Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A sensor system for measuring tilting angles of a wire which suspends a swinging mass is developed. Two CCD cameras are placed toward the wire on a horizontal plane, and obtain the images of the moving wire respectively. Through the simultaneously obtained two wire images, the angles between the wire and a vertical tine are calculated. By feedback control using wire angles measured by the developed sensor, a mass suspended by a two dimensional crane on a horizontal plane is positioned without residual vibration at a target point. Since the developed sensor system is placed near the upper end of the wire regardless of wire length, it is easy to install the developed system in conventional cranes. By using this sensor system, it is expected to automate heavy object positioning, handling and so on.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper proposes a simple method for handling objects by cooperation of multiple position-controlled robots. In order to use position controllers for cooperation of multiple robots, it is necessary to install mechanical compliance in each robot to avoid excessive inner forces due to the mutual positioning errors. First, the compliance needed for the cooperation of position-controlled robots is reviewed. Using compliant mechanisms with free joints, cooperative control system between two industrial robots are developed. As the cooperative system with mechanical compliance has kinematic redundancy, a way to use the redundancy is proposed. Some fundamental experiments verify the effectiveness of the proposed strategy.

DOI： 10.1109/robot.1997.614348

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)  

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/transjsme.23-00097

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)  

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.20805/micromechatronics.65.225_1

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：International Association for Automation and Robotics in Construction (IAARC)  

DOI： 10.22260/isarc2020/0081

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Publishing type：Research paper (international conference proceedings)   Publisher：International Association for Automation and Robotics in Construction (IAARC)  

DOI： 10.22260/isarc2020/0082

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press LTD.  

DOI： 10.20965/jaciii.2017.p0660

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Platform carts have been used in various industries to carry heavy loads. However, heavily-loaded platform carts can't climb step. Therefore, we verified height of the step that the loaded platform cart can climb through the simulation and the experiment with the actual machine. Further, we proposed a new loaded platform cart mechanism that enables climbing step.</p>

DOI： 10.1299/jsmermd.2017.1P2-E07

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Authors have developed an autonomous control system for wheel loaders to automate scooping and loading operation in quarries. In our previous research it is assumed that rock piles consist of homogeneous sized grains, and reaction forces from the piles during scooping are formulated and they are verified by fundamental experiments with our mechanical simulator. However, various sized rocks exist around the faces of quarries in practice. Therefore the reaction force model of such piles is necessary to automate the scooping in quarries. In this paper, we investigate the influence of the relationship between thickness of penetrating plate and sediment particle size, and tip shape of plate in penetration resistance.</p>

DOI： 10.1299/jsmermd.2017.1P2-D02

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>A wire suspension system with four wires is developed and a control method for the positioning of the suspended base is proposed. This system can be used for transporting heavy object, inspection of bridges by attaching a camera on the base, and so on. Since the suspended base cannot be completely restrained with four wires, the base swings against external forces or inertia forces caused by the base motions. Therefore, in this research, we propose a method to suppress the swing motions of the base by using the gyro mounted on the base. The base swing motion is eliminated by the gyro effect which is feedback controlled through an IMU sensor embedded in the base.</p>

DOI： 10.1299/jsmermd.2017.1P2-H09

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>This paper discusses cooperative transport system using three position controlled manipulators. However, cooperative transport using multiple manipulators has several problems. The most important problem is an internal force occurring in a conveyed object due to mutual position error of the manipulators. Therefore, we suggest a cooperative transport system using wires as mechanical compliance to solve the problem. The object is fixed by using six wires and can build the system which internal force does not produce. In addition, we devised the correction method of object's position and posture error at the positioning point due to the position error of the base of manipulators that occurred when transported the object.</p>

DOI： 10.1299/jsmermd.2017.1A1-E05

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Wheel loaders used in quarries usually repeat scooping and loading actions as face operations. So it is relatively easy to automate the operation and it also contributes reduction of cost and workers. The authors proposed the efficient trajectories for scooping piles with homogeneous rocks. On the other hand, there are often massive rocks in piles at the faces of quarries. Such a massive rock is usually picked up by inserting the loader bucket into the pile just below the rock. In our previous study, it was found that the consumption energy for picking up a massive rock becomes less by choosing the pushing operation. However, it is not clear why the reaction forces become constant and how the value is determined. In this research, the relationship between the physical phenomenon and the reaction forces are analyzed and the reaction force model is developed.</p>

DOI： 10.1299/jsmermd.2017.1P2-B01

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：SPRINGER  

In order to smoothly interact with humans, it is desirable that a robot can guide human attention and behaviors. In this study, we developed a model of human visual attention for guiding human attention based on an analysis of a magic trick performance. We measured human gaze points of people watching a video of a magic trick performance and compared them with the area where the magician intended to draw a spectator's attention. The analysis showed that the relationship between the magician's face, hands, and gaze plays an important role in guiding the spectator's attention. On the basis of the preliminary user studies on watching the magic video, we integrated a saliency map and a manipulation map that describes the relationship between gaze and hands to develop a novel human attention model. The evaluation using the observed gaze points demonstrated that the proposed model can better explain human visual attention than the saliency map while people are watching a video of a magic trick performance.

DOI： 10.1007/s12369-016-0354-y

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Eengineers (C)  

A way of deriving the fastest walk pattern of quadruped robots for trot gait is developed and installed into a practical robot system. As a first step, the fastest walk pattern of support legs is designed under the constraints of torque limits of leg joints and friction forces at the support leg tips. Then, the time optimal motion pattern of each swing leg is designed under the boundary conditions given by the obtained walk pattern of the support legs. The fastest walk patterns of support legs and swinging legs are designed respectively. Therefore, if the time optimal motion pattern of swinging legs doesn’t satisfy the boundary conditions given by support legs, the same procedures are iterated by modifying a velocity parameter of the support legs until the boundary conditions are satisfied.

DOI： 10.1299/transjsme.16-00230

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：富士技術出版  

Recently, planetary investigations have accumulated basic data through various aerospace explorations. However, the investigations of underground such as moonquakes, heat, and conditions of the soil have not revealed much. Therefore, the authors have developed a novel, small planetary subsurface excavation robot that uses the peristaltic crawling of an earthworm as its underground propulsion method. In this study, the authors focused on two types of geotechnical tests: pressure meter and shearing tests using the excavation robot. These tests were conducted by measuring displacement and force in the radial and vertical directions inside the soil, using the excavation robot's own hardware system. This paper describes these geotechnical tests, which used the propulsion unit of the robot and measured the soil parameters, e.g., internal friction angle, adhesibility, and elastic constant. From the experiments, the authors evaluated and discussed results by comparing with reference data. The authors confirmed that the propulsion unit could measure the soil parameters and propel itself underground at the same time.

DOI： 10.9746/jcmsi.8.242

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.2493/jjspe.81.889

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Other Link： https://jlc.jst.go.jp/DN/JLC/20015754231?from=CiNii

Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

DOI： 10.11499/sicejl.54.444

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：MIC  

In an increasing demand for human-robot collaboration systems, the need for safe robots is crucial. This paper presents a proactive strategy to enable an awareness of the current risk for the robot. The awareness is based upon a map of historically occupied space by the operator. The map is built based on a risk evaluation of each pose presented by the operator. The risk evaluation results in a risk field that can be used to evaluate the risk of a collaborative task. Based on this risk field, a control algorithm that constantly reduces the current risk within its task constraints was developed. Kinematic redundancy was exploited for simultaneous task performance within task constraints, and risk minimization. Sphere-based geometric models were used both for the human and robot. The strategy was tested in simulation, and implemented and experimentally tested on a NACHI MR20 7-axes industrial robot.

DOI： 10.4173/mic.2015.1.2

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

For smooth interaction between human and robot, the robot should have an ability to manipulate human attention and behaviors. In this study, we developed a visual attention model for manipulating human attention by a robot. The model consists of two modules, such as the saliency map generation module and manipulation map generation module. The saliency map describes the bottom-up effect of visual stimuli on human attention and the manipulation map describes the top-down effect of face, hands and gaze. In order to evaluate the proposed attention model, we measured human gaze points during watching a magic video, and applied the attention model to the video. Based on the result of this experiment, the proposed attention model can better explain human visual attention than the original saliency map.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE Computer Society  

In this study, we developed a human attention model for smooth human-robot interaction. The model consists of the saliency map generation module and manipulation map generation module. The manipulation map describes top-down factors, such as human face, hands and gaze in the input image. To evaluate the proposed model, we applied the model to a magic video, and measured human gaze points during watching the video. Based on the experimental results, the proposed model can better explain human attention than the saliency map.

