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Navigation System for Personal Mobility Vehicles Following a Cluster of Pedestrians in a Corridor Using Median of Candidate Vectors Observer 利用候选向量观测器的中位数，为在走廊中跟随行人群的个人移动车辆提供导航系统
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1562
N. Matsunaga, Ikuo Yamamoto, Hiroshi Okajima
{"title":"Navigation System for Personal Mobility Vehicles Following a Cluster of Pedestrians in a Corridor Using Median of Candidate Vectors Observer","authors":"N. Matsunaga, Ikuo Yamamoto, Hiroshi Okajima","doi":"10.20965/jrm.2023.p1562","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1562","url":null,"abstract":"In recent years, personal mobility vehicles have been required to operate autonomously in places with numerous pedestrians. A navigation method using a single human-following scheme is used to avoid collision with pedestrians. However, in many cases, a single human-following method cannot be successfully used for guidance. In crowded places, pedestrians do not always keep walking in the desired direction a user wants to go, and the vehicle must change the target pedestrian frequently. Instead of following a single pedestrian, we propose a method for the vehicle to follow a cluster of pedestrians for stable and robust following. First, the pedestrians around the vehicle are detected by multiple RGB-D cameras, and the pedestrians are tracked using YOLO and Deep Sort. Pedestrians are classified according to their walking direction, and the cluster of pedestrians walking toward the goal is selected and followed. However, the position of pedestrian is sometimes lost in occlusions and the accuracy of the walking direction depends on the distance and pose detected by the sensors. A notable problem is that the cluster of pedestrians is unstable in the cluster following; therefore, a median of candidate vectors (MCV) observer is used to remove outliers caused by observation errors. The proposed method is applied to a scenario involving pedestrians walking toward an elevator hall in a building, and its effectiveness is verified through experiments.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"30 23","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955086","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
Self-Localization Using Trajectory Attractors in Outdoor Environments 利用轨迹吸引器在户外环境中进行自我定位
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1435
Ken Yamane, Mitsunori Akutsu
{"title":"Self-Localization Using Trajectory Attractors in Outdoor Environments","authors":"Ken Yamane, Mitsunori Akutsu","doi":"10.20965/jrm.2023.p1435","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1435","url":null,"abstract":"Self-localization in probabilistic robotics requires detailed, geographically consistent environmental maps, which increases the computational cost. In this study, we propose a simple self-localization method that does not require such maps. In the proposed method, the order structure, such as the mobile robot’s navigation route, is embedded as trajectory attractors in the state space of a nonmonotone neural network, and self-position estimation is performed by processing based on the autonomous dynamics of the network. From experiments, we demonstrated the basic performance of the proposed method, including robust self-localization in complex outdoor environments. Furthermore, self-localization is possible on multiple courses with overlapping paths by suitably varying the network dynamics based on environmental information. While issues remain, this study points to the great potential of neurodynamics-based robotic self-localization.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"29 20","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955165","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
Special Issue on Autonomous Robotics Challenge 自主机器人挑战特刊
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1405
A. Ohya, Koichi Ozaki, Tomohito Takubo, Shin’ichi Yuta, Yoshihiro Takita
{"title":"Special Issue on Autonomous Robotics Challenge","authors":"A. Ohya, Koichi Ozaki, Tomohito Takubo, Shin’ichi Yuta, Yoshihiro Takita","doi":"10.20965/jrm.2023.p1405","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1405","url":null,"abstract":"The Tsukuba Challenge and the Nakanoshima Robot Challenge are both technical challenges in which mobile robots run autonomously in real outdoor environments. They have been held almost every year since 2007 and 2018, respectively, and many robots have participated in these public experiments. The autonomous navigation of a mobile robot in the real world, that is, not on test tracks but in environments normally used by everyday people, poses a great many challenges. The robots have to deal with environments that change with the time of day, the weather, the season, etc., and they have to deal with unexpected stationary obstacles as well as moving ones, including people, bicycles, etc. These days, demonstration tests of delivery robots are being conducted in many places, but there are still many problems that need to be solved. In this special issue, we have gathered papers detailing the insights gained from running mobile robots in the two outdoor experiments, the Tsukuba Challenge and the Nakanoshima Robot Challenge. To run a robot with a high success rate in a real environment, it is very important to devise the robot configuration, the sensor data processing, and the behavior control based on the knowledge gained from many experiences. We hope that sharing the successes and failures in the papers in this special issue will lead to further technological improvements in the future.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"35 25","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955732","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
