bluuebunny/crossref_metadata_2025 huggingface dataset:
Special Issue on Selected Papers from ROBOMEC'00
Authors: Yokoi Kazuhito ,   Senior Research Scientist Humanoid Research Group, Intelligent Systems Institute, National' Institute of Advanced Industrial Science and Technology (AIST)AIST Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, 305-8568, Japan, Hasegawa Tsutomu ,   Intelligent Robots & Vision Systems Laboratory, Department of Intelligent Systems,Graduate School of Information Science and Electrical Engineering, Kyushu University6-10-1, Hakozaki, Higashi-ku, Fukuoka, 812-8581, Japan
Published: April 2016

This special issue has been proposed in honor of the Journal of Robotics and Mechatronics that has been authorized to be the International Journal of the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers since 1999. The 2000 JSME Conference on Robotics and Mechatronics (ROBOMEC’00) was held in Kumamoto, May 11-13, 2000, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. The purpose of the conference was to aid future establishments of new industries by using advanced technologies of Robotics and Mechatronics. In the technical sessions, 82 organized sessions were held and a total of 653 papers were presented. 969 participants attended the conference. This special issue has been organized by editing the papers presented at ROBOMEC’00 to widely distribute the significant results of the conference. High quality papers of the conference were invited to this journal and were reviewed again by the referees of this journal. Finally, 14 papers were selected for publication in the Journal of Robotics and Mechatronics Special Issue on Selected Papers from ROBOMEC’00 (Vol. 13, No. 2). We would like to thank the authors in this special issue who have contributed their updated papers. Also, we would express our gratitude to contributed their updated papers. Also, we would express our gratitude to Editor in Chief, Prof. Makoto Kaneko (Hiroshima University) whose work has been indispensable in organizing this special issue and the Editors for providing the selection of the papers.
Force Sensing Unit with Single Amplifier and an Application to a Whisker Sensor
Authors: Ueno Naohiro ,   National Institute of Advanced Industrial Science and Technology, 807-1, Shuku-machi, Tosu, Saga 841-0052, Japan, Kaneko Makoto ,   Industrial Engineering Department, Hiroshima University, 4-1, Kagamiyama 1-Chome, Higashi-Hirohshima 739-8527, Japan
Published: April 2016

In this paper, uniaxial force sensor unit with single amplifier is developed. Four strain gauges attached to thin elastic plate constitute a bridge circuit which counts normal component of acting force automatically. It is easy to implant a uniaxial moment sensor in the unit independently. As an application of developed sensor unit, a whisker sensor system, which is simply composed of a flexible tactile beam and two force/moment sensor units, is proposed. The system is able to detect contact location between the flexible beam and an object. Contact force when the beam makes contact at its tip end is experimentally examined.
Study on Turning of Micro Robot Driven by Cyclic Force
Authors: Ioi Kiyoshi ,   Department of Mechanical Systems Engineering School of Engineering, Kinki University, 1 Takaya-Umenobe, Higashi Hiroshima, 739-2116, Japan
Published: April 2016

This paper deals with the turning mechanism of a brush microrobot using cyclic centrifugal force. Wheeled robots usually turn along the tangential velocity generated by rolling wheels. The microrobot studied here turns differently from usual wheeled robots. Turning mechanics of conventional mobile microrobots using mechanisms with numerous brush legs has not been clarified. This paper clarifies these mechanics. Using computer simulation and simple mathematical analysis, we derive a 2-dimensional rolling model of the brush robot driven by cyclic centrifugal force and indicate the existence of lateral force acting toward the robot. To confirm turning mechanics caused by lateral force, we conducted experiments with a circular trajectory using 3 prototypes. We confirmed the feasibility of turning mechanics caused by lateral force generated by cyclic centrifugal force.
Real-time Corridor Recognition for Autonomous Vehicle
Authors: Minami Mamoru ,   Department of Intelligent Systems Engineering, Faculty of Engineering, Fukui University, Agbanhan Julien , Suzuki Hidekazu , Asakura Toshiyuki ,   Graduate School of Engineering, Fukui University, Doctor's Course of System Design Engineering,   Graduate School of Engineering, Fukui University, Master's Course of Mechanical Engineering, 3-9-1 Bunkyo, Fukui-shi 910-8507, Japan
Published: April 2016

Recognition of a working environment is critical for an autonomous vehicle such as a mobile robot to guide it along corridor and to confirm its possible intelligence. Therefore it is necessary to equip a recognition system with sensor that collect environmental information. As an effective sensor a CCD camera is generally useful for all kinds of mobile robots. However, it is hard to use the CCD camera for visual feedback since it requires to acquire information in real-time, and moreover to be robust against lighting condition varieties. This research presents a corridor recognition method using unprocessed gray-scale image, termed a raw image, and a genetic algorithm (GA), without any image information conversion, to conduct the recognition process in real-time. To achieve robustness concerning lighting condition varieties, we propose a model-matching method using a representative object model designated here as surface-strips model. The robustness of the method against noise in the environment, including lighting conditions variations, and the effectiveness of the method for real-time recognition have been verified using real corridor images.
Estimation of Pleasantness and Arousal Level Using Thermogram
Authors: Tanaka Hisaya ,   Department of Electric and Electronics Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157-8572, Japan, Ide Hideto , Nagashima Yuji ,   Department of Electronics Engineering, Kogakuin University, 2665-1 Nakano-cho, Hachioji-si, Tokyo 192-0015, Japan
Published: April 2016

