Search Results 1-20 of 868

  • Hitchhiking Based Symbiotic Multi-Robot Navigation in Sensor Networks

    Ravankar Abhijeet , Ravankar Ankit A. , Kobayashi Yukinori , Hoshino Yohei , Peng Chao-Chung , Watanabe Michiko

    Robot navigation is a complex process that involves real-time localization, obstacle avoidance, map update, control, and path planning. … Thus, it is also a computationally expensive process, especially in multi-robot systems. …

    Robotics 7(3), 37, 2018-09

    IR DOI

  • A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm

    Wang Yun-Ting , Peng Chao-Chung , Ravankar Ankit A. , Ravankar Abhijeet

    … In past years, there has been significant progress in the field of indoor robot localization. … To precisely recover the position, the robots usually relies on multiple on-board sensors. … Nevertheless, this affects the overall system cost and increases computation. …

    Sensors 18(4), 1294, 2018-04

    IR DOI

  • Flatness-based Robust Adaptive Tracking Control for Mobile Robot  [in Japanese]

    UENISHI Nobuhito , KOBAYASHI Tomoaki

    … <p>In this paper, we present a flatness-based robust adaptive tracking control for a mobile robot. … However, the conventional control law can't be applied for systems that has multiple input or its nonlinearity doesn't satisfy the matching condition. … So the conventional control law can't be applied for a mobile robot because a mobile robot has two inputs and its nonlinearity don't satisfy the matching condition. …

    The Proceedings of the Dynamics & Design Conference 2018(0), 722, 2018

    J-STAGE

  • Environmental measurement for presentation robot to decide action according to the response of participants  [in Japanese]

    Kanamori Hiroki , Masuta Hiroyuki , Sawai Kei , Motoyoshi Tatsuo , Tamamoto Takumi , Koyanagi Ken'ichi , Oshima Toru

    <p>複数の参加者のグループとの柔軟な対話を行うプレゼンテーションロボットシステムを開発している。 柔軟な会話を行うためには、ロボットはグループの反応に基づいて相互作用する必要がある。 本稿では、ロボットの相互作用に関する環境計測システムを開発する。 システムでは全天球カメラ、Webカメラ、加速度センサ、Kinectを使用した。 実験として、ロボットプレゼンテーションのデモを行い、開発 …

    Proceedings of the Fuzzy System Symposium 34(0), 298-303, 2018

    J-STAGE

  • Proposal of multi-channel EHA  [in Japanese]

    KIMURA Toshiki , China-Yu Tsai , INOUE Kiyoshi , NABAE Hiroyuki , ENDO Gen , SUZUMORI Koichi

    … <p>The hydraulic system of self-contained hydraulic robot at present has a big problem of energy loss. … Although energy loss can be reduced by using EHA featuring high power and high power density, multiple pump motors are required for a system with multiple degrees of freedom. … Therefore, we propose a multichannel EHA that can drive multiple degrees of freedom for one pump motor. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2P1-M01, 2018

    J-STAGE

  • Brain-inspired Binocular Disparity Detection System Using Multiple Spatial Band-passed Images  [in Japanese]

    KAJIHARA Hiroto , OKUNO Hirotsugu

    … <p>We designed a binocular vision system that computes binocular disparity in real time based on the computational model of the visual cortex. … The system consists of two image sensors, field-programmable gate arrays (FPGAs), and a personal computer (PC). … To improve the accuracy, we employed the binocular energy model with multiple spatial band pass filtering and cooperative algorithm. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A2-J13, 2018

    J-STAGE

  • Indoor person position estimation system based on integration of multiple information  [in Japanese]

    Uzawa Naoki , KUDOU Taku , MIURA Jun , OISHI Shuji

    … <p>Estimation of person position is important for a service robot in a wide indoor environment. … In this research, we aim to develop a person position estimation system based on integrating multiple information, signal data and position estimation result by a mobile robot. … The system consists of a server that manages data, mobile robots, and mobile devices. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2P1-A15, 2018

    J-STAGE

  • Transmitting Multiple Images and a Providing Panoramic Image Using Single Image Transmission System  [in Japanese]

    HAMAMACHI Yuya , KURISU Masamitsu

    … <p>This paper describes a method of providing a panoramic image using single image transmission system. … We develop a small robot performing inspection work by teleoperation. … However, the robot cannot mount large or many devices due to size limitation. … Therefore, we develop a system of transmitting multiple images using single image transmission system. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A2-B02, 2018

    J-STAGE

  • Measurements of Walk Using a Rollator Having a Free Rotating Chest Pad:― Compactification of the Multiple Sensor System Using Arduino ―  [in Japanese]

    HUANG Jian , KOYACHI Noriho

    … However, some problems like short distance of walking because of resolution of the camera and large size of the data acquisition system remained. … In this study, two biaxial goniometers were used to measure knee extensions during walk instead of the motion capture system. … Integration of data acquisition system was also made using a microcomputer board of Arduino.</p> …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A1-E05, 2018

    J-STAGE

  • Detection Characteristics and The Optimal Position of Radio Wave Sensors for The Design of A Safety-Related Sensor System  [in Japanese]

    SENNIN Mikihiro , YAMADA Yoji , OKAMOTO Syogo

    … <p>Collaborative operation between a human and a robot is desired to be achieved at various manufacturing sites. … The objective of this study is to design a sensor system that detects the 2D position of an approaching human by use of multiple sensors. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A1-B17, 2018

    J-STAGE

  • Formation control by multiple mobile robots with variable lug length mechanism  [in Japanese]

