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In recent years, the number of pipes that have exceeded their service life has increased. For this reason, earthworm-type robots equipped with cameras have been developed to perform regularly inspections of se...
In this paper, a 3-PRS (prismatic, revolute, and spherical) parallel manipulator for platform stabilization is designed. The main purpose of this device is to stabilize visual equipment, which is placed on top...
This paper deals with the development of a flatworm-like mesh robot WORMESH-II, which is the second prototype in the WORMESH series inspired from a flattened and soft-bodied flatworm. The pedal locomotion is t...
Risk assessment is one of the important processes in the social implementation of robots. In risk assessment and safety design of systems with various stakeholders, modeling and visualization of related elemen...
In this study, we describe a measurement system aiming to skill analysis of wall painting work using a roller brush. Our proposed measurement system mainly comprises an RGB-D sensor and a roller brush with sen...
In order to improve spatial awareness for future investigations of reactor No. 2 at the Fukushima nuclear power plant, it is necessary first to acquire the environment model through reconstruction. To gather i...
In a musculoskeletal system, the musculoskeletal potential method utilizes the potential property generated by the internal force between muscles; posture control can be achieved by the step input of muscular ...
This paper reports the development of a lightweight remotely operated vehicle that performs underwater excavation work for archaeological surveys. Discovering underwater artifacts is generally difficult becaus...
Dexterity training helps improve our motor skills while engaging in precision tasks such as surgery in the medical field and playing musical instruments. In addition, post-stroke recovery also requires extensi...
Hum-noise-based touch sensors (HumTouch) are capable of recognizing human touch on semiconductive materials using the current leaking from the finger to the surface. Thus far, calibration for these hum-noise-b...
To control a robot performing cooperative work between a human and robot, not only the position but also the force must be controlled from the viewpoint of human–robot contact. In addition, when a robot is use...
Adaptive cruise control (ACC), which is an extension of conventional cruise control, has been applied in many commercial vehicles. Traditional ACC is controlled by proportional-integral-derivative control or l...
In this study, a two-way clutch mechanism using planetary gear meshing was proposed. The proposed mechanism allows low torque loss and high-speed rotation instead of a larger backlash compared to a roller type...
Car-sharing services have recently attracted considerable attention. We proposed a platooning system to reduce the number of vehicle distributors. The platooning system uses a measurement device embedded with ...
In this study, we propose a method to automate fruit harvesting with a fruit harvesting robot equipped with robotic arms. Given the future growth of the world population, food shortages are expected to acceler...
Model-free or learning-based control, in particular, reinforcement learning (RL), is expected to be applied for complex robotic tasks. Traditional RL requires that a policy to be optimized is state-dependent, ...
Human-like environment recognition by musculoskeletal humanoids is important for task realization in real complex environments and for use as dummies for test subjects. Humans integrate various sensory informa...
The use of intracytoplasmic sperm injection (ICSI), an assisted reproductive technique (ART), is increasing widely. ICSI is currently performed by specially skilled embryologists. However, with the increasing ...
In this study, we present a recognition method for a fruit-harvesting robot to automate the harvesting of pears and apples on joint V-shaped trellis. It is necessary to recognize the three-dimensional position...
Soft robots have advantages in terms of safety, softness, and compliance compared to traditional robotic systems. However, fluid-driven soft actuators, often employed in soft robots, require a corresponding nu...
Fires in petrochemical complexes are inaccessible because of the intense radiant heat from flames. Therefore, water cannon robots require radiant heat countermeasures to perform firefighting safely. Convention...
Although robots are increasingly found in a wide range of applications, their use in proximity to humans is still fraught with challenges, primarily due to safety concerns. Roboticists have been seeking to add...
Artificial multiarticular musculoskeletal systems consisting of serially connected links driven by monoarticular and multiarticular muscles, which are often inspired by vertebrates, enable robots to elicit dyn...
Although the overall number of fires is decreasing, the number of special fires as buildings become larger, taller, and deeper and fires and spills in hazardous materials facilities such as petroleum complexes...
The multidisciplinary nature of response robotics has brought about a diversified research community with extended expertise. Motivated by the recent accelerated rate of publications in the field, this paper a...
