This research aims to propose a method to build a semantic map to be used for a robot path planning in a greenhouse. Existing mapping methods only consider whether there are obstacles in a certain region. They are not sufficient for path planning in greenhouses where paths are often covered by branches and leaves which are also recognized as obstacles. We propose a mapping method which generates a map with semantic information on the types of obstacles. By integrating 3D mapping function provided by RTAB-Map, an RGB-D based visual SLAM (Simultaneous Localization And Mapping) method, and semantic segmentation by SegNet, a deep convolutional encoder-decoder architecture for semantic pixel-wise labeling, we obtain a 3D map with semantic labels. In order to deal with uncertainty of observations, we introduce a probabilistic label update strategy. We voxelize the map and calculate the probability of each label of each voxel by voting. In addition, using the fact that the robot traverses a voxel, the probabilities in the voxel are updated using Bayes’ rule. Through evaluations, we confirmed that the proposed method can perform a more accurate semantic labeling than the one only using SegNet.

In this research, we aim to automatically detect the number of agricultural crops by image processing from image data of aerial photographs taken by drone. In this paper, we will present a method to discriminate agricultural crops by color and to detect the number.

This paper presents a generation method of tomato growth state map that has maturity and position of tomato. The tomato growth state map is used for the tomato harvesting robot to automatically plan the harvesting movement. As a first step of generating the tomato growth state map, a mosaic image expressing the tomato cultivation environment is generated. Next, immature to mature tomato are recognized by recognition method using infrared image. Based on color and depth information, maturity of tomato is judged and tomato position is calculated. This information is added to the mosaic image, and the tomato growth state map is generated. 19 immature tomatoes and 7 mature tomatoes were automatically detected from tomato state growth map that generated from 10 images.

An agricultural robot is highly required due to decreasing of agricultural working population So far, fully automatic agricultural robots without any manual operations have been proposed. However, there are still many problems to be solved regarding economical and technical side of putting this robot during the harvesting season in practical use. To cope with the problem, in this paper, we propose a tomato-harvesting-assist robot system that an operator can select a tomatoes to be harvested. In the proposed system, a robot efficiently crop the tomatoes that are selected by an operator from several images.

We developed a quad tilt rotor type VTOL with fixed wing, which aims to transit to a horizontal flight state, behaving as a quad rotor helicopter during vertical take-off and landing, and as a thrust device by tilting four rotors during level flight. In this experiment, hovering experiment and horizontal flight experiment by rotor inclination were carried out. As a result, it was found that horizontal flight is possible without affecting the pitch axis when stability at hovering and rotor inclination.

This paper describes development of a compliance mechanism for an aerial manipulator to contact bridge in bridge inspection. Our unmanned aerial vehicle (UAV) with three degree of freedom (DoF) manipulator is developed to hammer bridges in inspection. The compliance mechanism absorbs the movement of the UAV to contact to the wall stably. An experiment shows that compliance mechanism enables a contacting part of an end effector to contact wall vertically while the end effector is 58 [deg] to the wall. The contact force can be controlled with 0.49 [N] error with the compliance mechanism.

In order to realize automatic inspection for infrastructure facilities using Unmanned Aerial Vehicles(UAVs), improvement robust localization of UAVs is needed. Especially, automatic flight could not be work in environments near facilities such as under the bridges because of the shutting off of GNSS signals and multipath. We proposed a localization system using multiple subsidiary UAVs that assist Localization of an inspection UAV. In the proposed system, it is important where to move subsidiary UAVs for an inspection UAV. In this paper, we consider optical locations of subsidiary UAVs for the whole inspection work by using genetic algorithm. By simulation, the optimality of solution are considered.

Our research focuses in autonomous systems that can perform in an open environment without human assistance. The recent decrease in cost and increasing accessibility of commercial UAV has led to and increased use of the later in various applications. In this paper, we propose a system that can deploy and collect objects autonomously using a UAV. To collect and deploy an object autonomously using a drone, the system can navigate autonomously by using GPS coordinates, visual recognition performs precise navigation and finds the object to collect or the target area for deployment. Human interaction is not required during the entire process.

In this research, we investigate a mechanism that can passively stabilize multicopter. Multicopter basically has an unstable structure and is stabilized by control software. In order to stabilize the multicopter by the mechanical mechanism, not the software, we propose a passive attitude stabilization mechanism. By computer simulation, we consider the effect of the passive attitude stabilization mechanism.

