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

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

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

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

In this study, we introduce a novel framework that combines human motion parameterization from a single inertial sensor, motion synthesis from these parameters, and biped robot motion control using the synthesized motion. This framework applies advanced deep learning methods to data obtained from an IMU attached to a human subject’s pelvis. This minimalistic sensor setup simplifies the data collection process, overcoming price and complexity challenges related to multi-sensor systems. We employed a Bi-LSTM encoder to estimate key human motion parameters: walking velocity and gait phase from the IMU sensor. This step is followed by a feedforward motion generator-decoder network that accurately produces lower limb joint angles and displacement corresponding to these parameters. Additionally, our method also introduces a Fourier series-based approach to generate these key motion parameters solely from user commands, specifically walking speed and gait period. Hence, the decoder can receive inputs either from the encoder or directly from the Fourier series parameter generator. The output of the decoder network is then utilized as a reference motion for the walking control of a biped robot, employing a constraint-consistent inverse dynamics control algorithm. This framework facilitates biped robot motion planning based on data from either a single inertial sensor or two user commands. The proposed method was validated through robot simulations in the MuJoco physics engine environment. The motion controller achieved an error of ≤5° in tracking the joint angles demonstrating the effectiveness of the proposed framework. This was accomplished using minimal sensor data or few user commands, marking a promising foundation for robotic control and human–robot interaction.

DOI： 10.3390/s23249841

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2023.3328798

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

DOI： 10.1109/ur57808.2023.10202438

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

Gait analysis is important in a variety of applications such as animation, healthcare, and virtual reality. So far, high-cost experimental setups employing special cameras, markers, and multiple wearable sensors have been used for indoor human pose-tracking and gait-analysis purposes. Since locomotive activities such as walking are rhythmic and exhibit a kinematically constrained motion, fewer wearable sensors can be employed for gait and pose analysis. One of the core parts of gait analysis and pose-tracking is lower-limb-joint angle estimation. Therefore, this study proposes a neural network-based lower-limb-joint angle-estimation method from a single inertial sensor unit. As proof of concept, four different neural-network models were investigated, including bidirectional long short-term memory (BLSTM), convolutional neural network, wavelet neural network, and unidirectional LSTM. Not only could the selected network affect the estimation results, but also the sensor placement. Hence, the waist, thigh, shank, and foot were selected as candidate inertial sensor positions. From these inertial sensors, two sets of lower-limb-joint angles were estimated. One set contains only four sagittal-plane leg-joint angles, while the second includes six sagittal-plane leg-joint angles and two coronal-plane leg-joint angles. After the assessment of different combinations of networks and datasets, the BLSTM network with either shank or thigh inertial datasets performed well for both joint-angle sets. Hence, the shank and thigh parts are the better candidates for a single inertial sensor-based leg-joint estimation. Consequently, a mean absolute error (MAE) of 3.65° and 5.32° for the four-joint-angle set and the eight-joint-angle set were obtained, respectively. Additionally, the actual leg motion was compared to a computer-generated simulation of the predicted leg joints, which proved the possibility of estimating leg-joint angles during walking with a single inertial sensor unit.

DOI： 10.3390/app13084794

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

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

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

Digitizing handwriting is mostly performed using either image-based methods, such as optical character recognition, or utilizing two or more devices, such as a special stylus and a smart pad. The high-cost nature of this approach necessitates a cheaper and standalone smart pen. Therefore, in this paper, a deep-learning-based compact smart digital pen that recognizes 36 alphanumeric characters was developed. Unlike common methods, which employ only inertial data, handwriting recognition is achieved from hand motion data captured using an inertial force sensor. The developed prototype smart pen comprises an ordinary ballpoint ink chamber, three force sensors, a six-channel inertial sensor, a microcomputer, and a plastic barrel structure. Handwritten data of the characters were recorded from six volunteers. After the data was properly trimmed and restructured, it was used to train four neural networks using deep-learning methods. These included Vision transformer (ViT), DNN (deep neural network), CNN (convolutional neural network), and LSTM (long short-term memory). The ViT network outperformed the others to achieve a validation accuracy of 99.05%. The trained model was further validated in real-time where it showed promising performance. These results will be used as a foundation to extend this investigation to include more characters and subjects.

DOI： 10.3390/s22207840

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

DOI： 10.1109/biorob52689.2022.9925420

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

DOI： 10.1007/s11370-022-00412-y

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Other Link： https://link.springer.com/article/10.1007/s11370-022-00412-y/fulltext.html

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

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

For the effective application of thriving human-assistive technologies in healthcare services and human–robot collaborative tasks, computing devices must be aware of human movements. Developing a reliable real-time activity recognition method for the continuous and smooth operation of such smart devices is imperative. To achieve this, light and intelligent methods that use ubiquitous sensors are pivotal. In this study, with the correlation of time series data in mind, a new method of data structuring for deeper feature extraction is introduced herein. The activity data were collected using a smartphone with the help of an exclusively developed iOS application. Data from eight activities were shaped into single and double-channels to extract deep temporal and spatial features of the signals. In addition to the time domain, raw data were represented via the Fourier and wavelet domains. Among the several neural network models used to fit the deep-learning classification of the activities, a convolutional neural network with a double-channeled time-domain input performed well. This method was further evaluated using other public datasets, and better performance was obtained. The practicability of the trained model was finally tested on a computer and a smartphone in real-time, where it demonstrated promising results.

DOI： 10.3390/s21082814

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

DOI： 10.1109/icmre51691.2021.9384847

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Authorship：Corresponding author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/icce50685.2021.9427766

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

DOI： 10.1109/icccr49711.2021.9349410

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

DOI： 10.1109/ICCE50685.2021.9427700

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

DOI： 10.1109/ICCE50685.2021.9427732

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

DOI： 10.1109/biorob49111.2020.9224310

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

DOI： 10.1109/urai.2019.8768791

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

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Authorship：Corresponding author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/iccairo47923.2019.00009

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Authorship：Corresponding author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/iccairo47923.2019.00011

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

DOI： 10.1109/iccairo47923.2019.00014

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Language：Japanese  

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

In this paper, development of a drone system to inspect social infra structure and its control system are explained. Obtaining absolute position with GPS is a fundamental method widely utilized in applications of a drone flying in the air because it provides sufficient performance required for autonomous flight. However, it cannot be used when a drone is moving near a building because of multi-paths and occlusion problems of radio signals from satellites. Particularly, a drone for inspection task of social infrastructure is required to have capability of autonomous flight near buildings for efficient work and safety. As the essential function for that, an algorithm to estimate the position of vehicle itself is investigated and embedded to the developed system. A 3D depth camera was employed to get both depth and image data of environment surrounding the vehicle. The position estimation carried out with SLAM (Simultaneous Localization and Mapping) algorithm using depth information is introduced. Besides, a controller to move the drone autonomously based on the position information was also developed. The system has been evaluated through several experiments.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

A planar biped robot that can generate continuous walking with body pose information is presented in this paper. It employs semi-passive structure, which consists of five links connected by two active hip joints and two passive knee joints, in order to mimic human-like walking motion utilizing the principle of pendulum dynamics. Besides, a specialized passive joint is proposed and installed at both knee parts of the developed robot. It is able to keep the knee joint stretched during stance phase, and to assist its passive bending motion during swing phase respectively. A CPG (Central Pattern Generator) controller exploiting sensory feedback of a body pose sensor was used for generating walking motion. The experimental walking motion by using the developed robot system embedded with the CPG-based controller is demonstrated.

