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Experimental Development of Fins for Underwater Robots 水下机器人鳍片的实验开发
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1638
Bagus Yunanto, N. Takesue
{"title":"Experimental Development of Fins for Underwater Robots","authors":"Bagus Yunanto, N. Takesue","doi":"10.20965/jrm.2023.p1638","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1638","url":null,"abstract":"In recent years, underwater robotics has become very important because it can be applied to various fields such as underwater exploration, underwater inspection, marine industry, and environmental monitoring. Fin plays an essential role in the movement of underwater robots, providing operation, control, and efficient propulsion. This research aims to design and develop a unique robotic fin for underwater robots to improve their handling and propulsion efficiency. The goal is to improve the power density and propulsion efficiency of underwater survey robots. The study is based on a comprehensive analysis of experience and a performance evaluation. Five types of tail fin models were used in the study. The experimental results showed that the performance of the fin design can be compared with existing configurations under different conditions. The best design parameters will be determined by analyzing the experimental results. The results of this study will contribute to underwater robotics by providing a concept of the principles of fin design and its impact on the performance of robotics.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"30 11","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955115","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
Door Opening and Closing Considering Forces Using a Mobile Manipulator with an Admittance Controlled Arm 使用带门禁控制臂的移动机械手考虑门的开关力
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1573
Yasuhiko Fukumoto, Morio Jinnai, Shinnosuke Bando, Makoto Takenaka, Hiroaki Kobayashi
{"title":"Door Opening and Closing Considering Forces Using a Mobile Manipulator with an Admittance Controlled Arm","authors":"Yasuhiko Fukumoto, Morio Jinnai, Shinnosuke Bando, Makoto Takenaka, Hiroaki Kobayashi","doi":"10.20965/jrm.2023.p1573","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1573","url":null,"abstract":"This study achieved four door operations, namely push-opening, push-closing, pull-opening, and pull-closing movements, using a mobile manipulator consisting of a commercially available arm robot and a mobile robot. We assumed that the arm robot is controlled by position commands at intervals of a few milliseconds, and that the mobile robot is guided by a simple straightforward linear trajectory. Ott, Borst, Bäuml, and Hirzinger proposed a push-opening method using impedance control in a cylindrical coordinate system for the arm robot. With this control, when the mobile robot advances toward and through the door, the arm robot moves passively and properly pushes the door open. However, their method is unsuitable for the above type of robot. Thus, we propose a method with two modifications: the use of admittance control and the improvement of force relaxation by considering a force obtained through a novel force decomposition. Furthermore, the proposed method was demonstrated not only in the push-opening movement but also in the push-closing, pull-opening, and pull-closing movements.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"42 15","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955528","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
Reliability Improvement of a Crawler-Type Ceiling Mobile Robot in Starting, Accelerating, and Traveling Phase at High Speed 提高履带式顶棚移动机器人在起步、加速和高速行驶阶段的可靠性
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1551
Rei Ezaka, Takehito Yoshida, Yudai Yamada, Shin’ichi Warisawa, Rui Fukui
{"title":"Reliability Improvement of a Crawler-Type Ceiling Mobile Robot in Starting, Accelerating, and Traveling Phase at High Speed","authors":"Rei Ezaka, Takehito Yoshida, Yudai Yamada, Shin’ichi Warisawa, Rui Fukui","doi":"10.20965/jrm.2023.p1551","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1551","url":null,"abstract":"The ceiling serves as an ideal location for robots to handle transportation tasks, as it ensures minimal interference between automated guided vehicles (AGV) and human activities. A previous study developed a ceiling mobile robot called HanGrawler 2. It can travel at a high speed of 1.0 m/s to compete with ground vehicles. However, it occasionally fails during high-speed travel. This study aims to improve the reliability of starting, accelerating, and traveling at high speed. Optical motion capture is used to observe the crawler behavior of HanGrawler 2. The observation of the crawler behavior revealed that the crawler moves on an inflated trajectory during the high-speed movement. In addition, the experimental results show that the collision is not caused by the inflation, but by the push-in timing. The reliability of high-speed travel was improved by installing an encoder and optimizing the push-in timing in accordance with speed fluctuations.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"66 20","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138957169","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
Practical Implementation of Visual Navigation Based on Semantic Segmentation for Human-Centric Environments 基于语义分割的视觉导航在以人为本的环境中的实际应用
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1419
Miho Adachi, Kazufumi Honda, Junfeng Xue, Hiroaki Sudo, Yuriko Ueda, Yuki Yuda, Marin Wada, Ryusuke Miyamoto
