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  • Can a humanoid robot continue to draw attention in an office environment?
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-01
    Yuki Okafuji; Jun Baba; Junya Nakanishi; Itaru Kuramoto; Kohei Ogawa; Yuichiro Yoshikawa; Hiroshi Ishiguro

    This study focuses on the use of humanoid robots in office environments, and investigates whether a robot can maintain the attention of passersby after initiation of face-to-face contact. Drawing attention can be considered as a first step in improving the continuity of use of robots; such continuity is one factor in validating their social acceptance, which must be considered when disseminating robots

    更新日期:2020-07-20
  • A hardware intelligent processing accelerator for domestic service robots
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-01
    Yutaro Ishida; Takashi Morie; Hakaru Tamukoh

    (2020). A hardware intelligent processing accelerator for domestic service robots. Advanced Robotics: Vol. 34, No. 14, pp. 947-957.

    更新日期:2020-07-20
  • Development of 3-DOF wrist mechanism for electro-hydrostatically driven robot arm
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-25
    Ryoya Suzuki; Mitsuo Komagata; Tianyi Ko; Kazuya Murotani; Hiroshi Kaminaga; Mamoru Tatano; Ko Yamamoto; Yoshihiko Nakamura

    Electro-hydrostatic actuator (EHA) has backdrivability and is suitable for a robot system that cooperates with human. However, its design methodology to miniaturize and to generate high pressure has not been established. We develop a robotic arm, all joints of which are actuated by EHAs. This paper reports the development of the vane motor type EHA and a wrist mechanism using the EHA. We employ a single

    更新日期:2020-07-20
  • Gait-based person identification using 3D LiDAR and long short-term memory deep networks
    Adv. Robot. (IF 1.247) Pub Date : 2020-07-16
    Hiroyuki Yamada; Jeongho Ahn; Oscar Martinez Mozos; Yumi Iwashita; Ryo Kurazume

    Gait recognition is one measure of biometrics, which also includes facial, fingerprint, and retina recognition. Although most biometric methods require direct contact between a device and a subject, gait recognition has unique characteristics whereby interaction with the subjects is not required and can be performed from a distance. Cameras are commonly used for gait recognition, and a number of researchers

    更新日期:2020-07-17
  • Special Issue on Robot Learning
    Adv. Robot. (IF 1.247) Pub Date : 2020-07-15
    Wataru Takano; Matthew Howard; Emel Demircan

    (2020). Special Issue on Robot Learning. Advanced Robotics: Vol. 34, Special Issue on Robot Learning, pp. 827-827.

    更新日期:2020-07-15
  • Machine learning for human movement understanding
    Adv. Robot. (IF 1.247) Pub Date : 2020-07-15
    Taizo Yoshikawa; Viktor Losing; Emel Demircan

    Main purpose of this project is to develop fundamental technology for assist robots to recover and maintain human motor skill and to extend scope of human activity. Our goal is to provide a system that adapts to its user’s personal behavior patterns in real-time. We aim to develop a continuous collaboration system between the assist robots and the user where both alternatively adjust to each other

    更新日期:2020-07-15
  • A library for constraint consistent learning
    Adv. Robot. (IF 1.247) Pub Date : 2020-07-07
    Jeevan Manavalan; Yuchen Zhao; Prabhakar Ray; Hsiu-Chin Lin; Matthew Howard

    This paper introduces the first, open source software library for Constraint Consistent Learning (CCL). It implements a family of data-driven methods that are capable of (i) learning state-independent and -dependent constraints, (ii) decomposing the behaviour of redundant systems into task- and null-space parts, and (iii) uncovering the underlying null space control policy. It is a tool to analyse

    更新日期:2020-07-15
  • Hierarchical and parameterized learning of pick-and-place manipulation from under-specified human demonstrations
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-17
    Kun Qian; Huan Liu; Jaime Valls Miro; Xingshuo Jing; Bo Zhou

    Imitating manipulation skills through observing human demonstrations in everyday life is promising in allowing service robots to be programed quickly, as well as to perform human-like behaviors. Such a Learning by demonstration (LbD) problem is challenging because robots are expected to adapt their learned behaviors to the changes of task parameters and the environment, rather than simply cloning the