Multicopters tend to slide horizontally when they are tilted by wind or external forces. Such “sideslips” need to be prevented because it may cause unexpected collisions to external objects. This paper proposes a control method for 6-DoF multicopters that extends Momose and Kikuuwe’s controller to prevent slideslips. We forcuss on two types of sideslip: sideslip by lift force and sideslip by down force. The proposed controller is designed to select appropriate control modes according to the identified type of the sideslip. We performed simulations under side wind to test the proposed method. We also examined correlation between sideslip and falling distance.

CybSPEED is a networking project funded by the European Commision involving partners from seven countries aiming to study and develop methodologies and cyber-physical technologies to improve educational resources addressing the needs of people with special educational needs. Emphasis is in the role that robotics systems can play and on the need to carefully assess the impact of such technologies on the children with special needs during the educational processes.

Dialogue systems are becoming central tools in human computer interface systems, moreover in educational environments with social robots. The conventional approaches based on traditional artificial intelligence techniques, have been superseded by machine learning approaches and, more recently, deep learning. In this paper we give a view of the current state of dialogue systems, describing the areas of application, as well as the current technical approaches and challenges. We propose two emerging domains of application of dialog systems that may be highly influential in the near future: storytelling and therapeutic systems.

Nowadays, we are witnessing the new technological revolution characterized by the participation of a new generation of robots in humans’ real life. This type of robots is called “Social Robots” and aims to help humans in their everyday activities. A socially sensitive and high demanding application field of these robots is the education of children having a variety of disorders e.g. autism spectral disorders. This work reviews the past approaches of child-robot interaction for educational purposes, by highlighting the progress achieved up to now and summarizes the specific challenges that need to be addressed in the near future.

The burden reduction for workers is one of the fundamental problems in the agricultural field. In this research, we developed the vehicle that motorized a small vehicle for reducing the burden on agricultural workers at the greenhouse. The proposed vehicle equips the clutch, the operation bar, and Laser Range Finder. The clutch can switch between electric and non-electric, and the operation bar can operate the transport vehicle without using hands. LRF is used to improve the movement of the vehicle among harvesting work. Hence, the operator of the proposed vehicle can perform the harvesting operation and the operation of the transport vehicle at the same time to realize the reduction of burden. Moreover, to evaluate the effectiveness of the proposed system, we conducted several experiments on the greenhouse in Nara prefecture. These results demonstrated that the proposed vehicle could support the crop harvest in the greenhouse.

This paper presents development of the robot which is able to harvest tomatoes. To harvest the farm products such as tomatoes is performed by farmers. So many farmers have problem that much cost and time are spent. Therefore, to solve this problem, we developed the robot that performs tomato harvesting. We made the robot which can harvest the tomato on the rails last year. So, we will make it possible to run in rough terrain. We designed the base part of the robot by considering the inclination of the vehicle body when the robot goes up the stair and impact which the robot will receive when the robot goes down the stair. In addition, our laboratory took part in a tomato harvesting robot competition held in Kyushu Institute of Technology in December 2017.

The purpose of this study is to realize the determination of the ripening and aging process of fruits by machine learning and spectroscopic analysis using multispectral sensors. In this study, we measure the change of spectrum of reflected spectroscopy and construct a learning machine by SVM to discriminate from the process of ripening and aging and measurement results. And we describe the construction and evaluation of learning machine using SVM.

In recent years, robots are hoped to use in agriculture. We develop the robot arm and hand to harvest bunch of tomato. The developed robot arm has five degrees to approach the tomato various angles and to twist the hand. The hand has two motors to open or close. In this report, we compare the hand type which two sticks type, three sticks type and five sticks type. Each type has advantage points and disadvantage ones. For example, two sticks type can approach the tomato many angles, but it is difficult to hold tomato. We do the harvest experiment to compare the hand type.

This paper proposes the method to detect tomato peduncles by a harvesting robot. The main objective of this study is to develop automated harvesting robot. The harvesting robot is equipped with an RGB-D camera to detect peduncles and an end effector to harvest tomatoes. It is necessary for robots to detect where to cut a crop for harvesting. The proposed method is to detect peduncles with point cloud taken by the RGB-D camera. To demonstrate the effectiveness of our approach experimentally, the robot was used to identify the peduncles of target tomatoes and harvest the tomatoes at a real farm. Using the proposed method, the harvesting robot achieved peduncle detection of the tomatoes and the robot could harvest tomatoes successfully by cutting the peduncles.

