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JRM

Journal of Robotics and Mechatronics

ISSN : 0915-3942(Print) / 1883-8049(Online)
DOI : 10.20965/jrm.issn.1883-8049
Editors-in-Chief : Koichi Osuka (Osaka University)
Deputy Editor-in-Chief : Takayuki Tanaka (Hokkaido University)

Indexed in ESCI, Scopus, Compendex (Ei)

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2020-07-31T15:22:44+0000

Vol.32 (2020)

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

: p. 483
Innovative Robotics and Mechatronics Technology of Modern Passenger Cars for Zeroing Traffic Accidents
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.

: pp. 484-493
Evolution and Evaluation of Safety Offered by Active Safety, ADAS, and AD Systems
Abstract
Masao Nagai and Hidehisa Yoshida
: pp. 494-502
Stereo Vision by Combination of Machine-Learning Techniques for Pedestrian Detection at Intersections Utilizing Surround-View Cameras
Abstract
Tokihiko Akita, Yuji Yamauchi, and Hironobu Fujiyoshi
: pp. 503-519
Personalized Subjective Driving Risk: Analysis and Prediction
Abstract
Naren Bao, Alexander Carballo, Chiyomi Miyajima, Eijiro Takeuchi, and Kazuya Takeda
: 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 –
Abstract
Keisuke Suzuki, Joohyeong Lee, and Atsushi Kanbe
: pp. 530-536
Safety Compensation for Improving Driver Takeover Performance in Conditionally Automated Driving
Abstract
Hua Yao, Suyang An, Huiping Zhou, and Makoto Itoh
: pp. 537-547
Moving Horizon Estimation with Probabilistic Data Association for Object Tracking Considering System Noise Constraint
Abstract
Tomoya Kikuchi, Kenichiro Nonaka, and Kazuma Sekiguchi
: pp. 548-560
Fast Euclidean Cluster Extraction Using GPUs
Abstract
Anh Nguyen, Abraham Monrroy Cano, Masato Edahiro, and Shinpei Kato
: pp. 561-570
Automated Steering Control System for Reverse Parking Maneuver of Semi-Trailer Vehicles Considering Motion Planning by Simulation of Feedback Control System
Abstract
Yutaka Hamaguchi and Pongsathorn Raksincharoensak
: pp. 571-579
Tracking Control of a Micro Ground Vehicle Using the Course Coordinate
Abstract
Masanori Harada and Yuki Ueyama
: pp. 580-587
Autonomous Motion Planning in Pedestrian Space Considering Passenger Comfort
Abstract
Hiroshi Yoshitake, Kenta Nishi, and Motoki Shino
: pp. 588-597
Path Planning Design for Boarding-Type Personal Mobility Unit Passing Pedestrians Based on Pedestrian Behavior
Abstract
Hidehisa Yoshida, Kohei Yoshida, and Toyoyuki Honjo
: pp. 598-604
Safety Evaluation of Green Light Optimal Speed Advisory (GLOSA) System in Real-World Signalized Intersection
Abstract
Hironori Suzuki and Yoshitaka Marumo
: pp. 605-612
Effects of Demographic Characteristics on Trust in Driving Automation
Abstract
Jieun Lee, Genya Abe, Kenji Sato, and Makoto Itoh
: pp. 613-623
Lane-Marker-Based Map Construction and Map Precision Evaluation Methods Using On-Board Cameras for Autonomous Driving
Abstract
Kenta Maeda, Junya Takahashi, and Pongsathorn Raksincharoensak
: pp. 624-633
Mono-Camera-Based Robust Self-Localization Using LIDAR Intensity Map
Abstract
Kei Sato, Keisuke Yoneda, Ryo Yanase, and Naoki Suganuma
: pp. 634-637
ACDR: Autonomous-Car Drive Recorder
Abstract
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

: pp. 640-642
Hiroshima University: KOBELCO Construction Machinery Dream-Driven Co-Creation Research Center
Abstract
Toru Yamamoto and Kiyokazu Tanaka
: pp. 643-651
Application of a MIMO-PID Controller for a Hydraulic Excavator Considering the Velocity of CoM
Abstract
Masatoshi Kozui, Toru Yamamoto, Masaki Akiyama, Kazushige Koiwai, and Yoichiro Yamazaki
: pp. 652-661
Design of a Database-Driven Kansei Feedback Control System Using a Hydraulic Excavators Simulator
Abstract
Takuya Kinoshita, Hiroaki Ikeda, Toru Yamamoto, Maro G. Machizawa, Kiyokazu Tanaka, and Yoichiro Yamazaki
: pp. 662-671
Design and Practice of a Model-Based Development Education in Hydraulic Systems
Abstract
Mikiya Sako, Shin Wakitani, Masatoshi Kozui, Toru Yamamoto, Koji Yamashita, Kazushige Koiwai, and Yoichiro Yamazaki

Regular Papers

: pp. 673-682
Development of a Rehabilitation and Training Device Considering the Ankle Degree of Freedom
Abstract
Asaki Akagi, Satoki Tsuichihara, Shinichi Kosugi, and Hiroshi Takemura
: pp. 683-691
Long Range Six Degree-of-Freedom Magnetic Levitation Using Low Cost Sensing and Control
Abstract
Peter Berkelman and Yu-Sheng Lu
: pp. 692-700
Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot
Abstract
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

: 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.

