, Hiratuka-shi, Kanagawa 259-12, Japan
Published: April 2016

In this paper, we discuss the sensor allocation problem in detecting obstacles in robot manipulators. The detection of obstacles in a work area is important for safety purposes and for the efficiency of robot control. Therefore, it is necessary to allocate the sensors properly on the links in a robot manipulator. Here, we propose two types of effective sensor allocation methods. One is based on the joint coordinates of the robot, and the other is based on the orthogonal work space. In addition, we show the allocation of additional sensors based on the quantitative conditions of the robot and its obstacles. The optical proximity sensor, which was developed by the authors, is used, and the proposed allocation methods are applied using a SCARA-type robot. It is proved, by experiments on obstacle avoidance control, that effective sensor allocations can be found.
An Analysis of Contesting Robots - Micro Mouse and Sumo Robots
Authors: Kasuga Chie ,   Shibaura Institute of. Technology, 3-9-14 Shibaura, Minato-ku, Tokyo 108-8548, Japan
Published: April 2016

This paper delais the rules and history of micro mouse contests of contest robots and robot sumo tournaments. The micro mouse is a self-supporting mobile robot that searches an unknown maze for the path that will enable it to run from the starting point to the goal in the shortest possible time. The robot sumo tournament has two robots battle each other for supremacy in a sumo arena.
RoboCup-97
Authors: Asada Minoru ,   Dept. of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Sita-shi, Osaka 565, Japan
Published: April 2016

This article presents a new robot contest, ""RoboCup,"" which to provides a challenging series of research issues for both robotics and artificial intelligence (AI) researchers. First, the significance of RoboCup is explained from the viewpoints of a research project, standard problem, and contest. This is followed by an overview of RoboCup, together with conclusions and projected issues.
Estimation of Median-Plane Moving Sound Images by Analytic Hierarchy Process - Headphones -
Authors: Ishihara Manabu ,   Department of Electronic Engineering, Polytechnic University, 4-1-1, Hashimotodai, Sagamihara-Shi, Kanagawa 229-1196, Japan, Matsuo Makoto , Shirataki Jun ,   Department of Electrical and Electronic Engineering, Kanagawa Institute of Technology, 1030, Shimoogino, Atsugi-Shi, Kanagawa 243-0292, Japan
Published: April 2016

In this study, we used noise as a sound source and defined the source volume as sound pressure. We analyzed by AHP the relationship between sonority and sound pressure of the median front and surroundings, and have identified its auditory sensation. Results showed that the farther away a sound heard by the subject from the center, the worse the consistency index. The consistency index was 0.1-0.9 in such a case. That is, the consistency index when sound moved away from the median front. In addition, the consistency index was found to be 0.10-0.27 in the median front after correction was added to an up-down sound image mistaken inversely. The consistency index was 0.12-0.24 when sound sources were in the same direction and 0.16-0.63 when sources were in different directions. Correction was recognized in experiment results, but consistency worsens when sound moved away from the center. Satisfactory correction can be expected only in correction of the median front.
Measurement and Control System for ITER Remote Maintenance Equipment
Authors: Oka Kiyoshi ,   Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-shirane, Tokai-mura, Naka-gun, Ibaraki 319-1159, Japan, Kakudate Satoshi , Takeda Nobukazu , Takiguchi Yuji , Akou Kentaro
Published: April 2016

ITER in-vessel components such as blankets and divertors are categorized as scheduled maintenance components because they are subjected to severe plasma heat and particle loads. Blanket maintenance requires remote handling equipment and tools able to handle Heavy payloads of about 4 tons within a 2mm precision tolerance. divertor maintenance requires remote replacement of 60 cassettes with a dead weight of about 25 tons each. In the ITER R&D program, full-scale remote handling equipment for blanket and divertor maintenance has been designed and assembled for demonstration tests. This paper reviews the measurement and control system developed for full-scale remote handling equipment, the Japan Home Team contribution.
An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments
Authors: Oooka Yasuhito ,   Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Kawasaki Haruhisa , Takemura Nobuhito
Published: April 2016

This paper presents an efficient computational algorithm of model-based adaptive control for closed-loop robots. The algorithm is an extension of the computational algorithm for serial-link robots, which was derived by Kawasaki and Bito. The proposed algorithm is implemented to a 6 DOF robot with a parallel-link mechanism using a 32-bit DSP. Experimental results of trajectory control are also shown.
Manipulation of Sheet Metal by Multiple Robots
Authors: Kosuge Kazuhiro ,   Dept. of Machine Intelligence and Systems Eng., Tohoku University, Aza-Aoba, Aramaki, Aoba-ku, Sendai 980-0845, Japan, Yoshida Hidehiro , Fukuda Toshio , Kanitani Kiyoshi , Sakai Masaru ,   Production Engineering Laboratory, Corporate Production Engineering Division, Matsushita Electric Industrial Co., Ltd., 2-7 Matsuba-cho, Kadoma-shi, Osaka 571-0056, Japan,   Dept. of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-0814, Japan,   NACHI-FUJIKOSHI CORP., 1-1-1 Fujikoshi-honmachi, Toyama-shi, Toyama 930-8511, Japan
Published: April 2016