A closed type plant factory is a cultivation system that artificially supplies all kinds of substances such as gas, water and solution in addition to energy supply by LED and heat. In order to ideally design this plant factory based on the system theory and to stably control it, we propose various system models, basic ideas and policies of design and control.

In order to autonomously operate unmanned aerial vehicles (UAV), landing ability to an accurate destination is necessary. In this research, we developed a system that guides UAV to a destination by processing images obtained from the front camera of UAV with OpenCV. Then, we conducted an experiment using the developed system, and succeeded in guiding UAV over the destination and landing as a result.

A 3D position display system using a 2D laser range finder with mirror was developed for operation support of UAV. This display system consists of a LED tape, a 2D laser range finder with mirror and a compact control board. By presenting lighting patterns of a LED tape, this system enables an operator to present an accurate position and orientation between a UAV and a concrete wall like tunnels and a ceiling. This system is compact and lightweight, being useful to mount on a UAV. The experimental results showed that this display system succeeded in enhance operability of a UAV.

In this paper, we aim to inspect the upper structure using the camera mounted on the multicopter. For this purpose, we changed the placement of the propulsion equipment to prevent the aircraft from appearing on the camera , and created a 3-DOF tether that does not disturb inspections to prevent runaway. By changing the arrangement of the propulsion devices, we were able to prevent the aircraft from appearing on the camera. In the development of a 3-DOF tether, with respect to three rotation axes of the spherical shells, the rotation of the spherical shell was not disturbed for the two axes. However, with regard to one axis, the tether caught on the joint of the spherical shell and hindered the rotation of the spherical shell.

Research on aerial manipulation which consists of manipulation of objects with multicopters has been attracting attention in recent years. Commonly, the aerial manipulation is performed with a manipulator mounted on a multicopter. And, the motion of the manipulator affects the attitude control of the multicopter. Therefore, the combined control of manipulator and multicopter has been studied. However, the object to be manipulated in these studies is only a light object that does not affect the control of the multicopter. This research focuses on manipulating unliftable objects using a multicopter. In the proposed method, target objects are manipulated using a pushing motion. To realize this pushing motion, constructing a physical model is required. The effectiveness of the proposed method is verified in simulation.

There are many proposals of propeller protection mechanisms and wheel mechanisms for multi-copter which running and flying by propeller thrust. In addition to being capable of normal flight, the propeller guard can be used as a passive wheel to allow traveling on the ground, walls, ceiling, etc. As a characteristic required for such a propeller protection and wheel mechanism, narrow place applicability, propeller protection property, omnidirectional mobility, etc. But there have not been proposed mechanism that satisfy all these requirements.

In this paper, we realize a spherical shell rotor mechanism that combines rotor protection and omnidirectional movement mechanism for each rotor and propose a vehicle type multi-copter which can move in contact with the ground and ceiling.

Shooting position planning method for shooting multiple humans on the ground efficiently from a certain altitude by calculating shooting area for shooting high quality image with camera specification. In proposed method, shooting area of the human is calculated by setting shooting vector which is introduced in Image Information Added Map making method we proposed on multiple humans on the ground. Shooting positions of UAVs is planned by solving a Set Covering Problem set with shooting area humans has. Also, the proposed shooting position planning is implemented on simulation.

Physical assistant robots are developed for daily living activities. However, the risk of fall is a major concern of physical assistant robots. In this study, we focus on curving motion, because fall is likely to occur due to restricted degrees of freedom. We developed new physical assistant robot, which had another degree of freedom and analyzed curving motion. According to the experiment, some subjects had a decrease in hip rotation angle, pelvis yaw angle and stride length when the hip rotation was restricted while curving. In addition, some subjects did spin motion, which compensate for decreasing rotation angle. In conclusion, we examined the influence of degree of freedom on falls.

In this paper, autonomous control of a lower-limb exoskeleton, where user's motion intention is given by user's ZMP (zero moment point) is proposed. ZMP is widely used in humanoid robots to maintain a balance of robot. In this study, ZMP is used as an indicator of user's motion intention and for fall preventions assist. At first, leg trajectories and the threshold conditions for motion intention are obtained by performing experiments for the gait analysis of healthy persons. Then the autonomous control method is designed based on the result of gait analysis. When a body of a subject was tilted forward, it triggered the exoskeleton to perform swing motion using predefined leg trajectory in the proposed method.

