ROBOMECH Journal

http://www.robomechjournal.com/

List of Papers (Total 82)

Development of friction free controller for electro-hydrostatic actuator using feedback modulator and disturbance observer

Hydraulic actuators have high power-to-weight ratios, making them suitable for high-power robotic applications such as in walking robots and construction machines. However, large frictional forces in hydraulic actuators, rotary hydraulic actuators in particular, degrade the control performance. To suppress frictional forces and increase robustness against modeling errors, this...

A signal hardware-in-the-loop model for electric vehicles

Recently, researches on electric vehicle are focused on motion control and state estimation. These works require a model that imitate a real vehicle as close as possible. We propose in this paper a signal hardware-in-the-loop model of electric vehicles that includes driving system and vehicle model running in real-time in dSPACE-DS1103 control card. All the required states of the...

A mechanical approach to realize reflexive omnidirectional bending motion for pneumatic continuum robots

A mechanism that allows a robotic arm to quickly grip various forms of objects at disaster sites will enhance the mobility of rescue robots by keeping their bodies stable and maintaining manipulability for target objects, such as debris. Such a mechanism requires the ability to quickly and omnidirectionally change arm postures toward the target and hold it in a stable manner...

Approach function study for concierge-type robot by model-based development with user model for human-centred design

Service robots are common sights in everyday life. The service robots are expected to provide useful services with a high degree of usability, and a high degree of user experience (UX) to users and other persons around the service robots. In addition, the human-centred design (HCD) is being used in various industries, and HCD can be used also in the service robot industry for...

Configuration of redundant drive wire mechanism using double actuator modules

A new wire mechanism called “redundant drive wire mechanism” (RDWM), driven by double actuator modules (DAMs) is introduced. When RDWM is used for producing multi-directional motions using DAMs, the number of wires increases and the wire matrix would become complicated. This makes finding and checking the candidates difficult. Therefore, we introduce an easier and simpler...

B-PaDY: robot co-worker in a bumper assembly line

In an automobile assembly line, many processes require control and human intervention. A human’s dexterity and ability to react to unpredictable changes in production volume and product specifications are necessary for these processes. Thus, it remains difficult to rely on robots or other automated systems. Conversely, some tasks, such as moving to a tool rack and delivering...

Assessment of a tracked vehicle’s ability to traverse stairs

In some surveillance missions in the aftermath of disasters, the use of a teleoperated tracked vehicle contributes to the safety of rescue crews. However, because of its insufficient traversal capability, the vehicle can become trapped upon encountering rough terrain. This may lead to mission failure and, in the worst case, loss of the vehicle. To improve the success rate of such...

Robot development project with human- and eco-friendly smart materials

The social need for robotic technology is rapidly increasing to prepare for the aging society in Japan. Many political action plans concerning Japan’s robot strategy have been proposed and carried out nationwide. This project focused on the social implementation of life support robots and developing corresponding robotic technology. The project’s participants were mainly selected...

Retinal vessel model fabricated on a curved surface structure for a simulation of microcannulation

A remarkable number of vitreoretinal surgeries are performed each year despite their difficulty. As a result, a high demand exists for a mock-up simulator of retinal vessels to simulate these surgeries. Thus, we propose an artificial retinal vessel model for simulating microcannulation surgery. Using laser lithography, polydimethylsiloxane molding, and hydraulic transfer...

Service robot planning via solving constraint satisfaction problem

The problem of demographic shifts towards the elderly is deteriorating, as the relative number of caregivers is insufficient to provide the support required for their wellbeing, which is further aggravated by the increasingly hectic lifestyle. Service robot is getting more prominent as a possible solution. Robot manipulation and mobility is an important field, but they also...

Precise assembly of ring part with optimized hollowed finger

We deal with a technical issue of assembling a ring part into a shaft part with the clearance of several micrometers by using a robotic manipulator. This issue is difficult because of deformation of a ring part compared with peg-in-hole assembly. We propose a precise assembly method of a ring part with finger shape to solve this issue. We also propose a method to decide design...

Vision and force/torque integration for realtime estimation of fast-moving object under intermittent contacts

This paper considers the fast and accurate estimation of motion variables of a rigid body object whose movement occurs from intermittent contacts with coordinating manipulators in nonprehensile manipulation tasks. The estimator operates under multiple sensory data including visual, joint torque, joint position and/or tactile measurements which are combined at the lower level to...

