ABSTRACT The present paper introduces a near-future perception system called Previewed Reality. In a co-existence environment of a human and a robot, unexpected collisions between the human and the robot must be avoided to the extent possible. In many cases, the robot is controlled carefully so as not to collide with a human. However, it is almost impossible to perfectly predict human behavior in advance

ABSTRACT This paper proposes a robust biped control to track the desired foot-placements, which is suitable to locomotion in complex environments. A strategy to determine the referential ZMP based only on the next pivot point and the capturability at the moment of landing improves the mobility of the robot by exploiting narrow footprints. It can run in submilliseconds since the optimal ZMP is analytically

ABSTRACT Various attempts have been made to research the proactive interaction behavior of robots and to apply different service scenarios from home to public areas but have not investigated social robot behavior and user perception from the anthropomorphizing design’s preceptive to construct robots’ interaction strategy. Our aim is to explore the relationship between proactivity in social robot behavior

This paper proposes an environmental sound segmentation method using Mask U-Net. In recent years, human–robot interactions, especially speech dialogue, have been assessed by auditory scene analysis. Methods, such as noise reduction, section detection, and sound source separation have been proposed for robot audition, acoustic signal processing, and machine learning. However, such conventional approaches

Three-dimensional (3D) maps are indispensable for autonomous robot navigation in outdoor environments. Loop closure, which is a key technology in robotic mapping, is essential for creating consistent maps. This paper proposes an efficient method of loop detection for 3D-mapping. The proposed method detects loop constraints by estimating robot poses in revisited places using point-cloud registration

Robots are required to not only learn spatial concepts autonomously but also utilize such knowledge for various tasks in a domestic environment. Spatial concept represents a multimodal place category acquired from the robot's spatial experience including vision, speech-language, and self-position. The aim of this study is to enable a mobile robot to perform navigational tasks with human speech instructions

The robot calibration exists many excellent performances by using the POE formula, but it demands extra works to deal with the problems of the joint twist constrains. Thus, the Adjoint error model is proposed to solve these problems, which can be developed further. In this paper, we have modified the Adjoint error model and improved the calibration method. On the one hand, we conduct the formula entirely

This paper presents our development of an intuitive teleoperation system for Toyota's Human Support Robot. While this robot has been widely used as an autonomous agent in the field of service robotics, we explore a possibility of this robot for the use of remote assistance of daily activities in home environments. For rapid prototyping an affordable teleoperation system, we adopt a commercially available

Flexible manipulators become widely used in industrial and medical fields due to their high dexterity compared with traditional discrete manipulators. However, in existing kinematics models of flexible manipulators without extension ability, the inverse kinematic (IK) analytical solution including the end-effector position and pose cannot be obtained. In this paper, a design example of a class of n-tendon

ABSTRACT This paper aims to correct camera pose estimation results acquired by bundle adjustment (BA) optimization in visual-inertial SLAM (VI-SLAM) approaches. By deriving the relationship between the pose estimation error and the map point biases, the pose estimation error can be further reduced after BA optimization. We then propose a correction algorithm based on a statistical bias calculation

Robots, driven by soft actuators, aim at ensuring human safety. Owing to their relatively higher output force than other soft actuators, rubber pneumatic artificial muscles (PAM) are actively researched. In particular, straight-fiber pneumatic artificial muscle (SFPAM) has high output and contraction abilities. However, significant deformation places substantial strain on rubber, shortening the lifespan

A soft robot hand with fingertip haptic feedback for teleoperation is proposed to perform complex tasks and ensure safe and friendly human-machine interaction. This robot hand can perform finger flexion/extension and abduction/adduction motions. A data glove is used to collect the hand joint angle data of the operator. Flexion sensors are embedded in the soft robot hand to monitor the bending angles

Event cameras are biologically inspired sensors that asynchronously detect brightness changes in the scene independently for each pixel. Their output is a stream of events which is reported with a low latency and high temporal resolution of a microsecond, making them superior to standard cameras in highly dynamic scenarios when they are sensitive to motion blur. Event cameras can be used in a wide

The decline in muscle strength of the lower limbs because of ageing and diseases is the main reason why elderly and disabled have difficulty in standing and walking. In this paper, a transfer robot is designed to assist the elderly and disabled in standing and moving. The robot uses the traction assist method to lift the user, which can reduce the user’s lower limb muscle force during the standing

Modern autonomous systems often fuse information from many different sensors to enhance their perception capabilities. For successful fusion, sensor calibration is necessary, while performing it online is crucial for long-term reliability. Contrary to currently common online approach of using ego-motion estimation, we propose an online calibration method based on detection and tracking of moving objects

Accurate localization and mapping are essential for mobile robots. Using laser rangefinders (LRFs), current state-of-the-art indoor Simultaneous Localization and Mapping (SLAM) can provide accurate real-time localization and mapping in most environments. An exemption are those where glass is predominant, as LRFs can not properly detect glass due to glass' transparency and reflectiveness. With such

As robotics technology advances, we expect humanoid robots to do strenuous work on our behalf. In everyday life, we frequently perform object manipulations. In particular, pushing and pulling motions are commonly done. Therefore, it is important to enable humanoid robots to perform these types of motions. Several studies on opening a door using a humanoid robot have been conducted. However, due to

The effects of mechanical system dynamics are often disregarded in the design process of humanoid robots. Sophisticated control methods may compensate for some limitations of the mechanical structure, however, principal limitations of the system performance can arise from poor mechanical architecture. Therefore, it is important to develop robot hardware that behaves close to an ideal model and that

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

The detection of gait events with wearable sensors is necessary for a robotic system interacting with walking people. Conventional gait phase detection methods are based on machine learning. However, this method cannot detect a gait event every gait cycle because it is difficult to extract characteristic points. Additionally, using only angular information for detection is beneficial because angular

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

In this paper, we focus on mobile robots' behavior that people around them feel comfortable. The subjective comfort of pedestrians is usually evaluated by a questionnaire, but the high cost of assessment makes it difficult to evaluate in various situations. Towards robot control based on objective measurements of pedestrians, this paper proposes an index to evaluate the ease of walking based on objective

(2020). Special Issue on Adaptive Motion of Animals and Machines. Advanced Robotics: Vol. 34, Special Issue on Adaptive Motion of Animals and Machines, pp. 1095-1095.

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.

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

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

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

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

(2020). Special Issue on Neuro-Robotics: From Brain Machine Interfaces to Rehabilitation Robotics. Advanced Robotics: Vol. 34, Special Issue on Neuro-Robotics: From Brain Machine Interfaces to Rehabilitation Robotics, pp. 975-975.

Recently, the extraction efficiency and quality of depth data have become the major concern in stereo vision. This work presents stereo depth estimation method based on Bidirectional Matching Method (BM 2 ) aiming at achieving a good speed-accuracy trade-off. In this study, a novel bidirectional matching process is proposed for matching cost computation. Additionally, a robust cost function is designed

This paper provides a brief survey of motion planning techniques for humanoid robots. Among various related topics that constitute the broad framework of motion planning of humanoid robots, this paper covers two actively researched topics, namely, bipedal locomotion planning based on low dimensional dynamical models and multi-contact problems that involve non-coplanar and non-scheduled contact. For

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

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

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

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

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

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

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

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

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

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

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

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

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

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

(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.

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

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

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

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

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

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

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

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

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

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

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

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

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

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