This paper describes motion planning for a mobile manipulator which works in real environment. Mobile manipulators that can manipulate an object was developed up to now. We assume that object grasping is not restricte...
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This paper describes motion planning for a mobile manipulator which works in real environment. Mobile manipulators that can manipulate an object was developed up to now. We assume that object grasping is not restricted to just one grasp way and robot can move freely as far as it is in its operational area of the object. This paper proposes the motion planning for object grasping under the previous explained conditions. There are two major issues to detect the robot pose. The first problem is pose error of the robot hand. The second problem is kinematical redundancy of the mobile manipulator. The pose is evaluated from the amount of joint motions for recovery of hand pose error. Experiments show the effectiveness of the proposed method.
Recently, automation in clinical test is raised as a fusion of bio and robotic technology. Particularly, automation in clinical test becomes a new application area of the robotic technology. In this paper, we present ...
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Recently, automation in clinical test is raised as a fusion of bio and robotic technology. Particularly, automation in clinical test becomes a new application area of the robotic technology. In this paper, we present a robot platform for clinical test suitable for small or medium size of hospitals. The platform is designed to minimize the consumption of reagents, and easily integrate various testing equipments since it is functionally modularized. The platform is aimed for accommodating almost 70 kinds of clinical tests, which are the most frequently conducted in the hospitals. The platform consists of several major function blocks such as manipulation, transportation and detection, incubation, reservation, and each of them is designed as a module of the system. Basic ideas of the design are described and each functional block is explained in details
We propose in situ formation of gel microbeads made of a thermoreversible hydrogel for indirect laser micromanipulation of microorganisms, DNA and viruses. Irradiation, using a 1064 nm laser, of an aqueous solution mi...
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We propose in situ formation of gel microbeads made of a thermoreversible hydrogel for indirect laser micromanipulation of microorganisms, DNA and viruses. Irradiation, using a 1064 nm laser, of an aqueous solution mixed with poly-(N-isopropylacrylamide) through a high magnification lens resulted in the formation of a gel microbead at the laser focus due to heating. The gel microbead was trapped by the laser, and was used for indirect laser micromanipulation of microscale and nanoscale samples. Laser tweezers can typically handle a microscale object with size ranging from several tens of nm to several hundreds of mum in a stable manner. However, a nanoscale object with a size of a few nm cannot be stably manipulated, and laser beam heating is a major problem. This paper shows a method of indirect manipulation of microorganisms, DNA and viruses using a gel microbead made from the poly-(N-isopropylacrylamide) aqueous solution. We succeeded in reducing the laser power for gel microbead formation, and in using the laser-trapped gel microbead for the manipulation of microorganisms, DNA and viruses
Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji earthquake. In development of robots for search a...
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Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 years project) launched by Ministry of Education, Culture, Spots, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms
The outdoor service robot, which we call OSR-02, is presently under development intended for cleaning up urban areas by means of collecting discarded trash such as plastic bottles, cans, plastic bags and so on. Additi...
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The outdoor service robot, which we call OSR-02, is presently under development intended for cleaning up urban areas by means of collecting discarded trash such as plastic bottles, cans, plastic bags and so on. Additionally, we have developed a novel sensor system for the achievement of the task by this robot; it is constructed with LRF (laser rangefinder), two cameras, and three stepping motors. In this paper, we describe the sensor system and its applications
One of the issues of autonomous Web services is that precise business protocols across systems are not always predefined. A likely solution to this problem is to dynamically generate business protocols by matching ext...
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Recently, MEMS devices are being studied for which the focus can be changed by moving a lens. Therefore, we propose a MEMS-based varifocal mirror in which piezoelectric actuators are used. In this study, we used micro...
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Recently, MEMS devices are being studied for which the focus can be changed by moving a lens. Therefore, we propose a MEMS-based varifocal mirror in which piezoelectric actuators are used. In this study, we used micromachining to fabricate a varifocal mirror by bonding bulk PZT to Si single crystals, and then evaluated its performance.
A switching control strategy for inverted pendulum systems is proposed based on the energy function and its transitions. We deal with a simplified second order model of cart-pendulum systems. Assume a virtual energy w...
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Periodic locomotion of animal bodies with large degree of freedom is known to be realized by decentralized control using network of central pattern generators (CPGs) that are distributed in spinal cord (in vertebrates...
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Periodic locomotion of animal bodies with large degree of freedom is known to be realized by decentralized control using network of central pattern generators (CPGs) that are distributed in spinal cord (in vertebrates) or nerve cords (in invertebrates). In this paper, optimization of a decentralized controller for a snake-like robot based on CPG-network is presented. The controller is composed of CPGs on every robot joints and connections between them. Oscillations of CPGs are coordinated by propagating them each other. For several types of network structure, genetic algorithm (GA) is used to optimize neural parameters, i.e. CPG parameters and synaptic weights. As a result, we derived a CPG-network that is optimal in terms of moving speed
A switching control strategy for inverted pendulum systems is proposed based on the energy function and its transitions. We deal with a simplified second order model of cart-pendulum systems. Assume a virtual energy w...
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A switching control strategy for inverted pendulum systems is proposed based on the energy function and its transitions. We deal with a simplified second order model of cart-pendulum systems. Assume a virtual energy whose potential energy has an opposite sign. Paying attention to the motions of the pendulum, the energy changes are analyzed theoretically. According to these analyses, the conditions of a simple switching controller are derived and the stability of the switching controlled system is guaranteed. The role of the parameters in controllers is examined in numerical simulations.
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