DOI： 10.1145/2559636.2559819

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper discusses an object handling system using three position-controlled manipulators. Mechanical compliance units are installed between each manipulator tip and its hand in order not to generate an excessive inner forces among manipulators caused by mutual positioning errors. From our previous studies, the kinematic conditions of the compliance units necessary for the position control based coordination are made clear and four passive joints are used here for each compliance unit to satisfy the conditions. In the system, the loads distributed to each manipulator tip are changed according to both the passive joint angles and the grasping points of the handled object. Therefore we firstly obtain the relationship between the grasping points and the distributed loads to each hand and then analyze the relationship between the passive joint angles and the loads given to each manipulator tip. Using these relationships we propose the searching scheme for the optimal grasping poses and passive joint angles. The effectiveness of the proposed scheme and the developed system are verified by a fundamental experiment and simulations.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper presents a control system for redundant robot manipulators that handles the path planning and redundancy control in two separate loops. The goal is to simplify industrial programming of redundant robots, by decomosing it to a familiar path planning loop, and an autonomous redundant control loop. The familiar path planning is done using an industrial robots native control system, which is already known to the operator. An external feedback loop acts as a secondary task control loop so that the redundancy in the robot is used automatically. The secondary task control is expanded from the null space projection method to a method where a parallel space to task space is modeled in joint space. The system was implemented and experimentally verified on a NACHI MR20 7-axes industrial robot with AX20 Controller. The secondary task in the experiments was an obstacle avoidance task that was tested in unknown dynamic and static environments.

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

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Language：English   Publishing type：Part of collection (book)   Publisher：World Scientific Publishing Co.  

Recently, the development of mobile robots is actively pursued. These robots are expected to have high mobility, allowing them to work in various scenarios such as rescue and exploration. Therefore, we focused on the hexapod robot for stable operation in an irregular terrain. We developed a leg using the parallel linkage mechanism and pneumatic rubber artificial muscles, and constructed a model of the legs. The model reproduced the experimental result. Then, we developed a hexapod robot which can support its weight mechanically using these legs, even without a power supply. Also, we demonstrated that our robot could walk. Furthermore, we confirmed experimentally that the robot supported loads that were about 4 times its weight.

DOI： 10.1142/9789814525534_0055

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Language：English   Publishing type：Research paper (international conference proceedings)  

In recent years, there is an increase in the number of people that require support during walking as a result of a decrease in the leg muscle strength accompanying aging. An important index for evaluating walking ability is step length. A key cause for a decrease in step length is the loss of muscle strength in the legs. Many researchers have designed and developed orthoses for walking assistance. In this study, we advanced the design of an orthosis for walking assistance that assists the forward swing of the leg to increase step length. We employed a pneumatic artificial muscle as the actuator so that flexible assistance with low rigidity can be achieved. To evaluate the performance of the system, we measured the effect of assistance quantitatively. In this study, we constructed a prototype of the orthosis and measure EMG and step length on fitting it to a healthy subject so as to determine the effect of assistance, noting the increase in the obtained step length. Although there was an increase in EMG stemming from the need to maintain body balance during the stance phase, we observed that the EMG of the sartorius muscle, which helps swing the leg forward, decreased, and the strength of the semitendinosus muscle, which restrains the leg against over-assistance, did not increase but decreased. Our experiments showed that the assistance force provided by the developed orthosis is not adequate for the intended task, and the development of a mechanism that provides appropriate assistance is required in the future. © 2013 IEEE.

DOI： 10.1109/ICORR.2013.6650350

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Publishing type：Research paper (international conference proceedings)   Publisher：SciTePress  

DOI： 10.5220/0004425405280535

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Other Link： https://dblp.uni-trier.de/db/conf/icinco/icinco2013-2.html#OmoriDTNO13

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Recently, flexible and light actuators that mimic muscle fibers have been actively researched. Here, we focused on an electroactive polymer (EAP) dielectric elastomer. To construct the actuator, the dielectric elastomer is rolled into a tube, and extended by applying a voltage across its electrodes. In this paper, we experimentally obtained a static characteristic model of the electrostrictive rubber actuator, and proposed a control method. We then incorporated the actuator into a 1-DOF manipulator, and constructed a controller from a mechanical equilibrium model of this manipulator. Finally, the constructed controller was tested in a series of experiments. The angle of the arm fell below the desired angle because of friction in the joint and the spring characteristics of actuators. However, we confirmed that the controller reduced the influence of the load by torque feedback. We also investigated the influence of joint stiffness.

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Language：English   Publishing type：Research paper (international conference proceedings)  

Recently, the demand for robots that operate in the fields of nursing and human life have increased due to the aging population and falling birthrates. Since these robots are intended to operate near humans, it is necessary they should have increased safety measures. Moreover, since it is desired that these robots use actuators that are light and soft, in several cases artificial muscles have been used as actuators. However, the Mckibben-type artificial muscles that are most commonly used have several drawbacks. Therefore, we developed a straight-fiber-type artificial muscle that was utilized to construct a two degree-of-freedom (2-DOF) manipulator. Because the manipulator is equipped with a differential gear mechanism, it is capable of performing 2-DOF bending and torsion motions using only one mechanism. However, the rotation speed of gears respectively differs in this mechanism, so the interference occurs in unintended directions because the speed of contraction and extension of the artificial muscle respectively differs. To address this problem, we introduce the disturbance observer (DOB) in the control system. Finally, we show that using our proposed DOB control method results in less interference in the 2-DOF manipulator than when using the proportional integral (PI) control method.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A time optimal control algorithm for quadruped robots is developed and its effectiveness is verified by experiments and simulations. The derivation of the optimal solution consists of two steps that are the speeding up of supporting legs and that of swinging legs. The way of the speeding up of swinging legs is very similar to that of a two link manipulator developed by Bobrow. In this paper, first, a method of using torque redundancy of the robot is proposed for speeding up of supporting legs with the constraints due to ZMP, the power limits of joint actuators and the limits of available friction forces. Then, an algorithm for obtaining the fastest walking pattern in a trot gait period is developed by combining the result of the supporting legs and that of the swinging legs. The obtained walking pattern is installed in a quadruped robot SONY ERS-7 and its effectiveness is verified by experiments.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

Reaction forces acting on the bucket of a wheel loader from a scooped rock pile are modeled for autonomous control of wheel loaders. First, the behavior of the rocks in the bucket is directly observed by using a mechanical simulator. Since it is revealed that the behaviors are different in the phases of scooping, the reaction forces models are assumed in each phase. Then, the reaction forces calculated by the assumed models are compared with the measured forces by a force sensor installed into the mechanical simulator. From the experimental results, the models are verified. By using the obtained model, efficient scooping algorithm is expected.

DOI： 10.1299/jsmeicam.2010.5.693

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

Reaction forces acting on the bucket of a wheel loader from a scooped rock pile are modeled for autonomous control of wheel loaders. First, the behavior of the rocks in the bucket is directly observed by using a mechanical simulator. Since it is revealed that the behaviors are different in the phases of scooping, the reaction forces models are assumed in each phase. Then, the reaction forces calculated by the assumed models are compared with the measured forces by a force sensor installed into the mechanical simulator. From the experimental results, the models are verified. By using the obtained model, efficient scooping algorithm is expected.

DOI： 10.1299/jsmeicam.2010.5.693

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

Reaction forces acting on the bucket of a wheel loader from a scooped rock pile are modeled for autonomous control of wheel loaders. First, the behavior of the rocks in the bucket is directly observed by using a mechanical simulator. Since it is revealed that the behaviors are different in the phases of scooping, the reaction forces models are assumed in each phase. Then, the reaction forces calculated by the assumed models are compared with the measured forces by a force sensor installed into the mechanical simulator. From the experimental results, the models are verified. By using the obtained model, efficient scooping algorithm is expected.

DOI： 10.1299/jsmeicam.2010.5.693

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

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Publisher：The Japan Society for Precision Engineering  

DOI： 10.2493/jjspe.76.1101

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Other Link： https://jlc.jst.go.jp/DN/JALC/00365860721?from=CiNii

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A tele-operation system for a crane is developed. The crane consists of a small actuator and a large actuator in x and y direction respectively. The large actuators are controlled by input signals from an operator and the small actuators are used as a regulator and feedback controlled by a wire angle sensor. Since a motion of the suspended object can be approximated as a second order system, overshoots of the object inevitably happen at the moment when the operator give a stop command to the system. To avoid this overshoots, a novel user interface is developed where operators indicate via points or target point of the object on a monitor screen from the camera imaging the scene below the crane. The system interpolates the via points by using four order functions and give the velocity commands to the crane until the inputs of the via points are stopped. The final point is regarded as the target point. From experimental results, the effectiveness of the developed control system and its control algorithm is verified.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A reliable control method is proposed for multiple loop control systems. If a feedback loop fails (e.g., as a result of a sensor breakdown), the control system develops an unstable fluctuation. To cope with this problem, the proposed method uses an equivalent transfer function (ETF) for active redundancy compensation after loop failure. The ETF is used to maintain the transfer function of the entire system the same before and after loop failure. In this study, the characteristics of a reliable control system that uses an ETF were examined experimentally. A position servo system including a disturbance observer is used in the experiment. In case of feedback loop failure, the control system could not be stabilized using the disturbance observer alone; however, the ETF stabilized the control system after feedback loop failure.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical Engineers of Japan  

A reliable control method is proposed for multiple loop control system. After a feedback loop failure, such as case of the sensor break down, the control system becomes unstable and has a big fluctuation even if it has a disturbance observer. To cope with this problem, the proposed method uses an equivalent transfer function (ETF) as active redundancy compensation after the loop failure. The ETF is designed so that it does not change the transfer function of the whole system before and after the loop failure. In this paper the characteristic of reliable control system that uses an ETF and a disturbance observer is examined by the experiment that uses the DC servo motor for the current feedback loop failure in the position servo system. © 2009 The Institute of Electrical Engineers of Japan.

