bluuebunny/crossref_metadata_2025 huggingface dataset:
Motion Generation for a Modular Robot
Authors: Yoshida Eiichi ,   Distributed System Design Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-2-1 Namiki, Tsukuba-shi, Ibaraki 305-8564, Japan, Murata Satoshi , Kamimura Akiya , Tomita Kohji , Kurokawa Haruhisa , Kokaji Shigeru ,   Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8502 Japan
Published: April 2016

We discuss motion generation of a homogeneous modular robot called a Modular Transformer (M-TRAN). Modules are designed to be self-reconfigurable so a collection of modules can transform itself into a robotic structure. The motion generation of the self-reconfigurable robot presents a computationally difficult problem due to the many combinatorial possibilities for the module configuration, even though the module itself is simple, with 2 degrees of freedom. We describe a motion generation for a class of multimodule structures based on a motion planner and a motion scheduler. The motion planner has 2 layers, with a global planner to plan overall movement of the cluster and a local planner to determine locally coordinated module motions, called motion schemes. After motion is generated as a sequence of single motion schemes, the motion scheduler processes the output plan to allow parallel motions to improve efficiency. The effectiveness of the motion generator is verified through a multiple-module simulation.
Development of Holonomic Omnidirectional Vehicle ""Vuton-II"" with Omni-Discs
Authors: Damoto Riichiro ,   Tokyo Institute of Technology, 2-12-1 0-okayama Meguro-ku Tokyo, 152-8552, Japan, Hirose Shigeo
Published: April 2016

In this paper, we focus on a new omni-directional vehicle ""The Vuton-II"" that was developed for use as a transport vehicle to operate within factories, hospitals and warehouses. This vehicle is composed of using three or more ""Omni-Discs"". Its mechanism ensures that individual wheels of the assembly are always aligned in the same direction, and can always roll freely. The Vuton-II is designed to be low in cost, short in stature, and to bear a reasonably high payload.
Simple Compound-Eye-Type Micro Vision Sensor and Its Application for Detecting Motion
Authors: Umeda Kazunori ,   Dept. Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Sekine Michiaki ,   Software Division, Hitachi, Ltd. 5030 Totsuka-cho, Totsuka-ku, Yokohama 244-8555, Japan
Published: April 2016

A micro vision sensor is required for millimachines and micromachines. This paper proposes a compound-eye-type micro vision sensor that imitates insect vision. The sensor consists of a photosensor array and cover. A macromodel of centimeter size with 8 × 8 sensor units is constructed. Simulation and experiments with the macromodel show that the sensor measures an image such as a low-resolution image, and it is possible to obtain rough shape information. Additionally, a simple method of detecting motion appropriate for the sensor is shown.
Special Issue on From Microrobotics to Nanorobotics
Authors: Arai Fumihito ,   Associate Professor, Dept. of Micro System Engineering, Nagoya University, 1, Furo-cho, Chikusa-ku, Nagoya 464-8603,Japan
Published: April 2016

Micro/nanotechnologies are keys crucial to improving system performance. This is why it is so important to research theory and applications based on analysis and synthesis from the micro- to the nanotechnology engineering level. Micro/nanorobotics are extremely important to the future of robotics and automation. Micro/nanotechnologies will certainly be applied in fields such as material science, industry, medicine, bioengineering, and services. Research on micro/nanoscale manipulation has thus attracted special attention in the robotics and mechatronics communities in the last decade. This special issue features selected papers focusing on cutting-edge topics and innovative applications based on new approaches in the fields of micro/nanorobotics. These papers were chosen from the 2001 IEEE International Conference on Robotics and Automation (ICRA2001) and important domestic conferences such as the Japan Society of Mechanical Engineers(JSME) Conference on Robotics and Mechatronics (ROBOMEC). I would like, in closing this short introduction, to express my particular gratitude to the authors, who have updated their papers for this special issue, and to thank all of the contributors and reviewers who have made this vital publication possible. I also would like to thank Editor-in-Chief Prof. Makoto Kaneko of Hiroshima University, who provided the opportunity for editing this issue. I hope the papers contained herein will prove both interesting and useful to readers wanting to learn about the latest advances in micro/nanorobotics.
A Study of Feasibility for a Novel Parallel-serial Manipulator
Authors: Ceccarelli Marco ,   Laboratory of Robotics and Mechatronics, DiMSAT - University of Cassino Via Di Biasio 43 - 03043 Cassino (Fr), Italy, Ottaviano Erika , Carbone Giuseppe
Published: April 2016

A combination of serial and parallel chain manipulators is proposed for a design of a novel hybrid robot. In this paper a study of feasibility is presented in terms of basic performances of workspace, static action, and stiffness properties.
Mobile Robot Playback Navigation Based on Robot Pose Calculation Using Memorized Omnidirectional Images
Authors: Tang Lixin ,   Intelligent Robot Laboratory, University of Tsukuba Tsukuba, Ibaraki, 305-8573 Japan, Yuta Shin'ichi
Published: April 2016