DOI： 10.1109/URAI.2017.7992889

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

A planar biped robot that can generate continuous walking with body pose information is presented in this paper. It employs semi-passive structure, which consists of five links connected by two active hip joints and two passive knee joints, in order to mimic human-like walking motion utilizing the principle of pendulum dynamics. Besides, a specialized passive joint is proposed and installed at both knee parts of the developed robot. It is able to keep the knee joint stretched during stance phase, and to assist its passive bending motion during swing phase respectively. A CPG (Central Pattern Generator) controller exploiting sensory feedback of a body pose sensor was used for generating walking motion. The experimental walking motion by using the developed robot system embedded with the CPG-based controller is demonstrated.

DOI： 10.1109/URAI.2017.7992889

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

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Language：Japanese   Publisher：計測自動制御学会 ; 1962-  

DOI： 10.11499/sicejl.56.530

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DOI： 10.5136/lifesupport.28.85

CiNii Books

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Other Link： http://search.jamas.or.jp/link/ui/2017040087

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The purpose of this research is to develop a biped robot with antagonistic actuation. An antagonistic actuation mechanism based on the human musculoskeletal structure was applied to the hip joint of the developed walking robot. SAT(Stiffness Adjustable Tendon) was attached at the actuation mechanism of the developed biped robot. The antagonistic actuation was realized by using motor and wire with SAT. A control algorithm utilizing the antagonism for walking motion was proposed and applied to the walking experiment by using the developed robot. The results of the walking experiment conducted using the proposed control algorithm are presented and discussed.

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In this paper, design of a steering mechanism for a three wheeled mobile robot, kinematic modeling, system motion control, and collision-free algorithm for human following were presented. During high speed target following navigation, sometimes vibration problem occurred in the robot's passive front wheel. To reduce the vibration and to get a better performance in high speed navigation, an active steering wheel was developed. The proposed motion control method of the new platform was explained and validated through experiments. Also a collision-free human following algorithm considering static and dynamic obstacles was introduced and demonstrated experimentally in this research.

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

This research aims at development of a semi-passive walking robot which can walk in good energy-efficiency even on the horizontal floor by attaching actuators to their legs. Computer simulations were carried out using the calculational model imitating the developed robot. Then, in the computer simulations, the robot could continue to walk on the horizontal floor. In addition, improvement of knees of the developed robot was carried out. Then the control methods were examined by the experiments to check movements of the legs in the state that the body of the robot was held in the air. As the result, the movements of the four legs in the experiment were similar to those in the computer simulation when the experimental robot was operated by using the control that the two motors attached to the right and left rear-legs were synchronized with the those attached to the left and right front-legs, respectively. The experiment on walking was carried out on the horizontal floor by using the proposal control method.

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

In recent years, many researches of the drone (unmanned vehicles) have been carried out. Above all, the drone such as a multi-rotor craft might monitor and track suspicious person and find sufferers from disasters because it can move freely in the air. In the present research, a method was proposed that a multi-rotor drone can track a human by processing the two-dimensional images captured by a monocular camera installed on the multi-rotor drone. Furthermore, it can detect human without the differences of colors and movements of a target by using the Histograms of Oriented gradients (HOG) features and the linear Support Vector Machine (SVM). Then, it was shown that the multi-rotor drone could track a human by the proposed method.

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

A localization method for a mobile robot moving in outdoor environment near buildings is presented in this paper. The localization method utilizes Particle filtering with index function based on Normal Distributions Transform (NDT) algorithm. In the proposed method, the robot position is estimated by comparing horizontal scan data with the 2D map extracted from 3D map. For that, a 3D map is made by using a 3D scan device equipped on the mobile robot firstly. Then it is converted to a 2D map for localization by extracting point data in a certain range of height. Experiments of mapping and localization in outdoor area near buildings were demonstrated.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：E D P SCIENCES  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：E D P SCIENCES  

This paper presents the prototype design and evaluation of a novel rotorcraft that can adhere to and move on the ceiling. It has four propellers for flying like conventional rotorcraft. In addition, a specialized guard frame and two active wheels are attached on its body frame for adhering to and moving on the ceiling. The propellers create negative pressure in the guard frame that acts as a suction cup for generating adhesion force. The active wheels are used for moving on the ceiling face. Experiments are carried out to show the feasibility of flying in the air, adhering to, and moving on the ceiling.

DOI： 10.1051/matecconf/20164504004

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：International Journal of Mechanical Engineering and Robotics Research  

This research was intended at developing a biped walking robot with antagonistic actuation for realizing stable walking motion. A three-linked planar-type walking robot was developed on the basis of the model of a semipassive walking robot. An antagonistic actuation mechanism based on the human musculoskeletal structure was applied to the hip joint of the developed walking robot. The antagonistic actuation was realized by using motors and wires. A control algorithm utilizing the antagonism for walking motion was proposed and applied to the walking experiment by using the developed robot. The results of the walking experiment conducted using the proposed control algorithm are presented and discussed.

DOI： 10.18178/ijmerr.5.3.196-201

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：International Journal of Mechanical Engineering and Robotics Research  

This paper proposes a method to implement an Iterative Closest Point (ICP)-based three-dimensional (3D) mapping by using a mobile robot equipped with a 3D scan device. A 3D map is created by matching a number of 3D point data items what one another that are measured by the 3D scan device on the mobile robot. The position and posture information of the mobile robot is used as the initial position and posture, respectively, to find the optimal matching solution. The robot's position is obtained through odometry by calculating the angle of rotation of its two wheels. Posture is measured by using an Inertial Measurement Unit (IMU) sensor. Sets of 3D points at each scan position are matched with each reference data using the Generalized Iterative Closest Point (GICP) algorithm that can find the optimal solution, i.e., position and posture information. Experiments involving map building in an outdoor environment with buildings in the vicinity were performed to test the proposed method.

DOI： 10.18178/ijmerr.5.3.191-195

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© 2015, Newswood Ltd. All rights reseved.The purposes of this research are to formulate method based on modal analysis using the finite-element the equations of motion of a flexible two-link system, to develop method. The model was described as a state space form. computational codes by a finite-element method in order to Their control system was constructed with a designed perform dynamics simulations with vibration control, to propose an effective control scheme and to confirm the calculated results by experiments of a flexible two-link manipulator. The system used in this paper consists of two aluminum beams as flexible links, two clamp-parts, two servo motors to rotate the links and a piezoelectric actuator to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform) processing and eigenvalues-eigenvectors analysis were developed to calculate the dynamic behavior of the links. Furthermore, a control scheme using a piezoelectric actuator was designed to suppress the vibration. A proportional-derivative (PD) control was designed and demonstrated its performances. The system and the proposed control scheme were confirmed through experiments. The calculated and experimental results revealed that the vibration of the flexible two-link manipulator can be controlled effectively.

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

Stiffness modulation scheme for a robotic driving system with redundant actuation was investigated in this paper. The dynamic and the stiffness models of a simple system having one link and two prismatic actuators were derived and employed for computational simulations of dynamic response to an initial disturbance. Several combinations with different types of elastic elements were applied to the system and their movement were analysed.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer-Verlag Tokyo  

The purposes of this research are to derive the equations of motion of a flexible single-link system by a finite-element method, to develop the computational codes in order to perform dynamics simulations with vibration control and to propose an effective control scheme of a flexible single-link manipulator using two control strategies, namely proportional-derivative (PD) and active-force (AF) controls. The flexible manipulator used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link, and a piezoelectric actuator to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform) processing, and eigenvalues–eigenvectors analysis were developed to calculate the dynamic behavior of the link. Furthermore, the PD and AF control strategies were designed and compared their performances through the calculations. The calculated results show the superiority of the proposed AF control comparing the PD one to suppress the vibration of the flexible single-link manipulator.