    更新日期:2020-07-15
  • Study on visual machine-learning on the omnidirectional transporting robot
    Adv. Robot. (IF 1.247) Pub Date : 2020-05-12
    Adrian Zambrano; Kazuki Abe; Ikumi Suzuki; Theo Combelles; Kenjiro Tadakuma; Riichiro Tadakuma

    We present a computer vision solution integrated to an omnidirectional transporting robot to perform the position tracking of multiple trays moving on its planar acrylic plate surface. The trays were designed to carry lightweight materials on top of their surface so that the mechanism could be implemented as an automated transporting system for applications that require the displacement of products

    更新日期:2020-07-15
  • Intra-swarm migration of size-variable robotic modules utilizing the Brazil nut effect
    Adv. Robot. (IF 1.247) Pub Date : 2020-07-12
    Devwrat Omkar Joshi; Masahiro Shimizu; Koh Hosoda

    In this work, we apply physical granular segregation phenomena to the problem of intra-swarm module migration in a robotic swarm. These segregation phenomena allow for complex relative motion between interacting particles on the basis of differing physical properties. In particular, the Brazil nut effect is one such phenomenon that causes segregation of particles based on relative size difference.

    更新日期:2020-07-13
  • Assisted teleoperation in changing environments with a mixture of virtual guides
    Adv. Robot. (IF 1.247) Pub Date : 2020-07-08
    Marco Ewerton; Oleg Arenz; Jan Peters

    Haptic guidance is a powerful technique to combine the strengths of humans and autonomous systems for teleoperation. The autonomous system can provide haptic cues to enable the operator to perform precise movements; the operator can interfere with the plan of the autonomous system leveraging his/her superior cognitive capabilities. However, providing haptic cues such that the individual strengths are

    更新日期:2020-07-08
  • Few-experiential learning system of robotic picking task with selective dual-arm grasping
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-23
    Shingo Kitagawa; Kentaro Wada; Shun Hasegawa; Kei Okada; Masayuki Inaba

    Recently, robots are introduced to warehouses and factories for automation and are expected to execute dual-arm manipulation as human does and to manipulate large, heavy and unbalanced objects. We focus on target picking task in the cluttered environment and aim to realize a robot picking system which the robot selects and executes proper grasping motion from single-arm and dual-arm motion. In this

    更新日期:2020-06-23
  • Motion planning of skillful motions in assembly process through human demonstration
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-23
    Yan Wang; Kensuke Harada; Weiwei Wan

    Skillful motions in the actual assembly process are challenging for the robot to generate with conventional motion planning approaches because some states during the human assembly can be too skillful to realize automatically due to the narrow passage. To deal with this problem, this paper develops a motion planning method using the human demonstration, which can be applied to complete skillful motions

    更新日期:2020-06-23
  • Fast and robust numerical method for inverse kinematics with prioritized multiple targets for redundant robots
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-22
    Masanori Sekiguchi; Naoyuki Takesue

    In this paper, a new numerical method for inverse kinematics with prioritized multiple targets is proposed. The proposed method is constructed based on the virtual spring model and joint-based damping control. The targets are prioritized by adjusting the effect of the virtual springs. The proposed method has the following three features. First, it does not require complex calculations such as a Jacobian

    更新日期:2020-06-22
  • Evaluation of impression difference of a domestic mobile manipulator with autonomous and/or remote control in fetch-and-carry tasks
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-17
    Takashi Yamamoto; Hiroaki Yaguchi; Shohei Kato; Hiroyuki Okada

    Various studies on autonomous robots that perform physical tasks in living environments are being conducted at present to solve the social problems of an aging society with a low birth rate. However, because it remains difficult for all robots to work autonomously in complicated environments, remote control robots may be useful for practical applications. As the purpose of remote control robots is

    更新日期:2020-06-17
  • A survey: dynamics of humanoid robots
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-17
    Tomomichi Sugihara; Mitsuharu Morisawa

    The mathematical foundation to describe the dynamics of a humanoid mechanism is reviewed. The discussion begins with the kinematics of an anthropomorphic mechanism, followed by the equation of motion of the system and the contact mechanics that accompanies with the motions. Some compact representations of both the robot dynamics and the contact mechanics are summarized. The former is referred to as

    更新日期:2020-06-17
  • Integration of imitation learning using GAIL and reinforcement learning using task-achievement rewards via probabilistic graphical model
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-17
    Akira Kinose; Tadahiro Taniguchi