This paper describes estimation methods of pleasant feeling and arousal feeling by thermogram. We constructed Pleasantness to Unpleasantness (P-U) estimation model by multi regressive via nasal temperature changes in the thermograms, and set the coefficients experimentally, and Arousal to Sleepiness (A-S) estimation model was also constructed by the similar method. And using the methods we attempt to analyze emotions of four types in watching video programs.
Special Issue on Recent Advances in Robot Control
Authors: Kawasaki Haruhisa ,   Professor of Department of Mechanical and Systems Engineering, Gifu Univesity, 1-1 Yanagido Gifu, Gifu 501-1193 Japan
Published: April 2016

This special issue contains outstanding papers on robot control presented at international meetings in Japan in 2000. Featured topics include face robots, polishing robots, control for multifingered robotic hands, re configurable brachiating space robots, DD parallel robots, and robot control technologies such as a distributed robust motion controller, image-based visual servoing, fault adaptive kinematic control, and optimum control for a robot manipulator. We also will have a variety of topics such as shaft insert tasks in the robot task field, fingerprint image sensing in sensing technologies, compliance display, emergence of affective behavior, human/robot communication in interfaces, and workspace analysis of parallel manipulators in robot analysis. In preparing this special issue, we have asked authors to revise work presented at international meetings to include further analyses and experimental data to help make papers even more interesting and informative concerning the purposes of the study, analyses, experiments, and simulation. We thank Professor Kohei Ohnishi, Department of System Design Engineering, School of Science and Engineering, Keio University, for his complete, courteous assistance, and all of the authors who such unstinting time to update their papers for this special issue.
Distributed Robust Motion Controller for Redundant Manipulator Using Disturbance Observer
Authors: Oda Naoki ,   Department of Photonics Applied System, Chitose Institute of Science and Technology, 758-65, Bibi, Chitose, Hokkaido, 066-8655, Japan
Published: April 2016

In this paper, a distributed controller of the motion system with redundancy is proposed by using a disturbance observer. The motion controller of a redundant manipulator must simplify calculation, including task planning of redundant motion for use of redundancy. This paper proposes a distributed solution without excess calculation by observing interactive acceleration between subtask space. Then the proposed approach does not require strict mapping of the subtask vector into the null space of the Jacobian matrix and the introduction of the variable ratio of disturbance suppression makes it possible to consider the independence of the user-defined additional task. The validity of the proposed method is confirmed by simulation.
Development of Pneumatic Human Interface and its Application to Compliance Display
Authors: Takaiwa Masahiro ,   Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka Okayama Japan, Noritsugu Toshiro
Published: April 2016

The goal of this study is to develop a human interface that can display compliance for human hand aiming at the application in the field of virtual reality. Pneumatic parallel manipulator is introduced as a driving mechanism of our human interface, consequently, which yields characteristic that the manipulator works as a kind of elastic body even when its position/orientation is under the control. Using this elastic characteristic, a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.
Study on Face Robot Platform as a KANSEI Medium
Authors: Kobayashi Hiroshi ,   Department of Mechanical Engineering, Science University of Tokyo, 1-3 Kagurazaka, Shinjyuku, Tokyo 162-8601, Japan
Published: April 2016

The objective of this study is to investigate the intelligence necessary for machines such as a humanfriendly robot working in the environment where human and robot coexist. It seems to be required to manufacture the human-friendly robot that can communicate with human beings as a test bed and/or platform. Since face and facial expressions are very crucial factors for communication, we have been developing a face robot, which has a human-like face and can express facial expressions as similar as human being. The important factors of face robot for coexistence and communication with humans are 1. human size and compact, and 2. easy to control. While we have used air cylinders with pressurized air for the old face robot, to accomplish these two factors, we have decided to use a SMA (shaped memory alloy) actuators driven by electricity. In this paper, we present the prototype of SMA-actuated new face robot and show the basic ability.
Emergence of Affective Behaviors through Physical Interaction between Human and Mental Commit Robot
Authors: Shibata Takanori ,   Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Tanie Kazuo
Published: April 2016

Recent advances in robotics have been applied to automation in industrial manufacturing, with the primary purpose of optimizing practical systems in terms of such objective measures as accuracy, speed, and cost. This paper introduces research on mental commit robot that seeks a different direction that is not so rigidly dependent on such objective measures. The main goal of this research is to explore a new area in robotics, with an emphasis on human-robot interaction. We introduced a cat robot a nd evaluated it by interviewing many people. The results showed that physical interaction improved subjective evaluation. However, some subjects gave severe comments on structure of the cat robot when they interacted with it physically. Because of appearance of cat robot, subjects associated with a real cat depending on their own experiences and knowledge, and then compared the robot with real cat. On the other hand, we developed a seal robot that has appearance of a baby of harp seal. Most people did not know harp seal precisely nor have experience of interaction with it. Then, subjects evaluated the seal robot while interacting with it.
Spatial Generalization of Optimal Control for Robot Manipulators
Authors: Luo Zhiwei ,   Bio-Mimetic Control Research Center, RIKEN, Anagahara, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan, Ando Hideyuki , Hosoe Shigeyuki , Watanabe Keiji , Kato Atsuo ,   Aichi Institute of Technology, 1247 Yakusa Yakusa-cho, Toyoda 470-0392, Japan,   Faculty of Engineering Nagoya University, Furo-cho Chikusa-ku, Nagoya 464-8601, Japan
Published: April 2016

