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Automatic grasp planning for self-adjustable gripper frames Robomech J. Pub Date : 2024-03-02 Jeroen Cramer, Martijn Cramer, Karel Kellens
In high-mix, low-volume manufacturing, end-of-arm tooling (EOAT) must be able to handle various products. Conventional EOATs usually comprise fixed or limited-adjustable frames (i.e. manually or using short-stroke pistons) over-equipped with multiple grippers, which are selectively activated based on the product to be grasped. This paper presents a smart gripper frame equipped with only four grippers
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The Emergency Braking Game: a game theoretic approach for maneuvering in a dense crowd of pedestrians Robomech J. Pub Date : 2024-02-23 János Szőts, Zoltán Gyenes, Emese Gincsainé Szádeczky-Kardoss, Ladislau Bölöni, István Harmati
We introduce an algorithm that maneuvers a vehicle through an area with randomly moving pedestrians. In non-critical situations, our strategy is to avoid pedestrians by steering, whereas dangerously moving pedestrians are avoided by braking, possibly coming to a complete stop. The distinction between non-critical and dangerous situations, as well as proof of safety, is based on a continuous optimization
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Experimental assessment and prediction of design parameter influences on a specific vacuum-based granular gripper Robomech J. Pub Date : 2024-01-05 Christian Wacker, Niklas Dierks, Arno Kwade, Klaus Dröder
Innovative soft robotic grippers, such as granular grippers, enable the automated handling of a wide spectrum of different geometries, increasing the flexibility and robustness of industrial production systems. Granular grippers vary in their design as well as in their configuration, which affects the specific characteristics and capabilities regarding grippable objects. Relevant aspects are the selection
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A Leader-follower formation control of mobile robots by position-based visual servo method using fisheye camera Robomech J. Pub Date : 2023-12-21 Shinsuke Oh-hara, Atsushi Fujimori
This paper presents a leader-follower formation control of multiple mobile robots by position-based method using a fisheye camera. A fisheye camera has a wide field of view and recognizes a wide range of objects. In this paper, the fisheye camera is first modeled on spherical coordinates and then a position estimation technique is proposed by using an AR marker based on the spherical model. This paper
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Coupled-driven high-speed and high-torque switchable transmission with a large transmission ratio Robomech J. Pub Date : 2023-12-19 Toshio Takayama, Masaki Waragai
Electric motors are used globally, especially in industrial applications, and achieving high energy efficiency is a major problem. Variable transmissions are effective in reducing the energy consumption of motors, but practical variable transmissions are bulky and heavy, making them unsuitable for robots. To overcome this problem, two motor-driven mechanisms have been proposed. The two motors are operated
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Spiral model development of retrofitted robot for tele-operation of conventional hydraulic excavator Robomech J. Pub Date : 2023-12-18 Tomohiro Komatsu, Keiji Nagatani, Yasuhisa Hirata
This paper describes the effect of applying spiral model to the development process of robot system for a new entrant company. The robot system was developed to remotely control a conventional hydraulic excavator in order to improve the safety of operators in disaster emergency restoration. The issues of development are the definition of requirements and integration for a practical system in a real
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Experimental investigation of relationship between bearing capacity and vibration parameters for planetary exploration legged rovers Robomech J. Pub Date : 2023-11-27 Tomohiro Watanabe, Kojiro Iizuka
In recent years, robots with leg mechanisms have received considerable attention as high-running planetary exploration rovers. Rovers undertaking planetary exploration require outstanding running performance to travel on loose ground on which they mostly slip and hardly move forward. The movement of the rover easily deforms the surface of loose ground. This problem can be solved by increasing the bearing