We propose a method of autonomous navigation for mobile robots in indoor environments by a teaching and playback scheme. During teaching, an operator guides a robot to move by manual control. While moving, the robot memorizes its motion measured by odometry and an environmental image taken by an omnidirectional camera at each time interval, and regards places where images were taken as target positions. When navigating autonomously, the robot plays back memorized motion to track each target position and corrects its position by calculating its relative pose using current and memorized images, to follow the taught route. In this method, vertical edges existing in the environment are used as landmarks to calculate robot position, and an evaluation function defined by us is used to find corresponding vertical edges between two images. The robot thus can navigate robustly in real building environments. The system can avoid the problem of the operator covering a part of the environment in images during the teaching stage.
Mobile Robot Control in Intelligent Space for People Support
Authors: Lee Joo-Ho ,   Institute of Industrial Science, University of Tokyo, 4-6-1, Komaba, Meguro-ku, Tokyo, 153-8505 Japan, Morioka Kazuyuki , Hashimoto Hideki
Published: April 2016

A mobile robot control algorithm in intelligent space is described. The main purpose of intelligent space is to support people in informative and physical ways. To offer physical support, intelligent space needs a physical agent able to move in space and interact with people. A mobile robot is considered the best candidate for the physical agent and the mobile robot itself is supported by intelligent space. We demonstrate the possibility of building mobile robot-based physical support in intelligent space.
An Evaluation of Sliding Mode Control for Vehicle Suspensions
Authors: Yuksek Ismail ,   Department of Mechanical Engineering, Faculty of Mechanical Engineering, Yildiz Technical University Istanbul-Turkey, Yagiz Nurkan , Sivrioglu Selim ,   Department of Mechanical Engineering, Faculty of Engineering, University of Istanbul Istanbul-Turkey,   Mechanical Engineering Lab., AIST, MITI, Tsukuba-shi, Japan
Published: April 2016

This study considers a passenger seat mounted half vehicle model using sliding mode control. Three cases are taken into account: a model having passive suspension and an active passenger seat, an active suspension and passive seat combination, and both an active passenger seat and suspension. Bouncing of the passenger due to road input, which is commonly used to slow the vehicles at intersections, is simulated in three cases and the results are compared to select the best combination providing the best ride comfort.
Development of an Autonomous Humanoid Robot, iSHA, for Harmonized Human-Machine Environment
Authors: Suzuki Kenji ,   Humanoid Robotics Institute, Waseda University, 17 Kikuicho, Shinjuku-ku, Tokyo, 162-0044 Japan, Hikiji Riku , Hashimoto Shuji
Published: April 2016

Our research aim is to build a harmonized humanmachine environment where people and machines can interact with each other naturally, seamlessly, and intuitively. Based on the sketched scenario, we have developed a humanoid robot, iSHA (interactive Systems for Humanoid Agent), designed to behave like and interact with people. We implemented an intelligent robotic architecture that integrates goal-oriented subsystems by taking into consideration the flexibility and scalability of the system. iSHA has an upper body resembling a human in shape and a mobile base with two wheels. The upper body with a head and two arms has 24 DOF. Two wheels equipped under the body provide safe and robust locomotion. Each eye equipped with a small CCD camera, small microphones built into the head, and touch sensory devices on the body respectively provide the robot with binocular vision, auditory and touch sensing ability.
Manipulator Work System Using Gesture Instructions
Authors: Kawarazaki Noriyuki ,   Department of Welfare Systems Engineering, Kanagawa Institute of Technology, 1030, Shimo-ogino, Atsugi-shi, Kanagawa, 243-0292 Japan, Kashiwagi Nobuto , Hoya Ichiro , Nishihara Kazue ,   Mechatronics R&D Department, SEGA Corporation, 2-12, Haneda, 1-chome, Ota-ku, Tokyo, 144-8531 Japan,   Systems Engineering Consultants Co. Ltd. Sakuraoka-cho, 22-14, NES Building, Shibuya-ku, Tokyo, 150-0031 Japan
Published: April 2016

This paper provides a cooperative manipulator work system using gesture instructions. In our system, hand gestures are recognized and the manipulator works based on them. We propose block division to detect and recognize hand gestures rapidly. The template of the hand is divided into 3 blocks: base, hand and finger. Template memory is reduced by block division. The effectiveness of our system is clarified by several experimental results.
Special Issue on Assistive Device Technologies
Authors: Fukuda Osamu ,   Research ScientistAssistive Device Technology Group,Institute for Human Science and Biomedical Engineering,National Institute of Advanced Industrial Science and Tchnology (AIST), AIST Tsukuba East, 1-2-1, Namiki, Tsukuba, Ibaraki, 305-8564 Japan
Published: April 2016