A diffusion-based learning approach is presented to generalize optimal control of a robot manipulator over a bounded workspace. By assuming that, for some sets of initial and desired terminal conditions of the robot's positions, we already have the numerical optimal control inputs (for example, by using some complex numerical calculation techniques), this approach first uses radial basis function (RBF) network to parameterize these control inputs by a set of weight matrixes. Diffusion-based algorithm is then applied to generalize these weight matrixes for different terminal position conditions. This approach greatly reduced calculation cost for the robot to find its optimal control. Diffusion-based algorithm is a parallel distributed learning approach, it only requires local interaction between the nodes of a learning network (a lattice) and can be realized by resent IC hardware technology easily. Computer simulations of a 2 D.O.F. planner robot arm show the effectiveness of this approach.
Experimental Evaluation of Reconfigurable Brachiating Space Robot
Authors: Hayashi Ryoichi ,   Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1, 0-okayama, Meguro-ku, Tokyo 152-8552, Japan, Matunaga Saburo , Ohkarni Yoshiaki ,   Tsukuba Space Center R&D Division, National Space Development Agency of Japan, 2-1-1 Sengen, Tsukuba-shi, Ibaraki-ken 305-8505, Japan
Published: April 2016

We developed a reconfigurable brachiating space robot (RBR) based on modularized design, cable reduction, and distributed control able to move over KIBO (Japanese experimental module) of the International Space Station in a brachiating manner and to reconfigure its arms based on task requirements. This paper presents RBR capabilities, focusing on grasping handrails and reconfiguration. We conduct experiments to evaluate RBR brachiation and reconfiguration and present results.
A Novel Robot Vision Employing a Silicon Retina
Authors: Shimonomura Kazuhiro ,   Graduate sutudent, Faculty of Computer Science and Systems engineering, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka, Fukuoka, 820-8502, Japan, Kameda Seiji , Ishii Kazuo , Yagi Tetsuya ,   Department of Electronic Engineering, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan,   Assistant Professor of Control Engineering and Science Department at Kyushu Insititute of Technology, 680-4 Kawazu, Iizuka, Fukuoka 820-8502, Japan,   Professor, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
Published: April 2016

A Robot vision system was designed using a silicon retina, which has been developed to mimick the parallel circuit structure of the vertebrate retina. The silicon retina used here is an analog CMOS very large-scale integrated circuit, which executes Laplacian-Gaussian like filtering on the image in real time. The processing is robust to change of illumination condition. Analog circuit modules were designed to detect the contour from the output image of the silicon retina and to binarize the output image. The images processed by the silicon retina as well as those by the analog circuit modules are received by the DOS/V-compatible mother-board with NTSC signal, which enables higher level processings using digital image processing techniques. This novel robot vision system can achieve real time and robust processings in natural illumination condition with a compact hardware and a low power consumption.
Flying Robot with Biologically Inspired Vision
Authors: Ichikawa Michinori ,   Lab. for Brain-operative Device, Riken BSI, Wako, Saitama 351-0198, Japan, Yamada Hitoshi , Takeuchi Johane
Published: April 2016

An autonomous helicopter controlled by biologically inspired vision detects the displacement of altitude with real-time video processing, using has 2 CCD video cameras to see landscape objects and processing circuitry with an FPGA. Each image is divided into 800 areas for edge detection, used to detect displacement. Each of these small areas works as an ommatidium, i.e., the compound eye of an insect. In a typical indoor setting (objects such as desks, walls, etc.) visual feedback was not sufficient to realize stable hovering, but additional external feedback helps keep the unstable robot in more stable flight.
Principle of Stable Running of an Unicycle Robot
Authors: Tanaka Takayuki ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Choto, Tokyo, 182-8585 Japan, Suzuki Hisanobu , Tanaka Kazuo
Published: April 2016

In previous papers, we reported the world's first success in the driving of a human-riding-type unicycle with postural stability. However, the robotic unicycle was connected with a computer, motor drives, and a power source through electric cables. It was made clear by our experiments that the stability and dynamic behavior of the unicycle were largely affected by these extension cables, and the driving distance was also limited. This paper reports the development of an extension cable-less unicycle including the design of its control system and the principle of unicycle running. Firstly, an improved unicycle without extension cables is designed. Secondly, the principle of unicycle running is elucidated by simulations and experiments using the developed robot. Lastly, we propose a new control method including yaw-direction control. Experimental and simulation results show that the proposed method is effective for the developed unicycle robot to realize human-like stable motions.
A Spoken Dialogue robot, Named Wonder, to Aid Senior Citizens Who living Alone with Communication
Authors: Yamamoto Hiroshi ,   Living Environment Development Center, Matsushita Electric Industrial Co, Ltd. 3-4, Hikaridai, Seika, Souraku, Kyoto, 619-0237 Japan, Miyazaki Hiroyuki , Tsuzuki Takashi , Kojima Yoshihiro ,   Corporate Systems Solutions Div., Matsushita Electric Industrial Co, Ltd. 4-5-15, Higashishinagawa, Shinagawa-ku, Tokyo, 140-8632, Japan,   AVC R&DD Group, AVC Company, Matsushita Electric Industrial Co., Ltd. 1- 15, Matsuo-cho, Kadoma City, Osaka, 571-8504, Japan
Published: April 2016

