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2021-03-19T15:13:13+0000
Vol.33 (2021)
No.1
(Feb)
Congratulations! JRM Best Paper Award 2020
Special Issue on Activity of Research Center – Toyohashi University of Technology: Center for Human-Robot Symbiosis Research
Congratulations! JRM Best Paper Award 2020
Award: | pp. 1-2 | |
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2020 |
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Editorial Office | ||
We are pleased to announce that the 13th Journal of Robotics and Mechatronics Best Paper Award (JRM Best Paper Award 2020) has been decided by the JRM editorial committee. The following paper won the JRM Best Paper Award 2020, severely selected from among all 77 papers published in Vol.31 (2019). The Best Paper Award ceremony was held on December 23, 2020 in hybrid style (both on-site and online; venue: Gakushi-Kaikan, Tokyo, Japan), attended by the authors and JRM editorial committee members who took part in the selection process. The award winners were given certificates and a nearly US$1,000 honorarium. Editorial committee members who participated online also congratulated them through Zoom. We congratulate the winners and sincerely wish them success in the future.
JRM Best Paper Award 2020Title: Navigation Based on Metric Route Information in Places Where the Mobile Robot Visits for the First Time Authors: Asahi Handa, Azumi Suzuki, Hisashi Date, Ryohsuke Mitsudome, Takashi Tsubouchi, and Akihisa Ohya |
Special Issue on Activity of Research Center – Toyohashi University of Technology: Center for Human-Robot Symbiosis Research
Institute Overview: | pp. 6-10 | ||
Toyohashi University of Technology: The Direction the Center for Human-Robot Symbiosis Research Should Take and its Achievements to Date |
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Kazuhiko Terashima |
Paper: | pp. 11-23 | ||
Generation of Optimal Coverage Paths for Mobile Robots Using Hybrid Genetic Algorithm |
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Tobias Rainer Schäfle, Marcel Mitschke, and Naoki Uchiyama |
Development Report: | pp. 24-32 | ||
Design and Evaluation of Attention Guidance Through Eye Gazing of “NAMIDA” Driving Agent |
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Shintaro Tamura, Naoki Ohshima, Komei Hasegawa, and Michio Okada |
Paper: | pp. 33-43 | ||
Development and Experimental Verification of a Person Tracking System of Mobile Robots Using Sensor Fusion of Inertial Measurement Unit and Laser Range Finder for Occlusion Avoidance |
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Kazuhiro Funato, Ryosuke Tasaki, Hiroto Sakurai, and Kazuhiko Terashima |
Regular Papers
Review: | pp. 45-68 | ||
Soft Robotics: Research, Challenges, and Prospects |
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Wenchuan Zhao, Yu Zhang, and Ning Wang |
Paper: | pp. 69-77 | ||
Study on Automatic Operation of Manual Wheelchair Prototype and Basic Experiments |
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Kazuteru Tobita, Yoshihito Shikanai, and Kazuhiro Mima |
Paper: | pp. 78-87 | ||
Study on Pipetting Motion Optimization of Automatic Spheroid Culture System for Spheroid Formation |
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Takeshi Shimoto, Chihiro Teshima, Toshiki Watanabe, Xiu-Ying Zhang, Atsushi Ishikawa, Hidehiko Higaki, and Koichi Nakayama |
Paper: | pp. 88-96 | ||
Human-Like Robust Adaptive PD Based Human Gait Tracking for Exoskeleton Robot |
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Aihui Wang, Ningning Hu, Jun Yu, Junlan Lu, Yifei Ge, and Yan Wang |
Paper: | pp. 97-107 | ||
Effects of Presenting People Flow Information by Vibrotactile Stimulation for Visually Impaired People on Behavior Decision |
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Kanon Fujino and Mihoko Niitsuma |
Paper: | pp. 108-118 | ||
Stabilization System for UAV Landing on Rough Ground by Adaptive 3D Sensing and High-Speed Landing Gear Adjustment |
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Mikihiro Ikura, Leo Miyashita, and Masatoshi Ishikawa |
Paper: | pp. 119-128 | ||
Verification of Acoustic-Wave-Oriented Simple State Estimation and Application to Swarm Navigation |
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Tomoha Kida, Yuichiro Sueoka, Hiro Shigeyoshi, Yusuke Tsunoda, Yasuhiro Sugimoto, and Koichi Osuka |
Paper: | pp. 129-140 | ||
Modulation of Velocity Perception by Engine Vibration While Driving |
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Motoki Tachiiri, Yoshihiro Tanaka, and Akihito Sano |
Paper: | pp. 141-150 | ||
300-N Class Convex-Based Telescopic Manipulator and Trial for 3-DOF Parallel Mechanism Robot |
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Takashi Kei Saito, Kento Onodera, Riku Seino, Takashi Okawa, and Yasushi Saito |
Development Report: | pp. 151-157 | ||
Development of Testbed AUV for Formation Control and its Fundamental Experiment in Actual Sea Model Basin |
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Akihiro Okamoto, Motonobu Imasato, Shunka C. Hirao, Hidenori Sekiguchi, Takahiro Seta, Masahiko Sasano, and Toshifumi Fujiwara |
Development Report: | pp. 158-171 | ||
Study of Neural-Kinematics Architectures for Model-Less Calibration of Industrial Robots |
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Monica Tiboni, Giovanni Legnani, and Nicola Pellegrini |
Development Report: | pp. 172-179 | ||
Development of the Second Prototype of an Oral Care Simulator |
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Tomomi Daigo, Masumi Muramatsu, and Atsushi Mitani |
Vol.32 (2020)
No.6
(Dec)
Special Issue on Real World Robot Challenge in Tsukuba and Osaka
Special Issue on Activity of Research Center – The University of Tokyo: Corporate Sponsored Research Program “Construction System Management for Innovation”
Special Issue on Real World Robot Challenge in Tsukuba and Osaka
Editorial: | p. 1103 | |
Real World Robot Challenge in Tsukuba and Osaka |
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Hisashi Date and Tomohito Takubo | ||
The Tsukuba Challenge is an open experiment of autonomous mobile robots in the real world. In its third stage since 2018, it is now to be held on a new course that starts at the Tsukuba City Hall. New tasks that require functions expected for autonomous travel in the real world have now been added, including passing checkpoints announced a day before the event, starting two vehicles simultaneously, traveling in an unmeasured environment, and strictly observing stop lines in the course. Also, in the spirit of the Tsukuba Challenge, the Nakanoshima Challenge, an open demonstration experiment project, has been held in the city of Osaka since 2018. As the only event in which autonomous mobile robots travel in the urban area of Osaka, the Nakanoshima Challenge is expected to identify new issues peculiar to autonomous navigation in real urban environments and to find solutions to them. This special issue includes a review paper on the Tsukuba Challenge, four research papers on the results of experiments done in the Tsukuba Challenge, four research papers related to the Nakanoshima Challenge, and three development reports. This special issue provides its readers with the frontline issues and the current status of development of autonomous mobile robots in real-world environments. We hope that the innovative efforts presented in this special issue will contribute to the development of science and industry. |
Review: | pp. 1104-1111 | ||
Tsukuba Challenge 2019: Task Settings and Experimental Results |
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Yoshitaka Hara, Tetsuo Tomizawa, Hisashi Date, Yoji Kuroda, and Takashi Tsubouchi |
Paper: | pp. 1112-1120 | ||
Development of Edge-Node Map Based Navigation System Without Requirement of Prior Sensor Data Collection |
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Kazuki Takahashi, Jumpei Arima, Toshihiro Hayata, Yoshitaka Nagai, Naoya Sugiura, Ren Fukatsu, Wataru Yoshiuchi, and Yoji Kuroda |
Paper: | pp. 1121-1136 | ||
Automatic Generation of Multidestination Routes for Autonomous Wheelchairs |
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Yusuke Mori and Katashi Nagao |
Paper: | pp. 1137-1153 | ||
Visual Navigation Based on Semantic Segmentation Using Only a Monocular Camera as an External Sensor |
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Ryusuke Miyamoto, Miho Adachi, Hiroki Ishida, Takuto Watanabe, Kouchi Matsutani, Hayato Komatsuzaki, Shogo Sakata, Raimu Yokota, and Shingo Kobayashi |
Paper: | pp. 1154-1163 | ||
Prototyping Using a Mobile Robot Platform Equipped with Low-End In-Wheel Motors |
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Susumu Tarao, Yasunori Fujiwara, Naoaki Tsuda, and Soichiro Takata |
Paper: | pp. 1164-1172 | ||
Toward Autonomous Garbage Collection Robots in Terrains with Different Elevations |
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Renato Miyagusuku, Yuki Arai, Yasunari Kakigi, Takumi Takebayashi, Akinori Fukushima, and Koichi Ozaki |
Paper: | pp. 1173-1182 | ||
Autonomous Mobile Robot for Outdoor Slope Using 2D LiDAR with Uniaxial Gimbal Mechanism |
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Shunya Hara, Toshihiko Shimizu, Masanori Konishi, Ryotaro Yamamura, and Shuhei Ikemoto |
Paper: | pp. 1183-1192 | ||
Outdoor Autonomous Navigation Utilizing Proximity Points of 3D Pointcloud |
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Yuichi Tazaki and Yasuyoshi Yokokohji |
Paper: | pp. 1193-1199 | ||
Outdoor Human Detection with Stereo Omnidirectional Cameras |
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Shunya Tanaka and Yuki Inoue |
Development Report: | pp. 1200-1210 | ||
Garbage Detection Using YOLOv3 in Nakanoshima Challenge |
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Jingwei Xue, Zehao Li, Masahito Fukuda, Tomokazu Takahashi, Masato Suzuki, Yasushi Mae, Yasuhiko Arai, and Seiji Aoyagi |
Development Report: | pp. 1211-1218 | ||
Rapid Development of a Mobile Robot for the Nakanoshima Challenge Using a Robot for Intelligent Environments |
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Tomohiro Umetani, Yuya Kondo, and Takuma Tokuda |
Development Report: | pp. 1219-1228 | ||
Proposal of Robot Software Platform with High Sustainability |
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Masahito Fukuda, Tomokazu Takahashi, Masato Suzuki, Yasushi Mae, Yasuhiko Arai, and Seiji Aoyagi |
Special Issue on Activity of Research Center – The University of Tokyo: Corporate Sponsored Research Program “Construction System Management for Innovation”
Institute Overview: | pp. 1230-1232 | ||
The University of Tokyo: Corporate Sponsored Research Program “Construction System Management for Innovation” |
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Keiji Nagatani, Atsushi Yamashita, and Kazumasa Ozawa |
Paper: | pp. 1233-1243 | ||
Arbitrary Viewpoint Visualization for Teleoperated Hydraulic Excavators |
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Tatsuki Nagano, Ryosuke Yajima, Shunsuke Hamasaki, Keiji Nagatani, Alessandro Moro, Hiroyuki Okamoto, Genki Yamauchi, Takeshi Hashimoto, Atsushi Yamashita, and Hajime Asama |
Paper: | pp. 1244-1258 | ||
Utilization of Unmanned Aerial Vehicle, Artificial Intelligence, and Remote Measurement Technology for Bridge Inspections |
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Pang-jo Chun, Ji Dang, Shunsuke Hamasaki, Ryosuke Yajima, Toshihiro Kameda, Hideki Wada, Tatsuro Yamane, Shota Izumi, and Keiji Nagatani |
Regular Papers
Paper: | pp. 1259-1267 | ||
Numerical Investigation on Hydrodynamic Performance of a Ducted Propeller for Vectored Underwater Robot |
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Rongmin Zhang and Shasha Zhou |
Paper: | pp. 1268-1278 | ||
Study on Arbitrary Direction Navigation System for Autonomous Multirotor with Arbitrary Configuration of Rotors |
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Nobuto Hirakoso, Ryoichiro Tamura, and Yoichi Shigematsu |
Paper: | pp. 1279-1291 | ||
Tomato Growth State Map for the Automation of Monitoring and Harvesting |
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Takuya Fujinaga, Shinsuke Yasukawa, and Kazuo Ishii |
Development Report: | pp. 1292-1300 | ||
Development of a Robot Simulator for Decommissioning Tasks Utilizing Remotely Operated Robots |
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Kenta Suzuki and Kuniaki Kawabata |
No.5
(Oct)
Special Issue on Fluid Powered System and its Application
Special Issue on Fluid Powered System and its Application
Editorial: | p. 853 | |
Fluid Powered System and its Application |
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Masahiro Takaiwa, Toshiro Noritsugu, Hideyuki Tsukagoshi, Kazuhisa Ito, and Yutaka Tanaka | ||
It is well known that fluid-powered systems are used practically in almost all industrial fields, including construction, manufacturing, transportation, among others. Nowadays, the rapid growth in the development of the mechanical elements in fluid-powered systems, such as control valves, actuators, and sensors, and the rapid growth in control strategies have given rise to pioneering in some novel application fields in ways that were thought to be impossible a decade ago. High-precision positioning control using the compressible fluid of pneumatic driving systems and multi-legged robots equipped with standalone hydraulic components are simple examples. Moreover, soft robotics based on fluid-powered technologies has attracted attention not only in academia but also in human support fields, which will become more important as Japan’s society ages. This special issue on “Fluid Powered System and its Application” includes one review paper and 22 other interesting papers related to the state of the art in the development of mechanical elements, total drive systems, motion control theory, and concrete applications of fluid-powered systems. We thank all of the authors and reviewers of the papers and hope this special issue helps readers to develop fluid powered systems that will contribute to developments in the academia and industry. |
Review: | pp. 854-862 | ||
New Robotics Pioneered by Fluid Power |
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Koichi Suzumori |
Paper: | pp. 863-875 | ||
Proposal of Motion Judgment Algorithm Based on Joint Angle of Variable Elastic Assist Suit with High Back Drivability |
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Seigo Kimura, Ryuji Suzuki, Katsuki Machida, Rie Nishihama, Manabu Okui, and Taro Nakamura |
Paper: | pp. 876-884 | ||
Investigation of Accumulator Parameters for a Novel Hybrid Architecture |
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Seiji Hijikata, Kazuhisa Ito, and Hubertus Murrenhoff |
Paper: | pp. 885-893 | ||
Development of Semi-Crouching Assistive Device Using Pneumatic Artificial Muscle |
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Naoki Saito, Daisuke Furukawa, Toshiyuki Satoh, and Norihiko Saga |
Paper: | pp. 894-902 | ||
Flexible Pneumatic Bending Actuator for a Robotic Tongue |
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Nobutsuna Endo, Yuta Kizaki, and Norihiro Kamamichi |
Paper: | pp. 903-910 | ||
A Sliding Mode Controller Using an LS-SVM Model for a Water-Hydraulic Artificial Rubber Muscle |
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Takahiro Kosaki, Yuta Kawahara, and Shigang Li |
Paper: | pp. 911-922 | ||
Experimental Study on Critical Design of Electro-Hydrostatic Actuators Small in Size and Light in Weight |
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Mitsuo Komagata, Tianyi Ko, Ko Yamamoto, and Yoshihiko Nakamura |
Paper: | pp. 923-930 | ||
Development of Pneumatically Driven Hand Capable of Grasping Flexible Objects |
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Kotaro Nishikawa, Kentaro Hirata, and Masahiro Takaiwa |
Paper: | pp. 931-938 | ||
Development of a Tetrahedral-Shaped Soft Robot Arm as a Wrist Rehabilitation Device Using Extension Type Flexible Pneumatic Actuators |
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Wei-Hang Tian, Cian-Cheng Jhan, Misaki Inokuma, Tetsuya Akagi, Shujiro Dohta, and So Shimooka |
Paper: | pp. 939-946 | ||
Optimization of the Electrode Arrangement and Reliable Fabrication of Flexible EHD Pumps |
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Yumeta Seki, Yu Kuwajima, Hiroki Shigemune, Yuhei Yamada, and Shingo Maeda |
Paper: | pp. 947-957 | ||
Study on Human Behavior Classification by Using High-Performance Shoes Equipped with Pneumatic Actuators |
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Yasuhiro Hayakawa, Yuta Kimata, and Keisuke Kida |
Paper: | pp. 958-976 | ||
Disposable Robotic Finger Driven Pneumatically by Flat Tubes and a Hollow Link Mechanism |
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Junya Tanaka and Nobuto Matsuhira |
Paper: | pp. 977-983 | ||
Viscosity Control of Magnetorheological Fluid by Power Saving Magnetizing Mechanism Using Movement of Permanent Magnet |
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Jumpei Kawasaki, Yuki Nakamura, and Yasukazu Sato |
Paper: | pp. 984-993 | ||
Development of Hydraulic Pump Drive System Using Switched Reluctance Motor with Servo Function |
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Ha Tham Phan, Seiya Itagaki, and Yasukazu Sato |
Paper: | pp. 994-999 | ||
Flowrate Measurement in a Pipe Using Kalman-Filtering Laminar Flowmeter |
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Kazushi Sanada |
Paper: | pp. 1000-1009 | ||
Load Reduction Control on Tool-Insertion Port for Laparoscopic Surgical Robot Using Semi-Active Joints |
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Koki Aizawa, Daisuke Haraguchi, and Kotaro Tadano |
Paper: | pp. 1010-1018 | ||
Active Cloth Fabricated by a Flat String Machine and its Application to a Safe Wheelchair System |
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Makoto Takada, Shuichi Wakimoto, Takero Oshikawa, Takeji Ueda, and Takefumi Kanda |
