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

Hopping rover is one of solution for locomotion on loose and rocky terrain on the moon and planetary surface. The hopping rover jumps over an obstacles. Since the height of hopping is equal to the height which the rover can get over, the traversability of rover becomes higher. In order to design a push plate with a small amount of slip on the granular media for a stable and efficient hopping, it is necessary to know the reaction force received from the ground. In this paper, we describe the force estimation method of shoe plate design of jump rover based on Resistive Force Theory and calculate the reaction force when pressing the shoe plate and find of the shape that is suitable for hopping. The shoe plate is manufactured with a 3D printer, and the pressing test result and the calculation result are compared. Finally, we verify the effectiveness including the hopping motion of the rover, using the dynamics simulator on the moon gravity.

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

For planetary exploration, small robots of just a few kilograms installed in the main spacecraft have a lot of advantages. Small robots can provide us with a wide range of exploration opportunities by using multi-robots, technical demonstrations, and science missions which require detailed data acquisition. There are not only mission advantages, but they can also be developed in a short period of time and at a low cost. MINERVA, MINERVA II, MASCOT are examples which are installed in the main spacecraft for surface exploration.
In order to move on the surface of a "low gravity" object, like the Moon by a small robot, there are several options of locomotion, such as jumping, wheels, and legs. Wheel locomotion cannot step over obstacles where the size is bigger than the wheel radius, and the structure of leg locomotion is a very complicated piece of machinery and requires a lot of actuators. However, jumping locomotion is capable of moving a long distance by one action and the number of actuators required for jumping capability is very small. In addition, it can travel a longer distance on a planet or satellite which has a gravity lower than the Earth. For instance, it can jump 6 times longer on the Moon than on the Earth.
To realize jumping locomotion for small robots in a low gravity environment, the mechanism has to meet the following functional requirements. (1) it can charge the required jumping energy, (2) it can release the energy instantly, (3) it can change the amount of the energy needed to control jumping distance, (4) it doesn't consume resources such as fuel and should be able to repeat the movement, (5) it has a ground contact part to apply power, (6) the size should be small and the weight should be small (7) it can move in a space environment (vacuum, high radiation). We studied some jumping mechanism concepts to meet these requirements. Our design of the mechanism uses springs to charge the energy and they are supported and connected to the shaft structure. A jumping pad is attached to the end of the structure and pushes the ground and robot so it can jump from the ground. For actuation, only one motor is used. In our mechanism, a one-way clutch is used to change from energy charge mode to release mode. This mode change is executed by changing the direction of motor rotation. After jumping, it can change the mode to energy charge mode again.
The authors have developed a research model of the jumping rover which the jumping mechanism is mounted on. This model is developed for a lunar exploration mission. Science mission equipment mock-ups and wheels are also mounted on the model. The wheel is used to control the jumping direction.
In this paper, our design of the jumping mechanism, development of a research model, and test results are presented in detail.

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

Recently, a small size hopping rover is received attention for the moon and planetary exploration society. In a low gravity environment, a lightweight hopping rover might have high traversabilities: by jumping over long distance and obstacles. While a lot of hardware designs for hopping system are presented, few software designs for its system are presented. For the near future, software design for the rover is necessary to satisfy some requirements including sensing and navigation. A hopping rover has more uncertainties than conventional wheeled rover because a hopping movement is fundamentally different from a wheeled movement. Its uncertainties might be risks for the rover, in addition, it is difficult to reduce uncertainties because of its payload and hopping behavior. In this paper, we focus the navigation on hopping software system, and discuss about hopping movement with some uncertainties. Next, we propose the determination method of landing position using the geometric features of the triangle. The method is considered risks for the rover. We confirmed effectiveness of path planning with proposal method by simulation.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE/SICE  

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

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

Soft soils cover planetary surfaces, so the wheel of a planetary rover easily slips and gets stuck. In order to prevent increase in the slip and getting stuck, the wheel can have lugs that have a shape of a paddle to improve the wheel driving force. There have been some studies about the influence of the lug. However, design method for an effective lug has not been studied well yet. Since terramechanics-based wheel models have been considered with a flat wheel surface, those models are not applicable to the lugged wheel. In this paper, a lugged wheel model is discussed and proposed regarding the variation of shear characteristics. The variation of shear characteristics is indicated by a shear deformation modulus. The proposed model is based on the shear deformation modulus that varies by the height and position of the lugs. Therefore it can be considered that the lugged wheel model has a function of the lug parameters such as the lug height and lug mounting position. A simulation is performed to evaluate the model. In results we confirmed that the model can formulate the traversability performance of the wheel and showed the validity of the proposed model.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：NASA/JAXA/ESA  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：NASA/JAXA/ESA  

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

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE/ASME  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本機械学会  

Robotics has attracted much attention from the planetary surface exploration community ever since NASA 's Pathfinder Mission opened a new door for the subject. In order to collect geological samples, 3D surface information of the environment and the targets, in general, has to be obtained so that a manipulator can successfully grasp them. Measurement accuracy and robustness are key issues for the realization of autonomous sample acquisition. A stereo camera is generally a useful device for 3D surface measurement; however, it may not be robust enough to handle unknown natural objects that exhibit a great deal of similarity and where there is uncertainty over their texture. In this paper, we focus on the robustness and accuracy of a measurement method using a stereo camera, and we propose Shadow Casting Stereo Imaging (SCSI). In use, SCSI casts the shadow of the manipulator (or a stick-shaped object) on a target surface, and then the 3D information can be measured using conventional stereo imaging by utilizing this cast shadow. The shadow creates a featured area on similar textures under harsh lighting conditions, because it produces a darker area on the textures as feature points for image processing. In addition, this technique reduces the search area for the template matching, and lowering calculation costs. We evaluated the performance of SCSI by comparing the measured results with conventional stereo imaging. Our results show that SCSI has advantages in terms of accuracy, robustness, and calculation cost against similarity of a natural object under various lighting conditions.

DOI： 10.1299/kikaic.79.2093

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

Long distance traversal by a remotely controlled rover is rendered difficult by measurement error on terrain data and communication time delays. Though an operator can select any desired path as a sequence of waypoints using a 3D terrain model evaluated by the on-board sensor, the model is error prone and the rover might collide with obstacles in its path. We present a rover that continuously updates its knowledge of the environment, and recalculates the difference between the original terrain data (used for initial path generation) and its latest acquired data. To this end, we have proposed the waypoint compensation method called Command Data Compensation (CDC) that uses the latest measurement data (assumed to be more reliable than the initial data). Such data automatically correspond to the path deviation [9] [10] [14]. In this paper, we evaluate whether CDC can help the rover safely navigate around obstacles, in terms of measure called the Safety Rate.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IROC/KRSA  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本惑星科学会  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本惑星科学会  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本惑星科学会  

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

In this paper, we propose an intelligent system architecture for teleoperators (e.g., planetary exploration rovers). Our proposed architecture offers advanced flexibility (variability), efficiency, scalability, and transparency. The architecture is composed of one hardware layer (bottom) and two software layers (middle and top). Because the software is divided into two layers, users are not required to actually connect the software modules. With this architecture, we aim to achieve both efficient task construction by the users and easy management of modules by the system. Moreover, to achieve high-speed data communication between software modules we use a shared memory. Using our proposed architecture, we can efficiently perform repairs and consequently enhance the functionality of teleoperator systems. Therefore, our proposed architecture can provide significant contributions to the development and operation of teleoperators. © 2012 IEEE.

