ROBOMECH Journal最新文献_第7页

Hopping path planning in uncertain environments for planetary explorations 行星探测不确定环境下的跳跃路径规划

IF 1.4

ROBOMECH Journal Pub Date : 2022-02-14 DOI: 10.1186/s40648-022-00219-7

Sakamoto, Kosuke, Kubota, Takashi

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

IF 1.4

ROBOMECH Journal Pub Date : 2022-02-14 DOI: 10.1186/s40648-022-00218-8

S. Noda, Yasunori Tokuoka, S. Kuriu, Tadashi Ishida

引用次数: 0

An underactuated parallel-link gripper for a multicopter capable of plane perching 一种适于多旋翼飞机悬停的欠驱动平行连杆夹持器

IF 1.4

ROBOMECH Journal Pub Date : 2022-02-01 DOI: 10.1186/s40648-022-00217-9

Xu, Maozheng, Senoo, Taku, Takaki, Takeshi

{"title":"An underactuated parallel-link gripper for a multicopter capable of plane perching","authors":"Xu, Maozheng, Senoo, Taku, Takaki, Takeshi","doi":"10.1186/s40648-022-00217-9","DOIUrl":"https://doi.org/10.1186/s40648-022-00217-9","url":null,"abstract":"The need for a perching robot is increasing in the field of rescue and transportation. Accordingly studies on perching an object by attaching a robot arm to a perching robot have been conducted. However, almost all the studies related to perching have been conducted using an actuated or electric device. However, perching by using an electric device has several disadvantages, such as additional power consumption and an increase in the mass of the multicopter used to load the electric source. Instead of using an electric device, perching by using an underactuated gripper can effectively avoid these disadvantages. Accordingly, we developed an underactuated passive gripper that has the advantage of nonconsumption of electric power for perching. A method to confirm the available range for stable perching is one of the problems of using an underactuated passive gripper. Therefore, in this study, we analyze a multicopter carrying an underactuated parallel-link passive gripper for available plane perching. To enable perching on planes with different thicknesses and being embedded at different depths, we summarize the available perching range and limitations based on the friction cone theory. Our conclusion is supported by both theoretical and experimental results.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"229 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138527557","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

Development of ROS2-TMS: new software platform for informationally structured environment ROS2-TMS的开发:面向信息结构化环境的新软件平台

IF 1.4

ROBOMECH Journal Pub Date : 2022-01-31 DOI: 10.1186/s40648-021-00216-2

Tomoya Itsuka, Minsoo Song, A. Kawamura, R. Kurazume

引用次数: 5

Object segmentation in cluttered environment based on gaze tracing and gaze blinking 基于注视跟踪和注视闪烁的杂乱环境下目标分割

IF 1.4

ROBOMECH Journal Pub Date : 2021-12-22 DOI: 10.1186/s40648-021-00214-4

Ratsamee, Photchara, Mae, Yasushi, Kamiyama, Kazuto, Horade, Mitsuhiro, Kojima, Masaru, Arai, Tatsuo

{"title":"Object segmentation in cluttered environment based on gaze tracing and gaze blinking","authors":"Ratsamee, Photchara, Mae, Yasushi, Kamiyama, Kazuto, Horade, Mitsuhiro, Kojima, Masaru, Arai, Tatsuo","doi":"10.1186/s40648-021-00214-4","DOIUrl":"https://doi.org/10.1186/s40648-021-00214-4","url":null,"abstract":"People with disabilities, such as patients with motor paralysis conditions, lack independence and cannot move most parts of their bodies except for their eyes. Supportive robot technology is highly beneficial in supporting these types of patients. We propose a gaze-informed location-based (or gaze-based) object segmentation, which is a core module of successful patient-robot interaction in an object-search task (i.e., a situation when a robot has to search for and deliver a target object to the patient). We have introduced the concepts of gaze tracing (GT) and gaze blinking (GB), which are integrated into our proposed object segmentation technique, to yield the benefit of an accurate visual segmentation of unknown objects in a complex scene. Gaze tracing information can be used as a clue as to where the target object is located in a scene. Then, gaze blinking can be used to confirm the position of the target object. The effectiveness of our proposed method has been demonstrated using a humanoid robot in experiments with different types of highly cluttered scenes. Based on the limited gaze guidance from the user, we achieved an 85% F-score of unknown object segmentation in an unknown environment.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"108 10","pages":""},"PeriodicalIF":1.4,"publicationDate":"2021-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138527534","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

LiDAR DNN based self-attitude estimation with learning landscape regularities 基于激光雷达深度神经网络的自姿态估计与景观规律学习

IF 1.4

ROBOMECH Journal Pub Date : 2021-12-20 DOI: 10.1186/s40648-021-00213-5

Ozaki, Ryota, Sugiura, Naoya, Kuroda, Yoji

引用次数: 2

Condition analysis of a multicopter carried with passive skid for rough terrain landing 多旋翼机被动滑橇着陆条件分析

IF 1.4

ROBOMECH Journal Pub Date : 2021-11-22 DOI: 10.1186/s40648-021-00212-6

Xu, Maozheng, Senoo, Taku, Takaki, Takeshi

引用次数: 0

Rapid prototyping for series of tasks in atypical environment: robotic system with reliable program-based and flexible learning-based approaches 非典型环境下一系列任务的快速原型设计：具有可靠的基于程序和灵活的基于学习方法的机器人系统

