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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： T. Shibata T. Tashima K. Tanie Fuzzy & Human Media Laboratory Information Technology Research Center OMRON Corporation Japan Bio-Robotics Division Robotics Department Mechanical Engineering Laboratory Ministry of International Trade and Industry (MITI) Malaysia

Advances in robotics have been applied to automation in industrial manufacturing, with the primary purpose of optimizing practical systems in terms of such objective measures as accuracy, speed, and cost. The paper introduces research on artificial emotional creatures that seeks to explore a different direction that is not so rigidly dependent on such objective measures. The goal of the research is to explore a new area in robotics, with an emphasis on human-robot interaction. There is a large body of evidence that shows the importance of the interaction between humans and animals. We have been building pet robots, as artificial emotional creatures, with the subjective appearance of behaviors that are dependent on internal states as well as external stimuli from both the physical environment and human beings. The pet robots have multi-modal sensory system, actuators, and bodies with artificial skin for physical interaction with human beings.

关键词： robotics and automation Manufacturing automation Human robot interaction Positron emission tomography Robot sensing systems Service robots Manufacturing industries Velocity measurement Cost function Animals

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Design Methodology of Drive Guide for Crawl Stair Lift

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Journal of robotics and Mechatronics 1999年第6期11卷 477-482页

作者： Hashino, Satoshi Human Support Technology Division Robotics Department Mechanical Engineering Laboratory Namiki 1-2 Tsukuba ibaraki305 Japan

Wheelchair users have been hindered fbom participsting in society by obstacles such as indoor and outdoor steps and staircases, leading to the development of many stair lifts. We developed a "crawl" lift whose disk rotation was converted to linear motion using a drive guide. To confirm feasibility, we fabrieated a prototype. The design methodology for the drive guide is presented here. © 1999, Fuji Technology Press. All rights reserved.

关键词： Stairs

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Shape recognition and vision-based robot control by shape morphing

Shape recognition and vision-based robot control by shape mo...

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1999 International Conference on Information Intelligence and Systems, ICIIS 1999

作者： Singh, Rahul Voyles, Richard M. Littau, David Papanikolopoulos, Nikolaos P. Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota MinneapolisMN55455 United States Bio-Informatics Division Exelixis Pharmaceuticals 280 E. Grand Avenue So. San FranciscoCA94080 United States

ISBN: (纸本)0769504469

In this paper we article presents a unified approach for object recognition and recognition based control of robotic interactions with objects. The approach is based on morphing the shape of objects. The morph of one object to another is treated as a deformation and is defined such that it can be quantified using a physics based model. This quantification serves as a dissimilarity measure and is used for shape recognition. By storing the views that represent the grasp positions for different object, the proposed framework is used to identify the desired end position a robot needs to attain for interacting with the given object. Furthermore, the images synthesized during the morph define a view based trajectory, starting with the view defining the initial robot-object orientation to the view defining the desired robot-object orientation. We propose a technique where these synthetic images are used to control the motion of a PUMA 560 eye-in-hand manipulator to execute alignment and grasping tasks. The proposed approach does not require complete calibration information, obviates manual feature selection and correspondence, can provide smooth trajectories, and needs a single image for each object (in a 4-DOF formulation). Potential applications range from recognition and positioning with respect to partially occluded or deformable objects as well as planning robotic grasping based on human demonstration. © 1999 IEEE.

关键词： Object recognition

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Detection of discrepancies and sensory-based recovery for virtual reality based telemanipulation systems

Detection of discrepancies and sensory-based recovery for vi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Kheddar K. Tanie P. Coiffet Laboratoire de Robotique de Paris UPMC-UVSQ Velizy-Villacoublay France Bio-Robotics Division-Robotics Department Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

Teleoperators using an intermediate functional representation of the remote real environment (RE), suffer the lack of accurate synthetic modeling. Discrepancies will always occur between the RE and its artificial representation by means of virtual environment (VE). A strategy to deal with VE/RE uncertainties based mainly on sensory level interpretation is presented. It is directed to avoid the use of task knowledge by providing a stream of virtual sensors values. Within the remote site, a supervisor is in charge of recovering from the VE/RE discrepancies by a continuous simulated and real states comparison. The states are derived from simulated and real sensor interpretations respectively. A simple experiment with the proposed approach is presented using only position (velocity) and force sensors. Limitations of the proposed approach are also discussed.

关键词： Virtual reality Robot sensing systems Uncertainty Orbital robotics mechanical engineering Laboratories Virtual environment Graphics Displays Feedback

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Collision-tolerant control algorithm for mobile manipulator with viscoelastic passive trunk 15

Collision-tolerant control algorithm for mobile manipulator ...

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Lim, Hun-Ok Yokoi, Kazuhito Huang, Qiang Oh, Sang-Rok Takanishi, A. Tanie, K. Department of Robotics Mechanical Engineering Laboratory 1-2 Namiki Tsukuba Ibaraki305-8564 Japan Department of Mechanical Engineering School of Science and Engineering Waseda University 3-4-1 Okubo Shinjuku Tokyo169-8555 Japan Division of Electronics and Information Technology KIST P.O. Box 131 Cheongryang Seoul Korea Republic of

ISBN: (纸本)078034300X

We have proposed the collision-tolerant mobile manipulator equipped with a passive trunk (i.e., supporting part). In collision experiments with unknown environments, results show that this mechanism is suitable for the suppression of contact forces which is an important issue for human-robot collaborations. The trunk with mechanical elements such as springs and dampers is passively deformed to deal with physical contacts, while the mobile platform moves around on the horizontal plane in response to friction between the platform and the ground. The end-effector of the manipulator, however, is difficult to track a desired task due to the deformation of the compliant trunk and the mobility of the platform. In order to solve the problem, the desired joint configurations of the manipulator are directly calculated according to the movement of the trunk and the platform, and a feedback control scheme is employed. © 1998 IEEE.

