bluuebunny/crossref_metadata_2025 huggingface dataset:
Development of Detachable Teleoperation Gripper for a Walking Robot
Authors: Suganuma Shinichi ,   Dept. of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Oo-okayama Meguro-ku, Tokyo 152-8552 Japan JST: Japan Science and Technology Corporation, Ogata Masaru , Takita Kensuke , Hirose Shigeo
Published: April 2016

We developed an inexpensive, robust Shape Feedback Master Slave (M-S) arm for use with the demining robot TITAN-IX. Conventional M-S arms, while important elements of such systems, are difficult to use in unpredictable environments such as minefields due to the largely unknown control parameters. The shape-feedback M-S gripper, called SPADE GRIPPER, used for detecting and removing landmines, consists of 3 unilateral position controls without bilateral force control and works stably in environments where control parameters may be unclear. We confirmed the feasibility of the gripper's mechanical design and operating principles through a series of experiments.
HELIOS VII: a New Tracked Arm-Equipped Vehicle
Authors: Guarnieri Michele ,   Dep. of Mechanical and Aerospace Eng., Tokyo Institute of Technology, Japan, Debenest Paulo , Inoh Takao , Hirose Shigeo ,   NPO International Rescue System Institute, Kawasaki, Japan
Published: April 2016

Crawled vehicles have a considerable importance for rescue operations and tasks performed in damaged areas. On tracked vehicles a great deal of research has been made. However, due to the variety of the sceneries in which robots are required to work, it is important to design vehicles with high terrain adaptability and capable to fulfill different tasks. After an overview of the merits on the state of the art of research on crawled vehicles, the important features of a tracked vehicle are introduced and explained. The new robot Helios VII is presented. The motions that it can realize are verified through simulations and some mechanical solutions applied in the mechanical design are also explained.
A Consideration on Rescue Robot Contest from Viewpoint of Technology Education
Authors: Yamamoto Toru ,   Department of Technology and Information Education, Graduate School of Education, Hiroshima University, 1-1-1 Kagamiyama, Higashi-Hiroshima, Hiroshima, 739-8524 Japan, Ichikawa Takako , Fujisawa Shoichiro ,   Department of Electro-Mechanical Systems Engineering, Takamatsu National College of Technology, 355 Chokushi-Cho, Takamatsu, Kagawa, 761-8058 Japan
Published: April 2016

Many robot contests have been widely held for the purpose of training of creativity through the manufacturing education. In this paper, various robot contests are first considered from the viewpoint of technology education including the manufacturing education, and show the effectiveness and some problems. Furthermore, the rescue robot contest is also considered from the viewpoint of technology education, and difference between the rescue robot contest and other robot contests is clarified. Finally, the effect of the rescue robot contests as the technology education is evaluated on the results of the questionnaire for the teams participated in these contests.
Development of Simple Search Device by Person's Power
Authors: Doi Tomoharu ,   Osaka Prefectural College of Technology, 26-12 Saiwai-cho, Neyagawa-city, Osaka, 572-8572 Japan, Tamari Hisanobu , Kaneda Tadashiro , Umemoto Toshitaka , Yoshitani Yasumasa
Published: April 2016

In recent years, attention has been paid to the application of robotics in accident or disaster sites with the possibility of secondary disasters. However most of the techniques employing robotics in such studies are highly advanced and expensive. The authors aim to design a robotic technique applicable to an actual site and propose a rescue robot that is intuitive and easy to operate and at relatively low cost. This report describes the development of a simple search device using human power that is one of the specific examples of such a robot.
Kinematic Identification Method for Cable-Driven Rescue Robots in Unstructured Environments
Authors: Tadokoro Satoshi ,   Department of Computer and Systems Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe, 657-8501 Japan, Verhoeven Richard , Zwiers Ulrike , Hiller Manfred , Takemura Fumiaki ,   International Rescue System Institute, 1-5-2 Minatojima-Minami-Machi, Chuo-ku, Kobe, 650-0047 Japan,   Institute für Mechatronik und Systemdynamik, Universität Duisburg-Essen, Lotharstr. 1, MD 220-239, 47057 Duisburg, Germany
Published: April 2016

Cable-driven parallel robots are being developed for rescue operations in large-scale earthquake disasters. This paper proposes an identification method of kinematic parameters for the installation, such as the position of cable fixture by initializing motion on site. This problem is unique to robots in natural fields, such as disaster sites because the environment is not structured. On the basis of identification error analysis and simulation, the optimal number of measurement points and the size of an identification reference frame are obtained.
Automatic Insemination and Incubation by Male and Female Micro Robots
Authors: Aoyama Hisayuki ,   Applied Micro Systems, Dept. of Mechanical Engineering & Intelligent Systems, University of Electro-Communications, Tokyo 182-8585, Japan, Takubo Hideharu
Published: April 2016

