bluuebunny/crossref_metadata_2025 huggingface dataset:
Moving-Object Tracking with In-Vehicle Multi-Laser Range Sensors
Authors: Hashimoto Masafumi ,   Faculty of Engineering, Doshisha University, 1-3 Miyakodani, Tatara, Kyotanabe, Kyoto 610-0321, Japan, Matsui Yosuke , Takahashi Kazuhiko ,   Toyota L&F Company, Toyota Industries Corporation, 2-1-1 Toyoda, Takahama, Aichi 444-1393, Japan
Published: April 2016

This paper presents a method for moving-object tracking with in-vehicle 2D laser range sensor (LRS) in a cluttered environment. A sensing area of one LRS is limited in orientation, and hence the mobile robot is equipped with multi-LRSs for omnidirectional sensing. Since each LRS takes the laser image on its own local coordinate frame, the laser image is mapped onto a reference coordinate frame so that the object tracking can be achieved by cooperation of multi-LRSs. For mapping the coordinate frames of multi-LRSs are calibrated, that is, the relative positions and orientations of the multi-LRSs are estimated. The calibration is based on Kalman filter and chi-hypothesis testing. Moving-object tracking is achieved by two steps: detection and tracking. Each LRS finds moving objects from its own laser image via a heuristic rule and an occupancy grid based method. It tracks the moving objects via Kalman filter and the assignment algorithm based data association. When the moving objects exist in the overlapped sensing areas of the LRSs, these LRSs exchange the tracking data and fuse them in a decentralized manner. A rule based track management is embedded into the tracking system in order to enhance the tracking performance. The experimental result of three walking-people tracking in an indoor environment validates the proposed method.
Hybrid Locomotion of Leg-Wheel ASTERISK H
Authors: Yoshioka Takenobu ,   Department of Systems Innovation,  Graduate School of Engineering Science, Osaka University, 1-3, Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Takubo Tomohito , Arai Tatsuo , Inoue Kenji ,   Department of Bio-System Engineering, Faculty of Engineering, Yamagata University, 4-3-16 Jounan, Yonezawa, Yamagata 922-8510, Japan
Published: April 2016

Leg-wheel hybrid locomotion on rough terrain we propose for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot’s support and swing legs change to a tripod gait with an oval orbit to cross over the obstacle. The maximum obstacle height depends on the robot’s height and the positioning of the foreleg. We analyzed optimal positioning implemented in the hybrid robot ASTERISK H, as confirmed by experimental results.
Wearable Master-Slave Training Device for Lower Limb Constructed with Pneumatic Rubber Artificial Muscles
Authors: Sasaki Daisuke ,   Graduate School of Natural Science of Technology, Okayama University, Tsushimanaka 3-1-1, Okayama 700-8530, Japan, Noritsugu Toshiro , Takaiwa Masahiro
Published: April 2016

A robot technology is exceedingly expected to solve a problem of a lack of a physical therapist. In this study, the bilateral type pneumatic wearable master-slave training device used by a trainer and a trainee is developed to feed back a force information to the trainer. In the case of the rehabilitation when separated human attaches the separated device, it has a threat of applying the excessive torque to a patient. To prevent the trainer from increasing excessive torque at the movable angle limit of the trainee, a reaction torque of the slave user is transmitted to the master user.

In this paper, the structure of the developed device is discussed, and then the validity of the proposed device is evaluated from the experiments that assume knee rehabilitation.
1 ms Soft Areal Tactile Giving Robots Soft Response
Authors: Mukai Toshiharu ,   Bio-mimetic Control Research Center, the Institute of Physical and Chemical Research (RIKEN), 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan, Kato Yo
Published: April 2016

Human-interactive robots such as those used for nursing should be covered with soft areal tactile sensors for safety and dexterous manipulation. We are developing a human-interactive robot named RI-MAN that is covered with soft areal tactile sensors. The sensors used so far had a sampling period of 15 ms, which is insufficient for smooth sensor feedback response. Here we report our new tactile sensors with 1 ms sampling and improved sensitivity, as well as its experimental results.
Special Issue on MEXT 21st Century COE Programs (I)
Authors: Arai Tatsuo ,   Professor,, Yokokohji Yasuyoshi , Kurisu Masamitsu , Iwata Hiroyasu ,   Associate Professor,,   Professor,,   Associate Professor,
Published: April 2016

The Ministry of Education, Culture, Sports, Science, and Technology of Japan (MEXT) started the “21st Century COE Program” in 2002 to give targeted support to the creation of global-standard research and education bases. The five-year grant came to fund a total of 250 excellent programs from 95 universities. Topics related to robotics and mechatronics are treated in the following programs: (1) “Information Science and Technology Strategic Core,” University of Tokyo; (2) “Intelligent Human Sensing,” Toyohashi University of Technology; (3) “Innovation of Creative Engineering through the Development of Advanced Robotics,” Tokyo Institute of Technology; (4) “Micro- and Nano-Mechatronics for Information-Based Society,” Nagoya University; (5) “COE for Research and Education on Complex Functional Mechanical Systems,” Kyoto University; (6) “Paradigm Shift from Intelligence to Life,” Keio University; (7) “Human Adaptive Mechatronics (HAM),” Tokyo Denki University; and (8) “The Innovative Research on Symbiosis Technologies for Human and Robots in an Aging Society,” Waseda University. All of these programs were completed by March 2008.