    The integration of reinforcement learning (RL) and imitation learning (IL) is an important problem that has long been studied in the field of intelligent robotics. RL optimizes policies to maximize the cumulative reward, whereas IL attempts to extract general knowledge about the trajectories demonstrated by experts, i.e, demonstrators. Because each has its own drawbacks, many methods combining them

    更新日期:2020-06-17
  • Human control of complex objects: towards more dexterous robots
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-16
    Salah Bazzi; Dagmar Sternad

    Manipulation of objects with underactuated dynamics remains a challenge for robots. In contrast, humans excel at ‘tool use’ and more insight into human control strategies may inform robotic control architectures. We examined human control of objects that exhibit complex – underactuated, nonlinear, and potentially chaotic dynamics, such as transporting a cup of coffee. Simple control strategies appropriate

    更新日期:2020-06-16
  • Design and analysis of a flexible robotic hand with soft fingers and a changeable palm
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-16
    Yilin Sun; Qiuju Zhang; Xiaoyan Chen

    This study describes the design of a novel flexible robotic hand that can adapt its configurations to different grasping demands. Firstly, a mathematical model, based on the Yeoh strain energy function and virtual work principle, is established to investigate deformation properties of the designed soft finger. To achieve a flexible grasping capability, a changeable palm is presented with its variable

    更新日期:2020-06-16
  • Special Issue on Disaster Robotics - ImPACT Tough Robotics Challenge
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-05
    Kazunori Ohno; Tetsushi Kamegawa; Kimitoshi Yamazaki; Satoshi Suzuki; Kenji Hashimoto

    (2020). Special Issue on Disaster Robotics - ImPACT Tough Robotics Challenge. Advanced Robotics: Vol. 34, Special Issue on Disaster Robotics - ImPACT Tough Robotics Challenge, pp. 699-699.

    更新日期:2020-06-05
  • Adaptive robust control for lower limb rehabilitation robot with uncertainty based on Udwadia–Kalaba approach
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-03
    Feifei Qin; Han Zhao; Shengchao Zhen; Yan Zhang

    This paper aims to address the trajectory control of a lower limb rehabilitation robot which works under passive mode. Udwadia–Kalaba approach is a novel and concise method to address the control of constrained systems with holonomic and nonholonomic constraints. According to Udwadia–Kalaba approach, the fundamental equation of lower limb rehabilitation robot considering the resistance of human muscles

    更新日期:2020-06-03
  • Cyber-enhanced canine suit with wide-view angle for three-dimensional LiDAR SLAM for indoor environments
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-02
    Chayapol Beokhaimook; Kazunori Ohno; Thomas Westfechtel; Hiroyuki Nishinoma; Ryoichiro Tamura; Satoshi Tadokoro

    Understanding the topographical information of the disaster site can enhance the efficiency and safety of search and rescue missions. This study describes the development of a cyber-enhanced canine suit for three-dimensional (3D) simultaneous localization and mapping within indoor environments. The suit’s weight was approximately 3.0 kg and was compatible with large dogs (>30.0 kg). It could collect

    更新日期:2020-06-02
  • Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-01
    Hikaru Nagano; Hideto Takenouchi; Nan Cao; Masashi Konyo; Satoshi Tadokoro

    This study proposes a methodology to deliver contact information on construction robots to the remote operator by transmitting measured collision vibrations, which are often beyond the human-perceivable range. We focus on the human capacity to discriminate the envelope of high-frequency vibrations as an essential cue to perceive contact materials and collision conditions. The proposed method preserves

    更新日期:2020-06-01
  • Fire extinguishment using a 4 m long flying-hose-type robot with multiple water-jet nozzles
    Adv. Robot. (IF 1.247) Pub Date : 2020-06-01
    Hisato Ando; Yuichi Ambe; Tomoka Yamaguchi; Yu Yamauchi; Masashi Konyo; Kenjiro Tadakuma; Shigenao Maruyama; Satoshi Tadokoro

    Several ground-based robots have been developed to support dangerous fire extinguishing activities; however, in such cases, it is difficult to access the fire sources directly. The concept of a hose-type robot called ‘dragon firefighter’ (DFF) is proposed herein; it emits high-pressure water from a fire hose and floats it for direct transmission to the fire point. A stable levitation with 2 m length