Technologies for supporting a healthy lifestyle for the elderly and disabled are needed to keep them mentally and physically independent and to help them take part in society. The issue of a rapidly aging society has, in fact, become a major national problem. This special issue focuses on assistive device technologies for the elderly and disabled. Contributed and invited papers have been carefully reviewed by journal referees and 13 papers selected for publication in the Journal of Robotics and Mechatronics Special Issue on Human Assistive Technologies (Vol. 14, No. 6). The first 4 papers, by Hashino, Yamada et al., Miyawaki et al., and Noritsugu et al., outline the development of new mobile equipment based on novel mobile mechanisms. The next 4 articles, authored by Wenwei et al., Ohga et al., Kato et al., and Hagihara et al., deal with prostheses and orthoses. In 2 more papers, by Homma et al. and Shinomiya et al., the focus is on rehabilitation and training equipment, while in the 11th article, Kanamori et al. report on the operating ""feel"" of a man-machine system to improve the maneuverability of the human interface. The last 2 papers, authored by Kobayashi et al. and Fukuda et al., detail an automatic diagnosis system based on biomedical information measured from the human body. We thank the authors who have so kindly contributed their papers to this special issue, and the reviewers who have made this publication possible. Our special thanks go to Editor-in-Chief Prof. Makoto Kaneko of Hiroshima University, who provided the opportunity for editing this issue. We expect this issue to help readers to better understand new trends in assistive device technologies and to further their interest in this most robust and innovative research field.
Development of Crawler Stair Climber using Guide Rail
Authors: Yamada Yasuhiro ,   Department of Mechanical Engineering, Faculty of Engineering, Fukui University, Segawa Yoshinori , Ookoudo Kazuhiro , Komura Yoshiaki , Yamagishi Akira , Sekido Tadashi , Ikeda Kenichiro , Mita Shinichi ,   Graduate School of Engineering, Fukui University, 3-9-1, Bunkyo, Fukui, 910-8507 Japan,   Daido Kogyo Co., Ltd. 1-197, Kumasaka-cho, Kaga, Ishikawa, 922-8686 Japan
Published: April 2016

Welfare equipment is being developed for the projected barrier-free society. Stair climbers developed to help wheelchair users climb stairs include multileg, wheeled and crawler types. Stair climbers in practical use, however, may make traveling unstable depending on the stair or be expensive, indicating a need for improvement. This paper proposes a crawler stair climber, named ESCAL-F, that uses a small guide rail with a tooth belt installed at the side edge of stairs and a tooth belt for the crawler in which belts mesh to enable stair climbing. ESCAL-F realizes stable stair climbing with low cost. This paper focuses on design and tilt angle control of ESCAL-F.
Evaluation of the Gait of Elderly People using an Assisting Cart (Gait on Slope)
Authors: Miyawaki Kazuto ,   Akita Prefectural Technology Center, 4-11, Sanuki, Arayacho, Akita-shi, Akita, 010-1632 Japan, Iwami Takehiro , Obinata Goro , Kutsuzawa Keiichi , Nishimura Shinzo
Published: April 2016

As society ages, equipment for assisting walking is receiving increasing attention. We previously developed a cart to assist walking on flat surfaces and evaluated its effect on user muscular tension and energy consumption. In this paper, we determined energy consumption during slope walking based on a musculoskeletal model; 10% and 15% decreases of energy consumption are achieved with cart assistance in slope ascent and descent. We expect our evaluation to be useful for developing a practical walker.
Development of Medical Care Assist Bed using Pneumatic Planar Soft Actuator
Authors: Noritsugu Toshiro ,   Okayama University, 3-1-1, Tsushimanaka, Okayama, 700-8530 Japan, Sasaki Daisuke , Matsuo Seij i , Kusunoki Ikuo , Mitsumine Yuuki ,   SYNFORM CO., LTD. 10-1, Takayanagi-Higashimachi, Okayama, 700-0034 Japan,   Information Communication Engineer, Kobe Steel, Ltd. 10-26, Wakihamacho 2-chome, Chuo-ku, Kobe, Hyougo, 651-8585 Japan
Published: April 2016

Bedridden persons often have a bedsore, which causes pain to the patient. Then, it is important to prevent from a bedsore. In this study, for prevention from a bedsore, a medical care assist bed using a pneumatic planar soft actuator constructed with rubber balls has been developed. This actuator can carry an object by generating a traveling wave by controlling the inner pressure of balls. In addition, owing to the flexibility of the mechanism, this actuator can carry a fragile object without a complicated control method. In this paper, the structure and operational principle of the actuator is described, and then the principle of both the change of bedridden human body position and the adjustment of pressure distribution between the body and the bed is described. Finally, their effects are experimentally investigated. The experimental results show that this bed can adjust the contact pressure with the human body. Therefore, the effective of this bed to prevent from a bedsore is confirmed.
Evaluation of Biosignal Processing Methods for Welfare Assisting Devices - Evaluation of EMG Information Extraction Processing Using Entropy
Authors: Katoh Ryu ,   Hokkaido University, Kita-13 Nishi-8, Kita-ku, Sapporo, 060-8628 Japan, Nishikawa Daisuke , Yu Wenwei , Yokoi Hiroshi , Kakazu Yukinori
Published: April 2016

We propose evaluation criteria for processing information extraction in discriminating motion from EMG signals. The concept involves conditional information entropy with attention to the ambiguity of information on discriminating motion. Experiments indicated a strong correlation between entropy and the discrimination rate. We evaluated the setting of signal measurement points from proposed evaluation criteria and found that measurement points could be selected.
Development of Leg Rehabilitation Assistance
Authors: Homma Keiko ,   National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba East 1-2-1, Namiki, Tsukuba, Ibaraki, 305-8564 Japan, Fukuda Osamu , Nagata Yoshihiko
Published: April 2016