Our editorial board has decided that the time is right to organize a special issue on MEXT 21st Century Programs to disseminate these invaluable research findings as widely as possible. Our three guest editors – Prof. Yasuyoshi Yokokohji of Kyoto University, Prof. Masamitsu Kurisu of Tokyo Denki University, and Prof. Hiroyasu Iwata of Waseda University – have all worked in the specialized areas featured here. Of the 30 papers submitted for this special issue, some 18 papers have been accepted for publication after a careful review, and some are still under review.

We thank the authors for their valuable contributions and the reviewers for their generous time and efforts in making this issue a success.

 Prof. Tatsuo Arai

Editor-in Chief 
Methods to Estimate Magnetic Declination for an Unmanned Aerial Vehicle
Authors: Nakanishi Hiroaki ,   Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Yoshidahonmachi, Sakyo-ku, Kyoto 606-8501, Japan, Kanata Sayaka , Sawaragi Tetsuo , Horiguchi Yukio
Published: April 2016

Measurement of the heading free from magnetic declination using several GPS antennas is widely used, but it is not suitable for small unmanned aerial vehicles because of limited payload and body length. In this paper, we propose two methods to estimate magnetic declination. One is for UAV for 3D terrain mapping with a laser scanner. Measurements which are collected from different directions are matched to estimate magnet declination. The other uses an IMU and one GPS antenna. It consists of 1) estimation of acceleration of motion from GPS measurements and 2) estimation of magnetic declination using the estimated acceleration and IMU measurement. We show that the estimation of magnetic declination results in reduced QUEST, an eigenvalue problem of a 2 × 2 real matrix using a quaternion which expresses rotation. Experimental results of flight control of an unmanned helicopter demonstrate the effectiveness of proposed methods.
Origami Folding by a Robotic Hand
Authors: Tanaka Kenta ,   Department of Mechanical Engineering and Science, Kyoto University, Yoshida-Honmachi, Kyoto 606-8501, Japan, Kamotani Yusuke , Yokokohji Yasuyoshi
Published: April 2016

Dexterous manipulation by a robotic hand is a difficult problem involving (1) how to design a robot that gives the capability to achieve the task and (2) how to control the designed robot to actually conduct the task. In this paper, we take a task-oriented approach called “task capture” to construct a dexterous robot hand system. Before designing the robot, we analyze how a human being conducts the task, focusing on how the target object is manipulated rather than trying to imitate human finger movement. Based on the captured task, we design a robot that manipulates an object in the same way as a human being may do, with a mechanism as simple as possible, rather than concerning human appearance. As a target task, we choose origami paper folding. We first analyze the difficulty of origami manipulation and design a robotic mechanism that folds an origami form, the Tadpole, based on the proposed approach. The proof of how well the “task capture” approach works is demonstrated by a simple robot we developed, which folds a Tadpole consecutively.
Hierarchical Implicit Feedback Structure in Passive Dynamic Walking
Authors: Sugimoto Yasuhiro ,   Department of Mechanical Engineering, Graduate School of Science and Technology, Kobe University, Kobe, Japan, 1-1 Rokkodai-cho, Nada, Kobe 657-8501, Japan, Osuka Koichi
Published: April 2016

Using a linearized analytical Poincaré map, we analyzed the stability of Passive Dynamic Walking (PDW), focusing on bifurcation phenomenon in PDW. Although it is well-known, bifurcation of the walking period has not been well studied. Based on our previous research, we derive an analytical Poincaré map for 2-period walking to discuss PDW stability of PDW with this map. In addition, we point out that there is a similar interesting structure in this Poincaré map.
Human Adaptive Calibration for Machine Operation Without Awareness
Authors: Igarashi Hiroshi ,   Department of Electronical and Electronic Engineering, Tokyo Denki University, 2-2 Kanda-Nishiki-cho, Chiyoda-ku, Tokyo 1018457, Japan
Published: April 2016

Optimum human-machine operation is defined as when a operated machine with “human calculated dynamics model” coincides with its “machine dynamics.” Based on this definition, we propose calibration that brings the machine dynamics closer to the human-calculated machine model. Operators tend to learn dynamics without awareness during machine operation, so changes in machine dynamics appear to pose problems that both make operators uncomfortable and hinder their learning. We propose calibration for changes in machine dynamics without operator awareness, by quantifying perception based on cognitive scientific knowledge. We applied this calibration to a task involving the maneuvering of a mobile vehicle.
Development of an Operation Skill-Training Simulator for Double-Front Construction Machinery – Training Effect for a House Demolition Work –
Authors: Kamezaki Mitsuhiro ,   Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, Iwata Hiroyasu , Sugano Shigeki ,   Waseda Institute for Advanced Study, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
Published: April 2016