The micro robot technology has the great potential benefit because they can provide very precise operation with the resolution of sub micro to nano meter easily. Recently it is increased that the demand for fine manipulation in the bio cell and sometime it should be done automatically. This paper describes the piezo based micro robots system which can provide the automatic insemination and incubation processes. These small robots with several range sensors can communicate and navigate themselves with the simple control sequences. And the experimental results show that the male and the female robots succeeded in make accurate navigation, insemination and incubation by using fish egg.
Reconfigurable Parts Feeding System Using Array of Vibrators
Authors: Yamada Yasuhiro ,   University of Fukui, 3-9-1, Bunkyo, Fukui, 910-8507 Japan, Torii Nobutaka , Komura Yoshiaki
Published: April 2016

We propose a reconfigurable parts feeding system (RPFS) consisting of a large number of vibrators, each consisting of a vertical exciter having a piezoelectric element used as a drive source and a plate installed on the vertical exciter. The plate freely chooses a specific feed direction (forward and turn) by adjusting the thickness of the plate and the position of an elastic hinge. The RPSF features: (1) a variety of feed paths freely formed by adjusting plates on vertical exciters, and (2) positional adjustment for plates on vertical exciters automated using a robot to reduce time and cost. We analyzed the vibration of plates based on vibration modes of plates based on FEM analysis. Basic RPFS performance was evaluated in 3 feeding experiments, i.e., along an I-shaped feed path, along a U-shaped feed path, and with a feeding object larger than each plate, using an experimental RPFS.
Micromechanisms and Their Applications
Authors: Horie Mikio , Sasayama Shinya , Ohira Fumikazu , Hiratsuka Ken'ichi , Nakazato Yuichi , Hayashibara Yasuo , Ito Takahiro , Terada Hidetsugu , Tokui Ryusuke , Hayashi Teru
Published: April 2016

Committee members of Micro/Nano Systems of JSPE have illusrated 14th small3 Robot Contests held on March 28, 2003 along with achievements of the events.
Micromachines Designed and Fabricated for Micromechanism Contest
Authors: Endo Hiroshi ,   Graduate School of Precision Engineering, Chiba Institute of Technology
Published: April 2016

The 14th Micromechanism Contest was held at Tokyo University of Agriculture & Technology on March 28th, 2003. This article introduces three micromachines' fabricated by the author that won the prizes in the barrier climbing micromechanism, sumo micromechanism and boastful micromechanism categories.
Current and Future Arts of International Micro Robot Maze Contest
Authors: Ishihara Hidenori ,   Department of Intelligent Mechanical Systems Eng., Kagawa University, 2217-20 Hayashi, Takamatsu, Kagawa, Japan
Published: April 2016

This report deals with the International Micro Robot Maze Contest (Maze Contest) held at Nagoya. The Maze Contest has been held by international participants since 1991, and provides the good opportunities to exchange their knowledge and experience to the participants.
Study on Ankle Mechanisms for Walking Robots -Fundamental Considerations on its Functions and Morphology-
Authors: Ogata Masaru ,   Dept. of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

Walking robots need terrain adaptive ankle and sole mechanism to move stably on rugged ground. In this paper, the designs of the ankle mechanism for walking robots are discussed. First, we consider required functions for ankle mechanism. An effective ankle mechanism requires the following characteristics: 1) lightweight and robust mechanism, 2) ability to adapt to the ground, 3) sensing function, 4) torque generating or freezing its shape function after landing. Next, we explain the validity of the remote center mechanism and connected differential mechanism. The actual designs of passive terrain adaptive ankle mechanisms are discussed. Finally, the ankle mechanism of quadruped walking robot “TITAN-IX,” which is developed for mine detection and removal tasks, is mentioned. In order to examine the validities of proposed mechanisms, basic experiments were carried out using one-leg model of TITAN-IX.
Transmission of Human Intention by Impulsive Sound
Authors: Nishihara Kazue ,   Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi-Shi 243-0292, Japan, Kawarazaki Noriyuki , Yoshidame Tadashi
Published: April 2016

We discuss a basic human-machine interface for transmitting human intention to a machine via impulsive sound, using wavelet analysis to determine whether impulsive sound is recognized. We found that tapping transmits indicates human intention to a machine, if we choose an appropriate analysis wavelet and its scaling parameter. We found that Daubechies wavelet function parameters were feasible for our purpose at N=3 (order) and j=8 (scaling parameter). This interface should prove useful for orders in regular work and emergency stoppage.
Study on In-Pipe Corrosion Diagnosis System -Corrosion Estimation Using Wavelet Transform and Two-dimensional Information-
Authors: Sakamoto Shintaro ,   Research and Development Center, Shinryo Corporation, 41 Wadai, Tsukuba, Ibaraki 300-4247, Japan, Fukuda Toshio , Yui Hironori , Abe Yasunori , 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