Paper: | pp. 1019-1026 | ||
Concept and Prototype of Soft Actuator for Liquid Nitrogen Temperature Environments |
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Daisuke Yamaguchi, Tatsuya Hanaki, Yuji Ishino, Masayuki Hara, Masaya Takasaki, and Takeshi Mizuno |
Paper: | pp. 1027-1033 | ||
Physical Table Identification for Nominal Hydraulic Cylinders and its Application to Pressure Estimation |
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Satoru Sakai, Kazuki Nagai, and Yasuki Takahashi |
Paper: | pp. 1034-1043 | ||
Realistic and Highly Functional Pediatric Externally Powered Prosthetic Hand Using Pneumatic Soft Actuators |
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Hironari Taniguchi, Nobuo Takemoto, Ren Yakami, Shuichi Wakimoto, Takero Oshikawa, Kosuke Morinaga, and Takefumi Kanda |
Paper: | pp. 1044-1051 | ||
Development of Finger-Wrist Rehabilitation Device Using Pneumatically Driven Parallel Sticks |
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Yasuko Matsui, Daiki Hosomi, and Masahiro Takaiwa |
Paper: | pp. 1052-1060 | ||
Development of Non-Wearing Type Pneumatic Power Assist Device – Basic Concept and Performance Evaluation – |
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Masashi Yokota and Masahiro Takaiwa |
Paper: | pp. 1061-1070 | ||
Design and Modeling of Soft Pneumatic Helical Actuator with High Contraction Ratio |
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Peizheng Yuan, Ginjiro Kawano, and Hideyuki Tsukagoshi |
Regular Papers
Paper: | pp. 1071-1079 | ||
Pallet Handling System with an Autonomous Forklift for Outdoor Fields |
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Ryosuke Iinuma, Yusuke Kojima, Hiroyuki Onoyama, Takanori Fukao, Shingo Hattori, and Yasunori Nonogaki |
Paper: | pp. 1080-1087 | ||
Development of Ankle Support Shoes with Elastomer-Embedded Flexible Joints |
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Takehito Kikuchi, Taiki Oshimoto, Isao Abe, Kenichiro Tanaka, Yasue Asaumi, and Naoki Chijiwa |
No.4
(Aug)
Review on Autonomous Underwater Vehicle in Japan
Special Issue on Brain Machine/Computer Interface and its Application
Review on Autonomous Underwater Vehicle in Japan
Review: | pp. 713-721 | ||
Development Timeline of the Autonomous Underwater Vehicle in Japan |
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Tamaki Ura |
Special Issue on Brain Machine/Computer Interface and its Application
Editorial: | p. 723 | |
Brain Machine/Computer Interface and its Application |
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Shoichiro Fujisawa, Minoru Fukumi, Jianting Cao, Yasue Mitsukura, and Shin-ichi Ito | ||
Brain machine/computer interface (BMI/BCI) technologies are based on analyzing brain activity to control machines and support the communication of commands and messages. To sense brain activities, a functional NIRS and electroencephalogram (EEG) that has been developed for that purpose is often employed. Analysis techniques and algorithms for the NIRS and EEG signals have also been created, and human support systems in the form of BMI/BCI applications have been developed. In the field of rehabilitation, BMI/BCI is used to control environment control systems and electric wheelchairs. In medicine, BMI/BCI is used to assist in communications for patient support. In industry, BMI/BCI is used to analyze sensibility and develop novel games. This special issue on Brain Machine/Computer Interface and its Application includes six interesting papers that cover the following topics: an EEG analysis method for human-wants detection, cognitive function using EEG analysis, auditory P300 detection, a wheelchair control BCI using SSVEP, a drone control BMI based on SSVEP that uses deep learning, and an improved CMAC model. We thank all authors and reviewers of the papers and the Editorial Board of Journal of Robotics and Mechatronics for its help with this special issue. |
Paper: | pp. 724-730 | ||
Human-Wants Detection Based on Electroencephalogram Analysis During Exposure to Music |
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Shin-ichi Ito, Momoyo Ito, and Minoru Fukumi |
Paper: | pp. 731-737 | ||
Convolutional Neural Network Transfer Learning Applied to the Affective Auditory P300-Based BCI |
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Akinari Onishi |
Paper: | pp. 738-744 | ||
High Accuracy and Short Delay 1ch-SSVEP Quadcopter-BMI Using Deep Learning |
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Kazumi Ishizuka, Nobuaki Kobayashi, and Ken Saito |
Paper: | pp. 745-752 | ||
Method to Expand the CMAC Model to Composite-Type Model |
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Jiro Morimoto, Makoto Horio, Yoshio Kaji, Junji Kawata, Mineo Higuchi, and Shoichiro Fujisawa |
Paper: | pp. 753-760 | ||
EEG Variations During Measurement of Cognitive Functions Using Biosignal Acquisition Toolkit |
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Yoshio Kaji, Yoshikazu Yamamoto, Junji Kawata, Jiro Morimoto, and Shoichiro Fujisawa |
Development Report: | pp. 761-767 | ||
Indirect Control of an Autonomous Wheelchair Using SSVEP BCI |
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Danny Wee-Kiat Ng and Sing Yau Goh |
Regular Papers
Paper: | pp. 769-779 | ||
Proposal of a Behavioral Model for Robots Supporting Learning According to Learners’ Learning Performance |
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Ryo Yoshizawa, Felix Jimenez, and Kazuhito Murakami |
Paper: | pp. 780-788 | ||
Improvement of the Mobility on the Step-Field for a Stair Climbable Robot with Passive Crawlers |
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Junji Hirasawa |
Paper: | pp. 789-797 | ||
Hammering Acoustic Analysis Using Machine Learning Techniques for Piping Inspection |
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Kou Ikeda and Akiya Kamimura |
Paper: | pp. 798-811 | ||
Effects of Gait Inducing Assist for Patients with Parkinson’s Disease on Double Support Phase During Gait |
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Ai Higuchi, Junichiro Shiraishi, Yuichi Kurita, and Tomohiro Shibata |
Paper: | pp. 812-821 | ||
Novel Method for Analyzing Flexible Locomotion Patterns of Animals by Using Polar Histogram |
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Keisuke Naniwa, Yasuhiro Sugimoto, Koichi Osuka, and Hitoshi Aonuma |
Paper: | pp. 822-831 | ||
Model-Based Analysis of Yo-yo Throwing Motion on Single-Link Manipulator |
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Hokuto Miyakawa, Takuma Nemoto, and Masami Iwase |
Development Report: | pp. 832-839 | ||
Free-Flow Tunnel Inspection Support Devices Aiming at Labor Saving of Visual Checking |
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Kazunori Hosotani and Hirofumi Yamamoto |
No.3
(Jun)
Special Issue on Innovative Robotics and Mechatronics Technology of Modern Passenger Cars for Zeroing Traffic Accidents
Special Issue on Activity of Research Center – Hiroshima University: KOBELCO Construction Machinery Dream-Driven Co-Creation Research Center
Special Issue on Innovative Robotics and Mechatronics Technology of Modern Passenger Cars for Zeroing Traffic Accidents
Editorial: | p. 483 | |
Innovative Robotics and Mechatronics Technology of Modern Passenger Cars for Zeroing Traffic Accidents |
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Hidehisa Yoshida and Pongsathorn Raksincharoensak | ||
The Science Council of Japan’s 2008 Report, “Aiming for a Zero Traffic Accidents Society,” states that “it is necessary to establish various driver assistance technologies based on the fact that most drivers make mistakes”; “for advanced driver assistance system (ADAS) technologies, cooperation between human operation and machine assistance, and social acceptability need to be evaluated”; and “new driver assistance by introduction of robotics technology and application of automated driving in specific operating domain should be considered in the near future.” A wide array of robotic technologies is expected to contribute to developing intelligent and advanced technologies for passenger and transport vehicles, as well as creating a rich future for the transportation of people and logistics. Over the past decade, researchers and engineers have attempted to achieve these goals. In 2015, the government announced a policy to make practical use and deployment of automated driving technologies by the year of Tokyo Olympics and Paralympics. Now, looking toward the Tokyo Olympics and Paralympics, we organized a special issue of the JRM: “Innovative Robotics and Mechatronics Technology of Modern Passenger Cars for Zeroing Traffic Accidents.” This special issue features 16 papers carefully written and reviewed by field specialists. We express our heartfelt appreciation to the authors and reviewers who have contributed their expertise to this issue. We would also like to thank the members of the Journal of Robotics and Mechatronics board for giving us the unique opportunity to coordinate this issue. |
Review: | pp. 484-493 | ||
Evolution and Evaluation of Safety Offered by Active Safety, ADAS, and AD Systems |
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Masao Nagai and Hidehisa Yoshida |
Paper: | pp. 494-502 | ||
Stereo Vision by Combination of Machine-Learning Techniques for Pedestrian Detection at Intersections Utilizing Surround-View Cameras |
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Tokihiko Akita, Yuji Yamauchi, and Hironobu Fujiyoshi |
Paper: | pp. 503-519 | ||
Personalized Subjective Driving Risk: Analysis and Prediction |
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Naren Bao, Alexander Carballo, Chiyomi Miyajima, Eijiro Takeuchi, and Kazuya Takeda |
Paper: | pp. 520-529 | ||
HMI Design when Using Level 2 Automated Driving Function – Effects of System Status Presentation Considering the Risk of Malfunction on Driver Behavior – |
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Keisuke Suzuki, Joohyeong Lee, and Atsushi Kanbe |
Paper: | pp. 530-536 | ||
Safety Compensation for Improving Driver Takeover Performance in Conditionally Automated Driving |
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Hua Yao, Suyang An, Huiping Zhou, and Makoto Itoh |
Paper: | pp. 537-547 | ||
Moving Horizon Estimation with Probabilistic Data Association for Object Tracking Considering System Noise Constraint |
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Tomoya Kikuchi, Kenichiro Nonaka, and Kazuma Sekiguchi |
Paper: | pp. 548-560 | ||
Fast Euclidean Cluster Extraction Using GPUs |
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Anh Nguyen, Abraham Monrroy Cano, Masato Edahiro, and Shinpei Kato |
Paper: | pp. 561-570 | ||
Automated Steering Control System for Reverse Parking Maneuver of Semi-Trailer Vehicles Considering Motion Planning by Simulation of Feedback Control System |
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Yutaka Hamaguchi and Pongsathorn Raksincharoensak |
Paper: | pp. 571-579 | ||
Tracking Control of a Micro Ground Vehicle Using the Course Coordinate |
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Masanori Harada and Yuki Ueyama |
Paper: | pp. 580-587 | ||
Autonomous Motion Planning in Pedestrian Space Considering Passenger Comfort |
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Hiroshi Yoshitake, Kenta Nishi, and Motoki Shino |
Paper: | pp. 588-597 | ||
Path Planning Design for Boarding-Type Personal Mobility Unit Passing Pedestrians Based on Pedestrian Behavior |
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Hidehisa Yoshida, Kohei Yoshida, and Toyoyuki Honjo |
Paper: | pp. 598-604 | ||
Safety Evaluation of Green Light Optimal Speed Advisory (GLOSA) System in Real-World Signalized Intersection |
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Hironori Suzuki and Yoshitaka Marumo |
Paper: | pp. 605-612 | ||
Effects of Demographic Characteristics on Trust in Driving Automation |
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Jieun Lee, Genya Abe, Kenji Sato, and Makoto Itoh |
Development Report: | pp. 613-623 | ||
Lane-Marker-Based Map Construction and Map Precision Evaluation Methods Using On-Board Cameras for Autonomous Driving |
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Kenta Maeda, Junya Takahashi, and Pongsathorn Raksincharoensak |
Development Report: | pp. 624-633 | ||
Mono-Camera-Based Robust Self-Localization Using LIDAR Intensity Map |
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Kei Sato, Keisuke Yoneda, Ryo Yanase, and Naoki Suganuma |
Letter: | pp. 634-637 | ||
ACDR: Autonomous-Car Drive Recorder |
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Zhi Wang, Daishi Watabe, Hideyasu Sai, Yukimichi Saito, and Masayoshi Wada |
Special Issue on Activity of Research Center – Hiroshima University: KOBELCO Construction Machinery Dream-Driven Co-Creation Research Center
Institute Overview: | pp. 640-642 | ||
Hiroshima University: KOBELCO Construction Machinery Dream-Driven Co-Creation Research Center |
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Toru Yamamoto and Kiyokazu Tanaka |
Paper: | pp. 643-651 | ||
Application of a MIMO-PID Controller for a Hydraulic Excavator Considering the Velocity of CoM |
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Masatoshi Kozui, Toru Yamamoto, Masaki Akiyama, Kazushige Koiwai, and Yoichiro Yamazaki |
Paper: | pp. 652-661 | ||
Design of a Database-Driven Kansei Feedback Control System Using a Hydraulic Excavators Simulator |
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Takuya Kinoshita, Hiroaki Ikeda, Toru Yamamoto, Maro G. Machizawa, Kiyokazu Tanaka, and Yoichiro Yamazaki |
Development Report: | pp. 662-671 | ||
Design and Practice of a Model-Based Development Education in Hydraulic Systems |
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Mikiya Sako, Shin Wakitani, Masatoshi Kozui, Toru Yamamoto, Koji Yamashita, Kazushige Koiwai, and Yoichiro Yamazaki |
Regular Papers
Paper: | pp. 673-682 | ||
Development of a Rehabilitation and Training Device Considering the Ankle Degree of Freedom |
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Asaki Akagi, Satoki Tsuichihara, Shinichi Kosugi, and Hiroshi Takemura |
Paper: | pp. 683-691 | ||
Long Range Six Degree-of-Freedom Magnetic Levitation Using Low Cost Sensing and Control |
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Peter Berkelman and Yu-Sheng Lu |
Paper: | pp. 692-700 | ||
Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot |
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Kento Yokouchi, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Takuya Yamaguchi, and Akio Gofuku |
No.2
(Apr)
Special Issue on MEMS for Robotics and Mechatronics
Special Issue on MEMS for Robotics and Mechatronics
Editorial: | pp. 279-280 | |
MEMS for Robotics and Mechatronics |
| |
Masayoshi Esashi, Shuji Tanaka, Seiji Aoyagi, Takashi Mineta, Koichi Suzumori, Tetsuji Dohi, and Norihisa Miki | ||
MEMS (Micro Electro Mechanical Systems) is a technology that is used to incorporate sensors, actuators, microstructures, and circuits on chips by using a combination of various technologies with semiconductor process. MEMS are also used in robotics and mechatronics since they can provide compact, low-cost functional components that play crucial roles in their respective systems. We would like to elaborate on the history of MEMS technology, whose initial development started around 1970. In 1960s, Dr. Isemi Igarashi of Toyota Central R&D Labs., Inc. in Japan developed a semiconductor pressure sensor of piezo-resistance type. In 1980s, the pressure sensors were used to control automobile engines to clear exhaust gas regulations and thus contributed to solving environmental issues. In 1990s, semiconductor acceleration sensors were used for passive safety technologies to detect collision of automobiles and activate air bags, which resulted in decrease in traffic fatalities. In 2000s, an active safety system with gyro sensors was developed to detect and control spinning of a vehicle. In future, space recognition sensors with optical scanners to measure light propagation time and detect distance to an object will be used for autonomous driving. For smartphones, a microphone, an acceleration sensor, and a gyro sensor are used in user interface, and a film bulk acoustic wave resonator (FBAR) is used in a wireless communication filter. For projectors, the built-in circuit of a mirror array system is used to move mirrors placed in an array. After the development of projectors, films have not been used in movie theaters. MEMS are also widely used in medical and biological fields, such as blood pressure measurement. Esashi began research on a semiconductor ion sensor ISFET (ion sensitive field effect transistor) in 1971. ISFET detects ion concentration in electrolyte by exposing the insulating film of an insulated gate transistor to the liquid. He set up a prototyping facility when he was a graduate student and wrote only one paper on this research, although the prototyping facility was used afterwards. The ion sensor was certified under the Pharmaceutical Affairs Law after a 12-year application process and was used as catheter-type pH sensor to diagnose reflux esophagitis. MEMS are widely used for minimally invasive medical treatment, which causes minimum damage to human body. Moreover, MEMS are used as disposable sensors to prevent infection or as implanted devices. In addition, MEMS are used for production inspection and scientific instrument, including scanning probe microscopes (SPMs), which observe atoms using extremely small nano-probes, and probe cards that simultaneously test several integrated circuits on a wafer using aligned probes. When he was an associate professor, Esashi improved the prototyping facility that he made when he was a student and made a large scale integrated circuit (LSI). After he became a professor, he accepted researchers from more than 130 companies and developed MEMS using the prototyping facility to develop a product through the academia-industry collaboration. He realized integrated MEMS by combining LSI and MEMS. This includes a system of many tactile sensors attached on the body surface of a safe robot for real-time detection of contact through packet communication. After he retired from the university, he developed a “prototype coin laundry,” which enables companies to do develop without having their own prototyping facility. The prototype coin laundry is a system where engineers can use the prototyping facility to develop devices, and the system has been managed by successors. Unlike integrated circuits for which standardization is easy, standardization of MEMS is challenging because of difficulty in development. It is necessary to access various knowledge for the development of MEMS, and he has made efforts to provide the knowledge. Finally, we would like to thank authors who submitted papers to this Special Issue on MEMS for Robotics and Mechatronics as well as those who were involved in editing and reviewing the papers. We sincerely hope for further development in this field of research. |