This paper reports a newly developed simulator for operation skill training in Double-Front Construction Machinery (DFCM) that allows novices to virtually experience tough operations repeatedly using DFCM under various conditions, including dangerous congestion. First, we selected several situations targeted where the DFCM needs to be used to provide a high level of operation skills: sorted dismantling for recycling and reusing resources, rescue and recovery work in disaster areas, and building construction. In addition, we developed an operation skill-training simulator that enables novice operators to repeatedly train with the high level of operation skills needed to easily and safely handle the DFCM in even more complicated works. This simulator system has two joysticks (set in front of a monitor) to dependently control the two fronts of the animated DFCM on the monitor. Several modes involving basic construction tasks are provided and the effects of improvement in operability achieved by the training simulator can be verified. Evaluation experiments indicated that repeated training using the simulator successfully decreased the operation time to complete a task and enhanced positioning accuracy in cooperative transportation with the two fronts. The results confirm the effectiveness of the developed simulator. Futhermore, it was confirmed that informational or operational support based on knowledge provided from experiment results enabled work performance greatly improved.
Human-Adaptive Robot Interaction Using Interactive EC with Human-Machine Hybrid Evaluation
Authors: Suga Yuki ,   Department of Creative Science and Engineering, School of Modern Mechanical Engineering, Waseda University, #59-325, 3-4-1 Okubo Shinjuku, Tokyo 169-8555, Japan, Ogata Tetsuya , Sugano Shigeki ,   Department of Intelligence Science and Technology, Graduate School of Informatics, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto 606-8501, Japan
Published: April 2016

Using interactive evolutionary computation (IEC), we created human-robot interaction system that maintains user interest over time. Although IEC enables users to design systems reflecting subjective preferences, it forces them to evaluate a large number of individuals. The refined IEC techniques, we propose in this regard, human-machine hybrid evaluation (HMHE), lets users manually evaluate only representative genes, after which HMHE automatically estimates the fitness of other genes, thereby increasing a population without increasing user evaluation process. Experimental results showed that preferences easily change in interaction. We confirmed that HMHE maintains high diversity, while maintaining user interest.
Pseudoinverse-Based Motion Control of a Redundant Manipulator on a Flexible Base with Vibration Suppression
Authors: Fukazu Yusuke ,   Department of Mechanical Systems Engineering, Graduate School of Engineering, Musashi Institute of Technology, 1-28-1 Tamazutsumi, Setagaya-ku, Tokyo 158-8557, Japan, Hara Naoyuki , Hishinuma Toshimitu , Sato Daisuke , Kanamiya Yoshikazu
Published: April 2016

We propose a method for motion control of a redundant manipulator on a flexible base. Manipulator selfmotion is determined from a velocity-level additional constraint obtained from base vibration dynamics. End-effector path tracking is ensured via pseudoinverse-based velocity control. In this way, algorithmic singularities associated with the additional constraint are avoided. The vibration suppression control component is derived via the Singularity-Consistent method, which aleviates destabilization during vibration suppression in the vicinity of kinematic singularities. Experimental data from a 3R planar manipulator on a flexible base confirmed the feasibility of the proposed method.
Soft Areal Tactile Sensor Using Tomography Algorithm
Authors: Kato Yo ,   Bio-mimetic Control Research Center, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan, Hayakawa Tomonori , Mukai Toshiharu ,   Tokai Rubber Industries Ltd.
Published: April 2016

Using inverse problem analysis, we designed a soft areal tactile sensor with pressure-sensitive conductive rubber that does not need complex central wiring because we estimate conductivity change, i.e., pressure on the sensor, in the center based on electrical impedance tomography (EIT), i.e., a type of inverse problem analysis. We discuss results demonstrating the sensor's effectiveness.
Development of a Handshake Robot System Based on a Handshake Approaching Motion Model
Authors: Jindai Mitsuru ,   Okayama Prefectural University, 111 Kuboki, Soja, Okayama 719-1197, Japan, Watanabe Tomio , Shibata Satoru , Yamamoto Tomonori ,   Graduate School of Ehime University, Bunkyo-cho,  Matsuyama, Ehime 790-8577, Japan
Published: April 2016

Humans shake hands as greetings of a first meeting to show a feeling of closeness. A handshake is an embodied interaction involving a physical contact to make communication smooth. A natural handshake between a robot and a human would presumably have the same effect. In this paper, we analyzed mutual handshaking between humans with and without voice greetings and propose a handshake approaching motion model based on the analysis. In this model, a robot can generate handshake approaching motion that is acceptable to a human using second-order lag and dead time elements from the trajectory of a human hand. Furthermore, we developed a handshake robot system by applying the proposed handshake approaching motion model and demonstrated the effectiveness of the approaching handshaking motion model and the handshake robot system through sensory evaluation.
HELIOS VIII: Toward Practical Robots for Search and Rescue Operations
Authors: Guarnieri Michele ,   Department of Mechanical and Aerospace Engineering,  Tokyo Institute of Technology, Ohokayama, Meguro-ku, Tokyo 152-8552, Japan, Takao Inoh , Fukushima Edwardo F. , Hirose Shigeo ,   International Rescue System Japan, 1-2 Minamiwatarida-machi, Kawasaki-ku, Kawasaki 210-0855, Japan
Published: April 2016

With the progress and new technology developments in robotics research, the realization of practical tools for urban and industrial disaster response, from a mere dream, became a reality.