In an aging society, many kinds of welfare apparatus have been developed with highly sophisticated technology in order to support seniors and their helpers physically. But mental care is also very important because Japanese seniors living alone are rather reluctant to participate in their local community. We have designed an information system using robotic pets terminal controlled by PC which can communicate with the seniors. It includes speech recognition, multi-modal dialogue control and telecommunication software. In this system, one can deliver daily information through the pets from a distant place such as local government office or welfare institution. At the same time, one can also watch safety of their lives without intruding their privacy. Now, we carried out an field experiment in Ikeda City, Osaka. And we evaluated our system at a welfare institution and confirmed its effectiveness.
Interactive Simulation Ride
Authors: Miyake Norihisa ,   Mechanical Eng. Res. Lab., Hitachi, Ltd., 502 Kandatsu, Tsuchiura 502 Kandatsu, Tsuchiura-shi, lbaraki-ken 300-0013, Japan, Shiina Tsukasa , Oshiro Masayuki , Matsuda Yuji ,   Hitachi KE Systems Co. 7-1-1, Higashi-narashino, Narashino-shi, Chiba-ken 275-0001, Japan,   Hitachi Drive Systems, Co. 7-1-1, Higashi-narashino, Narashino-shi, Chiba-ken 275-0001, Japan,   Industrial Components and Equipment Division, Hitachi, Ltd. WBG MARIVE WEST 16F, Nakase 2-6, Mihama-ku, Chiba-shi, Chiba 261-7116, Japan
Published: April 2016

We developed a simulation ride featuring a lightweight capsule/deck, compact motion base, and interactive operation. This article describes outline and projected trends of the ride system.
Creeping and Novel Huge Bending of Plasticized PVC
Authors: Uddin Md. Zulhash ,   Faculty of Textile Science and Technology, Shinshu University, Ueda, Nagano 386-8567, Japan, Watanabe Masashi , Shirai Hirofusa , Hirai Toshihiro
Published: April 2016

We actuated poly(vinyl chloride) (PVC) gel by applying a do field, and found localized creeping deformation, which induced swift, huge bending like a joint. The bending angle reached ca.150° at maximum at the field of 1000 V mm-1 with the velocity of ca. 90° s-1. The electric current was very small and in the range of 68 nA cm-2 . The mechanism of reversible, marked bending was studied using blocking and contact electrodes. The gel consisted of PVC and dioctyl phthalate (DOP), and was free of electrolytes. The concept is simple and applicable to conventional polymer materials. It could serve for developing new classes of soft and durable mechanically functional materials.
Recognizing Moving Obstacles for Robot Navigation using Real-time Omnidirectional Stereo Vision
Authors: Koyasu Hiroshi ,   Dept. of Computer-Controlled Mechanical Systems, Osaka University, 2-1, Yamadaoka, Suita, Osaka 565-0871, Japan, Miura Jun , Shirai Yoshiaki
Published: April 2016

We describe a method to recognize moving obstacles in a wide view and in real time required when a mobile robot moves in a dynamic environment. Our method uses an omnidirectional stereo vision composed of a pair of vertically-aligned omnidirectional cameras and a PC cluster to obtain panoramic range information of 360 degrees in real time. From this range information, the robot on-line generates a free space map of the surrounding environment, and extracts objects in free space as candidates for moving obstacles. The robot makes time correspondence of candidates and estimates their position and velocity using the Kalman filter. To reduce the effect of odometry error to map generation, egomotion is estimated by comparing current and previous range data. We demonstrate the effectiveness of our method by on-line experiments.
Force Control System for Autonomous Micro Manipulation
Authors: Tanikawa Tamio ,   Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST), AIST Tsukuba East, 1-2 Namiki, Tsukuba, lbaraki, 305-8564, Japan, Kawai Masashi , Koyachi Noriho , Arai Tatsuo , Ide Takayuki , Kaneko Shinji , Ohta Ryo , Hirose Takeshi ,   Nihon University 31-15 Sakuragaoka, Tsuchiura City, 300-0832, Japan,   Osaka University, Toyonaka, Osaka, 560-8531, Japan,   Olympus Optical Corporation, 2-3 Kuboyama-cho, Hachioji, Tokyo, 192-8512, Japan
Published: April 2016