We propose leg rehabilitation assistance based on a new method. Many elderly temporarily recovering from disease or injury suffer functional deficit and depression because of the lack of appropriate longerterm rehabilitation, suggesting the need for assistance that individuals can use on their own over long enough periods. Such assistance must be safe, light-weight, and apply no psychological burden on users. We propose parallel-wire multi-degree-of-freedom leg rehabilitation assistance. We report the design and trial production of an experimental 2-degree-of-freedom system having flexion and extension for the knee and hip and experiments conducted with a test dummy in knee and hip flexion and extension. Our results certain training actions are possible based on the proposed system.
Operating Feeling Based Design in Human-robot Collaborative Control Systems
Authors: Kanamori Naoki ,   Course in Mechanical and Control Engineering, University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182-8585 Japan, Tanaka Kazuo ,   Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182-8585 Japan
Published: April 2016

The object of this paper is to give a g guide for designing the human-robot collaborative control system attaching importance to maneuverability of the operator. The operative ""feel"" is quantitatively evaluated using the norm of input-output signal obtained from the sensors during operation. As an example of the human-robot collaborative system, the subjective operative ""feel"" of the operator is qualitatively analyzed during the sine wave following task using 1-link operation arm. In addition, the control performance of the operator is examined from the viewpoint of H∞ control using the measurement data during the collaborative operation. As a result, it was suggested that the operator executes the given task while adequately reforming the sensitivity function and complementary sensitivity function of the closed loop system of the collaborative system. Use of this method enables design of the control system taking into consideration the operative ""feel"" of maneuverability.
Microtouch-Sensor Array Fabricated by Hydrothermal Method
Authors: Kwon Guiryong ,   Department of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603 Japan, Arai Fumihito , Fukuda Toshio , ltoigawa Kouichi , Tsukahara Yasunori ,   R & D DIV, R & D Center, Tokai Rika Co., LTD. Oguchi-cho, Niwa-gun, Aichi-ken, 480-0195 Japan
Published: April 2016

We propose a microtouch-sensor array applicable in high-temperature environments. PZT thin film was fabricated on a Ti substrate by a hydrothermal method and electrodes were deposited on it to form the sensor and actuator. The actuator is driven at a resonance frequency of 1.045 [kHz] and actuating voltage is low at ±5[V]. The sensor detects impedance change before and after contact. The sensor is simple and easy to miniaturize and works at temperature up to 82°C. This sensor can be used as an automobile control touch-sensor pad instead of conventional capacitive touch pads because it is robust against high temperature. We detail the sensor's basic features.
A Parallel Solution Scheme for Inverse Dynamics and its Application in Feed-forward Control of Link Mechanisms
Authors: Isobe Daigoro ,   Institute of Engineering Mechanics and Systems, University of Tsukuba, 1-1-1, Tennodai, Tsukuba-shi, Ibaraki, 305-8573 Japan, Imaizumi Daisaku , Chikugo Youichi , Sato Shunsuke
Published: April 2016

This paper describes a three-dimensional parallel solution scheme for inverse dynamics of link mechanisms, which has already been proposed for the two-dimensional case and applied in several in-plane motions. In this theory, the entire system is subdivided into finite elements and evaluated as a continuum. A single-link structure of a pin joint and a rigid bar is expressed using the Shifted Integration (SI) technique, which is conventionally used in finite element analyses of framed structures. This scheme calculates nodal forces by evaluating equations of motion in a matrix form, and thus information from the entire system can be handled in parallel, which is a very useful characteristic when applied in closed-loop or continuously transforming mechanisms. The obtained nodal forces are then converted into the joint torque in the system. Simple numerical tests on two-dimensional and threedimensional open-loop link mechanisms are carried out for comparison with other schemes. The proposed scheme is implemented in a control system to evaluate the performance in actual control with dynamics compensation, and some control experiments are carried out on an open-loop link mechanism. The results reveal the possibility of using the proposed solution scheme in feed-forward control, independently to the system configuration of link mechanisms.
Improvement in PZT Ceramic Vibrator Low Frequency Of Generated Sound for Using PZT Ceramic Vibrator As a Sound Source for an Artificial Larynx
Authors: Ooe Katsutoshi ,   Dept. of Micro System Engineering Nagoya University, Furo-chou 1, Chikusa-ku, Nagoya, 464-0814 Japan, Fukuda Toshio , Arai Fumihito ,   Center of Cooperative Research Center in Advanced Science & Technology, Nagoya University
Published: April 2016

Speech production substitutes to reconstruct speech functions have been developed and used practically to vocalize speech of those who have lost voice functions, but have problems. We focused on PZT ceramic vibrators as a sound source for an artificial larynx. We first produced the artificial larynx, which uses PZT ceramic vibrator; and then evaluated its performance. The voice of the power spectrum of the artificial larynx user is similar to that of the speaking person's voice. The vocalized sound of the artificial larynx user shows good characteristics at format frequency, which is important for vowel discrimination. The resonant frequency of PZT ceramic vibrator is high, however and it is difficult to generate sound near 125Hz for PZT ceramic vibrators. We studied how to lower the frequency of generated sound by using added mass.
Study on Articulated Mobile Robot Introduction and Experiment in Perspective Control
Authors: Morishima Akio ,   National Institute of Advanced Industrial Science and Technology, 1-1-1, Umezono, Tsukuba-city, Ibaraki, Japan, Hirose Shigeo ,   Tokyo Institute of Technology, 2-12-1, Oookayama, Meguro-ku, Tokyo, Japan
Published: April 2016