DOI： 10.1007/s10015-014-0186-5

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

This paper presents a human detection algorithm and an obstacle avoidance algorithm for a marathoner service robot (MSR) that provides a service to a marathoner while training. To be used as a MSR, the mobile robot should have the abilities to follow a running human and avoid dynamically moving obstacles in an unstructured outdoor environment. To detect a human by a laser range finder (LRF), we defined features of the human body in LRF data and employed a support vector data description method. In order to avoid moving obstacles while tracking a running person, we defined a weighted radius for each obstacle using the relative velocity between the robot and an obstacle. For smoothly bypassing obstacles without collision, a dynamic obstacle avoidance algorithm for the MSR is implemented, which directly employed a real-time position vector between the robot and the shortest path around the obstacle. We verified the feasibility of these proposed algorithms through experimentation in different outdoor environments.

DOI： 10.1109/TMECH.2013.2294180

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This research aims to develop the biped walking robot that can walk on the horizontal ground and improve walking efficiency by utilizing the theory of the passive walking robot, namely the pendulum principle. For that, two motors were installed on the hip of the robot to generate the control torques to perform a walking motion. The computer simulations with dynamic model were carried out to investigate the walking capability of the system. Experimental robot was developed considering the calculated results. The proportional control law was used in walking experiment. The robot can walk on the horizontal ground with the proposed method. © 2013 ISAROB.

DOI： 10.1007/s10015-013-0132-y

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

This paper presents a gesture recognition system for Human-Robot Interaction. And it has been employed to the development of a service robot that can be operated by the human gesture given as the user's command. Human motion is detected by the Kinect sensor on the robot and recognized as one of the predefined commands by using an algorithm based on Hidden Markov Model (HMM). Its recognition rates about the predefined gestures were verified through several experiments and compared to the region-based recognition method of the previous research. Finally, the developed system has been applied to Human-Robot Interaction for service tasks in office environment.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：The Japan Society of Mechanical Engineers  

This paper presents the method to control the motions of semi-passive walking by a biped robot. A passive walking robot can walk on the sloped ground without an actuator by using the potential energy. However, the robot without an actuator cannot walk on the horizontal ground. Therefore, two motors were installed on the hip of the passive-walking robot in order to load the torque for walking on the horizontal ground. A control law combining proportional - differential and energy ones was applied for a continuous walking motion. Computer simulations with its dynamic model were carried out to confirm the validity of the proposed control law and find out the optimal conditions for the walking motion. Based on the calculated results, the experiments have been performed to find the appropriate control gains for the continuous walking on the horizontal ground.

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This research proposes a new approach to recognize dynamic circumstance near a mobile robot using a laser scanner. It calculates the velocity of moving objects, using the time history of laser scan data, on a grid map. In addition, it implements collision-free navigation for an indoor mobile robot. For this function, the optimal motion for the robot is computed according to a safety index based on the proposed grid map, including velocity and obstacle position information. An algorithm using fuzzy theory is employed to reflect the characteristics of human motion planning to the robot. Computer simulation and experimental works were carried out to check the feasibility of the proposed algorithm for collision-free navigation of the indoor mobile robot.

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The purposes of this research are to formulate the equations of motion of the system, to develop computational codes by a finite-element method in order to perform dynamics simulation with vibration control, to propose an effective control scheme using two control strategies, namely proportional (P) and active-force (AF) controls and to confirm the calculated results by experiments of a flexible link manipulator. The system used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link and a piezoelectric actuator to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform) processing and eigenvalues -eigenvectors analysis were developed to calculate the dynamic behavior of the link. Furthermore, the P and AF controls strategies were designed and compared their performances through calculations and experiments. The calculated and experimental results showed the superiority of the proposed AF control compared to the F one to suppress the vibration of the flexible link manipulator.

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

This study presents a method for recognizing the motion of people using static and mobile laser scanners that are installed in a room and a mobile robot, respectively. We utilized a static sensor equipped with wireless communication in order to overcome the limitations of a sensor that is mounted on a mobile robot, i.e. moving sensor. However, when moving and static sensors are used at the same time, problems inevitably occur during the process of coordinating the data from the different sensors. Moreover, large amounts of information from both sensors need to be processed rapidly for real time computations in realistic environments. In order to cope with these problems, a framework was constructed and studied for tracking people using static and moving sensors. A particle filter was used in localizing robot position in a predetermined map, and Multiple Hypothesis Tracking (MHT) based on Kalman filtering was employed for robust tracking of people. As a result, it was possible to correctly coordinate the information from both sensors. Several experiments were performed in order to test this people tracking method in a realistic indoor environment.

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

The purposes of this research are to formulate the equation of motion of the system, to develop computational codes by a finite-element method in order to perform dynamics simulation with vibration control, to propose an effective control scheme and to confirm the calculated results by experiments of a flexible link manipulator. The system used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link and a piezoelectric actuator to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform) processing and eigenvalues -eigenvectors analysis were developed to calculate the dynamic behavior of the link. Furthermore, a control scheme using the piezoelectric actuator was designed to suppress the vibration. A proportional controller was designed and demonstrated its performances. The system and the proposed control scheme were confirmed through experiments. The calculated and experimental results revealed that the vibration of the flexible link manipulator can be controlled effectively.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japanese Society for Engineering Education  

Compared to English, there is a difficulty in reading Chinese, Korean and Japanese text, because there are no relatives in these languages. Since relative pronouns and conjunctions appear at the beginning of clauses in English text, readers understand structure of sentence before comprehending the meaning of it. In the case of Japanese text, readers literally follow the meaning of sentence and then construct the relationship between segments by postpositional particles. Sentences in engineering textbooks include long and complex sentences to explain complicated matters, compared to non technical writing such as novels and essays. The authors propose the adoption of using Japanese quotation marks,「 」which are at present rarely used in engineering textbooks to show clauses or long phrase.

DOI： 10.4307/jsee.62.2_51

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：TRANS TECH PUBLICATIONS LTD  

This paper presents a novel sensory system for monitoring situations of riding bicycle. The proposed system can be used to measure and save in real-time not only the motion of bicycle rider but also the situation near the vehicle. Multiple inertial sensors being attached to human body are employed to measure the motion of the rider. Two laser scanners installed in the front of the bicycle and two cameras of wide view angle were used to detect the environmental change including pedestrians and static/dynamic objects. The system configuration was designed for the synchronization of multiple sensors according to the position information of the vehicle. Particularly, the human motion of riding bicycle is captured with the system and analyzed with the measurement data in this paper.

DOI： 10.4028/www.scientific.net/AMM.541-542.1398

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japanese Society for Engineering Education  

In the process of research of machine design textbooks in Far East Asian countries, the authors surveyed opinions of university students in Japan, China and Korea. Though students do not compare engineering textbooks from other countries, they express both positive and negative opinions about the qualities of textbooks often reflecting social situations (their job prospects, industrial policy, etc.) . Korean students using large volume textbooks want simple but comprehensive explanations. Chinese students using practical textbooks attach an importance to practicality and use in future. Japanese student using compact textbooks attach an importance to comprehensive and detailed explanations. Japanese university students have a higher psychological barrier to employ engineering textbooks written in English, than students of other countries.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ALIFE ROBOTICS CO, LTD  

Parameter estimation method for distributed active caster has been investigated in this paper. By installing multiple active casters to a target object directly, it becomes a mobile system for transportation and can be moved to the goal position automatically. When the system is used to move an object of irregular shape, the position of each caster module should be estimated because it is basic parameter for control. Therefore, a parameter estimation method based on the kinematic model of each caster module and Kalman filter was proposed. The proposed algorithm has been demonstrated by computer simulation and experimental work.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ALIFE ROBOTICS CO, LTD  

