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2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003

作者： Carbone, G. Lim, Hun-Ok Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Dept. of System Design Engineering Kanagawa Institute of Technology 1030 Shimoogino AtugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

In this paper, basic models and a formulation are presented for the stiffness analysis of the humanoid robot WABIAN-RV. An evaluation of stiffness performances is carried out by numerically implementing the proposed f... 详细信息

ISBN: (纸本)0780377591

关键词： Anthropomorphic robots

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Stiffness performance estimation for biped locomotor WL-15

Stiffness performance estimation for biped locomotor WL-15

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2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003

作者： Carbone, G. Sugahara, Y. Lim, H.O. Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Graduate School of Science and Engineering Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan Kanagawa Institute of Technology Department of System Design Engineering 1030 Shimoogino AtsugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

ISBN: (纸本)0780377591

In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important design parameters of the WL-15 architecture. First numerical simulations and experimental tests are also carried out for stiffness performance estimation. © 2003 IEEE.

关键词： Anthropomorphic robots

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Interactive biped locomotion based on visual/auditory information

Interactive biped locomotion based on visual/auditory inform...

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11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002

作者： Ogura, Yu Sugahara, Yusuke Kaneshima, Yoshiharu Hieda, Naoki Lim, Hun-Ok Takanishi, Atsuo Graduate School of Science and Engineering Waseda University 3-4-1 Ohkubo Shinjyuku-ku Tokyo 169-8555 Japan Department of System Design Engineering Kanagawa Institute of Technology Japan Humanoid Robotics Institute Waseda University Japan

ISBN: (纸本)0780375459

This paper describes an interactive locomotion method for a biped humanoid robot. The method consists of two main parts: a pattern generator and a human-robot interface. The human robot interface is used to achieve realtime interactive locomotion. In particular, visual information and voice instructions are employed to determine locomotion parameters such as a step length, a step direction, and the number of steps. The motion of the lower-limbs is generated by the online pattern generator based on the locomotion parameters. Continuous locomotion experiments are carried out in real time using WABIAN-RV. The experimental results show the feasibility of the proposed interactive locomotion method. © 2002 IEEE.

关键词： Anthropomorphic robots

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The Calorimetric Electron Telescope (CALET) for the JEM Exposure Facility

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AIP Conference Proceedings 2000年第1期504卷 187-192页

作者： S. Torii N. Tateyama T. Tamura T. Ouchi K. Kashiwagi K. Yoshida K. Hibino T. Yamagami Y. Saito H. Murakami T. Kobayashi Y. Komori K. Kasahara T. Yuda M. Ohnishi M. Shibata F. Makino J. Nishimura 1Institute of Physics Department of Industrial Engineering and Management Institute of Computer Science Kanagawa University Yokohama Kanagawa 221-8686 Japan 2Institute of Space and Astronautical Science Sagamihara Kanagawa 229-8510 Japan 3Department of Physics Rikkyo University Tokyo 171-8501 Japan 4Department of Physics Aoyama-gakuin University Tokyo 157-8672 Japan 5Kanagawa Prefectural College of Nursing Yokohama Kanagawa 241 Japan 6Department of System Engineering Shibaura Institute of Technology Omiya Saitama 330-8570 Japan 7Institute for Cosmic Ray Research University of Tokyo Tanashi Tokyo 188-8502 Japan 8Department of Physics Yokahama National University Yokohama Kanagawa 240-0067 Japan 9National Space Development Agency of Japan Tsukuba Ibaraki 305-8505 Japan 10Yamagata Institute of Technology Yamagata 993 Japan

The CALET instrument is proposed for the Japanese Experiment Module/Exposure Facility (JEM/EF) on International Space Station (ISS) to resolve the long-term puzzles in high-energy cosmic-ray physics. The ISS gives us a unique opportunity to carry out the measurements of cosmic ray electrons with a relatively heavy and large detector, and for the long exposure. The instrument will be composed of an imaging calorimeter with scintillating fibers and a total absorption calorimeter for detecting the electrons up to 10,000 GeV. The origin of high-energy electrons and the diffusion characteristics in the Galaxy will be revealed by measuring the energy spectrum of electrons and the anisotropy of arrival directions. By the excellent capability of the CALET, both of the gamma-rays over GeV and nucleus component up to 1015 eV might be investigated as additional possibilities of the observation.

