Advanced Robotics最新文献

{"title":"Individual axis control for industrial robots by posture-variant dynamic compensation and feedback control using the FDTD method","authors":"Juan Padron, Kenta Tatsuda, Kiyoshi Ohishi, Yuki Yokokura, Toshimasa Miyazaki","doi":"10.1080/01691864.2023.2291721","DOIUrl":"https://doi.org/10.1080/01691864.2023.2291721","url":null,"abstract":"Industrial robots experience posture-dependent inertial variation and interference forces between joints, which in turn generates undesired vibrations due to the inherent elasticity of the reductio...","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"20 1","pages":""},"PeriodicalIF":2.0,"publicationDate":"2023-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138684263","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A 3-DOF coupled tendon-driven humanoid waist","authors":"Yiwei Wang, Wenyang Li, Shunta Togo, Hiroshi Yokoi, Yinlai Jiang","doi":"10.1080/01691864.2023.2289134","DOIUrl":"https://doi.org/10.1080/01691864.2023.2289134","url":null,"abstract":"This study proposes a 3-degree-of-freedom (3-DOF) coupled tendon-driven humanoid waist featuring motion characteristics similar to those of the human waist. The tendon routing form of the waist was...","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"4 1","pages":""},"PeriodicalIF":2.0,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138561175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Early-stage modeling and analysis of continuum compliant structure for multi-DOF endoluminal forceps using pseudo-rigid-body model","authors":"Keisuke Osawa, D. S. V. Bandara, Ryu Nakadate, Eiichiro Tanaka, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata","doi":"10.1080/01691864.2023.2291137","DOIUrl":"https://doi.org/10.1080/01691864.2023.2291137","url":null,"abstract":"Early detection and treatment of intraluminal diseases enable minimally invasive surgery and can lead to a high cure rate. Advanced devices with multiple degrees of freedom (DOFs) make narrow intra...","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"30 1","pages":""},"PeriodicalIF":2.0,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138552732","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Character expression of a conversational robot for adapting to user personality","authors":"Kenta Yamamoto, Koji Inoue, Tatsuya Kawahara","doi":"10.1080/01691864.2023.2285804","DOIUrl":"https://doi.org/10.1080/01691864.2023.2285804","url":null,"abstract":"User adaptation is important in conversational robots to enhance the user experience and engagement. One way of user adaptation is to change the dialogue behavior. A character (e.g. extrovert or ag...","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"1 1","pages":""},"PeriodicalIF":2.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138519435","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"It takes two, not one: context-aware nonverbal behaviour generation in dyadic interactions","authors":"Nguyen Tan Viet Tuyen, Oya Celiktutan","doi":"10.1080/01691864.2023.2279595","DOIUrl":"https://doi.org/10.1080/01691864.2023.2279595","url":null,"abstract":"Nonverbal behaviours are integral parts of human social interaction. Equipping social robots with human nonverbal communication skills has been an active research area for decades, where data-drive...","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"529 1","pages":""},"PeriodicalIF":2.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138519431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A load-adaptive hoisting mechanism based on spring-loaded rope and variable radius reel","authors":"Zhiguo Lu, Ruchao Wang, Yinhe Xiao, Tao Liu, Chong Liu, Haibin Zhao","doi":"10.1080/01691864.2023.2285802","DOIUrl":"https://doi.org/10.1080/01691864.2023.2285802","url":null,"abstract":"This paper proposes a new type of the load-adaptive hoisting mechanism (LAHM), which can automatically adjust transmission ratio based on the payload. The load-adaptive hoisting mechanism can perfo...","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"528 1","pages":""},"PeriodicalIF":2.0,"publicationDate":"2023-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138519433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Distributed online primal-dual subgradient method on unbalanced directed networks","authors":"Keishin Tada, Naoki Hayashi, Shigemasa Takai","doi":"10.1080/01691864.2023.2285806","DOIUrl":"https://doi.org/10.1080/01691864.2023.2285806","url":null,"abstract":"In this paper, we investigate a distributed online optimization method on multiagent communication networks. We consider a distributed prime-dual subgradient algorithm for an online convex optimiza...","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"106 7","pages":""},"PeriodicalIF":2.0,"publicationDate":"2023-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138519432","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Development of a method for attaching thin films to curved surfaces using a bipolar electrostatic chuck with a collective beam structure","authors":"Yuki Taoka, Terumichi Hayashi, Sanchuan Xu, Shigeki Saito","doi":"10.1080/01691864.2023.2279603","DOIUrl":"https://doi.org/10.1080/01691864.2023.2279603","url":null,"abstract":"A bipolar electrostatic chuck (ESC) having a collective beam structure is getting attention as an effective device for handling thin, soft dielectric objects such as polymer film or paper. It has b...","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"520 1","pages":""},"PeriodicalIF":2.0,"publicationDate":"2023-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138519436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Development of compact revolute electro-hydrostatic actuator module and evaluation of its backdrivability and internal leakage","authors":"Mitsuo Komagata, Takahiro Nakanishi, Ko Yamamoto, Yoshihiko