Review: | pp. 281-288 | ||
Application of Micro-Electro-Mechanical Systems (MEMS) as Sensors: A Review |
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Ahmad Athif Mohd Faudzi, Yaser Sabzehmeidani, and Koichi Suzumori |
Paper: | pp. 289-296 | ||
PDMS Soft Skin Device with Deformable Micro-Diaphragm Array Fabricated with Rapid Substrate-Releasing Process |
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Hideyuki Mitsui, Hiroshi Kashiwazaki, and Takashi Mineta |
Paper: | pp. 297-304 | ||
Tactile Sensor with High-Density Microcantilever and Multiple PDMS Bumps for Contact Detection |
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Tomoya Fujihashi, Fumitoshi Suga, Ryoma Araki, Jyun Kido, Takashi Abe, and Masayuki Sohgawa |
Paper: | pp. 305-314 | ||
A MEMS Tactile Sensor with Fingerprint-Like Array of Contactors for High Resolution Visualization of Surface Distribution of Tactile Information |
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Kazuki Watatani, Kyohei Terao, Fusao Shimokawa, and Hidekuni Takao |
Paper: | pp. 315-322 | ||
Development of MEMS Tactile Sensation Device for Haptic Robot |
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Junji Sone, Yasuyoshi Matsumoto, Yoji Yasuda, Shoichi Hasegawa, and Katsumi Yamada |
Paper: | pp. 323-332 | ||
Development of a Real-Time Force and Temperature Sensing System with MEMS-LSI Integrated Tactile Sensors for Next-Generation Robots |
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Masanori Muroyama, Hideki Hirano, Chenzhong Shao, and Shuji Tanaka |
Paper: | pp. 333-343 | ||
Fabrication, Experiment, and Simulation of a Flexible Microvalve-Integrated Microarm for Microgrippers Using Electrorheological Fluid |
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Joon-Wan Kim, Kazuhiro Yoshida, Toru Ide, and Shinichi Yokota |
Paper: | pp. 344-350 | ||
High-Speed and Large-Amplitude Resonant Varifocal Mirror |
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Takashi Sasaki, Takuro Kamada, and Kazuhiro Hane |
Paper: | pp. 351-361 | ||
Development of Artificial Skin Using Keratin Film for Evaluation of Puncture Performance of Microneedle |
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Ryo Nishino, Seiji Aoyagi, Masato Suzuki, Atsushi Ueda, Yuki Okumura, Tomokazu Takahashi, Ryota Hosomi, Kenji Fukunaga, Daisuke Uta, Tomonori Takazawa, and Toshihiro Fujii |
Paper: | pp. 362-370 | ||
Effect of Inner Diameter and Anticoagulation Coating in a Microneedle on its Blood Suction Performance |
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Seiji Aoyagi, Ryosuke Nomura, Tomokazu Takahashi, and Masato Suzuki |
Paper: | pp. 371-381 | ||
Effect of Microneedle Cross-Sectional Shape on Puncture Resistance – Investigation of Polygonal and Star-Shaped Cross Sections – |
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Seiji Aoyagi, Kento Okuda, Tomokazu Takahashi, and Masato Suzuki |
Paper: | pp. 382-389 | ||
Development of Microneedle Puncture Device that Prevents Buckling of Needle by Delivery Operation |
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Masato Suzuki, Fuuta Motooka, Tomokazu Takahashi, and Seiji Aoyagi |
Paper: | pp. 390-400 | ||
Fabrication of Microneedle from Stretched Biodegradable Polymer Sheet by 3D Laser Machining |
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Seiji Aoyagi, Junya Sato, Tomokazu Takahashi, Masato Suzuki, and Shinichi Matsumoto |
Paper: | pp. 401-407 | ||
Fabrication and Characterization of a Biodegradable Hollow Microneedle from Chitosan |
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Masato Suzuki, Tomokazu Takahashi, and Seiji Aoyagi |
Regular Papers
Paper: | pp. 409-421 | ||
Generating a Visual Map of the Crane Workspace Using Top-View Cameras for Assisting Operation |
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Yu Wang, Hiromasa Suzuki, Yutaka Ohtake, Takayuki Kosaka, and Shinji Noguchi |
Paper: | pp. 422-436 | ||
Network Connectivity Control of Mobile Robots by Fast Position Estimations and Laplacian Kernel |
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Yusuke Ikemoto, Kenichiro Nishimura, Yuichiro Mizutama, Tohru Sasaki, and Mitsuru Jindai |
Paper: | pp. 437-444 | ||
Cutting Point Detection Using a Robot with Point Clouds for Tomato Harvesting |
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Takeshi Yoshida, Takanori Fukao, and Takaomi Hasegawa |
Paper: | pp. 445-458 | ||
Human Mimetic Forearm and Hand Design with a Radioulnar Joint and Flexible Machined Spring Finger for Human Skillful Motions |
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Kento Kawaharazuka, Shogo Makino, Masaya Kawamura, Shinsuke Nakashima, Yuki Asano, Kei Okada, and Masayuki Inaba |
Development Report: | pp. 459-468 | ||
System Integration for Component-Based Manzai Robots with Improved Scalability |
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Tomohiro Umetani, Satoshi Aoki, Tatsuya Kitamura, and Akiyo Nadamoto |
No.1
(Feb)
Congratulations! JRM Best Paper Award 2019
Special Issue on Human-Robot Interaction in Close Distance
Special Issue on Wearable Robotics and Mechatronics Technology
Special Issue on Activity of Research Center – Tokyo Metropolitan University: Community-centric System Research Center
Congratulations! JRM Best Paper Award 2019
Award: | pp. 1-2 | |
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2019 |
| |
Editorial Office |
Special Issue on Human-Robot Interaction in Close Distance
Editorial: | p. 7 | |
Human-Robot Interaction in Close Distance |
| |
Masahiro Shiomi, Hidenobu Sumioka, and Hiroshi Ishiguro | ||
As social robot research is advancing, the interaction distance between people and robots is decreasing. Indeed, although we were once required to maintain a certain physical distance from traditional industrial robots for safety, we can now interact with social robots in such a close distance that we can touch them. The physical existence of social robots will be essential to realize natural and acceptable interactions with people in daily environments. Because social robots function in our daily environments, we must design scenarios where robots interact closely with humans by considering various viewpoints. Interactions that involve touching robots influence the changes in the behavior of a person strongly. Therefore, robotics researchers and developers need to design such scenarios carefully. Based on these considerations, this special issue focuses on close human-robot interactions. This special issue on “Human-Robot Interaction in Close Distance” includes a review paper and 11 other interesting papers covering various topics such as social touch interactions, non-verbal behavior design for touch interactions, child-robot interactions including physical contact, conversations with physical interactions, motion copying systems, and mobile human-robot interactions. We thank all the authors and reviewers of the papers and hope this special issue will help readers better understand human-robot interaction in close distance. |
Paper: | pp. 8-20 | ||
Walking Hand-in-Hand Helps Relationship Building Between Child and Robot |
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Chie Hieida, Kasumi Abe, Takayuki Nagai, and Takashi Omori |
Paper: | pp. 21-31 | ||
Estimating Children’s Personalities Through Their Interaction Activities with a Tele-Operated Robot |
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Kasumi Abe, Takayuki Nagai, Chie Hieida, Takashi Omori, and Masahiro Shiomi |
Paper: | pp. 32-42 | ||
Anxiety Reduction Through Close Communication with Robotic Media in Dementia Patients and Healthy Older Adults |
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Ryuji Yamazaki, Hiroko Kase, Shuichi Nishio, and Hiroshi Ishiguro |
Paper: | pp. 43-50 | ||
Effects of Robot’s Awareness and its Subtle Reactions Toward People’s Perceived Feelings in Touch Interaction |
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Masahiro Shiomi, Takashi Minato, and Hiroshi Ishiguro |
Paper: | pp. 51-58 | ||
How Can Robots Make People Feel Intimacy Through Touch? |
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Xiqian Zheng, Masahiro Shiomi, Takashi Minato, and Hiroshi Ishiguro |
Paper: | pp. 59-67 | ||
Autonomous Mobile Robot Moving Through Static Crowd: Arm with One-DoF and Hand with Involute Shape to Maneuver Human Position |
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Noriaki Imaoka, Kazuma Kitazawa, Mitsuhiro Kamezaki, Shigeki Sugano, and Takeshi Ando |
Paper: | pp. 68-75 | ||
Gaze-Height and Speech-Timing Effects on Feeling Robot-Initiated Touches |
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Masahiro Shiomi, Takahiro Hirano, Mitsuhiko Kimoto, Takamasa Iio, and Katsunori Shimohara |
Paper: | pp. 76-85 | ||
Multi-Modal Interaction Through Anthropomorphically Designed Communication Medium to Enhance the Self-Disclosures of Personal Information |
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Nobuhiro Jinnai, Hidenobu Sumioka, Takashi Minato, and Hiroshi Ishiguro |
Paper: | pp. 86-96 | ||
Effect of Robot’s Play-Biting in Non-Verbal Communication |
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Kayako Nakagawa, Reo Matsumura, and Masahiro Shiomi |
Paper: | pp. 97-112 | ||
Previous Announcement Method Using 3D CG Face Interface for Mobile Robot |
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Masahiko Mikawa, Jiayi Lyu, Makoto Fujisawa, Wasuke Hiiragi, and Toyoyuki Ishibashi |
Paper: | pp. 113-127 | ||
Selection of Required Controller for Position- and Force-Based Task in Motion Copying System |
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Toshiaki Okano, Roberto Oboe, Kouhei Ohnishi, and Toshiyuki Murakami |
Review: | pp. 128-135 | ||
Survey of Social Touch Interaction Between Humans and Robots |
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Masahiro Shiomi, Hidenobu Sumioka, and Hiroshi Ishiguro |
Special Issue on Wearable Robotics and Mechatronics Technology
Editorial: | p. 137 | |
Wearable Robotics and Mechatronics Technology |
| |
Takayuki Tanaka, Yuichi Kurita, Keisuke Shima, and Norihisa Miki | ||
Many wearable devices have been developed and are being currently used, owing to the miniaturization of computers and electronic devices and advancements in calculation processing algorithms. They have various uses and forms, for example, a power assist robot for reducing the burden of work, a wearable sensor for measuring the level of activity and health condition of people and animals, and so on. In Japan, wearable devices have attracted attention as an important technology in a human-centered society (Society 5.0) and can help realize economic development and address social problems. A society that can benefit from a wide range of wearable devices is being realized. This special issue covers robotics and mechatronics technologies for next generation wearable devices to realize such a society, including wearable systems and their elemental technology, AI, IoT, and other relative technologies. We sincerely thank the authors for their fine contributions and the reviewers for their generous time and effort. We would also like to thank the Editorial Board of the Journal of Robotics and Mechatronics for their help with this special issue. |
Paper: | pp. 138-148 | ||
TasKi: Overhead Work Assistance Device with Passive Gravity Compensation Mechanism |
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Yasuyuki Yamada, Hirokazu Arakawa, Taro Watanabe, Shunya Fukuyama, Rie Nishihama, Isao Kikutani, and Taro Nakamura |
Paper: | pp. 149-156 | ||
A Water-Hydraulic Upper-Limb Assistive Exoskeleton System with Displacement Estimation |
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Takahiro Kosaki and Shigang Li |
Paper: | pp. 157-172 | ||
Development and Evaluation of a Close-Fitting Assistive Suit for Back and Arm Muscle – e.z.UP®– |
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Yun-Ting Liao, Toshifumi Ishioka, Kazuko Mishima, Chiaki Kanda, Kenji Kodama, and Eiichiro Tanaka |
Paper: | pp. 173-182 | ||
Wearable Robot Arm with Consideration of Weight Reduction and Practicality |
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Akimichi Kojima, Hirotake Yamazoe, and Joo-Ho Lee |
Paper: | pp. 183-198 | ||
Motion-Assist Arm with a Passive Joint for an Upper Limb |
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Hiroaki Kozuka, Daisaku Uchijima, and Hiroshi Tachiya |
Paper: | pp. 199-208 | ||
Development of Two-Sensation Feedback Device for Myoelectric Prosthetic Hand Users – Compensation of Effect of Temperature Change on Haptic Feedback – |
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Makuru Isobe and Chiharu Ishii |
Paper: | pp. 209-219 | ||
Development of Assist Suit for Squat Lifting Support Considering Gait and Quantitative Evaluation by Three-Dimensional Motion Analysis |
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Masashi Kashima, Hirokazu Arakawa, Seigo Kimura, Rie Nishihama, Kazuya Yokoyama, Isao Kikutani, and Taro Nakamura |
Special Issue on Activity of Research Center – Tokyo Metropolitan University: Community-centric System Research Center
Institute Overview: | pp. 222-223 | ||
Tokyo Metropolitan University: Community-centric System Research Center |
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Toru Yamaguchi and Eri Sato-Shimokawara |
Paper: | pp. 224-235 | ||
Investigation of Robot Expression Style in Human-Robot Interaction |
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Wei-Fen Hsieh, Eri Sato-Shimokawara, and Toru Yamaguchi |
Paper: | pp. 236-243 | ||
Interactive Information Support by Robot Partners Based on Informationally Structured Space |
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Shion Yamamoto, Jinseok Woo, Wei Hong Chin, Keiichi Matsumura, and Naoyuki Kubota |
Regular Papers
Paper: | pp. 245-253 | ||
Semi-Automatic Dataset Generation for Object Detection and Recognition and its Evaluation on Domestic Service Robots |
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Yutaro Ishida and Hakaru Tamukoh |
Paper: | pp. 254-263 | ||
Mobile Robot Utilizing Arm Rotations – Performance of Mobile Robot Under a Gravity Environment – |
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Ryota Hayashi, Yasuyuki Setoyama, Tetsuya Kinugasa, and Koji Yoshida |
Vol.31 (2019)
No.6
(Dec)
Special Issue on Infrastructure Maintenance and Inspection Robotics
Special Issue on Infrastructure Maintenance and Inspection Robotics
Editorial: | p. 743 | |
Infrastructure Maintenance and Inspection Robotics |
| |
Koichi Osuka and Shin’ichi Yuta | ||
It is a well-known fact that Japan saw an annual average economic growth rate of over 10% from around 1955 to around 1973, its so-called “high-economic-growth period.” Japan’s rate was two to four times higher than that of Europe or the United States. During this period, Japan’s infrastructure (roads, bridges, tunnels, etc.) was rapidly developed nationwide, bringing Japan’s national average road pavement ratio in 2017 to over 80%, one of the highest rates in the world. Such rapid infrastructure development has made all of Japan a comfortable place to live. However, as Japan’s infrastructure is now becoming increasingly deteriorated, the structures nationwide must be inspected for soundness and should be repaired or rebuilt if any defects are found. As these structures are highly developed, the number of structures to be inspected becomes so numerous that the human-based inspection cannot keep up. This situation has led to growing calls for artifact inspection systems that carry out inspection work more efficiently, and the Cross-ministerial Strategic Innovation Promotion Program (SIP) was established, one of which is “Infrastructure Maintenance, Renovation and Management,” with Yozo Fujino as Program Director (SIP Infrastructure), having been implemented for five years since fiscal year 2014. This Special Issue on Infrastructure Maintenance and Inspection Robotics has collected papers that propose a broad range of infrastructure maintenance/renovation/management technologies, especially those developed by SIP Infrastructure, in order to contribute to the further development of the field of infrastructure maintenance and inspection technologies. |
Review: | pp. 744-751 | ||
Research and Development on Robotic Technologies for Infrastructure Maintenance |
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Keiji Nagatani and Yozo Fujino |
Paper: | pp. 752-761 | ||
Shape Adaptation of the Inspection Guide Frame in Tunnels to Avoid Obstacles Detected by a Laser Range Finder |
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Fumihiro Inoue, Soonsu Kwon, Satoru Nakamura, and Yoshitaka Yanagihara |
Paper: | pp. 762-771 | ||
Inspection Test of a Tunnel with an Inspection Vehicle for Tunnel Lining Concrete |