DOI： 10.1109/CogInfoCom.2012.6422053

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

In traversing a planetary surface by a remote controlled rover, it is difficult to realize long distance traversability because of measurement error on terrain data and communication time delays. Though an operator can select any desired path as a sequence of waypoints by using a 3D terrain model measured by the on-board sensor, the model includes much error and the path might be collided with obstacles. Here a rover continuously updates its knowledge of the environment, and can recalculate the difference between the original terrain data used for initial path generation and the latest data acquired by itself. Therefore, we have proposed the waypoint compensation method CDC by using the latest measurement data (which is assumed to be more reliable than the initial data) that automatically corresponds to the difference. In this paper, CDC is evaluated by various simulation results, and discussed about newly developed tele-navigation test-bed system with its hardware and software aspects. Experimental results of the system using the proposed algorithm are indicated by including field test in Izu-oshima island, and finally its new evaluation is discussed. © 2012 IFAC.

DOI： 10.3182/20120905-3-HR-2030.00086

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

Recently, planetary surface surface exploration based on robotic technology such as a rover have huge qualitative changes on its observation quality against conventional orbital survey. One of main mission is a scientific exploration in which it will collect and observe geological samples and data. In its observation purpose, a manipulator is mounted on a rover to collect rocks and sands, and 3D surface measurement is one of key technologies to support its autonomous functions. One of the strongest candidate sensor is mono or stereo camera for its measurement. However, it is sensitive to changes in ambient light intensity and optical conditions, and it is prone to have false template-matching in a natural environment which has high similarity on its textures. In this paper, a clear boundary of shadow in space is focused as a scanning line like in LRF or an matching feature, and then SRF and SCS were introduced as robust and accurate method by using a shadow casted on work space. After discussion about error sensitivity analyses for SRF and SCS, data supplementing system is discussed and proposed. Finally, experimental evaluation is conducted by using newly developed data supplementing system on a micro rover testbed "Micro6". More accurate, robust and wider measured data was successfully obtained in the experiment. Its results indicated much possibility on our method and system. © 2011 IEEE.

DOI： 10.1109/AIM.2011.6027105

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

Unmanned deep space explorations have received a lot of attention in recent years. Some missions to land safely and explore on the surface of the moon or other planets are proposed and planned in the world. In Japan, lunar lander-rover missions have been earnestly studied. In these missions, it is required to perform sampling, conduct in-situ analysis of geological samples and deploy devices for measurement and observation. Many researchers have studied and developed sample acquisition systems and driller or corer systems. Recently deep drillers or penetrating systems have been required to obtain deep data for subsurface exploration. In lunar or planetary mission, it is needed to excavate the regolith layer, which covers the lunar surface, in depth of several meters. Some suggestions for drilling on the lunar surface have already been made. However, there are few schemes that can satisfy the requirement. This paper, to begin with, describes lunar or planetary mission scenarios and scientific requirements. A detailed surface and subsurface exploration by a mobile explorer is presented. Then a smart manipulator with new actuators to collect samples is proposed. The proposed manipulator is actuated by ultra-sonic motors, which can lead to a light-weight system with low-power consumption. The developed manipulator has an end-effecter to collect regolith, pick up stones, etc. The effectiveness of the developed smart manipulator is shown by some experiments. This paper also proposes a mole-like robot which is maneuverable in regolith. A new mechanism to move forward in the soil is described. The drilling function is studied by analyses and some experiments. The experimental results show the feasibility of the proposed robot. © 2010 ASCE.

DOI： 10.1061/41096(366)107

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

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DOI： 10.1163/016918609X12469676260939

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

In recent years, planetary rover attracted a lot of interest and,especially. geological observation brings ouy new knowledge about the history of the birth of planets and our solar system. To get the geological information, the sampling and measurement of a rock and sand are required. It means the measurement of 3D surface information of workspace for manipulator is the most important process. Usually, the surface information is brought out by a stereo image processing, and a camera is the strongest candidate of sensors installing on a rover. However a natural object has much complexity and self-similarity which cause for matching error of stereo process. In this paper, to handle those subjects, we apply the projection of shadow by a stick or a manipulator. Shadow makes featured area helping for matching process and its shape is containing the 3D surface information. Therefore, Shadow Casting Stereo Imaging (SCSI) and Shadow Range Finder (SRF) are proposed and applied for 3D surface measurement. SCSI is based on stereo processing which has occlusion problem, and SRF take monocular image. We discuss data composition with SCSI and SRF to eliminate uncertainty and occlusion area of SCSI. Finally, proposed method is evaluated by experimental setup with manipulator. © 2009 IEEE.

DOI： 10.1109/ROBIO.2009.5420749

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

DOI： 10.1163/016918609X12469686515539

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本機械学会  

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Lunar rovers are required to move on rough terrains such as in craters and rear cliffs where it is scientifically very important to explore. In the past, wheel typed rovers are popular for planetary exploration missions. However, there is a problem that the wheel typed rovers have possibility of stack. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration rovers and soil. The important parameters are extracted by considering the mechanism. This paper proposes an elastic wheel by considering the important parameters. The elastic wheel has the surface which can be changed flexibly toward rough terrain. Running Experiments on soil which imitated Regolith are carried out to observe the traversability of the elastic wheel using slip ratio and sinkage.

DOI： 10.1299/kikaic.74.2962

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：日本航空宇宙学会  

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

Generally, the 3d surface measurement is the most important process for the sample acquisition task by planetary exploration rover. In this paper, we propose new stereo measurement method by using the shadow projected into stereo images. The projected shadow limits the search area of stereo matching, and is providing robustness on the feature point matching process. As a result, the method is highly performed on the accuracy and the calculation speed. Finally the evaluation conducted by experimental results are shown, and the validity is indicated.

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

For a planetary surface exploration, grinding and drilling equipment is one of the mo st important devices in geological observation of sampled rocks. However, the equipment can't be directly applied for works in the space. More spe cifically, the weight of drilling and grinding mac nines generally used on the Earth is so heavy, an d they need lubricant. Therefore it is difficult to use them in the space. In this paper, we analyze t ransient process of destroyed surface of rocks. Especially, we focus on contact points between sampled rocks and the top of a horn. Through the analysis, we can suggest that a ultra sonic based device is effective to implement drilling and grinding of rocks in the space. The analysis suggests that a ultra sonic based device is effective to realize drilling and grinding of rocks in the space. © 2008 IEEE.

DOI： 10.1109/SAMI.2008.4469145

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

Lunar rovers are required to move on rough terrains such as in craters and rear cliffs where it is scientifically very important to explore. Recently, wheel typed rovers are popular for planetary exploration missions. However, there is a problem that the wheel typed rovers have possibility of stack. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration rovers and soil. The important parameters are extracted by considering the mechanism. This paper proposes an elastic wheel by considering the important parameters. The elastic wheel has the surface which can he changed flexibly toward rough terrain. Running experiments on soil which imitated regolith are carried out to observe the traversability of the elastic wheel using slip ratio and sinkage.