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Sidewinding locomotion of flatworm-like mesh robot WORMESH-II Robomech J. Pub Date : 2023-11-18 Ganegoda V. C. Rasanga, Kengo Hiraishi, Ryuichi Hodoshima, Shinya Kotosaka
WORMESH-II, which is the second prototype in the WORMESH series, is inspired by a flatten and soft-bodied fatworm, and its uniqueness is the use of multiple travelling waves for locomotion. In this paper, the sidewinding locomotions for WORMESH-II are talked about. This is because sidewinding is one of the most effective ways to traverse sandy terrain. The mathematical model of the sidewinding locomotion
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Switching backdrivability of a planetary gear by vibration: design parameter setting and excited force estimation Robomech J. Pub Date : 2023-11-10 Satsuya Noda, Ryo Igari, Kensuke Endo, Kazushi Yamanobe, Toshio Takayama
Switching backdrivability according to use status is important to attain energy-saving and compliance in co-worker robots. Authors have proposed switching backdrivability by exciting gear surface, eliminating the need for sensors while switching. We have confirmed that exciting 2K-H planetary gear can switch its backdrivability. To systematically design the switching backdrivable 2K-H planetary gear
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Chatbots and robots: a framework for the self-management of occupational stress Robomech J. Pub Date : 2023-10-27 Akihiro Yorita, Simon Egerton, Carina Chan, Naoyuki Kubota
We have developed a stress management framework aimed at helping healthcare professionals manage occupational stress. A chatbot is used to gather pertinent information from a user through regular conversation which is processed via a fuzzy inference model to derive their level of occupational Comprehensibility, Manageability, Meaningful and overall occupational Sense of Coherence (SOC). This analysis
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Validation of a lower limb exoskeleton assist device focusing on viscous properties: verification of assist effectiveness by measuring muscle activity Robomech J. Pub Date : 2023-10-13 Yusuke Shimoda, Tomotaka Sugino, Manabu Okui, Rie Nishihama, Taro Nakamura
Because exoskeletal assistive devices are worn directly by a person, enhancing cooperation is important. However, existing assistive devices have problems in terms of their cooperation with human behaviors. This is because existing assistive devices are driven by estimating the wearer’s movement intention based on predetermined movement time and device angle information. Although these methods are
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Localizability estimation using correlation on occupancy grid maps Robomech J. Pub Date : 2023-09-14 Maiku Kondo, Masahiko Hoshi, Yoshitaka Hara, Sousuke Nakamura
In the field of autonomous mobile robotics, reliable localization is important. However, there are real environments where localization fails. In this paper, we propose a method to estimate localizability based on occupancy grid maps. The localizability indicates the reliability of localization. There are several approaches to estimate localizability, we propose a method to estimate localizability
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A mobile robot driven by uniaxial wave locomotion mechanism Robomech J. Pub Date : 2023-08-27 Kento Yoshida, Kenji Nagaoka
This paper presents a novel mobile robot system that uses a uniaxial wave locomotion mechanism. The proposed mechanism can mechanically produce uniaxial surface waves by a single actuator to rotate a helix component that has discrete helical wings. This involves multiple pins with springs and a link mechanism. We designed and developed a mobile robot consisting of a main body and two helical wave locomotion
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Uniaxial attitude control of uncrewed aerial vehicle with thrust vectoring under model variations by deep reinforcement learning and domain randomization Robomech J. Pub Date : 2023-08-07 Atsushi Osedo, Daichi Wada, Shinsaku Hisada
The application of neural networks for nonlinear control has been actively studied in the field of aeronautics. Successful techniques have been demonstrated to achieve improved control performance in simulation using deep-reinforcement learning. To transfer the controller learnt in the simulation of real systems, domain randomization is an approach that encourages the adaptiveness of neural networks