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Satoru Nakamura, Atsushi Yamashita, Fumihiro Inoue, Daisuke Inoue, Yusuke Takahashi, Nobukazu Kamimura, and Takao Ueno |
Paper: | pp. 772-780 | ||
Shadow-Based Operation Assistant for a Pipeline-Inspection Robot Using a Variance Value of the Image Histogram |
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Atsushi Kakogawa, Yuki Komurasaki, and Shugen Ma |
Paper: | pp. 781-793 | ||
Development of a Peristaltic-Movement Duct-Cleaning Robot for Application to Actual Environment – Examination of Brush Type and Installation Method to Improve Cleaning Efficiency – |
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Fumio Ito, Takahiko Kawaguchi, Yasuyuki Yamada, and Taro Nakamura |
Paper: | pp. 794-802 | ||
Verification and Evaluation of Robotic Inspection of the Inside of Culvert Pipes |
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Hiroyasu Miura, Ayaka Watanabe, Masayuki Okugawa, and Takahiko Miura |
Paper: | pp. 803-815 | ||
Development of Lifting System for High-Elevation Inspection Robot Targeting Hanger Ropes |
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Yoshinori Fujihira, Naohiko Hanajima, Kentarou Kurashige, Hidekazu Kajiwara, and Masato Mizukami |
Paper: | pp. 816-826 | ||
Development of Concrete Inspection Robot with Dual Stage Suckers |
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Yuta Matsumoto, Isao Kurashige, and Kan Yoneda |
Paper: | pp. 827-836 | ||
Reliable Activation of an EPM-Based Clinging Device for Aerial Inspection Robots |
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Arata Masuda, Akihiro Tanaka, Yoshiyuki Higashi, and Nanako Miura |
Paper: | pp. 837-844 | ||
Development of a Bridge Inspection Support Robot System Using Two-Wheeled Multicopters |
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Manabu Nakao, Eiji Hasegawa, Taku Kudo, and Naoyuki Sawasaki |
Paper: | pp. 845-854 | ||
Autonomous Adaptive Flight Control of a UAV for Practical Bridge Inspection Using Multiple-Camera Image Coupling Method |
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Kenta Hidaka, Daiki Fujimoto, and Kazuya Sato |
Development Report: | pp. 855-862 | ||
Development of Hanger-Rope Inspection Robot for Suspension Bridges |
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Hidekazu Kajiwara, Naohiko Hanajima, Kentarou Kurashige, and Yoshinori Fujihira |
Development Report: | pp. 863-870 | ||
Visualization of Voids Between Tile and Concrete by Multi-Layered Scanning Method with Electromagnetic Waves |
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Takumi Honda, Takayuki Tanaka, Satoru Doi, Shigeru Uchida, and Maria Q. Feng |
Regular Papers
Paper: | pp. 871-881 | ||
Analysis of Fast Bipedal Walking Using Mechanism of Actively Controlled Wobbling Mass |
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Yuta Hanazawa, Terumitsu Hayashi, Masaki Yamakita, and Fumihiko Asano |
Paper: | pp. 882-893 | ||
Development of a Spray-Coated Tactile Sensor – Prototype and Modeling of 2D Sensor on Cylindrical Surface – |
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Kouki Sato, Luis Canete, and Takayuki Takahashi |
Paper: | pp. 894-904 | ||
Three-DoF Flapping-Wing Robot with Variable-Amplitude Link Mechanism |
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Terukazu Sato, Akihiro Fujimura, and Naoyuki Takesue |
Paper: | pp. 905-912 | ||
Statistical Exploration of Distributed Pattern Formation Based on Minimalistic Approach |
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Yuichiro Sueoka, Takamasa Tahara, Masato Ishikawa, and Koichi Osuka |
Paper: | pp. 913-925 | ||
Development of Rover with ARLISS Requirements and the Examination of the Rate of Acceleration that Causes Damages During a Rocket Launch |
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Takuya Saito and Miho Akiyama |
Paper: | pp. 926-933 | ||
Development of Birefringence Confocal Laser Scanning Microscope and its Application to Sample Measurements |
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Shinya Ohkubo |
No.5
(Oct)
Regular papers
Regular Papers
Paper: | pp. 647-656 | ||
Step Response Characteristics of Anisotropic Gel Actuator Hybridized with Nanosheet Liquid Crystal |
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Hitoshi Kino, Akihiro Kiyota, Takumi Inadomi, Tomonori Kato, Hiroyuki Fujioka, and Nobuyoshi Miyamoto |
Paper: | pp. 657-670 | ||
Three-Dimensional Aerial Image Interface, 3DAII |
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Takafumi Matsumaru, Asyifa Imanda Septiana, and Kazuki Horiuchi |
Paper: | pp. 671-685 | ||
A Tandem Marker-Based Motion Capture Method for Dynamic Small Displacement Distribution Analysis |
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Zulhaj Aliansyah, Kohei Shimasaki, Mingjun Jiang, Takeshi Takaki, Idaku Ishii, Hua Yang, Chikako Umemoto, and Hiroshi Matsuda |
Paper: | pp. 686-696 | ||
Effect of Trunk Swinging Behaviors on Planar Bipedal Walking with an Upper Body on Gentle Slope |
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Toyoyuki Honjo and Hidehisa Yoshida |
Paper: | pp. 697-706 | ||
Gravity Compensation Modular Robot: Proposal and Prototyping |
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Yukio Morooka and Ikuo Mizuuchi |
Development Report: | pp. 707-714 | ||
Development of the Servo Valve with High Durability Using Split-Type Sleeve – Reduction of Wear with Ceramic Material – |
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Koki Sakakibara, Shunya Suzuki, Kazushi Shibata, Yuto Sawada, Satoshi Ashizawa, and Takeo Oomichi |
Letter: | pp. 715-718 | ||
Development of Respiration Measuring Robot |
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Junji Satake, Tsukasa Ushijima, and Yusuke Kudo |
Latest Research Topics
News: | pp. 720-722 | ||
Zombification of Insects as a Model for Searching the Source of Various Behaviors of Living Organisms |
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Koichi Osuka |
News: | pp. 723-726 | ||
Centipede Type Robot i-CentiPot: From Machine to Creatures |
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Koichi Osuka, Tetsuya Kinugasa, Ryota Hayashi, Koji Yoshida, Dai Owaki, and Akio Ishiguro |
No.4
(Aug)
Special Issue on Machine Learning for Robotics and Swarm Systems
Special Issue on Machine Learning for Robotics and Swarm Systems
Editorial: | p. 519 | |
Machine Learning for Robotics and Swarm Systems |
| |
Masahito Yamamoto, Takashi Kawakami, and Keitaro Naruse | ||
In recent years, machine-learning applications have been rapidly expanding in the fields of robotics and swarm systems, including multi-agent systems. Swarm systems were developed in the field of robotics as a kind of distributed autonomous robotic systems, imbibing the concepts of the emergent methodology for extremely redundant systems. They typically consist of homogeneous autonomous robots, which resemble living animals that build swarms. Machine-learning techniques such as deep learning have played a remarkable role in controlling robotic behaviors in the real world or multi-agents in the simulation environment. In this special issue, we highlight five interesting papers that cover topics ranging from the analysis of the relationship between the congestion among autonomous robots and the task performances, to the decision making process among multiple autonomous agents. We thank the authors and reviewers of the papers and hope that this special issue encourages readers to explore recent topics and future studies in machine-learning applications for robotics and swarm systems. |
Paper: | pp. 520-525 | ||
Sharing Experience for Behavior Generation of Real Swarm Robot Systems Using Deep Reinforcement Learning |
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Toshiyuki Yasuda and Kazuhiro Ohkura |
Paper: | pp. 526-534 | ||
Effects of Congestion on Swarm Performance and Autonomous Specialization in Robotic Swarms |
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Motoaki Hiraga and Kazuhiro Ohkura |
Paper: | pp. 535-545 | ||
Dynamic Partitioning Strategies for Multi-Robot Patrolling Systems |
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Satoshi Hoshino and Kazuki Takahashi |
Paper: | pp. 546-557 | ||
Centralized Business-to-Business Networks in the Japanese Textile and Apparel Industry: Using Network Analysis and an Agent-Based Model |
|
||
Yusaku Ogai, Yoshiyuki Matsumura, Yusuke Hoshino, Toshiyuki Yasuda, and Kazuhiro Ohkura |
Paper: | pp. 558-565 | ||
Agreement Algorithm Based on a Trial and Error Method for the Best of Proportions Problem |
|
||
Nhuhai Phung, Masao Kubo, and Hiroshi Sato |
Regular Papers
Paper: | pp. 567-582 | ||
Omnidirectional Mobility Following Through Trochoidal Trajectory |
|
||
Taro Maeda and Hideyuki Ando |
Paper: | pp. 583-593 | ||
Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire |
|
||
Hitoshi Kino, Naofumi Mori, Shota Moribe, Kazuyuki Tsuda, and Kenji Tahara |
Paper: | pp. 594-602 | ||
Development of the Biological Information Measurement System for STEM Education and High School/University Articulation |
|
||
Takeshi Shimoto, Chika Miyamoto, and Takatoshi Umeno |
Paper: | pp. 603-611 | ||
Underwater Structure from Motion for Cameras Under Refractive Surfaces |
|
||
Xiaorui Qiao, Atsushi Yamashita, and Hajime Asama |
Paper: | pp. 612-620 | ||
Set-Point Control of a Musculoskeletal System Under Gravity by a Combination of Feed-Forward and Feedback Manners Considering Output Limitation of Muscular Forces |
|
||
Yuki Matsutani, Kenji Tahara, and Hitoshi Kino |
Paper: | pp. 621-628 | ||
High-Frequency Vibration of Leg Masses for Improving Gait Stability of Compass Walking on Slippery Downhill |
|
||
Longchuan Li, Fumihiko Asano, and Isao Tokuda |
Paper: | pp. 629-638 | ||
Mood Perception Model for Social Robot Based on Facial and Bodily Expression Using a Hidden Markov Model |
|
||
Jiraphan Inthiam, Abbe Mowshowitz, and Eiji Hayashi |
No.3
(Jun)
Review on Introduction to Simultaneous Localization and Mapping
Special Issue on Education Based on Practical Exercise on Sensing and Control
Review on Introduction to Simultaneous Localization and Mapping
Review: | pp. 367-374 | ||
Introduction to Simultaneous Localization and Mapping |
|
||
Takashi Tsubouchi |
Special Issue on Education Based on Practical Exercise on Sensing and Control
Editorial: | p. 375 | |
Education Based on Practical Exercise on Sensing and Control |
| |
Shoichiro Fujisawa, Kazuo Kawada, and Yoshihiro Ohnishi | ||
Control engineering and sensing engineering improve productivity and save resources and energy in industry, and they are also deeply related to the solving greater societal, economic, and environmental problems. Control engineering and sensing engineering have become dynamic forces that enrich various phases of life through interdisciplinary or cross-sectional study. Furthermore, in recent years, due to the development of information technology, as symbolized by terms such as “big data” or “AI,” “sensing and control at a higher level” has become possible, premised by big data processing that is faster by orders of magnitude than conventional data processing. All this has increased the importance of control engineering and sensing engineering. In response to the development of the fields of control engineering and sensing engineering associated with the advance of the “information society,” education in these fields has also needed to be enhanced. On the national scale, the Ministry of Education, Culture, Sports, Science and Technology will introduce Japanese elementary school computational thinking education into elementary school in fiscal year 2020, and the new Courses of Study for High School Information Education in fiscal year 2022. At the same time, individual companies, educational institutions, etc. have also been experimenting with various forms of education in control engineering and sensing engineering. During these changing times, the most advanced studies related to the development of instruction and evaluation methods for educational materials on control engineering, sensing engineering, and control technology have been collected, and the present special issue was planned. This special issue is a collection of practical papers related to measurement and control education, including one paper on Model-Based Development education in a company and eight papers on education in an educational institution. These eight papers include two on education using a robot contest in a university, one on introducing measurement and control engineering education in a national institute of technology college, three on introducing it in a junior high school, and two on introducing it in an elementary school. We hope that this special issue serves to support the readers’ future efforts in control engineering and sensing engineering education, and we thank the authors and reviewers of the papers. |
Paper: | pp. 376-382 | ||
Design of an Educational Hardware in the Loop Simulator for Model-Based Development Education |
|
||
Shin Wakitani and Toru Yamamoto |
Paper: | pp. 383-390 | ||
Educational Effect of Participation in Robot Competition on Experience-Based Learning |
|
||
Yoshio Kaji, Junji Kawata, and Shoichiro Fujisawa |
Paper: | pp. 391-404 | ||
The Educational Effects of Practical Manufacturing Activities in Graduation Research |
|
||
Junji Kawata, Jiro Morimoto, Mineo Higuchi, and Shoichiro Fujisawa |
Paper: | pp. 405-411 | ||
Motivation System for Students to Learn Control Engineering and Image Processing |
|
||
Sam Ann Rahok, Hirohisa Oneda, Shigeji Osawa, and Koichi Ozaki |
Paper: | pp. 412-418 | ||
Teaching Material Imitating the Advanced Driver-Assistance System for Measurement and Control Education |
|
||
Takatoshi Umeno and Takeshi Shimoto |
Paper: | pp. 419-426 | ||
Development of Basic Training for Teaching Measurement and Control to Junior High School Students |
|
||
Teruyuki Tamai, Yoshihiro Ohnishi, and Kazuo Kawada |
Paper: | pp. 427-433 | ||
Evaluation for Task Achievement of Robotics Programming Based on Image Information |
|
||
Yoshihiro Ohnishi, Shogo Takechi, Teruyuki Tamai, Shinnosuke Mori, and Kazuo Kawada |
Paper: | pp. 434-440 | ||
Implement a Program with Contents of Measurement and Control for Elementary School Science Classes |
|
||
Shinichi Imai, Youichirou Ueno, and Kazunori Kajihara |
Paper: | pp. 441-451 | ||
A Study on Developmentally Appropriate Programming Education Learning Materials for Lower-Elementary School Students |
|
||
Kazuo Kawada, Katsuya Okamoto, Teruyuki Tamai, and Yoshihiro Ohnishi |
Regular Papers
Paper: | pp. 453-463 | ||
Hierarchical Proximity Sensor for High-Speed and Intelligent Control of Robotic Hand |
|
||
Yuji Hirai, Takuya Mizukami, Yosuke Suzuki, Tokuo Tsuji, and Tetsuyou Watanabe |
Paper: | pp. 464-473 | ||
Path Planning in Outdoor Pedestrian Settings Using 2D Digital Maps |
|
||
Ahmed Farid and Takafumi Matsumaru |
Paper: | pp. 474-492 | ||
Cardboard Box Depalletizing Robot Using Two-Surface Suction and Elastic Joint Mechanisms: Mechanism Proposal and Verification |
|
||
Junya Tanaka and Akihito Ogawa |
Paper: | pp. 493-499 | ||
Trajectory Prediction with a Conditional Variational Autoencoder |
|
||
Thibault Barbié, Takaki Nishio, and Takeshi Nishida |
Development Report: | pp. 500-506 | ||
MACROTIS: Cubic Robot with Snap-Through-Buckling Mechanisms for Achieving High Freedom of Movement |
|
||
Kwanwai Mak, Koichi Osuka, Yasuhiro Sugimoto, and Teruyo Wada |
No.2
(Apr)
Special Issue on Probabilistic Robotics and SLAM
Special Issue on Probabilistic Robotics and SLAM
Editorial: | p. 179 | |
Probabilistic Robotics and SLAM |
| |
Keigo Watanabe, Shoichi Maeyama, Tetsuo Tomizawa, Ryuichi Ueda, and Masahiro Tomono | ||
Intelligent mobile robots need self-localization, map generation, and the ability to explore unknown environments autonomously. Probabilistic processing can be applied to overcome the problems of movement uncertainties and measurement errors. Probabilistic robotics and simultaneous localization and mapping (SLAM) technologies are therefore strongly related, and they have been the focus of many studies. As more and more practical applications are found for intelligent mobile robots, such as for autonomous driving and cleaning, the applicability of these techniques has been increasing. In this special issue, we provide a wide variety of very interesting papers ranging from studies and developments in applied SLAM technologies to fundamental theories for SLAM. There are five academic papers, one each on the following topics: first visit navigation, controls for following rescue clues, indoor localization using magnetic field maps, a new solution for self-localization using downhill simplex method, and object detection for long-term map management through image-based learning. In addition, in the next number, there will be a review paper by Tsukuba University’s Prof. Tsubouchi, who is famous for the Tsukuba Challenge and research related to mobile robotics. We editors hope this special issue will help readers to develop mobile robots and use SLAM technologies and probabilistic approaches to produce successful applications. |
Paper: | pp. 180-193 | ||
Navigation Based on Metric Route Information in Places Where the Mobile Robot Visits for the First Time |
|
||
Asahi Handa, Azumi Suzuki, Hisashi Date, Ryohsuke Mitsudome, Takashi Tsubouchi, and Akihisa Ohya |
Paper: | pp. 194-202 | ||
Robust Human Tracking of a Crawler Robot |
|
||
Yasuaki Orita and Takanori Fukao |
Paper: | pp. 203-211 | ||
Indoor Self-Localization Using Multiple Magnetic Sensors |
|
||
Isaku Nagai, Jun Sakai, and Keigo Watanabe |
Paper: | pp. 212-220 | ||
Self-Localization Estimation for Mobile Robot Based on Map-Matching Using Downhill Simplex Method |
|
||
Kazuya Okawa |
Paper: | pp. 221-230 | ||
Cross-Domain Change Object Detection Using Generative Adversarial Networks |
|
||
Takuma Sugimoto, Kanji Tanaka, and Kousuke Yamaguchi |
Regular Papers
Paper: | pp. 231-239 | ||
Development of a Cross-Platform Cockpit for Simulated and Tele-Operated Excavators |
|
||