: pp. 281-288
Application of Micro-Electro-Mechanical Systems (MEMS) as Sensors: A Review
Abstract
Ahmad Athif Mohd Faudzi, Yaser Sabzehmeidani, and Koichi Suzumori
: pp. 289-296
PDMS Soft Skin Device with Deformable Micro-Diaphragm Array Fabricated with Rapid Substrate-Releasing Process
Abstract
Hideyuki Mitsui, Hiroshi Kashiwazaki, and Takashi Mineta
: pp. 297-304
Tactile Sensor with High-Density Microcantilever and Multiple PDMS Bumps for Contact Detection
Abstract
Tomoya Fujihashi, Fumitoshi Suga, Ryoma Araki, Jyun Kido, Takashi Abe, and Masayuki Sohgawa
: pp. 305-314
A MEMS Tactile Sensor with Fingerprint-Like Array of Contactors for High Resolution Visualization of Surface Distribution of Tactile Information
Abstract
Kazuki Watatani, Kyohei Terao, Fusao Shimokawa, and Hidekuni Takao
: pp. 315-322
Development of MEMS Tactile Sensation Device for Haptic Robot
Abstract
Junji Sone, Yasuyoshi Matsumoto, Yoji Yasuda, Shoichi Hasegawa, and Katsumi Yamada
: pp. 323-332
Development of a Real-Time Force and Temperature Sensing System with MEMS-LSI Integrated Tactile Sensors for Next-Generation Robots
Abstract
Masanori Muroyama, Hideki Hirano, Chenzhong Shao, and Shuji Tanaka
: pp. 333-343
Fabrication, Experiment, and Simulation of a Flexible Microvalve-Integrated Microarm for Microgrippers Using Electrorheological Fluid
Abstract
Joon-Wan Kim, Kazuhiro Yoshida, Toru Ide, and Shinichi Yokota
: pp. 344-350
High-Speed and Large-Amplitude Resonant Varifocal Mirror
Abstract
Takashi Sasaki, Takuro Kamada, and Kazuhiro Hane
: pp. 351-361
Development of Artificial Skin Using Keratin Film for Evaluation of Puncture Performance of Microneedle
Abstract
Ryo Nishino, Seiji Aoyagi, Masato Suzuki, Atsushi Ueda, Yuki Okumura, Tomokazu Takahashi, Ryota Hosomi, Kenji Fukunaga, Daisuke Uta, Tomonori Takazawa, and Toshihiro Fujii
: pp. 362-370
Effect of Inner Diameter and Anticoagulation Coating in a Microneedle on its Blood Suction Performance
Abstract
Seiji Aoyagi, Ryosuke Nomura, Tomokazu Takahashi, and Masato Suzuki
: pp. 371-381
Effect of Microneedle Cross-Sectional Shape on Puncture Resistance – Investigation of Polygonal and Star-Shaped Cross Sections –
Abstract
Seiji Aoyagi, Kento Okuda, Tomokazu Takahashi, and Masato Suzuki
: pp. 382-389
Development of Microneedle Puncture Device that Prevents Buckling of Needle by Delivery Operation
Abstract
Masato Suzuki, Fuuta Motooka, Tomokazu Takahashi, and Seiji Aoyagi
: pp. 390-400
Fabrication of Microneedle from Stretched Biodegradable Polymer Sheet by 3D Laser Machining
Abstract
Seiji Aoyagi, Junya Sato, Tomokazu Takahashi, Masato Suzuki, and Shinichi Matsumoto
: pp. 401-407
Fabrication and Characterization of a Biodegradable Hollow Microneedle from Chitosan
Abstract
Masato Suzuki, Tomokazu Takahashi, and Seiji Aoyagi

Regular Papers

: pp. 409-421
Generating a Visual Map of the Crane Workspace Using Top-View Cameras for Assisting Operation
Abstract
Yu Wang, Hiromasa Suzuki, Yutaka Ohtake, Takayuki Kosaka, and Shinji Noguchi
: pp. 422-436
Network Connectivity Control of Mobile Robots by Fast Position Estimations and Laplacian Kernel
Abstract
Yusuke Ikemoto, Kenichiro Nishimura, Yuichiro Mizutama, Tohru Sasaki, and Mitsuru Jindai
: pp. 437-444
Cutting Point Detection Using a Robot with Point Clouds for Tomato Harvesting
Abstract
Takeshi Yoshida, Takanori Fukao, and Takaomi Hasegawa
: pp. 445-458
Human Mimetic Forearm and Hand Design with a Radioulnar Joint and Flexible Machined Spring Finger for Human Skillful Motions
Abstract
Kento Kawaharazuka, Shogo Makino, Masaya Kawamura, Shinsuke Nakashima, Yuki Asano, Kei Okada, and Masayuki Inaba
: pp. 459-468
System Integration for Component-Based Manzai Robots with Improved Scalability
Abstract
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

: pp. 1-2
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2019
Editorial Office

We are pleased to announce that the 12th Journal of Robotics and Mechatronics Best Paper Award (JRM Best Paper Award 2019) has been decided by the JRM editorial committee.

The following paper won the JRM Best Paper Award 2019, severely selected from among all 94 papers published in Vol.30 (2018). The Best Paper Award ceremony was held in Gakushi-Kaikan, Tokyo, Japan, on January 7, 2020, attended by the author and JRM editorial committee members who took part in the selection process. The award winner will also be announced on the JRM website and was given a certificate and a nearly US$1,000 honorarium.

