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IEEE Conference on Decision and Control

作者： Xin Xin Jin-Hua She Taiga Yamasaki Faculty of Computer Science and System Engineering Okayama Prefectural University Okayama Japan School of Computer Science Tokyo University of Technology Hachioji Tokyo Japan

ISBN: (纸本)9781424431236

In this paper, we concern a swing-up control problem for an n-link revolute planar robot with any one of the joint being a passive joint. The goal of this study is to design and analyze a swing-up controller that can bring the robot into any arbitrarily small neighborhood of the upright equilibrium point with all links in the upright position. To achieve this challenging objective while preventing the robot from becoming stuck at an undesired closed-loop equilibrium point, first, we address how to iteratively devise two series of virtual composite links separated by the passive joint to be used for designing a coordinate transformation on the angles of all active joints. Second, we devise an energy based swing-up controller that uses a new Lyapunov function based on that transformation. Third, we analyze the global motion of the robot under the controller and establish conditions on control parameters that ensure attainment of the swing-up control objective. The results obtained here unify some previous results for the Pendubot, the Acrobot, and three-link robots with a passive first joint. Finally, we validate the theoretical results via a numerical simulation investigation to a 4-link robot with a passive joint.

关键词： Robot kinematics Motion control Lyapunov method Motion analysis Robot control Actuators computer science Numerical simulation Costs Angular velocity control

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Evaluation of Embodied Avatar Manipulation Based on Talker's Hand Motion by Using 3D Trackball

Evaluation of Embodied Avatar Manipulation Based on Talker's...

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17th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2008), vol.2

作者： Yutaka Ishii Kouzi Osaki Tomio Watanabe Yoshihiro Ban Information Science and Technology Center Kobe University Kobe Hyogo Japan Graduate School of System Engineering Okayama Prefectural University Okayama Japan Faculty of Computer Science and System Engineering Okayama Prefectural University Okayama Japan

Remote talkers can communicate smoothly via their embodied avatars, which represent their interactive behaviors in the same virtual space. In order to enable virtual face-to-face communication, we have developed an embodied avatar-mediated communication system by using a human avatar called "VirtualActor" within the same communication space. The effectiveness of the system has been confirmed by communication experiments. We have already proposed the concept of a virtual communication avatar system in which remote talkers under the restricted conditions can operate their own avatar based on their hand motion, and have developed the prototype of this system using a glove sensor. In this study, communication systems using three pointing devices - a wireless mouse, trackball, and 3D mouse - are developed for primitive interaction using conscious hand motion input in a general PC environment. Instead of a simple trackball, a 3D trackball, which has one handle ball involving yaw rotation as well as pitch and roll rotation, is developed in order to manipulate the avatar's head motion in a more intuitive manner. A communication experiment in which the 3D trackball, wireless mouse, trackball, and 3D mouse are compared is conducted for 15 pairs of talkers (30 in all);a sensory evaluation and analysis of embodied avatar manipulation demonstrate the effectiveness of the proposed system.

关键词： Robots

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Task-selection Control by Thumb and Forefinger Based on Softfinger Contact

Task-selection Control by Thumb and Forefinger Based on Soft...

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第三届亚洲机械电子学学术会议

作者： Takahiro Inoue Shinichi Hirai Department of Systems Engineering for Sports Computer Science and Systems Engineering Okayama Prefectural University Japan Department of Robotics Ritsumeikan University Japan

Human thumb and index finger are a superior combination for performing dextrous manipulation and secure pinch movements. Although many researchers who are active in the field of robotic hands have been concentrating on sophisticated control designs and their fully completed theoretical verifications, complicated computations containing system kinematics, dynamics, and Jacobian matrix based on those control designs are never implemented within the brain. This paper provides an extremely straightforward control scheme for achieving object orientation control on robotic pinch tasks, in which totally 1-DOF and 2-DOF robotic hands having the thumb and index finger manipulate the target object. Through the simulation of the pinch movements based on the proposed control design, it finally shows that non-Jacobian control can be accomplished by employing the characteristics of anatomical structure of the hand and placing a pair of soft fingertips at the distal ends of both the fingers.

关键词： Softfinger, Thumb, Forefinger, Pinch motion, Manipulation, Jacobian matrix.