Masaru Ito, Yusuke Funahara, Seiji Saiki, Yoichiro Yamazaki, and Yuichi Kurita |
Paper: | pp. 240-250 | ||
Consideration of Multi-Degree of Freedom Vibration on Large-Sized Gantry Type Linear Motor Slider |
|
||
Tetsuya Ojiro, Toshiyuki Tachibana, Hideki Honda, Hiroshi Hamamatsu, Kazuhiro Tsuruta, and Tsuyoshi Hanamoto |
Paper: | pp. 251-262 | ||
3D Measurement of Large Structure by Multiple Cameras and a Ring Laser |
|
||
Hiroshi Higuchi, Hiromitsu Fujii, Atsushi Taniguchi, Masahiro Watanabe, Atsushi Yamashita, and Hajime Asama |
Paper: | pp. 263-273 | ||
Deformation Control of a Manipulator Based on the Zener Model |
|
||
Taku Senoo, Kenichi Murakami, and Masatoshi Ishikawa |
Paper: | pp. 274-288 | ||
A Driving Simulation Study on Visual Cue Presented in the Peripheral Visual Field for Prompting Driver’s Attention |
|
||
Hiroshi Takahashi and Makoto Itoh |
Paper: | pp. 289-304 | ||
A Three-Fingered Hand with a Suction Gripping System for Warehouse Automation |
|
||
Shun Hasegawa, Kentaro Wada, Kei Okada, and Masayuki Inaba |
Paper: | pp. 305-316 | ||
Design Method of Spring Balance Mechanism Through Derivation of General Solution |
|
||
Kazuki Kaneda, Hirokazu Yamagata, and Toshio Morita |
Paper: | pp. 317-328 | ||
Synchronous Position Control of Robotics System for Infrastructure Inspection Moving on Rope Tether |
|
||
Makpal Sarieva, Lei Yao, Kei Sugawara, and Tadashi Egami |
Paper: | pp. 329-338 | ||
Using Uncertain DM-Chameleon Clustering Algorithm Based on Machine Learning to Predict Landslide Hazards |
|
||
Jian Hu, Haiwan Zhu, Yimin Mao, Canlong Zhang, Tian Liang, and Dinghui Mao |
Paper: | pp. 339-347 | ||
Uncertain Interval Data EFCM-ID Clustering Algorithm Based on Machine Learning |
|
||
Yimin Mao, Yinping Liu, Muhammad Asim Khan, Jiawei Wang, Dinghui Mao, and Jian Hu |
Development Report: | pp. 348-354 | ||
Development of a Multi-Master Communication Platform for Mobile Distributed Systems |
|
||
Kwanwai Mak, Koichi Osuka, and Teruyo Wada |
No.1
(Feb)
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2018
JRM 30th Anniversary
Special Issue on History, Trends, and Future of Practical Robotics and Mechatronics
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2018
Award: | p. 1 | |
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2018 |
| |
Editorial Office |
Congratulations to the Elected IEEE Presidents
Message: | p. 2 | |
Congratulations to the Elected IEEE Presidents |
| |
Editorial Office |
JRM 30th Anniversary
Message: | p. 5 | |
Celebrating 30 Years Anniversary of JRM Publication |
| |
Kazuo Yamafuji |
Message: | p. 6 | |
Looking Toward the Next Ten Years |
| |
Masanori Idesawa |
Message: | p. 7 | |
Celebrating the Publication of the 30th Anniversary Issue |
| |
Tatsuo Arai |
Message: | p. 8 | |
Congratulations on the 30th Anniversary of the JRM |
| |
Yoshihiro Takita |
Special Issue on History, Trends, and Future of Practical Robotics and Mechatronics
Review: | pp. 10-15 | ||
Development of SCARA Robots |
|
||
Kazuo Yamafuji |
Review: | pp. 16-26 | ||
Humanoid Robot Hand and its Applied Research |
|
||
Haruhisa Kawasaki and Tetsuya Mouri |
Review: | pp. 27-34 | ||
Development of Myoelectric Robotic/Prosthetic Hands with Cybernetic Control at the Biological Systems Engineering Laboratory, Hiroshima University |
|
||
Toshio Tsuji, Taro Shibanoki, Go Nakamura, and Akira Furui |
Review: | pp. 35-44 | ||
Research and Development of Rehabilitation Systems for the Upper Limbs “PLEMO” Series |
|
||
Junji Furusho and Naoyuki Takesue |
Review: | pp. 45-56 | ||
Dynamic Intelligent Systems Based on High-Speed Vision |
|
||
Taku Senoo, Yuji Yamakawa, Shouren Huang, Keisuke Koyama, Makoto Shimojo, Yoshihiro Watanabe, Leo Miyashita, Masahiro Hirano, Tomohiro Sueishi, and Masatoshi Ishikawa |
Review: | pp. 57-62 | ||
Recent Trends in the Research of Industrial Robots and Future Outlook |
|
||
Yukiyasu Domae |
Regular Papers
Paper: | pp. 63-69 | ||
Raw Material Composition Control Method for Cement Based on Semi-Tensor Product |
|
||
Ping Jiang, Hongliang Yu, Shi Li, and Xiaohong Wang |
Paper: | pp. 70-77 | ||
Research on Snoring Recognition Algorithms |
|
||
Yongping Dan, Yaming Song, Dongyun Wang, Fenghui Zhang, Wei Liu, and Xiaohui Lu |
Paper: | pp. 78-87 | ||
TAOYAKA-III: A Six-Legged Robot Capable of Climbing Various Columnar Objects |
|
||
Kazuyuki Ito, Ryushi Aoyagi, and Yoshihiro Homma |
Paper: | pp. 88-94 | ||
Three-States-Transition Method for Fall Detection Algorithm Using Depth Image |
|
||
Xiangbo Kong, Zelin Meng, Lin Meng, and Hiroyuki Tomiyama |
Paper: | pp. 95-103 | ||
Sliding Mode Control for Vibration Comfort Improvement of a 7-DOF Nonlinear Active Vehicle Suspension Model |
|
||
Zhiyong Yang, Shan Liang, Yu Zhou, and Di Zhao |
Paper: | pp. 104-109 | ||
Operator-Based Robust Nonlinear Control Analysis and Design for a Bio-Inspired Robot Arm with Measurement Uncertainties |
|
||
Aihui Wang, Zhengxiang Ma, and Jianmin Luo |
Paper: | pp. 110-117 | ||
Experimental Analysis of Acoustic Field Control-Based Robot Navigation |
|
||
Yusuke Tsunoda, Yuichiro Sueoka, and Koichi Osuka |
Paper: | pp. 118-134 | ||
Three-Fingered Robot Hand with Gripping Force Generating Mechanism Using Small Gas Springs – Mechanical Design and Basic Experiments – |
|
||
Junya Tanaka |
Paper: | pp. 135-142 | ||
One-DOF Wire-Driven Robot Assisting Both Hip and Knee Flexion Motion |
|
||
Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, and Shigeki Sugano |
Paper: | pp. 143-155 | ||
Choice of Muscular Forces for Motion Control of a Robot Arm with Biarticular Muscles |
|
||
Tetsuya Morizono, Kenji Tahara, and Hitoshi Kino |
Paper: | pp. 156-165 | ||
Design of a Flexibly-Constrained Revolute Pair with Non-Linear Stiffness for Safe Robot Mechanisms |
|
||
Naoto Kimura, Nobuyuki Iwatsuki, and Ikuma Ikeda |
Vol.30 (2018)
No.6
(Dec)
Special Issue on Integrated Knowledge on Innovative Robot Mechanisms
Special Issue on Integrated Knowledge on Innovative Robot Mechanisms
Editorial: | p. 845 | |
Integrated Knowledge on Innovative Robot Mechanisms |
| |
Naoyuki Takesue, Koichi Koganezawa, and Kenjiro Tadakuma | ||
A robot is a system integrated with many elements such as actuators, sensors, computers, and mechanical components. Currently, progress in the field of artificial intelligence induced by tremendous improvements in computer processing capabilities has enabled robots to behave in a more sophisticated manner, which is drawing considerable attention. On the other hand, the mechanism that directly produces robot movements and mechanical work sometimes brings out some competencies that cannot be provided solely by computer control that relies on sensor feedback. This special issue on “Integrated Knowledge on Innovative Robot Mechanisms” aims to introduce a knowledge system for robot mechanisms that bring forth useful and innovative functions and values. The editors hope that the studies discussed in this special issue will help in the realization and further improvement of the mechanical functions of robots in the real world. |
Paper: | pp. 846-854 | ||
Spherical and Non-Spherical Combined Two Degree-of-Freedom Rotational Parallel Mechanism for a Microsurgical Robotic System |
|
||
Jumpei Arata, Yoshiteru Kobayashi, Ryu Nakadate, Shinya Onogi, Kazuo Kiguchi, and Makoto Hashizume |
Paper: | pp. 855-862 | ||
Development of Gripper to Achieve Envelope Grasping with Underactuated Mechanism Using Differential Gear |
|
||
Takumi Tamamoto, Keita Takeuchi, and Koichi Koganezawa |
Paper: | pp. 863-872 | ||
Development of Mechanical-Impedance-Varying Mechanism in Admittance Control |
|
||
Toru Tsumugiwa, Miho Yura, Atsushi Kamiyoshi, and Ryuichi Yokogawa |
Paper: | pp. 873-879 | ||
Utilizing the Nonlinearity of Tendon Elasticity for Compensation of Unknown Gravity of Payload |
|
||
Chao Shao, Junki Togashi, Kazuhisa Mitobe, and Genci Capi |
Paper: | pp. 880-891 | ||
Analysis of Displayable Force Region at Passive-Type Force Display with Redundant Brakes – Development of Rehabilitation System for Upper Limbs PLEMO-Y (Redundant) – |
|
||
Naoyuki Takesue, Junji Furusho, Shota Mochizuki, and Takeaki Watanabe |
Paper: | pp. 892-899 | ||
Non-Energized Above Knee Prosthesis Enabling Stairs Ascending and Descending with Hydraulic Flow Controller |
|
||
Takayuki Kikuchi, Ryota Fujino, Kenta Igarashi, and Koichi Koganezawa |
Paper: | pp. 900-909 | ||
Dynamic Simulation of 1-DOF Swing Motion Propulsion Mechanism by Rotary Actuator |
|
||
Nobuhiko Miyamoto, Noriaki Ando, and Kazuyoshi Wada |
Paper: | pp. 910-919 | ||
Modeling and Mechanical Design of an Active-Caster Omnidirectional Mechanism with a Ball Transmission |
|
||
Kosuke Kato and Masayoshi Wada |
Regular Papers
Paper: | pp. 921-926 | ||
Improved Artificial Bee Colony Algorithm and its Application in Classification |
|
||
Haiquan Wang, Jianhua Wei, Shengjun Wen, Hongnian Yu, and Xiguang Zhang |
Paper: | pp. 927-942 | ||
Adaptive Generalized Predictive Controller and Cartesian Force Control for Robot Arm Using Dynamics and Geometric Identification |
|
||
Shohei Hagane, Liz Katherine Rincon Ardila, Takuma Katsumata, Vincent Bonnet, Philippe Fraisse, and Gentiane Venture |
Paper: | pp. 943-949 | ||
Designing a Communication Field with a Transformation Method |
|
||
Xiangyang Lu, Ling Ouyang, Lijuan Sun, Jin Hu, and Lijuan Jia |
Paper: | pp. 950-957 | ||
Operator-Based Control System Analysis and Design for Nonlinear System with Input and Output Constraints |
|
||
Shuhui Bi, Lei Wang, Shengjun Wen, and Liyao Ma |
Paper: | pp. 958-964 | ||
Improved Synthetic Weighted Algorithm of Ontology-Based Semantic Similarity Computation |
|
||
Yuan Liu, Haiquan Wang, and Xiguang Zhang |
Paper: | pp. 965-970 | ||
A Novel Stability Criterion of Lur’e Systems with Time-Varying Delay Based on Relaxed Conditions |
|
||
Peng Zhang, Pitao Wang, and Tao Shen |
Paper: | pp. 971-979 | ||
Low-Altitude and High-Speed Terrain Tracking Method for Lightweight AUVs |
|
||
Toshihiro Maki, Yukiyasu Noguchi, Yoshinori Kuranaga, Kotohiro Masuda, Takashi Sakamaki, Marc Humblet, and Yasuo Furushima |
Paper: | pp. 980-990 | ||
Group Control of Mobile Robots for More Efficient Searches – Verification of Semi-Autonomous Trajectory Tracking Motions in Irregular Ground Environment – |
|
||
Yoshikazu Ohtsubo and Morihito Matsuyama |
Paper: | pp. 991-1003 | ||
Individualization of Musculoskeletal Model for Analyzing Pelvic Floor Muscles Activity Based on Gait Motion Features |
|
||
Tomohiro Wakaiki, Takayuki Tanaka, Koji Shimatani, Yuichi Kurita, and Tadayuki Iida |
Development Report: | pp. 1004-1013 | ||
Field Experiment Report for Verification of Abandoned Lignite Mines by Robotic Exploration System |
|
||
Hiroyasu Miura, Ayaka Watanabe, Masayuki Okugawa, Susumu Kurahashi, Masamitsu Kurisu, and Takahiko Miura |
Letter: | pp. 1014-1018 | ||
Dynamic Friction Characterization of a Linear Servo Motor Using an Optimal Sinusoidal Reference Tracking Controller |
|
||
Danial Waleed, Hafiz M. Usman, and Rached Dhaouadi |
No.5
(Oct)
Mini Special Issue on Human Sensing, Modeling, and Augmentation
Mini Special Issue on Human Sensing, Modeling, and Augmentation
Editorial: | p. 695 | |
Human Sensing, Modeling, and Augmentation |
| |
Takayuki Tanaka | ||
Human work and life support are areas that provide practical applications for robotics and mechatronics technology. There is great expectation from the industry in these fields, and research and development efforts have been actively undertaken with great social impact. To support human work and life accurately, we must understand the complicated sensory, nervous, and motor control systems that enable design and development of appropriate assistive devices. Therefore, in this mini special issue, we focus on robotics and mechatronics for human sensing, modeling, and augmentation. The editor hopes that this special issue will attract researchers’ interest and contribute to further developments in this field. |
Paper: | pp. 696-705 | ||
Estimating Lumbar Load During Motion with an Unknown External Load Based on Back Muscle Activity Measured with a Muscle Stiffness Sensor |
|
||
Yoshio Tsuchiya, Yumeko Imamura, Takayuki Tanaka, and Takashi Kusaka |
Paper: | pp. 706-716 | ||
Feature Selection for Work Recognition and Working Motion Measurement |
|
||
Saori Miyajima, Takayuki Tanaka, Natsuki Miyata, Mitsunori Tada, Masaaki Mochimaru, and Hiroyuki Izumi |
Paper: | pp. 717-728 | ||
Active Passive Nature of Assistive Wearable Gait Augment Suit for Enhanced Mobility |
|
||
Chetan Thakur, Kazunori Ogawa, and Yuichi Kurita |
Paper: | pp. 729-739 | ||
Supporting Effects on Muscles of a Motion Assistive Wear Depending on the Fixture Position |
|
||
Kazunori Ogawa, Akito Kadowaki, Koji Shimatani, Masaki Hasegawa, Keita Takahashi, Toshio Tsuji, and Yuichi Kurita |
Paper: | pp. 740-751 | ||
Reducing Lumbar Load with Active Corset |
|
||
Michihiro Yoshida, Takayuki Tanaka, Yoshio Tsuchiya, and Takashi Kusaka |
Paper: | pp. 752-761 | ||
Proposal of Non-Rotating Joint Drive Type Power Assist Suit for Lower Limbs Considering Squat Lifting |
|
||
Hirokazu Arakawa, Shun Mohri, Yasuyuki Yamada, Kazuya Yokoyama, Isao Kikutani, and Taro Nakamura |
Regular Papers
Paper: | pp. 763-771 | ||
Error Analysis by Kinetics for Parallel-Wire Driven System Using Approximated Inverse Kinematics |
|
||
Hitoshi Kino, Takumi Imamura, and Norimitsu Sakagami |
Paper: | pp. 772-780 | ||
Training System for Endoscopic Surgery Aiming to Provide the Sensation of Forceps Operation |
|
||
Tatsushi Tokuyasu, Kumiko Motodoi, Yuichi Endo, Yukio Iwashita, Tsuyoshi Etoh, and Masafumi Inomata |
Paper: | pp. 781-790 | ||
Visibility Enhancement for Underwater Robots Based on an Improved Underwater Light Model |
|
||
Xiaorui Qiao, Yonghoon Ji, Atsushi Yamashita, and Hajime Asama |
Paper: | pp. 791-800 | ||
Mechanism and Control of Connecting Robot Moving in Narrow and Irregular Terrain |
|
||
Takahiro Doi, Motohiro Okumura, Tomoki Harada, and Yuto Mitsuma |
Paper: | pp. 801-810 | ||
Posture Control of Two Link Torque Unit Manipulator Considering Influence of Viscous Friction on Joints |
|
||
Yasuyuki Setoyama, Ryota Hayashi, Yong Yu, Tetsuya Kinugasa, Koji Yoshida, and Koichi Osuka |
Paper: | pp. 811-818 | ||
Proposal of the Tire Longitudinal Characteristics Real-Time Estimation Method |
|
||
Yuuki Shiozawa, Shunsuke Tsukuda, and Hiroshi Mouri |
Paper: | pp. 819-826 | ||
Analysis of Cell Spheroid Morphological Characteristics Using the Spheroid Morphology Evaluation System |
|
||
Takeshi Shimoto, Xiu-Ying Zhang, Shizuka Akieda, Atsushi Ishikawa, Hidehiko Higaki, and Koichi Nakayama |
Development Report: | pp. 827-834 | ||
Low-Cost Design Solutions for Educational Robots |
|
||
Monica Tiboni, Francesco Aggogeri, Roberto Bussola, Alberto Borboni, Cesare Augusto Perani, and Nicola Pellegrini |
No.4
(Aug)
Special Issue on Real World Robot Challenge in Tsukuba
Special Issue on Real World Robot Challenge in Tsukuba
Editorial: | p. 503 | |
Real World Robot Challenge in Tsukuba |
| |
Yoshihiro Takita, Shin’ichi Yuta, Takashi Tsubouchi, and Koichi Ozaki | ||
Tsukuba Challenge, which started in 2007, has contributed to the development of novel control technologies for autonomous navigation. The second stage of this challenge was completed in 2017, and now, the time is ripe for exploring new ideas and avenues. This is the fifth Special Issue on Real World Robot Challenge in Tsukuba, and it seems that the technological elements required for autonomous navigation are almost complete. However, it is obvious that such navigation capabilities are still at a significantly lower level of development compared to human capabilities. The need for automatic and self-driving vehicles has increased rapidly in recent years; many companies and researchers have been making great strides in research and development in the field of automatic driving. The Tsukuba Challenge pursues and encourages both student education and advanced research and development, focusing on automatic driving as an application technology. The essential capabilities required for a robot to reach the designated goal in the Tsukuba Challenge are self-localization and obstacles avoidance, and many studies have been conducted on these features. To complete the designated task, unification of these technologies and other qualities such as searching for persons, traveling on crosswalks, and recognizing traffic signals is required. This special issue concentrates on control technologies of autonomous mobile robots and expects to contribute toward future studies and development in this field. |
Review: | pp. 504-512 | ||
Tsukuba Challenge: Open Experiments for Autonomous Navigation of Mobile Robots in the City – Activities and Results of the First and Second Stages – |
|
||
Shin’ichi Yuta |
Paper: | pp. 513-522 | ||
Detection of Target Persons Using Deep Learning and Training Data Generation for Tsukuba Challenge |
|
||
Yuichi Konishi, Kosuke Shigematsu, Takashi Tsubouchi, and Akihisa Ohya |
Paper: | pp. 523-531 | ||
Creating a 3D Cuboid Map Using Multi-Layer 3D LIDAR with a Swing Mechanism |
|
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Yoshihiro Takita |
Paper: | pp. 532-539 | ||
Enhancement of Scan Matching Using an Environmental Magnetic Field |
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Sam Ann Rahok, Hirohisa Oneda, Taichi Nakayama, Kazumichi Inoue, Shigeji Osawa, Akio Tanaka, and Koichi Ozaki |
Paper: | pp. 540-551 | ||
Person Searching Through an Omnidirectional Camera Using CNN in the Tsukuba Challenge |
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Shingo Nakamura, Tadahiro Hasegawa, Tsubasa Hiraoka, Yoshinori Ochiai, and Shin’ichi Yuta |
Paper: | pp. 552-562 | ||
Robust Road-Following Navigation System with a Simple Map |
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||
Yuki Hosoda, Ryota Sawahashi, Noriaki Machinaka, Ryota Yamazaki, Yudai Sadakuni, Kazuya Onda, Ryosuke Kusakari, Masaro Kimba, Tomotaka Oishi, and Yoji Kuroda |
Paper: | pp. 563-583 | ||