 

JRM Best Paper Award 2019

Title: End-to-End Autonomous Mobile Robot Navigation with Model-Based System Support

Authors: Alexander Carballo, Shunya Seiya, Jacob Lambert, Hatem Darweesh, Patiphon Narksri, Luis Yoichi Morales, Naoki Akai, Eijiro Takeuchi, and Kazuya Takeda

J. Robot. Mechatron., Vol.30 No.4, pp. 563-583, August 2018

Special Issue on Human-Robot Interaction in Close Distance

: 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.

: pp. 8-20
Walking Hand-in-Hand Helps Relationship Building Between Child and Robot
Abstract
Chie Hieida, Kasumi Abe, Takayuki Nagai, and Takashi Omori
: pp. 21-31
Estimating Children’s Personalities Through Their Interaction Activities with a Tele-Operated Robot
Abstract
Kasumi Abe, Takayuki Nagai, Chie Hieida, Takashi Omori, and Masahiro Shiomi
: pp. 32-42
Anxiety Reduction Through Close Communication with Robotic Media in Dementia Patients and Healthy Older Adults
Abstract
Ryuji Yamazaki, Hiroko Kase, Shuichi Nishio, and Hiroshi Ishiguro
: pp. 43-50
Effects of Robot’s Awareness and its Subtle Reactions Toward People’s Perceived Feelings in Touch Interaction
Abstract
Masahiro Shiomi, Takashi Minato, and Hiroshi Ishiguro
: pp. 51-58
How Can Robots Make People Feel Intimacy Through Touch?
Abstract
Xiqian Zheng, Masahiro Shiomi, Takashi Minato, and Hiroshi Ishiguro
: pp. 59-67
Autonomous Mobile Robot Moving Through Static Crowd: Arm with One-DoF and Hand with Involute Shape to Maneuver Human Position
Abstract
Noriaki Imaoka, Kazuma Kitazawa, Mitsuhiro Kamezaki, Shigeki Sugano, and Takeshi Ando
: pp. 68-75
Gaze-Height and Speech-Timing Effects on Feeling Robot-Initiated Touches
Abstract
Masahiro Shiomi, Takahiro Hirano, Mitsuhiko Kimoto, Takamasa Iio, and Katsunori Shimohara
: pp. 76-85
Multi-Modal Interaction Through Anthropomorphically Designed Communication Medium to Enhance the Self-Disclosures of Personal Information
Abstract
Nobuhiro Jinnai, Hidenobu Sumioka, Takashi Minato, and Hiroshi Ishiguro
: pp. 86-96
Effect of Robot’s Play-Biting in Non-Verbal Communication
Abstract
Kayako Nakagawa, Reo Matsumura, and Masahiro Shiomi
: pp. 97-112
Previous Announcement Method Using 3D CG Face Interface for Mobile Robot
Abstract
Masahiko Mikawa, Jiayi Lyu, Makoto Fujisawa, Wasuke Hiiragi, and Toyoyuki Ishibashi
: pp. 113-127
Selection of Required Controller for Position- and Force-Based Task in Motion Copying System
Abstract
Toshiaki Okano, Roberto Oboe, Kouhei Ohnishi, and Toshiyuki Murakami
: pp. 128-135
Survey of Social Touch Interaction Between Humans and Robots
Abstract
Masahiro Shiomi, Hidenobu Sumioka, and Hiroshi Ishiguro

Special Issue on Wearable Robotics and Mechatronics Technology

: 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.

: pp. 138-148
TasKi: Overhead Work Assistance Device with Passive Gravity Compensation Mechanism
Abstract
Yasuyuki Yamada, Hirokazu Arakawa, Taro Watanabe, Shunya Fukuyama, Rie Nishihama, Isao Kikutani, and Taro Nakamura
: pp. 149-156
A Water-Hydraulic Upper-Limb Assistive Exoskeleton System with Displacement Estimation
Abstract
Takahiro Kosaki and Shigang Li
: pp. 157-172
Development and Evaluation of a Close-Fitting Assistive Suit for Back and Arm Muscle – e.z.UP®
Abstract
Yun-Ting Liao, Toshifumi Ishioka, Kazuko Mishima, Chiaki Kanda, Kenji Kodama, and Eiichiro Tanaka
: pp. 173-182
Wearable Robot Arm with Consideration of Weight Reduction and Practicality
Abstract
Akimichi Kojima, Hirotake Yamazoe, and Joo-Ho Lee
: pp. 183-198
Motion-Assist Arm with a Passive Joint for an Upper Limb
Abstract
Hiroaki Kozuka, Daisaku Uchijima, and Hiroshi Tachiya
: pp. 199-208
Development of Two-Sensation Feedback Device for Myoelectric Prosthetic Hand Users – Compensation of Effect of Temperature Change on Haptic Feedback –
Abstract
Makuru Isobe and Chiharu Ishii
: pp. 209-219
Development of Assist Suit for Squat Lifting Support Considering Gait and Quantitative Evaluation by Three-Dimensional Motion Analysis
Abstract
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

: pp. 222-223
Tokyo Metropolitan University: Community-centric System Research Center
Abstract
Toru Yamaguchi and Eri Sato-Shimokawara
: pp. 224-235
Investigation of Robot Expression Style in Human-Robot Interaction
Abstract
Wei-Fen Hsieh, Eri Sato-Shimokawara, and Toru Yamaguchi
: pp. 236-243
Interactive Information Support by Robot Partners Based on Informationally Structured Space
Abstract
Shion Yamamoto, Jinseok Woo, Wei Hong Chin, Keiichi Matsumura, and Naoyuki Kubota

Regular Papers

: pp. 245-253
Semi-Automatic Dataset Generation for Object Detection and Recognition and its Evaluation on Domestic Service Robots
Abstract
Yutaro Ishida and Hakaru Tamukoh
: pp. 254-263
Mobile Robot Utilizing Arm Rotations – Performance of Mobile Robot Under a Gravity Environment –
Abstract
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

: 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.

