ROBOMECH Journal最新文献_第10页

A robotic end-effector with rolling up mechanism for pick-and-release of a cotton sheet 一种带有卷起机构的末端执行器，用于收放棉片

IF 1.4

ROBOMECH Journal Pub Date : 2020-08-01 DOI: 10.21203/rs.3.rs-47931/v1

Taiki Abe, Y. Kawasaki, Kimitoshi Yamazaki

{"title":"A robotic end-effector with rolling up mechanism for pick-and-release of a cotton sheet","authors":"Taiki Abe, Y. Kawasaki, Kimitoshi Yamazaki","doi":"10.21203/rs.3.rs-47931/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-47931/v1","url":null,"abstract":"In this paper we introduce a novel robotic end-effector for pick-and-release of a sheet of cotton cloth. One of the main operations in a factory for sewing cloth products is to pick up cloth parts, provide them to a sewing machine, and sew them together. Fabric products are assembled by performing this work in various processes. Each work starts with a lot of cloth parts stacked near a sewing machine. In the case of underwear, thin cotton cloth is the target of manipulation, but such cloth parts tend to stick to each other, and a certain skill or technical acuity is required for picking up. Therefore, this work is basically done manually in the present. The purpose of this study is to automate such manipulation, so we devise an end-effector that picks up only the top one of stacked cotton sheets. The proposed end-effector has a mechanism that is a cylindrical brush attached with a remover cloth on its surface. The cylindrical brush is grounded on a cotton sheet, and then is rotated to roll up only the cotton sheet. This mechanism makes it possible to release the sheet by rotating the brush in the reverse. We constructed hardware with this function and attached it to the tip of a robotic manipulator. In addition, we performed system integration so that the initial position of rolling up a cotton sheet could be automatically determined from images taken by a camera. We also conducted evaluation experiments.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":"1-9"},"PeriodicalIF":1.4,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44375574","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: 2

Analysis of firefighting skill with a teleoperated robot 遥控机器人灭火技能分析

IF 1.4

ROBOMECH Journal Pub Date : 2020-06-20 DOI: 10.1186/s40648-020-00177-y

Yoshihiro Tamura, H. Amano, J. Ota

引用次数: 9

Dynamic manipulation of unknown string by robot arm: realizing momentary string shapes 机械臂对未知弦的动态操纵:实现瞬时弦形

IF 1.4

ROBOMECH Journal Pub Date : 2020-06-17 DOI: 10.21203/rs.3.rs-32141/v1

K. Tabata, H. Seki, Tokuo Tsuji, Tatsuhiro Hiramitsu, M. Hikizu

{"title":"Dynamic manipulation of unknown string by robot arm: realizing momentary string shapes","authors":"K. Tabata, H. Seki, Tokuo Tsuji, Tatsuhiro Hiramitsu, M. Hikizu","doi":"10.21203/rs.3.rs-32141/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-32141/v1","url":null,"abstract":"We propose a method to realize the dynamic manipulation of a string with unknown characteristics via a high-speed robot arm. We use a mass-spring-damper model for the string and repeat three steps: motion generation, real manipulation, and parameter estimation. Robot motion is given by the joint angular velocities expressed by the Bezier curves. Their control points are randomly positioned to generate various robot motion for dynamic string manipulation. The generated motion is performed by a wire-driven robot arm and, real string movement is captured by the camera. These time-series images are used for the parameter estimation of string. The best parameter set is determined via comparison between real and simulated string movement after changing parameter randomly and logarithmically. This parameter set is not unique, but it simulates the actual string movement well. Since the estimated string parameter is used for the robot motion generation after repeating the above 3 steps, the motion generation reflects string property and motion objective can success without special tests in advance. This is an advantage of our method because it is difficult to know all of string property with very complicated non-linearity beforehand. We focus on realizing the momentary string shape in 2 dimensions in this paper. We confirmed the effectiveness of our proposed method by realizing five momentary shapes and 3 kinds of string properties. We also discussed the reproducibility and compatibility of estimated parameters and motion generation.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":"1-17"},"PeriodicalIF":1.4,"publicationDate":"2020-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48157842","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: 2

Pose estimation by extended Kalman filter using noise covariance matrices based on sensor output 基于传感器输出噪声协方差矩阵的扩展卡尔曼滤波姿态估计

