bluuebunny/crossref_metadata_2025_split huggingface dataset:
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down Gait)
Authors: Nakajima Shuro ,   The Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Nakano Eiji 
Published: April 2016

A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. The adaptive gait for large rough terrains of the leg-wheel robot is composed of three gait strategies. In this paper, the step-down gait, which is one part of the adaptive gait, is described. The point of the flow of the step-down gait is described. When the robot approaches a downward step, a forefoot touches the surface deeply. It forecasts the existence of the downward step by the information on the forefoot's touch point. After that, the robot does the step edge searching operation. This searching operation is the point for going down the step, since the robot fell under the step if it has walked without knowing the step. When the body goes down the step a little, the load sharing ratio of legs increases so that the load of the body rests upon legs. Therefore, the robot finds the edge of it, and it changes footsteps for preparation of going down the step. After the preparation, it can lower the body from the step supported by all legs and wheels. To lower the body, the following items are needed similar to the case of an upward step: 1. Acquisition of target value of lowering the body. 2. Correspondence to difference between target depth and actual depth.
This paper is the full translation from the transactions of JSME Vol.72, No.721.
Eccentricity Estimator 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 proposes a method for estimating the eccentricity that corresponds to the incident angle to a fovea sensor. The proposed method uses the Fourier-Mellin Invariant descriptor to estimate rotation, scale, and translation, by taking both geometrical distortion and non-uniform resolution of a space-variant image from the fovea sensor into account. The following 2 points are focused on in this paper. One is to use multi-resolution images by Discrete Wavelet Transform to properly reduce noise caused by foveation. Another is to use a variable window function (although the window function is generally used for reducing DFT leakage caused by both ends of a signal) to change the effective field of view (FOV) so as not to sacrifice high accuracy. The simulation compares the root mean square (RMS) of the foveation noise between uniform and non-uniform resolutions when a resolution level and a FOV level are changed, respectively. The result shows the proposed method is suitable for the wide-angle space-variant image from the fovea sensor, and, moreover, it does not sacrifice the high accuracy in the central FOV. Another simulation is done to determine a reliable resolution level.
This paper is the full translation from the transactions of JSME Vol.74, No.744.
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fourth Report: Step-Over Gait)
Authors: Nakajima Shuro ,   The Department of Advanced Robotics, Chiba Institute of Technology, Nakano Eiji 
Published: April 2016

A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. The adaptive gait for large rough terrains of the leg-wheel robot is composed of three gait strategies. In this paper, the step-over gait, which is one part of the adaptive gait, is described. The proposed method is evaluated by simulations and experiments. The point of the flow of the step-over gait is described. When the body reaches an obstacle, it does not come to advance easily. In this case, the robot can not always understand the height of the obstacle, since its forefeet sometimes do not touch it. Therefore, the robot raises its body as possible as it can, and gets over the obstacle. After getting over it, the body is lowered until it touches the ground. The system judges whether the body touches the ground by the information on load sharing ratio of legs.
This paper is the full translation from the transactions of JSME Vol.72, No.721.
Special Issue on Selected Papers from ROBOMEC'08 (Part 2)
Authors: Umeda Kazunori ,   Co-Editor, Professor,, Murakami Hiroki ,   Program Chair of ROBOMEC2008 and
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 13 papers from the conference. Of the 109 outstanding presentations recommended for submission, 42 were submitted and reviewed. Of these, 28 excellent papers have been accepted including the first 15 already published in Part 1 (Vol.21, No.2).
We thank the authors for their invaluable contributions to this issue and the reviewers for their extensive time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fifth Report: Integrated Gait)
Authors: Nakajima Shuro ,   The Department of Advanced Robotics, Chiba Institute of Technology, Nakano Eiji 
Published: April 2016

A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. The adaptive gait for large rough terrains of the leg-wheel robot is composed of three gait strategies. In this paper, the integrated gait of the normal gait and the adaptive gaits for large rough terrain is proposed. The proposed gait has following features: 1. There is a path from a gait to any other gait. 2. The robot does not fall into the endless loop of detection, because it moves whenever it detects something. 3. A gait changes finally to step-over gait which has the maximum ability of movement when the robot can not move. The robot can move on rough terrains where irregular ruggednesses up to 0.2 m in height or depth exist by using the integrated gait. The effectiveness of the integrated gait is verified through simulations and experiments.
This paper is the full translation from the transactions of JSME Vol.72, No.721.