: pp. 744-751
Research and Development on Robotic Technologies for Infrastructure Maintenance
Abstract
Keiji Nagatani and Yozo Fujino
: pp. 752-761
Shape Adaptation of the Inspection Guide Frame in Tunnels to Avoid Obstacles Detected by a Laser Range Finder
Abstract
Fumihiro Inoue, Soonsu Kwon, Satoru Nakamura, and Yoshitaka Yanagihara
: pp. 762-771
Inspection Test of a Tunnel with an Inspection Vehicle for Tunnel Lining Concrete
Abstract
Satoru Nakamura, Atsushi Yamashita, Fumihiro Inoue, Daisuke Inoue, Yusuke Takahashi, Nobukazu Kamimura, and Takao Ueno
: pp. 772-780
Shadow-Based Operation Assistant for a Pipeline-Inspection Robot Using a Variance Value of the Image Histogram
Abstract
Atsushi Kakogawa, Yuki Komurasaki, and Shugen Ma
: 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 –
Abstract
Fumio Ito, Takahiko Kawaguchi, Yasuyuki Yamada, and Taro Nakamura
: pp. 794-802
Verification and Evaluation of Robotic Inspection of the Inside of Culvert Pipes
Abstract
Hiroyasu Miura, Ayaka Watanabe, Masayuki Okugawa, and Takahiko Miura
: pp. 803-815
Development of Lifting System for High-Elevation Inspection Robot Targeting Hanger Ropes
Abstract
Yoshinori Fujihira, Naohiko Hanajima, Kentarou Kurashige, Hidekazu Kajiwara, and Masato Mizukami
: pp. 816-826
Development of Concrete Inspection Robot with Dual Stage Suckers
Abstract
Yuta Matsumoto, Isao Kurashige, and Kan Yoneda
: pp. 827-836
Reliable Activation of an EPM-Based Clinging Device for Aerial Inspection Robots
Abstract
Arata Masuda, Akihiro Tanaka, Yoshiyuki Higashi, and Nanako Miura
: pp. 837-844
Development of a Bridge Inspection Support Robot System Using Two-Wheeled Multicopters
Abstract
Manabu Nakao, Eiji Hasegawa, Taku Kudo, and Naoyuki Sawasaki
: pp. 845-854
Autonomous Adaptive Flight Control of a UAV for Practical Bridge Inspection Using Multiple-Camera Image Coupling Method
Abstract
Kenta Hidaka, Daiki Fujimoto, and Kazuya Sato
: pp. 855-862
Development of Hanger-Rope Inspection Robot for Suspension Bridges
Abstract
Hidekazu Kajiwara, Naohiko Hanajima, Kentarou Kurashige, and Yoshinori Fujihira
: pp. 863-870
Visualization of Voids Between Tile and Concrete by Multi-Layered Scanning Method with Electromagnetic Waves
Abstract
Takumi Honda, Takayuki Tanaka, Satoru Doi, Shigeru Uchida, and Maria Q. Feng

Regular Papers

: pp. 871-881
Analysis of Fast Bipedal Walking Using Mechanism of Actively Controlled Wobbling Mass
Abstract
Yuta Hanazawa, Terumitsu Hayashi, Masaki Yamakita, and Fumihiko Asano
: pp. 882-893
Development of a Spray-Coated Tactile Sensor – Prototype and Modeling of 2D Sensor on Cylindrical Surface –
Abstract
Kouki Sato, Luis Canete, and Takayuki Takahashi
: pp. 894-904
Three-DoF Flapping-Wing Robot with Variable-Amplitude Link Mechanism
Abstract
Terukazu Sato, Akihiro Fujimura, and Naoyuki Takesue
: pp. 905-912
Statistical Exploration of Distributed Pattern Formation Based on Minimalistic Approach
Abstract
Yuichiro Sueoka, Takamasa Tahara, Masato Ishikawa, and Koichi Osuka
: pp. 913-925
Development of Rover with ARLISS Requirements and the Examination of the Rate of Acceleration that Causes Damages During a Rocket Launch
Abstract
Takuya Saito and Miho Akiyama
: pp. 926-933
Development of Birefringence Confocal Laser Scanning Microscope and its Application to Sample Measurements
Abstract
Shinya Ohkubo

No.5

(Oct)