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

A new lunar exploration mission including a lander and rovers is under studying in Japan. The main mission for lunar robotics exploration is to demonstrate the technologies for lunar or planetary surface exploration. They will cover pin-point landing technology, reliable landing scheme with obstacle avoidance, landing mechanism on rough terrain, exploration rover and tele-science technology. Lunar geologic survey will be also performed to investigate the underground materials. The working group has been conducting the feasibility study of advanced technologies for lunar robotics exploration. In the rover mission, a robotic manipulator plays an important role as scientific observation tools for geological exploration. This paper proposes a light-weight manipulator with low-power consumption function. To investigate the effectiveness of the proposed design, a manipulator was developed. This paper describes a proposed smart manipulator system. This paper also presents the environment test results on Ultra-Sonic Motor. The performance of the developed smart manipulator is discussed.

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

This paper proposes an efficient scheme to make a routing and sensing plan simultaneously for lunar or planetary exploration rovers. In the proposed scheme, the environment is widely recognized by using a vision system. The proposed algorithm can detect obstacles based on gray-level image. And a rough route is produced by judging whether the area is safe or dangerous. Firstly, the shade average and the variance at each pixel are calculated from obtained image, and the environment recognition is performed. According to the recognition, the rough path and the sensing strategy are planned. A rover senses locally based on the behavior planning and moves to the destination. The validity of the proposed method is shown by computer simulations.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ESA/NASA|rn|/JAXA  

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

Image processing of natural scenes is very processing-intensive. Through the localization of salient regions, later recognition processes can take place more efficiently, by focusing computation-intensive processing on several areas. Our approach to designing an artificial visual system is inspired by early filtering mechanisms in the human visual system. Our technique of calculating salient regions is computationally efficient and flexible, and can be extended to other applications. © 2005 IEEE.

DOI： 10.1109/INES.2005.1555159

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

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：PERGAMON-ELSEVIER SCIENCE LTD  

A new lunar mission (SELENE-B) including a lander is now in consideration in Japan. The mission will follow up SELENE (SELenological and ENgineering Explorer, a global remote sensing mission of the moon in 2004). Scientific investigation plans using a rover are proposed: exploration of a crater central peak to discover subsurface materials and exploration of the polar region to discover the trapped ice. We have already developed a 5-wheel engineering-model rover, Micros, which has a long manipulator with a camera on top. The rover can climb over 15cm steps and rocks by a new suspension system PEGASUS. (C) 2002 COSPAR. Published by Elsevier Science Ltd. All rights reserved.

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Publisher：The Society of Instrument and Control Engineers  

Unmanned lunar geologic exploration of a crater’s central peak to investigate subsurface layering is discussed. Rover-lander corporative mission is executed. From a lander which is within 500m from the frank of the central peak, a rover should make a round-trip to the frank and bring samples back to the lander. Multi-band camera, gamma-ray spectrometer, rock-coring mechanism, sampling and transportation mechanism should be on board the rover. Detailed analyses of the returned samples including microscopic spectroscopy and X-ray spectrometry and diffraction should be done in the lander.

DOI： 10.11499/siced.si2002.0.441.0

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：PERGAMON-ELSEVIER SCIENCE LTD  

in this paper, we discuss tele-driving system for a long driving of a lunar rover and also describe our newly developed small, lightweight lunar rover called Micro-5 and its visual sensor system. An operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon.
We have, however, a communication delay tween the earth and the moon. So, there is the difference between old map data which operator use for path planning and new data, which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore, to make high reliability of operator's command, we propose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map. Copyright (C) 2001 IFAC.

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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 (international conference proceedings)   Publisher：IEEE  

In this paper, we discuss tele-driving system I I or a long driving of a lunar rover and also describe our newly developed small, lightweight lunar rover called Micro-5 and its Visual sensor system. Ali operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon.
We have, however, a communication delay between the earth and the moon. So, there is the difference between old map data which operator used for path planning and new data which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore. to make high reliability of operator's command. we propose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map.

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

This, paper describes a path planning method for a planetary microrover to make a path oil planetary surface, A planetary rover is required to travel safely over a long distance For many days in unfamiliar terrain, Hence it is very important how a planetary rover processes sensory information to understand the environment and to make decisions, The authors have developed a newly small rover for future lunar or planetary exploration. As a new data structure for a map information. an extended elevation map has been introduced, which includes the effect of the size of the rover. The proposed path planning call be conducted in such a way as if the rover were a point while the size of the rover is automatically taken into account. A map obtained by sensors includes uncertainty. So a path planning scheme based oil traversability probability is also proposed. The validity of the proposed method is verified by computer simulations.

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

In this paper, we discuss tele-driving method for a long driving of a lunar rover. An operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon.
We have, however, a communication delay between the earth and the moon. So, there is the difference between old map data which operator used for path planning and new data, which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore, to make high reliability of operator's command, we propose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map.

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

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

Communication among the robots is necessary for autonomous robots to execute tasks cooperatively. Previous researches related to cooperative behavior among the robots have largely depended on a predefind action or communication system.. However, it is difficult to set a fixed system, and more difficult for the agents to adapt to novel situations or tasks in dynamic environment. Recently, against these conventional fixed systems, new systems such as emergence scheme are proposed. In these systems, agents requires to understand the environment through experiences as interacting with the environment, and adapt to it. In this paper, we describe the method of how the robots can lean appropriate actions includeing communication to adapt the environment without giving a fixed behavior or communication system precedently. We implemented some simulations of cooperative task, verified availability.

DOI： 10.1109/IECON.2000.972602

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

Real-time computer vision systems that observe the actions of people have received increasing attention in the last years as they are important for a broad range of applications. Examples are intelligent man-machine interfaces or intelligent rooms that have the capability to understand the actions of their inhabitants. In this paper we present the design of a stereo vision system for the precise and robust real time tracking of human hands and heads that unlike previous systems uses low-cost industry standard components. The system uses color and motion information to find the human. Using previously calibrated cameras the 3D positions of hands and head are calculated. Because of its client-server architecture the system is scalable to an arbitrary number of cameras and application processes. Experimental results for the performance of the system are given.

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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：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Mobile robot have to reach at a goal position without collisions against an obstacle. When robot travel in unknown terrain autonomously, it observe geometric information about the surrounding terrain, evaluate a model of the local terrain, search a safety path, and drive. This process is repeated until the goal is reached, a prescribed timeout period expires, or a fault is encountered. However, if generated path which should be followed at once becomes long, gap arises between path and actual environment which are caused by self localization delay, measurement error or wheel slip. This gap will increase a possibility of collision with obstacle. To prevent collision, we have proposed Tele-driving method with Command Data Compensation (CDC), for a long driving. The CDC is a kind of mapping to compensate a distortion of a space, and compensates path to the latest environmental data measured by a rover. In this paper, we discuss combination with proposed Command Data Compensation method and autonomous path planning algorithms.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

To measure stereo image, cameras must be mounted on a robot in parallel. But cameras may get misalignment by external force during its travel. In this situation, cameras must have miserable measurement results. However if the robot is in an uninhabited area for human, it is difficult to re-calibrate itself. In this paper, we proposed self camera calibration method by estimating movement of camera lens axis, and discussed about its estimation, and reduction of image processing noise.