We are studying human's recovery action if human slip in order to making fall risk assessment. In previous study, we find difference of recovery action for each subject and method of classifying each recovery action by experience limiting a part of body. If subject fall down by limiting a part of body, we can consider that subject's recovery action use a part of body limited in this experience. Thus limiting a part of body can classify recovery action. In this paper, we study method to limit hip joint angle by pulling human thigh from behind in order to classify recovery action using hip flexion or extension.

This paper describes the design of a knee support exoskeleton with variable non-active interval (NAI) specifically designed to fit the human gait. This exoskeleton is designed to provide support at the knee joint by supplying assistive torque around the knee in order to reduce the maximum muscular effort required to perform daily activities such as walking and squat lifting, thus, enabling users like elderly people to continue those activities longer. The main mechanism of the exoskeleton behaves like a torsion spring with a variable NAI. The position of this NAI can be modified to disable the mechanism. Moreover, the angular stiffness of the mechanism can be modified to adapt the magnitude of the support to the user. In this paper, the basic concept and mechanical design of a knee support exoskeleton is described.

Assist suits are expected to be used at labor sites and disaster sites. However, assist suits have not been able to greatly expand the motion that requires instantaneous force such as jumping. The purpose of this research to develop an assist suit to increase the jumping height. The authors propose a method of increasing the jumping height by attaching a flat spring as an elastic element to the toe portion of the assist suit. In this paper, the method is analyzed by simulation. We first confirm the usefulness of the flat spring. Next, we analyze the effect of the jump height due to the characteristics of the flat spring. Finally, we examine the load on the wearer's ankle, knee and waist joints.

Revealing human falling mechanism during walking is important for prevention of falling accident. To reveal human falling mechanism, the human reaction motion when the constant force is applied to his/her swing leg in forward/backward direction using a lower-limb exoskeleton robot is investigated. As a result, the tendencies of foot trajectory change were understood when above-mentioned disturbance force was applied.

The purpose of this study is to develop a pig house cleaning robot that is driven by a pulley and a wire to extend the arm length. The developed cleaning robot consists of an articulated arm that is constituted by a telescopic arm mechanism. The required design specifications of the cleaning robot is verified through results of an experiment.

The purpose of this study is to propose a joint angle integer arithmetic method for a pig house cleaning robot. The developed cleaning robot consists of an articulated arm that is constituted by a telescopic arm mechanism. The proposed method calculate four joint angles by using the inverse kinematics algorithm. As numerical examples, the trajectory of three-degree of freedom articulated robot are simulated and the effect is confirmed.

A long reach manipulator is required to investigate infrastructures and disaster sight. This paper proposes a new super long reach articulated manipulator whose gravitational forces are cancelled by multiple thrusters. The proposed manipulator has possibility to permit us to construct 20-30 meters long. To prove basic principle of weight compensation by thrusters, we developed 3 units prototype whose length was 3.0 meters. We successfully demonstrated 3-dimensional movement using thrusters and joint actuators.

Methods for estimating UAV own position with a marker is proposed. In this paper, UAV own position is estimated when the camera on the UAV photographes the markers set on the ground, and a person position is measuring by the same camera. Measurement error is reduced by means of a Kalman filter. The simulation result shows two orbits, either is actual position of a person and another is stimulated one.

Aerial robots have many applications, such as infrastructure inspection and rescue scenarios. However, dealing with the high amount of obstacles proper to such situation is a difficult challenge for flying robots. Therefore, some flying platforms enclosed in a protective shell that can rotate passively using a gimbal system are proposed. Such platforms present great advantages as they are capable of robust flight in complex environments. On the other hand, the protective shell limits devices or sensors mounted on the robot to pass outside environment freely. We propose a concept of aerial robot capable of colliding into obstacles with keeping their flight stability, and using in the whole space around the robot as a manipulating space. We show a design using active rotatable cage equipped with aerial robots. The active rotatable cage system is composed of four components: 2 DoF active gimbal mechanism, two track rail type mobile platforms, rail for the two platforms, two passive protective cages. Through the gap between two cages, it allows the mobile platforms to manipulate freely without disturbing by protective cage. We also introduced coupled drive mechanism for driving active gimbal mechanism to realize the lightweight vehicle. After addressing important design considerations, we present a concept platform. A prototype model has been developed to illustrate the concept. Laboratory-based tests demonstrate the robot’s ability.