DOI： 10.1541/ieejeiss.129.2194

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Eengineers (C)  

We propose a strategy for handling a large object by cooperation of multiple PID position-controlled manipulators and develop a cooperation system consisting of three commercial industrial robots. The developed system can handle a large object by cooperation of three robots. Three passive joint mechanisms consisting of four passive joints with electro-magnetic brakes are installed at the tip of each robot to avoid excessive inner forces due to mutual positioning errors. Since the geometrical relationships among three installed mechanisms and their joint angles must satisfy necessary kinematic conditions to avoid excessive inner forces, a simple way to check whether the necessary condition is satisfied or not is proposed. In order to investigate the effectiveness of the proposed strategy from the practical point of view, some fundamental experiments are done by using the developed system.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Eengineers (C)  

Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. Each leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, each leg supports their body weight, and the reaction forces from its ground must be inside of their friction corn. Moreover, the ZMP(zero moment point) of the robot is constrained for stable walk. Therefore, time optimal control inputs must be designed considering these constraints. SONY ERS-7 is used as a quadruped walking robot and a fundamental experiment is done. From the experimental results, the effectiveness of the developed control algorithm is verified.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A reliable control method is proposed for multiple loop control systems. If a feedback loop fails (e.g., as a result of a sensor breakdown), the control system develops an unstable fluctuation. To cope with this problem, the proposed method uses an equivalent transfer function (ETF) for active redundancy compensation after the loop failure. The ETF does not change the transfer function of the entire system before and after the loop failure. In this study, the characteristics of a reliable control system that uses an ETF are examined using an experimental method. A position servo system with a DC servo motor is used in the experiment. The ETF is used for motor control after current feedback loop failure.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

An omni-directional moving platform with four wheels is developed and its controller is designed for tracking desired trajectories. The four wheels of the platform are torque controlled by DC servo motors independently. The generalized coordinate of the platform is three, therefore the system has one torque redundancy and one odmetry sensor redundancy which can be used for improving the control performance of the moving platform. First, ways of exploiting odmetry sensor redundancy is discussed. Then a criterion for exploiting the torque redundancy is proposed to make larger the margin of driving force, and fundamental simulations and experiments are done to show the control characteristics of the developed mobile platform.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A force control device with high power and high resolution is developed. It consists of a spring and a small force actuator which are connected in parallel between the base plate and the output plate. By installing this device into a tip of a high power industrial robot, large forces with high resolution can be achieved under the existence of static friction. In this paper, the principle of force control device is verified by using a simple two d.o.f. experimental setup. From experimental results, the effectiveness of the developed control device and its control algorithm is verified. ©2008 IEEE.

DOI： 10.1109/IROS.2008.4650791

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Language：Japanese   Publishing type：Research paper (other academic)   Publisher：精密工学会  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, the sampling real-time QMDP value method is proposed and applied to a goalkeeper task of a soccer robot. Soccer is a challenging task for an autonomous robot that has poor computing resources and sensors, and a good subject in the study of decision making in dynamic environments. A robot frequently decides its behavior without enough observation of the environment. In the proposed method, the risk of a score is solved beforehand toward every set of position of the goalkeeper and motion of the ball. The shortage of observation is calculated and represented by particle filters. The proposed method uses the risk function and the particle filters so as to choose appropriate behavior of the goalkeeper. The experiment with an actual robot suggests that the method can decide actions reflexively toward the motion of the ball.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. Each leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, each leg supports their body weight, and the reaction forces from its ground must be inside of their friction corn. Moreover, the ZMP(zero moment point) of the robot is constrained for stable walk. Therefore, time optimal control inputs must be designed considering these constraints. SONY ERS-7 is used as a quadruped walking robot and a fundamental experiment is done. From the experimental results, the effectiveness of the developed control algorithm is verified.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Two control methods of controlling a redundant manipulator mounted on a base plate suspended by six wires are proposed. By suspending the base plate by six linearly independent wires, the plate doesn't swing even if the reaction forces are applied to the plate from the moving manipulator. However, if the reaction forces become too large due to fast motion, some wires become loose and the base plate may turn over. To avoid the overturn, two ways to exploit the redundancy of the manipulator are proposed and their effectiveness is verified by simulations and experiments.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Verlag  

Recognition of colored objects is important and practical for robot vision. This paper proposes a color recognition method which is robust to illumination change. A color space of Cb/Y and Cr/Y is introduced where Cb and Cr are color difference and Y is intensity of YCbCr color space. This color space is not affected by the change of the brightness of illumination. And a method to update clusters of color table is proposed. The method can cope with the change of the color of illumination. Experiments show that the proposed method can recognize color more robustly for illumination change. RoboCup four legged robot league is chosen as the research platform. © Springer-Verlag Berlin Heidelberg 2006.

DOI： 10.1007/11780519_51

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

In this paper, a simulator of environment and measurement that considers camera characteristics is developed for multiple autonomous mobile robots. RoboCup 4-legged robot league is chosen as the concrete target. The simulator introduces a sever/client system, and realizes separation of each robot's information, introduction of each robot's difference and distribution of processes. OpenGL is utilized to produce virtual images. So as to make a simulator reflect real environment, sensing noises should be considered. The simulator considers the effects of blur, element noises, vignetting, lens distortion and delayed exposure for each line of the CMOS image sensor. Experiments show the similarity between actual camera images and simulated camera images. Consequently, it is possible to verify programs for multiple autonomous mobile robots on the simulator, and therefore the proposed simulator is a useful tool for effective development of algorithms.

DOI： 10.7210/jrsj.23.878

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Other Link： https://jlc.jst.go.jp/DN/JALC/00259243876?from=CiNii

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

Though Monte Carlo localization is a popular method for mobile robot localization, it requires a method for recovery of large estimation error in itself. In this paper, a recovery method, which is named an expansion resetting method, is newly proposed. The combination of the expansion resetting method and the sensor resetting method, which is a typical resetting method, is also proposed. We then compared our methods and others in a simulated RoboCup environment. Typical accidents for mobile robots were produced in the simulator during trials. We could verify that the expansion resetting method was effective for recovery from small irregular changes of a robot's pose, and that the combination method could deal with both large and small irregular changes.

DOI： 10.7210/jrsj.23.466

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Other Link： https://jlc.jst.go.jp/DN/JALC/00250700286?from=CiNii

Language：English   Publishing type：Research paper (international conference proceedings)  

We have proposed the real-time QMDP method for decision making of a robot under uncertain state recognition. This method evaluates every action and chooses the best one with a particle filter for estimation and a state-value function of dynamic programming. Different from our past work, this paper applies it to a complicated decision making task that yields local maxima and discontinuity on the state-value function. We then verify whether the method can choose proper actions or not in such a condition. As an example, total behavior of a goalkeeper for robot soccer is planned by using value iteration. This task contains three strategies, which are related to three kinds of local maxima respectively. Simulations, experiments and actual games have suggested that the method can decide actions effectively according as uncertain result of state estimation. © 2005 IEEE.

DOI： 10.1109/ROBOT.2005.1570646

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Eengineers (C)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd. Japan Society of Mechanical Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaic.69.2902

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

Suspension devices with histeretic nonlinearity like functional rubber pads have been dealt by models with types like bilinear, trilinear, Ramberg-Osgood, Wen characteristics, by which sufficient adaptation of parameters to those measured from the devices has been difficult. A method is proposed which makes it possible to discribe of the hysteretic nonlinear characteristics obtained from dynamic property test of the actual elements in terms of Preisach model. This makes it possible as well that vibration analysis of mechanical system with hysteretic nonlinearity baned on measured property of actual elements. © 2003, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.69.2556

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In order for a legged mobile manipulator to work, it is essential to change its posture for stable standing in response to the force at the end effector. We define 'firm standing' as keeping a stable posture in working without moving the positions of the point of contact of legs and end effector. We analyze firm standing and show required degree of freedom for it. We also experiment on it by using redundant d.o.f. in 2-D space.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publisher：Robotics Society of Japan  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper focuses on a method of estimating contact force dynamically between environment and an object, which is grasped by the soft planar fingers with tactile sensors. The external contact force acting on the grasped object causes the tactile sensors to generate the displacement distributions and the for-cc distributions, We present a method of dynamic tactual image acquisitions for both distributions at the pseudo video rate. Experimental results show the measurement of the tactual image flows due to the deflection of an object and the magnitude and orientation of force vectors operating on the finger according to the external contact for-cc. The contact position of the external force acting on the grasped object is estimated within 15 % from the tactual image distributions.