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：東京大学生産技術研究所  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The mobile robot is using landmark its the position, in order to acquire the environmental data efficiently. To use landmark effevtively for other systems, it is important that robustness tracking of landmarks. However those system has much calculation cost and it cannot tracking after the frame out. In addition the case of initial landmark extraction, also the condition is necessary for choosing time cost and the object which is easy to tracking securely. In this paper,proposed landmark tracking method, which is using self position which estimated Visual Odometry, and auto extraction system of initial landmark.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper studies the use of ultra-sonic motors in application for lunar or planetary exploration. Space missions require a light and small actuator with low power consumption. Ultra-sonic motor is one of promising candidates for space use. Some space environment tests are conducted for investigating the performance of USM.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

When the planetary exploration rover is operated actually, there are human errors and problems of communication time delay and measurement error. These problems debase efficiency of the remote control and safety of autonomous. So we have proposed tele-driving system with command path compensation algorithm. In this paper, Command Path Compensation algorithm is introduced, to clarify the issues for measurement error by simulation. To solve the issues, we proposed landmark measurement system applying Particle Filter, and we done implementation and measurement experiment. In addition, we compared conventional system with new system by simulation to verify the effectiveness of new system.

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：東京大学生産技術研究所  

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Language：English   Publisher：VSP BV  

DOI： 10.1163/016918610X501237

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Language：English   Publisher：VSP BV  

DOI： 10.1163/016918609X12614833474755

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：電気学会  

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

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Language：English   Publisher：ESA/NASA/JAXA  

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Language：English   Publisher：ESA/NASA/JAXA  

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Language：English   Publisher：ESA/NASA/JAXA  

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Language：English   Publisher：ESA/NASA/JAXA  

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Language：English   Publisher：ESA/NASA/JAXA  

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Language：English   Publisher：AIAA  

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Language：English   Publisher：AIAA  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：東京大学生産技術研究所  

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Language：Japanese   Publisher：東京大学  

DOI： 10.11188/seisankenkyu.59.210

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Language：English   Publisher：AAS/ JRS  

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Language：English   Publisher：IEEE  

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

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Language：English   Publisher：IEEE  

Planetary exploration requires rovers to perform a variety of challenging tasks autonomously. In order to complete relevant scientific mission, these rovers need to overcome difficulty for rough terrain traversing by "online methods". This paper discusses an idea that utilizes a rover mobile center of mass in order to aid in traversing rough terrain. According to vehicle pitch angle and contact angles, the rover recalculates the optimal position for the center of mass to minimize the indicator defined by two factors : the wheel driving force over the wheel normal force (adhesion coefficient) and tip-over stability angle (stability coefficient). Two innovative approaches are developed in this paper. The first one is that the authors defines easily comprehensible two factors, adhesion and stability coefficients for traversability indicator and proposes a method to calculate optimal center of mass position. The second one is that in the case of four-wheels drive, the relation between the front wheel and the rear wheel adhesion coefficient is easily solved and the best case for giving the driving forces can be solved as force making the front and the rear wheel adhesion coefficient equal. The authors call this "optimal force distribution method". Finally, this paper shows some simulation results for traversing rough terrain that compute the optimal center of mass while traversing the terrain.

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Language：English   Publisher：IEEE  

Friction is a very old and universal issue in all mechanical systems. Since friction is non-linear, it is an ever challenging problem. Several empirical nonlinear friction models have been proposed in the technical literature. This paper does not propose any new model but it presents a new, tensor product (TP) based representation of the existing friction models which is suitable for control design. The TP model transformation is a relatively new method for transforming certain nonlinear models into polytopic model form. The main advantage of the TP model transformation is that the most of the linear state feedback design methods including Linear Matrix Inequality (LMI) can immediately applied to the resulting polytopic models to yield controllers with guaranteed performance.

DOI： 10.1109/INES.2007.4283708

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Language：English   Publisher：IEEE  

Friction is a very old and universal issue in all mechanical systems. Since friction is non-linear, it is an ever challenging problem. Several empirical nonlinear friction models have been proposed in the technical literature. This paper does not propose any new model but it presents a new, tensor product (TP) based representation of the existing friction models which is suitable for control design. The TP model transformation is a relatively new method for transforming certain nonlinear models into polytopic model form. The main advantage of the TP model transformation is that the most of the linear state feedback design methods including Linear Matrix Inequality (LMI) can immediately applied to the resulting polytopic models to yield controllers with guaranteed performance.

DOI： 10.1109/INES.2007.4283708

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Language：English   Publisher：IEEE  

Planetary exploration requires rovers to perform a variety of challenging tasks autonomously. In order to complete relevant scientific mission, these rovers need to overcome difficulty for rough terrain traversing by "online methods". This paper discusses an idea that utilizes a rover mobile center of mass in order to aid in traversing rough terrain. According to vehicle pitch angle and contact angles, the rover recalculates the optimal position for the center of mass to minimize the indicator defined by two factors : the wheel driving force over the wheel normal force (adhesion coefficient) and tip-over stability angle (stability coefficient). Two innovative approaches are developed in this paper. The first one is that the authors defines easily comprehensible two factors, adhesion and stability coefficients for traversability indicator and proposes a method to calculate optimal center of mass position. The second one is that in the case of four-wheels drive, the relation between the front wheel and the rear wheel adhesion coefficient is easily solved and the best case for giving the driving forces can be solved as force making the front and the rear wheel adhesion coefficient equal. The authors call this "optimal force distribution method". Finally, this paper shows some simulation results for traversing rough terrain that compute the optimal center of mass while traversing the terrain.

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Language：English   Publisher：IEEE  

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Language：English   Publisher：IEEE  

In operation environment with communication time delay, it's difficult to compose a closed loop control structure between a master and a slave system, and some scheme to achieve the stability is thus necessary. In this paper, we discuss and evaluate our proposed human machine cooperative tele-drive system that consists of global and local path-planning, for long range traversability. The operator can command any desired path as a sequence of waypoints by using a 3D terrain model measured as DEM by the on-board sensor of a rover. The data is transmitted to the ground and evaluated to obtain a dangerousness map. To cope with an unknown obstacle a conventional autonomous path-planning algorithm is applied between each waypoint. In addition, a rover is continuously updating its knowledge about the environment. By continuously recalculating the difference between the original terrain data used for initial path generation on the ground and the most recent data acquired by the rover, a waypoint compensation can be achieved. Therefore, we have to compensate waypoints by using the latest measurement data which can be assumed more reliable than previous data, for corresponding to the difference automatically. Here, the difference is assumed as the distortion between each data set, and compensated by using a distortion compensation matrix which is the mapping between the old and new terrain data sets. Simulation and experimental results and its evaluations by using the rover test-bed are mentioned in the paper.