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A Handshake Robot System Based on a Shake-Motion Leading Model

A Handshake Robot System Based on a Shake-Motion Leading Mod...

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems, Pages 3133-3660

作者： Mitsuru Jindai Tomio Watanabe Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 JAPAN

ISBN: (纸本)9781424420575

Handshake refers to embodied interaction using physical contact for closeness. In this paper, we analyze the handshake motion between humans and propose a handshake approaching motion model and a shake-motion leading model based on the analysis. In the handshake approaching motion model, a robot can generate handshake approaching motion that is accepted psychologically by humans using the second-order lag element and the dead time element from trajectory of human hand. Furthermore, a shake-motion leading model generates a leading motion in order to transit from approaching motion to shaking motion. A handshake robot system that adopts these proposed models is developed. The effectiveness of these models is demonstrated by sensory evaluation using the handshake robot system.

关键词： Handshake Robot-Human System Embodied Interaction Human Emotion

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Development of anti-loosening performance of hyper lock nut (1st report, elasto-plastic analysis by three-dimensional finite element method)

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japa...

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Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 2007年第3期73卷 841-848页

作者： Nishiyama, Shuji Migita, Hiroaki Kataoka, Mitumasa Nakasaki, Nobuyuki Murano, Kohshi Department of Systems Engineering for Sports Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja shi Okayama 719-1197 Japan

Bolted joints are widely used in mechanical structures since the disassembly for maintenance is easy without high cost. However, vibration induced loosing due to dynamic loading has been unsolved subject for a long time. We have developed a new type of nut named 'hyper lock nut (HLN), which realizes anti-loosening performance without complicated tightening process and tool. In this study, we have investigated the mechanisms of bolted joint with HLN, and tightening behavior are analyzed by mean of three-dimensional finite element method. Results are compared with the experimental results for HLN. Good qualitative agreement is observed between analytical results and experiments with respect to displacement, tightening force and tightening torque. We found some new aspects and superior points for bolted-joint with HLN than that of standard nuts. It is found that tightening torque of HLN is higher than that of standard. It is also found that the anti-loosening performance can be realized by the thread contact force at the slit region and angular facing on bearing surface. Moreover, by mean of tensile and fatigue experiments, it is concluded that HLN involves sufficient strength in practical use.

关键词： Nuts (fasteners)

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A study of uniform approximation of equivalent permittivity for index modulated gratings

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IEEJ Transactions on Fundamentals and Materials 2007年第8期127卷 445-451+3页

作者： Sugano, Shota Wakabayashi, Hideaki Inai, Hiroshi Okayama Prefectural University Japan Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja 719-1197 Japan

It is well known that surface-relief dielectric gratings with rectangular profile can be treated by uniform approximation of equivalent permittivity when the periodicity is very small compared with a wavelength. In optics, this phenomenon is the equivalent anisotropic effects or the form birefringence. When the periodicity is very small, the equivalent anisotropic effects will be shown in index modulated gratings. In this paper, the uniform approximation is described for electromagnetic scattering problem by index modulated gratings. Scattering properties by dielectric slabs are calculated by transmission-line theory and the equivalent permittivity obtained from our proposed formulation of uniform approximation. Scattering by index modulated gratings are analyzed rigorously by the matrix eigenvalue calculations by using Fourier expansion method and the spatial harmonics expansions. When the periodicity is small, both results are in good agreement. By investigating the difference between the equivalent permittivity and the numerical values corresponding to the permittivity of index modulated gratings, the applicable condition of the uniform approximation is shown. And the equivalent anisotropic effects of various permittivity profiles are compared.

关键词： Dielectric devices

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A study on robot-human system with consideration of individual preferences (2nd report, multimodal human-machine interface for object-handing robot system)

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japa...

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Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 2007年第5期73卷 1408-1415页

作者： Jindai, Mitsuru Shibata, Satoru Yamamoto, Tomonori Watanabe, Tomio Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja-shi Okayama 719-1197 Japan

In this study, we propose an object-handing robot system with a multimodal human-machine interface which is composed of speech recognition and image processing units. Using this multimodal human-machine interface, the cooperator can order the object-handing robot system using voice commands and hand gestures. In this robot system, the motion parameters of the robot, which are maximum velocity, velocity profile peak and handing position, can be adjusted by the voice commands or the hand gestures in order to realize the most appropriate of the robot. Furthermore, the cooperator can order the handing of objects using voice commands along with hand gestures. In these voice commands, the cooperator can use adverbs. This permits the cooperator to realize efficient adjustments, because the adjustment value of each motion parameters is determined by adverbs. In particular, adjustment values corresponding to adverbs are estimated by fuzuy inference in order to take into consideration the ambiguities of human speech.