Regular papers

Regular Papers

: pp. 647-656
Step Response Characteristics of Anisotropic Gel Actuator Hybridized with Nanosheet Liquid Crystal
Abstract
Hitoshi Kino, Akihiro Kiyota, Takumi Inadomi, Tomonori Kato, Hiroyuki Fujioka, and Nobuyoshi Miyamoto
: pp. 657-670
Three-Dimensional Aerial Image Interface, 3DAII
Abstract
Takafumi Matsumaru, Asyifa Imanda Septiana, and Kazuki Horiuchi
: pp. 671-685
A Tandem Marker-Based Motion Capture Method for Dynamic Small Displacement Distribution Analysis
Abstract
Zulhaj Aliansyah, Kohei Shimasaki, Mingjun Jiang, Takeshi Takaki, Idaku Ishii, Hua Yang, Chikako Umemoto, and Hiroshi Matsuda
: pp. 686-696
Effect of Trunk Swinging Behaviors on Planar Bipedal Walking with an Upper Body on Gentle Slope
Abstract
Toyoyuki Honjo and Hidehisa Yoshida
: pp. 697-706
Gravity Compensation Modular Robot: Proposal and Prototyping
Abstract
Yukio Morooka and Ikuo Mizuuchi
: pp. 707-714
Development of the Servo Valve with High Durability Using Split-Type Sleeve – Reduction of Wear with Ceramic Material –
Abstract
Koki Sakakibara, Shunya Suzuki, Kazushi Shibata, Yuto Sawada, Satoshi Ashizawa, and Takeo Oomichi
: pp. 715-718
Development of Respiration Measuring Robot
Abstract
Junji Satake, Tsukasa Ushijima, and Yusuke Kudo

Latest Research Topics

: pp. 720-722
Zombification of Insects as a Model for Searching the Source of Various Behaviors of Living Organisms
Abstract
Koichi Osuka
: pp. 723-726
Centipede Type Robot i-CentiPot: From Machine to Creatures
Abstract
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

: 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.

: pp. 520-525
Sharing Experience for Behavior Generation of Real Swarm Robot Systems Using Deep Reinforcement Learning
Abstract
Toshiyuki Yasuda and Kazuhiro Ohkura
: pp. 526-534
Effects of Congestion on Swarm Performance and Autonomous Specialization in Robotic Swarms
Abstract
Motoaki Hiraga and Kazuhiro Ohkura
: pp. 535-545
Dynamic Partitioning Strategies for Multi-Robot Patrolling Systems
Abstract
Satoshi Hoshino and Kazuki Takahashi
: pp. 546-557
Centralized Business-to-Business Networks in the Japanese Textile and Apparel Industry: Using Network Analysis and an Agent-Based Model
Abstract
Yusaku Ogai, Yoshiyuki Matsumura, Yusuke Hoshino, Toshiyuki Yasuda, and Kazuhiro Ohkura
: pp. 558-565
Agreement Algorithm Based on a Trial and Error Method for the Best of Proportions Problem
Abstract
Nhuhai Phung, Masao Kubo, and Hiroshi Sato

Regular Papers

: pp. 567-582
Omnidirectional Mobility Following Through Trochoidal Trajectory
Abstract
Taro Maeda and Hideyuki Ando
: pp. 583-593
Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire
Abstract
Hitoshi Kino, Naofumi Mori, Shota Moribe, Kazuyuki Tsuda, and Kenji Tahara
: pp. 594-602
Development of the Biological Information Measurement System for STEM Education and High School/University Articulation
Abstract
Takeshi Shimoto, Chika Miyamoto, and Takatoshi Umeno
: pp. 603-611
Underwater Structure from Motion for Cameras Under Refractive Surfaces
Abstract
Xiaorui Qiao, Atsushi Yamashita, and Hajime Asama
: 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
Abstract
Yuki Matsutani, Kenji Tahara, and Hitoshi Kino
: pp. 621-628
High-Frequency Vibration of Leg Masses for Improving Gait Stability of Compass Walking on Slippery Downhill
Abstract
Longchuan Li, Fumihiko Asano, and Isao Tokuda
: pp. 629-638
Mood Perception Model for Social Robot Based on Facial and Bodily Expression Using a Hidden Markov Model
Abstract
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

: pp. 367-374
Introduction to Simultaneous Localization and Mapping
Abstract
Takashi Tsubouchi

Special Issue on Education Based on Practical Exercise on Sensing and Control

: 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.

: pp. 376-382
Design of an Educational Hardware in the Loop Simulator for Model-Based Development Education
Abstract
Shin Wakitani and Toru Yamamoto
: pp. 383-390
Educational Effect of Participation in Robot Competition on Experience-Based Learning
Abstract
Yoshio Kaji, Junji Kawata, and Shoichiro Fujisawa
: pp. 391-404
The Educational Effects of Practical Manufacturing Activities in Graduation Research
Abstract
Junji Kawata, Jiro Morimoto, Mineo Higuchi, and Shoichiro Fujisawa
: pp. 405-411
Motivation System for Students to Learn Control Engineering and Image Processing
Abstract
Sam Ann Rahok, Hirohisa Oneda, Shigeji Osawa, and Koichi Ozaki
: pp. 412-418
Teaching Material Imitating the Advanced Driver-Assistance System for Measurement and Control Education
Abstract
Takatoshi Umeno and Takeshi Shimoto
: pp. 419-426
Development of Basic Training for Teaching Measurement and Control to Junior High School Students
Abstract
Teruyuki Tamai, Yoshihiro Ohnishi, and Kazuo Kawada
: pp. 427-433
Evaluation for Task Achievement of Robotics Programming Based on Image Information
Abstract
Yoshihiro Ohnishi, Shogo Takechi, Teruyuki Tamai, Shinnosuke Mori, and Kazuo Kawada
: pp. 434-440
Implement a Program with Contents of Measurement and Control for Elementary School Science Classes
Abstract
Shinichi Imai, Youichirou Ueno, and Kazunori Kajihara
: pp. 441-451
A Study on Developmentally Appropriate Programming Education Learning Materials for Lower-Elementary School Students
Abstract
Kazuo Kawada, Katsuya Okamoto, Teruyuki Tamai, and Yoshihiro Ohnishi