{"title":"Practical Implementation of Visual Navigation Based on Semantic Segmentation for Human-Centric Environments","authors":"Miho Adachi, Kazufumi Honda, Junfeng Xue, Hiroaki Sudo, Yuriko Ueda, Yuki Yuda, Marin Wada, Ryusuke Miyamoto","doi":"10.20965/jrm.2023.p1419","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1419","url":null,"abstract":"This study focuses on visual navigation methods for autonomous mobile robots based on semantic segmentation results. The challenge is to perform the expected actions without being affected by the presence of pedestrians. Therefore, we implemented a semantics-based localization method that is not affected by dynamic obstacles and a direction change method at intersections that functions even with coarse-grain localization results. The proposed method was evaluated through driving experiments in the Tsukuba Challenge 2022, where a 290 m run including 10 intersections was achieved in the confirmation run section.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"17 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138994303","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
Development of Human-Size Swallowing Robot 人体尺寸吞咽机器人的开发
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1663
Hisaki Sato, Hiroshi Kobayashi, Kenta Matsumoto, T. Hashimoto, Y. Michiwaki
{"title":"Development of Human-Size Swallowing Robot","authors":"Hisaki Sato, Hiroshi Kobayashi, Kenta Matsumoto, T. Hashimoto, Y. Michiwaki","doi":"10.20965/jrm.2023.p1663","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1663","url":null,"abstract":"The number of patients with swallowing disorders is increasing according to the aging of society, although swallowing plays a significant role in the dietary process. The process of swallowing includes a very fast reflexive motion; there are difficulties in analyzing its mechanism even with the latest medical imaging technologies. In recent years, a simulator, named “Swallow Vision®,” has been developed from medical images such as MRI and CT to clearly visualize swallowing motion. It enables us to understand the kinesiology and analyze the motion of organs in swallowing. By using kinematic data obtained from this simulator and referring to medical knowledge, we develop a robotic simulator that has the potential to mimic human swallowing motion. The robot is able to perform tongue depressor and pharynx contraction to swallow food bolus. A performance evaluation is conducted to determine whether it is possible to swallow food bolus properly or where the bolus remains when failing.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"52 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955424","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
Implementation of Brute-Force Value Iteration for Mobile Robot Path Planning and Obstacle Bypassing 为移动机器人路径规划和绕过障碍物实现蛮力值迭代
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1489
R. Ueda, Leon Tonouchi, Tatsuhiro Ikebe, Yasuo Hayashibara
{"title":"Implementation of Brute-Force Value Iteration for Mobile Robot Path Planning and Obstacle Bypassing","authors":"R. Ueda, Leon Tonouchi, Tatsuhiro Ikebe, Yasuo Hayashibara","doi":"10.20965/jrm.2023.p1489","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1489","url":null,"abstract":"We applied a brute-force value iteration algorithm to mobile robot navigation. Value iteration is computationally more expensive than search methods used for navigation. However, it can perfectly calculate the expected cost-to-go from any point in a state space. From this cost data, a robot can know not only the optimal behavior at any position and orientation but also the appropriate detour path against suddenly appearing obstacles. This study implemented value iteration and investigated its properties through experiments with simulated and actual robots. Although its computational cost remained high, our implementation could operate a robot in an actual outdoor environment with 3,700 m2 free space. We also verified that our implementation calculates long detour paths toward closures composed of obstacles.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"230 ","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139170595","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
Navit(oo)n: Open Source Mobile Robot Project for Nakanoshima Robot Challenge Navit(oo)n：中之岛机器人挑战赛开源移动机器人项目
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1540
Shunya Hara, T. Shimizu, Masayoshi Ozawa, Masahiko Sakai, T. Oyama, Amar Julien Samuel
{"title":"Navit(oo)n: Open Source Mobile Robot Project for Nakanoshima Robot Challenge","authors":"Shunya Hara, T. Shimizu, Masayoshi Ozawa, Masahiko Sakai, T. Oyama, Amar Julien Samuel","doi":"10.20965/jrm.2023.p1540","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1540","url":null,"abstract":"Recently, the legislation regarding autonomous mobile robots for outdoor pedestrian areas have been advancing, leading to increased expectations for task automation such as transportation and cleaning. Outdoor environments like parks, where vehicles cannot enter, present many three-dimensional terrains such as stairs and inclined surfaces, causing difficulty in achieving accurate environment recognition and autonomous movement. Furthermore, robots that navigate pedestrian walkways must be smaller and lighter than cars and also have a robust system capable of traversing steps and uneven surfaces and withstanding rainy weather. Currently, robots designed for paved roads are commercially available; however, robots capable of navigating park walkways are still in the research and development stage. Therefore, to accelerate the research and development of outdoor autonomous mobile robots, this study proposes the Navit(oo)n platform, designed for use in outdoor environments. This robot can be manufactured using easily obtainable parts, and all CAD data, circuit design data, and autonomous movement software are provided as open source. This paper introduces an overview of Navit(oo)n that successfully completed the course and achieved all tasks in the recent Nakanoshima Robot Challenge.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"255 17","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139170606","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