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Implementation of interactive control of a crane ship model in MATLAB/Simulink environment Robomech J. Pub Date : 2023-07-26 Oleg Makarov, Hayato Yase, Takashi Harada
The increased demand for performing crane ship modeling has led to the necessity for fast and accurate numerical experiments. This paper presents an approach for creating a numerical model of a crane vessel with a suspended load that allows for real-time control of crane parts. The model is developed in the MATLAB/Simulink environment, which makes it possible to extend it further to the user's needs
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A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distribution Robomech J. Pub Date : 2023-07-19 Daiki Yoshikawa, Masahiro Shimizu, Takuya Umedachi
This paper proposes a method to deform a continuum robot into a complex shape with distributed curvature using a single motor drive. This continuum robot can be deformed to a desired shape by placing tendon guides at appropriate intervals. We used several target shapes, including clothoid and sin curves, as well as a circular curve of constant curvature and confirmed that the deformed shapes match
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Intention-reflected predictive display for operability improvement of time-delayed teleoperation system Robomech J. Pub Date : 2023-07-15 Yaonan Zhu, Keisuke Fusano, Tadayoshi Aoyama, Yasuhisa Hasegawa
Robotic teleoperation is highly valued for its ability to remotely execute tasks that demand sophisticated human decision-making or that are intended to be carried out by human operators from a distance. However, when using the internet as a communication framework for teleoperation, high latency, and fluctuations make accurate positioning and time-dependent tasks difficult. To mitigate the negative
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High-strength and flexible mechanism for body weight support Robomech J. Pub Date : 2023-07-15 Sojiro Sugiura, Jayant Unde, Yaonan Zhu, Yasuhisa Hasegawa
Wearable body weight support systems can assist individuals with mobility impairments in performing daily living activities with greater ease and independence. However, existing systems have limitations in terms of balancing their strength, compact size, interaction with the ground, and driving. In this paper, we present the High-Strength and Flexible Mechanism (HSFM) designed for body weight support
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Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the field Robomech J. Pub Date : 2023-07-07 Masahiro Inagawa, Tomohito Kawabe, Toshinobu Takei, Keiji Nagatani
The construction industry faces a labor shortage problem, so construction vehicles need to be automated. For automation, a position estimation method is expected that is independent of the work environment and can accurately estimate the position of targets. This paper aims to develop a position estimation method for multiple construction vehicles using 3D LiDAR installed in a work environment. By
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Ultrafine and crosstalk-free 2D tactile sensor by using active-matrix thin-film transistor array Robomech J. Pub Date : 2023-06-26 Hiroumi Kinjo, Hitoshi Tanaka, Yuta Haga, Takaya Tamaru, Junji Kobashi, Kazuhiko Sako, Kazunori Yamaguchi, Shinichiro Oka
Passive matrix (PM) technologies are widely used in various fields (e.g., manufacturing, human sensing, and robotics) to visualize the tactile pressure distribution. These technologies are powerful addressing methods with simple structures, low cost, and easy fabrication steps. However, crosstalk problems have been pointed out, especially in high-resolution fields. To prevent a crosstalk occurrence
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Development of test method for evaluation of UAS mobility capability in GNSS-denied environment Robomech J. Pub Date : 2023-06-03 Taichi Yamada, Hiroyuki Abe, Katsuji Ogane, Kuniaki Kawabata
This paper introduces the development of test methods for capability evaluation of Unmanned Aircraft Systems (UASs) in Global Navigation Satellite System (GNSS)-denied environments. The purpose of this development is to facilitate growth in the UAS industry. We discuss the test method’s approach and what UAS’s capability evaluation is essential for UAS use in GNSS-denied environments. As a result,