The perspective control for Articulated Body Mobile Robot KORYU is discussed. Being constructed by linear connected articulations, the segments of the KORYU except that of foremost one can predict future posture by the information of adjacent frontal segment while locomotion. The paper introduces the method to make exact prediction of future posture for any segment of KORYU by using Maximum Principle and the method is then developed to be used for the locomotion on arbitrary topology of the uneven ground. The validity is verified by experiment using the mechanical model ""KR-I"".
Development of Haptic Device Using Flexible Sheet
Authors: Inoue Kenji ,   Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka, 560-8531 Japan, Uesugi Reiko , Arai Tatsuo , Mae Yasushi
Published: April 2016

A new haptic device using flexible sheet such as rubber is proposed. Controlling the bias tension of the sheet, the device varies compliance of the sheet in the normal direction; users can feel compliance of various virtual objects if they touch the sheet. The device is suitable for displaying soft objects. A prototype device using a square rubber sheet is developed. This device controls the bias tension of the sheet by pulling its four corners with four motors. The normal force applied to the center of the sheet and the normal displacement at this point are measured. The results show that the developed device can generate different compliance by changing the bias tension and that it can vary the compliance in response to 5 [Hz] sinusoidal change of the bias tension. The compliance of the human palm is measured and simulated by the device.
Development of High-Power Micropump Using Inertia Effect of Fluid for Small-Sized Fluid Actuators
Authors: Seto Takeshi ,   Seiko Epson Corporation, 3-3-5, Owa, Suwa-shi, Nagano, 392-8502 Japan, Takagi Kunihiko , Yoshida Kazuhiro , Park Jung-Ho , Yokota Shinichi ,   Precision & Intelligence Laboratory, Tokyo Institute of Technology, 4529, Nagatsuta-cho, Midori-ku, Yokohama, 226-8503 Japan
Published: April 2016

The authors have been developing a high output micropump for the small but powerful fluid actuator which has a source of fluid power individually. In this paper, a novel piezoelectric micropump is proposed, which utilizes the pipeline element saving kinetic energy and generated inertia effect of fast outflow, instead of the outlet check valve. Through experiments on load characteristics using water as a working fluid, the newly devised micropump attained a higher fluid output power than 70mW and the volumetric efficiency of the pump exceeds 100% with the pump chamber diameter of 3mm. Furthermore, by measuring the internal pressure of the pump, the above-mentioned principle is confirmed based on the relation of the driving voltage of a multilayered piezoelectric element and the internal pressure of the pump. Moreover, it is proved that bending operation of a finger-type flexible actuator is possible using the developed micropump. Next, a micro-bender which uses the fluid power is developed, as another example of application of the micropump.
Behavior System Design and Implementation in Spined Musle-Tendon Humanoid ""Kenta""
Authors: Yoshikai Tomoaki ,   Doctor course student, Department of Mechano-Informatics, The University of Tokyo, 7-3-1, Hongo, Bunkyo-Ku, Tbkyo, 113-8656 Japan, Mizuuchi Ikuo , Sato Daisuke , Yoshida Shigenori , Inaba Masayuki , Inoue Hirochika ,   Research Associate, Graduate School of Information Science and Technology, The University of Tokyo,   Master course student, Department of Mechano-Informatics, The University of Tokyo,   Professor, Department of Mechano-Informatics, The University of Tokyo,   Professor. Department of Mechano-Informatics, School of Information Science and Technology, The University of Tokyo
Published: April 2016

Humans' adaptive behavior seem to be realized by integrating voluntary behavior and behavior by which they react to an environment. Therefore we divide robots' adaptive behavior into three kinds of behavior: voluntary behavior, refexes, and situation reactive behavior. Here, ""voluntary behavior"" refers to the one which is planed to achieve their purpose. ""reflexes"" refers to the ones which is prepared by human and by which robots instantly react to an environment. ""situation reactive behavior"" refers to the one which is acquired for each voluntary behavior in order to adapt to an environment. In this paper, we propose integration of voluntary behavior, reflexes, and situation reactive behavior for adaptation to an environment or a situation, and then an implementation of the brain system including behavior integration is presented. Furthermore, experiments of behavior integration is done using 96 DOF tendon-driven humanoid ""Kenta"".
Development on Conveyance Module with New Power Drive Mechanism for Thin Wire Production System
Authors: Ishihara Hidenori ,   Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi, Takamatsu, Kagawa, 761-0396 Japan, Ikeda Atsutoshi , Suzuki Minoru , Yukawa Kimihito ,   Nara Institute of Advanced Science and Technology,   Honda Co., Ltd.
Published: April 2016

This paper proposes a new Thin-Wire Production System (TWPS) and wire conveyance module. The TWPS consists of a conveyance module, thin film deposition module, and so on. The conveyance module is a key component in the TWPS because it decides both specifications of produced wire and production system performance. The proposed conveyance module combines transportation and rotation units to achieve transportation rotating the wire. This paper proposes a new mechanism to generate transportation performance by a difference in rotation action of the transportation and rotation units. This paper verities the effectiveness of the new mechanism by experiments.
Human Impedance Perception through Sensory-Motor Integration
Authors: Tsuji Toshio ,   Graduate School of Engineering, Hiroshima University, 4-1, Kagamiyama 1-chome, Higashihimshima, Hiroshima, Japan, Tanaka Yoshiyuki , Abe Tatsuya , Miyaguchi Hideki ,   Hiroshima Prefectural College of Health Sciences Gakuenchou, Mihara, Hiroshima, Japan
Published: April 2016