As for a general method of making to VTOL of the tandem wing aircraft, four rotors are set up in the Wingtip. In the present study, two rotors for the Bi-Copter are set up between front wing and rear wing. To apply to UAV, flight control surfaces are simplified. We propose the flight control method without installing control surface in the fixed wing by each rotor thrust vectoring and weight transfer. The flying characteristic can be make variable by the weight transfer.

This paper presents a developed prototype of the wearable hand-free-stick that has been proposed to assist the body balance in walking based on ZMP theory for the people with non-serious dysfunction in their gait. The mechanics of prototype is designed in order to control the stick angle and the stick length by a servomotor. By estimating the load of the cane tip, we can measure and evaluate the ZMP stability margin. To compare the stability with the conventional unilateral type confirms the superiority of the bilateral type.

In recent years, more than half of the workers in Japan have been suffering from a low back pain. In a previous research, the authors developed a flexible, high power assist suit for lumbar support called "AB-Wear" to solve this problem. AB-Wear helps user movement and can reduce muscle fatigue in the lumbar region. Although the auxiliary power of the device is sufficient, the deflection of the leaf spring attached to the back causes discomfort to the wearer. Therefore, in this study, it is predicted that assistance to the human body can be provided by controlling the deflection position of a flat spring, which is the compression force reduction mechanism. The proposed assist method is to adjust the deflection position of the leaf spring to the position of the curvature of the human spinal column. The relationship between the deflection position of the leaf spring and curvature of the human spine is confirmed experimentally. The surface electromyogram (EMG) of the body of the subject is measured and evaluated by confirming the effectiveness with the substance.

Half-sitting posture when working at factories, farms or medical institution is the one of the main factors of a backache. Wearable chairs are developed to reduce such backache by supporting workers body weight. We proposed an unactuated wearable chair with a switching mechanism between half-sitting state and walking state. In this paper, we show that mitigation effects of the proposed wearable chair by posture measurement and joint torque simulation.

Low back pain is a typical occupational illness, and wearable assistive devices have been studied for its prevention. These wearable assistive devices assist extension of the waist or hip joint, however, they can not assist other joints such as elbow. Also, wearer has to support the weight of the device itself during an action other than lifting-up motion such as walking. In this research, to solve the problem above, a ground contacting type assistive device which assists lifting-up motion is proposed. The proposed device aims at a lightweight construction and high assist efficiency by letting the weight of the heavy object transmit directly to the ground. In this paper, we describe the concept, and the effectiveness of the proposed method is verified by ex0periment with a prototype.

Recently, power assist technology is expected as a solution to serious low back pain problems at work sites such as factories and transportation. In fact, many research institute have developed assist devices, but there is a problem that the outer dimensions are large, the degree of freedom is limited, and the weakness of the wearer is hindered by poor backdrivablity. In this paper, we are developing a waist assisting robot as a solution to the back pain problem at work site. By a speed reduction mechanism using wire and pulley, we improve backdrivability and develop robot suits like clothing with high degree of freedom. As a result of the operation using the prototype, it was confirmed that back driving is possible with about 2.7 [N m].

The final goal of this study is to develop a wearable waist assist device. The developed device is driven with pneumatic actuators, which are constructed with cloths. Sensor-less force control method is proposed in this study based on the force characteristic of cloth actuator. In this paper, the structure of developed device is discussed and then the analysis model for sensor-less control is proposed. Further more simple human body model to control this device under constant assist rate is proposed. Finally, effectiveness of the developed device is verified based on iEMG.

A new locally operated unilateral master-slave continuous path (CP) control system connected to forceps handle shaped operating device and a laparoscope-tool arm (LODEM) with five-DOFs in sterilized area has developed. The operating device uses a ball joint and gimbals for the pitch and the yaw axes, a linear guide for the insertion axis, a circular dial for the roll axis, and a handle for the grasp axis. The dimensions and the mass of the device are 127*127*326 mm and 0.9 kg. The backlash was 0.9 ° for the pitch axis and 0.8 ° for the yaw axis. The system can produce multiple connection between encoders and stepper motors using a motion control board installed with middleware ORiN. The master-slave CP control based on the kinematics and the spline curve between the device and the mobile LODEM was confirmed by the measurement trajectory.