DOI： 10.1109/IROS.2006.281957

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Language：English  

In operation environment with communication time delay, it's difficult to compose a closed loop control structure between a master and a slave system, and some scheme to achieve the stability is thus necessary. In this paper, we discuss and evaluate our proposed human machine cooperative tele-drive system that consists of global and local path-planning, for long range traversability. The operator can command any desired path as a sequence of waypoints by using a 3D terrain model measured as DEM by the on-board sensor of a rover. The data is transmitted to the ground and evaluated to obtain a dangerousness map. To cope with an unknown obstacle, a conventional autonomous path-planning algorithm is applied between each waypoint. In addition, a rover is continuously updating its knowledge about the environment. By continuously recalculating the difference between the original terrain data used for initial path generation on the ground and the most recent data acquired by the rover, a waypoint compensation can be achieved. Therefore, we have to compensate waypoints by using the latest measurement data which can be assumed more reliable than previous data, for corresponding to the difference automatically. Here, the difference is assumed as the distortion between each data set, and compensated by using a distortion compensation matrix which is the mapping between the old and new terrain data sets. Simulation and experimental results and its evaluations by using the rover test-bed are mentioned in the paper. © 2006 IEEE.

DOI： 10.1109/IROS.2006.281957

Scopus

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Language：English   Publisher：ELSEVIER SCIENCE BV  

The SELENE-B, a lunar landing mission, has been studied in Japan, where a scientific investigation plan is proposed using a robotic rover and a static lander. The main theme to be investigated is to clarify the lunar origin and evolution, especially for early crustal formation process probably from the ancient magma ocean. The highest priority is placed on a direct in situ geology at a crater central peak, "a window to the interior", where subcrustal materials are exposed and directly accessed without drilling. As a preliminary study was introduced by Sasaki et al. [Sasaki, S., Kubota, T., Okada, T. et al, Scientific exploration of lunar surface using a rover in Japanse future lunar mission. Adv. Space Res. 30, 1921-1926, 2002.], the rover and lander are jointly used, where detailed analyses of the samples collected by the rover are conducted at the lander. Primary scientific instruments are a multi-band stereo imager, a gamma-ray spectrometer, and a sampling tool on the rover, and a multi-spectral telescopic imager, a sampling system, and a sample analysis package with an X-ray spectrometer/diffractometer, a multi-band microscope as well as a sample cleaning and grinding device on the lander. (C) 2005 COSPAR. Published by Elsevier Ltd. All rights reserved.

DOI： 10.1016/j.asr.2005.05.097

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Language：English   Publisher：ELSEVIER SCIENCE BV  

The SELENE-B, a lunar landing mission, has been studied in Japan, where a scientific investigation plan is proposed using a robotic rover and a static lander. The main theme to be investigated is to clarify the lunar origin and evolution, especially for early crustal formation process probably from the ancient magma ocean. The highest priority is placed on a direct in situ geology at a crater central peak, "a window to the interior", where subcrustal materials are exposed and directly accessed without drilling. As a preliminary study was introduced by Sasaki et al. [Sasaki, S., Kubota, T., Okada, T. et al, Scientific exploration of lunar surface using a rover in Japanse future lunar mission. Adv. Space Res. 30, 1921-1926, 2002.], the rover and lander are jointly used, where detailed analyses of the samples collected by the rover are conducted at the lander. Primary scientific instruments are a multi-band stereo imager, a gamma-ray spectrometer, and a sampling tool on the rover, and a multi-spectral telescopic imager, a sampling system, and a sample analysis package with an X-ray spectrometer/diffractometer, a multi-band microscope as well as a sample cleaning and grinding device on the lander. (C) 2005 COSPAR. Published by Elsevier Ltd. All rights reserved.

DOI： 10.1016/j.asr.2005.05.097

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DOI： 10.1109/IROS.2006.281956

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DOI： 10.1109/IROS.2006.281956

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Language：English   Publisher：INDIAN ACADEMY SCIENCES  

Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed. A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of impact craters for investigation of the sub-surface materials. This will give us the key information to study the lunar inner structure and understand the Moon's origin and evolution as well as to investigate the evolution of magma ocean and later igneous processes. To to carry out the geological exploration in the central peak, lander and rover co-operative exploration is proposed. The working group has been conducting feasibility study of advance technologies. This paper addresses an overview of lunar exploration with lander and rover and also enumerates future technologies to be established.
The rover R&D group has developed an innovative science micro rover with a new mobility system and a lightweight manipulator. The design and implementation of a science rover for the near future lunar inissioris requiring long traverses arid scientific observations are described and some experimental results are presented.

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Language：English   Publisher：INDIAN ACADEMY SCIENCES  

Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed. A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of impact craters for investigation of the sub-surface materials. This will give us the key information to study the lunar inner structure and understand the Moon's origin and evolution as well as to investigate the evolution of magma ocean and later igneous processes. To to carry out the geological exploration in the central peak, lander and rover co-operative exploration is proposed. The working group has been conducting feasibility study of advance technologies. This paper addresses an overview of lunar exploration with lander and rover and also enumerates future technologies to be established.
The rover R&D group has developed an innovative science micro rover with a new mobility system and a lightweight manipulator. The design and implementation of a science rover for the near future lunar inissioris requiring long traverses arid scientific observations are described and some experimental results are presented.

Web of Science

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Language：English   Publisher：INDIAN ACADEMY SCIENCES  

Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed. A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of impact craters for investigation of the sub-surface materials. This will give us the key information to study the lunar inner structure and understand the Moon's origin and evolution as well as to investigate the evolution of magma ocean and later igneous processes. To to carry out the geological exploration in the central peak, lander and rover co-operative exploration is proposed. The working group has been conducting feasibility study of advance technologies. This paper addresses an overview of lunar exploration with lander and rover and also enumerates future technologies to be established.
The rover R&D group has developed an innovative science micro rover with a new mobility system and a lightweight manipulator. The design and implementation of a science rover for the near future lunar inissioris requiring long traverses arid scientific observations are described and some experimental results are presented.

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Language：English   Publisher：IEEE/KROS  

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Language：English   Publisher：IAA  

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Language：English   Publisher：IEEE  

In operation environment with communication time delay, it's difficult to compose a closed loop control structure between a master and slave system, and then, some scheme to achieve the stability is necessary. In this paper, we discuss and evaluate our proposed human machine cooperative tele-drive system consisted of global and local path-planning, for a long range traversability. Operator can command any desired path as waypoint sequences, by using 3D terrain model which was measured as DEM by on-board sensor of a rover and then transmitted to the ground and evaluated with dangerousness. For corresponding to unknown obstacle, a conventional autonomous path-planning algorithm is applied between each waypoint. In addition, a rover is up-dating environment data set, and then it causes the difference between terrain data used for commanding of an operator and for traversing of a rover. Therefore, we have to compensate waypoints by using the latest measurement data which can be assumed more reliable than previous data, for corresponding to the difference automatically. Here, the difference is assumed as the distortion between each data set, and compensated by using a distortion compensation matrix which is the mapping between the old and new terrain data sets. Simulation and experimental results and its evaluations, by using the rover test-bed, are mentioned.