    更新日期:2020-06-01
  • Multi-hop wireless command and telemetry communication system for remote operation of robots with extending operation area beyond line-of-sight using 920 MHz/169 MHz
    Adv. Robot. (IF 1.247) Pub Date : 2020-05-12
    Toshinori Kagawa; Fumie Ono; Lin Shan; Ryu Miura; Kazuhiro Nakadai; Kotaro Hoshiba; Makoto Kumon; Hiroshi G. Okuno; Shin Kato; Fumihide Kojima

    The role of robot technologies is growing particularly in the areas of disaster response, infrastructure inspection, and so on. For remote operation of the robots, wireless communication is important to control, send command, and receive telemetry signals. However, it could be often disconnected due to radio wave attenuation, shadowing, or interference in the real field. In order to overcome the above

    更新日期:2020-05-12
  • Mediated hugs modulate impressions of Hearsay information
    Adv. Robot. (IF 1.247) Pub Date : 2020-05-06
    Junya Nakanishi; Hidenobu Sumioka; Hiroshi Ishiguro

    Direct interpersonal touch affects the recipients' impression of the touch providers and information related to them. However, the applicability of this fact in mediated interpersonal touch remains unclear. In this study, we describe the alleviating effect of mediated interpersonal touch on social judgment and show that mediated hugs with a remote person affect the impression of the hearsay information

    更新日期:2020-05-06
  • Drone audition listening from the sky estimates multiple sound source positions by integrating sound source localization and data association
    Adv. Robot. (IF 1.247) Pub Date : 2020-05-05
    Mizuho Wakabayashi; Hiroshi G. Okuno; Makoto Kumon

    Drone audition, drone's auditory capabilities for a multi-rotor helicopter (hereinafter, drone), has been developed to improve real-world tasks, e.g. search-and-rescue tasks, by compensating for the weakness of visual capabilities due to darkness and occlusion. Most of current implementations of robot audition focus on a single sound source. This paper focuses on the estimation of multiple sound source

    更新日期:2020-05-05
  • Learning efficient push and grasp policy in a totebox from simulation
    Adv. Robot. (IF 1.247) Pub Date : 2020-05-05
    Peiyuan Ni; Wenguang Zhang; Haoruo Zhang; Qixin Cao

    Usually, grasping in a totebox always encounters bottlenecks when the object is at the edge or even at the corner of the totebox. Meanwhile, if the objects are stacked in a pile, there may be no grasps to be selected. In this paper, an algorithm based on deep reinforcement learning is applied to combine grasping with pushing to deal with these cases. In order to make sure that a push must increase

    更新日期:2020-05-05
  • Light source position calibration method for photometric stereo in capsule endoscopy
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-30
    Yang Hao; Marco Visentini-Scarzanella; Jing Li; Peisen Zhang; Gastone Ciuti; Paolo Dario; Qiang Huang

    For photometric stereo in capsule endoscopy, calibration of light source is crucial for improving the precision of surface normal estimation. Therefore, this paper presents an improved planar-mirror-based light source position calibration method: from captured images of light source and detected poses of planar mirror, light paths are retraced from camera to light source, and position of light source

    更新日期:2020-04-30
  • Multiple mini-robots navigation using a collaborative multiagent reinforcement learning framework
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-24
    Piyabhum Chaysri; Konstantinos Blekas; Kostas Vlachos

    In this work we investigate the use of a reinforcement learning (RL) framework for the autonomous navigation of a group of mini-robots in a multi-agent collaborative environment. Each mini-robot is driven by inertial forces provided by two vibration motors that are controlled by a simple and efficient low-level speed controller. The action of the RL agent is the direction of each mini-robot, and it

    更新日期:2020-04-24
  • Stair-climbing wheelchair with lever propulsion control of rotary legs
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-24
    Kai Sasaki; Yosuke Eguchi; Kenji Suzuki

    This paper describes a novel stair-climbing wheelchair operated by human upper body using lever propelled rotary-legs with posture transition mechanism. The design principle of this wheelchair is to make use of the user's latent upper body capability, with appropriate mechanisms to enable extended functionality of the regular wheelchair without the need of heavy, expensive mechanisms or electric motors

    更新日期:2020-04-24
  • Stair-climbing wheelchair with lever propulsion control of rotary legs
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-24
    Kai Sasaki; Yosuke Eguchi; Kenji Suzuki