In line with changes in societal expectations, demand is increasing for building equipment inspection and diagnosis. The diagnosis of air-conditioning pipes is an important safeguard against unexpected problems such as pipe leakage. Estimating the shape of corrosion is very effective in determining its cause. We developed a method for estimating the shape of artificial corrosion, but could not apply it to natural corrosion because of the complex shape. We believed that it could be applied if pipe thickness was measured accurately. In this paper, we describe the method used to measure precise thickness, to detect individual echoes from overlapping data using wavelet transforms, and to select the echo at measuring points using data from surrounding points. We show the results of experiments in which we applied the method to natural corrosion in pipes.
Navigation of an Omnidirectional Mobile Robot by Teaching a Few Omnidirectional Images
Authors: Matsumoto Akihiro ,   Toyo University, 2100 Kujirai, Kawagoe, Saitama 350-8585, Japan, Tsukuda Shoji , Yoshita Gosuke ,   Yasakawa Information Systems Corporation, 5-15 Higashiohji, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0037, Japan
Published: April 2016

We used an omnidirectional vision for navigating an omnidirectional mobile robot. We examined teaching algorithms by showing a few images for mobile robot navigation, and verified its feasibility through experiments. To improve positioning accuracy, we designed and tested a positional error compensation algorithm that fits omnidirectional images.
Automatic 3D-Laser Scattering Measurement for Ultra-Finished Surface with Nanowatt Sensitivity
Authors: Ha Taeho ,   Department of Mechanical Engineering and Systems, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Kimura Keiichi , Miyoshi Takashi , Takaya Yasuhiro
Published: April 2016

Automatic measurement system that can evaluate laser scattering from an ultra-finished surface has been developed. The system uses Ar+laser as an illumination source, and a highly sensitive photomultiplier tube (PMT) for detecting scattered light. The major feature of the developed system is that the 3-dimensional distribution of scattered light from a scatterer is obtained by rotating the detector using two motor-driven rotation stages. The feasibility of this system is demonstrated by measuring light scattered from oxide silicon surfaces containing a microscratch and polystyrene latex (PSL) sphere. Experimental results show that the spatial scattering light intensity pattern can be obtained with nanowatt sensitivity, and shows that scattered light patterns for each scatterer are distinctive. This measurement system is thus expected to become an effective tool to characterize ultra-finished surfaces, such as a post-chemical mechanical polishing (CMP) wafer surface, from the pattern of detected scattered light intensity.
Development of Horse-Type Quadruped Robot (Report2, Experiments of Trot Gait by Quadruped Robot PONY)
Authors: Makita Shinobu ,   Department of Computer-Controlled Mechanical Systems, Osaka University, 2-1, Yamadaoka, Suita-shi, Osaka 565-0871, Japan, Nishimura Daisuke , Furusho Junji
Published: April 2016

In this paper, we studied the equine gait, focusing on trotting, to realize a horse-type trot using a quadruped robot. Mammals use energy stored in the tendons during supporting phase. The change of angle in the equine fetlock stretches the tendons, storing energy. Fetlock movement is passively controlled by tendons, not actively controlled by muscles. We developed an equine quadruped robot, which uses actuators consisting of a serially connected motor and spring corresponding to equine muscles and tendons, e.g., the superficial digital flexor muscle. In this paper, we discuss simulation experiments showing the effectiveness of the motor-spring system, then PONY’s horse-like trot.
Special Issue on Selected Papers from ROBOMEC'03 (Part 1)
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
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 the 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 1 on Selected Papers from ROBOMEC'03 (Vol. 16, No. 2) presents 14, and others are presented in Part 2 (Vol. 16, No. 3). 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 indispensable effort in organizing this special issue and the editors for selecting the papers.
Calibration of Carbon Nanotube Probes for Pico-Newton Order Force Measurement Inside a Scanning Electron Microscope
Authors: Nakajima Masahiro ,   Department of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Arai Fumihito , Dong Lixin , Fukuda Toshio
Published: April 2016

A method is presented for pico-Newton (pN) order force measurement using a carbon nanotube (CNT) probe, which is calibrated by electromechanical resonance. A CNT probe is constructed by attaching a CNT to the end of a tungsten needle or an atomic force microscope (AFM) cantilever using nanorobotic manipulators inside a field-emission scanning electron microscope (FE-SEM). Conductive electron-beam-induced deposition (EBID) is used for the fixation of CNTs with an internal vaporized precursor W(CO)6. For manipulating them easily and quickly, CNTs are dispersed in ethanol by ultrasonic waves and oriented on copper electrodes by electrophoresis. The elastic moduli of CNT probes are calibrated for use as a force measurement probe by electrically exciting at fundamental frequency. We analyzed the resolution of force measurement using a CNT probe. This force measurement can be used to characterize the mechanical properties of nanostructures and to measure friction or exfoliation forces in nanometer order.
Conveyor for Pneumatic Two-Dimensional Manipulation Realized by Arrayed MEMS and its Control
Authors: Fukuta Yamato ,   Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Yanada Masashi , Ino Atsushi , Mita Yoshio , Chapuis Yves-André , Konishi Satoshi , Fujita Hiroyuki ,   Department of Mechanical Engineering, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan,   Department of Electrical Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