An optimal jerk-stiffness controller for gait pattern generation in rough terrain

In this paper, an optimal jerk stiffness controller is proposed to produce stable gait pattern generation for bipedal robots in rough terrain. The optimal jerk controller is different from the point-to-point and via-Point conventional approaches as trajectories are planned in the Cartesian space system whereas control laws are expressed in the joint space. Its major contribution...

Mobile robotic cart development to support home oxygen therapy patients: Study on handling interface for mobile robotic cart similar to wheeled walker

We propose a motion control interface system for a mobile robotic cart to support Home Oxygen Therapy (HOT) patients when they go out. Our goal is to realize a mobile robotic cart similar to a wheeled walker that carries oxygen devices in front of patients, because HOT patients whose physical strength has especially waned would like to use such a cart according to the results of...

An image processing method for changing endoscope direction based on pupil movement

Increased attention has been focused on laparoscopic surgery because of its minimal invasiveness and improved cosmetic properties. However, the procedure of laparoscopic surgery is considerably difficult for surgeons, thus paving the way for the introduction of robotic technology to reduce the surgeon’s burden. Thus, we have developed a single-port surgery assistive robot with a...

Interaction force estimation on a built-in position sensor for an electrostatic visuo-haptic display

This paper discusses a force sensing method using a built-in position sensing system for an electrostatic visuo-haptic display. The display provides passive haptic feedback on a flat panel visual monitor, such as LCD, using electrostatic friction modulation via multiple contact pads arranged on a surface-insulated transparent electrode. The display demonstrated in previous...

Realization and swimming performance of the breaststroke by a swimming humanoid robot

In order to clarify the mechanics of human swimming, a full-body swimming humanoid robot called “SWUMANOID” was developed as an experimental platform for research about human swimming. SWUMANOID had a detailed human body shape, created using three-dimensional scanning and printing equipment, and was developed as an experimental model substituting for human subjects. Not only the...

TITAN-XIII: sprawling-type quadruped robot with ability of fast and energy-efficient walking

In this paper, we discuss development of a sprawling-type quadruped robot named TITAN-XIII which is capable of high speed and energy efficient walking. We consider a sprawling-type quadruped robot is practical, because of its high stability which comes from the large supporting leg polygon and the low center of gravity. However in previous researches, the speed and the energy...

“Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

Problems can often occur when a legged robot attempts to walk on irregular or damaged terrain, such as in search and rescue missions during natural and man-made disasters. In some cases, the ground beneath the robot will collapse because of the pressure of its weight, causing the machine to lose its foothold and topple over. This is a point to which we as designers must pay...

BBot, a hopping two-wheeled robot with active airborne control

Most two-wheeled robots have algorithms that control balance by assuming constant contact with the ground. However, such algorithms cannot confer stability in robots deployed on non-continuous ground terrain. Here, we introduce BBot, a robot that can hop as well as move over stepped terrains. BBot has a two-wheeled lower body platform and a spring-loaded movable upper body mass...

Concept proposal and experimental verification of a sidewalk supporting system utilizing a smartphone

In this report, we propose a system to be used as a basis for the efficient gathering of information on sidewalk usage and services for the purpose of building a system to support social infrastructures through which users can move safely and securely. We assume services for extracting and providing useful information to sidewalk users and local governments. Specifically, we...

On the development of intrinsically-actuated, multisensory dexterous robotic hands

Restoring human hand function by mechatronic means is very challenging in robotics research. In this paper, we first make a brief review on the development of dexterous robotic/prosthetic hands, and then detail our design philosophy of several robot hands. We make a concentration on a type of intrinsically-actuated robot hands, wherein the driving, transmission, and control...

A method for using one finger to press three separate keys on a three-dimensional keyboard designed to be mounted on a mouse

Here we propose and verify the feasibility of a new keyboard structure for keyboard-mounted mouse. Reducing the distance that fingers move while typing within a three-dimensional (3-D) key arrangement that fits along the fingers is effective for keyboard-mounted mouse, provided that each finger can separately press three different keys. Our objective was to design and test a...

Development of a gas/liquid phase change actuator for high temperatures

Gas/liquid phase changes produce large volume changes in working fluids. These volume changes are used as the driving power sources in actuators such as micro-pumps and valves. Most of these actuators are utilized in ordinary temperature environments. However, the temperature range in which the phase change actuator can operate depends on the characteristics of the working fluid...

GPU-accelerated surgery simulation for opening a brain fissure

In neurosurgery, dissection and retraction are basic techniques for approaching the site of pathology. These techniques are carefully performed in order to avoid damage to nerve tissues or blood vessels. However, novice surgeons cannot train in such techniques using the haptic cues of existing training systems. This paper proposes a real-time simulation scheme for training in...