Crawler vehicles, because of their terrain adaptability, have a considerable importance for rescue operations and tasks performed on damaged areas (i.e. unstructured environments). This contribution proposes a tracked robot named HELIOS VIII, consisting of a manipulator utilized not only for handling operations but mainly to assist the motion of the robot itself. In order to prove the efficacy of HELIOS vehicle concept, an overview on the experiments carried out with the first developed prototype HELIOS VII will be presented. Afterwards the new vehicle HELIOS VIII will be introduced illustrating in detail its mechanical design as well as its control architecture. Improvements from the previous version are explained and justified with emphasizing the mechanical design of a new soft gripper consisting of four fingers actuated by a single motor. The new end-effector consists also of a special mechanism for the connection of the vehicle to another crawler unit. This solution can improve the system terrain adaptability on very rough terrains. Finally tests will be explained and discussed as well as the impact of the proposed solution toward the realization of effective tools for disaster relief.
Arc Feet Effects on Stability Based on a Simple Oscillator-Driven Walking Model
Authors: Aoi Shinya ,   Dept. of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto 606-8501, Japan, Sato Yuuki , Tsuchiya Kazuo ,   Dept. of Aeronautics and Astronautics, Graduate School of Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

Lower-extremity movement in bipedal walking is characterized by a foot-rolling motion that includes heel-strike and toe-off. We investigated the dynamical influence of this movement on walking stability using a simple walking model that has a circular arc at the end of each leg. The leg is driven by a rhythmic signal from an internal oscillator to generate walking. We focused on stability characteristics due to the arc foot based on (1) the stability region for parameters such as mass distribution and walking speed, in which the circular arc radius is optimal when it is almost the same length as the leg to maximize the stable region and (2) the rate of convergence to stable walking, which is maximized by a circular arc radius of zero. These two conflicting results imply that the optimal radius of a circular arc for local stability is a trade-off between the two criteria, reflecting a dynamic feature of bipedal walking that should be considered in biped robot design.
Adaptive Regulation of Nonlinear Systems by Output Feedback
Authors: Bando Mai ,   Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto, 606-8501, Japan, Ichikawa Akira
Published: April 2016

In this paper adaptive regulation by output feedback is considered for a class of single-input/single-output nonlinear systems described by multiple linear models. The adaptive laws are based on the filtered state and input of an adaptive observer. Then a controller is given by a state-dependent Riccati equation, which assures the stability of the adaptive system. Simulation results are given to illustrate the theory.
Performance Types and Activation of the Prefrontal Cortex
Authors: Kobayashi Harumi ,   Tokyo Denki University, Graduate School of Advanced Science and Technology, Ishizaka, Hatoyama-machi, Hiki-gun, Saitama, 350-0394 Japan, Yasuda Tetsuya
Published: April 2016

We investigated the relationship between performance types in skill acquisition and the use of the prefrontal cortex (PFC). We used a modified mirror drawing task in which participants using a pen tablet repeated the tracing of a star displayed on a screen. Changes in cerebral blood flow were measured using near infrared spectroscopy (NIRS). Participants conducted two tasks, mirror drawing, i.e., tracing a mirror image of a star, and an usual drawing, i.e., tracing a star. Performance was scored based on the number of errors and drawn lengths. Results suggested that two types of participants - those whose number of errors decreased when they repeated the task and those whose number of errors did not decrease. We thus concluded that (1) changes in oxy-hemoglobin concentration (Oxy-Hb) are higher in the mirror drawing task than in the usual drawing task; (2) oxy-Hb decreased in the right PFC when participants whose number of errors decreased repeated the task 4 days later, but did not decrease in the left PFC; (3) oxy-Hb decreased in the left PFC when participants whose number of errors did not decrease repeated the task 4 days later, but did not decrease in the right PFC. Our findings indicate that activation of the PFC can be used to assess skill levels in on-going tasks and may provide information on how to time assistance.
Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment
Authors: Hashimoto Kenji ,   Graduate School of Science and Engineering,  Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan, Sugahara Yusuke , Lim Hun-Ok , Takanishi Atsuo ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01, Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan,   Department of Mechanical Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama, Kanagawa 221-8686, Japan,   Department of Modern Mechanical Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan,   Humanoid Robotics Institute (HRI), Waseda University, 17-41-2-04A Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
Published: April 2016