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Language：English   Publisher：IEEE  

In this paper, we discuss tele-driving method for a long driving of a mobile robot in the natural field and experimental results are shown. An operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover.
We have, however, a communication delay between the control station and the remote site. So, there is the difference between old map data which operator use for path planning and new data, which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore, to make high reliability of operator's command, we pro-pose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map.

DOI： 10.1109/ICAR.2005.1507509

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Language：English   Publisher：IEEE  

In operation environment with communication time delay, it's difficult to compose a closed loop control structure between a master and slave system, and then, some scheme to achieve the stability is necessary. In this paper, we discuss and evaluate our proposed human machine cooperative tele-drive system consisted of global and local path-planning, for a long range traversability. Operator can command any desired path as waypoint sequences, by using 3D terrain model which was measured as DEM by on-board sensor of a rover and then transmitted to the ground and evaluated with dangerousness. For corresponding to unknown obstacle, a conventional autonomous path-planning algorithm is applied between each waypoint. In addition, a rover is up-dating environment data set, and then it causes the difference between terrain data used for commanding of an operator and for traversing of a rover. Therefore, we have to compensate waypoints by using the latest measurement data which can be assumed more reliable than previous data, for corresponding to the difference automatically. Here, the difference is assumed as the distortion between each data set, and compensated by using a distortion compensation matrix which is the mapping between the old and new terrain data sets. Simulation and experimental results and its evaluations, by using the rover test-bed, are mentioned.

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Language：English   Publisher：IEEE  

In this paper, we discuss tele-driving method for a long driving of a mobile robot in the natural field and experimental results are shown. An operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover.
We have, however, a communication delay between the control station and the remote site. So, there is the difference between old map data which operator use for path planning and new data, which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore, to make high reliability of operator's command, we pro-pose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map.

DOI： 10.1109/ICAR.2005.1507509

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Language：Japanese   Publisher：宇宙科学研究所  

CiNii Books

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

DOI： 10.7210/jrsj.21.484

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Language：Japanese   Publisher：宇宙科学研究所  

CiNii Books

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Language：English   Publisher：PERGAMON-ELSEVIER SCIENCE LTD  

In recent years, many researchers have studied and developed lunar or planetary rovers for unmanned surface exploration. By the way, mission scope of a lander, which does not have mobility, is just a point. If we can have a rover, this mission area can be expanded to two-dimensional mission area. The object of a rover mission is scientific investigation, therefore, a rover system is not a mobile engineering system but a part of scientific equipments. A manipulator has strong possibility to be one of the scientific equipments mounted on a rover.
In this paper, we introduce a micro-rover called "Micro5" which has a new suspension system: PEGASUS for high-mobility performance; we discuss a manipulator for this rover and introduce a developed micro-manipulator. It has five degrees of freedom and each joint is driven by an ultra-sonic motor which needs no electrical power to keep a posture of the manipulator. The manipulator is operated with a virtual world simulator and images sent from a hand eye camera by a joystick located on a remote site. (C) 2002 Published by Elsevier Science Ltd.

DOI： 10.1016/S0094-5765(02)00185-6

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Language：English   Publisher：PERGAMON-ELSEVIER SCIENCE LTD  

This paper describes a newly developed rover with small size, lightweight, low power consumption. Unmanned mobile robots for surface exploration of the moon or planets have been extensively studied and developed. A lunar or planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. This paper presents exploration mission, scientific signification, requirements, and technology of a lunar rover. This paper proposes a new mobility system, which has four wheels and one supported wheel. This novel suspension system is a simple and light mechanism like a four-wheeled rover and provides a high degree of mobility like a six-wheeled rover. Multiple rovers exploration by buddy system is also discussed. The performance of the developed rover is shown by some experiments. (C) 2002 Elsevier Science Ltd. All rights reserved.

DOI： 10.1016/S0094-5765(02)00187-X

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Language：English   Publisher：PERGAMON-ELSEVIER SCIENCE LTD  

This paper describes a newly developed rover with small size, lightweight, low power consumption. Unmanned mobile robots for surface exploration of the moon or planets have been extensively studied and developed. A lunar or planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. This paper presents exploration mission, scientific signification, requirements, and technology of a lunar rover. This paper proposes a new mobility system, which has four wheels and one supported wheel. This novel suspension system is a simple and light mechanism like a four-wheeled rover and provides a high degree of mobility like a six-wheeled rover. Multiple rovers exploration by buddy system is also discussed. The performance of the developed rover is shown by some experiments. (C) 2002 Elsevier Science Ltd. All rights reserved.

DOI： 10.1016/S0094-5765(02)00187-X

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Language：English   Publisher：PERGAMON-ELSEVIER SCIENCE LTD  

In recent years, many researchers have studied and developed lunar or planetary rovers for unmanned surface exploration. By the way, mission scope of a lander, which does not have mobility, is just a point. If we can have a rover, this mission area can be expanded to two-dimensional mission area. The object of a rover mission is scientific investigation, therefore, a rover system is not a mobile engineering system but a part of scientific equipments. A manipulator has strong possibility to be one of the scientific equipments mounted on a rover.
In this paper, we introduce a micro-rover called "Micro5" which has a new suspension system: PEGASUS for high-mobility performance; we discuss a manipulator for this rover and introduce a developed micro-manipulator. It has five degrees of freedom and each joint is driven by an ultra-sonic motor which needs no electrical power to keep a posture of the manipulator. The manipulator is operated with a virtual world simulator and images sent from a hand eye camera by a joystick located on a remote site. (C) 2002 Published by Elsevier Science Ltd.

DOI： 10.1016/S0094-5765(02)00185-6

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Language：English   Publisher：IEEE  

To gather a rock, it is necessary how to get information of the surface around a sample. Usually, a surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, needs more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some case. In this research, we propose Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of a surface information under the direct sunlight. Shadow is strong for above mentioned problem, and would be recognized in the case of a halation. The measurement by SRF uses a single camera, which should be installed on a manipulator for a sampling, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects is shown, and we discusses about accuracy of measurement data. Finally, we evaluate image thresholding method by the consideration of theoretical value at a circular light source.

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Publisher：THE JAPANESE SOCIETY FOR PLANETARY SCIENCES  

We have been studying the instrumentation onboard the lander and rover for a lunar geological exploration with the SELENE-B that demonstrates the next generation technologies of a pin-point and soft landing on planetary surfaces of scientific interest and an autonomous controlled scientific rover. In this mission, imaging spectroscopy and multi-band imagery will characterize the target site around a crater central peak and gamma-ray spectrometry will measure radioactivity along the rover's track. Lunar rocks and soils at the target crops or around the lander are selected to brush up and grind for detailed analyses by microscopy and x-ray fluorescence/diffraction method. The systematic configuration of instruments is also introduced.

DOI： 10.14909/jsps.2003f.0.48.0

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Language：English   Publisher：IEEE  

To gather a rock it is important how to get information of the surface around a sample. Usually, surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, need more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some situation, for example, a high brightness environment. In this research, we apply Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of surface information under the direct sunlight. SRF is robust for above-mentioned environment, and a shadow would be recognized in the case of a halation. The measurement by SRF uses a single camera installed on a manipulator, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects are shown, and we discusses about accuracy improvement for measurement data, considering an umbra and a penumbra caused by surface light source. Finally, we apply this method to tele-sampling by a manipulator on a rover system.