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/iros.2000.894653

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

A simple strategy for carrying a large object with the cooperation of multiple position-controlled robots is proposed. In cooperative systems handling single objects, compliance is necessary for each robot to avoid excessive inner forces caused by mutual positioning errors. However, since the majority of commercial industrial robots have PID position controllers, the necessary compliance cannot be achieved by servo systems. Thus, mechanisms consisting of passive joints are installed in a cooperative system as mechanical compliance. First, the mechanical compliance required for the cooperation of position-controlled robots is derived, From the theoretical results, it is determined that the maximum number of robots that can directly support a single object is six. Second, the statics and error characteristics of cooperative systems including compliant mechanisms are analyzed. An example of the cooperation of three mobile robots is designed using passive joint mechanisms. Finally, the strategy is extended to cooperation among an arbitrary number of mobile robots by building hierarchical structures with passive joints.

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmec.43.394

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Precision Engineering  

A compliance control system is designed for wire suspended systems. The kinematic and static characteristics of the systems are analyzed and a rigid manipulator model with some virtual springs at the tip is derived. After showing that both position controllers and force controllers are needed for compliance control of a suspended object, a way to design each controller is described. A compliance controller for a prototype crane with three wires is designed and the crane is used for automatic assembly and cooperation between the crane and a position-controlled industrial robot. The experimental results verify the effectiveness of the compliance controller.

DOI： 10.2493/jjspe.66.757

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Other Link： https://jlc.jst.go.jp/DN/JALC/00066096955?from=CiNii

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：電気学会  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：TAYLOR & FRANCIS LTD  

The paper describes a solution of object orientation findings based upon the sensor fusion problems between visual sensing and tactual sensing. We focus on the induction of the tactual images used for identifying the orientation of an object in a sensor fusion system made up on the geodesic dome. As an object is set up at the center of the geodesic dome, its image is taken by the camera positioned at the center of the facet on the geodesic dome. Also, robot fingers take tactual images on the finger behavior. If an object's image taken by the camera is identified with the image model of the facet on the geodesic dome, the position and orientation of the camera which lakes its image are determined from the facet on the geodesic dome. As the tactual image corresponds to the image induced from the facet on the geodesic dome, the orientation of object is confirmed from the tactual image. Computer simulations show the effectiveness of the proposed method.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

We propose a strategy for cooperation of multiple PID position-controlled manipulators. Free joint mechanisms are installed at the tip of each manipulator to avoid excessive inner forces due to mutual positioning errors of manipulators. Since the cooperative system has kinematic redundancy due to additional passive joints for cooperation, a way to exploit the redundant degrees of freedom is proposed based on the kinematic analysis of the cooperative system. A cooperative mechanism consisting of four passive joints with electro-magnetic brakes is developed and the effectiveness of proposed algorithm is verified by experiments using two industrial robots. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.153

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：VSP BV  

A new type of crane mechanism with a hierarchical structure in a two-dimensional (2D) space is described. In this system, even if some of the wires have length errors, none of the wires becomes loose. As a result, a feedback controller based on position control is applicable.

DOI： 10.1163/156855300741870

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/iros.1999.812778

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/iros.1999.812782

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/iros.1999.812810

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaic.65.2405

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：CAMBRIDGE UNIV PRESS  

Industrial robots have a high positioning accuracy and stiffness but their work spaces are limited because their bases are fixed to the ground. To enlarge the work spaces, this paper proposes a novel mechanism, a wire suspended manipulator with three degrees of freedom. First, the kinematics of the mechanism is derived from both force and geometric constraints. Second, the volume of the work space is numerically calculated. After the evaluation of manipulability of the wire suspended system, guidelines for designing parameters are studied.

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/iros.1998.727437

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/robot.1998.680917

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Language：Japanese   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.16.288

CiNii Books

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Other Link： https://jlc.jst.go.jp/DN/JALC/00052775017?from=CiNii

Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/aim.1997.653005

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaic.63.1649

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Language：Japanese  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：CIRP  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：RIKEN  

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Language：Japanese   Publisher：日本ロボット学会  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JRA  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：CIRP  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.14.263

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper proposes a simple method for carrying a large object by cooperation of multiple mobile manipulators with position controllers. It is necessary for each robot to have compliance in order to avoid excessive inner forces due to the mutual positioning errors. Thus manipulators on mobile platforms are used as free joint mechanisms by locking some joints and making the rest joints free. These free joints play the role of mechanical compliance. First, compliance needed for cooperation among position-controlled robots is shown. Second, the statics and error characteristics of cooperative systems including compliant mechanisms are analyzed. Some feedback control laws for platforms moving on rough ground are proposed and discussed.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：I E E E  

This paper proposes a method of estimating contact force between environment and an object grasped by a parallel two-fingered hand with tactile sensors developed by us. The sensors can get 2D patterns of pressure distribution and have many potential applications such as recognition of a grasped object, assembly, tasks and so on. In order to achieve assembly tasks using a multi-fingered hands, next two kinds of parameters are essential: one is the geometrical relationship between the coordinate systems of the hand and of the grasped object, and the other is the information about the position of contact point and the contact force between the grasped object and its environment. When the parallel two-fingered hand are used for assembly tasks, the geometrical relationship between the hand and the object can be easily obtained. Thus, this paper describes how to detect the contact point and to measure the contact forces by the tactile sensors. First, the principle of the sensor is explained briefly. Second the way to use the tactile sensor as a force sensor is shown. Since the information front the sensor is not enough to identify, the contact point and the contact force, additional measurements at different positions are needed. The algorithms for the tactual behaviors are proposed.

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Language：Japanese   Publishing type：Research paper (other academic)   Publisher：日本ロボット学会  

DOI： 10.7210/jrsj.13.904

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：MECHANICAL ENGINEERING PUBL  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：I E E E, COMPUTER SOC PRESS  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：CIRP  

This paper proposes an assembly system with double industrial manipulators. Each manipulator consists of precise and coarse positioning devices. Compliance is introduced to accommodate positioning errors between the double manipulators. A cooperative control scheme for the two manipulators is studied. The results of experiments verify the effectiveness of the proposed scheme. This system is well suited for assembly of large-sized parts. © 1995 CIRP.

DOI： 10.1016/S0007-8506(07)62267-7

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Language：Japanese   Publisher：The Robotics Society of Japan  

This paper proposes a simple method for applying popular PID position-controlled industrial robots to cooperative tasks with force interactions among them. For handling single object by multiple robots, force control using torque controllers is generally used to avoid excessive inner forces, however, a popular industrial robot has a PID positioncontroller. Thus it is usually very difficult to realize cooperative control with industrial robots. This paper proposes a method to introduce flexible mechanisms at the tips of robots to control forces at the end-effectors. After the installation of flexible mechanisms at the tips of robots, a closed-loop structure including flexible parts is generated. First, the number of degrees of freedom of the closed-loop structure is analized by modeling the installed flexibility as virtual joint variables. Next, the minimum number of springs, required to avoid both excessive inner forces and vibrations caused by the installed flexibility, are derived. Finally, the minimum number of actuators to control the object in arbitrary directions of 3 D space is derived for installed robots.

DOI： 10.7210/jrsj.12.1192

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

This paper proposes an effective strategy of holding a swinging object by two arms for automating heavy parts assembly. Instead of human arms, this research uses two flexible arms to avoid impact forces at the moment of contact. The strategy has three modes, which are following, approaching and cooperation. One arm which touched the target object first follows the object so as to keep the contact. From the position and the deflection of the arm, the exact position of the object can be measured. In the approaching mode, the other arm is also controlled to touch the object by the feedback of the distance to the object. After the holding, two flexible arms reduce the vibration of the object by cooperative control. All the modes are realized by the same structured controllers, which control the desired force generated at the tip and the position. Experimental results show the effectiveness of the strategy.

DOI： 10.7210/jrsj.12.1206

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

The manipulability for wire suspension mechanisms is discussed. For kinematics of a wire driving mechanism, we need not only the geometrical constraints of wire lengths but also the force constraints that each wire tension should be always greater than or equal to zero. First, the sufficient and necessary mechanical conditions corresponding to the force conditions are shown. Using these conditions, we can obtain the manipulability of a wire driving mechanism almost same as that of popular multi-link manipulators. Second, a more practical evaluation index including wire tensions that are driving forces for the object is proposed as"manipulating force set"and the way of calculation is shown. We also derive both manipulability indexes of wire suspension mechanisms in gravity field by modeling the gravitational force as a wire with the tension of the gravity. Numerical examples are given to explain the proposed methods and to show their validity. The method is expected to be effective in designing and task planning of wire driving systems including wire suspension mechanisms.