We propose a microconveyor based on silicon microelectromechanical systems (MEMS) technology and demonstrate successful operation of the microconveyor. Microactuators work as air nozzles, which generate directed air flow by changing the pathways of compressed nitrogen gas. One-dimensional conveyance of an object 2.1mm × 4.1mm × 200μm weighing approximately 4mg is demonstrated with a directed air flow of 17kPa. Using a two-dimensional conveyor, we levitate and move an object 3mm × 3mm × 100μm weighing approximately 2mg using a continuous air flow. Conveyance toward the force equilibrium point was achieved with a regularly pulsed air flow. We are now studying full control of two-dimensional conveyance. We also propose control by actuating air nozzles to change the direction of air flow and move the equilibrium point to transfer the object to the desired point.
A Study on High-Output Resonance-Driven Piezoelectric Micropumps Using Active Check Valves
Authors: Park Jung-Ho ,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, Yoshida Kazuhiro , Ishikawa Chikara , Yokota Shinichi , Seto Takeshi , Takagi Kunihiko ,   Graduate School, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan,   Communications Device R&D Department, Seiko Epson Corporation, 3-3-5 Owa, Suwa-shi, Nagano-ken 392-8502, Japan
Published: April 2016

A novel high-output resonance-driven piezoelectric micropump using two active check valves in place of conventional passive check valves used in inlet and outlet is proposed. It actively controls opening/closing of check valves using piezoelectric actuator synchronizing with expansion/contraction of pump chamber. A prototype micropump is fabricated with an effective size of 17×8×1mm3. When tap water is used as the working fluid, pumping characteristics of the fabricated pump are experimentally investigated using an adequate timing control for valve opening/closing. From experimental results, it is ascertained that optimal values of the phase shift for the voltage to drive the pump chamber to realize a miniaturized but powerful micropump are 15° in inlet check valve and 195° in outlet. Based on obtained results, a sheet active shuttle valve that has a unified valve body for inlet and outlet check valves is newly proposed. A micropump with an effective size of 10×10×10mm3is fabricated and the basic characteristics are experimentally investigated.
Device Distributed Approach to Expandable Robot System Using Intelligent Device with Super-Microprocessor
Authors: Okada Kei ,   Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Fuyuno Akira , Morishita Takeshi , Ogura Takashi , Ohkubo Yasumoto , Kino Yasuyuki , Inaba Masayuki , Inoue Hirochika ,   Kanagawa Prefectural Sagamidai Technical High School, 1-11-1 Sagamidai, Bunkyo, Kanagawa 228-0807, Japan
Published: April 2016

Conventional robot system design is either classified as a built-in centralized approach in which one processor on a robot controls all devices or as a module distributed approach in which several processors in a built-in network communicate and each processor controls several devices. The built-in centralized approach is limited by the number of devices on the robot. The module distributed approach has no such limitation, but requires changes in software or built-in network topology when devices are added. This paper describes a device distributed approach to realize a simple, expandable robot system that enables a number of devices to be attached or added to a built-in robot without significant changes to software and hardware. The robot system based on a device distributed approach consists of a serial bus connected to intelligent devices. Each device such as sensors and actuators has a processor for communication and calculation, so devices are added by connecting them to the serial network. We developed intelligent servos and intelligent sensors as prototypes of intelligent devices using super microprocessors with a 3×3 mm footprint, and build small humanoid robots to confirm the expandability of a robot, in which intelligent servos realize a wiring saving robot, a many DOF robot, and easy device addition.
Sequential Identification Technique of Jacobian Matrix for a Power-Assisted Lifter Using Wire-Driven Parallel Mechanism
Authors: Yamaguchi Daisuke ,   Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei-shi, Tokyo 184-8588, Japan, Tagawa Yasutaka , Hayatsu Masaki , Yamada Manabu ,   Hitachi Plant Engineering and Construction Co., Ltd. 13-2 Kita-Otsuka 1-chome, Toshima-ku, Tokyo 170-8466, Japan, 537 Kami-Hongo, Matsudo-shi, Chiba 271-0064, Japan
Published: April 2016

The shortage of skilled workers at plant construction sites has made it necessary to increase efficiency in lifting, moving, and setting up heavy equipment. For this purpose, a power-assisted lifter (PAL) is considered one of the most effective means for using unique sensory human skills and the physical power of a machine. In this paper, the control problem is studied for a PAL driven by wires. The objective of this study is to develop a control technique using sequential identification of Jacobian matrix so the wire-driven PAL can move heavy equipment such as large pipes continuously and accurately without being influenced by geometric nonlinearity. The effectiveness of the control technique is verified through experiments.
An Analysis of Human Motion for Control of a Wearable Power Assist System
Authors: Kawai Satoshi ,   Complex Systems Engineering, Hokkaido University, Kita-13 Nishi-8, Sapporo 060-8628, Japan, Naruse Keitaro , Yokoi Hiroshi , Kakazu Yukinori
Published: April 2016