Path Planning Using a Flow of Pedestrian Traffic in an Unknown Environment 利用未知环境中的行人流量进行路径规划
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1460
Kiichiro Ishikawa, Kei Otomo, Hayato Osaki, Taiga Odaka
{"title":"Path Planning Using a Flow of Pedestrian Traffic in an Unknown Environment","authors":"Kiichiro Ishikawa, Kei Otomo, Hayato Osaki, Taiga Odaka","doi":"10.20965/jrm.2023.p1460","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1460","url":null,"abstract":"This paper outlines a path planning method for autonomous rovers navigating urban environments without prior mapping, with a particular focus on addressing the Tsukuba Challenge. Our approach utilizes observations of pedestrian and robot movement trajectories to construct path graphs for global path planning. We provide a detailed overview of the autonomous rover’s hardware and software system, as well as a comprehensive description of the path planning algorithm. Our methodology entails extracting and continuously tracking dynamic objects from LiDAR data, resulting in the creation of a path graph based on their observed trajectories. Subsequently, a path aligned with the desired direction is selected. Notably, in indoor experimental settings, our approach proves effective, as the rover successfully generates a path to the goal by closely monitoring and tracking pedestrian movements. In conclusion, this paper introduces a promising path planning methodology and suggests potential areas for further research in autonomous mobility within uncharted environments.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"65 7","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138956961","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
Point Cloud Estimation During Aerial-Aquatic Transition in Monocular Camera-Based Localization and Mapping 基于单目相机的定位与制图中的空中-水下转换过程中的点云估计
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1645
P. Ratsamee, Pudit Tempattarachoke, Laphonchai Jirachuphun, Masafumi Miwa, K. Somprasong
{"title":"Point Cloud Estimation During Aerial-Aquatic Transition in Monocular Camera-Based Localization and Mapping","authors":"P. Ratsamee, Pudit Tempattarachoke, Laphonchai Jirachuphun, Masafumi Miwa, K. Somprasong","doi":"10.20965/jrm.2023.p1645","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1645","url":null,"abstract":"This paper presents a multi-box interpolation method to estimate point clouds during aerial-aquatic transition. Our proposed method is developed based on an investigation of noise characteristics of aerial point clouds and aquatic point clouds. To evaluate the performance of realistic point cloud estimation, we compare the interpolation method with the Gaussian mixture method. We also investigate how single-box and multi-box approaches deal with noise in point cloud estimation. The simulation and the experimental results show that the estimated point cloud is accurate even when the aerial and aquatic point clouds contain noise. Also, the multi-box concept helps the algorithm to avoid taking unwanted noise into consideration when predicting point clouds.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"20 2","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139169432","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
Learning Variable Admittance Control for Human-Robot Collaborative Manipulation 学习可变导纳控制，实现人机协同操纵
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1593
T. Yamawaki, Liem Duc Tran, M. Yashima
{"title":"Learning Variable Admittance Control for Human-Robot Collaborative Manipulation","authors":"T. Yamawaki, Liem Duc Tran, M. Yashima","doi":"10.20965/jrm.2023.p1593","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1593","url":null,"abstract":"Human-robot collaboration has garnered significant attention in the manufacturing industry due to its potential for optimizing the strengths of both human operators and robots. In this study, we present a novel variable admittance control method based on iterative learning for collaborative manipulation, aiming to enhance operational performance. This proposed method enables the adjustment of admittance to meet task requirements without the need for heuristic designs of admittance modulation strategies. Furthermore, the incorporation of dynamic time warping in human operational detection assists in mitigating the learning performance decline caused by fluctuations in human operations. To validate the effectiveness of our approach, we conducted extensive experiments. The results of these experiments highlight that the proposed method enhances human-robot collaborative manipulation performance compared to conventional methods. This approach also exhibits the potential for addressing complex tasks that are typically influenced by diverse human factors, including skill level and intention.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"77 7","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138954426","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
An Inchworm Robot with Self-Healing Ability Using SMA Actuators 使用 SMA 执行器的具有自愈能力的寸虫机器人
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1615
Haruya Fukuchi, Hideyuki Sawada
{"title":"An Inchworm Robot with Self-Healing Ability Using SMA Actuators","authors":"Haruya Fukuchi, Hideyuki Sawada","doi":"10.20965/jrm.2023.p1615","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1615","url":null,"abstract":"In this paper, we propose an inchworm-type soft robot using a self-healing gel as its body and shape-memory alloy (SMA) wires as its actuators. To realize inchworm-like locomotion, two coiled SMA wires are placed in parallel in the gel-fabricated body. The bottom-side wire and the upper-side wire reciprocally bend by applying electric current to the actuators. To realize the self-restoration automatically, the robot consists of a self-healing body equipped with magnets. The paper introduces the structure of the inchworm-shaped robot with its inchworm-like locomotion performance, together with the self-healing function.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"68 6","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138954741","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