Development of a Human Symbiotic Assist Arm “PAS-Arm” (Basic Concept and Mechanism)
Authors: Higuchi Mineo ,   Advanced Technology R&D Center, Mitsubishi Electric Corporation, 8-1-1 Tsukaguchi-honmachi, Amagasaki-shi, Hyogo 661-8661, Japan
Published: April 2016

We describe a new robotic assist device: a passive assist arm (PAS-Arm). PAS-Arms are intended for direct physical interaction with a human operator, handling a shared payload. PAS-Arms are physically passive. Their purpose is not to enhance human strength, but to provide virtual guiding surfaces, which constrain and guide the motion of the payload within a shared workspace. PAS-Arms have three joints and a three dimensional workspace, but possesses only a two degrees of freedom, due to the reduction of degrees of freedom created by a combination of Continuously Variable Transmissions (CVTs) and differential gears. The combination of CVTs and differential gears places one mechanical constraint on three angular velocities of the joints. PAS-Arms have no joint actuators and no force sensors. Thus they are potentially well suited to safety and low cost. This paper proposes a basic concept of PAS-Arms and explains a principle and a construction of PAS-Arms. We discuss the relation of PAS-Arms to conventionally actuated robots and another type of assist arms. We also describe range of transmission ratio of CVTs.11. This paper is the full translation from the transactions of JSME, Series C, Vol.73, No.730, 2007.
Aerial Cargo Robot (Cargo UAV)
Authors: Iwata Kakuya ,   National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Matsum Osamu 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/14.jpg"" width=""300"" />
Flight test of Cargo UAV</span></div> Safety is the most important factor in the civil use of aerial robots. Research on aerial cargo robots, also known as cargo unmanned aerial vehicles (UAV) started in 2004. The first ACR prototype flight was made on November 22, 2005. The ACR prototype consists of a flexible airfoil, twin microturbojet engines and a gravity center (GC) controller. The ACR meets the following four safety requirements: (i) touchability, i.e., without propellers or rotors, (ii) the low sink rate of a parachute, i.e., below 1.0 m/s, (iii) low stall speed, i.e., <30 km/h, (iv) a redundancy arrangement control. The most important safety specification of all is infallibility in ACR service applications. </span>
A Control Method for a Swarm of Plant Pot Robots that Uses Artificial Potential Fields for Effective Utilization of Sunlight
Authors: Yuasa Masato ,   Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan, Mizuuchi Ikuo 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/13.jpg"" width=""300"" />Plant pot robots “Plantroid”</span></div> Plant production factories and agricultural robots are being studied and developed these days. In these cultivation systems, however, it has been difficult to manage the state of each individual plant. We propose a cultivation system that uses a swarm of plant pot robots to automatically move each plant to an optimal environment, based on the plant’s sensory information and surroundings. In this paper, we propose a control method for the swarm of plant pot robots that uses artificial potential fields for effective temporal and spatial utilization of sunlight, and we show its effectiveness through simulation and experimentation.	</span>
Babyloid
Authors: Kanoh Masayoshi ,   Department of Mechanical and Systems Engineering, Chukyo University, 101-2 Yagoto Honmachi, Showa-ku, Nagoya 466-8666, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/14.jpg"" width=""200"" />
Babyloid</span></div> Babyloid is a robot whose purpose is to relieve the psychological distress in elderly patients and patients needing long-term care by having them take care of it. Unlike general robots, which seek to be able to do all tasks in the manner of human beings, Babyloid was designed so that it cannot do anything. However, it tries to satisfy its self-sufficiency by expressing psychological and physiological states through crying, showing bad mood, etc.	</span>
A Path-Following Feedback Control Law of a Five-Axle, Three-Steering Coupled-Vehicle System
Authors: Yamaguchi Hiroaki ,   Department of Integrated Information Technology, College of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Chuo-ku, Sagamihara-shi, Kanagawa 252-5258, Japan, Kameyama Ryota , Kawakami Atsushi ,   Rolling Stock Electrical Systems Design Department, Mito Rail Systems Product Division, Rail Systems Company, Hitachi, Ltd., 1070 Ichige, Hitachinaka-shi, Ibaraki 312-8506, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/03.jpg"" width=""300"" />Experimental coupled-vehicle system</div> This paper presents a new path-following feedback control law of a five-axle, three-steering coupledvehicle system which enables specifying the movements and rotations of its two carriers quantitatively, according to the operating environment. The kinematical equations of the coupled-vehicle