A motion control based on the theory of passive walking has been investigated in this paper. It has been known that general passive walking robot can walk efficiently on the slope by using potential energy with no actuator. However, it cannot walk on the horizontal ground. In order to utilize the merit of energy efficiency, two motors were installed at the hip joints of the passive-walking-type robot, which generate required torque for walking on the horizontal ground. The proportional control algorithm was applied for successive walking. Computer simulations with its dynamic model were carried out to find out the optimal condition for walking motion. Based on the simulation results, experimental robot was developed. As a result, the capability of walking on the horizontal ground was confirmed through experimental works with the proposed method and the developed robot.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ALIFE ROBOTICS CO, LTD  

This paper deals with the development of a mobile robot for human following navigation in outdoor urban environment. Laser scanner and omni-directional camera were installed on the mobile platfoun for detecting people including a target person. The scan and image data from both sensors was fused into the infounation for tracking multiple moving objects, i.e. people. System configuration has been designed for effective collaboration between components operating in realtime. In order to follow the target, a motion control method based on the relative distance and velocity between the target and the robot itself. The proposed method was demonstrated through experiments of human following navigation with the developed robot in the outdoor environment of university campus.

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

The purpose of this study is to reduce the impact force when a humanoid robot lands on the ground or the floor. First, the landing postures of a human subject were analyzed while measuring the impact forces when the subject lands on the floor. Through the experimentally observed relations between the landing postures and the impact forces, it was hypothesized that a human being may reduce the impact force by motion control of his or her center of gravity, for example, to lengthen the time of the landing motion. Then, a landing robot was developed, and an experiment to measure the impact forces was conducted to prove the hypothesis. © 2013 ISAROB.

DOI： 10.1007/s10015-013-0118-9

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japanese Society for Engineering Education  

The authors think that engineering textbooks used in Japanese universities have been getting easier. The situation is favorable for beginners because of their basic understanding, but whether learning process is suitable or not is disputable. The authors have been surveying the situation of mechanical design textbooks in Far East Asian countries. Characteristics in these countries are as follows : 1) in China, textbooks in universities whose contents are practical are planed by the state, 2) in Korea, wide ranging contents using translations from English and originals by Korean are employed, 3) in Taiwan, English textbooks using American standards and imperial systems are employed. Since engineering is related to industries and social system, engineering textbooks are reflected by nation' s policy and industry.

DOI： 10.4307/jsee.61.4_113

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ALIFE ROBOTICS CO, LTD  

The purpose of this research is to reduce the impact force when robot land on the floor by landing motion. First, landing postures of a human were analyzed measuring impacts when the human land on the floor. Through the experimental result on relations between landing postures and the impact forces, it was hypothesized that a human may reduce the impact force by motion control of gravity center of the human, for example to lengthen the time in landing motion. Then a landing robot was developed and the experiment to measure the impact forces was conducted, in order to prove the hypothesis.

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

Adjustable springs have been employed in robotic applications including physical interaction with humans or the environment. In this paper, planar multi-degree-of-freedom spring mechanisms with adjustable springs are investigated from a viewpoint of stiffness. We propose multi-degree-of-freedom biomimetic spring mechanisms inspired by the musculoskeletal structure of the human upper-extremity, which possesses highly nonlinear kinematic coupling among redundant muscles within its structure. The stiffness characteristics in the operational space of the proposed and conventional mechanisms with torsional springs are analyzed. The stiffness solution of springs for a certain workspace is given and the applicability of these mechanisms is verified through simulation. (C) 2012 Elsevier Ltd. All rights reserved.

DOI： 10.1016/j.mechmachtheory.2012.03.012

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：INT ASSOC ENGINEERS-IAENG  

A novel system to measure the height of an object was developed for application to logistics in this paper. 2D laser scanner is employed as a main sensor for the system. A new method based on 2D scan was proposed for that. The system was developed as portable device. And its software was designed for effective measuring task in logistics site. Some experimental results to show the effectiveness of the developed system are also given.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：INT ASSOC ENGINEERS-IAENG  

The purpose of our research was to develop a prosthetic hand using shape memory alloy (SMA) type artificial muscle (AM). This paper presents the following experiments in the development of the prosthetic hand: 1) an experiment determining the properties of the SMA type AM, 2) the development of the prosthetic fingers, 3) based on the results of the first two experiments, the development of the prosthetic hand. Finally, an experiment investigating the usefulness of the prosthetic hand is presented.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：INT ASSOC ENGINEERS-IAENG  

The purpose of this research is to make the biped walking robot walk considering the theory of passive walking. Two motors were installed at the hip joints connecting both legs to torso link. The numerical calculations about walking motion were performed. The proportional (P) or proportional differential (PD) control law was used in the calculations. The experimental robot has been being developed considering the calculated results.

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

The biomimetic approach to robotics is an attempt to apply solutions created by the evolution of biological systems to technical systems. We investigate the feedforward modulation methodology of the dynamic behavior of an anthropomorphic manipulator, which inherently possess abundant actuators. In this work, we explain that for complete modulation of the dynamic behavior of such a system, redundant actuation is essential. Redundant actuation enables the system to modulate the stiffness or weighted stiffness properties such as motion frequency, and even modulates the damping ratio of the system. Thus, the modulation capability of the stiffness property plays an important role. We also address the need for the incorporation of active damper for complete modulation of the dynamic behavior. An illustrative example of a biomimetic, 2-degrees of freedom manipulator resembling the musculoskeletal structure of the human upper-extremity and driven by six actuators, is given. The modulation capability of motion frequencies and damping ratios is verified through a virtual trajectory planning that represents a point-to-point motion accomplished by the progressive movement of the equilibrium posture. To show the effectiveness of the proposed algorithms, several simulation results are illustrated. (C) 2010 Elsevier Ltd. All rights reserved.

DOI： 10.1016/j.mechatronics.2010.11.004

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

This research deals with a method to recognize road terrain for a robot to navigate near building. In order to move a robot in and around buildings, it is required to recognize some structured way of both indoor and outdoor environment such as slope, steps, stairs and so on. For that, a detection technique based on 3D scan and plane geometry was proposed in this research. By adopting preprocessing to extract lines from scan points, it can make planes effectively. Experiments with the proposed method to recognize the environment near building were carried out. © 2011 IEEE.

DOI： 10.1109/URAI.2011.6145858

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

The environment structuring concept has been used to design and develop a visual marker system for automating a robotic arm that assists those with upperlimb problems to lead independent lives. Confirmation experiments demonstrate the feasibility of our system in meeting different practical performance requirements. Combining semiautonomous control, simple visual feedback, and our system enabled the assistive robotic arm to handle objects autonomously - something that had not been previously conventionally possible.

DOI： 10.20965/jrm.2011.p0484

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

This research aims the development of an Omni-Directional Mobile Robot with three active caster type wheels. In this paper, the mechanism and kinematics of the Omni-Directional Mobile Robot which is designed by author's group, and its vehicle control system are explained. This robot has six motors but the motion degree of freedom (DOF) is three. Therefore, special calculation method for control using Jacobian Matrix is proposed. The experimental results are also shown. © 2011 IEEE.

DOI： 10.1109/SII.2011.6147521

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

This paper presents tracking algorithms of a mobile robot that follows a human body moving at high speed in unstructured outdoor environment. The mobile robot, which is a differential-driven wheel type, is equipped with one laser range finder to perform high-speed human tracking and obstacle avoidance. Initially, the waist part of the human body is found the best part of the human body for robust tracking by a laser range finder. Next an obstacle avoidance algorithm considering the relative velocity between the robot and obstacles is proposed. It is shown that the proposed human tracking algorithms based on the Kalman filter performs well even in the case of the target occlusions and temporary losses. These tracking algorithms have been applied to a marathoner following robot that carries the marathoner's personal belongings in many different outdoor environments.