Data Augmentation for Semantic Segmentation Using a Real Image Dataset Captured Around the Tsukuba City Hall 使用筑波市政厅周围拍摄的真实图像数据集进行语义分割的数据扩增
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1450
Yuriko Ueda, Miho Adachi, Junya Morioka, Marin Wada, Ryusuke Miyamoto
{"title":"Data Augmentation for Semantic Segmentation Using a Real Image Dataset Captured Around the Tsukuba City Hall","authors":"Yuriko Ueda, Miho Adachi, Junya Morioka, Marin Wada, Ryusuke Miyamoto","doi":"10.20965/jrm.2023.p1450","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1450","url":null,"abstract":"We are exploring the use of semantic scene understanding in autonomous navigation for the Tsukuba Challenge. However, manually creating a comprehensive dataset that covers various outdoor scenes with time and weather variations to ensure high accuracy in semantic segmentation is onerous. Therefore, we propose modifications to the model and backbone of semantic segmentation, along with data augmentation techniques. The data augmentation techniques, including the addition of virtual shadows, histogram matching, and style transformations, aim to improve the representation of variations in shadow presence and color tones. In our evaluation using images from the Tsukuba Challenge course, we achieved the highest accuracy by switching the model to PSPNet and changing the backbone to ResNeXt. Furthermore, the adaptation of shadow and histogram proved effective for critical classes in robot navigation, such as road, sidewalk, and terrain. In particular, the combination of histogram matching and shadow application demonstrated effectiveness for data not included in the base training dataset.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"26 16","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955363","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
Improved Visual Robot Place Recognition of Scan-Context Descriptors by Combining with CNN and SVM 结合 CNN 和 SVM 改进扫描上下文描述符的视觉机器人位置识别能力
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1622
Minying Ye, Kanji Tanaka
{"title":"Improved Visual Robot Place Recognition of Scan-Context Descriptors by Combining with CNN and SVM","authors":"Minying Ye, Kanji Tanaka","doi":"10.20965/jrm.2023.p1622","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1622","url":null,"abstract":"Visual place recognition from a 3D laser LiDAR is one of the most active research areas in robotics. Especially, learning and recognition of scene descriptors, such as scan context descriptors that map 3D point clouds to 2D point clouds, is one of the promising research directions. Although the scan-context descriptor has a sufficiently high recognition performance, it is still expensive image data and cannot be handled with low-capacity non-deep models. In this paper, we explore the task of compressing the scan context descriptor model while maintaining its recognition performance. To this end, the proposed approach slightly modifies the off-the-shelf classifier model of convolutional neural networks (CNN) from its basis, by replacing the SoftMax part with a support vector machine (SVM). Experiments with publicly available NCLT dataset validate the effectiveness of the proposed approach.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"48 8","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138957197","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
Application of Object Grasping Using Dual-Arm Autonomous Mobile Robot—Path Planning by Spline Curve and Object Recognition by YOLO— 双臂自主移动机器人抓取物体的应用--利用样条曲线进行路径规划和利用 YOLO- 进行物体识别
IF 1.1
Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI: 10.20965/jrm.2023.p1524
Naoya Mukai, Masato Suzuki, Tomokazu Takahashi, Yasushi Mae, Yasuhiko Arai, S. Aoyagi
{"title":"Application of Object Grasping Using Dual-Arm Autonomous Mobile Robot—Path Planning by Spline Curve and Object Recognition by YOLO—","authors":"Naoya Mukai, Masato Suzuki, Tomokazu Takahashi, Yasushi Mae, Yasuhiko Arai, S. Aoyagi","doi":"10.20965/jrm.2023.p1524","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1524","url":null,"abstract":"In the trash-collection challenge of the Nakanoshima Robot Challenge, an autonomous robot must collect trash (bottles, cans, and bentos) scattered in a defined area within a time limit. A method for collecting the trash is to use machine learning to recognize the objects, move to the target location, and grasp the objects. An autonomous robot can achieve the target position and posture by rotating on the spot at the starting point, moving in a straight line, and rotating on the spot at the destination, but the rotation requires stopping and starting. To achieve faster movement, we implemented a smooth movement approach without sequential stops using a spline curve. When using the training data previously generated by the authors in their laboratory for object recognition, the robot could not correctly recognize objects in the environment of the robot competition, where strong sunlight shines through glass, because of the varying brightness and darkness. To solve this problem, we added our newly generated training data to YOLO, an image-recognition algorithm based on deep learning, and performed machine learning to achieve object recognition under various conditions.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"50 2","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138957371","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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