Palpation is important medical technic to make proper diagnosis of symptomatic state. It requires a lot of palpation experience under guidance of richly experienced medical doctors. However, there is few practical training in the dental education in Japan. Then, development of a palpation training system is desired with no patient risk for dental students. According to the previous background, a palpation training system for maxillofacial disorder is developed using virtual reality and a haptic interface. In the paper, we focus on the elastic deformation analysis for the system. The particle method of meshless analysis (Moving Particle Semi-implicit: MPS) is newly introduced. We study on its adequacy of MPS about linear (small) and non-linear (large) deformations of soft tissue with uniform and non-uniform stiffness using Finite Element Method (FEM).

In recent years, Minimally Invasive Surgeries (MIS) becomes popular by use of catheters and forceps. A forceps generally consists of many micro parts. It is difficult to assemble it. Therefore, we have developed a one part grasping forceps. The new forceps is no assemblage and no risk of part decomposition. We have Metal Injection Molding (MIM) technology or making by pressing for my object. About MIM forceps, we take biomimetics technology in, redesign in the most suitable shape and achieve improvement of the hold performance. Pressing forceps has the production cost reduction and time reduction more than MIM forceps. The new forceps may innovate a new way of MIS.

An image processing method using back projection method for real time processing and focusing hue to recognize achromatic forceps in an endoscopic image has been developed. The proposed method could be used for semi-automatic control of a laparoscopic robot. It makes use of an extracting information for hue from the L*a*b* original image, a histogram about the tip of the forceps for hue from the L*a*b* teaching image using back projection method, a masking process based on binarization, removal of the boundary, and recognition of the point at the intersection of a minimum rectangle with a perpendicular bisector calculated from least mean square. The point recognized in three laparoscopic surgical videos using this method were performed, and the recognition rate was 70 % for the forceps. The average processing time was 9 ms.

Laparoscopic surgery, which is also called as a minimally invasive surgery, is a surgical technique that is associated with an accelerated post-operative recovery. However, it can only be performed by surgeons possessing advanced surgical skills. One of the main challenges in laparoscopic surgery is the restriction of the free motion of forceps because of the limited degrees of freedom imposed by a trocar. Recently, to overcome this problem, many master–slave manipulators with articulated forceps have been used in laparoscopic surgery. However, these conventional manipulators are only intended for surgical procedures within the abdominal cavity. A robot that can be used for both laparoscopic surgeries and procedures outside the patient's abdominal cavity would be widely implemented. Therefore, during the design of a robot to assist with laparoscopic surgeries, it is important to optimize its motion both inside and outside the abdominal cavity. In this study, we propose a seven-axis redundant vertical articulated manipulator with a liner axis at its distal end. The working area of the proposed manipulator was compared with that of a six-axis vertical articulated manipulator within a patient's abdominal cavity to demonstrate the effectiveness of the redundant manipulator in increasing the working area.

A new spherical-coordinate manipulator with two circular telescopic rails that can act as a third arm for the surgeon was developed. This manipulator uses circular telescopic guiding sliders with slider-rocker mechanisms for the yaw and pitch axes, and a linear guide rail with belt-pulley mechanism for the insertion axis attached to forceps. The operating range is ± 45 ° for the yaw axis, ± 45 ° for the pitch axis, and 0 to 200 mm for the insertion axis. The dimensions of the manipulator are 110 mm × 265 mm × 265 mm. The mass is 1.6 kg. The positional accuracy was 1.0 mm, 5.1 mm, and 0.4 mm respectively. The backlash was 2.5 mm, 4.4 mm, and 0.3 mm respectively. A mechanism of Compact LODEM 3.0 was designed that allows minimally invasive robotically assisted endoscopic surgery in a sterilized area.

For children, the museum is an important place to acquire scientific knowledge through experiences and conversation. However, the main learning method in the museum is through observation of exhibits and reading explanations on text panels, which constitutes passive learning. Therefore, it is difficult for young children to learn sufficiently and obtain knowledge efficiently. With the purpose of solving these issues, we developed a collaborative immersive learning support system in the museum that enables children to learn through body movements and conversation. Children can adequately obtain knowledge by thinking hard when moving with multiple people. Based on this consideration, we developed content that can be manipulated by body movements of multiple people. For instance, people cooperate to observe a fossil projected on the screen surrounded by other exhibits and answer quizzes. We describe the current system for realizing this system.