DOI： 10.1109/IROS.2011.6094772

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

This paper presents a recognition method for a mobile robot to track running people in outdoor environment. Generally, after the cluttered state that a human is hidden by others and cannot be detected, it is difficult to recover only by position information with laser scanner. The problem causes an association error missing the past motion trajectory of human objects. Therefore, we investigated a method to solve the problem using the color information by an omni directional camera as an additional sensor to laser scanner. The proposed method was tested by some experiments with the developed robot. © 2011 IEEE.

DOI： 10.1109/URAI.2011.6145872

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Publishing type：Research paper (international conference proceedings)  

Structuring of environment is indispensable for practical application of domestic robots. We developed a supporting system for a service robot which is in practical use and assists human daily living. In this system, we used a flexible manipulator of which fine position control is difficult to conduct. In order to fulfill the precision requirement needed to autonomous object handling, we implemented a visual marker system which provides robots with assistive information for fine manipulation, combining with a visual servoing scheme. We verified the basic design of the marker system under a home environment through preliminary experiments. © 2009 SICE.

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In order to cope with many problems of everyday activities which requires robots to accomplish complex yet routine tasks in changing environments, this study focuses on universality and proposes seven principles of universal design with robots. These principles are used to design a robot management system that manages and controls information-structured environment with robots, ambient intelligent systems, and everyday objects. A particular scenario is considered to verify the feasibility of the proposed design method. © 2009 SICE.

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

In this paper, new filtering method for sensor registration is provided to estimate and correct error of registration parameters in multiple sensor environments. Sensor registration is based on filtering method to estimate registration parameters in multiple sensor environments. Accuracy of sensor registration can increase performance of data fusion method selected. Due to various error sources, the sensor registration has registration errors recognized as multiple objects even though multiple sensors are tracking one object. In order to estimate the error parameter, new nonlinear information filtering method is developed using minimum mean square error estimation. Instead of linearization of nonlinear function like an extended Kalman filter, information estimation through unscented prediction is used. The proposed method enables to reduce estimation error without a computation of the Jacobian matrix in case that measurement dimension is large. A computer simulation is carried out to evaluate the proposed filtering method with an extended Kalman filter. ©2008 IEEE.

DOI： 10.1109/MFI.2008.4648086

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

For the realization of distributed mobile actuator module, a new parameter identification algorithm based on fusion of multiple velocity measurements is proposed. Omnidirectional mobile system with multiple double-wheel-type casters is modeled as a system with kinematic sub-chains which provide multiple odometry information. The proposed method can identify the kinematic parameters of general mobile system with double-wheel-type casters through the fusion of multiple sensor information. Its performance is also evaluated by simulation and experiment.

DOI： 10.1109/MFI.2008.4648070

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

This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.

DOI： 10.1109/ROBOT.2008.4543439

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

In this paper, a visual marker called Coded Landmark for Ubiquitous Environment (CLUE) is proposed for easy robot manipulation using the RT-middleware component technology. Currently, home service robots are being expected to work in human living environments; however, such environments might be highly complex for robots. One of the solutions to solve such problems might be the development of structured environments for robots, such as visual marks in human living space, which could often be used in industrial fields, e.g., marked lines for mobile robots in industry. For application of structured environments from the factory to the human living environment, the affinity to humans might be important, such as marks invisible to humans, but visible to robots. In this paper, an invisible marker, CLUE, which is based on QR codes, is proposed; this will provide robots with information on the objects that are to be manipulated and visual guidance required for robot manipulation based on the RT-middleware platform. Finally, by means of actual robot applications, the method to use the proposed robot technology component is shown. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.

DOI： 10.1163/156855308X305254

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

The Authors have been developing a omni-directional mobile robot with three active caster wheels. Position estimation with sensory systems of a mobile robot is fundamental function for autonomous navigation. The position tracking with odometry and position-based control algorithm for our omni-directional mobile robot are reported in this paper. Control architecture for this omni-directional mobile robot is also designed. The effectiveness of the proposed position estimation and motion control method was verified through experiments.

DOI： 10.1109/MFI.2008.4648069

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

This paper investigates a collision-free navigation algorithm for a mobile robot to work in daily environment which includes multiple walking people. The proposed algorithm consists of two main parts: recognizing walking people and collision-free path planning. For the recognition of randomly changing human walking motion, a people tracking method using laser range finder (LRF) is utilized. Robust people tracking could be achieved by embedding a new biped model with a walking frequency tracker, which can estimate the frequency of human walking motion and generate it continuously even in the case of no measurement owing to occlusion. For the other part, collision-free path planning, an iterative forecast and planning method with the concept of configuration space including space and time is employed. The position and velocity of walking people, given from people tracking algorithm, are exploited in path planning part as the information of obstacles that the robot have to avoid. The proposed method has been implemented on a real robot. It is also demonstrated with some experiments the tracking of multiple walking humans and robot navigation in indoor environment

DOI： 10.1109/IROS.2008.4650893

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

Recently, tracking and counting people are requested for the security purpose. In this paper, we propose a method to track and count people with Laser Range Finders. A method to extract the walking human from the sensor data is introduced. Multi-target model and Kalman Alter based estimation are employed to track the human movement and count the number of people. The proposed method is applied to a novel system to monitor the entrance area and to filter out the trespasser who enters the door without identification. Experiments for various cases are performed to verify the usefulness of developed proto-type system. © 2007 IEEE.

DOI： 10.1109/ICMA.2007.4303868

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

In this paper, the ubiquitous mobile manipulator system, which could realize the concept of ubiquitous robotics, is proposed. The ubiquitous robot might be able to give several services in human environments, beside classical robots have many problems to realize services, because of the complexity of environments and the amount of information. The experiment shows the validness of this system configuration. Our robots have 7DOF manipulator, mobile, gripper, tag reader and so on. And, all of systems are integrated on RT-Middleware. © ICROS.

DOI： 10.1109/ICCAS.2007.4406779

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

An active caster is developed as a distributed actuation module which can endow objects with mobility on the planar workspace. Kinematics of a mobile robot with the proposed double-wheel-type active caster is investigated in this paper. A closed form kinematics of omni-directional mobile robot which consists of multiple double-wheel-type active casters is studied. Besides, kinematic characteristic is analyzed by using kinematic isotropic index and force transmission ratio. As a result, optimal condition for the robot employing the proposed double-wheel-type active caster is also proposed. © ICROS.

DOI： 10.1109/ICCAS.2007.4406520

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

In this paper, a localization method is provided using different-type sensors in ubiquitous environment. Ubiquitous based mobile robot requires information from sensors and structured environment to recognize its own position. In order to recognize the position of mobile robot, it is necessary data structure to integrate information from mobile sensors and the structured environment. An integration method is provided to take full advantage of characteristics of sensors and the structured environment. In this paper, odometric sensor is used as a mobile sensor and starLITE are used as the structured environment. Data of two sources are used as input of the proposed integration method. An extended Kalman filter (EKF) is used as integration filter to estimate sensor data error. The integration mechanism is implemented using P3DX mobile robot in ubiquitous environment. © ICROS.

DOI： 10.1109/ICCAS.2007.4406754

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

This work deals with a motion planning algorithm of an omni-directional mobile robot with active caster wheels. A typical problem occurred in the motion control, which has been identified through experimental experiences, is skidding of the mobile wheel. It sometimes results in uncertain rotation of the steering wheel. This is due to mismatching between the command and the mechanical hardware. To cope with this problem, a motion planning algorithm pursuing the natural configuration of the mobile wheel was mainly investigated, which resolves the skidding problem and uncertain motions of the steering wheel. Through simulations and experimentation, the feasibility of this algorithm was verified.

