J. Robotics Mechatronics最新文献_第10页

Vision-Based Robot Arm Control Interface for Retrieving Objects from the Floor 基于视觉的机器人手臂控制界面在地板上检索物体

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0501

Laijun Yang, Ryota Sakamoto, N. Kato, K. Yano

引用次数: 0

Application and Mechanical Evaluation of Polyarylate Fiber Rope in Wire Drive Mechanism of Robotic Surgical Instruments 聚芳酸纤维绳在机器人手术器械钢丝驱动机构中的应用及力学评价

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0461

Kanta Nojima, Kotaro Tadano, Daisuke Haraguchi

{"title":"Application and Mechanical Evaluation of Polyarylate Fiber Rope in Wire Drive Mechanism of Robotic Surgical Instruments","authors":"Kanta Nojima, Kotaro Tadano, Daisuke Haraguchi","doi":"10.20965/jrm.2023.p0461","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0461","url":null,"abstract":"In this study, a polyarylate fiber rope, which is a high-strength synthetic fiber rope, is used in the wire drive mechanism of a multi-degree of freedom (DOF) robotic forceps to evaluate its mechanical practicability. Using a nonconducting material for the drive wire, different from typical use of metallic wires made of stainless steel and tungsten, a technology is developed to simplify the insulation structure significantly, decrease the diameter of the robotic surgical instrument, and lower its cost. In this study, first, a prototype of the multi-DOF robotic forceps equipped with a polyetheretherketone (PEEK) resin flexible wrist joint part with an external diameter of 5 mm is manufactured. The prototype is used to evaluate the assembling of a polyarylate fiber rope with a diameter of 0.34 mm in a multi-DOF mechanism and examine the endurance of the rope to mechanical motions under a single-use assumption. As fastening structures to assemble the rope – a crimp terminal using a hollow pipe and a thread knot – are examined individually by assembling them in the prototype robotic forceps and conducting strength tests of the tension generated by the drive. The test results show that the thread knot method exerts a stabler fastening strength than the hollow pipe method. However, a problem of the former is that the wire may break because of its strong contact with the edge of the hole of the wire guide. Subsequently, to evaluate the endurance of the rope to single-use operation motion, operation tests are conducted by implementing reciprocating bending motions of the flexible wrist joint part of the robotic forceps 1,000 times. The assembled rope endures the sliding within the flexible wrist joint part and the contact loading with the guide part and the fixed structure within the cartridge repeatedly. The endurance operation test results confirm that the drive transmission of the polyarylate fiber rope has sufficient mechanical endurance to 1,000 reciprocating bending motions of the PEEK flexible wrist joint part.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120974499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Error Covariance Estimation of 3D Point Cloud Registration Considering Surrounding Environment 考虑周围环境的三维点云配准误差协方差估计

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0435

Koki Aoki, Tomoya Sato, E. Takeuchi, Yoshiki Ninomiya, J. Meguro

{"title":"Error Covariance Estimation of 3D Point Cloud Registration Considering Surrounding Environment","authors":"Koki Aoki, Tomoya Sato, E. Takeuchi, Yoshiki Ninomiya, J. Meguro","doi":"10.20965/jrm.2023.p0435","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0435","url":null,"abstract":"To realize autonomous vehicle safety, it is important to accurately estimate the vehicle’s pose. As one of the localization techniques, 3D point cloud registration is commonly used. However, pose errors are likely to occur when there are few features in the surrounding environment. Although many studies have been conducted on estimating error distribution of 3D point cloud registration, the real environment is not reflected. This paper presents real-time error covariance estimation in 3D point cloud registration according to the surrounding environment. The proposed method provides multiple initial poses for iterative optimization in the registration method. Using converged poses in multiple searches, the error covariance reflecting the real environment is obtained. However, the initial poses were limited to directions in which the pose error was likely to occur. Hence, the limited search efficiently determined local optima of the registration. In addition, the process was conducted within 10 Hz, which is laser imaging detection and ranging (LiDAR) period; however, the execution time exceeded 100 ms in some places. Therefore, further improvement is necessary.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117236719","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Map Creation for LiDAR Localization Based on the Design Drawings and Tablet Scan Data 基于设计图纸和平板扫描数据的激光雷达定位地图制作