We studied human impedance perception during manipulation of an impedance-controlled robot. Through a series of experiments with healthy subjects and a patient with cerebellar ataxia to compare their perception ability, focusing on visual and somatosensory information and motor control. Our results showed that motor control and somatosensory information play an important role in impedance perception.
Basic Circuit Design of a Neural Processor: Analog CMOS Implementation of Spiking Neurons and Dynamic Synapses
Authors: Kanazawa Yusuke ,   Department of Electrical Engineering, Hokkaido University, Kita 13, Nishi 8, Sapporo, 060-8628 Japan, Asai Tetsuya , Amemiya Yoshihito
Published: April 2016

We discuss the integration architecture of spiking neurons, predicted to be next-generation basic circuits of neural processor and dynamic synapse circuits. A key to development of a brain-like processor is to learn from the brain. Learning from the brain, we try to develop circuits implementing neuron and synapse functions while enabling large-scale integration, so large-scale integrated circuits (LSIs) realize functional behavior of neural networks. With such VLSI, we try to construct a large-scale neural network on a single semiconductor chip. With circuit integration now reaching micron levels, however, problems have arisen in dispersion of device performance in analog IC and in the influence of electromagnetic noise. A genuine brain computer should solve such problems on the network level rather than the element level. To achieve such a target, we must develop an architecture that learns brain functions sufficiently and works correctly even in a noisy environment. As the first step, we propose an analog circuit architecture of spiking neurons and dynamic synapses representing the model of artificial neurons and synapses in a form closer to that of the brain. With the proposed circuit, the model of neurons and synapses can be integrated on a silicon chip with metal-oxide-semiconductor (MOS) devices. In the sections that follow, we discuss the dynamic performance of the proposed circuit by using a circuit simulator, HSPICE. As examples of networks using these circuits, we introduce a competitive neural network and an active pattern recognition network by extracting firing frequency information from input information. We also show simulation results of the operation of networks constructed with the proposed circuits.
A Valve-Integrated Microactuator Using Homogeneous ER Fluid
Authors: Yoshida Kazuhiro ,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama, 226-8503 Japan, Yano Hiroshi , Park Jung-Ho , Yokota Shinichi ,   Graduate School, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama, 226-8503 Japan
Published: April 2016

For micromachines using fluid power with high power density, a valve-integrated microactuator using homogeneous ER (electro-rheological) fluid is proposed and developed. For higher performance of the micro ER valve that controls the flow of homogeneous ER fluid using the viscosity change due to the applied electric field, the characteristics of the micro ER valve with different ER fluids are experimentally investigated. Also, a polyimide-diaphragm fluid microactuator is proposed, fabricated, and tested. Then the valve-integrated microactuator is fabricated using above devices and the characteristics are experimentally examined. A micro gripper driven by the microactuator is demonstrated.
Special Issue on Robot Vision
Authors: Umeda Kazunori ,   Associate Professor, Dr., Chuo University Dept. Precision Mechanics,Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo, 112-8551 Japan
Published: April 2016

Robot vision is an essential key technology in robotics and mechatronics. The number of studies on robot vision is wide-ranging, and this topic remains a hot vital target. This special issue reviews recent advances in this exciting field, following up two special issues, Vol. 11 No. 2, and Vol. 13 No. 6, which attracted more papers than expected. This indicates the high degree of research activity in this field. I am most pleased to report that this issue presents 12 excellent papers covering robot vision, including basic algorithms based on precise optical models, pattern and gesture recognition, and active vision. Several papers treat range imaging and others interesting applications to agriculture and quadruped robots and new devices. This issue also presents two news briefs, one on a practical range sensor suited to mobile robots and the other on vision devices that are the improved ones of famous IP-5000 series. I am convinced that this special issue helps research on robot vision more exciting. I would like to close by thanking all of the researchers who submitted their studies, and to give special thanks to the reviewers and editors, especially Prof. M. Kaneko, Dr. K. Yokoi, and Prof. Y. Nakauchi.
Camera Calibration and 3-D Measurement with an Active Stereo Vision System for Handling Moving Objects
Authors: Yamashita Atsushi ,   Shizuoka University 3-5-1, Johoku, Hamamatsu-shi, Shizuoka, 432-8561 Japan, Kaneko Toru , Matsushita Shinya , Miura Kenjiro T. , Isogai Suekichi ,   Nippon Systemware Co., Ltd. 31-11, Sakuragaoka-cho, Shibuya-ku, Tokyo, 150-8577 Japan,   Denkosha Co., Ltd. 95, Oroshi-honmati, Hamamatsu-shi, Shizuoka, 432-8055 Japan
Published: April 2016