    This paper describes a novel stair-climbing wheelchair operated by human upper body using lever propelled rotary-legs with posture transition mechanism. The design principle of this wheelchair is to make use of the user's latent upper body capability, with appropriate mechanisms to enable extended functionality of the regular wheelchair without the need of heavy, expensive mechanisms or electric motors

    更新日期:2020-04-24
  • Multiple mini-robots navigation using a collaborative multiagent reinforcement learning framework
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-24
    Piyabhum Chaysri; Konstantinos Blekas; Kostas Vlachos

    In this work we investigate the use of a reinforcement learning (RL) framework for the autonomous navigation of a group of mini-robots in a multi-agent collaborative environment. Each mini-robot is driven by inertial forces provided by two vibration motors that are controlled by a simple and efficient low-level speed controller. The action of the RL agent is the direction of each mini-robot, and it

    更新日期:2020-04-24
  • The soft multi-legged robot inspired by octopus: climbing various columnar objects
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-24
    Kazuyuki Ito; Yoshihiro Homma; Jonathan Rossiter

    In this paper, we develop a soft climbing robot made of silicone. Octopus-like behaviour is realized by a simple mechanism utilizing the dynamics of the soft body, and the robot can grasp various objects of unknown shape. In addition, by inching its truck, it can climb various columnar objects. Experiments, using pipes, long balloons, and natural trees, are conducted to evaluate the effectiveness of

    更新日期:2020-04-24
  • What are the important technologies for bin picking? Technology analysis of robots in competitions based on a set of performance metrics
    Adv. Robot. (IF 1.247) Pub Date : 2019-12-07
    M. Fujita; Y. Domae; A. Noda; G. A. Garcia Ricardez; T. Nagatani; A. Zeng; S. Song; A. Rodriguez; A. Causo; I. M. Chen; T. Ogasawara

    ABSTRACT Bin picking is still a challenge in robotics, as patent in recent robot competitions. These competitions are an excellent platform for technology comparisons since some participants may use state-of-the-art technologies, while others may use conventional ones. Nevertheless, even though points are awarded or subtracted based on the performance in the frame of the competition rules, the final

    更新日期:2020-04-18
  • Autonomous industrial assembly using force, torque, and RGB-D sensing
    Adv. Robot. (IF 1.247) Pub Date : 2020-02-01
    James Watson; Austin Miller; Nikolaus Correll

    We present algorithms and results for a robotic manipulation system that was designed to be easily programable and adaptable to various tasks common to industrial setting, which is inspired by the Industrial Assembly Challenge at the 2018 World Robotics Summit in Tokyo. This challenge included assembly of standard, commercially available industrial parts into 2D and 3D assemblies. We demonstrate three

    更新日期:2020-04-18
  • Development of assembly system with quick and low-cost installation
    Adv. Robot. (IF 1.247) Pub Date : 2020-03-13
    Masanari Tennomi; Atsushi Okamura; Yuta Nakamura; Taiki Abe; Seiji Wakamatsu; Sho Tajima; Toshihiro Nishimura; Yuji Hirai; Takuro Sawada; Naoki Ichikawa; Tokuo Tsuji; Kimitoshi Yamazaki; Yosuke Suzuki; Tetsuyou Watanabe

    Cell production systems for assembly operations generally require tool changes using several hands and a customized work table. The initial setting and resetting of the assembly system are costly. We implemented a system comprising the use of only two hands and without the requirement of tool changers. In addition, multiple sensors are used to perform tasks robustly to avoid errors. The peg-in-hole

    更新日期:2020-04-18
  • Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools
    Adv. Robot. (IF 1.247) Pub Date : 2020-03-09
    Felix von Drigalski; Chisato Nakashima; Yoshiya Shibata; Yoshinori Konishi; Joshua C. Triyonoputro; Kaidi Nie; Damien Petit; Toshio Ueshiba; Ryuichi Takase; Yukiyasu Domae; Taku Yoshioka; Yoshihisa Ijiri; Ixchel G. Ramirez-Alpizar; Weiwei Wan; Kensuke Harada

    In this article, we propose a versatile robotic system for kitting and assembly tasks which uses no jigs or commercial tool changers. Instead of specialized end effectors, it uses its two-finger grippers to grasp and hold tools to perform subtasks such as screwing and suctioning. A third gripper is used as a precision picking and centering tool, and uses in-built passive compliance to compensate for