关键词： Man machine systems

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Extracting circular road signs using specific color distinction and region limitation

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systems and computers in Japan 2007年第11期38卷 90-99页

作者： Matsuura, Daisuke Yamauchi, Hitoshi Takahashi, Hiromitsu Faculty of Computer Science and System Engineering Okayama Prefectural University Soja 719-1197 Japan Central System Research Co. Ltd.

There is now vigorous research on the intelligent transport system (ITS), and also on the advanced cruise-assist highway system (AHS), which is one of the ITS components. An element of the AHS is the system that extracts and recognizes road signs from color road images to alert the driver. This paper proposes a new technique that can extract circular road signs in a practical processing time. The proposed method first discriminates the color used in the road sign (specific color) from the input color road image. Then, the target region for extraction is limited on the basis of the color distribution, so that the processing time is drastically reduced. Furthermore, by using the area ratio of the specific color in the extraction region, the extraction accuracy is improved and the processing time is reduced. In evaluation experiment using 53 color road images, a high detection rate of 94.7% was achieved. The average processing time was approximately 2.18 seconds, which is close to practical. © 2007 Wiley Periodicals, Inc.

关键词： Image analysis

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Development of a handshake robot system based on a handshake approaching motion model

Development of a handshake robot system based on a handshake...

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

作者： Mitsuru Jindai Tomio Watanabe Faculty of Computer Science and System Engineering Okayama Prefectural University Soja Okayama Japan

Handshake refers to embodied interaction using physical contact for closeness. In this paper, we analyze the handshake approaching motion between humans in cases with and without voice greeting and propose a handshake approaching motion model based on the analysis. In this model, a robot can generate handshake approaching motion that is emotionally acceptable to humans by using the second-order lag element and the dead time element from trajectory of human hand. Furthermore, a handshake robot system that adopts this proposed model is developed and motion characteristics of handshake approaching motions with and without voice greeting are analyzed using analysis-by-synthesis technique. The effectiveness of this model and the handshake robot system are demonstrated by sensory evaluation.

关键词： Motion analysis Speech analysis Robot sensing systems Displays Human robot interaction Motion measurement Anthropometry Reflection Wrist Elbow

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A two-phased object orientation controller on soft finger operations

A two-phased object orientation controller on soft finger op...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Takahiro Inoue Shinichi Hirai Faculty of Computer of Systems Engineering for Sports Computer Science and Systems Engineering Okayama Prefectural University Soja Okayama Japan Laboratory for Integrated Machine Intelligence and Faculty of Department of Robotics Ritsumeikan University Japan

The greatest characteristic of soft-fingered manipulation is its softness and flexibility during manipulating operations. In previous works, this intrinsic property had been quantitatively explained from the viewpoint of physical and mechanical perspective that the deformation energy induced by large elastic distortion automatically has a minimum equilibrium point. Hence this report first derive equations of motion of two-fingered soft finger robotic hand on the basis of energy- based analysis, and explain that an equilibrium point on a combined energy function exists even in the case of manipulating motions by the hand. In this paper, the equilibrium point is called LMEEwC that is unfolded as local minimum of elastic energy with constraints. Next, we show that the posture control of a rigid object grasped by the minimal degrees-of-freedom hand can easily be achieved by applying a two-phased controller associated with each joint angle of the hand, which is newly proposed in this report. This control scheme is constructed by two parts: a PD controller with respect to the finger angle and an integral controller with respect to the orientation of the grasped object. The characteristics of the control method of the latter part is that the desired joint angle of the hand is produced dynamically by the integral controller with respect to the object orientation. Finally, we clarify the effectiveness of the proposed control method in the case of the soft-fingered manipulation.

关键词： Fingers Equations Force control Motion analysis Grasping systems engineering and theory Linear feedback control systems Force feedback Robot kinematics Intelligent robots

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