Regular Papers

: pp. 453-463
Hierarchical Proximity Sensor for High-Speed and Intelligent Control of Robotic Hand
Abstract
Yuji Hirai, Takuya Mizukami, Yosuke Suzuki, Tokuo Tsuji, and Tetsuyou Watanabe
: pp. 464-473
Path Planning in Outdoor Pedestrian Settings Using 2D Digital Maps
Abstract
Ahmed Farid and Takafumi Matsumaru
: pp. 474-492
Cardboard Box Depalletizing Robot Using Two-Surface Suction and Elastic Joint Mechanisms: Mechanism Proposal and Verification
Abstract
Junya Tanaka and Akihito Ogawa
: pp. 493-499
Trajectory Prediction with a Conditional Variational Autoencoder
Abstract
Thibault Barbié, Takaki Nishio, and Takeshi Nishida
: pp. 500-506
MACROTIS: Cubic Robot with Snap-Through-Buckling Mechanisms for Achieving High Freedom of Movement
Abstract
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

: 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.

: pp. 180-193
Navigation Based on Metric Route Information in Places Where the Mobile Robot Visits for the First Time
Abstract
Asahi Handa, Azumi Suzuki, Hisashi Date, Ryohsuke Mitsudome, Takashi Tsubouchi, and Akihisa Ohya
: pp. 194-202
Robust Human Tracking of a Crawler Robot
Abstract
Yasuaki Orita and Takanori Fukao
: pp. 203-211
Indoor Self-Localization Using Multiple Magnetic Sensors
Abstract
Isaku Nagai, Jun Sakai, and Keigo Watanabe
: pp. 212-220
Self-Localization Estimation for Mobile Robot Based on Map-Matching Using Downhill Simplex Method
Abstract
Kazuya Okawa
: pp. 221-230
Cross-Domain Change Object Detection Using Generative Adversarial Networks
Abstract
Takuma Sugimoto, Kanji Tanaka, and Kousuke Yamaguchi

Regular Papers

: pp. 231-239
Development of a Cross-Platform Cockpit for Simulated and Tele-Operated Excavators
Abstract
Masaru Ito, Yusuke Funahara, Seiji Saiki, Yoichiro Yamazaki, and Yuichi Kurita
: pp. 240-250
Consideration of Multi-Degree of Freedom Vibration on Large-Sized Gantry Type Linear Motor Slider
Abstract
Tetsuya Ojiro, Toshiyuki Tachibana, Hideki Honda, Hiroshi Hamamatsu, Kazuhiro Tsuruta, and Tsuyoshi Hanamoto
: pp. 251-262
3D Measurement of Large Structure by Multiple Cameras and a Ring Laser
Abstract
Hiroshi Higuchi, Hiromitsu Fujii, Atsushi Taniguchi, Masahiro Watanabe, Atsushi Yamashita, and Hajime Asama
: pp. 263-273
Deformation Control of a Manipulator Based on the Zener Model
Abstract
Taku Senoo, Kenichi Murakami, and Masatoshi Ishikawa
: pp. 274-288
A Driving Simulation Study on Visual Cue Presented in the Peripheral Visual Field for Prompting Driver’s Attention
Abstract
Hiroshi Takahashi and Makoto Itoh
: pp. 289-304
A Three-Fingered Hand with a Suction Gripping System for Warehouse Automation
Abstract
Shun Hasegawa, Kentaro Wada, Kei Okada, and Masayuki Inaba
: pp. 305-316
Design Method of Spring Balance Mechanism Through Derivation of General Solution
Abstract
Kazuki Kaneda, Hirokazu Yamagata, and Toshio Morita
: pp. 317-328
Synchronous Position Control of Robotics System for Infrastructure Inspection Moving on Rope Tether
Abstract
Makpal Sarieva, Lei Yao, Kei Sugawara, and Tadashi Egami
: pp. 329-338
Using Uncertain DM-Chameleon Clustering Algorithm Based on Machine Learning to Predict Landslide Hazards
Abstract
Jian Hu, Haiwan Zhu, Yimin Mao, Canlong Zhang, Tian Liang, and Dinghui Mao
: pp. 339-347
Uncertain Interval Data EFCM-ID Clustering Algorithm Based on Machine Learning
Abstract
Yimin Mao, Yinping Liu, Muhammad Asim Khan, Jiawei Wang, Dinghui Mao, and Jian Hu
: pp. 348-354
Development of a Multi-Master Communication Platform for Mobile Distributed Systems
Abstract
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

: p. 1
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2018
Editorial Office

Congratulations to the Elected IEEE Presidents

: p. 2
Congratulations to the Elected IEEE Presidents
Editorial Office

JRM 30th Anniversary

: p. 5
Celebrating 30 Years Anniversary of JRM Publication
Kazuo Yamafuji
: p. 6
Looking Toward the Next Ten Years
Masanori Idesawa
: p. 7
Celebrating the Publication of the 30th Anniversary Issue
Tatsuo Arai
: p. 8
Congratulations on the 30th Anniversary of the JRM
Yoshihiro Takita

Special Issue on History, Trends, and Future of Practical Robotics and Mechatronics