DOI： 10.1109/IROS.2007.4399567

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

This paper presents a simulation framework for ubiquitous robot and sensors. For ubiquitous robot, the importance of a distributed sensor environment is emphasized. To simulate such an environment, the effect of environment sensor should be considered as well as a robot itself to verify the performance of the overall system. To remedy this problem, the integrated simulation framework is suggested. In the proposed scheme, each sensor and robot are implemented as RT components. This can be achieved using RT-Middleware, which is developed by AIST. Using RT components, the interface module can be reused in real environment because the interface module will have common design between the simulation space and the real environment. This is one of merits of RT-Middleware. OpenHRP, which is considered as target platform, is also introduced. © ICROS.

DOI： 10.1109/ICCAS.2007.4406781

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

To monitor multiple moving objects from a robot in motion is an essential technology in robotic application areas including service and security for human daily life. For this, a method to track multiple walking humans using a mobile robot "in motion" with Laser Range Finder (LRF) is investigated in this paper. Geometric characteristics of human legs are considered to detect their position from the LRF data. Frequency and phase of walking motion are extracted using a pendulum model of the angle between two legs and extended Kalman filter. The algorithm with human walking model anticipates the position of moving humans. The effectiveness of the proposed method is also evaluated with some experiments to track multiple walking humans in indoor environment. An experimental test-bed which consists of a mobile robot 'Yamabico' and a LRF is employed to track people. Resultant experiments and analysis showed that multiple walking people are tracked well from a mobile robot with the proposed method.

DOI： 10.1109/IROS.2006.282147

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：TRANS TECH PUBLICATIONS LTD  

The amount of the external impulse exerted on the object being sawn has been treated one of important control parameters. At the same time, the internal impulses experienced in the joints should be taken into account to avoid serious damage or injury at the joints of robot. This paper discusses the impulse models in a straight sawing task. And, a motion planning algorithm is proposed, which employs the external and internal impulses as performance indices. For this, the gradient projection method is employed to exploit the kinematic redundancy of the robot structure. Finally, through both simulation and experimentation for the sawing task, the effectiveness of the proposed motion planning algorithm could be verified.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

Some of manufacturing tasks, such as sawing, often require continuous impulsive motion. In the case of sawing, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control parameter. At the same time, the internal impulses experienced at the joints should be taken into account to avoid serious damage or injury at the joints of robot. The purpose of this paper is to improve the efficacy of sawing by using dual arms. For this, we suggest an external impulse model, and introduce a new concept of effective mass that accounts for the hardness of the object to corroborate the effectiveness of the proposed chip model employed in the derivation of the external impulse model. Closed-form internal impulse models are also proposed for both single and dual arms. Based on these models, the paper proposes a new measure for internal impulse. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Finally, we identify the optimal sawing region, wherein there is a maximum amount of external impulse and a minimal amount of the internal impulse. Simulation and experimentation demonstrate that the dual arm exhibits a better sawing performance than a single arm, in terms of external and internal impulses.

DOI： 10.1109/TRO.2005.852264

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

It is well known that there exist many more singularities in parallel type mechanisms compared to serial type mechanisms. In haptic applications, these singularities deteriorate the force reflecting performance. Furthermore, as opposed to general manipulators, haptic systems cannot avoid the singular point, since they are operated by the user's random motion command.
Although many singularity-free algorithms for kinematically redundant manipulators have been proposed, singularity-free algorithms for parallel haptic application have not been extensively discussed. In this paper, various singularity-free algorithms that are appropriate for parallel haptic systems will be discussed. A new 6 degree-of-freedom (DOF) parallel mechanism equipped with four sub-chains is designed and employed as the test device. To cope with the singularity problem, four task-priority algorithms and a redundant actuation algorithm are introduced and compared through simulation. In addition, experiments have been performed to show the effectiveness of those algorithms at the presence of singularity. (c) 2004 Elsevier Ltd. All rights reserved.

DOI： 10.1016/j.mechatronics.2004.10.005

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

A closed-chain mechanism having redundancy in force domain can produce an effective spring effect by proper internal load distribution. The so-called antagonistic stiffness is provided by redundant actuation in conjunction with nonlinear geometric constraints. The objective of this study is twofold. The first one is to propose a methodology for optimal kinematic design of antagonistic stiffness and the second one is to verify the phenomenon of the antagonistic stiffness through experimentation. In this work, a five-bar mechanism that can modulate antagonistic stiffness by using redundant actuators is employed as an exemplary system. The optimal structure of the five-bar mechanism that can maximize efficiency in generation of antagonistic stiffness is evaluated and analyzed. A measure of stiffness isotropy and the gradient property of the measure are employed as the performance indices in optimization. To deal with multi-criteria based design, a composite design index based on max-min principle of fuzzy theory is used as an objective function. Two optimization results are obtained. Furthermore, a five-bar mechanism has been developed for experimental verification. The phenomenon of antagonistic stiffness has been successfully demonstrated by free vibration and indirect force control experimentation. (C) 2004 Elsevier Ltd. All rights reserved.

DOI： 10.1016/j.mechatronics.2004.07.008

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

This paper deals with motion generation algorithm considering the external and internal impulses. Initially, we analyze the trend of the impulses with a simple 3-DOF planar robot arm in various contact positions and present a problem that is in discord with the general trend. To cope with this problem, we propose a new motion generation algorithm considering both the external and internal impulse. The gradient projection method is employed to exploit the kinematic redundancy of robot systems. Initially, the effectiveness of the proposed algorithms is verified through simulation of a 3-DOF planar robot arm model, and two application examples considering both the external and internal impulses are investigated. Through simulations for the landing of a 4-DOF planar human-body model and the sawing motion by a dual-arm model, it is shown that the posture is stable and the trend of the impulses calculated by the analytical models is coincident to the human experiences.

DOI： 10.1109/IROS.2005.1545208

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

Despite that omni-directional mobile robots have been investigated and used popularly, there are rarely useful command systems and control methods for practical applications. In this research, a command system to describe the navigation task for an omni-directional mobile robot is developed, and a motion generation method considering the robot geometry and the given trajectory is proposed. Furthermore, a control method to track the given linear and circular trajectories is proposed. A closed form kinematic model was utilized for motion generation and control as well.
A redundantly actuated omni-directional mobile robot that consists of three caster-type wheel mechanisms with high performance embedded controller module was developed for the experiments. And some experiments in the real environment were carried out to verify the effectiveness of the proposed command system and the performance of the motion generation and the trajectory control method.

DOI： 10.1109/IROS.2005.1545386

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

It is known that parallel type mechanisms have many singularities than serial type mechanisms. In haptic application, these singularities; deteriorate the force reflecting performance. Moreover, different from general manipulators, haptic systems can't avoid the singular point, because they are operated by the user's random motion command.
Although many singularity-free load distribution algorithms for kinematically redundant manipulators have been proposed, singularity-free load distribution algorithms for parallel haptic application have not been deeply discussed. In this paper, various singularity-free load distribution algorithms that are appropriate to parallel haptic system will be discussed. A new 6 DOF parallel mechanism equipped with four sub-chains is employed as a test device. To cope with singularity problem, four task-priority algorithms and redundant actuation algorithm are discussed and compared through simulation, and also experiments have been performed to show the effectiveness of those algorithms at the presence of singularity.