End-to-End Autonomous Mobile Robot Navigation with Model-Based System Support |
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Alexander Carballo, Shunya Seiya, Jacob Lambert, Hatem Darweesh, Patiphon Narksri, Luis Yoichi Morales, Naoki Akai, Eijiro Takeuchi, and Kazuya Takeda |
Paper: | pp. 584-590 | ||
Developing a Remotely Operated Portable Mobile Robot |
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Tetsuo Tomizawa, Masato Shibuya, Ryodo Tanaka, and Takeshi Nishida |
Paper: | pp. 591-597 | ||
Teaching-Playback Navigation Without a Consistent Map |
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||
Naoki Akai, Luis Yoichi Morales, and Hiroshi Murase |
Paper: | pp. 598-612 | ||
Tsukuba Challenge 2017 Dynamic Object Tracks Dataset for Pedestrian Behavior Analysis |
|
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Jacob Lambert, Leslie Liang, Luis Yoichi Morales, Naoki Akai, Alexander Carballo, Eijiro Takeuchi, Patiphon Narksri, Shunya Seiya, and Kazuya Takeda |
Regular Papers
Paper: | pp. 613-623 | ||
Refining Two Robots Task Execution Through Tuning Behavior Trajectory and Balancing the Communication |
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||
Jorge David Figueroa Heredia, Shouhei Shirafuji, Hamdi M. Sahloul, Jose Ildefonso U. Rubrico, Taiki Ogata, Tatsunori Hara, and Jun Ota |
Paper: | pp. 624-637 | ||
Four-Fingered Robot Hand with Mechanism to Change the Direction of Movement – Mechanical Design and Basic Experiments – |
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||
Junya Tanaka, Atsushi Sugahara, and Hideki Ogawa |
Paper: | pp. 638-649 | ||
Development of a Micro-Manipulator for Bio-Targets Using Micro Flows |
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||
Jean-Charles Pelletier, Hisayuki Aoyama, Yuuka Irie, Chisato Kanamori, and Nadine Piat |
Paper: | pp. 650-659 | ||
Development of the MRI Flow Phantom System Focused on Low Speed Flows in Fluid Machinery |
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Kazunori Hosotani, Shota Uehara, Toru Ishihara, Atsushi Ono, Kazuhiro Takeuchi, and Yusuke Hashiguchi |
Paper: | pp. 660-670 | ||
Refraction-Based Bundle Adjustment for Scale Reconstructible Structure from Motion |
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Akira Shibata, Yukari Okumura, Hiromitsu Fujii, Atsushi Yamashita, and Hajime Asama |
Paper: | pp. 671-682 | ||
Mobile Robot Decision-Making Based on Offline Simulation for Navigation over Uneven Terrain |
|
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Yuichi Kobayashi, Masato Kondo, Yuji Hiramatsu, Hokuto Fujii, and Tsuyoshi Kamiya |
No.3
(Jun)
Special Issue on Cutting Edge of Drone Research and Development, and its Application
Special Issue on Cutting Edge of Drone Research and Development, and its Application
Editorial: | p. 321 | |
Cutting Edge of Drone Research and Development, and its Application |
| |
Kenzo Nonami and Satoshi Suzuki | ||
Currently, drones have reached the stage of practical application, business, and social contribution from the stage of research and development. In fact, drones are now opening up a new market not only in the field of aerial photography and agricultural chemical spraying, which had traditionally been on the market, but also in the field of surveying. Furthermore, new markets are expected to be formed within several years in the field of infrastructure inspection and logistics. Under these circumstances, research on drone application is becoming significant, along with research on drone design and control, which have been done conventionally. However, there are still only a few studies and journals focusing not only on drone development and design but also drone application. Therefore, in this special issue, we invited papers with comprehensive contents, including research focusing on drone application, and created a space to present cutting-edge research results. By reading this special issue, we hope that readers will understand the latest information about the applications of drones and their cutting-edge technology. Furthermore, we also hope that readers will be able to proactively promote the use of drones in their own research and work, based on the information obtained from this special issue. |
Review: | pp. 322-336 | ||
Research and Development of Drone and Roadmap to Evolution |
|
||
Kenzo Nonami |
Paper: | pp. 337-343 | ||
Development of Bio-Inspired Low-Noise Propeller for a Drone |
|
||
Ryusuke Noda, Toshiyuki Nakata, Teruaki Ikeda, Di Chen, Yuma Yoshinaga, Kenta Ishibashi, Chen Rao, and Hao Liu |
Paper: | pp. 344-353 | ||
Multiple Rotors Hovering Near an Upper or a Side Wall |
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||
Yasutada Tanabe, Masahiko Sugiura, Takashi Aoyama, Hideaki Sugawara, Shigeru Sunada, Koichi Yonezawa, and Hiroshi Tokutake |
Paper: | pp. 354-362 | ||
Position and Posture Measurement Method of the Omnidirectional Camera Using Identification Markers |
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||
Naoya Hatakeyama, Tohru Sasaki, Kenji Terabayashi, Masahiro Funato, and Mitsuru Jindai |
Paper: | pp. 363-372 | ||
Velocity Estimation for UAVs by Using High-Speed Vision |
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||
Hsiu-Min Chuang, Tytus Wojtara, Niklas Bergström, and Akio Namiki |
Paper: | pp. 373-379 | ||
Integrated Navigation for Autonomous Drone in GPS and GPS-Denied Environments |
|
||
Satoshi Suzuki |
Paper: | pp. 380-389 | ||
Autonomous Flight Control of Quadrotor Helicopter by Simple Adaptive Control with Inner Loop PD Controller |
|
||
Yasuaki Oda and Makoto Kumon |
Paper: | pp. 390-396 | ||
Self-Tuning Neuro-PID Controller for Indoor Entertainment Balloon Robot |
|
||
Hiroya Nagata, Soichiro Yokoyama, Tomohisa Yamashita, Hiroyuki Iizuka, Masahito Yamamoto, Keiji Suzuki, and Hidenori Kawamura |
Paper: | pp. 397-405 | ||
Controller Performance for Quad-Rotor Vehicles Based on Sliding Mode Control |
|
||
Takayoshi Oba, Mai Bando, and Shinji Hokamoto |
Paper: | pp. 406-415 | ||
Teleoperated Construction Robot Using Visual Support with Drones |
|
||
Hironao Yamada, Naoyuki Bando, Katsutoshi Ootsubo, and Yuji Hattori |
Paper: | pp. 416-425 | ||
Wall Inspection Robot with Maneuvering Assist Control System Against Crosswind |
|
||
Yogo Takada, Yuhei Tokura, Yodai Matsumura, Takahiro Tanaka, and Tatsuki Kanada |
Paper: | pp. 426-435 | ||
Assessment of MUSIC-Based Noise-Robust Sound Source Localization with Active Frequency Range Filtering |
|
||
Kotaro Hoshiba, Kazuhiro Nakadai, Makoto Kumon, and Hiroshi G. Okuno |
Paper: | pp. 436-442 | ||
Development of an Accurate Video Shooting Method Using Multiple Drones Automatically Flying over Onuma Quasi-National Park |
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||
Sho Yamauchi, Kouki Ogata, Keiji Suzuki, and Toshio Kawashima |
Paper: | pp. 443-452 | ||
Acquisition of Disaster Emergency Information Using a Terrain Database by Flying Robots |
|
||
Yasuki Miyazaki, Takafumi Hirano, Takaaki Kobayashi, Yoshihiro Imai, Shin Usuki, Yuichi Kobayashi, Kenji Terabayashi, and Kenjiro T. Miura |
Regular Papers
Paper: | pp. 453-466 | ||
Real-Time Monocular Three-Dimensional Motion Tracking Using a Multithread Active Vision System |
|
||
Shaopeng Hu, Mingjun Jiang, Takeshi Takaki, and Idaku Ishii |
Paper: | pp. 467-476 | ||
Development of an Intersection Module for a Modularized Rail Structure – Implementation of Compliant Mechanisms for a Replacing Task of Movable Parts – |
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||
Rui Fukui, Gen Kanayama, Yuta Kato, Ryo Takahashi, and Shin’ichi Warisawa |
Paper: | pp. 477-484 | ||
Development of Educational Service Robot and Practical Training |
|
||
Atsuo Yabu, Tadahiro Kaneda, Issei Maeda, and Wataru Sakurai |
Paper: | pp. 485-492 | ||
Motion Planning of Mobile Robots for Occluded Obstacles |
|
||
Satoshi Hoshino and Tomoki Yoshikawa |
No.2
(Apr)
Special Issue on Advanced Robotics in Agriculture, Forestry and Fisheries
Special Issue on Advanced Robotics in Agriculture, Forestry and Fisheries
Editorial: | pp. 163-164 | |
Advanced Robotics in Agriculture, Forestry and Fisheries |
| |
Kazuo Ishii, Eiji Hayashi, Norhisam Bin Misron, and Blair Thornton | ||
The importance of primary industries, agriculture, forestry and fisheries, is obvious and needless to mention, however, the reduction of the working population and the aging problem make the situation of primary industry more sever. To compensate for the issues, the advanced technology in robotics has attracted attentions and expected the contributions in terms of productivity, cost effectiveness, pesticide-less, monitoring of the growth and harvesting, etc. Recently, robotic technologies are gradually being used in primary industry and their application area will expand more in the near future. This special issue’s objectives include collecting recent advances, automation, mechanization, research trends and their applications in agriculture, forestry and fisheries to promote a deeper understanding of major conceptual and technical challenges and facilitate spreading of recent breakthroughs in primary industries, and contribute to the enhancement of the quality of agricultural, forestry and fisheries robots by introducing the state-of-the-art in sensing, mobility, manipulation and related technologies. In this special issue, twelve papers are included. The first paper by Noguchi is the survey paper of the state-of-the-art in the agricultural vehicle type robots and discusses the future scope of agriculture with robotics. The next three papers are on tomato-monitoring system, and Fukui et al. propose a tomato fruit volume estimation method using saliency-based image processing and point cloud and clustering technology, Yoshida et al. do the cutting point identification for tomato-harvesting using a RGBD sensor and evaluate in the real farm experiments, and Fujinaga et al. present an image mosaicking method of tomato yard based on the infrared images and color images of tomato-clusters in the large green house. The fifth paper by Sori et al. reports a paddy weeding robot in wet-rice field to realize the pesticide-free produce of rice, and the sixth paper by Shigeta et al. is about an image processing system to measure cow’s BCS (Body Condition Score) automatically before milking cows and analyzes the two months data by CNN (Convolutional Neural Network). The seventh paper by Inoue et al. reports on an upper-limb power assist robot with a single actuator to reduce the weight and cost. The assist machine supports the shoulder and elbow movements for viticulture operations and upper-limb holding for load transport tasks. In the next paper, Tominaga et al. show an autonomous robotic system to move between the trees without damaging them and to cut the weeds in the forest for the forest industry. The last four papers are for the fishery industry, and Komeyama et al. propose a methods for monitoring the size of fish, red sea bream (RSB) aquaculture by developing a stereo vision system to avoid the risks of physical injury and mental stress to the fish. Nishida et al. report on a hovering type underwater robot to measure seafloor for monitoring marine resources whose sensor can be replaced depending on missions as the open hardware system. Yasukawa et al. propose a vision system for an autonomous underwater robot with a benthos sampling function, especially, sampling-autonomous underwater vehicles (SAUVs) to achieve a new sampling mission. The last paper by Han et al. is for gait planning and simulation analysis of an amphibious quadruped robot in the field of fisheries and aquaculture. We hope that this special issue can contributes to find solutions in primary industries, agriculture, forestry and fisheries. |
Review: | pp. 165-172 | ||
Agricultural Vehicle Robot |
|
||
Noboru Noguchi |
Development Report: | pp. 173-179 | ||
Development of a Tomato Volume Estimating Robot that Autonomously Searches an Appropriate Measurement Position – Basic Feasibility Study Using a Tomato Bed Mock-Up – |
|
||
Rui Fukui, Kenta Kawae, and Shin’ichi Warisawa |
Paper: | pp. 180-186 | ||
Fast Detection of Tomato Peduncle Using Point Cloud with a Harvesting Robot |
|
||
Takeshi Yoshida, Takanori Fukao, and Takaomi Hasegawa |
Paper: | pp. 187-197 | ||
Image Mosaicing Using Multi-Modal Images for Generation of Tomato Growth State Map |
|
||
Takuya Fujinaga, Shinsuke Yasukawa, Binghe Li, and Kazuo Ishii |
Paper: | pp. 198-205 | ||
Effect for a Paddy Weeding Robot in Wet Rice Culture |
|
||
Hitoshi Sori, Hiroyuki Inoue, Hiroyuki Hatta, and Yasuhiro Ando |
Paper: | pp. 206-213 | ||
Automatic Measurement and Determination of Body Condition Score of Cows Based on 3D Images Using CNN |
|
||
Masahiro Shigeta, Reiichirou Ike, Hiroshi Takemura, and Hayato Ohwada |
Paper: | pp. 214-222 | ||
Development of Upper-Limb Power Assist Machine Using Linkage Mechanism – Drive Mechanism and its Applications – |
|
||
Hiroyuki Inoue and Toshiro Noritsugu |
Development Report: | pp. 223-230 | ||
Robot Navigation in Forest Management |
|
||
Abbe Mowshowitz, Ayumu Tominaga, and Eiji Hayashi |
Paper: | pp. 231-237 | ||
Body Measurement of Reared Red Sea Bream Using Stereo Vision |
|
||
Kazuyoshi Komeyama, Tatsuya Tanaka, Takeharu Yamaguchi, Shigeru Asaumi, Shinsuke Torisawa, and Tsutomu Takagi |
Paper: | pp. 238-247 | ||
Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems |
|
||
Yuya Nishida, Takashi Sonoda, Shinsuke Yasukawa, Kazunori Nagano, Mamoru Minami, Kazuo Ishii, and Tamaki Ura |
Paper: | pp. 248-256 | ||
Vision System for an Autonomous Underwater Vehicle with a Benthos Sampling Function |
|
||
Shinsuke Yasukawa, Jonghyun Ahn, Yuya Nishida, Takashi Sonoda, Kazuo Ishii, and Tamaki Ura |
Paper: | pp. 257-264 | ||
Gait Planning and Simulation Analysis of a New Amphibious Quadruped Robots |
|
||
Shuo Han, Yuan Chen, Guangying Ma, Jinshan Zhang, and Runchen Liu |
Regular Papers
Paper: | pp. 265-281 | ||
A Non-Linear Manifold Alignment Approach to Robot Learning from Demonstrations |
|
||
Ndivhuwo Makondo, Michihisa Hiratsuka, Benjamin Rosman, and Osamu Hasegawa |
Paper: | pp. 282-291 | ||
Effects of a Novel Sympathy-Expression Method on Collaborative Learning Among Junior High School Students and Robots |
|
||
Felix Jimenez, Tomohiro Yoshikawa, Takeshi Furuhashi, and Masayoshi Kanoh |
Paper: | pp. 292-299 | ||
Fabrication of Magnetically Driven Biopsy Mechanism Applicable to Capsule-Type Medical Device |
|
||
Toshiki Matsui, Satoshi Murata, and Takashi Honda |
Paper: | pp. 300-310 | ||
Vehicle Speed Control by a Robotic Driver Considering Vehicle Dynamics for Continuously Variable Transmissions |
|
||
Naoto Mizutani, Hirokazu Matsui, Ken’ichi Yano, and Toshimichi Takahashi |
No.1
(Feb)
Regular papers
Congratulations! JRM Best Paper Award 2017
Award: | p. 1 | |
Congratulations! JRM Best Paper Award 2017 |
| |
Editorial Office |
Paper: | pp. 5-14 | ||
Adaptive Path Planning for Cleaning Robots Considering Dust Distribution |
|
||
Takahiro Sasaki, Guillermo Enriquez, Takanobu Miwa, and Shuji Hashimoto |
Paper: | pp. 15-23 | ||
Risk Predictive Driver Assistance System for Collision Avoidance in Intersection Right Turns |
|
||
Yohei Fujinami, Pongsathorn Raksincharoensak, Dirk Ulbricht, and Rolf Adomat |
Paper: | pp. 24-32 | ||
Semi-Autonomous Multi-Legged Robot with Suckers to Climb a Wall |
|
||
Asuki Saito, Kazuki Nagayama, Kazuyuki Ito, Takeo Oomichi, Satoshi Ashizawa, and Fumitoshi Matsuno |
Paper: | pp. 33-42 | ||
Design and Experimental Verification of a Pantograph-Based Mechanism for Lower Limb Load Reduction by Compensating for Upper Body Weight |
|
||
Shotaro Mamiya, Tomoya Takahashi, and Naoki Uchiyama |
Paper: | pp. 43-54 | ||
Development of Spatially Seamless Local Communication System Based on Time Sharing Communication Strategy |
|
||
Yoshikazu Arai, Makoto Sugawara, Shintaro Imai, and Toshimitsu Inomata |
Paper: | pp. 55-64 | ||
Docking Method for Hovering-Type AUVs Based on Acoustic and Optical Landmarks |
|
||
Toshihiro Maki, Yoshiki Sato, Takumi Matsuda, Kotohiro Masuda, and Takashi Sakamaki |
Paper: | pp. 65-75 | ||
Computationally Efficient Mapping for a Mobile Robot with a Downsampling Method for the Iterative Closest Point |
|
||
Shodai Deguchi and Genya Ishigami |
Paper: | pp. 76-85 | ||
AR-Marker/IMU Hybrid Navigation System for Tether-Powered UAV |
|
||
Hiroaki Nakanishi and Hiroyuki Hashimoto |
Paper: | pp. 86-92 | ||
Structure and Examination of the Guidance Robot LIGHBOT for Visually Impaired and Elderly People |
|
||
Kazuteru Tobita, Katsuyuki Sagayama, Mayuko Mori, and Ayako Tabuchi |
Paper: | pp. 93-105 | ||
Research on High Efficiency Operation Method of Linear Generator Engine |
|
||
Daiki Arashi, Yuuto Kakinuma, Kei Sugiura, Takamasa Terai, Satoshi Ashizawa, and Takeo Oomichi |
Paper: | pp. 106-116 | ||
Sensor Data Fusion of a Redundant Dual-Platform Robot for Elevation Mapping |
|
||
Avi Turgeman, Shraga Shoval, and Amir Degani |
Paper: | pp. 117-127 | ||
A High-Speed Vision System with Multithread Automatic Exposure Control for High-Dynamic-Range Imaging |
|
||
Xianwu Jiang, Qingyi Gu, Tadayoshi Aoyama, Takeshi Takaki, and Idaku Ishii |
Paper: | pp. 128-137 | ||
A New IntelliSense Strategy Based on Artificial Immune System for Multi-Robot Cooperation |
|
||
Tao Xu, Zengyong Shi, and Xiaomin Li |
Paper: | pp. 138-144 | ||
Tire Characteristics Estimation Method Independent of Road Surface Conditions |
|
||
Yuuki Shiozawa and Hiroshi Mouri |
Development Report: | pp. 145-154 | ||
Development of Robot for 3D Measurement of Forest Environment |
|
||
Masaru Morita, Takeshi Nishida, Yuta Arita, Mirei Shige-eda, Enrico di Maria, Roberto Gallone, and Nicola Ivan Giannoccaro |
Vol.29 (2017)
No.6
(Dec)
Special Issue on Educational Robotics
Special Issue on Educational Robotics
Editorial: | p. 943 | |
Educational Robotics |
| |
Shoichiro Fujisawa, Shinya Kotosaka, Masatsugu Iribe, and Masayuki Okugawa | ||