: pp. 10-15
Development of SCARA Robots
Abstract
Kazuo Yamafuji
: pp. 16-26
Humanoid Robot Hand and its Applied Research
Abstract
Haruhisa Kawasaki and Tetsuya Mouri
: pp. 27-34
Development of Myoelectric Robotic/Prosthetic Hands with Cybernetic Control at the Biological Systems Engineering Laboratory, Hiroshima University
Abstract
Toshio Tsuji, Taro Shibanoki, Go Nakamura, and Akira Furui
: pp. 35-44
Research and Development of Rehabilitation Systems for the Upper Limbs “PLEMO” Series
Abstract
Junji Furusho and Naoyuki Takesue
: pp. 45-56
Dynamic Intelligent Systems Based on High-Speed Vision
Abstract
Taku Senoo, Yuji Yamakawa, Shouren Huang, Keisuke Koyama, Makoto Shimojo, Yoshihiro Watanabe, Leo Miyashita, Masahiro Hirano, Tomohiro Sueishi, and Masatoshi Ishikawa
: pp. 57-62
Recent Trends in the Research of Industrial Robots and Future Outlook
Abstract
Yukiyasu Domae

Regular Papers

: pp. 63-69
Raw Material Composition Control Method for Cement Based on Semi-Tensor Product
Abstract
Ping Jiang, Hongliang Yu, Shi Li, and Xiaohong Wang
: pp. 70-77
Research on Snoring Recognition Algorithms
Abstract
Yongping Dan, Yaming Song, Dongyun Wang, Fenghui Zhang, Wei Liu, and Xiaohui Lu
: pp. 78-87
TAOYAKA-III: A Six-Legged Robot Capable of Climbing Various Columnar Objects
Abstract
Kazuyuki Ito, Ryushi Aoyagi, and Yoshihiro Homma
: pp. 88-94
Three-States-Transition Method for Fall Detection Algorithm Using Depth Image
Abstract
Xiangbo Kong, Zelin Meng, Lin Meng, and Hiroyuki Tomiyama
: pp. 95-103
Sliding Mode Control for Vibration Comfort Improvement of a 7-DOF Nonlinear Active Vehicle Suspension Model
Abstract
Zhiyong Yang, Shan Liang, Yu Zhou, and Di Zhao
: pp. 104-109
Operator-Based Robust Nonlinear Control Analysis and Design for a Bio-Inspired Robot Arm with Measurement Uncertainties
Abstract
Aihui Wang, Zhengxiang Ma, and Jianmin Luo
: pp. 110-117
Experimental Analysis of Acoustic Field Control-Based Robot Navigation
Abstract
Yusuke Tsunoda, Yuichiro Sueoka, and Koichi Osuka
: pp. 118-134
Three-Fingered Robot Hand with Gripping Force Generating Mechanism Using Small Gas Springs – Mechanical Design and Basic Experiments –
Abstract
Junya Tanaka
: pp. 135-142
One-DOF Wire-Driven Robot Assisting Both Hip and Knee Flexion Motion
Abstract
Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, and Shigeki Sugano
: pp. 143-155
Choice of Muscular Forces for Motion Control of a Robot Arm with Biarticular Muscles
Abstract
Tetsuya Morizono, Kenji Tahara, and Hitoshi Kino
: pp. 156-165
Design of a Flexibly-Constrained Revolute Pair with Non-Linear Stiffness for Safe Robot Mechanisms
Abstract
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

: 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.

: pp. 846-854
Spherical and Non-Spherical Combined Two Degree-of-Freedom Rotational Parallel Mechanism for a Microsurgical Robotic System
Abstract
Jumpei Arata, Yoshiteru Kobayashi, Ryu Nakadate, Shinya Onogi, Kazuo Kiguchi, and Makoto Hashizume
: pp. 855-862
Development of Gripper to Achieve Envelope Grasping with Underactuated Mechanism Using Differential Gear
Abstract
Takumi Tamamoto, Keita Takeuchi, and Koichi Koganezawa
: pp. 863-872
Development of Mechanical-Impedance-Varying Mechanism in Admittance Control
Abstract
Toru Tsumugiwa, Miho Yura, Atsushi Kamiyoshi, and Ryuichi Yokogawa
: pp. 873-879
Utilizing the Nonlinearity of Tendon Elasticity for Compensation of Unknown Gravity of Payload
Abstract
Chao Shao, Junki Togashi, Kazuhisa Mitobe, and Genci Capi
: 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) –
Abstract
Naoyuki Takesue, Junji Furusho, Shota Mochizuki, and Takeaki Watanabe
: pp. 892-899
Non-Energized Above Knee Prosthesis Enabling Stairs Ascending and Descending with Hydraulic Flow Controller
Abstract
Takayuki Kikuchi, Ryota Fujino, Kenta Igarashi, and Koichi Koganezawa
: pp. 900-909
Dynamic Simulation of 1-DOF Swing Motion Propulsion Mechanism by Rotary Actuator
Abstract
Nobuhiko Miyamoto, Noriaki Ando, and Kazuyoshi Wada
: pp. 910-919
Modeling and Mechanical Design of an Active-Caster Omnidirectional Mechanism with a Ball Transmission
Abstract
Kosuke Kato and Masayoshi Wada