Many researchers have studied walking stability control for biped robots, most of which involve highly precise acceleration controls based on robot model mechanics. Modeling error, however, makes the control algorithms used difficult to apply to biped walking robots intended to transport human users. The “landing pattern modification method” we propose is based on nonlinear admittance control. Theoretical compliance displacement calculated from walking patterns is compared to actual compliance displacement, when a robot's foot contacts slightly uneven terrain. Terrain height is detected and the preset walking pattern is modified accordingly. The new biped foot we also propose forms larger support polygons on uneven terrain than conventional biped foot systems do. Combining our new modification method and foot, a human-carrying biped robot can traverse uneven terrain, as confirmed in walking experiments.
Muscle Strength Estimation Using Musculo-Skeletal Model for Upper Limb Rehabilitation
Authors: Okada Tatsuya ,   Department of Production Systems Engineering, Toyohashi University of Technology, Imamura Takashi , Miyoshi Takanori , Terashima Kazuhiko , Yasuda Yoshifumi , Suzuki Takuo ,   Health Science Center, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580, Japan
Published: April 2016

This article proposes a new muscle strength estimation method for upper limbs. It uses an inverse model of a musculo-skeletal model based on the muscle force applied on joints as well as the arrangement of the muscles. We did basic analyses of the parameters of the shape of a living body from magnetic resonance imaging (MRI) images and electromyography (EMG) in order to express isometric motion using the musculo-skeletal model. The model shows high reproducibility of a living body's isometric motion. We propose two easy methods of estimating muscle strength without optimization calculations and using a model which is the inverse of the musculo-skeletal model: a method based on output force distribution and a method based on joint torque distribution. We have validated them via experiments.
Mechanical Design and Basic Run Experiments with the Tri-StarIII – Horizontal Polyarticular Expandable 3-Wheeled Planetary Rover –
Authors: Tadakuma Kenjiro ,   Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu-shi, Tokyo, Japan, Matsumoto Masatsugu , Hirose Shigeo ,   Mitsubishi Heavy Industries, LTD, 43-209-S302, Ozakiyama, Narumi-cho, Midori-ku, Nagoya, Aichi, Japan,   Tokyo Institute of Technology Dept. of Mechanical & Aerospace Engineering, 2-12-1 Ookayama, Meguro-Ku, Tokyo, Japan
Published: April 2016

The exploration of planets has attracted intense research efforts in recent years. It is increasingly apparent that rovers are best suited for obtaining detailed information about a planet's surface. In this paper, we designed Tri-StarIII, a horizontal polyarticular expandable planetary rover. Inside the spacecraft, the rover is in a retracted configuration to fit in a smaller envelope. After reaching the surface of its destination planet, the rover expands to increase stability and traversability over rough terrain. Each joint angle of the arms is controlled by the driving wheels. A braking mechanism locks the joints when they are at the desired angles. The arm configuration was decided using an expandable ratio which we defined, the performance of a gripping type joint braking mechanism and a mechanism that preventing wire-twisting in the wheel steering joints are developed and experimentally confirmed. Basic expanding motion and step and slope traversal experiments have been preformed.
Human Recognition Using RFID Technology and Stereo Vision
Authors: Jia Songmin ,   University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-City, Tokyo 182-8585, Japan, Sheng Jinbuo , Chugo Daisuke , Takase Kunikatsu
Published: April 2016

In this paper, a method of human recognition in indoor environment for mobile robot using RFID (Radio Frequency Identification) technology and stereo vision is proposed as it is inexpensive, flexible and easy to use in practical environment. Because information of human being can be written in ID tags, the proposed method can detect the human easily and quickly compared with the other methods. The proposed method first calculates the probability where human with ID tag exists using Bayes rule and determines the ROI for stereo camera processing in order to get accurate position and orientation of human. Hu moment invariants was introduced to recognize the human being because this method is insensitive to the variations in position, size and orientation. The proposed method does not need to process all image and easily gets some information of obstacle such as size, color, thus decreases the processing computation. This paper introduces the architecture of the proposed method and presents some experimental results.
Adaptive Coordinated Control of Multi-Fingered Robot Hand
Authors: Ueki Satoshi ,   Gifu University, 1-1 Yanagido Gifu, Japan, Kawasaki Haruhisa , Mouri Tetsuya
Published: April 2016

This paper presents an adaptive control for a multi-fingered robot hand with rolling contact to a grasped rigid object, and demonstrates experimental results. In the proposed controller, the dynamic parameters of both the object and multi-fingered robot hand are estimated adaptively. The joint reference velocity consists of filtered contact force error, integral contact force error, and object reference velocity. The asymptotic convergence of object motion and contact force was proven by the Lyapunov-like Lemma. The controller performance is shown in experiments implemented on Gifu Hand III.
Iterative Transportation by Multiple Mobile Robots Considering Unknown Obstacles
Authors: Inoue Kousuke ,   Department of Intelligent Systems Engineering, Faculty of Engineering, Ibaraki University, Ota Jun , Arai Tamio ,   Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo
Published: April 2016