The purpose of this study is to build a control system for a wearable power assisting device, which helps people with lifting heavy things, like a person who can’t move alone in daily life. When we lift something heavy, we use both hands. That’s why a control system that can automatically switch on/off without using hands is necessary. In this study, we analyze human lifting up motion, and reveal characteristics of the motion, to find the suitable timing for switching the wearable power assisting device. Results show that the automatic switching can be realized.
Controller Adjustment of an Exoskeleton Robot for Shoulder Motion Assistance
Authors: Kiguchi Kazuo ,   Dept. of Advanced Systems Control Engineering, Saga University, 1 Honjomachi, Saga 840-8502, Japan, Iwami Koya , Watanabe Keigo , Fukuda Toshio ,   Nissan Shatai Co. Ltd., 10-3 Amanuma, Hiratsuka, Kanagawa 254-8610, Japan,   Dept. of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

We are developing exoskeleton robots to realize human shoulder motion assistance for the physically weak. In this paper, we propose controller adjustment for the controller of the exoskeleton robot for human shoulder motion assistance. Motion assistance in the entire movable range of the exoskeleton is realized with a few teaching motion patterns using the proposed controller adjustment. Muscle activity (electromyography) during shoulder motion and motion error between desired user shoulder motion and the measured assisted shoulder motion are evaluated.
Adaptive Shape Reconfiguration of a Decentralized Motile System Exploiting Molecular Dynamics and Stokesian Dynamics Methods
Authors: Shimizu Masahiro ,   Dept. of Computational Science and Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Ishiguro Akio , Takahashi Masayasu , Kawakatsu Toshihiro , Masubuchi Yuichi , Doi Masao ,   Dept. of Physics, Tohoku University, Aoba, Aramaki, Aoba-ku, Sendai 980-8578, Japan
Published: April 2016

This paper discusses a fully decentralized algorithm able to create a coherent swarm of autonomous mobile robots from the viewpoint of computational physics. To this end, we focus on Molecular Dynamics and Stokesian Dynamics, both of which are widely used to investigate many-body systems. To verify the feasibility of our approach, this idea has been implemented to a swarm of 2-D radio-connected autonomous mobile robots as a practical example. Simulation results indicate that the proposed algorithm can control the shape of the swarm appropriately based on the current situation without losing the coherence of the swarm nor exchanging global information among modules. Furthermore, we found that local interaction used to exploit Stokesian Dynamics plays an essential role to maintain the coherence of the swarm particularly in an unstructured environment.
Emergent Behaviors of a Linear Cluster Robot System: Enclosing and Molding by CA Method
Authors: Ichikawa Sumiaki ,   Tokyo University of Science, Suwa, 5000-1 Toyohira, Chino-shi, Nagano-ken 391-0292, Japan, Suzuki Kentaro , Hara Fumio ,   Tokyo University of Science, 1-3 Kagurazaka, Shinjuku-ku, Tokyo
Published: April 2016

This paper discusses emergent abilities of a cluster robot system and the design methodology of an algorithm for a behavior of the cluster robot system. A cluster robot system is an aggregation of simple robot modules, each including a locomotive device and several range sensors, that are interconnected by passive joints. Each robot module performs one of four types of behaviors, approaching, avoiding, staying, and complying. A cluster robot system can be designed from robot modules of same or mixed types. A cluster robot system interacts dynamically with its environment and other robot modules. A cluster robot system configured in a specific order of same or mixed types robot modules exhibits a speicific behavior according to that configuration. That is, a configuration of robot modules is an algorithm for a behavior of a cluster robot system. We call a configuration of robot modules a “Configuration Algorithm (CA)” and this design method by CA the “CA Method.” We assign a cluster robot a set of tasks, self-formation, enclosing an object, and molding an object. We experimentally demonstrate that emerging task abilities in a cluster robot system depend on the CA. The cluster robot interacts, for example, with an initially linear yielding object, then forms a stack of the object by our introduced emergent behaviors, pushing, wiping, buckling, and rolling-up. In another example, a cluster robot gathers all discrete objects within a large area based on the body size of the cluster robot.
Development of Slime Robot Using Bridle Bellows
Authors: Aoki Takeshi ,   Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

Slim Slime Robot (SSR) looked like the active cord mechanism (the snake like robot) and composed of units that can stretch, shrink and bend actively, is for several tasks in the narrow space such as moving under collapsed houses and inspection of pipelines at plants. In this paper, we propose new concept, it is named “Bridle Drive.” And we developed the prototype model of the units of the SSR-II. This unit has the Bridle Bellows composed of a large caliber bellows and wire lock system. Bridle Bellows is able to change shape by controlling wire length and air pressure and produces a large power.
Design of the Leg Mechanism of a Water Surface Runner
Authors: Higuchi Masaru ,   Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Oh-okayama, Meguro-ku, Tokyo 152-8552, Japan, Tanaka Hideo , Tsutsumi Shingo , Takeda Yukio , Funabashi Hiroaki ,   Armonicos Co., Ltd.,   Yasukawa Electric Corporation,   Shibaura Institute of Technology
Published: April 2016