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Periodicity of TeV gamma-ray emissions from Mrk501

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AIP Conference Proceedings 2000年第1期515卷 134-138页

作者： S. Hayashi D. Nishikawa N. Chamoto M. Chikawa Y. Hayashi N. Hayashida K. Hibino H. Hirasawa K. Honda N. Hotta N. Inoue F. Ishikawa N. Ito S. Kabe F. Kajino T. Kashiwagi S. Kakizawa S. Kawakami Y. Kawasaki N. Kawasumi H. Kitamura K. Kuramochi E. Kusano H. Lafoux E. C. Loh K. Mase T. Matsuyama K. Mizutani Y. Morizane M. Nagano J. Nishimura T. Nishiyama M. Nishizawa T. Ouchi H. Ohoka M. Ohnishi S. Osone To. Saito N. Sakaki M. Sakata M. Sasano H. Shimodaira A. Shiomi P. Sokolsky T. Takahashi S. F. Taylor M. Takeda M. Teshima R. Torii M. Tsukiji Y. Uchihori T. Yamamoto Y. Yamamoto K. Yasui S. Yoshida H. Yoshii T. Yuda 2Department of Physics Konan University Kobe 658-8501 Japan 10Department of Physics Kobe University Kobe 657-8501 Japan 1Institute for Cosmic Ray Research University of Tokyo Tokyo 188-8502 Japan 3Department of Physics Kinki University Osaka 577-8502 Japan 4Department of Physics Osaka City University Osaka 558-8585 Japan 5Faculty of Engineering Kanagawa University Yokohama 221-8686 Japan 6Faculty of Education Yamanashi University Kofu 400-8510 Japan 7Faculty of Education Utsunomiya University Utsunomiya 320-8538 Japan 8Department of Physics Saitama University Urawa 338-8570 Japan 9High Energy Accelerator Research Organization (KEK) Tsukuba 305-0801 Japan 19Department of Physics Shinshu University Matsumoto 390-8621 Japan 16National Institute of Radiological Sciences Chiba 263-8555 Japan 11Faculty of Science and Technology Meisei University Tokyo 191-8506 Japan 12Department of Physics University of Utah Utah 84112 18Department of Applied Physics and Chemistry Fukui University of Technology Fukui 910-8505 Japan 13Yamagata Academy of Technology Yamagata 993-0021 Japan 14National Center for Science Information System Tokyo 112-8640 Japan 15Tokyo Metropolitan College of Aeronautical Engineering Tokyo 116-0003 Japan 17Department of Physics Ehime University Matsuyama 790-8577 Japan

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Measurement of TeV electrons on ISS/JEM

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AIP Conference Proceedings 1999年第1期458卷 127-132页

作者： S. Torii N. Tateyama T. Tamura T. Ouchi K. Kashiwagi K. Yoshida K. Hibino T. Yamagami Y. Saito H. Murakami T. Kobayashi Y. Komori K. Kasahara T. Yuda M. Ohnishi M. Shibata J. Nishimura 1Institute of Physics Department of Industrial Engineering and Management and Institute of Computer Science Kanagawa University Yokohama Kanagawa 221-8686 Japan 2Institute of Space and Astronautical Science Sagamihara Kanagawa 229-8510 Japan 3Department of Physics Rikkyo University Tokyo 171-8501 Japan 4Department of Physics Aoyama-gakuin University Tokyo 157-8672 Japan 5Kanagawa Prefectural College of Nursing Yokohama Kanagawa 241 Japan 6Department of System Engineering Shibaura Institute of Technology Omiya Saitama 330-8570 Japan 7Institute for Cosmic Ray Research University of Tokyo Tanashi Tokyo 188-8502 Japan 8Department of Physics Yokahama National University Yokohama Kanagawa 240-0067 Japan 9Yamagata Institute of Technology Yamagata 993 Japan

By using the JEM (Japanese Experiment Module) facility on ISS, we are planning to carry out a precise measurement of the flux and energy spectrum of cosmic-ray electrons of 10 GeV to several TeV. Since the electrons over several 100 GeV could be contributed only from the nearby sources within a distance less than 1 kpc, it is expected in the high energy region that the energy spectrum has a structural component and the distribution of the arrival directions presents anisotropy. By helping to localize and identify the nearest cosmic ray sources, these data should help to resolve the long-term puzzle. The instrument used for the observation is a kind of scintilating-fiber/lead imaging calorimeter that has been used for the balloon observations. We are developing an improved detector having a geometrical factor of 0.5 m2sr and a higher rejection power against the background protons (⩾104). It is expected to observe nearly 500 electrons over 1 TeV during the one-year observation.

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Contact point detection for grasping of an unknown object using joint compliance

Contact point detection for grasping of an unknown object us...