DOI： 10.7210/jrsj.12.1049

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Language：Japanese   Publishing type：Research paper (other academic)   Publisher：日本設計工学会  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：RIKEN  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：RIKEN  

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Language：Japanese   Publishing type：Research paper (other academic)   Publisher：日本設計工学会  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：I E E E  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：I E E E  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：I E E E, COMPUTER SOC PRESS  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Precision Engineering  

DOI： 10.2493/jjspe.59.2061

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Precision Engineering  

DOI： 10.2493/jjspe.59.767

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：I E E E  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本ロボット学会  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Asociacion Espanola de Robotica  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：理化学研究所（RIKEN）  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Council of Int. Federation Theory of Machines and Mechanisms  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：TheInstituteofElectricalandElectronicsEngineers,INC.(IEEE),RSJ  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JIRA  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Precision Engineering  

The handling of a heavy work is a dangerous task. A crane is one of the suitable mechanisms to handle the heavy work, but it makes the suspended work vibration. This paper proposes a heavy work handling system which consists of a crane and a robot. A flexible arm is installed at the tip of the robot in order to avoid large reaction force when the robot grasps the swinging work. The mechanism is modelled as two springs and a mass. Based on this model, a cooperative control system between the crane and the robot is designed for positioning the work. The robot is position-controlled as a master and the crane is velocity-controlled as a follower. To reduce the vibration of the work, the crane is controlled through the feedback signals of both the deflection of the flexible arm and the velocity of the crane. Additionally a feedforward signal from the robot controller is used. Experimental apparatus is made with 3.9 kg weight. The performance of the system is studied with its simulation. Experimental results prove that the system is very efficient in handling heavy works.

DOI： 10.2493/jjspe.57.467

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Other Link： https://jlc.jst.go.jp/DN/JALC/00007908026?from=CiNii

Language：English   Publishing type：Research paper (scientific journal)   Publisher：Society ofManufacturing Enginieers  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：International Institution for Production Engineering Research (CIRP)  

Even though assembly of heavy works (10Kg to 10ton) is a dangerous task, it has not been automated. After analysing the assembly process of heavy parts, the combination of a crane and a robot is proposed in this paper. In order to avoid an impact force between parts, compliance is installed on the tip of the robot. A heavy work is suspended by a crane: it is moved by the robot and the wire is fed. The stiffness matrix is obtained about the suspended work. The vibration is absorbed at the positioning. Experimental results of the control indicate that the system is efficient. © 1990 CIRP.

DOI： 10.1016/S0007-8506(07)60998-6

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：日本産業用ロボット工業会（JIRA）  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Jiao Tong Univ. China The Univ. of Tokyo  

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Language：Japanese   Book type：Report

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Language：Japanese   Book type：Report

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Total pages：194   Responsible for pages：5-23   Language：Japanese  

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Language：Japanese   Book type：Report

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Total pages：290   Responsible for pages：126-129   Language：Japanese  

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Total pages：235   Language：Japanese   Book type：Scholarly book

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Total pages：212   Language：Japanese   Book type：Scholarly book

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Responsible for pages：23-28   Language：Japanese   Book type：Scholarly book

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Total pages：229   Language：Japanese   Book type：Scholarly book

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Responsible for pages：421-426   Language：English   Book type：Scholarly book

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Responsible for pages：327-332   Language：English   Book type：Scholarly book

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Responsible for pages：374-385   Language：English   Book type：Scholarly book

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this study, a passive joint mechanism is attached to the hand of each manipulator to prevent the generation of the internal forces during cooperative transportation by multiple mobile manipulators. The mechanism enables cooperative transportation by position control. However the loads for each manipulator changes according to the grasping pose by the characteristics of the mechanism. In this paper, first, we propose a method of transportation considering the characteristics of the mechanism. Then, we verify the effectiveness of the proposed method by experiments.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Smooth interaction between human and robot is necessary for coexistence of human and robot. Humans usually interact with each other smoothly by using gestures, thus we focused on them. We conducted two experiments in order to investigate a relationship between human attention and robot's posture. According to the result, there is a difference between robot's point of gaze and position of human's attention. Then we proposed a computational model of robot's posture that provides appropriate rotation angles of motors of arms and head to draw human's attention considering the difference. At last, from the experiments, we showed relationships between the rotation angles of motors and position/size of human's attention. The relationships contribute to develop a computational model of robot's posture that enables robot to smoothly interact with humans.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Time optimal control method for quadruped walking robots has been developed and installed into a practical robot system. The fastest trot walk and the trajectory of swing legs have already been obtained by our previous study. In this study, we designed velocity trajectories of the body and swing legs. Then, the design method of velocity trajectory that can accelerate to maximum speed in the shortest time and can decelerate to stop in the shortest time is established by combining velocity trajectory of the acceleration part and deceleration part of the body. Finally, we verified the simulation results.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Riding posture as well as leg motion is very important for cycling. To improve riding skills, it is very useful for riders to show their riding posture during cycling. In this study, we aim for developing a method to estimate a rider's posture only using sensors attached to a bicycle or the rider. For the first step, we propose a method to estimate hand grip position. The method uses Support Vector Machine based on the observed data from a 6-axis force/torque sensor installed at an ahead stem. Through the experiments, our estimation method achieved both high precision and high recall.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A method of scooping rock piles automatically by wheel loader has been proposed until now. In actual rock piles, many massive rocks exist, which hasn't been considered yet. So, a new method of scooping of a massive rock buried in rock piles is proposed. As a fundamental experiment, horizon reaction forces acting on the bucket are measured during the scooping of a massive rock by a miniature wheel loader with the same bucket driving mechanism as an actual wheel loader, and their horizon reaction forces are analyzed.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