IF 1.4

ROBOMECH Journal Pub Date : 2020-05-22 DOI: 10.21203/rs.3.rs-29523/v1

Ayuko Saito, Satoru Kizawa, Yoshikazu Kobayashi, K. Miyawaki

{"title":"Pose estimation by extended Kalman filter using noise covariance matrices based on sensor output","authors":"Ayuko Saito, Satoru Kizawa, Yoshikazu Kobayashi, K. Miyawaki","doi":"10.21203/rs.3.rs-29523/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-29523/v1","url":null,"abstract":"This paper presents an extended Kalman filter for pose estimation using noise covariance matrices based on sensor output. Compact and lightweight nine-axis motion sensors are used for motion analysis in widely various fields such as medical welfare and sports. A nine-axis motion sensor includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. Information obtained from the three sensors is useful for estimating joint angles using the Kalman filter. The extended Kalman filter is used widely for state estimation because it can estimate the status with a small computational load. However, determining the process and observation noise covariance matrices in the extended Kalman filter is complicated. The noise covariance matrices in the extended Kalman filter were found for this study based on the sensor output. Postural change appears in the gyroscope output because the rotational motion of the joints produces human movement. Therefore, the process noise covariance matrix was determined based on the gyroscope output. An observation noise covariance matrix was determined based on the accelerometer and magnetometer output because the two sensors’ outputs were used as observation values. During a laboratory experiment, the lower limb joint angles of three participants were measured using an optical 3D motion analysis system and nine-axis motion sensors while participants were walking. The lower limb joint angles estimated using the extended Kalman filter with noise covariance matrices based on sensor output were generally consistent with results obtained from the optical 3D motion analysis system. Furthermore, the lower limb joint angles were measured using nine-axis motion sensors while participants were running in place for about 100 s. The experiment results demonstrated the effectiveness of the proposed method for human pose estimation.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":"1-11"},"PeriodicalIF":1.4,"publicationDate":"2020-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42635154","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: 7

Study of a robotic system to detect water leakage and fuel debris-System proposal and feasibility study of visual odometry providing intuitive bird’s eye view- 检测漏水和燃料碎片的机器人系统的研究视觉里程计提供直观鸟瞰图的系统建议和可行性研究-

IF 1.4

ROBOMECH Journal Pub Date : 2020-05-22 DOI: 10.21203/rs.3.rs-29524/v1

Zhenyu Wang, G. Endo, Masashi Takahashi, Hiroyuki Nabae, K. Suzumori, N. Tsuzuki, H. Takahashi, K. Kimoto, T. Ihara, H. Kikura

{"title":"Study of a robotic system to detect water leakage and fuel debris-System proposal and feasibility study of visual odometry providing intuitive bird’s eye view-","authors":"Zhenyu Wang, G. Endo, Masashi Takahashi, Hiroyuki Nabae, K. Suzumori, N. Tsuzuki, H. Takahashi, K. Kimoto, T. Ihara, H. Kikura","doi":"10.21203/rs.3.rs-29524/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-29524/v1","url":null,"abstract":"To obtain the necessary information on fuel debris and water leakages during the decommissioning task of the Fukushima Daiichi Nuclear Power Plant, an ultrasonic-based method was proposed for future internal investigation of the primary containment vessel (PCV). In this article, we describe the rotatable winch mechanism and visual localization method, which were used to aid the investigation. We used the rotatable winch mechanism to adjust the height and orientation of the ultrasonic sensor and localized the robot with cameras to localize the sensor, to provide assisting information for data combination. We studied the feasibility of the conventional visual odometry method for application to the situation and performed localizing accuracy evaluation experiments with a mobile robotic platform prototype. The results showed that the visual odometry method could generate intuitive bird’s-eye-view maps, and provided an average error rate of 35 mm/1500 mm, which met the required maximum error rate of 100 mm/1500 mm for the grating movement. Experiments were also conducted with adjustable parameter ranges that could provide the required accuracy.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":"1-15"},"PeriodicalIF":1.4,"publicationDate":"2020-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42751981","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: 2

A pilot study on locomotion training via biomechanical models and a wearable haptic feedback system 通过生物力学模型和可穿戴触觉反馈系统进行运动训练的初步研究

IF 1.4

ROBOMECH Journal Pub Date : 2020-04-07 DOI: 10.1186/s40648-020-00167-0

E. Demircan

引用次数: 10

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions 基于稳定裕度最大化和防摔功能的无摆动腿被动轮两足机器人运动方法

IF 1.4

ROBOMECH Journal Pub Date : 2020-04-06 DOI: 10.21203/rs.3.rs-20201/v1

Kohei Kimura, Noriaki Imaoka, Shintaro Noda, Yohei Kakiuchi, K. Okada, M. Inaba

引用次数: 1

Proposal of forceps force limiter design using leaf spring buckling 利用板簧屈曲设计钳子限力器的建议