关键词： Manipulators

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Maximum velocity analysis of parallel manipulators

Maximum velocity analysis of parallel manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Huynh T. Arai Autonomous Machinery Division Department of Robotics Mechanical Engineering Laboratory AIST MITI Tsukuba Ibaraki Japan

In order to analyse the maximum velocity of parallel manipulators in operational space, a graphical method based on the analysis of the algebraic inequalities describing the constraints on the kinematics model is presented. We consider a general 6 d.o.f parallel manipulator and assume that all articular velocities are bounded by the same limit. The method is then applied to the conventional Stewart platform chosen as a reference and a new parallel manipulator for their performance comparisons. For these two parallel manipulators, respective formula of Jacobian matrix is also given.

关键词： Manipulators Jacobian matrices Parallel robots Electronic mail mechanical engineering Laboratories Kinematics Equations Machinery Orbital robotics

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Collision-tolerant end-effector position control for mobile manipulator

Collision-tolerant end-effector position control for mobile ...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Hun-Ok Lim K. Yokoi Nak Young Chong Sang-Rok Oh K. Tanie A. Takanishi Department of Mechanical Engineering School of Science and Engineering Waseda University Japan Bio-Robotics Division Robotics Department Mechanical Engineering Laboratory AIST-MITI Tsukuba Japan Ship & Ocean Research and Development Institute Daewoo Heavy Industries Limited South Korea Division of Electronics & Information Technology KIST South Korea

Summary form only given. Robots are expected to be human-friendly and safe in human-robot collaboration environments. This paper presents a new mechanism mounted on a mobile platform with a trunk suspension system which can be safely used in collisions, together with a joint-based control scheme developed to control the position of the end-effector. Under unexpected collision with humans, the trunk with the passive-viscous and elastic elements can deal with contact forces and the mobility of the platform is deployed if the trunk is intolerant of the contact forces. The new joint configuration of the manipulator is then updated to keep performing a given task. Effectiveness of the proposed mechanism and control method is verified through experiments.

关键词： Position control Manipulators mechanical engineering Service robots Control systems Oceans Electronics industry Industrial electronics Information technology Collaboration

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Emergence and Effectiveness of Communication Interface in a System of Distributed Intelligent Agents

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Journal of robotics and Mechatronics 1997年第2期9卷 146-151页

作者： Agah, Arvin Bekey, George A. Bio-Robotics Division Mechanical Engineering Laboratory AIST- Ministry of International Trade and Industry 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States

The emergence and effectiveness of communication interface in a colony of autonomous agents is discussed in this paper. The robotic agents sense the world within which they are embedded, while performing specific tasks in the world. Some of the tasks require the simultaneous cooperation of two robotic agents. These agents are able to sense other agents and communicate via simple, task-related messages. Using genetic algorithms, a colony of agents is evolved, producing agents with improved performance. It is shown that the tendency of the robotics agents to communicate increases through evolution, as the colony cooperates more, in order to perform more tasks. The concepts developed through computer simulation are tested for feasibility in a team of four small mobile-manipulator robots, each controlled autonomously via an on-board micro-processor. © Fuji Technology Press Ltd.

关键词： Multi agent systems

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Determination of human energy generated by skeletal muscle

Determination of human energy generated by skeletal muscle

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： P. Huynh F. Chavand N. Koyachi Autonomous Machinery Division Department of Robotics Mechanical Engineering Laboratory AIST-MITI Tsukuba Ibaraki Japan Universite d'Evry IUP CEMIF Evry France

In order to analyse the mechanical interaction between human arm and manual control device for the design of optimized physical man-machine interfaces, a method of determination of energy expenditure by the muscle system of a human arm acting on the device is presented. This energy is considered as a physical and measurable quantity, and can be used to evaluate the performance of a mechanical man-machine interface. For this, a musculo-mechanical model of the human arm is described for the determination of muscle energy. An example of human joint torques and energy calculation applied to a 2D biomechanical human arm suitable for simulation purpose is analytically given.

关键词： Muscles User interfaces Joints Design optimization Vehicle dynamics Human factors Energy measurement mechanical variables measurement Torque control Power measurement

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Tropism-based cognition for the interpretation of context-dependent gestures

Tropism-based cognition for the interpretation of context-de...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.M. Voyles A. Agah P.K. Khosla G.A. Bekey Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Bio Robotics Division Mechanical Engineering Laboratory Tsukuba Japan Department of Elect. and Comp. Eng Carnegie Mellon University Pittsburgh PA USA Department of Computer Science University of Southern California Los Angeles CA USA

The tropism system cognitive architecture provides an intuitive formalism for colonies of agents, either hardware or software. We present a fine-grained implementation of the architecture on a colony of software agents for the interpretation of human tactile gestures for robotic trajectory specification and modification. The fine-grained nature of the architecture and the use of the port-based object framework for agent instantiation allows the manual construction of a capable agent set that is reconfigurable and reusable across different gesture-based interaction tasks.

关键词： Cognition Cognitive robotics Shape Computer architecture Robot sensing systems Manipulators Humans Multiagent systems Robot programming Mice

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