    MATSUZAKI Shin , HIRATA Yasuhisa

    … <p>In recent years, exploration system using robots on planets, such as moon and Mars, has gained a lot of attention from researchers. … In order to realize more efficient exploration, our laboratory proposed a Leader-Follower system with multiple mobile robots. … In this article, we develop a mobile robot with variable lug length mechanism as a follower robot. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A1-G06, 2018

    J-STAGE

  • Preliminary Study on Cooperating Tools between R-env and ROS  [in Japanese]

    NAKANO Masanao , ISHIHARA Tatsuya , HIGO Naoki , KOSHIJI Kohjun , TSUBAKI Toshimitsu , NUNOBIKI Tadashi

    … <p>Recently, robot middlewares such as ROS are frequently used to develop robot software. … R-env is a scenario editor for services which control multiple robots and IoT devices. … We verified that personal mobility robot service, which is a use case of robot service, can be developed easily by using proposed system.</p> …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A1-F12, 2018

    J-STAGE

  • Automated Construction System of a Modularized Rail Structure for Locomotion and Operation in Hazardous Environments:-Development of a curved-module for bending a rail structure inside primary containment vessel-  [in Japanese]

    FUKUI Rui , TSUNANO Yuta , SANO Katsuya , KANAYAMA Gen , YASUDA Mari , WARISAWA Shin'ichi

    … <p>Our research group is developing an automated construction system of a modularized rail structure which can construct robots' … In a damaged reactor, a robot needs to care about the effect of high radiation and cannot use actuators controlled by a semiconductor. … The newly developed curved-module needs to connect to a existing module developed in previous work and needs to have multiple paths to realize efficient transportation. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P2-M03, 2018

    J-STAGE

  • Miniaturization and Communication Quality Improvement of Spatially Seamless Local Communication System using Multiple Frequencies  [in Japanese]

    AKAGAWA Tetsuro , ARAI Yoshikazu , IMAI Shintaro , INOMATA Toshimitsu

    … <p>In multiple robots environment, it is an essential technique that the robots avoid collisions with each other. … To achieve efficient collision avoidance, it is desirable that each robot avoids surrounding robots considering not only their positions but also their behaviors. … We have developed spatially seamless local communication system in order to exchange behaviors between the robots. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P2-F15, 2018

    J-STAGE

  • Cooperative Robot System for Fault Diagnosis of Solar Panels at Mega Solar Power Plant:-Cooperative Driving using Wires Connecting Robots-  [in Japanese]

    MIYAKAWA Ken , ENDO Mitsuru , MUTO Shin-yo , KAKIZAKI Takao , NAKAMURA Yasuhiro , HEBIISHI Tsukasa , OTANI Kenji

    … <p>In this study, utilizing multiple mobile robots for a mega-solar power plant is proposed. … The system is consists with two mobile robots and a parallel wire mechanism. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P2-F18, 2018

    J-STAGE

  • Automatic constructions of topological map by the integration of camera and LIDAR  [in Japanese]

    ONDA Kazuya , KURODA Yoji

    … <p>Conventionally, the destination of an autonomous mobile robot using the map of the running environment has been given using the coordinates in the map coordinate system. … As a previous study, a method of giving information to the created geometric map has been proposed, but there are problems in terms of efficiency such as necessity of running in the same environment multiple times. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P1-H05, 2018

    J-STAGE

  • Realization of Picking Folded Objects with Detecting Their States Using a Multiple Sensor Integrated Robot Hand  [in Japanese]

    HASEGAWA Shun , WADA Kentaro , OKADA Kei , INABA Masayuki

    … To carry and place a folded object after it is unfolded, we propose a trial-and-error picking system using the Suction Pinching Hand, which can push the dangling part of the object until the object is folded. … That system utilizes proximity sensors to detect the state of the object and predict whether folding will succeed. … We confirmed with an experiment using a real robot that our proposed system can carry a folded object stably and place it in narrow space.</p> …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P1-H15, 2018

    J-STAGE

  • Development of a Robot Chain System for Small Gas Pipeline Inspection Based on Wireless Relay Communication Using RSSI  [in Japanese]

    YOSHIDA Kento , KAMEZAKI Mitsuhiro , ZHAO Wen , KONNO Minoru , ONUKI Akihiko , SUGANO Shigeki

    … In this paper, we proposed a concept of wireless relay communication to assist robot to extend the inspection range. … Specifically, we developed a tracked robot-chain system. … Leakage information of pipes are transmitted through multiple robots. … The results revealed that our proposed robot chain system could realize relatively accurate data relay transmission and basically RSSI-based coordinated movement.</p> …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P1-F14, 2018

    J-STAGE

  • Master-slave Control using ORiN with Forceps Handle Shaped Operating Device  [in Japanese]

    FUKUI Shohei , KAWAI Toshikazu , NISHIKAWA Atsushi , IWAMOTO Noriyasu , HORISE Yuki , MASAMUNE Ken

    … <p>A new locally operated unilateral master-slave continuous path (CP) control system connected to forceps handle shaped operating device and a laparoscope-tool arm (LODEM) with five-DOFs in sterilized area has developed. … The system can produce multiple connection between encoders and stepper motors using a motion control board installed with middleware ORiN. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P1-D01, 2018

    J-STAGE

  • Development of an omnidirectional cooperative transportation system using two mobile robots with two independently driven wheels  [in Japanese]

    MORISHITA Masanari , MAEYAMA Shoichi , NOGAMI Yasuyuki , WATANABE Keigo

    … Development of a control system for cooperative transportation by multiple robots is important when the objects to be conveyed are long and exceed the size and the weight limit. … We developed the control system for cooperative transportation using two robots independently driven by two wheels. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1A1-J11, 2018

    J-STAGE

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