DOI： 10.1109/ROBOT.2004.1307167

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

DOI： 10.1109/IROS.2004.1390037

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

Recently, quite a few applications of omnidirectional mobile robots have been reported. However, understanding some fundamental issues still remains as further study. One of the issues is the exact dynamic model. Previous studies very often ignore the wheel dynamics of mobile robots and also suffer from algorithmic singularity. Thus, actuator sizing or control algorithms based on the incomplete plant model does not guarantee the control performance of the system. This paper deals with the singularity-free, exact dynamic modeling and analysis of omnidirectional mobile robot having three caster wheels. Initially, the exact dynamic model of the mobile robot including the wheel dynamics is introduced. A natural orthogonal complement approach and a singularity-free dynamic modeling approach are introduced. The joint-space and operational-space dynamic models are derived as analytical forms. Through simulation, the discrepancy of the incomplete dynamic model is shown by comparison with the exact dynamic model. Furthermore, useful aspect of operational dynamics is also discussed in terms of impact geometry.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：SAGE PUBLICATIONS LTD  

A new parallel-hype gripper mechanism is proposed in this work. This device has a parallelogramic platform that can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as a micro-positioning device after grasping objects. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Kinematic optimization is performed to design a parallel-type gripping mechanism so that it can reach the specified workspace, span the given range of the specified configuration parameters, and generate a desired force to grasp an object. A pneumatic rotator is employed for actuation and a miniaturized proportional 4/3-way directional valve is specially developed to deal with feedback-based dynamic control. The proportional valve allows indirect force control by measuring the offset-load pressure raised by the contact between the grasped object and the parallel platform. In experimental work, the performance of the motion tracking and indirect force control has been shown to be successful.

DOI： 10.1177/027836402322023240

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

Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control parameter Also, the internal impulses experienced at the joints should be simultaneously taken into account to avoid serious damage or injury at the joints.
The purpose of this work is to improve the efficacy of sawing task by using dual arm. For this, an external impulse model for sawing task is suggested Also, the closed-form internal impulse models are proposed for both a single and dual arms. Based on these models, a new measure for internal impulse is proposed. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Finally, the optimal sawing region is identified in which the amount of external impulse is maximized and the amount of the internal impulse is minimized. It is demonstrated through simulation that the dual arm exhibits better sawing performance over a single arm in aspects of external and internal impulses.

DOI： 10.1109/ROBOT.2002.1013483

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

Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature Thus, this paper investigates the optimal design of omni-direcdonal mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identified with respect to isotropic characteristic of mobile robots. In addition, the force transmission characteristics and actuator-sizing problem of mobile robots are investigated. Analysis has been performed for three actuation sets. It is shown that the redundantly actuated mobile robot with three active caster wheels represents the best performance among them.

DOI： 10.1109/ROBOT.2002.1013445

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

It is known that parallel-type mechanisms have many singularities than serial-type mechanisms. In haptic application, these singularities deteriorate the system performance generating reflecting force. Moreover, different from general manipulators, haptic systems can't avoid the singular point, because they are operated by user random command.
Although many singularity-free algorithms for serial mechanisms have been proposed and studied, singularity-free algorithms for parallel haptic application have not been deeply discussed. In this paper, various singularity-free algorithms, which are appropriate to parallel haptic system, will be discussed. Furthermore, to overcome singularity problems, a new design including redundant actuation is proposed. The proposed mechanism has fairly large workspace and is relatively light by employing non-floating actuators.

DOI： 10.1109/ROBOT.2002.1014419

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

In order to develop a human hand mechanism, a five-bar finger with redundant actuation is designed and implemented. Each joint of the finger is driven by a compact actuator mechanism having an ultrasonic motor and a gear set with a potentiometer, and controlled by a VME bus-based control system. Optimal sets of actuator locations and link lengths for cases of a minimum actuator, one-, two-, and three-redundant actuators are obtained by employing a composite design index which simultaneously considers several performance indices, such as workspace, isotropic index, and force transmission ratio. According to the optimization result, several finger-configuration optimized for a special performance index are illustrated, and it is concluded that the case of one redundant actuator is the most effective in comparison to the cases of more redundant actuators, and that the case of two redundant actuators is the most effective in multi-fingered operation in which the force characteristic is relatively important, as compared to the kinematic isotropy and the workspace of the system. (C) 2000 Elsevier Science Ltd. All rights reserved.

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

In this paper, a new 6-dof parallel haptic master det-ice is proposed. Many existing haptic devices require large power due to having floating actuator and also have small work-spaces. The proposed new mechanism is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design problem is performed ibr this mechanism. Dexterous work-space, global isotropic index. and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multi-criteria optimation problem, composite design index is employed. Actuator sizing for this mechanism is also carried out.

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

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as a micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure value is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

DOI： 10.1109/IROS.2000.894684

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

Springs have been employed in a wide range of mechanical systems. This work deals with the design of multi degree-of,freedom spring mechanism. The adaptable spring is desired for enhancing performances of various mechanical systems employing springs, We demonstrate that such adoptable springs can be realized by adopting anthropomorphic musculoskeletal structures of the human upper-extremity, which possesses highly nonlinear kinematic-coupling among redundant muscles existing in ifs structures We propose multi-degree-of-freedom spring mechanisms resembling the musculoskeletal structure of the human upper-extremity, and verify the applicability of these mechanisms through simulation.

DOI： 10.1109/IROS.2000.895231

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

If is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of the system's impedances, inspired by bio-systems, a biomimetic trajectory planning method is introduced. This scheme is based on employment of redundant actuation which prevails in bio-systems. We explain that in the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role to completely modulate the dynamic behaviour of a system, such as natural frequencies and damping ratios. A five-bar mechanisms equipped with two redundant actuators will be employed to demonstrate the feasibility of the proposed biomimetic trajectory experimentally.

DOI： 10.1109/IROS.2000.895229

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

We investigate the feedforward modulation methodology of the dynamic behaviour of anthropomorphic systems which inherently possess abundant actuators. For the complete modulation of the dynamic behaviour of such systems. redundant actuation is essential since it enables the system to modulate the stiffness property or weighted stiffness property such as motion frequency, and even in the modulation of the damping ratio of the system, the stiffness property plays an important role. We also address that incorporation of active damper is necessary for complete modulation of the dynamic behaviour. The feasibility of our proposed scheme is verified through simulation for a two degree-of-freedom anthropomorphic robot resembling the human upper-extremity.

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

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is suggested. Optimal sets of actuator locations and link lengths for the cases of minimum actuator, one, two, and three redundant actuators are obtained by employing a composite design index which simultaneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Eventually, several finger-configurations optimized for special performance indices are illustrated.

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

In this work, a parallel-type gripping and micropositioning mechanism is proposed. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as a micro-positioning device after grasping the object. Configuration parameter for configuration control of the proposed gripping mechanism is defined. Grasping force and isotropic characteristic of the mechanism are considered as design indices for optimal design of the gripping mechanism. The proposed mechanism is expected to be used as an adaptable gripping and micro-positioning device by attaching it at the end-point of a robot.