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Analysis of implicit robot control methods for joint task execution Robomech J. Pub Date : 2023-04-24 Lena Guinot, Kozo Ando, Shota Takahashi, Hiroyasu Iwata
Body language is an essential component of communication. The amount of unspoken information it transmits during interpersonal interactions is an invaluable complement to simple speech and makes the process smoother and more sustainable. On the contrary, existing approaches to human–machine collaboration and communication are not as intuitive. This is an issue that needs to be addressed if we aim to
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New “iPARKO” finger extensor facilitation training device for chronic hemiplegic hand after stroke: development and verification of its effectiveness in healthy individuals Robomech J. Pub Date : 2023-04-07 Ai Nakamura, Zhou Peichen, Yoshifumi Morita, Hirofumi Tanabe
After stroke, hemiplegic individuals have difficulty opening their hands by themselves due to paralysis. A finger extensor facilitation technique was therefore developed to increase the activity of the extensor muscle in hemiplegic individuals who cannot open their paralyzed hands by themselves. In our previous study, we created a training device prototype called the “PARKO”, that imitates the finger
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Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle Robomech J. Pub Date : 2023-04-03 Taichi Okumura, Daisuke Nakanishi, Keisuke Naniwa, Yasuhiro Sugimoto, Koichi Osuka
The McKibben pneumatic actuator (MPA) is a soft actuator used for performing various practical functions in robots. Particularly, many dynamic robots have been realized using MPAs. However, there is a trade-off between torque generated by MPA and the range of motion of the joint. In this study, we focus on the jumping motion of a leg-type robot and use an elliptical pulley whose moment arm changes
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Anomaly detection from images in pipes using GAN Robomech J. Pub Date : 2023-03-03 Shigeki Yumoto, Takumi Kitsukawa, Alessandro Moro, Sarthak Pathak, Taro Nakamura, Kazunori Umeda
In recent years, the number of pipes that have exceeded their service life has increased. For this reason, earthworm-type robots equipped with cameras have been developed to perform regularly inspections of sewer pipes. However, inspection methods have not yet been established. This paper proposes a method for anomaly detection from images in pipes using Generative Adversarial Network (GAN). A model
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Kinematics of platform stabilization using a 3-PRS parallel manipulator Robomech J. Pub Date : 2023-03-01 Tossaporn Udomsap, Sakda Chinchouryrang, Siwat Liampipat, Teeranoot Chanthasopeephan
In this paper, a 3-PRS (prismatic, revolute, and spherical) parallel manipulator for platform stabilization is designed. The main purpose of this device is to stabilize visual equipment, which is placed on top of a car to inspect electrical transmission cables, as part of routine maintenance. Due to the bulky and heavy infrared cameras used during inspections, a stabilizer platform has been designed
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The WORMESH-II flatworm-like mesh robot with 2-DOF double joints Robomech J. Pub Date : 2023-02-28 Ganegoda V. C. Rasanga, Kengo Hiraishi, Ryuichi Hodoshima, Shinya Kotosaka
This paper deals with the development of a flatworm-like mesh robot WORMESH-II, which is the second prototype in the WORMESH series inspired from a flattened and soft-bodied flatworm. The pedal locomotion is the primary locomotor of the flatworm that is continuous gliding propulsion along the bottom of the body. The significance of WORMESH series is use of multiple pedal waves to generate the locomotion
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A SafeML extension for a unified risk assessment to diverse service robots Robomech J. Pub Date : 2023-02-21 Takao Miyoshi, Yoshihiro Nakabo, Hidetoshi Fukui, Makoto Yashiro, Iko Miyazawa, Takeshi Sakamoto, Noriaki Ando, Toru Kuga, Atsushi Kitamura, Kenichi Ohara, Tetsuya Kimura
Risk assessment is one of the important processes in the social implementation of robots. In risk assessment and safety design of systems with various stakeholders, modeling and visualization of related elements are important not only for designers but also for users. We examined the use of SafeML in the process and proposed its extension for the purpose for missing elements.