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Language：English   Publisher：UNIV COIMBRA, FAC CIENCIAS & TECHNOL  

To gather a rock, it is important how to get information of the surface around a sample. Usually, surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, need more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some situation, for example, a high brightness environment. In this research, we propose Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of surface information under the direct sunlight. SRF is strong for above-mentioned environment, and a shadow would be recognized in the case of a halation. The measurement by SRF uses a single camera installed on a manipulator, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects are shown, and we discusses about accuracy of measurement data. Finally, we apply this method to tele-sampling by a manipulator on a rover system.

Web of Science

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Language：English   Publisher：IEEE  

To gather a rock, it is necessary how to get information of the surface around a sample. Usually, a surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, needs more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some case. In this research, we propose Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of a surface information under the direct sunlight. Shadow is strong for above mentioned problem, and would be recognized in the case of a halation. The measurement by SRF uses a single camera, which should be installed on a manipulator for a sampling, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects is shown, and we discusses about accuracy of measurement data. Finally, we evaluate image thresholding method by the consideration of theoretical value at a circular light source.

Web of Science

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Language：English   Publisher：IEEE  

To gather a rock it is important how to get information of the surface around a sample. Usually, surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, need more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some situation, for example, a high brightness environment. In this research, we apply Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of surface information under the direct sunlight. SRF is robust for above-mentioned environment, and a shadow would be recognized in the case of a halation. The measurement by SRF uses a single camera installed on a manipulator, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects are shown, and we discusses about accuracy improvement for measurement data, considering an umbra and a penumbra caused by surface light source. Finally, we apply this method to tele-sampling by a manipulator on a rover system.

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Language：English   Publisher：UNIV COIMBRA, FAC CIENCIAS & TECHNOL  

To gather a rock, it is important how to get information of the surface around a sample. Usually, surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, need more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some situation, for example, a high brightness environment. In this research, we propose Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of surface information under the direct sunlight. SRF is strong for above-mentioned environment, and a shadow would be recognized in the case of a halation. The measurement by SRF uses a single camera installed on a manipulator, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects are shown, and we discusses about accuracy of measurement data. Finally, we apply this method to tele-sampling by a manipulator on a rover system.

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J-GLOBAL

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J-GLOBAL

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J-GLOBAL

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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：宇宙航空研究開発機構宇宙科学研究本部  

CiNii Books

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Language：Japanese   Publisher：宇宙航空研究開発機構宇宙科学研究本部  

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：宇宙科学研究所  

CiNii Books

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：電気学会  

DOI： 10.1541/ieejjournal.120.754

CiNii Books

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Other Link： https://jlc.jst.go.jp/DN/JALC/00070220735?from=CiNii

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

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Language：English   Publisher：日本機械学会  

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Language：English   Publisher：日本機械学会  

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Language：English  

An attempt was made to build a self-diagnosis system of an omni-directional mobile robot (ZEN). A fault detection experiment with a real mobile robot was performed to confirm the validity of the method.

DOI： 10.1163/156855300741889

Scopus

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Language：English  

An attempt was made to build a self-diagnosis system of an omni-directional mobile robot (ZEN). A fault detection experiment with a real mobile robot was performed to confirm the validity of the method.

DOI： 10.1163/156855300741889

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

月面探査ローバが限られた行動可能時間内に広域探査を行うためには, 連続的に走行できることが必要である。通信時間遅れによりオペレータが走行ルートを設定した時点とローバがコマンドを受信した時点で周囲環境に差異が生じていた場合, ローバ自身が走行中に環境の変化を検知し, ルートを補正する手法を提案する。そして, 3DCGによるシミュレーション結果と実機に搭載して実験を行った結果を示す。

CiNii Books

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

本研究グループでMicro5を3機製作した。実ミッションにおいて探査ローバは「点」探査から「線」探査へと移りつつあるが, 有益なデータを得るために今後は「面」探査へ移行していくと考えられる。そのためにも, 探査ローバ単体が長距離長期間, 探査活動することは必須となると考えられる。そこで, 本研究ではMicro5ローバを用いてフィールド実験を行ったので, その報告をする。

CiNii Books

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

This paper presents a new type of human interface with force feedback attached to an arm, which we named Sensor Arm. The Sensor Arm can be utilized as an interface for interactive communication with the virtual environment and as a master manipulator of a tele-operation system. The number of degrees-of-freedom (DOF) of the Sensor Arm is seven, which is the same DOF of a human arm. Angle and torque of each joint can be measured. Moreover, in this system, force feedback can be realized at each joint of the human arm. To measure human force a new type of force sensor system is proposed in the Sensor Arm system.

DOI： 10.7210/jrsj.17.1126

CiNii Books

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Other Link： https://jlc.jst.go.jp/DN/JALC/00057610511?from=CiNii

Language：Japanese   Publisher：The Robotics Society of Japan  

This paper presents a new type of human interface with force feedback attached to an arm, which we named Sensor Arm. The Sensor Arm can be utilized as an interface for interactive communication with the virtual environment and as a master manipulator of a tele-operation system. The number of degrees-of-freedom (DOF) of the Sensor Arm is seven, which is the same DOF of a human arm. Angle and torque of each joint can be measured. Moreover, in this system, force feedback can be realized at each joint of the human arm. To measure human force a new type of force sensor system is proposed in the Sensor Arm system.

DOI： 10.7210/jrsj.17.1126

CiNii Books

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Other Link： https://jlc.jst.go.jp/DN/JALC/00057610511?from=CiNii

Language：English   Publisher：EUROPEAN SPACE AGENCY  

In this paper, we propose a newly developed suspension system called "Pentad Grade Assist Suspension (PEGASUS)". PEGASUS has high mobility as well as rocker-bogie suspension, with very simple mechanism called only-one-joint architecture. PEGASUS is able to successfully climb up on the stepalike terrain with low energy consumption by scale model test. The prototype of micro planetary rover Micro5 which has been developed by the rover R&D group of ISAS, Meiji university, and Chuo university, adopts PFGASUS as its mobility system. The Micro5 is under testing on the variety types of land environment.

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Language：English   Publisher：EUROPEAN SPACE AGENCY  

This paper describes a newly developed rover with small size, light-weight, low power consumption. In recent years, many researchers have extensively studied and developed unmanned mobile robots for surface exploration of the moon or planets. A lunar or planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. This paper presents scientific signification, requirements, and technology of a lunar or planetary rover. This paper proposes a new mobility system, which has four wheels and one supported wheel. This novel suspension system is a simple and light mechanism like a four-wheeled rover and provides a high degree of mobility like a six-wheeled rover. The performance of the developed rover is shown by some experiments.

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Language：English   Publisher：EUROPEAN SPACE AGENCY  

In this paper, we propose a newly developed suspension system called "Pentad Grade Assist Suspension (PEGASUS)". PEGASUS has high mobility as well as rocker-bogie suspension, with very simple mechanism called only-one-joint architecture. PEGASUS is able to successfully climb up on the stepalike terrain with low energy consumption by scale model test. The prototype of micro planetary rover Micro5 which has been developed by the rover R&D group of ISAS, Meiji university, and Chuo university, adopts PFGASUS as its mobility system. The Micro5 is under testing on the variety types of land environment.