The focus in this paper is on a planning method for an iterative transportation task performed by mobile robots in environments including unknown obstacles. This task requires the acquisition of environmental information, the generation of the appropriate path network based on the acquired information, and the formation of a group of robots on the planned path network. To achieve an efficient method of transportation, a motion planning architecture is proposed that includes three phases, i.e., environmental exploration, path generation, and learning of formation. In the first phase, robots cooperatively explore the environment using a learned visibility graph while transporting. Next, a network of transportation paths consisting of 1- and 2-lane paths is generated using two kinds of configuration spaces. In the final phase, every robot learns a behavior strategy by reinforcement learning to acquire an efficient formation of transportation. The simulation results indicate the effectiveness of the proposed architecture.
Control of a Two-Joint, Two-Steering Snake-Like Robot
Authors: Yamaguchi Hiroaki ,   Department of Integrated Information Technology, College of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara-shi, Kanagawa 229-8558, Japan
Published: April 2016

This paper introduces and describes a new type of snake-like robot, a two-joint, two-steering snake-like robot, and its control method. We first present a mechanical design of this snake-like robot that is inspired by a mathematical perspective on conversion of its kinematical equation into three-chain, single-generator chained form in a mathematical framework, differential geometry. Especially, we assume a virtual steering system at the head of the first link of the snake-like robot, which makes the conversion possible. We secondly present a path following feedback control method based on chained form that enables the first link to follow straight paths at a constant velocity. Of course, it is also possible for the first link to have any desired position and orientation by combining some followings of straight paths under this feedback control method. Validity of the mechanical design of the snake-like robot, the conversion of its kinematical equation, and its control method is verified by computer simulations.

This paper is the full translation from the transactions of JSME Vol.71, No.706.
Comparison with Amount of Gustatory Sense and Nasal Skin Temperature
Authors: Asano Hirotoshi ,   Faculty of Science and Engineering, Aoyama Gakuin University, Fuchinobe 5-10-1, Sagamihara-shi, Kanagawa, 229-8558 Japan, Mizuno Tota , Nozawa Akio , Ide Hideto ,   National Institute of Advanced Industrial Science and Technology, Central 6, 1-1-1 Higashi, Tsukuba, Ibaraki, 305-8565 Japan,   Faculty of Science and Engineering, Meisei University,  Hodokubo 2-1-1, Hino-shi, Tokyo, 191-8506 Japan
Published: April 2016

We compared study the amount of gustatory sense and changes in nasal skin temperature. Gustatory stimulation used saltiness and acidity that was four basic tastes. The amount of stimulation was changed and presented it. To determine the amount of gustatory sense, we used in nasal skin temperature as an objective index and the visual analog scale (VAS) as a subjective index. These indexes were compared and evaluated. That maximum temperature displacement, temperature drop, and VAS displacement increase with the amount of stimulation.
Eccentricity Compensator for Wide-Angle Fovea Vision Sensor
Authors: Shimizu Sota ,   California Institute of Technology, Division of Biology, MC 139-74, Pasadena, CA 91125, USAWaseda University, Advanced Research Institute for Science and Engineering, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Burdick Joel W. ,   California Institute of Technology, Department of Bioengineering
Published: April 2016

This paper aims at the acquisition of a robust feature for rotation, scale, and translation-invariant image matching of space-variant images from a fovea sensor. The proposed model eccentricity compensator corrects deformation in log-polar images when the fovea sensor is not centered on the target image, that is, when eccentricity exists. An image simulator in a discrete space implements this model through its geometrical formulation. This paper also proposes Unreliable Feature Omission (UFO) using the Discrete Wavelet Transform. UFO reduces local high frequency noise appearing in the space-variant image when the eccentricity changes. It discards coefficients when they are regarded as unreliable, based on digitized errors in the input image from the fovea sensor. The first simulation estimates the compensator by comparing it with other polar images. This result shows the compensator performs well, and its root mean square error (RMSE) changes only by up to 2.54% on the condition that the eccentricity is within 34.08°. The second simulation shows UFO performs well for the log-polar image remapped by the eccentricity compensator when white Gaussian noise (WGN) is added. The result from the Daubechies (7, 9) biorthogonal wavelet shows UFO reduces the RMSE by up to 0.40 %, even if the WGN is not added, when the eccentricity is within 34.08°.