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A measurement system toward to skill analysis of wall painting using a roller brush Robomech J. Pub Date : 2023-02-20 Kyosuke Miyairi, Yutaka Takase, Yoshiaki Watanabe, Mikita Miyaguchi, Kimitoshi Yamazaki
In this study, we describe a measurement system aiming to skill analysis of wall painting work using a roller brush. Our proposed measurement system mainly comprises an RGB-D sensor and a roller brush with sensors attached. To achieve our requirements in understanding roller operation, we developed an algorithm that is suitable to estimate the roller part pose with high accuracy. We also show a method
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Dataset creation and selection methods with a wire drive flexible manipulator for vision-based reconstruction Robomech J. Pub Date : 2023-02-14 Zhenyu Wang, Gen Endo, Hideharu Takahashi, Hiroshige Kikura
In order to improve spatial awareness for future investigations of reactor No. 2 at the Fukushima nuclear power plant, it is necessary first to acquire the environment model through reconstruction. To gather images for this task, we have developed a flexible, compact, and lightweight manipulator called the Bundled Wire Drive robot. However, due to mechanism’ shortcomings, the feasibility of using this
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Basic study of sensorless path tracking control based on the musculoskeletal potential method Robomech J. Pub Date : 2023-02-14 Yoshihiro Kinjo, Yuki Matsutani, Kenji Tahara, Hitoshi Kino
In a musculoskeletal system, the musculoskeletal potential method utilizes the potential property generated by the internal force between muscles; posture control can be achieved by the step input of muscular tension balancing at the desired posture. The remarkable aspect of this method is that neither sensory feedback nor complicated real-time calculation is required at all. However, previous studies
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Lightweight underwater robot developed for archaeological surveys and excavations Robomech J. Pub Date : 2023-01-27 Shohei Hotta, Yusuke Mitsui, Mizuki Suka, Norimitsu Sakagami, Sadao Kawamura
This paper reports the development of a lightweight remotely operated vehicle that performs underwater excavation work for archaeological surveys. Discovering underwater artifacts is generally difficult because they are in high risk areas and are often covered with sediment. To discover them, divers and large remotely operated vehicles must conduct excavation work with a manipulator(s). Nevertheless
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Soft actuators-based skill training wearables: a review on the interaction modes, feedback types, VR scenarios, sensors utilization and applications Robomech J. Pub Date : 2023-01-16 Ramasamy, Priyanka, Calderon-Sastre, Enrique, Renganathan, Gunarajulu, Das, Swagata, Kurita, Yuichi
Dexterity training helps improve our motor skills while engaging in precision tasks such as surgery in the medical field and playing musical instruments. In addition, post-stroke recovery also requires extensive dexterity training to recover the original motor skills associated with the affected portion of the body. Recent years have seen a rise in the usage of soft-type actuators to perform such training
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One-touch calibration of hum-noise-based touch sensor for unknown users utilizing models trained by different users Robomech J. Pub Date : 2022-12-15 Hsia, Tzu-Hsuan, Okamoto, Shogo, Akiyama, Yasuhiro, Yamada, Yoji
Hum-noise-based touch sensors (HumTouch) are capable of recognizing human touch on semiconductive materials using the current leaking from the finger to the surface. Thus far, calibration for these hum-noise-based touch sensors has been performed for individual users because of the individual differences in hum-driven electric currents in human bodies. However, for applications designed for unknown
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Series admittance–impedance controller for more robust and stable extension of force control Robomech J. Pub Date : 2022-12-09 Fujiki, Takuto, Tahara, Kenji
To control a robot performing cooperative work between a human and robot, not only the position but also the force must be controlled from the viewpoint of human–robot contact. In addition, when a robot is used for fitting and handling, tasks that are conventionally performed by experienced humans, controlling the grasping force and the force exerted by the joints can produce motions similar to those
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A proposal for adaptive cruise control balancing followability and comfortability through reinforcement learning Robomech J. Pub Date : 2022-12-08 Maruyama, Nagayasu, Mouri, Hiroshi
Adaptive cruise control (ACC), which is an extension of conventional cruise control, has been applied in many commercial vehicles. Traditional ACC is controlled by proportional-integral-derivative control or linear quadratic regulation (LQR), which can provide sufficient performance to follow a preceding vehicle. However, they can also cause excessive acceleration and jerk. To avoid these excessive
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Development of a high-speed and low-torque loss two-way clutch Robomech J. Pub Date : 2022-10-27 Waragai, Masaki, Takayama, Toshio
In this study, a two-way clutch mechanism using planetary gear meshing was proposed. The proposed mechanism allows low torque loss and high-speed rotation instead of a larger backlash compared to a roller type two-way clutch. The unique structure of this mechanism that makes such functionality possible comprises two independent planetary gears with variable distances between the axes. When the input
