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Volume 20, Issue 5
Displaying 1-17 of 17 articles from this issue
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[in Japanese]2002 Volume 20 Issue 5 Pages 463
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
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Hirochika Inoue, Satoshi Kagami2002 Volume 20 Issue 5 Pages 464-469
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
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Masayuki Inaba2002 Volume 20 Issue 5 Pages 470-473
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
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Shigeoki Hirai2002 Volume 20 Issue 5 Pages 474-477
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
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-Intelligence that is Integrated on a Single Robot-Hirohisa Hirukawa, Satoshi Kagami2002 Volume 20 Issue 5 Pages 478-481
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
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-Ubiquitous Intelligence-Tomomasa Sato, Taketoshi Mori, Tatsuya Harada2002 Volume 20 Issue 5 Pages 482-486
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
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Jun Ota, Tamio Arai2002 Volume 20 Issue 5 Pages 487-490
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
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Nobuto Matsuhira2002 Volume 20 Issue 5 Pages 491-492
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
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Shinsuke Sakakibara2002 Volume 20 Issue 5 Pages 493-495
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
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Yoshio Matsumoto, Takeshi Miyazaki, Masayuki Inaba, Hirochika Inoue2002 Volume 20 Issue 5 Pages 497-505
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSSimulation is an important issue in the robotics research field since it is essential for evaluating and predicting the behavior of a robot. However previously developed simulation systems did not have the function of simulating the visual perception process of the robot. This means that a vision-based behavior cannot be simulated. In this paper, we first propose a novel approach using VR technology to simulate the vision-based behavior of a robot. Then the implemented system called “View Simulation System (VSS) ”, which was designed to simulate the behavior of our view-based navigation method is described. The VSS has a CG generator and a vision processing hardware, and can run the same program as one for our mobile robot. Finally the feasibility of VSS is shown through experiments using the real robot.View full abstractDownload PDF (9737K) -
Yoshio Matsumoto, Masayuki Inaba, Hirochika Inoue2002 Volume 20 Issue 5 Pages 506-514
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSRecently, view-based or appearance-based approaches have been attracting the interests of computer vision research. Based on a similar idea, we have proposed a view-based navigation method using a model of the route called the“View Sequence.”It contains a sequence of frontal views along a route memorized in the recording run, and the recognition of the environment is realized based on the matching of the current view and memorized view sequence. In this paper, we discuss the required characteristics of the view for the view sequence, and evaluate our former method of generating views. Then we confirm that the stereo disparity satisfies the requirements of the view sequence through an experiment, and the disparity view sequence is applied for outdoor navigation. The experimental results indicate such views other than normal camera images can be utilized for our view-based navigation method.View full abstractDownload PDF (12519K) -
Kazuhisa Mitobe, Atsushi Masuyama, Tatsuo Shibata, Mitsuhiro Yamano, Y ...2002 Volume 20 Issue 5 Pages 515-520
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIn this paper we present an efficient algorithm for manipulating the zero moment point of the walking robots, and its application to controlling the angular momentum of walking robots. A remarkable feature of our control method is that the zero moment point is considered as an actuating signal for the controller. The proposed method is applicable in real time situations because it does not necessitate accurate joint angle tracking. Its application to walking robots will result in a smooth and soft motion. Experimental results, based on a theoretical explanation, verify the validity of the proposed method.View full abstractDownload PDF (5803K) -
Kenichiro Sugiyama, Ryusei Matsuura, Hirokazu Mayeda2002 Volume 20 Issue 5 Pages 521-527
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThe performance indices of the model based motion control are experimentally investigated for a 6 D.O.F. industrial manipulator. Adopting the standardization compensators both in the joint space and the task space, a trajectory control for each direction is examined to evaluate the accuracy and decoupling indices of the model based controls. The frequency response for each direction is also investigated by the spectrum analysis of the step response.View full abstractDownload PDF (1807K) -
Yong Yu, Takashi Ishitsuka, Showzow Tsujio2002 Volume 20 Issue 5 Pages 528-536
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSFor dexterously performing object grasping and manipulation with multifingered hand of robot, sensing the finger joint torque is required. In general, the size of finger joint is quite small so that it is hard to realize the torque sensing. This paper proposes a novel mechanism calledStrain-Deformation Expansion Mechanismto sense the joint torque, which is small enough and fitted in the finger joint. By the torque-sensing mechanism, the small joint strain deformation used for torque sensing can be expanded without reducing the joint stiffness. In this paper, the torque-sensing principle is addressed by analyzing the deformation of the sensing mechanism and the torques acting on the joint axis theoretically. Then, the sensitivity of the sensing mechanism and its expansion rate of sensitivity are defined, and a method for realizing the sensing mechanism with high sensitivity is discussed. Lastly, some experiments with robot finger are performed to show the basic characteristcs and the effectiveness of the proposed torque-sensing mechanism.View full abstractDownload PDF (5670K) -
Jun Ueda, Tsuneo Yoshikawa2002 Volume 20 Issue 5 Pages 537-542
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSFlexibility of the mechanical system is one of the critical factors of the bandwidth limitation of the positioning control. In this paper, we consider a manipulator mounted on the base which contains flexibility. Based on the positive realness of the transfer matrix, we define 'Robust arm configuration' which is a kind of singular configuration where the system is passive. We show that the mechanical system obtains good robustness in the neighborhood of the robust arm configuration. The validity is confirmed applying to a flexible assembly system. The position of the base and the pallets are optimized and a high bandwidth positioning is realized.View full abstractDownload PDF (4124K) -
Hiroyasu Iwata, Hayato Hoshino, Toshio Morita, Shigeki Sugano2002 Volume 20 Issue 5 Pages 543-549
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIn this paper, we propose a whole-body haptic interface for human symbiotic robots. First, tactile and force information are specified to accurately detect physical interferences with humans, on the entire surface of human symbiotic robots. Next, a design method of whole-body surface cover sensors which enables robots to detect accurate force vectors applied on various surfaces of the body is described. The basic structure of the cover sensor utilizes a force-torque sensor and is surrounded with several touch sensors. The cover structure was implemented on a humanoid robot, WENDY. Finally, experiments were carried out to verify the effectiveness of the proposed method as human-robot haptic interface. The results show high capabilities of locus tracking on the surface and arm motion-processing based on the detected tactile and force information, and indicate that the proposed design method for realizing whole-body haptic interface is capable of enhancing human-robot symbiosis.View full abstractDownload PDF (10595K) -
Genichiro Kinoshita, Yujin Kurimoto, Hisashi Osumi, Kouhei Tada2002 Volume 20 Issue 5 Pages 550-556
Published: July 15, 2002
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThis paper focuses on acquisition methods for the contact force distributions acting on the high-resolution tactile sensors during the object handlings. The prototypes of tactile sensors equipped on the fingers are realized by a method of the light conductive plate, which is made close contact with a sensing surface consisting of soft sensing materials. As an object comes in contact with the tactile sensors on the parallel fingers by grasping it, contact patterns on the tactile sensors are taken as tactual images by CCD camera, which is set up at the light conductive plate underneath. Acquisitions of the tactual images by the tactile sensors can be carried out dynamically for the grasped object at pseudo video rate. For grasping a square pillar, as external forces are applied on the end of the object, tactual images through the tactile sensors are taken at the rate of 200 [ms] and its force vectors acting on the finger are induced. Orientations of the object like a stick are discriminated on the tactile sensors from the momentum of the displacement distribution. Finally, Gaussian curvature and mean curvature of the fundamental local shapes of the objects are estimated from the tactual images.View full abstractDownload PDF (5951K)
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