We designed the leg mechanism of a water surface runner to generate motion with sufficient force to support and propel it the water with minimum power consumption. We studied force acting between the foot and water when the foot impacted on the water and strokes into the water experimentally. We propose leg motion so that the foot is not pulled downward by water based on observation of water behavior. Based on this formulation and idea, we obtained optimal foot motion through simulations and designed the leg mechanism, then designed and built a prototype water surface runner. We discuss its motion and the force acting on the foot together with experimental results.
Firm Standing for Legged Mobile Manipulators
Authors: Tagawa Takashi ,   University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki, Aiyama Yasumichi , Osumi Hisashi ,   Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo
Published: April 2016

A mobile manipulator generates external force on its hand when it works, making it unable to conduct work accurately because the robot becomes unstable, unlike human beings, who stand stably despite a large hand force acting on their hands. This uses redundant degrees of freedom (DOF) that freely change the body’s position and orientation even if legs are fixed. We focus on a legged robot as a part of locomotion and propose firm standing using a legged mobile manipulator that tolerates greater hand force while maintaining a stable working position. This report proposes firm standing, analyzes it on a two-dimensional vertical plane and in three-dimensional space, and details experiments that demonstrate its feasibility.
A Study on Propagation Characteristics of Spread Spectrum Sound Waves Using a Band-Limited Ultrasonic Transducer
Authors: Yamane Akio ,   Faculty of Engineering, Soka University, 1-236 Tangi, Hachioji, Tokyo 192-8577, Japan, Iyota Taketoshi , Choi Yongwoon , Kubota Yuzuru , Watanabe Kazuhiro
Published: April 2016

Propagation characteristics and range experiments of spread spectrum 40kHz ultrasonic waves have been explored under band-limited frequency. Comparative experiments were conducted using two arrangements combining a broadband speaker and a microphone for the broadband case, and an all-purpose receiving transducer and the broadband speaker for the band-limited case. Under the broadband condition, range accuracy measurements and evaluation of signal discrimination in a code division multiple transmission were made demonstrating 0.034% (corresponding to about 7mm in range distance) of range accuracy for a full-scale distance of 21.6m, demonstrating high signal discrimination. The severely band-limited experiment improved accuracy from 0.084% for a distance of 8.4m to 0.063% for a greater distance of 14.4m using a longer M-sequence length by extending shift registers from 10-bit to 15-bit. These experimental results show promise in the intended application of ultrasonic spread spectra to local positioning systems.
Torque Planning of a New Golf-Swing Robot to Emulate Skillful Golfers
Authors: Suzuki Soichiro ,   Department of Mechanical System Engineering, Kitami Institute of Technology, 165 Koen-cho, Kitami, Hokkaido 090-8507, Japan
Published: April 2016

The performance of golf clubs and balls is often evaluated by using a golf-swing robot. However, the evaluation is not reliable, because the robot cannot swing a golf club like a skillful golfer. In this study, a new golf-swing robot that can adjust its motion to the characteristics of individual golf clubs by emulating a skillful golfer is investigated analytically and experimentally. The wrist is released freely, and the shoulder is controlled by a torque plan that considers the effect of the whole-body motion of a golfer. Thus, this robot can emulate skillful golfers and perform highly reliable evaluations of golf clubs. In this paper, validity of the torque planning of the shoulder is analytically and experimentally investigated.
Adaptive Modular Vector Field Control for Robot Contact Tasks in Uncertain Environments
Authors: Saitoh Yohei ,   Dept. of Bio-Systems Engineering, Yamagata University, 4-3-16 Jonan, Yonezawa-shi, Yamagata, Japan, Luo Zhiwei , Watanabe Keiji ,   Bio-Mimetic Control Research Center, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya, Japan
Published: April 2016

We propose adaptive modular vector field control (AMVFC) for a robot manipulator to interact with uncertain environmental geometric constraints. Starting from an uncertain geometric model of the environment, we first parameterize the desired velocity vector field of the robot using the weighted combination of a set of basis vector fields. Then, to overcome the influence of environmental model uncertainty, we add force feedback to adjust robot dynamics and the weight parameters of the desired velocity field for the robot to approach the real environment. Simulation of a robot interacting with uncertain circles and an ellipse demonstrates the effectiveness of our approach.
Robust Vibration Control of a Flexible Robot Arm Carrying an Uncertain Load That Causes Bending/Torsional Coupling
Authors: Watanabe Toru ,   Dept. of Mechanical Engineering, College of Science & Technology, Nihon University, 1-8 Kanda Surugadai, Chiyoda-ku, Tokyo 101-8308, Japan, Yamamoto Kohsuke , Takamura Kohei , Seto Kazuto
Published: April 2016