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Clustering of distance sensors to transfer training data for relative position and orientation measurement devices Robomech J. Pub Date : 2022-09-30 Amagai, Sogo, Ye, Qiwei, Fukuoka, Yuji, Warisawa, Shin’ichi, Fukui, Rui
Car-sharing services have recently attracted considerable attention. We proposed a platooning system to reduce the number of vehicle distributors. The platooning system uses a measurement device embedded with low-cost infrared distance sensors to measure the relative position and orientation of vehicles. The relative positions and orientations are obtained from the training data. However, preparing
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Automated harvesting by a dual-arm fruit harvesting robot Robomech J. Pub Date : 2022-09-22 Yoshida, Takeshi, Onishi, Yuki, Kawahara, Takuya, Fukao, Takanori
In this study, we propose a method to automate fruit harvesting with a fruit harvesting robot equipped with robotic arms. Given the future growth of the world population, food shortages are expected to accelerate. Since much of Japan’s agriculture is dependent on imports, it is expected to be greatly affected by this upcoming food shortage. In recent years, the number of agricultural workers in Japan
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Optimization algorithm for feedback and feedforward policies towards robot control robust to sensing failures Robomech J. Pub Date : 2022-07-14 Kobayashi, Taisuke, Yoshizawa, Kenta
Model-free or learning-based control, in particular, reinforcement learning (RL), is expected to be applied for complex robotic tasks. Traditional RL requires that a policy to be optimized is state-dependent, that means, the policy is a kind of feedback (FB) controllers. Due to the necessity of correct state observation in such a FB controller, it is sensitive to sensing failures. To alleviate this
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Human-mimetic binaural ear design and sound source direction estimation for task realization of musculoskeletal humanoids Robomech J. Pub Date : 2022-06-17 Omura, Yusuke, Kawaharazuka, Kento, Nagamatsu, Yuya, Koga, Yuya, Nishiura, Manabu, Toshimitsu, Yasunori, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
Human-like environment recognition by musculoskeletal humanoids is important for task realization in real complex environments and for use as dummies for test subjects. Humans integrate various sensory information to perceive their surroundings, and hearing is particularly useful for recognizing objects out of view or out of touch. In this research, we aim to realize human-like auditory environmental
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An immersive micro-manipulation system using real-time 3D imaging microscope and 3D operation interface for high-speed and accurate micro-manipulation Robomech J. Pub Date : 2022-06-11 Yokoe, Kenta, Aoyama, Tadayoshi, Fujishiro, Toshiki, Takeuchi, Masaru, Hasegawa, Yasuhisa
The use of intracytoplasmic sperm injection (ICSI), an assisted reproductive technique (ART), is increasing widely. ICSI is currently performed by specially skilled embryologists. However, with the increasing demand for ART, the shortage of skilled embryologists has become a problem. Therefore, we propose an immersive micromanipulation system that requires no special skills for efficient and accurate
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Fruit recognition method for a harvesting robot with RGB-D cameras Robomech J. Pub Date : 2022-05-28 Yoshida, Takeshi, Kawahara, Takuya, Fukao, Takanori
In this study, we present a recognition method for a fruit-harvesting robot to automate the harvesting of pears and apples on joint V-shaped trellis. It is necessary to recognize the three-dimensional position of the harvesting target for harvesting by the fruit-harvesting robot to insert its end-effector. However, the RGB-D (red, green, blue and depth) camera on the harvesting robot has a problem
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Switching control of latex balloon expansion by using switching valve mediated with the Coanda effect Robomech J. Pub Date : 2022-05-26 Keita, Kaneko, Kenjiro, Takemura
Soft robots have advantages in terms of safety, softness, and compliance compared to traditional robotic systems. However, fluid-driven soft actuators, often employed in soft robots, require a corresponding number of bulky pressure supplies/valves to drive. Here, we consider a valve that can control the flow without mechanical moving parts for simplifying the driving system of soft actuators. We developed
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Novel exterior cover design for radiant heat resistance of firefighting robots in large-scale petrochemical complex fires Robomech J. Pub Date : 2022-05-26 Fujita, Jun, Tamura, Yoshihiro, Amano, Hisanori, Ohno, Kazunori, Tadokoro, Satoshi
Fires in petrochemical complexes are inaccessible because of the intense radiant heat from flames. Therefore, water cannon robots require radiant heat countermeasures to perform firefighting safely. Conventional radiant heat countermeasures employ a self-spraying method, wherein the water cannon robot requires a water tank of capacity 1.5 m3 (= 1500 L) to function for 7–8 min in an environment with
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Evaluation of two complementary modeling approaches for fiber-reinforced soft actuators Robomech J. Pub Date : 2022-05-21 Habibian, Soheil, Wheatley, Benjamin B., Bae, Suehye, Shin, Joon, Buffinton, Keith W.