This paper is the full translation from the transactions of JSME Vol.73, No.733.
Quantitative Evaluation of Automatic Parts Delivery in “Attentive Workbench” Supporting Workers in Cell Production
Authors: Sugi Masao ,   The University of Tokyo, Matsumura Ippei , Tamura Yusuke , Nikaido Makoto , Ota Jun , Arai Tamio , Kotani Kiyoshi , Takamasu Kiyoshi , Suzuki Hiromasa , Yamamoto Akio , Sato Yoichi , Shin Seiichi , Kimura Fumihiko ,   TOTO Ltd.,   The University of Electro-Communications
Published: April 2016

The attentive workbench (AWB) is a new cell production system that supports human workers physically and informationally. Here we focus on physical assembly support through parts delivery, using automatically-moving parts trays. We quantitatively evaluated processing time in actual assembly experiments employing an implemented AWB system.
Special Issue on Selected Papers from ROBOMEC'08 (Part 1)
Authors: Umeda Kazunori , Murakami Hiroki
Published: April 2016

The Robotics and Mechatronics Conference 2008 (ROBOMEC'08) was held at the “Big Hat” in Nagano, Japan, June 5-7, 2008, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Minoru Hashimoto of Shinshu University served as organizing chair, Prof. Takashi Kawamura of Shinshu University as general chair and Hiroki Murakami of IHI Corporation as program chair. The conference motto was “Robotics and Mechatronics for Sustainable Industrial Development.” A record-breaking 1,054 papers were presented in about 70 sessions, including Nano/Micro Fluid System and Medical and Welfare Robotics and Mechatronics. Participants numbered over 1,500, making it a great success. This special issue presents 15 papers from the conference selected from 109 outstanding presentations further narrowed to 42 before final selection for Part 1 (Vol.21, No.2). We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.
High Speed and High Sensitivity Slip Sensor Utilizing Characteristics of Conductive Rubber - Relationship Between Shear Deformation of Conductive Rubber and Resistance Change -
Authors: Teshigawara Seiichi ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Tadakuma Kenjiro , Ming Aiguo , Ishikawa Masatoshi , Shimojo Makoto ,   Department of Mathematical Engineering and Information Physics, Faculty of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan
Published: April 2016

Humans can grasp an object without information such as a coefficient of friction or weight. To implement this grasping motion with the robot hand, sensors have been proposed that detect an incipient slip within the contact surface or stick-slip. A large number of slip sensors have been proposed, but small, flexible, and practical slip sensors are currently not available yet. We have been involved in research and development activities for a center of pressure (CoP) tactile sensor that is small and flexible. This sensor uses a pressure conductive rubber to detect the central position of the load distribution and total load. As a result of using the sensor to make experiments on slip detection, we found that a peculiar change appeared in the load output of the sensor immediately before the slip displacement of an object occurred. Based on this output change, we proposed a control method that was capable of setting a grasping force in accordance with the weight of an object. However, the principle was not made clear that caused the output change to occur. We hypothesized that the change was caused by the characteristics of the pressure conductive rubber used for the material of the sensor. As a result of making verification experiments based on this hypothesis, we found that the output change was due to a change in the resistance value when the pressure conductive rubber shear deformed. It was also found that the scale of a change in the resistance value was dependent largely upon the shear deformation speed of the pressure conductive rubber. This paper describes the principle that a peculiar change occurs in the CoP sensor immediately before the occurrence of an object slip. It also reports the characteristics of the pressure conductive rubber that have newly been made apparent.
Magnetically Driven Microtools Actuated by a Focused Magnetic Field for Separating of Microparticles
Authors: Sakuma Shinya ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki-Aza-Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan, Yamanishi Yoko , Arai Fumihito
Published: April 2016

We succeeded in reducing magnetic interaction region with a focused magnetic field on-chip. Novelty of this paper is summarized as follows. (1) We used neodymium powder as the main component of magnetically driven microtools (MMT). The density of magnetic flux was improved by about 100 times after magnetization. (2) We fabricated a couple of pin mounted under a microfluidic chip. The density of magnetic flux was improved by about 1.8 times. As a result, the density of magnetic flux had a single peak using the pin, unlike in a setup without pins. It was confirmed that the size of the magnetic interaction region for the current setting was one twentieth that of the previous setting.
Identification of Contact Conditions from Contact Force and Moment - Experimental Verification in Effective Sensing Strategy -
Authors: Yamada Takayoshi ,   Gifu University, 1-1, Yanagido, Gifu 501-1193, Japan, Mouri Tetsuya , Tanaka Akira , Mimura Nobuharu , Funahashi Yasuyuki ,   Nagoya Institute of Technology, Gokiso-cho, Showa, Nagoya, Aiti 466-8555, Japan,   Niigata University, 8050 Ikarashi 2-nocho, Nishi-ku, Niigata-shi, Niigata 950-2181, Japan,   Chukyo University, Kaizu-cho, Toyota, Aichi 470-0393, Japan
Published: April 2016

This paper discusses an effective sensing strategy for identification of contact conditions by using experiments. The contact conditions include contact position, contact force, contact type, direction of contact normal, and direction of contact line. To distinguish contact type more quickly and accurately, we must raise the degree of separation of large and small eigenvalues of a covariance matrix for estimating contact moment. Firstly, several sensing strategies are investigated through experiments. The difference of these strategies is the origin and direction of movement because the contact moment, which expresses the characteristic of contact type, is generated at a contact frame. Secondly, a more effective sensing movement is suggested from experimental results. Finally, it is pointed out that these strategies are related to sensing movement by a human being.
Design of Autonomous/Man-Machine-Cooperative Mobile Robot
Authors: Inagaki Shinkichi ,   Dept. of Mechanical Science and Engineering, Nagoya University, Suzuki Tatsuya , Ito Takahiro , Shidan Wu
Published: April 2016