    更新日期:2020-04-18
  • Towards easy setup of robotic assembly tasks
    Adv. Robot. (IF 1.247) Pub Date : 2019-12-26
    Christoffer Sloth; Aljaž Kramberger; Iñigo Iturrate

    There is a growing need for adaptive robotic assembly systems that are fast to setup and reprogram when new products are introduced. The World Robot Challenge at World Robot Summit 2018 was centered around the challenge of setting up a flexible robotic assembly system aiming at changeover times below 1 day. This paper presents a method for programming robotic assembly tasks that was initiated in connection

    更新日期:2020-04-18
  • Team O2AS' approach for the task-board task of the World Robot Challenge 2018
    Adv. Robot. (IF 1.247) Pub Date : 2020-03-31
    Kaidi Nie; Felix von Drigalski; Joshua C. Triyonoputro; Chisato Nakashima; Yoshiya Shibata; Yoshinori Konishi; Yoshihisa Ijiri; Taku Yoshioka; Yukiyasu Domae; Toshio Ueshiba; Ryuichi Takase; Xinyi Zhang; Damien Petit; Ixchel G. Ramirez-Alpizar; Weiwei Wan; Kensuke Harada

    In this paper, we describe the approach of Team O2AS to complete the task-board task of the World Robot Challenge 2018, held in Tokyo. We use a custom gripper and graspable tools with in-built compliance to work with various kinds of parts, increase robustness against uncertainties, and to avoid complicated control strategies. The robots are able to finish all the sub-tasks without the need to exchange

    更新日期:2020-04-18
  • Task-board task for assembling a belt drive unit
    Adv. Robot. (IF 1.247) Pub Date : 2020-01-26
    Mizuho Shibata; Hiroki Dobashi; Wataru Uemura; Shinya Kotosaka; Yasumichi Aiyama; Takeshi Sakaguchi; Yoshihiro Kawai; Akio Noda; Kazuhito Yokoi; Yasuyoshi Yokokohji

    A task board is a board for assembling parts, developed to test the abilities of a robot system to perform assembly operations associated with a manufacturing process. This study describes a task board that can serve as a basis for developing program modules for assembling a specific product. A properly designed task board can serve as a preliminary template for a specific assembly and can promote

    更新日期:2020-04-18
  • Robust bin-picking system using tactile sensor
    Adv. Robot. (IF 1.247) Pub Date : 2019-12-18
    Sho Tajima; Seiji Wakamatsu; Taiki Abe; Masanari Tennomi; Koki Morita; Hirotoshi Ubata; Atsushi Okamura; Yuji Hirai; Kota Morino; Yosuke Suzuki; Tokuo Tsuji; Kimitoshi Yamazaki; Tetsuyou Watanabe

    This paper presents a robust bin-picking system utilizing tactile sensors and a vision sensor. The object position and orientation are estimated using a fast template-matching method through the vision sensor. When a robot picks up an object, the tactile sensors detect the success or failure of the grasping, and a force sensor detects the contact with the environment. A weight sensor is also used to

    更新日期:2020-04-18
  • Towards robot cell matrices for agile production – SDU Robotics' assembly cell at the WRC 2018
    Adv. Robot. (IF 1.247) Pub Date : 2019-11-07
    C. Schlette; A. G. Buch; F. Hagelskjær; I. Iturrate; D. Kraft; A. Kramberger; A. P. Lindvig; S. Mathiesen; H. G. Petersen; M. H. Rasmussen; T. R. Savarimuthu; C. Sloth; L. C. Sørensen; T. N. Thulesen

    To support shifting to high mix/low volume production, manufacturers in high wage countries aim for robotizing their production operations – with a special focus on the late production phases, where robotic assembly cells are then confronted with any complexities resulting from part and product varieties. The ‘World Robot Challenge 2018’ (WRC 2018) emulated such high mix/low volume production scenarios

    更新日期:2020-04-18
  • Robots assembling machines: learning from the World Robot Summit 2018 Assembly Challenge
    Adv. Robot. (IF 1.247) Pub Date : 2019-12-26
    Felix von Drigalski; Christian Schlette; Martin Rudorfer; Nikolaus Correll; Joshua C. Triyonoputro; Weiwei Wan; Tokuo Tsuji; Tetsuyou Watanabe