To observe one's own motion in real time is very important in improving one's sports skills. A growing number of people are enjoying cycling as a sport. Their riding skill has to be improved for keeping their safety. Then, we propose a system that presents riding states to a bicycle rider for improving his riding skill. Though there are many elements about riding states, especially in this paper, we focus on the balance of the load applied to some points of a bicycle; a handlebar and a saddle. Finally, we verified that the proposed system is effective through an experiment.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A transportation system by cooperation of several manipulators has been developed until now. In this report, a practical method of determining grasping points of manipulators is proposed so that the maximum loads for each manipulator shouldn't exceed the payload capacity of the manipulators. First, we propose a searching scheme for grasping points so as not to exceed the load capacity for arbitrary trajectories of position and orientation of the transported object. Then, we verify the effectiveness and efficiency of the scheme by simulations.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Authors have developed an autonomous control system for loading rocks on a dump truck which can make arbitrary shapes of a rock pile on the loading platform. In order to realize such a system, it is necessary to analyze the behaviors of rocks fallen from the bucket of the wheel loader. However, the calculated shapes based on the behavior the bucket are not enough. Therefore the rock behaviors are carefully observed by a new developed image processing system and the mechanism of slope failure of rocks in the bucket in this paper.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, development of mobile robots is actively pursued. These robots are expected to work in various situations such as rescue and exploration. Therefore, we developed a leg using pneumatic rubber artificial muscles and constructed a model of the legs. Then, we developed a hexapod robot which can support its weight mechanically even without power supply using these legs. The robot supported about 4 times as much load as its own weight floating idling legs in experiment. Furthermore, the robot walked with load. And we concluded that the cause of reduction in a walking speed is friction of a transverse direction to a direction of movement of the legs. In the future, we plan to decrease unnecessary friction of the leg, and mount a compressor, a power supply, and a tank in the robot.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A pump capable of transporting high-viscosity fluids and solid-liquid mixtures is required in various industrial settings. Turbine-type pumps, piston-type pumps and squeeze-type pumps are often used to transport high-viscosity fluids and solid-liquid mixture. However, these types of pumps have disadvantages. Hence, an innovative transport system is desired. In this paper, we focus on bowel peristalsis as a model for a mechanism that can transport fluids, such as sludge with little water. We developed a peristaltic pump based on the bowel mechanism by using an artificial rubber muscle, and confirmed its capabilities. But this pump changes diameter and length when it transport fluid. So we developed New peristaltic pump and we measure flow rate.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In a past study, we developed the mobile mechanism of traveling wave propagation for wall climbing robot. This mobile mechanism is able to use the conveying equipment. In case of using this conveying equipment, the conveyance direction changes by the shape of the carriers. Carriers of the shape to step over the waves more than two is conveyed to the opposite direction of the generated wave. On the other hand, carriers of the shape that is smaller than a wave is conveyed to the direction of the generated wave. In this paper, we developed a conveying equipment using the mobile mechanism of traveling wave propagation and performed the experiment.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The 1-inch gas pipes are used in houses and between gas meters and the main pipe which lies under the road, and requires regular inspection. However, an endoscope has the limit of the scope on inspection. In addition, in-pipe robots cannot pass through a 90-degree elbow, whose radius of curvature equals its inside diameter. In this study, we developed the peristaltic crawling robot with pneumatic artificial muscles for 1-inch gas pipes. This robot can pass through the elbow horizontally and vertically. In addition, this robot can be equipped an endoscope. However, this robot cannot pass through the continuous elbows. It lies in the actual environment certainly. In this paper, to use a robot in the actual environment, we developed the robot which can pass through the continuous elbows. We experimentally confirmed that the robot can pass through the continuous elbows.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The traveling wave type omni-directional mobile robot imitates the snail locomotion mechanism. An advantage of this movement mechanism is that it enables stable motion because of a large contact area. We think that this stable motion is applicable to wall climbing. In this paper, we developed magnetic adhesion mechanism for moving on ferromagnetic surface and also the traveling wave type omni-directional wall climbing robot using developed magnetic adhesion mechanism. Furthermore, we confirmed the performance of this robot through experiments.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Highly rigid actuators such as a geared motor or hydraulic actuator are widely used in industrial robots. To obtain high-speed motion, it is necessary to increase the actuator output as the robot weight increases. In contrast, humans perform motions with instantaneous force-as in a jump or throw-via variable viscoelastic characteristics. Therefore, we developed a manipulator with variable viscoelastic joint using an artificial muscle and a magnetorheological(MR) brake. Furthermore, we generated instantaneous force, and the dead and rise times decreased compared to the conventional method. In this paper, we controlled the arm position after arbitrary instantaneous force by applying equilibrium of force to the joint. Furthermore, we controlled the arm vibrations by controlling the MR brake using an evaluation function. The results obtained were quite satisfactory.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper describes the development of a robot to inspect narrow sewer pipes. Periodic inspections of sewer pipes are necessary to prevent accidents such as sagging of road. But, the means to inspect narrow sewer pipe are limited. For example, conventional endoscopes are difficult and sometimes impossible to pass through a complex network of pipes. To deal with this issue, we developed a peristaltic crawling robot that imitates the locomotion of an earthworm. The actuator of the robot is composed of straight fiber type artificial rubber muscles that contract and extend using air pressure. Additionally, we developed new method that mounts air solenoid valve to developed robot. Therefore, we prevent developing robot from decrease of the speed that occurs by traveling long distance. In order to shorten the time of expansion and extension of artificial muscle, we conducted three methods that made improvement. Finally, we performed calculated the speed of developing robot.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Cooperative transportation by multiple mobile manipulators is required for transporting large and heavy objects. However the internal forces generated in transporting object caused by positioning errors of platforms are the problem. The problem can be solved if robots have a compliance mechanism. In this paper, a method of using suspensions installed in mobile platform as a compliance mechanism is proposed.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Time optimal control method for quadruped walking robots has been developed and installed into a practical robot system. Support legs are modeled as five-link manipulators and swinging legs are modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, the path of swing legs was designed as a horizontal line for simplicity, so the tips of the swing legs were dragged and robot could not walk at theoretical velocity. A new trajectory of the leg tips is designed to avoid the dragging.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In recent years, the population that requires assistance with walking has increased owing to a decrease in leg muscular power with age. To prevent muscle weakness and expand their sphere of activities, we develop the orthosis for walking assistance using a pneumatic artificial muscle to assist leg muscular power. In order to judge the availability of the orthosis, we measure the effect on assistance quantitatively. EMG and step length are measured with assistance on healthy subject. We observed that the EMG of the sartorius muscle, which helps swing the leg forward, decreased. And step length is increased as a result of assistance. I think these results mean that a person with little muscular strength can walk like a healthy person.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by four wires. In this study, we propose a motion trajectory for a wire suspended manipulator to reach as quickly as possible to the target position. The effectiveness of the obtained trajectory is verified by simulations and experiments.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A time optimal control method for quadruped walking robots is developed and installed into a practical robot system. The fastest straight walking has already been obtained by our previous study. Though that is only straight walking, moving range is restricted. Therefore, the purpose of this study is theory construction of curved walking for quadruped robots because of increasing moving range and earlier arriving at target. By means of deriving curved path stroke of robot body, placing position of legs, and dynamic equation of robot body, we obtain it.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this study, we developed two types of maintenance robots using a pneumatics artificial rubber muscle for a jacket inside a mixing tank. One is an excavation robot for cleaning the inside of the jacket, and the other is a polishing robot for inspecting the walls. The excavation robot consists of five units and four joints. This robot mimics the peristaltic crawling motion of an earthworm. On the other hand, the polishing robot consists of five units, a metal brush and two wing parts. This robot polishes the walls inside the jacket. Three types of experiments were performed with the two robots. One of the experiments was a driving test inside a various vertical walls. Second was an excavation test inside the jacket. Third was to eliminate sediment on the local walls.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have proposed scooping homogeneous rock piles automatically by wheel loader until now. However actual rock piles are not homogeneous because they include massive rocks which haven't been considered yet. So, a new method of scooping of a massive rock in rock piles is proposed. As a fundamental experiment, horizon reaction forces acting on the bucket are measured during the scooping of two type models assumed massive rock by a miniature wheel loader, and their horizon reaction forces are formulated. In addition, the amount of energy required to scoop a massive rock is calculated to design an optimal bucket trajectory.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, the demand for robots that operate in the fields of nursing and human life have increased due to the aging population and falling birthrates. Since these robots are intended to operate near humans, they are preferable to be light, soft and safe. To satisfy these requirements, we adopt a pneumatic artificial muscle as an actuator of robot manipulator. However, the McKibben-type artificial muscles that are most commonly used have several drawbacks. Therefore, we developed a straight-fiber-type artificial muscle, and developed two degrees of freedom artificial muscle manipulator with a differential gear mechanism. However, the interference occurs in unintended directions in this mechanism because the rotation speed of right and left gears respectively differs. To address this problem, we introduce the disturbance observer (DOB) in the control system. We control the response of right and left gears by disturbance observer and reduce the interference.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

There is a growing demand for a walker for an aged person. It is a serious challenge to climb a step by the walker. A mechanism for step-climbing of the walker have been commercialized. However, a considerable amount of force is necessary to climb the step by using it. It is also expensive and has a complex mechanism. Therefore, we work on the development of a new mechanism for step-climbing of the walker. In this paper, we propose a new mechanism that focuses on a front wheel of the walker to climb a step. We verify the effectiveness of it by simulation.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A tele-operation system for a crane is developed. The crane consists of a small actuator and a large actuator in x and y direction respectively. The large actuators are controlled by input signals from screen click interface and transports suspended objects. The small actuators are used as a regulator and feedback controlled by a wire angle sensor. If the operator plots some points, the transportation time is longer in proportion to a number of plots. Therefor we generate the trajectory to shorten the transportation time. We make possible to derive the route error caused by superposing the trajectory. In the area with obstacle the possible transportation area considering the route error is derived.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper describes the development of an endoscopic device veering-out the latex tube with jamming of granular materials. Colorectal cancers can be cured completely if they are discovered early with a large intestine endoscope. While the endoscope can be used to screen and heal this cancer, its operation is difficult. Peculiarly difficult operation is to pull up a sigmoid colon. In this study, to solve the difficulty associated with the use of this endoscope, we consider that an endoscope is passed through a sigmoid colon by simply pressing without the need to pull up the sigmoid colon. Therefore we propose an endoscopic device veering-out the latex tube with jamming of granular materials. First this device can automatically set flexible tube in a sigmoid colon by veering-out the tube and metamorphose hardness of the tube by jamming of granular materials. Secondly endoscope is easy passed through in the hard tube by only pushing. In this paper, we executed stiffness experiment to select jamming granular. Moreover we perform driving test of veering-out the latex tube to establish whether the method can automatically set flexible tube in a sigmoid colon.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Understanding and predicting human's behavior by robot is necessary for smooth interaction between human and robot. Human achieve them by guidance of other's behavior, especially controlling attention. Positional relationship between magician's face, hand and the magician's intended area affects controlling attention and we deal it as hypothesis. To test the hypothesis, we carried out the experiment of measuring of point of gaze with magic videos and analyzed the result of the experiment. As the result, we confirmed the positional relationship between magician's hand and face (gaze) affects controlling of attention. It makes the robot be able to leading other's behavior.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Planetary subsurface exploration has a possibility to find trace of life ,new substances and origin of our planet. We have therefore developed a planetary subsurface explorer robot which has a propulsion unit and excavation. The prototype robot showed good excavation performance. However, both units were separately controlled to achieve the excavation. In order to combine the systems, the process of excavation is required to reveal. This paper describes the process of the cutting resistance from experiments for the first step. A 6 axial force sensor measures the resistance against the excavation part. We carried out two experiments, e.g. the pushing force experiment and rotation speed. They showed good excavation results.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