Continuum robots can enter narrow spaces and are useful for search and rescue missions in disaster sites. The exploration efficiency at disaster sites improves if the robots can simultaneously acquire several ...
We propose a novel robotic system that combines both a reliable programming-based approach and a highly generalizable learning-based approach. How to design and implement a series of tasks in an atypical envir...
In this paper, a novel terrain traversability prediction method is proposed for new operation environments. When an off-road vehicle is operated on rough terrains or slopes made up of unconsolidated materials,...
A light-driven gel actuator is a potential candidate for a single-cell manipulation tool because it allows cells to be manipulated while ensuring less damage. Moreover, a large number of actuators can be integ...
Hopping robots, called hoppers, are expected to move on rough terrains, such as disaster areas or planetary environments. The uncertainties of the hopping locomotion in such environments are high, making path ...
To prevent accidents in minimally invasive surgeries, force limiters have been developed for forceps grippers. When a force limiter is in use, if the absolute value of its spring constant is reduced, the risk ...
The need for a perching robot is increasing in the field of rescue and transportation. Accordingly studies on perching an object by attaching a robot arm to a perching robot have been conducted. However, almos...
This study proposes a new software platform, called ROS2-TMS, for an informationally structured environment. An informationally structured environment is vital for developing intelligent service robots by embe...
People with disabilities, such as patients with motor paralysis conditions, lack independence and cannot move most parts of their bodies except for their eyes. Supportive robot technology is highly beneficial ...
This paper presents an EKF (extended Kalman filter) based self-attitude estimation method with a LiDAR DNN (deep neural network) learning landscape regularities. The proposed DNN infers the gravity direction f...
This paper describes the condition analysis of a multicopter carried with a proposed device for rough terrain landing. Based on a multicopter carried with an electrical robot arm for grasping, we proposed a me...
In the present study, we propose a variable-sensitivity force sensor using a shape-memory polymer (SMP), the stiffness of which varies according to the temperature. Since the measurement range and sensitivity ...
Simultaneous localization and mapping (SLAM) is a widely used technology in autonomous mobile robots, where sensors such as Lidar or cameras are typically used. Sensor fusion using multiple sensors has been em...
Disaster response robots are expected to perform complicated tasks such as traveling over unstable terrain, climbing slippery steps, and removing heavy debris. To complete such tasks safely, the robots must ob...
The present study proposes an advanced force display control system for a surgical training simulator with virtual reality. In oral and orthopedic surgeries, a surgeon uses a chisel and mallet for chiseling an...
Recently pneumatic-driven soft robots have been widely developed. Usually, the operating principle of this robot is the inflation and deflation of elastic inflatable chambers by air pressure. Some soft robots ...
In this study, a method for a robot to recall multiple grasping methods for a given object is proposed. The aim of this study was for robots to learn grasping methods for new objects by observing the grasping ...
The number of isolated elderly people with few opportunities to talk to other people is currently increasing. Research is ongoing to develop talking robots for addressing the situation. The aim of the present ...
Many cooking robots have been developed in response to the increasing demand for such robots. However, most existing robots must be programmed according to specific recipes to enable cooking using robotic arms...
Robotic grippers that gently handle objects of various shapes are required for various applications these days. Conventional finger-shaped grippers are multifunctional and can grip various objects; however, gr...
Compared with more rigid objects, clothing items are inherently difficult for robots to recognize and manipulate. We propose a method for detecting how cloth is folded, to facilitate choosing a manipulative ac...
Firefighters need to gain information from both inside and outside of buildings in first response emergency scenarios. For this purpose, drones are beneficial. This paper presents an elicitation study that sho...
Teleoperated robots are expected to perform tasks in unexpected disaster sites, which have become increasingly common in recent years. However, only few teleoperated robots are used for such purposes owing to ...
This paper presents a general methodology for the analysis and synthesis of a positive semi-definite system described by mass, damping and stiffness matrices that is often encountered in impedance control in r...
Long robotic arms are useful for many applications such as nuclear plant decommissioning, inspection, and firefighting. A major problem for designing and operating long robotic arms is that even small end effe...