    The Industrial Assembly Challenge at the World Robot Summit was held in 2018 to showcase the state-of-the-art of autonomous manufacturing systems. The challenge included various tasks, such as bin picking, kitting, and assembly of standard industrial parts into 2D and 3D assemblies. Some of the tasks were only revealed at the competition itself, representing the challenge of ‘level 5’ automation, i

    更新日期:2020-04-18
  • Special issue on Industrial Robot Technology–Selected Papers from WRS 2018
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-16
    Tetsuyou Watanabe; Kensuke Harada; Tokuo Tsuji

    (2020). Special issue on Industrial Robot Technology–Selected Papers from WRS 2018. Advanced Robotics: Vol. 34, Special Issue on Industrial Robot Technology - Selected Papers from WRS 2018, pp. 407-407.

    更新日期:2020-04-18
  • Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-16
    Shiying Sun; Xiaoguang Zhao; Qianzhong Li; Min Tan

    In an environment where robots coexist with humans, mobile robots should be human-aware and comply with humans' behavioural norms so as to not disturb humans' personal space and activities. In this work, we propose an inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision. In this method, the planning process of time-dependent A* is regarded

    更新日期:2020-04-16
  • Adaptive virtual power-based collision detection and isolation with link parameter estimation
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-16
    Zhe Qiu; Ryuta Ozawa; Shugen Ma

    We propose an adaptive virtual power-based collision detection and isolation approach for robotic manipulators with link parameter estimation. The power indexes are obtained using estimated virtual velocities and contact forces. The effectiveness of the power indexes is relied on precise knowledge of link parameters, which is commonly difficult to obtain. Therefore, in this paper, we propose a series

    更新日期:2020-04-16
  • Three-dimensional steering for an articulated mobile robot with prismatic joints with consideration of hardware limitations
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-16
    Motoyasu Tanaka; Mizuki Nakajima; Ryo Ariizumi; Kazuo Tanaka

    The paper presents a three-dimensional steering method for an articulated mobile robot that contains links, rotational joints, prismatic joints, and active wheels. The robot can change the angles of its links using the rotational joints and vary the lengths of its links using the prismatic joints. The target motion of this robot is represented by a continuous curve and the motions of the joints and

    更新日期:2020-04-16
  • Three-dimensional steering for an articulated mobile robot with prismatic joints with consideration of hardware limitations
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-16
    Motoyasu Tanaka; Mizuki Nakajima; Ryo Ariizumi; Kazuo Tanaka

    The paper presents a three-dimensional steering method for an articulated mobile robot that contains links, rotational joints, prismatic joints, and active wheels. The robot can change the angles of its links using the rotational joints and vary the lengths of its links using the prismatic joints. The target motion of this robot is represented by a continuous curve and the motions of the joints and

    更新日期:2020-04-16
  • Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-16
    Shiying Sun; Xiaoguang Zhao; Qianzhong Li; Min Tan

    In an environment where robots coexist with humans, mobile robots should be human-aware and comply with humans' behavioural norms so as to not disturb humans' personal space and activities. In this work, we propose an inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision. In this method, the planning process of time-dependent A* is regarded

    更新日期:2020-04-16
  • Adaptive virtual power-based collision detection and isolation with link parameter estimation
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-16
    Zhe Qiu; Ryuta Ozawa; Shugen Ma

    We propose an adaptive virtual power-based collision detection and isolation approach for robotic manipulators with link parameter estimation. The power indexes are obtained using estimated virtual velocities and contact forces. The effectiveness of the power indexes is relied on precise knowledge of link parameters, which is commonly difficult to obtain. Therefore, in this paper, we propose a series

    更新日期:2020-04-16
  • Development of a multifingered robotic hand with the thenar grasp function
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-16
    Tomoo Yoneda; Daiki Morihiro; Ryuta Ozawa

    Manipulation of objects after grasping is an important research topic for robotic hands. In this research, we propose a grip method based on the thenar opposition, which is rarely handled in the framework of conventional precision and power grasps and useful in withdrawing a large torque after the grip, and develop a robotic hand that can realize the grasp as well as normal grasps. To this end, we

    更新日期:2020-04-16
  • Analysis of the unique gait mechanism of locusts focusing on the difference in leg length
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-10
    Yasuhiro Sugimoto; Shuntaro Sugiyama; Keisuke Naniwa; Koichi Osuka