It is important to investigate the underground of the planets in terms of the elucidation of the planet's origin and a development of the bases that human can work on the planets. Therefore, we have developed a planetary subsurface excavation robot with peristaltic crawling mechanism. This robot consists of two units; a propulsion unit and an excavation unit. The propulsion unit has three subunits using a peristaltic motion. The excavation unit has an earth auger. But, the existing robot can't excavate without a discharging unit because the soil isn't smoothly discharged from a spout when it reaches below surface. So, we develop a discharging unit to solve this problem. Then, we have an excavating experiment with the robot in order to check the capacity of the discharging unit. Thus, we confirmed that the robot could discharge the soil by the discharging unit.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by four wires. In this study, a motion control algorithm for designing a motion trajectory for the suspended manipulator to move to its target point as quickly as possible. The effectiveness of the obtained trajectory is verified by simulations and experiments.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. As the fastest trot walk has already been obtained by our previous study, a method for obtaining the fastest walking pattern applicable to the transition between the rest state and the fastest trot walk state is proposed and its effectiveness is verified in this paper. The developed method here is also available for obtaining the fastest walking pattern between two arbitrary states. From the simulation and experiment, the effectiveness of the developed control algorithm is verified.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A method of scooping rock piles automatically by wheel loader has been proposed until now. In actual rock piles, many massive rocks exist, which hasn't been considered yet. So, a new method of scooping of a massive rock buried in rock piles is proposed. As a fundamental experiment, horizon reaction forces acting on the bucket are measured during the scooping of a massive rock by a miniature wheel loader with the same bucket driving mechanism as an actual wheel loader, and their horizon reaction forces are analyzed. In addition, the amount of energy required to scoop a massive rock is calculated to generate an optimal bucket trajectory.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Excavation of the moon has a great potential for scientific progresses and space explanations, but the moon subsurface is unrevealed much. So, we have developed an excavation robot with peristaltic crawling mechanism. The robot consists of a propulsion mechanism and excavation mechanism. The propulsion mechanism has 3 propulsion units using a peristaltic motion, and the excavation mechanism comprised of an earth auger. Propulsion unit consists of a control unit and a CE (contraction and extension) unit. The CE unit has Dual-pantograph mechanism which is controlled by belt drive system. We had several experiments with the developed excavation robot. From these experiments, we confirmed the propulsion mechanism could move forward without slipping, and a developed excavation robot could burrow reddish soil.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Parallel wire suspended system realizes three-dimensional movement with very simple mechanism. A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by four wires. In this study, a motion control algorithm for designing a motion trajectory for the suspended manipulator to move to its target point as quickly as possible. The effectiveness of the obtained trajectory is verified by simulations.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Time optimal control method for quadruped walking robots is developed and installed into a practical robot system. Walking speed 391mm/s is derived until now. However, the speed about 450mm/s is achieved by trial and error in practice. The maximum speed derived by control theory is much lower than the practical one due to the constraints given to the target trajectory. To examine the effect of the constraints and the kinematic parameters of the robot on the obtained speed, a 3D simulator based on ODE is developed.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A method of scooping rock piles automatically by wheel loader has been proposed until now. The reaction forces from rock piles are composed of five components, and the combination of the components acting on the bucket changes according to the bucket trajectories. In this research the cutting force among five components is formulated and it is verified by a fundamental experiment with a mechanical simulator. Then, the relationship between scooping motions and scooped amounts are examined.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A tele-operation system of a mobile manipulator is developed. A 6 d.o,f. manipulator is mounted on an omni-directional platform driven by four DC motors. The position and orientation of the manipulator is controlled by a joystick with three d.o.f. The kinematic redundancy exists in x,y directions and the rotation about z axis are used to improve several control performance indexes.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A mobile manipulator consisting of an omni-directional mobile platform and a six d.o.f. manipulator has been developed. Since the platform has four suspension mechanisms for its wheels, the tip of the manipulator has positioning errors when the manipulator changes its posture or external forces act on it due to the suspension mechanisms of the mobile manipulator. Therefore, the displacement of the platform and the stiffness of the suspensions is analyzed and how to determine some kinematic parameters are discussed.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by six wires. This base plate does not swing in theory. However, when the wire suspended manipulator move, the base plate is subjected to reaction force, and wire tensions are changed. It is hard to control when a wire is sagged. So we need to control wire tensions. One of the way, we propose using counter-weight. Four counter-weights driven by a ball screw mechanism are installed at the bottom of square base plate on each side. To control counter-weights effectually, wire tensions are increased.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Control of a swinging motion is essential for a three-dimensional transportation of a crane when it is hoisting a suspended object. However, a previous control system designed by optimal regulator has limitations in suppression of the swinging motion as the length of the wire changes. Therefore, we design a control system suppressing swinging motion more effectively when the suspended object is hoisted by winding unit of wire. We propose a control system designed by pole placement method as the control system. The results obtained from MATLAB simulation shows the effectiveness of the control system designed by pole placement method.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A mobile manipulator consisting of a 6 d.o.f manipulator and an omni-directional moving platform with four wheels is developed. The authors propose a strategy for handling object by cooperation of three omni-directional mobile manipulators using passive joints. Passive joints are free to move joint's movable directions are installed at the tip of each robot to avoid excessive inner force due to mutual positioning errors. Three passive joint mechanisms consist of four passive joints with electro-magnetic brake. The most important thing in this study is simplification of the control using passive joint. The authors propose equation of load on each robot as one of the simplification of complex control with a passive joint.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Cooperative manipulation by multiple industrial robots with parallel grippers is achieved using slippage between grippers and the object. Some experiments are done to verify that all states of slippages can be realized by controlling the manipulation forces and the grasping forces applied to the object.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by three wires. The motion control system of four counter weights was built in downward in the base plate. The control system to settle the displacement of the base generated by the motion of the manipulator and unexpected disturbance quickly was constructed, and the effectiveness was verified by the experiment.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Control of a suspended object's residual vibration is essential for a crane tele-operation system. When the suspended object is positioned at a target point, using just regulator causes inevitable overrun. Therefore, we're developing a interface system which has functions to prevent overrun and residual vibration.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A method of scooping rock piles automatically by wheel loader has been proposed until now. The scooping method consists of several motion units and for determining the bucket motion in each motion unit the information of reaction forces is needed. The reaction forces from rock piles are composed of five components, and the combination of the components acting on the bucket changes according to the motion units. In this research the reaction forces in each motion unit are modeled with five components and they are examined by using a miniature wheel loader and an actual wheel loader.

CiNii Books

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Language：Japanese  

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Time optimal control method for quadruped walking robots is developed and installed into a practical robot system. Swinging leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, supporting legs support their body weight, and the reaction forces from its ground must be inside of their friction corn. Moreover, the ZMP(zero moment point) of the robot is constrained for stable walk. Therefore, time optimal control inputs must be designed considering these constraints. SONY ERS-7 is used as a quadruped walking robot and a fundamental experiment is done. From the experimental results, the effectiveness of the developed control algorithm is verified.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a plate suspended by three wires. Four counter-weights driven by a ball screw mechanism are also introduced under the plate along its side each. In a wire suspended manipulator, a base may incline due to the motion of the manipulator and unexpected disturbance. A method of eliminating the swinging motion of the base plate in three-dimensional space by feedback control of four counter-weights is proposed.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A teleoperation system for crane control has been developed. By feedback control using the developed sensor, a mass suspended by a two dimensional crane on a horizontal plane is positiond withoutresdual vibration at a target point. Feed-forward control makes a mass to be positioned on target area where the operator wants to put on without overrun. The force of inertial can be reduce by using the acceleration, velocity and location trajectory that has continuous jerk.

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：日本物理学会  

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Language：Japanese   Publishing type：Research paper, summary (national, other academic conference)   Publisher：The Japan Society of Mechanical Engineers  

A method of scooping rock piles automatically by wheel loaders is proposed based on reaction forces from rock piles. First, reaction forces are analyzed by some fundamental experiments using a miniature wheel loader system with the same bucket driving mechanism as an actual wheel loader. Using this result, the model of reaction forces against rock piles in scooping operation are constructed.

DOI： 10.1299/jsmermd.2007._1P1-L05_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The manipulation of wire driven multiple link mechanisms by wire actuation is discussed. The relationship between the wire tensions and generated forces and torques on each link and joint is obtained. Then, the necessary number of wires and geometrical conditions of achieving arbitrary postures of link mechanisms are derived. Then, the number and conditions under gravity are also discussed. Using the obtained equations, how to install the wires into a two link mechanism is shown.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a plate suspended by three wires, and a counter-weight driven by a ball screw mechanism is also introduced under the plate. In a wire suspended manipulator, a base may incline due to the motion of the manipulator. A method of eliminating the swinging motion of the base plate by feedback control of the counter-weight is proposed.

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Language：Japanese   Publishing type：Research paper, summary (national, other academic conference)   Publisher：The Japan Society of Mechanical Engineers  

Amethod of scooping rock piles automatically by wheel loaders is proposed. The motion of the bucket of the wheel loader is planned according to the reaction forces from rock piles. To achieve the planned scooping trajectory of the bucket under existence of unexpected reaction forces, a disturbance observer is installed into the bucket controller. The effectiveness of the observer is verified by experiments with a miniature wheel loader "Yamazumi 3".

DOI： 10.1299/jsmermd.2006._2A1-B08_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A way of cooperative manipulation of an object by using slippage of parallel grippers is proposed. After the relationship between the slippage and the grasping forces is analyzed, it is shown that the slippage can be used to manipulate the object. Some algorithms for manipulating a large plate by two manipulators is proposed and some fundamental experiments are done to verify the effectiveness of the proposed method.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A position control method for a wire suspended manipulator is proposed. An industrial robot is fixed on a plate suspended by three wires, and a counter weight driven by a ball screw mechanism is also introduced under the plate. By controlling the counter weight so as to keep the plate horizontal, the inverse kinematics become the same as the manipulator fixed on a ground.