We propose a control algorithm for multiple manipulators handling flexible metal and discuss how to deform and manipulate sheet metal. We use a finite element method to derive the relationship between static deformation of sheet metal and bending and twisting moments exerted on it. We design a control algorithm to control deformation using internal force applied to the sheet. Experimental results obtained from two industrial robots verify the proposed control system’s validity.
Deformation Control of Elastic Object by Robot Arm - High-Precision Deformation Control by Adaptive Feed-forward Control -
Authors: Kojima Hiroyuki ,   Department of Mechanical System Engineering, Gunma Univcrsity, Kiryu, Gunma 376-8515, Japan, Kamei Masakazu , Akuto Tsuneo ,   MITSUBA Corpolation, Kiryu, Gunma 376-8555, Japan
Published: April 2016

This paper derives the equations of motion of a horizontal three-link robot arm contacting an elastic object, then proposes deformation control for the elastic object by the robot arm. This deformation control involves feedback control of joint angles, feedforward control by robot arm dynamics, and adaptive feedforward control for unknown elastic object dynamics. An adaptive feedforward control law is devised using an online parameter identification algorithm based on the least squares method, zero phase error tracking control theory, and the Jacobian matrix of the robot arm. Numerical simulation and experimental results confirmed that deformation control error by the proposed adaptive control rapidly decreases with the passing of time.
Cylinder Insertion into Hole of Flexible Rubber Plate - Insertion Force Related to Position and Posture of Cylinder -
Authors: Brata Akas Sureng ,   Faculty of Engineering, Iwate University, 4-3-5 Ueda, Morioka-shi, Iwate 020-8551, Japna, Sasaki Keiji , Shimachi Shigeyuki
Published: April 2016

We discuss cylinder insertion into a hole of a flexible rubber plate. Rubber plate deformation is modeled using long beams aligned perpendicular to the hole. Insertion force is analyzed in relation to cylinder depth, offset and inclination. Insertion force forms a hyperbolic field in three-dimensional space composed of position and posture parameter coordinates. The magnitude of insertion force is discussed based on insertion trajectory in the hyperbolic field. A human inserting a cylinder might angle it at the start of insertion, making it perpendicular to the rubber surface at the end. The human's sequence uses a trajectory that minimizes insertion force. We show experimentally a hyperbolic field in position and posture space.
Chaos Universal Learning Network Clustering Control
Authors: Hirasawa Kotaro ,   Department of Electrical and Electronic Systems Engineering, Kyushu University., 6-10-1 Hakozaki, Higashi-ku, Fukuoka 812-8581, Japan, Misawa Junichiro , Hu Jinglu , Murata Junichi , Ohbayashi Masanao , Eki Yurio ,   Ohmika Works of Hitachi Ltd., 2-1-5 Omika-cho, Hitachi 319-1293, Japan
Published: April 2016

With chaos a key phenomenon in complex systems, researchers are paying increasing attention to chaotic systems. Chaos control such as OGY by Ott and Yorke were developed to stabilize such phenomena. This paper presents new control for clustering rather than restraining chaotic phenomena. A chaos network with chaotic phenomena is constructed using the Universal Learning Network (ULN), a general, effective tool for modeling and controlling large-scale nonlinear complex systems, including physical, social, and economic phenomena. Simulations showed chaotic phenomena clustering is controlled easily and effectively by the proposed method.
Robotic Mind -Subjectivity & Objectivity-
Authors: Yabuta Tetsuro ,   NTT Access Network systems Labs. & Hokkaido University, Hanabatake, Tsukuba-shi, Ibaraki 305-0805, Japan
Published: April 2016

This paper describes the “robotic mind” in subjectivity and objectivity. A mobile robot trajectory planning problem is used as an example to show that objectivity is affected by subjectivity, yielding an interesting discussion to the objectivity of science. Then, “robotic mind” is discussed by use of the subjectivity concept. Finally, a robotic value system is discussed by designer’s value system.
Symbolic Analysis of Robot Base Parameter Set Using Grobner-Basis
Authors: Kawasaki Harushisa ,   Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Shimizu Toshimi
Published: April 2016

We analyzed base parameters for closed-loop robots using robot symbolic analysis based on the completion procedure in polynomial ideal theory. The robot dynamics regressor is represented as a matrix of multivariate polynomials and reduced to normal form based on Buchberger's algorithm by constructing reduced Grobner basis from kinematic constrained equations. The linear independence of the reduced regressor's column vectors is studied by Gauss-Jordan elimination. Original dynamic parameters are regrouped and some eliminated, depending on results. This omits the need to solve kinematic constrained equations explicitly, deriving all base parameters systematically in theory. An example is shown using robot symbolic analysis system: ROSAM 11.