A dexterous micro manipulation system was developed for applications such as assembling micro machines, manipulating cells, and micro surgery. We have proposed a concept of a two-fingered micro hand, designed and built a prototype. We succeeded in performing basic micro manipulations with a teleoperation, including the grasp, release, and rotation of a microscopic object. The micro hand is controlled with a position control only. An operator has to guess a micro grasping force on the object from a microscope image. The accurate micro manipulation depends on a skill of the operator yet. For an easy manipulation and an automatic manipulation, it is necessary to measure the micro forces between the finger and the object. A micro force sensor has developed for a force control in micro manipulation on a corroboration research of AIST and Olympus Optical Co., Ltd. Its resolution is 0.5 nN in theoretically. In this paper, we will mention the micro force sensor and to perform an automatic micro manipulation with installing the sensor and a force control system. Basic experiment shows excellent micro capability.
Micromanipulation by Miniature Robots in a SEM Vacuum Chamber
Authors: Fuchiwaki Ohmi ,   Dept. of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Aoyama Hisayuki
Published: April 2016

In this paper, we describe flexible micromanipulation organized by insect size robots in scanning electron microscopy. Small robots composed of piezo elements and electromagnets move in the SEM chamber with submicron resolution. They manipulate small objects in cooperation with each other. As a basic operation, one small robot, which has a sliding microtable transports samples at the SEM focus point precisely and this sliding table can be also positioned by the other small robot's manipulation. This two-robot cooperation provides x-y accurate positioning at any location within the chamber. On the sample table, a small robot with a micromanipulator handles small objects for picking up and putting down. The operator controls each robot easily with real-time monitoring of SEM images. This cooperation of small robots in SEM provides flexible, accurate microprocessing performance with low cost.
Positional Recognition and Attitude Control for 3-D Biomicromanipulation in Microscopy
Authors: Kawaji Akiko ,   Department of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan, Arai Fumihito , Fukuda Toshio ,   Center for Cooperative Research in Advanced Sci. & Tech., Nagoya University
Published: April 2016

The biomicromanipulation so important to biology and bioengineering remains difficult because object used are very small, kept in liquids, or observed by optical microscopy. We are developing a micromanipulation system for anatomical operation of microobjects such as embryos, cells, and microbes. Microscope images are 2-D, so it is difficult to manipulate targets in 3-D space. To improve manipulation work, we proposed a 3-D biomicromanipulation system combined with virtual reality (VR) space. Here we propose the 3-D modeling method of the object to present 3-D visual information to the operator and improve the operation environment. In this system, we still have difficulty changing the orientation of the microscopic object by manipulating a mechanical manipulator. The bioaligner we propose is a microdevice for the positional control of an object. We developed a 2-D bioaligner by microfabrication. Here we show its fabrication process and basic rotating experiment with chlorella cells.
Enhancing the Autonomy of Teleoperated Redundant Manipulators Through Fusion of Intelligent Control Modules
Authors: Nanayakkara D. P. Thrishantha ,   Department of Biomedical Engineering, Johns Hopkins University, Baltimore, MD 21205, USA, Kiguchi Kazuo , Murakami Tsukasa , Watanabe Keigo , Izumi Kiyotaka ,   Dept. of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan
Published: April 2016

This paper presents a method for redundancy resolution of an industrial manipulator in a teleoperated force control task. A seven degree-of-freedom (DOF) industrial manipulator manufactured by the Mitsubishi Heavy Industries Ltd. is used for experiments. The task involves obeying a force command sent from a remote computer while autonomously adapting the posture to avoid unexpected obstacles moving toward the manipulator. Redundancy resolution is employed for autonomous adaptation of the configuration to avoid the obstacle while continuing the force control task. This self-adaptive skill on the slave manipulator side is very important because teleoperation is often performed in dangerous or partially unknown environments where unexpected changes such as moving obstacles can well be expected. In such situations, the control ability of the master side is very limited due to the practical limitations of vision sensors to capture a comprehensive view of the environment and the limitations of the degrees of freedom on the master manipulator. The proposed method relies on two modules of an intelligent controller on the slave side. The first is an on-line fuzzy neural network (FNN) for intelligent force control, and the second is a configuration controller that works in harmony with the first to exploit redundancy to react to avoid moving obstacles such that the latter does not inhibit the progress of the former. The second controller generates joint velocity commands in null space of the hand Jacobian, so that its activation does not affect the force controller. Here we show that the proposed method can skillfully avoid a moving obstacle without stopping the force control task. This skillful adaptation ability can significantly improve the efficiency and safety of teleoperated force control tasks with less burden on the master side. This paper presents some promising experimental results to demonstrate the effectiveness of the proposed method.
The Development of a Stair-climbing Robot with Wavy Movement by Rotating Crosses
Authors: Kitagawa Ato ,   Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 0okayama, Meguro-ku, Tokyo, 152-8552, Japan, Zhang Liang , Eguchi Takashi , Tsukagushi Hideyuki ,   Agilent Technologies Japan, Ltd. 9-1 Takakura-cho Hachioji-shi Tokyo, 192-8510, Japan
Published: April 2016

A new type of movement called wavy movement, which is realized by rotating crosses, is proposed to build a stair-climbing fire-fighting robot. The prototype robot consists of 12 crosses, which are driven by 2 motors via sprockets and chains. In this paper, the principle of wavy movement, the mechanism, the design method, and the experimental result of the developed robot are discussed. It is confirmed through experiment that a robot with wavy movement is able to climb stairs with simple structure and easy control method.
Special Issue on Modern Trends in Mobile Robotics
Authors: Tsubouchi Takashi ,   Associate Professor University of Tsukuba 1-1-1,Tennoudai,Tsukuba-shi,lbaraki,305 -8573 Japan, Nagatani Keiji ,   Okayama University 3-1-1,Tsushima-naka,Okayama-shi,Okayama,700-8530 Japan
Published: April 2016