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0470

Satoshi Ito, R. Kaneko, Takumi Saito, Yuji Nakamura

引用次数: 0

Autonomous Flight Using UWB-Based Positioning System with Optical Flow Sensors in a GPS-Denied Environment gps拒绝环境下基于超宽带光流传感器定位系统的自主飞行

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0328

Yoshiyuki Higashi, Kenta Yamazaki

引用次数: 0

Special Issue on Navigation and Control Technologies for Autonomous Mobility 自主移动的导航和控制技术特刊

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0229

Y. Minami, Hiroshi Okajima, K. Sawada, Kazuma Sekiguchi

{"title":"Special Issue on Navigation and Control Technologies for Autonomous Mobility","authors":"Y. Minami, Hiroshi Okajima, K. Sawada, Kazuma Sekiguchi","doi":"10.20965/jrm.2023.p0229","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0229","url":null,"abstract":"Autonomous mobility, as exemplified by self-driving cars, autonomous mobile robots, drones, etc., is essential to the acceleration and practical application of transportation services and the automation of delivery, guidance, security, and inspection. Therefore, in recent years, expectations have been building for autonomous mobility to grow as a technology that not only improves the convenience and comfort of transportation and the efficiency of logistics but also leads to solutions to various social problems. Various technological elements are required to ensure the safety and quality of autonomous mobility. For example, technology is needed to create environmental maps and automatically determine obstacles based on data acquired by cameras and sensors such as LiDAR. Technologies for planning appropriate routes and controlling robots safely and comfortably are also essential.\u0000 This special issue highlights 24 exciting papers, including 20 research papers, three letters, and one development report. They are related to “recognition,” “decision and planning,” and “control” technologies for autonomous mobile robots, such as self-driving cars and drones. The papers’ keywords are as follows:\u0000 • Collision avoidance, path planning, path tracking control\u0000 • Motion control, attitude control\u0000 • Measurement, position and posture estimation, modeling\u0000 • Point cloud processing\u0000 We would like to express our gratitude to all authors and reviewers, and we hope that this special issue contributes to future research and development in autonomous mobility.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132170974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

MGV Obstacle Avoidance Trajectory Generation Considering Vehicle Shape 考虑车辆形状的MGV避障轨迹生成

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0262

Y. Arai, Takashi Sago, Y. Ueyama, M. Harada

引用次数: 0

Gesture Interface and Transfer Method for AMR by Using Recognition of Pointing Direction and Object Recognition 基于指向识别和目标识别的AMR手势接口与传输方法

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0288

T. Ikeda, Naoki Noda, S. Ueki, Hironao Yamada

引用次数: 0

Development of a Spherical Shell Robot with Rolling and Legged Locomotion 具有滚动和足部运动的球壳机器人的研制

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0483

R. Abe, C. Kanamori

{"title":"Development of a Spherical Shell Robot with Rolling and Legged Locomotion","authors":"R. Abe, C. Kanamori","doi":"10.20965/jrm.2023.p0483","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0483","url":null,"abstract":"Herein, we propose a spherical shell robot that can roll and move on its legs, and develop a prototype of the robot. Recently, there has been a growing demand for robots that can move freely and gather information on rough terrains, such as disaster sites, which are not accessible to humans. The robot developed here has two types of mobilities: rolling movement using a spherical shape and walking movement using its legs. Because the morphological transformation does not require recombination of parts, it can be reversibly performed via remote control. Therefore, the robot can select the movement method according to the environment, and reach the target point reliably even on uneven terrains, such as a disaster site. We designed a mechanism that enabled the transformation of the form and devised an operation method. Accordingly, a prototype was developed and tested. A rolling test on flat ground confirmed that the robot can roll over 5.0 m and its speed could be controlled using a gyro sensor. The leg locomotion test confirmed that the robot can turn and move straight ahead without turning over. In addition, we also conducted experiments, such as sudden stops and remote morphological deformation, to confirm the operation of the robot during rolling.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124112607","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Study on Control for Prevention of Collision Caused by Failure of Localization for Map-Based Automated Driving Vehicle 基于地图的自动驾驶车辆定位失败碰撞预防控制研究

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0255

Shun Nishimura, M. Omae

引用次数: 0