In this paper, we propose a fast, easy camera calibration and 3-D measurement method with an active stereo vision system for handling moving objects whose geometric models are known. We use stereo cameras that change direction independently to follow moving objects. To gain extrinsic camera parameters in real time, a baseline stereo camera (parallel stereo camera) model and projective transformation of stereo images are used by considering epipolar constraints. To make use of 3-D measurement results for a moving object, the manipulator hand approaches the object. When the manipulator hand and object are near enough to be situated in a single image, very accurate camera calibration is executed to calculate the manipulator size in the image. Our calibration is simple and practical because it does not need to calibrate all camera parameters. The computation time for real-time calibration is not large because we need only search for one parameter in real time by deciding the relationship between all parameters in advance. Our method does not need complicated image processing or matrix calculation. Experimental results show that the accuracy of 3-D reconstruction of a cubic box whose edge is 60 mm long is within 1.8 mm when the distance between the camera and the box is 500 mm. Total computation time for object tracking, camera calibration, and manipulation control is within 0.5 seconds.
Fast Distance Measurement Method by Parallel-Shift Arrangement Stereoscopic Camera
Authors: Iwamoto Taro ,   Faculty of Science and Engineering, Ryukoku University, 1-5 Yokotani, Seta-Ohe, Ohtsu, 520-1294 Japan, Ohara Koji , Shibuya Koji
Published: April 2016

Computation time of stereo matching process for distance measurement has been greatly reduced by parallel-shift optical arrangement stereoscopic camera from that of cross arrangement camera. This stereoscopic camera consists of two camera units which are combined in parallel. Image planes (CCD) of these camera units are motor-driven to shift then from its central position in order to change the location of camera axis crossing point. This optical arrangement eliminates keystone distortion and horopter becomes a vertical flat plane at the crossing point and epipolar lines of right and left images become fully corresponding horizontal lines. Therefore, matching process can be achieved only on one sweep line. This feature simplifies the matching algorithm and matching process can be faster than a conventional 2 dimensional correlation method. Computational cost for this stereo matching process is estimated more than 88% reduction to cross arrangement method.
A Confocal Surface Measurement System Having Improved Measurement Accuracy for Rough Surfaces and Measurement Speed
Authors: Ishihara Mitsuhiro ,   Research and Development Center, Takaoka Electric Mfg. Co., Ltd. 3-1 Yoshinomachi Nishibiwajima-Cho, Nishikasugai, Aichi, 452-8604 Japan
Published: April 2016

We discuss a confocal surface measurement system having improved accuracy for rough surfaces and speed. To enhance speed, we propose (1) a novel nonscanning confocal microscope, (2) a fast object surface reconstruction algorithm, and (3) an optical focused plane shift mechanism. The system we developed operates at speeds exceeding a million points per second. To improve accuracy for rough surfaces, we propose optical smoothing using confocal beam spot microscanning. Results of experiments confirmed that the system measures rough surfaces nearly as accurately as smooth surfaces.
Robotic Vision for Bioproduction Systems
Authors: Monta Mitsuji ,   Laboratory of Bioproduction Systems Engineering Faculty of Agriculture, Okayama University, 1-1-1, Tsushima-Naka, Okayama 700-8530, Japan, Kondo Naoshi , Arima Seiichi , Namba Kazuhiko ,   Department of Technology Development, Ishii Industry Co, Ltd. 422, Tomihisa, Matsuyama 791-8034, Japan,   Laboratory of Bioproduction Robot Systems Faculty of Agriculture, Flume University, 3-5-7, Tarumi, Matsuyama 790-8566, Japan
Published: April 2016

The vision system is one of the most important external sensors for an agricultural robot because the robot has to find its target among various objects in complicated background. Optical and morphological properties, therefore, should be investigated first to recognize the target object properly, when a visual sensor for agricultural robot is developed. A TV camera is widely used as a vision sensor for agricultural robot. Target image can be easily obtained by using color component images from TV camera, when the target color is different from the colors of the other objects and its background. When the target has a similar color with its background, it is often possible to discriminate objects by a monochrome TV camera whose sensitivity is from visible to infrared region. However, it is not easy to measure the target depth by TV cameras because many objects are sometimes overlapped in a field view. In this paper, robotic vision using TV camera for tomato and cucumber harvesting robots and a depth measurement systems using laser scanner are introduced.
3D Visual Information Processing and Gait Control of a Quadruped Robot - for operation on a steep slope protected by a free frame -
Authors: Doi Takahiro ,   Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo, 152-8552 Japan, Tsukagoshi Hideyuki , Hirose Shigeo
Published: April 2016

Construction work on steep slopes is difficult and dangerous, but it is also difficult to automate work at such type sites. One reason is that construction sometimes calls for movement across a ""Free Frame"" - a structure built to keep a slope from collapsing - and because of the ups and downs of the natural slope, it is difficult to design a purposeful simple mechanism to move on this frame. We propose a sensor-based quadruped walking robot that moves on the slope without damage to the surface of the frame, and developed a TITAN VII prototype robot. We detail the techniques required by this type robot to move and work on steep slopes. Practical ways of A) detecting positions and orientations of frame surfaces on rough slopes and B) stepping over the frame and maintaining the stability of the robot using positioning, are presented and their effectiveness is verified through experiments.
2-D distance image sensor
Authors: Mori Toshihiro ,   Hokuyo Automatic Co., LTD.
Published: April 2016

The PBS series microscopic distance image sensor was developed for automatic guided vehicles (AGVs) and autonomously mobile intelligent robots. AGV is used with a PBS sensor for detecting obstacles forward when the AGV is moving. The PBS outputs angle and distance data horizontally. The autonomously mobile intelligent robot uses the PBS for environmental mapping.
Control Method for Realistic Motion in a Construction Tele-robotic System with a 3-DOF Parallel Mechanism
Authors: Zhao Dingxuan ,   Department of Mechanical and Systems Engineering, Gifu University, 1-1, Yanagido, Gifu, 501-1193 Japan, Xia Yupeng , Yamada Hironao , Muto Takayoshi
Published: April 2016