Trial of Utilization of an Environmental Map Generated by a High-Precision 3D Scanner for a Mobile Robot 为移动机器人试用高精度 3D 扫描仪生成的环境地图
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1469
Rikuto Sekine, Tetsuo Tomizawa, Susumu Tarao
{"title":"Trial of Utilization of an Environmental Map Generated by a High-Precision 3D Scanner for a Mobile Robot","authors":"Rikuto Sekine, Tetsuo Tomizawa, Susumu Tarao","doi":"10.20965/jrm.2023.p1469","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1469","url":null,"abstract":"In recent years, high-precision 3D environmental maps have attracted the attention of researchers in various fields and have been put to practical use. For the autonomous movement of mobile robots, it is common to create an environmental map in advance and use it for localization. In this study, to investigate the usefulness of 3D environmental maps, we scanned physical environments using two different simultaneous localization and mapping (SLAM) approaches, specifically a wearable 3D scanner and a 3D LiDAR mounted on a robot. We used the scan data to create 3D environmental maps consisting of 3D point clouds. Wearable 3D scanners can be used to generate high-density and high-precision 3D point-cloud maps. The application of high-precision maps to the field of autonomous navigation is expected to improve the accuracy of self-localization. Navigation experiments were conducted using a robot, which was equipped with the maps obtained from the two approaches described. Autonomous navigation was achieved in this manner, and the performance of the robot using each type of map was assessed by requiring it to halt at specific landmarks set along the route. The high-density colored environmental map generated from the wearable 3D scanner’s data enabled the robot to perform autonomous navigation easily with a high degree of accuracy, showing potential for usage in digital twin applications.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"16 4","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955933","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
Robust Posegraph Optimization Using Proximity Points 利用邻近点进行鲁棒姿势图优化
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1480
Y. Tazaki, Kotaro Wada, Hikaru Nagano, Yasutoshi Yokokohji
{"title":"Robust Posegraph Optimization Using Proximity Points","authors":"Y. Tazaki, Kotaro Wada, Hikaru Nagano, Yasutoshi Yokokohji","doi":"10.20965/jrm.2023.p1480","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1480","url":null,"abstract":"This paper proposes a robust posegraph optimization (PGO) method for posegraphs with keypoints. In the conventional PGO formulation, a loop constraint is defined between a pair of nodes, whereas in the proposed method, it is defined between a pair of keypoints. In this manner, robust PGO based on switch variables can be realized in a more fine-grained manner. Loop constraint is defined based on the unique geometric property of proximity point, and implemented as a new edge type of the g2o solver. The proposed method is compared with other robust PGO methods using real world data recorded in Nakanoshima Robot Challenge 2021.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"05 2","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138994378","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
High-Resolution Point Cloud Registration Method for Three-Dimensional Piping Measurements 用于三维管道测量的高分辨率点云注册方法
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1655
Jin Akiyama, Yuan Zong, Naoki Shinada, Taro Suzuki, Y. Amano
{"title":"High-Resolution Point Cloud Registration Method for Three-Dimensional Piping Measurements","authors":"Jin Akiyama, Yuan Zong, Naoki Shinada, Taro Suzuki, Y. Amano","doi":"10.20965/jrm.2023.p1655","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1655","url":null,"abstract":"In this study, we propose a method for generating highly accurate high-density point clouds of piping facilities using an unmanned aerial vehicle (UAV) laser scanner and a handheld laser scanner. The point cloud for each scanline measured by the UAV scanner is repositioned on the piping axis, and the handheld scanner’s 3D point cloud is subsequently registered so that the center axis of the piping coincides with the UAV point cloud as a reference. The method proposed in this study was used to accurately reconstruct linear piping measured in high winds, which can easily deteriorate measurement accuracy. Whereas the conventional method incurred a deviation of 44.3 mm between the predicted and true values at altitudes of 15 m, the proposed method reduced this deviation to 19.4 mm. An application of the registration method demonstrated that the combined use of the two laser scanners enabled the creation of a high-density point cloud.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"48 4","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138954624","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
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