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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...
Power soft robots—defined as novel robots driven by powerful soft actuators, achieving both powerfulness and softness—are potentially suitable for complex collaborative tasks, and an approach to actuating a po...
This paper presents an EKF-based self-attitude estimation with a DNN (deep neural network) learning landscape information. The method integrates gyroscopic angular velocity and DNN inference in the EKF. The DN...
The novel approach to physical security based on visible light communication (VLC) using an informative object-pointing and simultaneous recognition by high-framerate (HFR) vision systems is presented in this ...
An amendment to this paper has been published and can be accessed via the original article.
The original article was published in ROBOMECH Journal 2021 8:1
Few physical models of oral and laryngeal systems for human speech movement exist for computer or mechanical simulators. In particular, a robot tongue mechanism that fully reproduces the deformation motion of ...
Accurate vehicular trajectory estimation is important for the recently developed autonomous driving systems. As the accuracy of the vehicular trajectory estimation is reduced with the slippage that occurs duri...
Autonomous robots are expected to replace dangerous, dirty, and demanding (3D) jobs. At a theme park, surveillance, cleaning, and guiding tasks can be regarded as 3D jobs. The present paper attempts to develop...
Probabilistic localization based on Bayesian theory has been researched as a sensor fusion method to improve the robustness of localization. Pieces of position information, generated by sensors’ observation mo...
In this study, we evaluated the deformation shape of a balloon-type dielectric elastomer actuator (DEA) that has been prestretched with water pressure. We fabricated the DEA with poly(dimethylsiloxane) (PDMS) ...
Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been prese...
The Correction to this article has been published in ROBOMECH Journal 2021 8:7
We propose a method to realize the dynamic manipulation of a string with unknown characteristics via a high-speed robot arm. We use a mass-spring-damper model for the string and repeat three steps: motion gene...
Planetary exploration rovers have required a high traveling performance to overcome obstacles such as loose soil and rocks. Push-pull locomotion rovers is a unique scheme, like an inchworm, and it has high tra...
In this paper we introduce a novel robotic end-effector for pick-and-release of a sheet of cotton cloth. One of the main operations in a factory for sewing cloth products is to pick up cloth parts, provide the...
This paper presents an extended Kalman filter for pose estimation using noise covariance matrices based on sensor output. Compact and lightweight nine-axis motion sensors are used for motion analysis in widely...
This paper proposes a locomotion approach of leg-wheel robot utilizing passive wheel attached to the foot of bipedal robot. The key feature of this approach is bipedal mobility without swing leg. This mobility...