Although robots are increasingly found in a wide range of applications, their use in proximity to humans is still fraught with challenges, primarily due to safety concerns. Roboticists have been seeking to address this situation in recent years through the use of soft robots. Unfortunately, identifying appropriate models for the complete analysis and investigation of soft robots for design and control
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Stability analysis of multi-serial-link mechanism driven by antagonistic multiarticular artificial muscles Robomech J. Pub Date : 2022-05-18 Ishikawa, Yuta, Nabae, Hiroyuki, Endo, Gen, Suzumori, Koichi
Artificial multiarticular musculoskeletal systems consisting of serially connected links driven by monoarticular and multiarticular muscles, which are often inspired by vertebrates, enable robots to elicit dynamic, elegant, and flexible movements. However, serial links driven by multiarticular muscles can cause unstable motion (e.g., buckling). The stability of musculoskeletal mechanisms driven by
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Information presentation method for teleoperated robots to support the multifaceted understanding of fire sites Robomech J. Pub Date : 2022-05-03 Tamura, Yoshihiro, Amano, Hisanori, Ota, Jun
Although the overall number of fires is decreasing, the number of special fires as buildings become larger, taller, and deeper and fires and spills in hazardous materials facilities such as petroleum complexes is on the rise and ensuring the safety of firefighters has become a problem. The use of teleoperated firefighting robots is expected to be a solution to this problem. It is important to be able
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Contemporary research trends in response robotics Robomech J. Pub Date : 2022-03-26 Dadvar, Mehdi, Habibian, Soheil
The multidisciplinary nature of response robotics has brought about a diversified research community with extended expertise. Motivated by the recent accelerated rate of publications in the field, this paper analyzes the research trends, statistics, and implications of the literature from bibliometric standpoints. The aim is to study the global progress of response robotics research and identify the
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Development of a continuum robot enhanced with distributed sensors for search and rescue Robomech J. Pub Date : 2022-03-21 Yamauchi, Yu, Ambe, Yuichi, Nagano, Hikaru, Konyo, Masashi, Bando, Yoshiaki, Ito, Eisuke, Arnold, Solvi, Yamazaki, Kimitoshi, Itoyama, Katsutoshi, Okatani, Takayuki, Okuno, Hiroshi G., Tadokoro, Satoshi
Continuum robots can enter narrow spaces and are useful for search and rescue missions in disaster sites. The exploration efficiency at disaster sites improves if the robots can simultaneously acquire several pieces of information. However, a continuum robot that can simultaneously acquire information to such an extent has not yet been designed. This is because attaching multiple sensors to the robot
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Rapid prototyping for series of tasks in atypical environment: robotic system with reliable program-based and flexible learning-based approaches Robomech J. Pub Date : 2022-03-04 Ito, Hiroshi, Nakamura, Satoshi
We propose a novel robotic system that combines both a reliable programming-based approach and a highly generalizable learning-based approach. How to design and implement a series of tasks in an atypical environment is a challenging issue. If all tasks are implemented using a programming-based approach, the development costs will be huge. However, if a learning-based approach is used, reliability is
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Terrain traversability prediction for off-road vehicles based on multi-source transfer learning Robomech J. Pub Date : 2022-02-22 Inotsume, Hiroaki, Kubota, Takashi
In this paper, a novel terrain traversability prediction method is proposed for new operation environments. When an off-road vehicle is operated on rough terrains or slopes made up of unconsolidated materials, it is crucial to accurately predict terrain traversability to ensure efficient operations and avoid critical mobility risks. However, the prediction of traversability in new environments is challenging
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Real-time irradiation system using patterned light to actuate light-driven on-chip gel actuators Robomech J. Pub Date : 2022-02-19 Koike, Yuha, Kodera, Shunnosuke, Yokoyama, Yoshiyuki, Hayakawa, Takeshi