system are first converted into time differential equations in a threechain, single-generator chained form. The time differential equations in the chained form are secondly converted into new differential equations with a new variable. The new control law enables the relative orientation between the two carriers to be constant in either a straight-bed carrier configuration or a V-bed carrier configuration, and simultaneously enables the orientations of these carriers functioning as a single carrier relative to the direction of the tangent of the path to be changed quantitatively, according to the locations of obstacles for avoiding collision with them. Asymptotic stability of the new control law is guaranteed by the linear control theory and the Lyapunov’s second method. Especially, the form of the new differential equations facilitates the design of the Lyapunov functions. The validity of the new control law is verified by an experimental five-axle, three-steering coupledvehicle system.	</span>
Mobile Nodes Deployment Scheme Design Based on Perceived Probability Model in Heterogeneous Wireless Sensor Network
Authors: Wu Ningning ,   Information Engineering College, Henan University of Science and Technology, Henan Luoyang 471023, China, Zhang Juwei , Li Qiangyi , Li Shiwei , Liu Yachuang , Wang Yale , Fu Zhumu ,   Electrical Engineering College, Henan University of Science and Technology, Henan Luoyang 471023, China,   Systems Engineering Institute, Xi’an Jiaotong University, Shanxi Xi’an 710049, China
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/10.jpg"" width=""200"" />
Nodes moving direction in our scheme</div> Wireless sensor network nodes deployment optimization problem is studied and wireless sensor nodes deployment determines its capability and lifetime. The nodes deployment scheme based on the perceived probability model aiming at wireless sensor network nodes which are randomly deployed is designed. The scheme can be used to calculate the perceived probability in the area around wireless sensor network nodes and move the wireless sensor nodes to the low perceived probability area according to the current energy of the wireless sensor node. The simulation results show that this deployment scheme achieves the goal of the nodes reasonable distribution by improving the network coverage and reducing the nodes movement distance and energy consumption.	</span>
Monitoring System for Elderly People Using Passive RFID Tags
Authors: Mori Yoshikazu ,   Department of Intelligent Systems Engineering, Ibaraki University, 4-12-1 Nakanarusawa-cho, Hitachi-shi, Ibaraki 316-8511, Japan, Kido Shinichiro ,   Hitachi Industry & Control Solutions, Ltd., 5-1-26 Omika-cho, Hitachi-shi, Ibaraki 319-1221, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/14.jpg"" width=""200"" />Monitoring system using RFID tags</div> This paper presents amonitoring systemthat uses passive RFID tags for detection of unexpected loitering and falling of elderly people in nursing homes. This system, which is superior to a video camera in terms of privacy, incorporates tag readers set on ceilings beside a bed and under doors. The system combines the following two methods. The first method targets caregivers and non-senile elderly persons. Each wears an RFID shoulder tag. However, some senile elderly people who are not wearing RFID tags might wander. Therefore, the second method described for this system is based on a phenomenon by which electric waves are attenuated by water. Several RFID tags are put on the floor. Then the presence of a person at that spot is inferred from the number of RFID tags that are responding. Experimental results obtained for a person beside a bed and passing through a door confirm the effectiveness of this system. </span>
Autonomous Mobile Robot MAUV – Mission Achievement on Tsukuba Challenge 2011, 12 and 13 –
Authors: Akai Naoki ,   Department of Mechanical and Intelligent Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya-shi, Tochigi 321-8585, Japan, Inoue Kazumichi , Rahok Sam Ann , Shinohara Masatoshi , Ozaki Koichi 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/15.jpg"" width=""300"" />Autonomous mobile robot “MAUV”</div> We developed MAUV, an autonomous mobile robot that has navigation using two types of landmarks; ambient magnetic and geometric. This enables the robot to localize robustly in actual outdoor environments. The robot achieved missions in Tsukuba Challenge 2011, 12, and 13.	</span>
Sushi Robot: Robotic Technology that Supports Food Culture – Suzumo Machinery Co., Ltd. –
Authors: writer JRM staff 
Published: April 2016

The sushi robot (Fig. 1) developed in 1981 by Suzumo Machinery Co., Ltd., headquartered in Tokyo and founded in 1961, is the world’s first robot to form sushi rice balls (shari-tama). Hand-rolled sushi, a traditional Japanese dish invented during the Edo period (1603–1867), was originally expensive and served only on special occasions made by sushi chefs who had undergone long years of training.