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Language：English   Publisher：EUROPEAN SPACE AGENCY  

In this paper, we propose the method of constructing the operation environment with the manipulator to gather the sample for the planetary mission, and also describe the development of the 5 Degree-Of-Freedom micro manipulator for the telescience. Command Distortion Compensation is also presented for Continuous Real-time Tele-driving with the time-delay.

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Language：English   Publisher：EUROPEAN SPACE AGENCY  

In this paper, we propose the method of constructing the operation environment with the manipulator to gather the sample for the planetary mission, and also describe the development of the 5 Degree-Of-Freedom micro manipulator for the telescience. Command Distortion Compensation is also presented for Continuous Real-time Tele-driving with the time-delay.

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Language：English   Publisher：EUROPEAN SPACE AGENCY  

This paper describes a newly developed rover with small size, light-weight, low power consumption. In recent years, many researchers have extensively studied and developed unmanned mobile robots for surface exploration of the moon or planets. A lunar or planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. This paper presents scientific signification, requirements, and technology of a lunar or planetary rover. This paper proposes a new mobility system, which has four wheels and one supported wheel. This novel suspension system is a simple and light mechanism like a four-wheeled rover and provides a high degree of mobility like a six-wheeled rover. The performance of the developed rover is shown by some experiments.

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Language：English   Publisher：The Virtual Reality Society of JAPAN  

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Language：English   Publisher：The Virtual Reality Society of JAPAN  

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Language：English   Publisher：Fuji Technology Press Ltd.  

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Language：English   Publisher：Fuji Technology Press Ltd.  

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Language：English   Publisher：IEEE/ASMEASME:米国機械学会  

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Language：English   Publisher：IEEE/ASMEASME:米国機械学会  

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Language：Japanese   Publisher：電気学会  

DOI： 10.1541/ieejeiss1987.117.5_500

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Language：English   Publisher：I E E E  

In this peeper we present a system that is able to give force feedback for the handling of virtual objects to a human operator and discuss how this system can learn low-level reflective behaviors from the human. A Dynamic Force Simulator(DFS) that simulates object dynamics, contact model and friction characteristics of the human hand was developed to interact with the object in Virtual Reality. The DFS allows calculation and feedback of appropriate forces to the force controlled actuators of a glove type haptic interface. The measured data is used for task-teaching of the robot in the remote site. However usually the task can not be achieved by simple playback teaching. As each task execution is different due to various sources of small errors a low-level motion behavior to compensate for this errors is needed. In this paper, this function is assumed to be a reflective behavior and we acquire it by learning from human. Two learning schemes, neural nets and radial basis functions are experimentally evaluated.

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Language：English   Publisher：I E E E  

In this peeper we present a system that is able to give force feedback for the handling of virtual objects to a human operator and discuss how this system can learn low-level reflective behaviors from the human. A Dynamic Force Simulator(DFS) that simulates object dynamics, contact model and friction characteristics of the human hand was developed to interact with the object in Virtual Reality. The DFS allows calculation and feedback of appropriate forces to the force controlled actuators of a glove type haptic interface. The measured data is used for task-teaching of the robot in the remote site. However usually the task can not be achieved by simple playback teaching. As each task execution is different due to various sources of small errors a low-level motion behavior to compensate for this errors is needed. In this paper, this function is assumed to be a reflective behavior and we acquire it by learning from human. Two learning schemes, neural nets and radial basis functions are experimentally evaluated.

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Language：English   Publisher：IEEE  

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Language：English   Publisher：IEEE  

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Language：English   Publisher：International Federation of Automatic Control World Congress (IFAC)  

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Language：English   Publisher：International Federation of Automatic Control World Congress (IFAC)  

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Language：Japanese   Publisher：電気学会  

DOI： 10.1541/ieejeiss1987.116.6_706

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Language：English   Publisher：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

In this paper we present a dynamic force simulator (DFS) for force feedback in human-machine systems, We propose a virtual world model with two force flows: one is the force flow from human to an object, the other is the force flow from an object to human, To use this model, DFS simulates object dynamics, contact models, and friction characteristics of the human hand interacting with the object in Virtual Reality, After derivation of kinematic and force relations between hand and object space, we balance the two forces: one from the human and the other from the object in the contact force space in Virtual World and then realize the adequate feedback forces to human operator, Interaction with DFS allows calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove we have developed, In this paper grasping of a cylinder in the virtual world is presented, During object grasping, we measure joint angles and torques using the sensor glove system, In the future we will use this system to analyze human dextrous manipulations called Human Skill.

DOI： 10.1109/41.481410

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Language：English  

In this paper we present a dynamic force simulator (DFS) for force feedback in human-machine systems. We propose a virtual world model with two force flows: one is the force flow from human to an object, the other is the force flow from an object to human. To use this model, DFS simulates object dynamics, contact models, and friction characteristics of the human hand interacting with the object in Virtual Reality. After derivation of kinematic and force relations between hand and object space, we balance the two forces: one from the human and the other from the object in the contact force space in Virtual World and then realize the adequate feedback forces to human operator. Interaction with DFS allows calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove we have developed. In this paper grasping of a cylinder in the virtual world is presented. During object grasping, we measure joint angles and torques using the sensor glove system. In the future we will use this system lo analyze human dextrous manipulations called Human Skill. © 1996 IEEE.

DOI： 10.1109/41.481410

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Language：English   Publisher：I E E E  

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Language：English   Publisher：I E E E  

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Language：English   Publisher：Microsoft America  

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Language：English   Publisher：Microsoft America  

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Language：English   Publisher：IJCAIInc.,AAAI(アメリカAI学会)  

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Language：English   Publisher：IJCAIInc.,AAAI(アメリカAI学会)  

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Language：English   Publisher：ELSEVIER SCIENCE PUBL B V  

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Language：English   Publisher：ELSEVIER SCIENCE PUBL B V  

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Language：English   Publisher：IEEE  

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Language：English   Publisher：IEEE  

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Language：English   Publisher：IEEE  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：東京大学生産技術研究所  

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Language：English   Publisher：IEEE  

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Language：English   Publisher：I E E E, COMPUTER SOC PRESS  

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Language：English   Publisher：I E E E, COMPUTER SOC PRESS  

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Language：English   Publisher：I E E E  

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DOI： 10.7210/jrsj.11.1220

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Language：English   Publisher：I E E E  

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：東京大学生産技術研究所  

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Language：Japanese  

CiNii Books

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Other Link： http://hdl.handle.net/2261/48551

Language：English   Publisher：IEEE RSJ (The Robotics Society of Japan)  

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Language：English   Publisher：IEEE RSJ (The Robotics Society of Japan)  

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Language：English   Publisher：International Society for Artificial Life and Robotics  

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Language：English   Publisher：International Society for Artificial Life and Robotics  

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Language：Japanese  

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Language：Japanese  

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Language：Japanese  

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