In this study, we developed a construction tele-robotic system, which can be widely used, for example, for restoration works in damaged areas. The system consists of a servo-controlled construction robot, two joysticks for operations of the robot from a remote place and a 3-degree-of-freedom (DOF) parallel mechanism. An important problem to be solved in such a system is how to convey adequate presence of working area in a high quality to the operator. In this paper, we propose a control method of a 3-DOF parallel link mechanism to simulate the motion of the construction robot by using three acceleration sensors. The validity of this method has been confirmed experimentally. According to the experimental result, each motion of roll, pitch and heave of the construction robot can be simulated accurately by the 3-DOF parallel mechanisms.
An Electronic Nose Using Neural Networks with Effective Training Data Selection
Authors: Charumporn Bancha ,   Division of Computer and Systems Science, Graduate School of Engineering Osaka Prefecture University, 1-1 Gakuen-cho, Sakai, Osaka, 599-8531 Japan, Yoshioka Michifumi , Fujinaka Toru , Omatu Sigeru
Published: April 2016

An electronic nose developed from metal oxide gas sensors is applied to test smoke of three general household burning materials under different environments. Generally training data is randomly selected for a layered neural network with error back-propagation (BP). Randomized training data always contain redundant data that lengthen training time without improving classification performance. This paper proposes an effective method to select training data based on a similarity index (SI). The SI ensures that only the most valuable training data is included in the training data set. The proposed method is applied to remove redundant data from the training data set before being fed to the layered neural network based on BP. Results verified high classification performance by using a small number of training data from proposed method.
Study on Handling Clothes (Task Planning of Deformation for Unfolding Laundry)
Authors: Kaneko Manabu ,   Graduate School of Engineering, Tokyo Denki University, 2-2 Nishiki-cho, Kanda, Chiyoda-ku, Tokyo, 101-8457 Japan, Kakikura Masayoshi
Published: April 2016

A study of a housekeeping robot designed to put away laundry was initiated in order to improve its ability to handle a flexible object. This paper proposes that there are conditions to unfolding clothes and to obtain grasping points that will generate an unfolded state in the clothing. There exists a dynamic phenomenon that clothes may unfold naturally under the influence of gravity if they are hung-up under clothes that have been grasped at two points on their outline. Humans skillfully deform clothing with this technique, and this is a useful method to unfold clothes for a robot. Initially, the conditions for determining the grasping points to enable the robot to unfold clothes were determined based on the observed phenomenon. Secondly, the task of deformation of clothes that includes an action for restoring torsion on a sleeve of a shirt is described. Lastly, the validity of the proposed method is demonstrated through experimental evidence.
Development of Output Coupling Mechanisms for Mechanical Systems
Authors: Haraguchi Rintaro ,   Graduate School of Informatics, Kyoto University, Gokasho, Uji, Kyoto, 611-0011 Japan, Osuka Koichi , Sugie Toshiharu
Published: April 2016

This paper proposes a new type of output coupling mechanism, which consists of two differential gears. The mechanism distributes the surplus input power to the other outputs, thus using the input power more effectively. The fundamental equations of the mechanism with respect to velocity and efficiency of input/output are obtained. Furthermore, its effectiveness is demonstrated using an experimental device.
Track Following Control for Large Capacity Flexible Disk Drives -Disturbance Observer Design using Two Position Sensors-
Authors: Ueda Jun ,   Graduate School of Information Science, Nara Institute of Science and Technology (NAIST) Nara, 630-0192 Japan, Imagi Akihiko , Tamayama Hitoshi , Yoshikawa Tsuneo ,   Advanced Technology R&D center, Mitsubishi Electric Corporation, Hyogo, 661-8661 Japan,   Koriyama Works, Mitsubishi Electric Corporation, Fukushima, 963-8872 Japan,   Department of Mechanical Engineering, Kyoto University, Kyoto 606-8501 Japan
Published: April 2016

Storage devices require highly accurate positioning performance to cope with disturbance friction force and vibration. In this paper, a novel configuration of realizing a two-degree-of-freedom (2DOF) track following controller with a disturbance observer is proposed for large capacity FDDs with backward compatibility. The controller is designed using two position sensors, one of them is used to handle low density disks. Furthermore, a new open loop design method is applied to choose the stable parameter against unmodeled dynamics. The validity of the proposed scheme has been confirmed by experiments.
Development of Small Diameter Active Hose-II for Search and Life-prolongation of Victims under Debris
Authors: Kitagawa Ato ,   Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152-8552 Japan, Tsukagoshi Hideyuki , Igarashi Masaki
Published: April 2016

This paper proposes ""Active Hose-II with small diameter"" for search and life-prolongation of victims under debris. Previously proposed Active Hose-I was about 110mm in diameter, which was too large to pass through small spaces. In this paper, an actively curving unit by the ""eccentric wire"" with 45mm diameter is newly introduced as the steering tool. Furthermore, two kinds of propelling unit are proposed. One is ""crawler-hose"" with flexibility, and the other is ""wheel-joint"", both of which are designed so as for all the contact points on the ground to drive to the same direction. The validity of these mechanisms is verified through the mechanical model Active Hose-II and its experimental results are shown in the last part.