This is the 2nd special issue on education of robotics & mechatronics on Journal Robotics & Mechatronics. Six years have passed since the previous issue (Vol.23, No.5) was published. This special issue includes nine research papers and two review papers, among which four research papers focus on the utilization of robots in STEM education, which has been spotlighted recently, and programming education for the young. Five research papers propose educational methods with novel, unprecedented ideas, and the two review papers overview technology education in Japan. The review papers focus on STEM education that utilizes a variety of manufacturing methods that have become familiar, and they present a variety of efforts being made in STEM education, programming education in today’s Japan. At present, Germany’s Industry 4.0, Japan’s Robot Strategy, and many other initiatives are being undertaken in the world to promote development technology as it relates to production automation and efficiency. The development of human resources that are capable of working with these new technologies has also gathered public attention, with each educational institution now required to enrich its STEM education. As part of this movement, in 2020, programming education will be added to Japan’s elementary school curriculum, with robots being the focus of the education. This situation indicates that the importance of educational robotics is likely to continue to increase in the future. We expect that this special issue will contribute to the development of educational robotics communities and of human resources that are well prepared in the field of robotics. We would like to express our sincere gratitude to all contributors and the reviewers for making this special issue possible. |
Review: | pp. 944-951 | ||
Development of Communication Robot for STEM Education by Using Digital Fabrication |
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||
Kazuo Kadota |
Review: | pp. 952-956 | ||
Trends of Technology Education in Compulsory Education in Japan |
|
||
Hiroyuki Muramatsu |
Paper: | pp. 957-968 | ||
Design of Contest for Educational Underwater Robot for STEM: Learning Applying Modeling Based on Control Engineering |
|
||
Hirokazu Yamagata and Toshio Morita |
Paper: | pp. 969-979 | ||
CISTEM Education with Robotic Platform: For Human-Human Synchrony and Human-Machine Synchrony |
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||
Kazuki Nakada, Miwako Tsunematsu, Takuya Kihara, Takumu Hattori, Tatsuji Tokiwa, and Hiroshi Fukuda |
Paper: | pp. 980-991 | ||
Development of a Programming Teaching-Aid Robot with Intuitive Motion Instruction Set |
|
||
Takafumi Noguchi, Hidekazu Kajiwara, Kazunori Chida, and Sakae Inamori |
Paper: | pp. 992-998 | ||
Robotics Programming Learning for Elementary and Junior High School Students |
|
||
Yoshihiro Ohnishi, Kimitoshi Honda, Rintaro Nishioka, Shinnosuke Mori, and Kazuo Kawada |
Paper: | pp. 999-1004 | ||
Study on Assist Education of Swing Riding Using a Robot |
|
||
Kazuo Kawada and Masahiro Ito |
Paper: | pp. 1005-1013 | ||
Undergraduate-Student Teaching Materials for Mechatronics |
|
||
Yoshikazu Ohtsubo, Atsutoshi Ikeda, Kiyoshi Ioi, and Manabu Kosaka |
Paper: | pp. 1014-1024 | ||
Development of Teaching Material for Robot Mechanisms Applying Projection Mapping Technology |
|
||
Yasuhiro Kushihashi and Sho Mizumura |
Paper: | pp. 1025-1036 | ||
Student Education Utilizing the Development of Autonomous Mobile Robot for Robot Competition |
|
||
Satoshi Muramatsu, Daisuke Chugo, Sho Yokota, and Hiroshi Hashimoto |
Paper: | pp. 1037-1048 | ||
Promotion of Self-Growth of Students by PBL-Type Manufacturing Practice |
|
||
Keiko Nakatani, Tomoharu Doi, Takeshi Wada, and Tadahiro Kaneda |
Regular Papers
Paper: | pp. 1049-1056 | ||
Development of an IoT-Based Prosthetic Control System |
|
||
Osamu Fukuda, Yuta Takahashi, Nan Bu, Hiroshi Okumura, and Kohei Arai |
Paper: | pp. 1057-1064 | ||
Dangerous Situation Detection for Elderly Persons in Restrooms Using Center of Gravity and Ellipse Detection |
|
||
Lin Meng, Xiangbo Kong, and Daiki Taniguchi |
Paper: | pp. 1065-1072 | ||
Operator-Based Robust Nonlinear Control Design and Analysis of a Semiconductor Refrigeration Device |
|
||
Aihui Wang, Zhengxiang Ma, and Shengjun Wen |
Paper: | pp. 1073-1081 | ||
Robust Control of Nonlinear System with Input and Output Nonlinear Constraints |
|
||
Shuhui Bi, Lei Wang, and Chunyan Han |
No.5
(Oct)
Review on Digital Human Models for Human-Centered Design
Special Issue on AI, Robotics, and Automation in Space
Review on Digital Human Models for Human-Centered Design
Review: | pp. 783-789 | ||
Digital Human Models for Human-Centered Design |
|
||
Masaaki Mochimaru |
Special Issue on AI, Robotics, and Automation in Space
Editorial: | p. 791 | |
AI, Robotics, and Automation in Space |
| |
Takashi Kubota, Kazuya Yoshida, Shinichi Kimura, and Takehisa Yairi | ||
Many missions have been launched to explore the Moon, Mars, asteroids, and comets, and many researchers are studying and developing lunar and planetary rovers for unmanned planet exploration, and further cooperative missions targeting human lunar exploration are under discussion. A key technology in these missions and orbital services is space robotics, including Al and automation. Space robotics is expected to support external vehicular activities (EVA) and internal vehicular activities (IVA), which will include constructing, repairing, and maintaining orbiting satellites and space structures. This special issue presents the updated mission results and advanced research activities of space organizations, institutes, and universities, although it does not include all. We hope that this special issue will be useful to readers as an introduction to advanced space robotics in Japan, and that more robotics and Al researchers and engineers will become interested in space robotics and participate in space missions. We thank the authors for their fine contributions and the reviewers for their generous contributions of time and effort. In closing, we also thank the Editorial Board of the Journal of Robotics and Mechatronics for helping to make this issue possible. |
Development Report: | pp. 792-800 | ||
On-Orbit Demonstration of Tether-Based Robot Locomotion in REX-J Mission |
|
||
Hiroki Nakanishi, Mitsuhiro Yamazumi, Sotaro Karakama, Mitsushige Oda, Shin-ichiro Nishida, Hiroki Kato, Keisuke Watanabe, Atsushi Ueta, Masahiro Yoshii, and Satoshi Suzuki |
Paper: | pp. 801-807 | ||
Document-Based Programming System for Seamless Linking of Satellite Onboard Software and Ground Operating System |
|
||
Shinichi Kimura, Yuki Asakura, Hiroaki Doi, and Masahiro Nakamura |
Paper: | pp. 808-818 | ||
Machine-Code Program Evolution by Genetic Programming Using Asynchronous Reference-Based Evaluation Through Single-Event Upset in On-Board Computer |
|
||
Tomohiro Harada and Keiki Takadama |
Paper: | pp. 819-828 | ||
Supporting Reaching Movements of Robotic Hands Subject to Communication Delay by Displaying End Effector Position Using Three Orthogonal Rays |
|
||
Akihito Chinen and Kiyoshi Hoshino |
Paper: | pp. 829-837 | ||
Wearable Hand Pose Estimation for Remote Control of a Robot on the Moon |
|
||
Sota Sugimura and Kiyoshi Hoshino |
Paper: | pp. 838-846 | ||
Traversability-Based RRT* for Planetary Rover Path Planning in Rough Terrain with LIDAR Point Cloud Data |
|
||
Reiya Takemura and Genya Ishigami |
Paper: | pp. 847-855 | ||
Vision-Based Behavior Planning for Lunar or Planetary Exploration Rover on Flat Surface |
|
||
Riho Ejiri, Takashi Kubota, and Ichiro Nakatani |
Paper: | pp. 856-863 | ||
Visual Monocular Localization, Mapping, and Motion Estimation of a Rotating Small Celestial Body |
|
||
Naoya Takeishi and Takehisa Yairi |
Paper: | pp. 877-886 | ||
Recovery System Based on Exploration-Biased Genetic Algorithm for Stuck Rover in Planetary Exploration |
|
||
Fumito Uwano, Yusuke Tajima, Akinori Murata, and Keiki Takadama |
Paper: | pp. 887-894 | ||
Development and Performance Evaluation of Planar Travel Distance Sensors for Mobile Robots in Sandy Terrain |
|
||
Arata Yanagisawa and Genya Ishigami |
Paper: | pp. 895-901 | ||
Hopping Motion Estimation on Soft Soil by Resistive Force Theory |
|
||
Kosuke Sakamoto, Masatsugu Otsuki, Takashi Kubota, and Yoshiki Morino |
Paper: | pp. 902-910 | ||
Wheel Slip Classification Method for Mobile Robot in Sandy Terrain Using In-Wheel Sensor |
|
||
Takuya Omura and Genya Ishigami |
Paper: | pp. 911-918 | ||
Percussive Rock Surface Remover Driven by Solenoid with Planer Motion for Lunar Exploration |
|
||
Katsushi Furutani and Hisashi Kamiishi |
Regular Papers
Paper: | pp. 919-927 | ||
Adaptive Learning of Hand Movement in Human Demonstration for Robot Action |
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Ngoc Hung Pham and Takashi Yoshimi |
Development Report: | pp. 928-934 | ||
Performance Evaluation of Robot Localization Using 2D and 3D Point Clouds |
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Kiyoaki Takahashi, Takafumi Ono, Tomokazu Takahashi, Masato Suzuki, Yasuhiko Arai, and Seiji Aoyagi |
No.4
(Aug)
Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings –
Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings –
Editorial: | p. 629 | |
Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings – |
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Yoshihiro Takita, Shin’ichi Yuta, Takashi Tsubouchi, and Koichi Ozaki | ||
In this fourth of the “Special Issues on Real World Robot Challenge in Tsukuba,” we feature the control technology of autonomous robots. There is no guarantee that it will operate perfectly in a real-world environment even with the method already revealed. Participating robots in Tsukuba Challenge are required to carry out the assigned tasks under the prevailing weather conditions on the day of the events. Robots avoid oncoming pedestrians and obstacles in their path. In order to share the novel technology of the autonomous control method, this special issue presents a summary of the results of robots that participated in past Tsukuba Challenges. It is only thanks to the ongoing efforts of the organizers of Tsukuba Challenge and the enthusiasm on the part of the participants that we are able to present an issue such as this, and we are truly thankful to them. We also wish to thank the authors who submitted papers and articles for this issue, as well as our reviewers. |
Paper: | pp. 630-638 | ||
Development of Flexible Cowl Covered Mobile Robot in Consideration with Safety and Design Property |
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Yasunari Kakigi, Kazumichi Inoue, Masaaki Hijikata, and Koichi Ozaki |
Paper: | pp. 639-648 | ||
Development of Autonomous Navigation System Using 3D Map with Geometric and Semantic Information |
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Yoshihiro Aotani, Takashi Ienaga, Noriaki Machinaka, Yudai Sadakuni, Ryota Yamazaki, Yuki Hosoda, Ryota Sawahashi, and Yoji Kuroda |
Paper: | pp. 649-659 | ||
Autonomous Mobile Robot Searching for Persons with Specific Clothing on Urban Walkway |
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Ryohsuke Mitsudome, Hisashi Date, Azumi Suzuki, Takashi Tsubouchi, and Akihisa Ohya |
Paper: | pp. 660-667 | ||
Generated Trajectory of Extended Lateral Guided Sensor Steering Mechanism for Steered Autonomous Vehicles in Real World Environments |
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Yoshihiro Takita |
Paper: | pp. 668-684 | ||
Open Source Integrated Planner for Autonomous Navigation in Highly Dynamic Environments |
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Hatem Darweesh, Eijiro Takeuchi, Kazuya Takeda, Yoshiki Ninomiya, Adi Sujiwo, Luis Yoichi Morales, Naoki Akai, Tetsuo Tomizawa, and Shinpei Kato |
Paper: | pp. 685-696 | ||
Robust and Accurate Monocular Vision-Based Localization in Outdoor Environments of Real-World Robot Challenge |
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Adi Sujiwo, Eijiro Takeuchi, Luis Yoichi Morales, Naoki Akai, Hatem Darweesh, Yoshiki Ninomiya, and Masato Edahiro |
Paper: | pp. 697-705 | ||
Mobile Robot Navigation Utilizing the WEB Based Aerial Images Without Prior Teaching Run |
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Satoshi Muramatsu, Tetsuo Tomizawa, Shunsuke Kudoh, and Takashi Suehiro |
Paper: | pp. 706-711 | ||
Using Difference Images to Detect Pedestrian Signal Changes |
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Tetsuo Tomizawa and Ryunosuke Moriai |
Regular Papers
Paper: | pp. 713-719 | ||
Automating the Appending of Image Information to Grid Map Corresponding to Object Shape |
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Tomohito Takubo, Hironobu Takaishi, and Atsushi Ueno |
Paper: | pp. 720-727 | ||
Examination of a Guidance Robot for Visually Impaired People |
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Kazuteru Tobita, Katsuyuki Sagayama, and Hironori Ogawa |
Paper: | pp. 728-736 | ||
Cooking Behavior Recognition Using Egocentric Vision for Cooking Navigation |
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Sho Ooi, Tsuyoshi Ikegaya, and Mutsuo Sano |
Paper: | pp. 737-745 | ||
Control Method for Helicopters Tethered to Ground Station with Compensation for Disturbance Caused by Cable Tension |
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Atsushi Imadu, Takanori Sakai, and Tadao Kawai |
Paper: | pp. 746-756 | ||
Maneuverability of Impedance-Controlled Motion in a Human-Robot Cooperative Task System |
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Toru Tsumugiwa, Yoshiki Takeuchi, and Ryuichi Yokogawa |
Paper: | pp. 757-765 | ||
Experimental Study on Optimal Tracking Control of a Micro Ground Vehicle |
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Soichiro Watanabe and Masanori Harada |
3D Printer for Robotics and Mechatronics
Development Report: | pp. 767-771 | ||
Study on the Influence of Temperature of Extruder Head on the Strength of the FDM 3D Printing Model |
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Hiroki Endo and Takashi Umeno |
No.3
(Jun)
Special Issue on Dynamically and Biologically Inspired Legged Locomotion
Special Issue on Dynamically and Biologically Inspired Legged Locomotion
Editorial: | p. 455 | |
Dynamically and Biologically Inspired Legged Locomotion |
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Tetsuya Kinugasa, Koh Hosoda, Masatsugu Iribe, Fumihiko Asano, and Yasuhiro Sugimoto | ||
Legged locomotion, including walking, running, turning, and jumping, strongly depends on the dynamics and biological characteristics of the body involved. Gait patterns and energy efficiency, for example, are known to be greatly affected by not only travel velocity and ground contact conditions but also by body configuration, such as joint stiffness and coordination, as well as foot sole shape. To understand legged locomotion principles, we must clarify how the body’s dynamic and biological characteristics affect locomotion. Effort must also be made to incorporate these characteristics inventively to improve locomotion performance, such as robustness, adaptability, and efficiency, which further refine the legged locomotion. This special issue on “Dynamically and Biologically Inspired Legged Locomotion,” studies on legged locomotion based on dynamic and biological characteristics, covers a wide range of themes, such as a rimless wheel, a design method for a biped based on passive dynamic walking, the analysis of biped locomotion based on passive dynamic walking and dynamically inspired walking, an analysis of gait generation for a triped robot, and quadruped locomotion with a flexible trunk. Since there are interesting papers on legged robots with different numbers of legs, we basically organized the papers based on the number of legs. Studies on “Dynamically and Biologically Inspired Legged Locomotion” are expected to not only realize and improve legged locomotion as engineering, but also to reveal the locomotion mechanism of various creatures as science. |
Review: | pp. 456-470 | ||
Dynamically and Biologically Inspired Legged Locomotion: A Review |
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Tetsuya Kinugasa and Yasuhiro Sugimoto |
Paper: | pp. 471-479 | ||
Time-Scale Control Approaches to Collisionless Walking of an Underactuated Rimless Wheel |
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Fumihiko Asano, Yanqiu Zheng, and Xuan Xiao |
Paper: | pp. 480-489 | ||
Asymptotic Realization of Desired Control Performance by Body Adaptation of Passive Dynamic Walker |
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Daisuke Ura, Yasuhiro Sugimoto, Yuichiro Sueoka, and Koichi Osuka |
Paper: | pp. 490-499 | ||
Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking |
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Yuta Hanazawa and Fumihiko Asano |
Paper: | pp. 500-508 | ||
Visual Lifting Approach for Bipedal Walking with Slippage |
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Xiang Li, Mamoru Minami, Takayuki Matsuno, and Daiji Izawa |
Paper: | pp. 509-519 | ||
Sliding Passive Dynamic Walking of Compass-Like Biped Robot: Collision Modeling, Necessary Conditions, and Complexity |
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Fumihiko Asano and Yuji Harata |
Paper: | pp. 520-527 | ||
Kinematics and Singularity Analysis of a Four-Degree-of-Freedom Serial-Parallel Hybrid Manipulator |
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Guangying Ma, Yuan Chen, Yunlong Yao, and Jun Gao |
Paper: | pp. 528-535 | ||
Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation |
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Yoichi Masuda and Masato Ishikawa |
Paper: | pp. 536-545 | ||
Analysis of the Energy Loss on Quadruped Robot Having a Flexible Trunk Joint |
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Masahiro Ikeda and Ikuo Mizuuchi |
Paper: | pp. 546-555 | ||
Design of Vertebrae-Inspired Trunk Mechanism for Robust and Directive Quadruped Locomotion on Rough Terrain Without Requiring Sensing and Actuation |