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1990 IEEE International Workshop on Intelligent Robots and systems, IROS 1990

作者： Kaneko, Makoto Tanie, Kazuo Computer Science and System Engineering Kyushu Institute of Technology Kawazu 680-4 Iizuka-shi Fukuoka820 Japan Cybernetics Division Robotics Department Mechanical Engineering Laboratory Namiki 1-2 Tsukuba-shi Ibaraki305 Japan

This paper focuses on a scheme for searching for a contact point between a multifmgered hand and an unknown object. Instead of mounting a attributed tactile sensor all over the finger links, we propose an active touch approach using joint compliance from the viewpoint of considerably reduced hardware improvement. The algorithm is composed of two phases. One is the approach phase, in which each finger is opened widely and approaches to an object until a part of a finger link is in contact with the object. The other is the detection phase, in which each finger posture is changed with slip while maintaining Contact between object and finger. Using two selected postures during the detection phase we can compute the intersecting point which leads to an approximate contact point. With a suitable combination of compliant joints and position-controlled joints, a finger link has the capability of changing its posture while maintaining contact with an object over a small angular displacement at a particular joint. This motion is essential in the contact point detection phase. The proposed algorithm is confirmed through simple experiments using a two-fingered robot hand. © 1990 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Object detection

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Increasingly Intelligent Micromachines

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Control, robotics, and Autonomous systems 1000年第1期5卷 279-310页

作者： Tian-Yun Huang Hongri Gu Bradley J. Nelson 2Current affiliation: Laboratory for Micromachine Intelligence Department of Advanced Manufacturing and Robotics College of Engineering and State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China email: huangtianyun@*** 1Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland email: huangt@ethz.chhgu@ethz.chbnelson@ethz.ch

Intelligent micromachines, with dimensions ranging from a few millimeters down to hundreds of nanometers, are miniature systems capable of performing specific tasks autonomously at small scales. Enhancing the intelligence of micromachines to tackle the uncertainty and variability in complex microenvironments has applications in minimally invasive medicine, bioengineering, water cleaning, analytical chemistry, and more. Over the past decade, significant progress has been made in the construction of intelligent micromachines, evolving from simple micromachines to soft, compound, reconfigurable, encodable, multifunctional, and integrated micromachines, as well as from individual to multiagent, multiscale, hierarchical, self-organizing, and swarm micromachines. The field leverages two important trends in robotics research—the miniaturization and intelligentization of machines—but a compelling combination of these two features has yet to be realized. The core technologies required to make such tiny machines intelligent include information media, transduction, processing, exchange, and energy supply, but embedding all of these functions into a system at the micro- or nanoscale is challenging. This article offers a comprehensive introduction to the state-of-the-art technologies used to create intelligence for micromachines and provides insight into the construction of next-generation intelligent micromachines that can adapt to diverse scenarios for use in emerging fields.

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Soft Actuators and Robots Enabled by Additive Manufacturing

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Control, robotics, and Autonomous systems 1000年第1期6卷 31-63页

作者： Dong Wang Jinqiang Wang Zequn Shen Chengru Jiang Jiang Zou Le Dong Nicholas X. Fang Guoying Gu 1Robotics Institute School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration and Meta Robotics Institute Shanghai Jiao Tong University Shanghai China email: guguoying@*** 3Current affiliation: Department of Mechanical Engineering The University of Hong Kong Hong Kong Special Administrative Region email: nicxfang@hku.hk 2Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge Massachusetts USA

Soft robotic systems are human friendly and can mimic the complex motions of animals, which introduces promising potential in various applications, ranging from novel actuation and wearable electronics to bioinspired robots operating in unstructured environments. Due to the use of soft materials, the traditional fabrication and manufacturing methods for rigid materials are unavailable for soft robots. 3D printing is a promising fabrication method for the multifunctional and multimaterial demands of soft robots, as it enables the personalization and customization of the materials and structures. This review provides perspectives on the manufacturing methods for various types of soft robotic systems and discusses the challenges and prospects of future research, including in-depth discussion of pneumatic, electrically activated, magnetically driven, and 4D-printed soft actuators and integrated soft actuators and sensors. Finally, the challenges of realizing multimaterial, multiscale, and multifunctional 3D-printed soft robots are discussed.

关键词： soft robots additive manufacturing 4D printing integrated soft actuators and sensors

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Medical robotics: Opportunities in China

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Control, robotics, and Autonomous systems 1000年第1期5卷 361-383页

作者： Yao Guo Weidong Chen Jie Zhao Guang-Zhong Yang 1Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China email: yao.guo@***wdchen@***gzyang@*** 2Institute of Robotics School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China email: jzhao@***

Medical robotics is a rapidly advancing discipline that is leading the evolution of robot-assisted surgery, personalized rehabilitation and assistance, and hospital automation. In China, both research and commercial developments in medical robotics have undergone exponential growth in recent years. In this review, we first give an overview of the clinical and social demands that motivate the rapid development in medical robotics. For each subdiscipline (surgery, rehabilitation and personal assistance, and hospital automation), we then summarize the major research projects sponsored by National Key Research and Development Programs. The remaining technical, commercial, and regulatory challenges are highlighted. This review also outlines some of the new opportunities in endoluminal and interventional robotics, micro- and nanorobotics, soft exoskeletons, intelligent human–robot interaction, and telemedicine and telesurgery, which may support the general uptake of robotics in medicine.

关键词： medical robotics surgical robotics rehabilitation and assistive robotics hospital automation robotics

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