Since the dawning of the Robotics age, mobile robots have been important objectives of research and development. Working from such aspects as locomotion mechanisms, path and motion planning algorithms, navigation, map building and localization, and system architecture, researchers are working long and hard. Despite the fact that mobile robotics has a shorter history than conventional mechanical engineering, it has already accumulated a major, innovative, and rich body of R&D work. Rapid progress in modern scientific technology had advanced to where down-sized low-cost electronic devices, especially highperformance computers, can now be built into such mobile robots. Recent trends in ever higher performance and increased downsizing have enabled those working in the field of mobile robotics to make their models increasingly intelligent, versatile, and dexterous. The down-sized computer systems implemented in mobile robots must provide high-speed calculation for complicated motion planning, real-time image processing in image recognition, and sufficient memory for storing the huge amounts of data required for environment mapping. Given the swift progress in electronic devices, new trends are now emerging in mobile robotics. This special issue on ""Modern Trends in Mobile Robotics"" provides a diverse collection of distinguished papers on modern mobile robotics research. In the area of locomotion mechanisms, Huang et al. provide an informative paper on control of a 6-legged walking robot and Fujiwara et al. contribute progressive work on the development of a practical omnidirectional cart. Given the importance of vision systems enabling robots to survey their environments, Doi et al., Tang et al., and Shimizu present papers on cutting-edge vision-based navigation. On the crucial subject of how to equip robots with intelligence, Hashimoto et al. present the latest on sensor fault detection in dead-reckoning, Miura et al. detail the probabilistic modeling of obstacle motion during mobile robot navigation, Hada et al. treat long-term mobile robot activity, and Lee et al. explore mobile robot control in intelligent space. As guest editors, we are sure readers will find these articles both informative and interesting concerning current issues and new perspectives in modern trends in mobile robotics.
Sensor Fault Detection and Diagnosis in Dead Reckoning System of Mobile Robot: Interacting Multiple-Model Approach
Authors: Hashimoto Masafumi ,   Department of Mechanical System Engineering, Faculty of Engineering, Hiroshima University, Kagamiyama, Higashi-Hiroshima, Hiroshima, 739-8527 Japan, Kawashima Hiroyuki , Oba Fuminori ,   Clean Automated Systems Division, Engineering Department, SHINKO ELECTRIC Co., Ltd. 100, Takegahana, Ise, Mie, 516-8550 Japan
Published: April 2016

An interacting multiple-model (IMM) approach to sensor fault detection and diagnosis (FDD) in dead reckoning is proposed for navigating mobile robots. In this approach, changes of sensor normal/failure modes are explicitly modeled as switching from one mode to another in a probabilistic manner, and the sensor FDD and state estimate are achieved via a bank of parallel Kalman filters. To provide better FDD performance, mode probability averaging and heuristic decisionmaking logic are combined with the IMM based FDD algorithm. The proposed FDD is implemented on a skid-steered mobile robot, where 32 system modes (one normal mode and 31 hard sensor failure modes) of 5 sensors (4 wheel-encoders and one yaw-rate gyro) are handled. Experimental results validate the effectiveness of the proposed FDD.
Low Cost Pipe-crawling Pneumatic Robot
Authors: Bertetto Andrea Manuello ,   Dipartimento di Ingegneria Meccanica Piazza D'Armi, 1 - 09123 Cagliari University of Cagliari, Italy, Ruggiu Maurizio
Published: April 2016

A pipes inspection robot prototype was built and a mathematical modeling of its dynamics was developed. In order to pass over complicated pipeline networks, the robot was constructed with a flexible rubber structure moved by pneumatics power The robot locomotion was inspired by the inch-worm gait kinematics. Because of significant acceleration values revealed during the robot gait, the robot dynamics was mathematically formulated either by a single degree of freedom model or by the assumed mode summation method. A set of experiments were conducted for obtaining all the parameters required for models formulation. Finally the models were validated by comparing the numerical and experimental robot gait with time.
Robot Motion Algorithm Based on Interaction with Human
Authors: Mori Yoshikazu ,   Research Associate, Graduate School of Engineering, Tokyo Metropolitan University, 1-1, Minami-Osawa, Hachioji, Tokyo,192-0397 Japan, Ota Koji , Nakamura Tatsuya ,   DENSO CORPORATION 1-1, Showa-Chou, Kariya, Aichi, 448-8661 Japan,   Professor, Graduate School of Engineering, Tokyo Metropolitan University, 1-1, Minami-Osawa, Hachioji, Tokyo, 192-0397 Japan
Published: April 2016