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Takashi Takuma, Yoshiki Murata, and Wataru Kase |
Regular Papers
Paper: | pp. 557-565 | ||
Real-Time Estimation of Sensorless Planar Robot Contact Information |
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Zhiguang Liu, Fei Yu, Liang Zhang, and Tiejun Li |
Paper: | pp. 566-579 | ||
Spherical Video Stabilization by Estimating Rotation from Dense Optical Flow Fields |
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Sarthak Pathak, Alessandro Moro, Hiromitsu Fujii, Atsushi Yamashita, and Hajime Asama |
Paper: | pp. 580-590 | ||
Development of a Robotic Laparoscope for Laparoscopic Surgery and its Control |
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Iori Murasawa, Shuhei Murofushi, Chiharu Ishii, and Hideki Kawamura |
Paper: | pp. 591-601 | ||
Maneuvering Support System for an Amphibian Vehicle – Warning Display to Prevent Rough Maneuvers – |
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Ryota Hayashi, Genki Matsuyama, Hisanori Amano, Hitomu Saiki, Tetsuya Kinugasa, Koji Yoshida, Masatsugu Iribe, and Kenichi Tokuda |
Paper: | pp. 602-612 | ||
Swarm Robotic Systems Based on Collective Behavior of Chloroplasts |
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Satoshi Hoshino, Ryo Takisawa, and Yutaka Kodama |
Development Report: | pp. 613-618 | ||
Impact Response Measurement of Poly-Urethane Sheet Using an Optical Interferometer |
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Sa-nga Songmuang, Akihiro Takita, and Suphanchai Punthawanunt |
No.2
(Apr)
Review on Current Status and Future Trends on Robot Vision Technology
Special Issue on Innovative Technology for Nursing Care and Nosotrophy
Review on Current Status and Future Trends on Robot Vision Technology
Review: | pp. 275-286 | ||
Current Status and Future Trends on Robot Vision Technology |
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Manabu Hashimoto, Yukiyasu Domae, and Shun’ichi Kaneko |
Special Issue on Innovative Technology for Nursing Care and Nosotrophy
Editorial: | p. 287 | |
Innovative Technology for Nursing Care and Nosotrophy |
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Taketoshi Mori and Yo Kobayashi | ||
As life expectancy has become longer, the number of those who have some handicaps or diseases as well as the families, caregivers and medical staff who support them has been also increasing. While modern medical science has rapidly advanced by adopting the innovation of engineering technology especially in the fields of mechanical and electric engineering, the support for nursing, care and assistance by making use of engineering technology has only just begun. This special issue on “Nursing Engineering,” a combination of nursing and engineering, covers a wide range of themes such as the measuring equipment characterized by non-invasiveness, unconstraint and real-time for the purpose of helping patients and healthcare professionals and the development of the related technology; the development of the technology for the equipment to support recuperation, rehabilitation or convalescent life of patients; and active introduction of information technology and user interface technique into nursing study and its case studies. “Nursing Engineering” is expected to play increasingly important role to support medical treatment and everyday life of patients along with the highly professional medical staff by making practical use of the technology of robotics and mechatronics and incorporating rehabilitation science, welfare engineering and technology for assistance. |
Paper: | pp. 288-298 | ||
Evaluation of Walking Balance Based on Pose Difference Between Normal Walking and Walking Under Multi-Task Conditions |
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Hiroyuki Maeda, Miho Shogenji, and Tetsuyou Watanabe |
Paper: | pp. 299-305 | ||
Experimental Study of Ankle Joint Pushing Mechanism Concerning About the Horizontal Movement of Talus |
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Hideki Toda, Takeshi Matsumoto, and Hiroya Takeuchi |
Paper: | pp. 306-316 | ||
A New Ultrasonographic Image Displaying System to Support Vein Detection |
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Shuhei Noyori, Gojiro Nakagami, Hiroshi Noguchi, Koichi Yabunaka, Taketoshi Mori, and Hiromi Sanada |
Paper: | pp. 317-326 | ||
Development and Evaluation of a Low Cost Cuffless Systolic Blood Pressure Device |
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Jörg Güttler, Muhammad Karim, Christos Georgoulas, and Thomas Bock |
Paper: | pp. 327-337 | ||
Screening Sleep Disordered Breathing with Noncontact Measurement in a Clinical Site |
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Yutaka Matsuura, Hieyong Jeong, Kenji Yamada, Kenji Watabe, Kayo Yoshimoto, and Yuko Ohno |
Paper: | pp. 338-345 | ||
Application of Deep Learning to Develop a Safety Confirmation System for the Elderly in a Nursing Home |
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Masaru Kawakami, Shogo Toba, Kohei Fukuda, Shinya Hori, Yuki Abe, and Koichi Ozaki |
Paper: | pp. 346-352 | ||
Evaluating the Effectiveness of a Vascular Access Imaging Device Used in Training Recently Graduated Nurses |
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Yutaka Murakami, Yuko Ohno, Miki Nishimura, Michiko Kido, and Kenji Yamada |
Development Report: | pp. 353-363 | ||
Excretion Detection System with Gas Sensor – Proposal and Verification of Algorithm Based on Time-Series Clustering – |
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Yoshimi Ui, Yutaka Akiba, Shohei Sugano, Ryosuke Imai, and Ken Tomiyama |
Regular Papers
Paper: | pp. 365-380 | ||
ORB-SHOT SLAM: Trajectory Correction by 3D Loop Closing Based on Bag-of-Visual-Words (BoVW) Model for RGB-D Visual SLAM |
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Zheng Chai and Takafumi Matsumaru |
Paper: | pp. 381-394 | ||
Teleoperating Assistive Robots: A Novel User Interface Relying on Semi-Autonomy and 3D Environment Mapping |
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Zdeněk Materna, Michal Španěl, Marcus Mast, Vítězslav Beran, Florian Weisshardt, Michael Burmester, and Pavel Smrž |
Paper: | pp. 395-405 | ||
A Control System for a Tool Use Robot: Drawing a Circle by Educing Functions of a Compass |
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Kyo Kutsuzawa, Sho Sakaino, and Toshiaki Tsuji |
Paper: | pp. 406-418 | ||
A Preliminary Study on the Handling of a Robotic Arm Based only on Temporarily Provided Auditory Information as a Substitute for Visual Information < The Case Study that Assumed the Resilient System Architecture > |
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Hiroshi Takahashi |
Paper: | pp. 419-433 | ||
Teaching Tasks to Multiple Small Robots by Classifying and Splitting a Human Example |
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Jorge David Figueroa Heredia, Jose Ildefonso U. Rubrico, Shouhei Shirafuji, and Jun Ota |
Paper: | pp. 434-446 | ||
Servoing Performance Enhancement via a Respiratory Organ Motion Prediction Model for a Non-Invasive Ultrasound Theragnostic System |
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Tatsuya Fujii, Norihiro Koizumi, Atsushi Kayasuga, Dongjun Lee, Hiroyuki Tsukihara, Hiroyuki Fukuda, Kiyoshi Yoshinaka, Takashi Azuma, Hideyo Miyazaki, Naohiko Sugita, Kazushi Numata, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi |
No.1
(Feb)
Review on Community-Centric System - Support of Human Ties -
Special Issue on Robot Audition Technologies
Review on Community-Centric System - Support of Human Ties -
Review: | pp. 7-13 | ||
Community-Centric System – Support of Human Ties – |
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Eri Sato-Shimokawara and Toru Yamaguchi |
Special Issue on Robot Audition Technologies
Editorial: | p. 15 | |
Robot Audition Technologies |
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Hiroshi G. Okuno and Kazuhiro Nakadai | ||
Robot audition, the ability of a robot to listen to several things at once with its own “ears,” is crucial to the improvement of interactions and symbiosis between humans and robots. Since robot audition was originally proposed and has been pioneered by Japanese research groups, this special issue on robot audition technologies of the Journal of Robotics and Mechatronics covers a wide collection of advanced topics studied mainly in Japan. Specifically, two consecutive JSPS Grants-in-Aid for Scientific Research (S) on robot audition (PI: Hiroshi G. Okuno) from 2007 to 2017, JST Japan-France Research Cooperative Program on binaural listening for humanoids (PI: Hiroshi G. Okuno and Patrick Danès) from 2009 to 2013, and the ImPACT Tough Robotics Challenge (PM: Prof. Satoshi Tadokoro) on extreme audition for search and rescue robots since 2015 have contributed to the promotion of robot audition research, and most of the papers in this issue are the outcome of these projects. Robot audition was surveyed in the special issue on robot audition in the Journal of Robotic Society of Japan, Vol.28, No.1 (2011) and in our IEEE ICASSP-2015 paper. This issue covers the most recent topics in robot audition, except for human-robot interactions, which was covered by many papers appearing in Advanced Robotics as well as other journals and international conferences, including IEEE IROS. This issue consists of twenty-three papers accepted through peer reviews. They are classified into four categories: signal processing, music and pet robots, search and rescue robots, and monitoring animal acoustics in natural habitats. In signal processing for robot audition, Nakadai, Okuno, et al. report on HARK open source software for robot audition, Takeda, et al. develop noise-robust MUSIC-sound source localization (SSL), and Yalta, et al. use deep learning for SSL. Odo, et al. develop active SSL by moving artificial pinnae, and Youssef, et al. propose binaural SSL for an immobile or mobile talker. Suzuki, Otsuka, et al. evaluate the influence of six impulse-response-measuring signals on MUSIC-based SSL, Sekiguchi, et al. give an optimal allocation of distributed microphone arrays for sound source separation, and Tanabe, et al. develop 3D SSL by using a microphone array and LiDAR. Nakadai and Koiwa present audio-visual automatic speech recognition, and Nakadai, Tezuka, et al. suppress ego-noise, that is, noise generated by the robot itself. In music and pet robots, Ohkita, et al. propose audio-visual beat tracking for a robot to dance with a human dancer, and Tomo, et al. develop a robot that operates a wayang puppet, an Indonesian world cultural heritage, by recognizing emotion in Gamelan music. Suzuki, Takahashi, et al. develop a pet robot that approaches a sound source. In search and rescue robots, Hoshiba, et al. implement real-time SSL with a microphone array installed on a multicopter UAV, and Ishiki, et al. design a microphone array for multicopters. Ohata, et al. detect a sound source with a multicopter microphone array, and Sugiyama, et al. identify detected acoustic events through a combination of signal processing and deep learning. Bando, et al. enhance the human-voice online and offline for a hose-shaped rescue robot with a microphone array. In monitoring animal acoustics in natural habitats, Suzuki, Matsubayashi, et al. design and implement HARKBird, Matsubayashi, et al. report on the experience of monitoring birds with HARKBird, and Kojima, et al. use a spatial-cue-based probabilistic model to analyze the songs of birds singing in their natural habitat. Aihara, et al. analyze a chorus of frogs with dozens of sound-to-light conversion device Firefly, the design and analysis of which is reported on by Mizumoto, et al. The editors and authors hope that this special issue will promote the further evolution of robot audition technologies in a diversity of applications. |
Paper: | pp. 16-25 | ||
Development, Deployment and Applications of Robot Audition Open Source Software HARK |
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Kazuhiro Nakadai, Hiroshi G. Okuno, and Takeshi Mizumoto |
Paper: | pp. 26-36 | ||
Noise-Robust MUSIC-Based Sound Source Localization Using Steering Vector Transformation for Small Humanoids |
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Ryu Takeda and Kazunori Komatani |
Paper: | pp. 37-48 | ||
Sound Source Localization Using Deep Learning Models |
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Nelson Yalta, Kazuhiro Nakadai, and Tetsuya Ogata |
Paper: | pp. 49-58 | ||
Active Sound Source Localization by Pinnae with Recursive Bayesian Estimation |
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Wataru Odo, Daisuke Kimoto, Makoto Kumon, and Tomonari Furukawa |
Paper: | pp. 59-71 | ||
Simultaneous Identification and Localization of Still and Mobile Speakers Based on Binaural Robot Audition |
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Karim Youssef, Katsutoshi Itoyama, and Kazuyoshi Yoshii |
Paper: | pp. 72-82 | ||
Influence of Different Impulse Response Measurement Signals on MUSIC-Based Sound Source Localization |
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Takuya Suzuki, Hiroaki Otsuka, Wataru Akahori, Yoshiaki Bando, and Hiroshi G. Okuno |
Paper: | pp. 83-93 | ||
Layout Optimization of Cooperative Distributed Microphone Arrays Based on Estimation of Source Separation Performance |
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Kouhei Sekiguchi, Yoshiaki Bando, Katsutoshi Itoyama, and Kazuyoshi Yoshii |
Paper: | pp. 94-104 | ||
Probabilistic 3D Sound Source Mapping System Based on Monte Carlo Localization Using Microphone Array and LIDAR |
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Ryo Tanabe, Yoko Sasaki, and Hiroshi Takemura |
Paper: | pp. 105-113 | ||
Psychologically-Inspired Audio-Visual Speech Recognition Using Coarse Speech Recognition and Missing Feature Theory |
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Kazuhiro Nakadai and Tomoaki Koiwa |
Paper: | pp. 114-124 | ||
Ego-Noise Suppression for Robots Based on Semi-Blind Infinite Non-Negative Matrix Factorization |
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Kazuhiro Nakadai, Taiki Tezuka, and Takami Yoshida |
Paper: | pp. 125-136 | ||
Audio-Visual Beat Tracking Based on a State-Space Model for a Robot Dancer Performing with a Human Dancer |
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Misato Ohkita, Yoshiaki Bando, Eita Nakamura, Katsutoshi Itoyama, and Kazuyoshi Yoshii |
Paper: | pp. 137-145 | ||
Wayang Robot with Gamelan Music Pattern Recognition |
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Tito Pradhono Tomo, Alexander Schmitz, Guillermo Enriquez, Shuji Hashimoto, and Shigeki Sugano |
Paper: | pp. 146-153 | ||
Development of a Robotic Pet Using Sound Source Localization with the HARK Robot Audition System |
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Ryo Suzuki, Takuto Takahashi, and Hiroshi G. Okuno |
Paper: | pp. 154-167 | ||
Design and Assessment of Sound Source Localization System with a UAV-Embedded Microphone Array |
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Kotaro Hoshiba, Osamu Sugiyama, Akihide Nagamine, Ryosuke Kojima, Makoto Kumon, and Kazuhiro Nakadai |
Paper: | pp. 168-176 | ||
Evaluation of Microphone Array for Multirotor Helicopters |
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Takahiro Ishiki, Kai Washizaki, and Makoto Kumon |
Paper: | pp. 177-187 | ||
Outdoor Sound Source Detection Using a Quadcopter with Microphone Array |
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Takuma Ohata, Keisuke Nakamura, Akihide Nagamine, Takeshi Mizumoto, Takayuki Ishizaki, Ryosuke Kojima, Osamu Sugiyama, and Kazuhiro Nakadai |
Paper: | pp. 188-197 | ||
Outdoor Acoustic Event Identification with DNN Using a Quadrotor-Embedded Microphone Array |
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Osamu Sugiyama, Satoshi Uemura, Akihide Nagamine, Ryosuke Kojima, Keisuke Nakamura, and Kazuhiro Nakadai |
Paper: | pp. 198-212 | ||
Low Latency and High Quality Two-Stage Human-Voice-Enhancement System for a Hose-Shaped Rescue Robot |
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Yoshiaki Bando, Hiroshi Saruwatari, Nobutaka Ono, Shoji Makino, Katsutoshi Itoyama, Daichi Kitamura, Masaru Ishimura, Moe Takakusaki, Narumi Mae, Kouei Yamaoka, Yutaro Matsui, Yuichi Ambe, Masashi Konyo, Satoshi Tadokoro, Kazuyoshi Yoshii, and Hiroshi G. Okuno |
Paper: | pp. 213-223 | ||
HARKBird: Exploring Acoustic Interactions in Bird Communities Using a Microphone Array |
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Reiji Suzuki, Shiho Matsubayashi, Richard W. Hedley, Kazuhiro Nakadai, and Hiroshi G. Okuno |
Paper: | pp. 224-235 | ||
Acoustic Monitoring of the Great Reed Warbler Using Multiple Microphone Arrays and Robot Audition |
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Shiho Matsubayashi, Reiji Suzuki, Fumiyuki Saito, Tatsuyoshi Murate, Tomohisa Masuda, Koichi Yamamoto, Ryosuke Kojima, Kazuhiro Nakadai, and Hiroshi G. Okuno |
Paper: | pp. 236-246 | ||
Bird Song Scene Analysis Using a Spatial-Cue-Based Probabilistic Model |
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Ryosuke Kojima, Osamu Sugiyama, Kotaro Hoshiba, Kazuhiro Nakadai, Reiji Suzuki, and Charles E. Taylor |
Paper: | pp. 247-254 | ||
Size Effect on Call Properties of Japanese Tree Frogs Revealed by Audio-Processing Technique |
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Ikkyu Aihara, Ryu Takeda, Takeshi Mizumoto, Takuma Otsuka, and Hiroshi G. Okuno |
Paper: | pp. 255-267 | ||
Swarm of Sound-to-Light Conversion Devices to Monitor Acoustic Communication Among Small Nocturnal Animals |
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Takeshi Mizumoto, Ikkyu Aihara, Takuma Otsuka, Hiromitsu Awano, and Hiroshi G. Okuno |
Regular Papers
Development Report: | pp. 269-272 | ||
Development of Trident Motif Riden Mobile Robot for Robot-Triathlon Robot Contest |
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Atsushi Mitani, Yuhei Suzuki, and Yuta Tochigi |