CiNii Books

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：精密工学会  

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CiNii Books

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Language：Japanese   Publisher：一般社団法人日本機械学会  

本研究ではホイールローダによる作業の自律化を目的とし, ミニチュアホイールローダを用いたすくい取り作業の制御手法を提案する。本報では土砂等の不定形重量物のすくい取り作業におけるホイールローダのバケットに生じる反力を解析することにより, 土砂等の不定形重量物のモデルを提案する。そして, そのモデルを利用した少ない力で大容量の土砂をすくい取ることのできるバケットの動作・経路法を提案し, すくい取りシミュレーションを行うことにより検証を行う。

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Language：Japanese   Publisher：一般社団法人日本機械学会  

本研究では, 表面に触覚センサを付加した平行2本指ハンドを開発し, 物体把持状態の力や位置の計測, 組立におけるアルゴリズムを提案している。物体把持時の計測はハンドの把持力にも大きく依存しているため, 物体に働く外力を考慮し, それに適した把持力を導出する。本報では力の計測範囲が広くなるような把持力を利用し, 触覚センサに加えられる外力の計測実験の結果を示す。

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Language：English   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：Cambridge University Press  

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CiNii Books

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：日本ロボット学会  

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CiNii Books

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CiNii Books

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：文部省科学研究費重点領域研究「感覚と行動の統合による機械知能の発現機構に関する研究」  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：精密工学会  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：精密工学会  

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Language：English   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：Fuji Technology Press  

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CiNii Books

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CiNii Books

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CiNii Books

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：文部省科学研究費重点領域研究「感覚と行動の統合による機械知能の発現機構に関する研究」  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：日刊工業新聞社  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：日刊工業新聞社  

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CiNii Books

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CiNii Books

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：文部省科学研究費重点領域研究「感覚と行動の統合による機械知能の発現機構に関する研究」  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：日本機械学会  

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Language：English   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：MCB Univ. Press  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：東京大学  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：鹿島建設  

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CiNii Books

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：東京大学  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Event date： 2022.9 　 　

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2022.9 　 　

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2022.8 　 　

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Event date： 2022.8 　 　

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Event date： 2022.6 　 　

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Event date： 2022.6 　 　

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Event date： 2022.6 　 　

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Event date： 2021.9 　 　

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Symposium, workshop panel (public)  

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Language：Japanese   Presentation type：Symposium, workshop panel (public)  

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Language：Japanese   Presentation type：Poster presentation  

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複数のワイヤで懸垂された棒を薄板から引き抜く際に板と棒に食いつき現象が発生する条件を力学モデルより検討した。

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Language：Japanese   Presentation type：Poster presentation  

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When scooping excavated sediment with a backhoe, the amount of sediment flowing into the bucket largely depends on the shape of sediment deposited in front of the bucket at the start of scooping. In this study, we observe the sedimentary shape formed in front of the bucket when excavating horizontal sand at a certain depth, and consider the mechanism of its shape formation based on the theory of earth pressure.

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Language：English   Presentation type：Oral presentation (general)  

A new method of cooperative transportation using three position-controlled mobile manipulators is proposed and its effectiveness is verified by a prototype system. Technical problem of cooperative transportation by position-controlled manipulators is the generation of excessive inner forces among manipulators caused by mutual positioning errors. To solve this problem, we use a wire suspension mechanism. In this paper, we propose a feedback control algorithm to compensate the positioning errors of the object just around the target position under the assumption that the positioning errors caused by feed-forward control is small. Since the proposed system has kinematic redundancy, it is used to minimize the square sum of six wire tensions. The effectiveness of the proposed method and the developed system are verified by a fundamental experiment and simulations.

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Language：Japanese   Presentation type：Poster presentation  

The authors have developed cooperative system of three manipulators that are position controlled. The problem with this system is that excessive internal forces occur due to position error. Therefore, we have used six wires to prevent excessive internal forces. Also, the system using six wires can hold the object rigidly against external forces of a certain size. However, when considering the use of this system for assembly and disassembly work, compliance is required against external forces. Thus, this paper discusses cooperative system using three wires and provides calculation method for positioning of the object.

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Language：Japanese   Presentation type：Poster presentation  

In recent years, the aging of bridges which have been intensively developed since the period of high economic growth has been getting worse, and it is required to conduct an effective and efficient inspection. However, it is the current situation that inspection work cannot be performed due to lack of budget and shortage of personnel. Therefore, in this research, we propose a suspension system using four cables as a robot assuming visual inspection work of large infrastructure. The suspended object of this system causes swing motion when disturbance is applied. Therefore this research shows a method of swing motion control using propeller. In addition, we perform swing motion control experiments using experimental machines and examine the effectiveness of propeller.

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Language：Japanese   Presentation type：Poster presentation  

We propose the wire suspension system for automatic inspection which has a large weight capacity and wide range of movement as a positioning mechanism for heavy objects. However, the vibrations is caused by disturbance and if the object suspended by wires moves to end of the workspace, it inclines from the initial posture. This paper shows our development of orientation control device using counterweight system for solving the above problems. We derived the motion equation of this system and executed feedback control for convergence of a target. We found that counterweight is effective for orientation control by means of experiments.

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Language：English   Presentation type：Oral presentation (general)  

The handling and positioning of large and heavy objects in 3D space is one of the most important techniques for decommissioning of Fukushima Daiichi Nuclear Power Station. A new method of cooperative positioning system consisting of three manipulators is proposed by using wire suspension mechanism, and the validity of the proposed system is verified by fundamental experiments. The proposed method is applicable to the cooperation among multiple cranes.

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Language：Japanese   Presentation type：Poster presentation  

The purpose of this research is to consider an optimization model that can reproduce the trajectory of human motion to return to upright position. In this motion, there is a tendency that the brake is applied so as not to fall behind toward the end of the operation and the speed change becomes small. This tendency is not applicable to the bell type trajectory which is commonly seen in human motion. In order to reproduce this tendency, the validity of the model was evaluated by carrying out a simulation based on the torque change minimum model and comparing it with the actual motion.

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Language：Japanese   Presentation type：Poster presentation  

A method of determining an optimal position of a backhoe is proposed for a pre-determined bucket trajectory. When a velocity-controlled backhoe digs soil along a pre-determined bucket trajectory, the consumption energy for digging varies according to the position of the backhoe because of the velocity control mechanism. In this research, energies required for digging along a specified trajectory are calculated with several backhoe positions and the optimal position is determined. In addition, the differences of consumption energy among backhoe positions is analyzed considering physical phenomenon and controller function.

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Language：Japanese   Presentation type：Poster presentation  

In recent years, the aging of bridges which have been intensively developed since the period of high economic growth has been getting worse, and it is required to conduct an effective and efficient inspection. However, it is the current situation that inspection work cannot be performed due to lack of budget and shortage of personnel. Therefore, in this research, we propose a suspension system using four cables as a robot assuming visual inspection work of large infrastructure. The suspended object of this system causes swing motion when disturbance is applied. Therefore this research shows a method of swing motion control using the gyro effect. In addition, we perform swing motion control experiments using experimental machines and examine the effectiveness of the gyro effect.

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Language：Japanese   Presentation type：Poster presentation  

Platform carts have been used in various industries to carry heavy loads. However, heavily-loaded platform carts can’t get over a step. Therefore, we invented a new loaded platform cart mechanism that enables to get over a step with slide mechanism. Further, we verified a relationship of impulsive force and angle of mechanism through a simulation.

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Language：Japanese   Presentation type：Poster presentation  

A cooperative transportation with some position controlled mobile manipulators causes some problems. It is an internal force occurring in a conveyed object due to a position error. So we suggest a system using a wire to solve the problem. A carrier is fixed by using six wires and can build the system which internal force does not produce. In addition, we devised the revision method of a position error and the posture error from the transportation target position by the position error of the mobile manipulators that occurred when transported a carrier. And we inspected the method of this revision that devised.

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Language：Japanese   Presentation type：Poster presentation  

Cooperative manipulation with multiple position-controlled manipulators is a very attractive technique to enhance the applicable fields of industrial manipulators. However, excessive internal forces occur among manipulators caused by mutual positioning errors. So we proposed a way of installing passive joints between each manipulator tip and the handled object to avoid the excessive inner forces in our previous works. The system works very well, but the application of the system is limited to the cooperative transportation. To enhance the fields of our cooperative system with passive joints, it is proposed to install coil springs into each passive joints to generate inner forces among manipulator tips. By installing springs into passive joints, it can be applied to tasks requiring forces between manipulator tips and the handled object. In this paper, the relationship between displacements of springs and the generated inner forces is derived and the statics of the cooperative system is analyzed by fundamental experiments with a prototype mechanism.

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Poster presentation  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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