In this paper, we quantitatively analyze weariness and impression that a human senses for a robot when the human interacted with the robot through some movements. A red ball and a blue ball are displayed on a simulation screen. The human moves the red ball with a mouse and the computer moves the blue ball. By using these balls, the impression that the action of the robot gives to the human is examined. We analyze the relationship between robot's interactive characterisrtics and produced impressions about the robot in human-robot-interction experiments by using methods of information theory. The difference of the impression between the simulation and the actual robot is proved by an omni-directional robot.
Commitment-based Natural Language Interface System for Robots
Authors: Nakauchi Yasushi ,   Department of Computer Science, National Defense Academy, 1-10-20, Hashirimizu, Yokosuka, 239-8686 Japan, Takahashi Takeshi , Naphattalung Piyawat , Matsubara Takashi , Kashiwagi Eiichi ,   Officer Candidate School, Japan Ground Self Defense Force, 2728 Koura-uchi-machi, Kurume, 839-0852 Japan
Published: April 2016

In this paper, we first discuss how the commitment in human-robot natural language conversation is important and the lack of the commitment leads to breakdowns in conversation. Then, we propose a human-robot conversation model, which takes the breakdown into consideration. We implemented a natural language interface system of a mobile robot, based on the proposed conversation model. Then, we conducted experiments with subjects and confirmed that the proposed interface system provides more natural conversation between human and robot with fewer breakdowns.
Development of Stair-climbing Wheelchair
Authors: Hashino Satoshi ,   Tokyo University of Technology, Katakura-machi, 1404-1, Hachioji-shi, 192-0982 Tokyo
Published: April 2016

Construction of barrier free society is desired especially for elderly and handicapped who need to use wheelchair in daily life. Stair climbing is the hardest barrier for those people. Supply of stair lift method is contribution to provide joy and satisfaction in life of those people. By using our developed crawl-type mechanism on powered wheelchair, they can easily and effectively climb up and down stairs. These system are composed of two subsystems, a few reformed powered wheelchair, drive guide and traction guide attached to stair wall. Presented system is cost effective compared with other existing methods such as elevators, escalators and conventional stair lifts.
Viewing Tablet: A Pointing System Applicable to any Sheet Object
Authors: Usuda Hiroshi ,   Graduate School of Information Systems, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu-shi, Tokyo, 182-8585 Japan, Idesawa Masanori ,   Sony Corporation 6-7-35, Kitashinagawa Shinagawa-ku, Tokyo, 141-0001 Japan
Published: April 2016

We discuss a pointing system, the viewing tablet, that enables input or instructions to be given to information system by the operator viewing a sheet object and pointing out its position in the field of vision. The operator has a small video camera that picks up an image of the partial area including the viewing position and points out an object in the field of vision. The viewing tablet processes the partial area image on the object including the viewing position to detect the position in a part pointed out with a finger and gives input or instructions to information system. A transparent space code sheet is overlapped for use that is added with position information on the sheet object to determine the position in the object from the partial area image. We studied the basic technique required for this pointing system and confirmed its feasibility.
Stable Neural Network Controller Based Observer for Rigid Robot Manipulators
Authors: Daâchi Boubaker ,   Laboratoire de Robotique de Versailles 10-12, avenue de l'Europe, 78140 Velizy, France, Benallegue Abdelaziz
Published: April 2016

We propose a neural network controller using only joint position measurements for rigid robot manipulators. The joint velocity needed for the control law is estimated using an observer based on sliding mode. A decomposed structure neural network approximates the unknown model of the system. Each neural network (MLP) approximates a separate element of the dynamical model. These approximations are used to conduct an adaptive stable control law. The TaylorYoung series was used to solve the nonlinearity problem of the MLP and to lead to the parameters adaptation algorithm. The corresponding parameters are the weights of the neural net. They are updated via the adaptation algorithm derived from stability study of the system in closed loop using the Lyapunov approach and intrinsic properties of robot manipulators. Simulations were conducted to show the conductance of the proposed controller.
Special Issue on Selected Papers from ROBOMEC'02
Authors: Uddin Md. Zulhash ,   Senior Research Scientist, Humanoid Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST), AIST Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, 305-8568 Japan, Watanabe Masashi , Shirai Hirofusa , Hirai Toshihiro ,   Professor, Department of Mechanical Engineering, Graduate School of Engineering,Yokohama National University79-5 Tokiwadai, Hodogaya-ku, Yokohama, 2408501 Japan
Published: April 2016

This special issue has been proposed in honor of the Journal of Robotics and Mechatronics authorized to be the International Journal of the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers from 1999. The 2002 JSME Conference on Robotics and Mechatronics (ROBOMEC'02) was held in Matsue on June 7-9, 2002, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers and attended by 861 participants. The purpose of the conference was to aid future establishment of new industries by using advanced technologies of Robotics and Mechatronics. Technical sessions included 70 organized sessions in which 684 papers were presented. This special issue was organized by editing papers presented at ROBOMEC'02 to ensure that conference results reached the widest possible audience. The Conference Program Committee selected 40 papers -less than 6% of the total. We have included the 17 papers accepting an invitation for inclusion that were reviewed by journal referees and selected for publication in the Journal of Robotics and Mechatronics Special Issue on Selected Papers from ROBOMEC'02 (Vol. 15, No. 2). We thank the authors who have contributed their updated papers, Editor-in-Chief Prof. Makoto Kaneko of Hiroshima University whose work has been indispensable in organizing this special issue, and the editors for selecting the papers.
A Study of Active Cord Mechanisms -Basic Design of Pneumatically Driven Active Cord Mechanism-
Authors: Ohno Hidetaka ,   Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-Ku, Tokyo, Hirose Shigeru
Published: April 2016