DOI： 10.1109/IROS.1998.727485

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

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CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In recent years, a wide variety of robots that can be used in the human living environment has been studied. Then, in such environment, the robots need to find where they are if they support human. Therefore the purpose of this study is to suggest a human tracking method of a multi-rotor craft with the HOG algorithm using the image of a monocular camera installed on the multi-rotor craft. This study showed that multi-rotor craft can performed human tracking by the method proposed in this study.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A newer rotor craft which can attach and move on the ceiling was developed in this paper. Four propeller are used not only flying but also attaching on the ceiling with vacuum suction. Experiments to check the special functions were carried out with the developed testbed system.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The purpose of this research is to analyze the role of walking robot's muscle. Computational model of 1-DOF leg robot with musculoskeletal system was derived. The robot's leg was moved by antagonism of two wires imitating muscles. Equation of motion for the system was obtained. Control simulation of the robot was performed based on the equation of motion. The simulation was executed on the program developed for this research. On the simulation, the robot was controlled to a desire position by torques of motors to pull wires imitating muscles.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

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CiNii Books

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CiNii Books

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CiNii Books

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CiNii Books

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The purpose of this research is to improve walking efficiency of biped walking robot. This research aims to make the biped walking robot considering the theory of passive walking. Biped walking robot that has two motors at the hip joint is developed. The controller for the robot is developed. The usefulness of the controller is confirmed by the experiment.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This study proposed a method to avoid collision with obstacles for a mobile robot equipped with laser range finder in an indoor environment where human exists. This method is composed of recognizing circumstance around the robot and motion planning based on recognizing. The method found out the robot's optimal moving direction for the robot autonomously by calculating its safety. For that, the fuzzy theory was employed to reflect characteristics of human motion to the robot motion planning. Computer simulations and experimental works in corridor were carried out to check the possibility as an algorithm of collision-free navigation for the robot.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This research investigates a method to recognize people in indoor environment by using LRFs installed in the room and a mobile robot. Because of the time-delay in wireless communication and the position error of the robot, the information of both LRFs cannot be fused directory. Therefore, particle filtering and predetermined map were used to estimate robot position. Consequently, tracking information achieved from both sensors could be registrated correctly in the central computer.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A new method of Human-Robot Interaction based on gesture recognition was proposed in this paper. Kinect sensor installed on the mobile robot was used for recognizing human gesture. Four types of gesture were prepared as user's command to operate a service robot which has capabilities of human following and autonomous navigation. Experiments were carried out to check the performance of recognizing human gesture and the possibility for robot operation.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper investigates a method to recognize people and follow target person for a mobile robot that moves in outdoor environment. Laser scanner and omni-directional camera were used as sensors to detect multiple people. For efficient tracking, a new association algorithm based on Mahalanobis distance, which utilizes information from both sensors, was proposed. Experimental results using the developed mobile robot system were presented.

CiNii Books

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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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CiNii Books

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CiNii Books

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CiNii Books

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An active caster system for object transportation was proposed in the previous research [2]. This paper deals with a parameter estimation method for real application. When the active caster is attached to an object, its parameters should be estimated for control. For that, a method based on Kalman filtering is investigated. The possibility of the proposed algorithm is demonstrated by simulation and experiment.

CiNii Books

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Language：Japanese   Publisher：Japanese Society for Engineering Education  

CiNii Books

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CiNii Books

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This paper aims at the development of autonomous mobile robot system with capability to detect people in outdoor environment. This time, a tracking method based on Kalman filtering and Mahalanobis distance is investigated. Some experimental results using a mobile robot with laser scanner is presented.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

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CiNii Books

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CiNii Books

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CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

An active caster system for object transportation was proposed in the previous research. This paper deals with a parameter estimation method for real application. When the active caster is attached to an object, its parameters are required for control. For that, a method based on Kalman filtering is investigated. The possibility of the proposed algorithm is demonstrated by simulation.

CiNii Books

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CiNii Books

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CiNii Books

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CiNii Books

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CiNii Books

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Our purpose is to develop a mobile robot which runs autonomous at the real world. The targeted environment is a public pedestrian, where there are many people and obstacles such as bicycles, trees, streetlamps and etc. We converted an electric cart and developed a mobile robot HOIST2, which can run autonomous by the navigation system. This paper describes the hardware system composition and the navigation strategy of HOIST2. The hardware system composes of steering control unit, wheel encoders and some sensors such as SOKUIKI sensor, GPS and etc. The navigation system consists of localization, following reference path and an obstacle avoidance method. In finally, we entered the RWRC 2008 and carried out the experiment of autonomous running the 1km course at the real environment. And we indicate the experimental result and conclusion.

CiNii Books

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

The concept of distributed actuation is one of essential elements of 'Ubiquitous Function' including distributed sensing, computing, network etc. In this paper, a novel mechanism, double-wheel-type active caster, to realize the concept of distributed actuation is investigated. A closed form kinematics of omni-directional mobile system which consists of multiple double-wheel-type active casters is studied. Simulation to show the adequacy of the kinematic model is also carried out.

CiNii Books

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

One of the important issues for mobile robot application is to solve online collision-free trajectory for navigation. For this, it is necessary to monitor walking people and forecast their motions. The problem to track multiple people using walking model from a mobile robot in motion is investigated in this paper. And real-time path planning methodology for a mobile robot using motion data from the people tracking is also studied. An experimental test-bed which consists of a mobile robot 'Yamabico' and a LRF sensor is employed in some experiments to track multiple walking people. Geometric characteristics around the legs of walking humans are analysed to detect their position from the data from LRF sensor. And EKF algorithm with walking model and walking frequency tracker proposed in this paper is utilized to track and anticipate the position of humans. The effectiveness of the proposed method is also evaluated some experiments for tracking multiple walking humans and path planning in indoor environment.

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This paper investigates a method to recognize people and follow target person for a mobile robot that moves in outdoor environment. Laser scanner and omni-directional camera were used as sensors to detect multiple people. For efficient tracking, a new association algorithm based on Mahalanobis distance, which utilizes information from both sensors, was proposed. Experimental results using the developed mobile robot system were presented.

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This research investigates a method to recognize people in indoor environment by using LRFs installed in the room and a mobile robot. Because of the time-delay in wireless communication and the position error of the robot, the information of both LRFs cannot be fused directory. Therefore, particle filtering and predetermined map were used to estimate robot position. Consequently, tracking information achieved from both sensors could be registrated correctly in the central computer.

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Presentation type：Oral presentation (general)  

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Language：Japanese  

The purpose of this research is to improve walking efficiency of biped walking robot. This research aims to make the biped walking robot considering the theory of passive walking. Biped walking robot that has two motors at the hip joint is developed. The controller for the robot is developed. The usefulness of the controller is confirmed by the experiment.

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In recent years, a wide variety of robots that can be used in the human living environment has been studied. Then, in such environment, the robots need to find where they are if they support human. Therefore the purpose of this study is to suggest a human tracking method of a multi-rotor craft with the HOG algorithm using the image of a monocular camera installed on the multi-rotor craft. This study showed that multi-rotor craft can performed human tracking by the method proposed in this study.

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Poster presentation  

A newer rotor craft which can attach and move on the ceiling was developed in this paper. Four propeller are used not only flying but also attaching on the ceiling with vacuum suction. Experiments to check the special functions were carried out with the developed testbed system.

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Language：Japanese   Presentation type：Oral presentation (general)  

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The purpose of this research is to analyze the role of walking robot's muscle. Computational model of 1-DOF leg robot with musculoskeletal system was derived. The robot's leg was moved by antagonism of two wires imitating muscles. Equation of motion for the system was obtained. Control simulation of the robot was performed based on the equation of motion. The simulation was executed on the program developed for this research. On the simulation, the robot was controlled to a desire position by torques of motors to pull wires imitating muscles.

researchmap

Language：Japanese  

This study proposed a method to avoid collision with obstacles for a mobile robot equipped with laser range finder in an indoor environment where human exists. This method is composed of recognizing circumstance around the robot and motion planning based on recognizing. The method found out the robot's optimal moving direction for the robot autonomously by calculating its safety. For that, the fuzzy theory was employed to reflect characteristics of human motion to the robot motion planning. Computer simulations and experimental works in corridor were carried out to check the possibility as an algorithm of collision-free navigation for the robot.

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Language：Japanese   Presentation type：Oral presentation (general)  

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