This paper presents the design procedure of a robust H∞controller for bending/torsional coupled vibration of a flexible robot arm. If the arm does not hold the center of the load, it possesses bending/torsional coupled vibration modes that may not be precisely identified. In this research, we use H∞robust control design with structured uncertainties used to describe the model error in the coupling of bending/torsional vibration. We set up an experimental system and identify two physical models using Seto’s modeling method. An H∞controller is designed using these models and control simulations and experiments are conducted. Our results demonstrate the feasibility and effectiveness of the proposed modeling and controller design method.
Self-Assisted Care System for Human Mobility
Authors: Onishi Teruhisa ,   Tsuyama National College of Technology, 624-1 Numa, Tsuyama, Okayama 708-8509, Japan, Arai Tatsuo , Inoue Kenji , Mae Yasushi ,   Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan
Published: April 2016

Since humans are bipedal, it is easy to become bedridden when the hip and legs become weakened or disabled due to aging or other causes. If such physically challenged people are enabled to get up from bed and move to a nearby location, however, they could use their arms and hands to do certain tasks such as taking meals or writing. In this paper, we propose a wearable device for supporting the human body that can be easily worn or removed by means of a body-holding device. The hoisting device has an arm which, as an end-effector, supports the body and allows the user to rise from bed and lie down again. In addition, a three-point fixing mechanism is used to maintain the user’s sitting posture at a desk, and to realize an integrated self-assisted care system.
Communication Interface for Human-Robot Partnership
Authors: Kubota Naoyuki ,   Dept. of Mechanical Engineering, Tokyo Metropolitan University, PRESTO, Japan Science and Technology Corporation, 1-1 Minami-Osawa, Hachioji, Tokyo 192-0397, Japan, Urushizaki Yosuke ,   Dept. of Human and Artificial Intelligent Systems, University of Fukui, 3-9-1 Bunkyo, Fukui 910-8507, Japan
Published: April 2016

This paper deals with learning for a person/robot/computer agent partnership communication interface. Although it is difficult for robots to learn behavior through interaction with people based on human intention in an actual environment, the robot easily obtains environmental information using sensors. Learning in computer simulation is relatively easy because contact patterns are restricted in the virtual environment, but the computer agent cannot collect environmental information on people. Robot and computer agents thus play different roles. Interface design is vital to computer agent, because people is interfaced to the computer’s virtual environment. Human intention should be extracted through communication with the computer agent in the virtual environment. In this study, we consider interaction between a robot and a person through a computer agent, and the task given to the person is to guide the robot to a target point based on human intention. For this, we use a computer agent, assuming it gets energy at a specific point in the virtual environment. We propose a method for extracting human intentions using multiple state-value functions. A state-value function is selected based on a human tapping pattern on the PDA used as an interface to the computer agent, and is updated by a reinforcement learning algorithm based on a reward. Experimental results demonstrate the effectiveness of the proposed method.
An Underactuated Manipulation Method Using a Mechanical Gravity Canceller
Authors: Ono Yoshiki ,   Keio University, 3-14-1 Hiyoshi, Yokohama 223-8522, Japan, Morita Toshio
Published: April 2016

This paper propose a method, to stabilize the arbitrary posture of a distal link by generating and erasing equilibrium points in passive joints of a vertical planar underactuated manipulator with an active joint in the base. A vertical planar three-DOF manipulator combining a passive two-DOF mechanical gravity canceller and an active base joint was developed. Experimental results demonstrate the effectiveness of this method.
A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training
Authors: Okino Akihisa ,   Okino Industries, Ltd., 285-8 Motohara, Kamikawa-machi, Kodama-gun, Saitama 367-0241, Japan, Takanobu Hideaki , Takanishi Atsuo , Ohtsuki Kayoko , Ohnishi Masatoshi , Yoshida Masayuki ,   Department of Mechanical Engineering, School of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku, Tokyo 169-8555, Japan,   Humanoid Robotics Institute, Waseda University,   Department of Mechanical System Engineering, Kogakuin University, 1-24-2 Nishishinjuku, Shinjuku, Tokyo 163-8677, Japan,   Department of Oral & Maxillofacial Surgery, Interdiciplinary Graduate School of Medicine and Engineering, University of Yamanashi, Shimokato 1110, Tamaho, Nakakoma, Yamanashi 409-3898, Japan
Published: April 2016

This paper discusses a jaw movement training robot implementing a 6-DOF (degrees of freedom) parallel mechanism, and its application to mouth opening and closing and lateral movement training. Temporomandibular joints (TMJ) syndrome prevents patients from opening their mouths or moving their jaws easily due to problems with mandibular joints, mastication muscles, and other organs involved in food chewing. Conventional therapy involves simple mouth opening apparatuses, although individual techniques vary with the physician. We developed and improved a jaw movement training robot that aids jaw opening and closing and lateral jaw movement training. This system consists of a 6-DOF slave manipulator representing a patient manipulator and a 2-DOF or 3-DOF master manipulator representing the doctor command manipulator.
Discrimination Threshold of Tactility to ERP-Modulated Vibration
Authors: Ide Hideto ,   Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara, Kanagawa 229-8558, Japan, Ide Yoshinori ,   Tamagawa University, Machida, Tokyo 194-0041, Japan
Published: April 2016