    The various types of gaits shown by insects are very interesting, and many studies have been conducted to investigate the mechanism of these gaits. In nature, there are many insects with apparent differences in the length of each leg, and it seems that the difference in leg length may affect the resultant gait of insects. However, there has not been much discussion about the influence of these differences

    更新日期:2020-04-10
  • Developments and clinical evaluations of robotic exoskeleton technology for human upper-limb rehabilitation
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-10
    Akash Gupta; Anshuman Singh; Varnita Verma; Amit Kumar Mondal; Mukul Kumar Gupta

    The development of upper limb and lower extremity robotic exoskeletons has emerged as a way to improve the quality of life as well as act as a primary rehabilitation device for individuals suffering from stroke or spinal cord injury. This paper contains extractions from the database of robotic exoskeleton for human upper limb rehabilitation and prime factors behind the burden of stroke. Various studies

    更新日期:2020-04-10
  • Dynamic model for using casterboard by a humanoid robot
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-10
    R. Fukai; K. Yagi; Y. Mori

    The efficacy of traveling and movement is substantially enhanced by the use of wheel mechanisms, particularly when compared to bipedal locomotion. Humanoid locomotion can also be extended using appropriate tools. In this study, we focus on the casterboard as a tool that facilitates traveling, because it has comparatively high portability, and the rider can move forward without pushing off the ground

    更新日期:2020-04-10
  • A method of motion recognition based on electromyographic signals
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-07
    Jing Luo; Chao Liu; Ying Feng; Chenguang Yang

    In a robot-assisted surgery, a skillful surgeon can perform the operation excellently through flexible wrist motions and rich experience. However, there are little researches about the relationship between the wrist motion and electromyography (EMG) signal of surgeon. To this end, we introduce a classification framework of wrist motion to recognize the common wrist motion of the surgeon based on EMG

    更新日期:2020-04-07
  • Development of a single-wheeled inverted pendulum robot capable of climbing stairs
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-07
    A. A. Wardana; T. Takaki; M. Jiang; I. Ishii

    In this paper, we propose the design of a single-wheeled robot capable of climbing stairs. The robot is equipped with the proposed climbing mechanism, which enables it to climb stairs. The mechanism has an extremely simple structure, comprised of a parallel arm, belt, harmonic drive, and pulley. The proposed climbing mechanism has the advantage of not requiring an additional actuator because it can

    更新日期:2020-04-07
  • Improved mobile robot based gas distribution mapping through propagated distance transform for structured indoor environment
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-07
    Retnam Visvanathan; Kamarulzaman Kamarudin; Syed Muhammad Mamduh; Masahiro Toyoura; Ahmad Shakaff Ali Yeon; Ammar Zakaria; Latifah Munirah Kamarudin; Xiaoyang Mao; Shazmin Aniza Abdul Shukor

    Mobile robot carrying gas sensors have been widely used in mobile olfaction applications. One of the challenging tasks in this research field is Gas Distribution Mapping (GDM). GDM is a representation of how volatile organic compound is spatially dispersed within an environment. This paper addresses the effect of obstacles towards GDM for indoor environment. This work proposes a solution by improvising

    更新日期:2020-04-07
  • Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint
    Adv. Robot. (IF 1.247) Pub Date : 2020-04-06
    Haotian She; Jinying Zhu; Ye Tian; Yanchao Wang; Qiang Huang

    This paper proposes a powered ankle-foot prosthesis called PANTOE II, which includes an ankle and a segmented foot with a toe joint. The ankle and toe joints are both driven by series elastic actuators, which can reduce the required velocity and energy consumption of the actuators. The mechanical design of the ankle and toe joints makes the prosthesis more compact. In addition, PANTOE II employs a

    更新日期:2020-04-06
  • Indoor human face following with environmental fisheye cameras and blimp
    Adv. Robot. (IF 1.247) Pub Date : 2020-03-31
    Veerachart Srisamosorn; Noriaki Kuwahara; Atsushi Yamashita; Taiki Ogata; Shouhei Shirafuji; Jun Ota

    A combination of fixed fisheye camera system and a blimp performed the task of human following in an indoor environment in this paper, focusing on tracking the subject's face. Hierarchical control algorithm is used to combine information from fisheye cameras and blimp's camera to track the face to handle common human's translation and rotation movements. In this way, even when the face is not visible

    更新日期:2020-03-31
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