The control methodology we propose for a nonholonomic electric two-wheeled vehicle combines autonomous control and man-machine-cooperative control. “Autonomous control” is designed using time-state control to reduce vehicle deviation from a guidance line. “Man-machine-cooperative control” is designed using impedance control to generate power to assist user maneuvers. Experiments demonstrate the usefulness of our proposed design.
Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain
Authors: Harada Kensuke ,   Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Morisawa Mitsuharu , Nakaoka Shin-ichiro , Kaneko Kenji , Kajita Shuuji
Published: April 2016

For the purpose of realizing the humanoid robot walking on uneven terrain, this paper proposes the kinodynamic gait planning method where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the whole-body motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robot's CoG. To solve this constraint, we use a walking pattern generator. We randomly sample the configuration space to search for the path connecting the start and the goal configurations. To show the effectiveness of the proposed methods, we show simulation and experimental results where the humanoid robot HRP-2 walks on rocky cliff with hands contacting the environment.
A Proposal of Real-Time Configuration Control System for Redundant Manipulators
Authors: Zhang Tongxiao ,   Graduate school of Engineering, University of Fukui, Minami Mamoru , Song Wei , Nakamura Yusaku
Published: April 2016

This paper is concerned with a real-time control system of trajectory tracking and obstacle avoidance using an avoidance manipulability measure for redundant manipulators. To perform the tasks adaptively without path-planning, information on the local environment is naturally restricted by limited recognition time. This means an adaptive configuration control has to manage its shape in real-time and without adequate information on its surroundings. Therefore, when the manipulator executes a task adaptively in a dynamic environment, its avoidance manipulability should always be maintained as high as possible to prepare for sudden avoiding. As a measure for gauging avoidance manipulability, we first propose a new index, “AMSIP.” By combining a concept of ”preview control” with real-time optimization of AMSIP distribution found by “1-step GA,” we next propose a new configuration control method, with future information being referred locally but effectively. The proposed system has been evaluated in simulations in terms of real-time configuration optimization, and the complete system has been proved to be feasible and practical.
View-Based Localization Using Head-Mounted Multi Sensors Information
Authors: Yaguchi Hiroaki ,   The University of Tokyo, Graduate School of Information Science and Technology, Zaoputra Nikolaus , Hatao Naotaka , Yamazaki Kimitoshi , Okada Kei , Inaba Masayuki
Published: April 2016

In view-based navigation, view sequences are constructed by considering only the appearance of images. This approach can work only in limited situation, because the structure of environment and camera poses with 3D camera motion is not considered. In this paper, we construct a multi sensor system using an omnidirectional camera, a motion sensor and laser range finders. Using this system, we propose a method of construction view sequence, that takes 3D camera poses into account.
Tractor Guidance System for Farm Work Using DGPS and Gyroscope
Authors: Inoue Keiichi ,   National Agriculture Research Center for Hokkaido Region, Nii Kazuhiro , Zhang Yun ,   Geosurf Corporation
Published: April 2016

A tractor guidance system using a differntial GPS (DGPS) is developed to support the driving of a tractor to track the target lines in the field for plowing, sowing, fertilizing, pesticide spraying, harvesting, manuring, grass teddering etc. The system, graphically designed, generate parallel paths automatically according to the work width and displayed more accurate and stable real-time position and direction through a developed filtering method based on Extended Kalman Filter using 3 axis gyroscope with differential GPS, and predicting position and direction after few seconds later considering the delay of the driving operation. The system enables high precise straight and parallel work in the wide field even for a beginner without setting marks. After practiced, the gap from the target line was less than ±20 cm.
A Service System Adapted to Changing Environments Using “Kukanchi”
Authors: Fukusato Yusuke ,   Faculty of System Design, Tokyo Metropolitan University,, sato–Simokawara Eri , Yamaguchi Toru , Mizukawa Makoto ,   Faculty of Engineering, Shibaura Institute of Technology
Published: April 2016

Robots have been expected to coexist with people, providing them with suitable services. To provide services, robots need to recognize the environment, situation, context, and so on. Additionally, robots observe people’s movements in their daily life and ascertain the relations among their movements, the environment, and services. This information is inherent in the environment, and robots use it to generate services. The authors called the architecture &ldquo:Kukanchi: Interactive Human-Space Design and Intelligence.” This paper aims at the interaction between man and a robot system based on theKukanchispace. Considering the situation, the robot system recognizes the services that users want. To implement the system, a vast amount of information is needed. The authors focused on the interface, which is divided into phases depending on the environment. This paper details two experiments using this system. The first one is a car-like robot service on a street, and the second one is a shopping assistant service in a store.