The sushi robot broke the convention of requiring experienced sushi chefs by automating sushi making and enabling those who were comparatively unskilled to make sushi. It cut labor costs,1 which were higher than those for other types of food services, and helped make sushi more accessible to the general public. Sushi robots are now widely used, e.g., in supermarkets and conveyor-belt sushi restaurants, making it possible for anyone to serve sushi economically.
Key Image Processing Techniques Used in Laser Welding
Authors: Hua Liang ,   School of Electrical Engineering, Nantong University, Qiang Yujian , Chen Ling , Yao Juan , Liu Feipeng , Gu Juping 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/03.jpg"" width=""500"" />
Welding image and weld pool edge</div> Machine vision techniques are widely used with automatic laser-welding robots. Existing systems acquire geometrical information on both the weld seams and molten pool by using a single camera and then processing a single image. The recognition of weld seams is thus obviously affected by the arc, plasma, spatter, etc. This study examined a novel, cost-effective weld image acquisition and processing system with real-time performance, which is based on an advanced RISC machine (ARM). The software and hardware platforms of a weld seam image processing system were designed, and theoretical and experimental studies were undertaken. A novel image-processing method for the laser welding molten pool, based on a quaternion and self-organizing feature map (SOFM) neural network is also proposed. The edge characteristic vector of the molten pool is acquired based on the rotational characteristic of the quaternion in a three-dimensional vector space. The geometric features of the molten pool image are acquired by the self-organizing feature map neural network. The measured results pointed to the possibility of improving the reliability and precision of the automatic laser welding system by combining the two machine vision systems.	</span>
Landing Motion of a Legged Robot with Minimization of Impact Force and Joint Torque
Authors: Wan Xianglong ,   Department of Systems Science, Graduate School of System Informatics, Kobe University, Urakubo Takateru , Tada Yukio 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/04.jpg"" width=""300"" />Optimal motion of a legged robot</div> This paper deals with an optimal landing motion of a four-link legged robot that minimizes the impact force at the contact point and the joint torques necessary during the motion. The cost function for optimization is given as the weighted sum of the impact force and the joint torques. The configuration of the robot that is close to a singular configuration is advantageous in minimizing the joint torques for a heavy torso, while the configuration where the leg is bent is advantageous in reducing the impact force. This is shown by numerical optimization results with different weights for the cost function and a theoretical analysis of a simplified model of the robot.	</span>
Complement Method for Obstructed Area on Images of Multiple Cameras Mounted Behind Crawler Shoe
Authors: Tokuda Kenichi ,   Wakayama University, Hirayama Tatsuya , Kinugasa Tetsuya , Haji Takafumi , Amano Hisanori , Yasuda Kazunori ,   Shimano Inc.,   Okayama University of Science,   National Institute  of Technology, Matsue College,   National Research Institute of Fire and Disaster
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270002/04.jpg"" width=""340"" />
Camera system of FMT (RT-04)</div> The covered area detection method, using the brightness change in an image and parallax correction, does not depend on a common field of vision. Camera images become important information when a rescue robot is operated by remote control, but mounting cameras is difficult on a rescue robot crawler that must get into cracks in rubble. We propose attaching cameras behind the crawler shoe. The biggest problem then, however, is that the shoe obstructs large parts of the camera image. To avoid this, we developed real-time image processing that complements the obstructed area through the use of two cameras. We then performed evaluation experiments to confirm the effectiveness of the proposed technique.	</span>
Convenient Position Estimation of Distributed Sensors in Intelligent Spaces Using SLAM for Mobile Robots
Authors: Hashikawa Fumitaka ,   Department of Electrical Engineering, Meiji University, Morioka Kazuyuki ,   Department of Network Design, Meiji University
Published: April 2016

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270002/09.jpg"" width=""200"" />Overview of the proposed method</div> Intelligent space is one in which many networked sensors are distributed. The purpose of intelligent space is to support information for human beings and robots based on the integration of sensor information. Specifically, to support location-based applications in intelligent space, networked sensors must get locations of human beings or robots. To do so, sensor locations and orientations of sensors must be known in world coordinates. To measure numerous sensor locations accurately by hand, this study focuses on estimating the locations and orientations of distributed sensors in intelligent space – but doing so automatically. We propose map sharing using distributed laser range sensors and a mobile robot to estimate the locations of distributed sensors. Comparing maps of sensor and robots, sensor locations are estimated on a global map built by SLAM of a mobile robot. An ICP matching algorithm is used to improve map matching among sensors and robots. Experimental results with actual distributed sensors and a mobile robot show that the proposed system estimates sensor locations satisfactorily and improve the accuracy of a global map built by SLAM. </span>