A light-driven gel actuator is a potential candidate for a single-cell manipulation tool because it allows cells to be manipulated while ensuring less damage. Moreover, a large number of actuators can be integrated into a microfluidic chip because no wiring is required. Previously, we proposed a method for cell manipulation using light-driven gel actuators. However, the system used in the previous
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Hopping path planning in uncertain environments for planetary explorations Robomech J. Pub Date : 2022-02-14 Sakamoto, Kosuke, Kubota, Takashi
Hopping robots, called hoppers, are expected to move on rough terrains, such as disaster areas or planetary environments. The uncertainties of the hopping locomotion in such environments are high, making path planning algorithms essential to traverse these uncertain environments. Planetary surface exploration requires to generate a path which minimises the risk of failure and maximises the information
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Proposal of forceps force limiter design using leaf spring buckling Robomech J. Pub Date : 2022-02-14 Noda, Satsuya, Tokuoka, Yasunori, Kuriu, Satoru, Ishida, Tadashi
To prevent accidents in minimally invasive surgeries, force limiters have been developed for forceps grippers. When a force limiter is in use, if the absolute value of its spring constant is reduced, the risk of damage to the organs decreases. This paper proposes the use of a leaf spring buckling mechanism as a force limiter for forceps. The results obtained indicate that the spring constant of a buckled
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An underactuated parallel-link gripper for a multicopter capable of plane perching Robomech J. Pub Date : 2022-02-01 Xu, Maozheng, Senoo, Taku, Takaki, Takeshi
The need for a perching robot is increasing in the field of rescue and transportation. Accordingly studies on perching an object by attaching a robot arm to a perching robot have been conducted. However, almost all the studies related to perching have been conducted using an actuated or electric device. However, perching by using an electric device has several disadvantages, such as additional power
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Development of ROS2-TMS: new software platform for informationally structured environment Robomech J. Pub Date : 2022-01-31 Itsuka, Tomoya, Song, Minsoo, Kawamura, Akihiro, Kurazume, Ryo
This study proposes a new software platform, called ROS2-TMS, for an informationally structured environment. An informationally structured environment is vital for developing intelligent service robots by embedding various sensors in the environment to enhance the sensing capability and intelligence of robots. Thus far, we have been developing a software platform, named ROS-TMS, for an informationally
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Object segmentation in cluttered environment based on gaze tracing and gaze blinking Robomech J. Pub Date : 2021-12-22 Ratsamee, Photchara, Mae, Yasushi, Kamiyama, Kazuto, Horade, Mitsuhiro, Kojima, Masaru, Arai, Tatsuo
People with disabilities, such as patients with motor paralysis conditions, lack independence and cannot move most parts of their bodies except for their eyes. Supportive robot technology is highly beneficial in supporting these types of patients. We propose a gaze-informed location-based (or gaze-based) object segmentation, which is a core module of successful patient-robot interaction in an object-search
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LiDAR DNN based self-attitude estimation with learning landscape regularities Robomech J. Pub Date : 2021-12-20 Ozaki, Ryota, Sugiura, Naoya, Kuroda, Yoji
This paper presents an EKF (extended Kalman filter) based self-attitude estimation method with a LiDAR DNN (deep neural network) learning landscape regularities. The proposed DNN infers the gravity direction from LiDAR data. The point cloud obtained with the LiDAR is transformed to a depth image to be input to the network. It is pre-trained with large synthetic datasets. They are collected in a flight
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Condition analysis of a multicopter carried with passive skid for rough terrain landing Robomech J. Pub Date : 2021-11-22 Xu, Maozheng, Senoo, Taku, Takaki, Takeshi
This paper describes the condition analysis of a multicopter carried with a proposed device for rough terrain landing. Based on a multicopter carried with an electrical robot arm for grasping, we proposed a method to determine whether the skid-carried multicopter can land on an arbitrary slope or not. We established the static model of the entire device, and analyzed the conditions under which the