Nakamura","doi":"10.1080/01691864.2023.2279599","DOIUrl":"https://doi.org/10.1080/01691864.2023.2279599","url":null,"abstract":"AbstractActuators of a robot that physically interacts with objects or human require backdrivability to obtain force controllability, impact resistance and compactness. An electro-hydrostatic actuator (EHA) is a servo pump type hydraulic system that has a potential to satisfy backdrivability. However, the previous mechanical design of a revolute EHA did not achieve compact design compared to the other actuators. The hydraulic pump and vane motor were separately located, which made the size of EHA system larger. To solve this problem, we propose a design methodology of a revolute EHA using a frameless motor. Commercially available frameless motor is suitable for actuating the hydraulic pump. Moreover, the pump can be built in the hollow space of the frameless motor, and this design makes the EHA downsized. We present a prototype design based on the formulation of the output power. Through the experimental validations, we show that developed EHA has higher backdrivability than the comparable harmonic drive, and obtain the knowledges on design factors that are crucial to the EHA with high power-to-weight ratio.Keywords: Electro-hydrostatic actuatorsbackdrivabilityinternal leakagemodularized design Disclosure statementNo potential conflict of interest was reported by the author(s).Notes1 http://store-en.tmotor.com/goods.php?id=8592 https://www.maxongroup.co.jp/maxon/view/content/ec-4pole-motors3 https://www.hds.co.jp/english/Additional informationFundingThis work was supported by the joint research of the University of Tokyo and Nachi-Fujikoshi CORP. titled ‘Research and development on the mechanism, control, and application of modular electro-hydrostatic actuators with high power-to-weight ratio’.Notes on contributorsMitsuo KomagataMitsuo Komagata received his BEng, MEng, and PhD degrees in Mechano-Informatics from the University of Tokyo in 2014, 2016, and 2020, respectively. He was Project Researcher at the University of Tokyo in 2020 and Project Assistant Professor at the Department of Mechano-informatics, University of Tokyo in 2020–2023. Since 2023, he works in OMRON Corporation. His research interests include actuations and mechanical design. He is a member of RSJ.Takahiro NakanishiTakahiro Nakanishi received his master degree in Mechano-Informatics from the University of Tokyo in 2021. His research interests include mechanical design of hydraulic actuators.Ko YamamotoKo Yamamoto received the PhD degree in mechano-informatics from the University of Tokyo, Tokyo, Japan, in 2009. He is an Associate Professor with the Department of Mechano-informatics, University of Tokyo. He was a Postdoctoral Research Fellow with the Tokyo Institute of Technology in2009–2012, and an Assistant Professor with Nagoya Universityin 2012–2014. He joined the University of Tokyo as an Assistant Professor in 2014, and was a Project Lecturer with the Department of Mechanical Engineering in 2016–2017. He was also a Visiting Assistant Professor with Stanford University, St","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134991339","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Social navigation framework for autonomous vehicle with hierarchical cyber-physical system architecture","authors":"Yuto Imanishi, Hiroyuki Yamada","doi":"10.1080/01691864.2023.2279601","DOIUrl":"https://doi.org/10.1080/01691864.2023.2279601","url":null,"abstract":"AbstractAn autonomous vehicle operating alongside humans should ideally have a high social capability, such as being able to communicate with humans, negotiate space, predict reactions, etc. This can be achieved by a prediction feature trained with diverse data on human behavior. Hierarchical cyber-physical system (CPS) architecture design, which sends the prediction feature to an external server while observing a limited operational design domain (ODD) and acquiring data continuously, has great potential to refine the training process as well as improve the performance. However, this architecture design requires the planning and prediction modules to be explicitly decoupled, which takes away from the recent success on social navigation. In this paper, we propose a novel autonomous navigation framework enabling social behavior while decoupling the planning and prediction modules to take advantage of the hierarchical CPS architecture. In the proposed framework, pedestrian trajectories are predicted as reactions to pre-generated candidates for an ego vehicle trajectory, and the ego vehicle trajectory is then selected to maximize mutual benefit to both the ego vehicle and surrounding pedestrians. We evaluated the proposed framework with simulations using the social force model and found that it was able to achieve the social behavior.KEYWORDS: Social navigationtrajectory planningcyber-physical systemarchitecture designsocial force model Disclosure statementNo potential conflict of interest was reported by the author(s).Additional informationNotes on contributorsYuto ImanishiYuto Imanishi received his MS degree from the Graduate School of Science and Engineering, Tokyo Institute of Technology, Japan, in 2009. He is currently a senior researcher of Research & Development Group, Hitachi Ltd., Japan. His research interests mainly include autonomous control, cyber-physical systems, and architecture design. He is a member of the SICE and JSAE.Hiroyuki YamadaHiroyuki Yamada received his MS degree and his Ph.D degree from Graduate School of Information Science and Electrical Engineering, Kyushu University, Japan, in 2008 and 2021, respectively. He is currently a senior researcher of Research & Development Group, Hitachi Ltd., Japan. His research interests mainly include robotics, computer vision and machine learning. He is a member of the RSJ and JSME.","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"1 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134991337","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}