We present tactile sensor figure information using modulated vibration produced from high band component fH (from 40 to 1000Hz) and low band component fL (from 2 to 40Hz). Vibration is modulated in 8 directions and we determine whether we could differentiate the direction in which it moves, focusing on presentation time, repetition presentation, and the interval between presentation stimuli. We found that presentation that repeats vibration continuously is most effective.
Loose Robot Communication over the Internet
Authors: Oya Makoto ,   Hokkaido University, N14, W9, Kita-ku, Sapporo 060-0814, Japan, Naruse Keitaro , Narita Masahiko , Okuno Taku , Kinoshita Masahiro , Kakazu Yukinori ,   The University of Aizu, Tsuruga, Ikki-machi, Aizu-Wakamatsu, Fukushima 965-8580, Japan,   Fujitsu Limited, 2-15-16 Shin-Yokohama, Kohoku-ku, Yokohama 222-0033, Japan,   Hokkaido Institute of Technology, 4-1, 7-15, Maeda, Teine-ku, Sapporo 006-8585, Japan
Published: April 2016

As robot technology is disseminated from special fields such as factory production to everyday fields such as home use, community work, and entertainment, working space of robots also expands from dedicated area such as factory sites to ordinary living space. Combining this technology shift and the popularized public Internet suggests the emergence of new robot applications. The Internet, however, as its nature, is not suitable for tight coupling of processes among robots and computers. An approach different from simple expansion of current robot communication technology is thus necessary. After discussing the essentials of communication, i.e., closed and open networks, and tight and loose couplings of processes, we propose combining Web Services technology and autonomous robot technology. We present several cases to examine this approach. The applicability of Web Services to robot communication is confirmed through implementation. Feasible applications are studied using application instances combining autonomous robots with the Internet. Feasibility is also examined from Web Services technology point of view.
Measurement of Human Hand Impedance in Dual Arm Configurations
Authors: Takeda Yusaku ,   Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Tanaka Yoshiyuki , Tsuji Toshio
Published: April 2016

Dynamic characteristics of a human extremity are usually expressed using the mechanical impedance. This paper examines hand impedance in dual arm movements while posture was maintained in dual-arm configurations. The results of experiments show that the orientation of viscosity ellipses roughly agrees with the human sagittal axis, tending to be oriented similar to stiffness ellipses. Viscosity and stiffness amplitude and orientation exceed those of single arm. Our results will be used in human-robot cooperation systems and in analyzing human movements.
Modulated Vibrations Used to Display Tactile Sense
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

We developed a device that presents information through modulated vibrations. No previous studies evaluating the human cognition of tactile-based modulated vibrations have, to our knowledge, been conducted before. We propose evaluating cognitive discrimination of modulated vibration stimuli based on event related potential (ERP). Modulated vibrations consist of high fH (40-500Hz) and low fL (2-20Hz) band components, and are represented as points on the fH vs. fL plane. We measure discrimination threshold distribution on the fH vs. fL plane using ERP-based evaluation. An experiment we conducted identify discrimination thresholds in four directions about a reference (nontarget) point.
Development of Cellular Manufacturing System Based on Movable Cells
Authors: Shimomura Yoshiki ,   Research into Artifacts, Center for Engineering, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan, Takada Fabio Noriyuki , Tomiyama Tetsuo ,   GRUPO LIBERCON, Av. Paulista, 807 - 25o Andar - Cerqueira Cesar Sao Paulo - SP - Brasil - CEP: 01311-915,   Faculty of Mechanical Engineering and Marine Technology, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands
Published: April 2016

In contrast to current highly centralized systems, we propose cellular machines, which are mechanical systems consisting of a minimum kind of autonomous distributed intelligent units, called cells, with no central control. We introduce the concept of movable cells to improve robustness against faults and flexibility of a previous system. We discuss the development of new cellular manufacturing system consisting of movable cells by introducing functional expandability and hardware prototyping results.
Fusion of Multiple Ultrasonic Sensor Data and Image Data for Measuring an Object’s Motion
Authors: Umeda Kazunori ,   Dept. Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Ota Jun , Kimura Hisayuki ,   Dept. of Precision Engineering, Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan,   Kanagawa Prefectural Shoko Commercial and Technical High School, 743 Imai-cho, Hodogaya-ku, Yokohama 240-0035, Japan
Published: April 2016

Robot sensing requires two types of observation – intensive and wide-angle. We selected multiple ultrasonic sensors for intensive observation and an image sensor for wide-angle observation in measuring a moving object’s motion with sensors in two kinds of fusion – one fusing multiple ultrasonic sensor data and the other fusing the two types of sensor data. The fusion of multiple ultrasonic sensor data takes advantage of object movement from a measurement range of an ultrasonic sensor to another sensor’s range. They are formulated in a Kalman filter framework. Simulation and experiments demonstrate the effectiveness and applicability to an actual robot system.