IF 1.4

ROBOMECH Journal Pub Date : 2021-11-15 DOI: 10.21203/rs.3.rs-1043990/v1

Hiroshi Ito, Satoshi Nakamura

{"title":"Rapid prototyping for series of tasks in atypical environment: robotic system with reliable program-based and flexible learning-based approaches","authors":"Hiroshi Ito, Satoshi Nakamura","doi":"10.21203/rs.3.rs-1043990/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-1043990/v1","url":null,"abstract":"We propose a novel robotic system that combines both a reliable programming-based approach and a highly generalizable learning-based approach. How to design and implement a series of tasks in an atypical environment is a challenging issue. If all tasks are implemented using a programming-based approach, the development costs will be huge. However, if a learning-based approach is used, reliability is an issue. In this paper, we propose novel design guidelines that focus on the respective advantages of programming-based and learning-based approaches and select them so that they complement each other. We use a program-based approach for motions that is rough behavior and a learning-based approach for motion that is required complex interaction between robot and object of robot tasks and are difficult to achieve with a program. Our learning approach can easily and rapidly accomplish a series of tasks consisting of various motions because it does not require a computational model of an object to be designed in advance. We demonstrate a series of tasks in which randomly arranged parts are assembled using an actual robot.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"9 1","pages":"1-14"},"PeriodicalIF":1.4,"publicationDate":"2021-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49659920","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: 1

Characterization of variable-sensitivity force sensor using stiffness change of shape-memory polymer based on temperature 基于温度的形状记忆聚合物刚度变化表征变灵敏度力传感器

IF 1.4

ROBOMECH Journal Pub Date : 2021-11-11 DOI: 10.1186/s40648-021-00210-8

Takashima, Kazuto, Kobuchi, Jo, Kamamichi, Norihiro, Takagi, Kentaro, Mukai, Toshiharu

{"title":"Characterization of variable-sensitivity force sensor using stiffness change of shape-memory polymer based on temperature","authors":"Takashima, Kazuto, Kobuchi, Jo, Kamamichi, Norihiro, Takagi, Kentaro, Mukai, Toshiharu","doi":"10.1186/s40648-021-00210-8","DOIUrl":"https://doi.org/10.1186/s40648-021-00210-8","url":null,"abstract":"In the present study, we propose a variable-sensitivity force sensor using a shape-memory polymer (SMP), the stiffness of which varies according to the temperature. Since the measurement range and sensitivity can be changed, it is not necessary to replace the force sensor to match the measurement target. Shape-memory polymers are often described as two-phase structures comprising a lower-temperature “glassy” hard phase and a higher-temperature “rubbery” soft phase. The relationship between the applied force and the deformation of the SMP changes depending on the temperature. The proposed sensor consists of strain gauges bonded to an SMP bending beam and senses the applied force by measuring the strain. Therefore, the force measurement range and the sensitivity can be changed according to the temperature. In our previous study, we found that a sensor with one strain gauge and a steel plate had a small error and a large sensitivity range. Therefore, in the present study, we miniaturize this type of sensor. Moreover, in order to describe the viscoelastic behavior more accurately, we propose a transfer function using a generalized Maxwell model. We verify the proposed model experimentally and estimated the parameters by system identification. In addition, we realize miniaturization of the sensor and achieve the same performance as in our previous study. It is shown that the proposed transfer function can capture the viscoelastic behavior of the proposed SMP sensor quite well.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"46 2","pages":""},"PeriodicalIF":1.4,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138527526","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: 3

Real-time irradiation system using patterned light to actuate light-driven on-chip gel actuators 利用图案化光致动光驱动芯片凝胶致动器的实时辐照系统

IF 1.4

ROBOMECH Journal Pub Date : 2021-11-01 DOI: 10.21203/rs.3.rs-1003331/v1

Yuha Koike, Shunnosuke Kodera, Y. Yokoyama, T. Hayakawa

{"title":"Real-time irradiation system using patterned light to actuate light-driven on-chip gel actuators","authors":"Yuha Koike, Shunnosuke Kodera, Y. Yokoyama, T. Hayakawa","doi":"10.21203/rs.3.rs-1003331/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-1003331/v1","url":null,"abstract":"A light-driven gel actuator is a potential candidate for a single-cell manipulation tool because it allows cells to be manipulated while ensuring less damage. Moreover, a large number of actuators can be integrated into a microfluidic chip because no wiring is required. Previously, we proposed a method for cell manipulation using light-driven gel actuators. However, the system used in the previous work did not allow the targeted cells to be manipulated in real time because the system used in the previous work could only irradiate preprogrammed patterned light. Moreover, when a large number of gel actuators are integrated into a chip, the Gaussian distribution of the laser light source results in the response characteristics of the gel actuators varying with the location of the actuator. In this work, we constructed a system that homogenized the intensity of the patterned light used for irradiation, allowing multiple gel actuators to be driven in parallel in real time. The intensity-homogenized patterned light improved the variations in the response characteristics of the gel actuators, and as a result, we succeeded in actuating gel actuators with various light patterns in real time.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"9 1","pages":"1-10"},"PeriodicalIF":1.4,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47405300","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