This paper describes mobile robotic systems known as Active Cord Mechanisms (ACMs). The systems have articulated bodies composed of serially connected units that can actively bend and stretch. One such example of a mobile ACM is the Slim Slime-I. It is composed of a series of interconnected pneumatic 3D modules. The 3D module is thus termed because of its three degrees of freedom: pitch, yaw and stretch. Furthermore, each module contains a variety of features: an air pressure distribution mechanism to reduce the amount of tubes contained, a pneumatic drive system with a pair of solenoid valves to save energy, a bellows drive system with buckling prevention, a shell mechanism with a displacement limit, and a photo sensor to record displacement and generate a restoring force.
Development of Joints for Power Microrobot for Searching inside Debris
Authors: Suzumori Koichi ,   Department of System Engineering, Okayama University, 3-1-1 Tsushima-naka, Okayama, 700-8530 Japan, Takata Masanori , Wakimoto Shuichi
Published: April 2016

Searching for victims in narrow gaps and shoring up pieces of debris to secure space are tasks encountered in disaster rescue operations. The authors have developed high-strength robot joints for microrobots to be used in such situations. The joints developed are of three types - swivel joint, extension joint, and strut joint - all having an outer diameter of 60mm and driven by a 21MPa hydraulic system. This paper presents the system configuration of a power microrobot for traveling and searching inside debris, then describes the mechanisms and controls of the three developed joints. This study thereby demonstrates the possibility of realizing a microrobot capable of maneuvering within narrow gaps and shoring debris to secure space. The microrobot weighs approximately 25 or 35kg (including the hydraulic unit), is driven by a 100V power supply, with 300W power consumption, and has an outer diameter of 60mm and length of about 1m.
In-Pipe Inspection Micro Robot Adaptable to Changes in Pipe Diameter
Authors: Wakimoto Shuichi ,   Okayama University, 3-1-1, Tsushima-naka, Okayama, Japan, Suzumori Koichi , Takata Masanori , Nakajima Jun
Published: April 2016

In the development of a microrobot for inspecting the inside of pipes with an internal diameter of 1 to 3 inches, the author of this paper designed an in-pipe mobile mechanism adaptive to pipe diameter based on a snake robot and evaluated it theoretically and experimentally. The authors fabricated 2 robots of different size. The first, Prototype A, was used to verify functions and confirm the driving mechanism. It demonstrated basic motion and moved in all directions during an experiment in which the robot passed through a T-shaped pipe. The second, Prototype B, was downsized and could run in narrow channel whose width changes from 0.7 to 3.9 inches.
Miniaturized Mobile Robot Kit for Robotics Seminars for Young People
Authors: Ishihara Hidenori ,   Kagawa University, Department of Intelligent Mechanical Systems Eng., 2217-20 Hayashi, Takamatsu, Kagawa, Japan, Yukawa Kimihito , Fukuda Toshio , Arai Fumihito , Hasegawa Yasuhisa ,   Department of Micro System Engineering, Nagoya University, Nagoya, Japan,   Gifu University, Japan
Published: April 2016

We report a kit for a mobile microrobot for a robotics seminar that teaches young people about robotics technology. The kit consists of 2 motors, a body and 2 tires. The transmission system directly transmits torque from the motor to the wheel without gears, and the shaft of wheels has sufficient clearance from the body to neglect errors in assembly. The design concept 1) easy construction, 2) easy architectural expansion, and 3) enjoyable use. We also discuss robotic seminars held in 2002.
Study on Recognition of Hand Waving
Authors: Nishihara Kazue ,   Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi-Shi, Kanagawa-Ken, 243-0292 Japan, Kawarazaki Noriyuki , Yoshidome Tadashi , Gao Qiang
Published: April 2016

Methods of recognition were compared in this paper for characteristic signals of hand waving gestures. Confused motions between “beckoning” and “waving away” were distinguished by characteristic signal mixing with a gravity motion and an area variation in the image of a moving hand. Their dynamic gestures are recognized by DP matching, wave difference, and other methods. Results were as follows: (1) taking the difference of a hand waving trajectory into account, the recognition ratio rose to more than 92.3%, (2) but by using categorized vectors to search for the same vectors in an input waving motion, it was made clear that the missed-recognition ratio between “beckoning” and “waving away” was suppressed.
Development of Crane Vision for Positioning Container
Authors: Kunimitsu Satoshi ,   RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako, Saitama 351-0198, Japan, Asama Hajime , Kawabata Kuniaki , Mishima Taketoshi ,   The University of Tokyo, 4-6-1 Komaba, Meguro, Tokyo 153-8904, Japan,   Saitama University, 255 Shimo-Ookubo, Saitama, Saitama 338-8570, Japan
Published: April 2016

Pattern recognition under the outdoor environment is very difficult in general because of the change in the brightness distribution of the object based on the change in the lighting condition. Combining distributed sensing with expanded template matching, the technique for achieving effective pattern recognition under the outdoor environment was developed. We applied it to the detection of a relative position of a spreader of a quayside gantry crane and the target container, made a prototype machine, and named Crane Vision. This paper details Crane Vision’s measurement principle, system configuration, experimental results, and demonstrates the validity of pattern recognition under the outdoor environment.