Regular Papers

: pp. 921-926
Improved Artificial Bee Colony Algorithm and its Application in Classification
Abstract
Haiquan Wang, Jianhua Wei, Shengjun Wen, Hongnian Yu, and Xiguang Zhang
: pp. 927-942
Adaptive Generalized Predictive Controller and Cartesian Force Control for Robot Arm Using Dynamics and Geometric Identification
Abstract
Shohei Hagane, Liz Katherine Rincon Ardila, Takuma Katsumata, Vincent Bonnet, Philippe Fraisse, and Gentiane Venture
: pp. 943-949
Designing a Communication Field with a Transformation Method
Abstract
Xiangyang Lu, Ling Ouyang, Lijuan Sun, Jin Hu, and Lijuan Jia
: pp. 950-957
Operator-Based Control System Analysis and Design for Nonlinear System with Input and Output Constraints
Abstract
Shuhui Bi, Lei Wang, Shengjun Wen, and Liyao Ma
: pp. 958-964
Improved Synthetic Weighted Algorithm of Ontology-Based Semantic Similarity Computation
Abstract
Yuan Liu, Haiquan Wang, and Xiguang Zhang
: pp. 965-970
A Novel Stability Criterion of Lur’e Systems with Time-Varying Delay Based on Relaxed Conditions
Abstract
Peng Zhang, Pitao Wang, and Tao Shen
: pp. 971-979
Low-Altitude and High-Speed Terrain Tracking Method for Lightweight AUVs
Abstract
Toshihiro Maki, Yukiyasu Noguchi, Yoshinori Kuranaga, Kotohiro Masuda, Takashi Sakamaki, Marc Humblet, and Yasuo Furushima
: pp. 980-990
Group Control of Mobile Robots for More Efficient Searches – Verification of Semi-Autonomous Trajectory Tracking Motions in Irregular Ground Environment –
Abstract
Yoshikazu Ohtsubo and Morihito Matsuyama
: pp. 991-1003
Individualization of Musculoskeletal Model for Analyzing Pelvic Floor Muscles Activity Based on Gait Motion Features
Abstract
Tomohiro Wakaiki, Takayuki Tanaka, Koji Shimatani, Yuichi Kurita, and Tadayuki Iida
: pp. 1004-1013
Field Experiment Report for Verification of Abandoned Lignite Mines by Robotic Exploration System
Abstract
Hiroyasu Miura, Ayaka Watanabe, Masayuki Okugawa, Susumu Kurahashi, Masamitsu Kurisu, and Takahiko Miura
: pp. 1014-1018
Dynamic Friction Characterization of a Linear Servo Motor Using an Optimal Sinusoidal Reference Tracking Controller
Abstract
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

: 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.

: pp. 696-705
Estimating Lumbar Load During Motion with an Unknown External Load Based on Back Muscle Activity Measured with a Muscle Stiffness Sensor
Abstract
Yoshio Tsuchiya, Yumeko Imamura, Takayuki Tanaka, and Takashi Kusaka
: pp. 706-716
Feature Selection for Work Recognition and Working Motion Measurement
Abstract
Saori Miyajima, Takayuki Tanaka, Natsuki Miyata, Mitsunori Tada, Masaaki Mochimaru, and Hiroyuki Izumi
: pp. 717-728
Active Passive Nature of Assistive Wearable Gait Augment Suit for Enhanced Mobility
Abstract
Chetan Thakur, Kazunori Ogawa, and Yuichi Kurita
: pp. 729-739
Supporting Effects on Muscles of a Motion Assistive Wear Depending on the Fixture Position
Abstract
Kazunori Ogawa, Akito Kadowaki, Koji Shimatani, Masaki Hasegawa, Keita Takahashi, Toshio Tsuji, and Yuichi Kurita
: pp. 740-751
Reducing Lumbar Load with Active Corset
Abstract
Michihiro Yoshida, Takayuki Tanaka, Yoshio Tsuchiya, and Takashi Kusaka
: pp. 752-761
Proposal of Non-Rotating Joint Drive Type Power Assist Suit for Lower Limbs Considering Squat Lifting
Abstract
Hirokazu Arakawa, Shun Mohri, Yasuyuki Yamada, Kazuya Yokoyama, Isao Kikutani, and Taro Nakamura

Regular Papers

: pp. 763-771
Error Analysis by Kinetics for Parallel-Wire Driven System Using Approximated Inverse Kinematics
Abstract
Hitoshi Kino, Takumi Imamura, and Norimitsu Sakagami
: pp. 772-780
Training System for Endoscopic Surgery Aiming to Provide the Sensation of Forceps Operation
Abstract
Tatsushi Tokuyasu, Kumiko Motodoi, Yuichi Endo, Yukio Iwashita, Tsuyoshi Etoh, and Masafumi Inomata
: pp. 781-790
Visibility Enhancement for Underwater Robots Based on an Improved Underwater Light Model
Abstract
Xiaorui Qiao, Yonghoon Ji, Atsushi Yamashita, and Hajime Asama
: pp. 791-800
Mechanism and Control of Connecting Robot Moving in Narrow and Irregular Terrain
Abstract
Takahiro Doi, Motohiro Okumura, Tomoki Harada, and Yuto Mitsuma
: pp. 801-810
Posture Control of Two Link Torque Unit Manipulator Considering Influence of Viscous Friction on Joints
Abstract
Yasuyuki Setoyama, Ryota Hayashi, Yong Yu, Tetsuya Kinugasa, Koji Yoshida, and Koichi Osuka
: pp. 811-818
Proposal of the Tire Longitudinal Characteristics Real-Time Estimation Method
Abstract
Yuuki Shiozawa, Shunsuke Tsukuda, and Hiroshi Mouri
: pp. 819-826
Analysis of Cell Spheroid Morphological Characteristics Using the Spheroid Morphology Evaluation System
Abstract
Takeshi Shimoto, Xiu-Ying Zhang, Shizuka Akieda, Atsushi Ishikawa, Hidehiko Higaki, and Koichi Nakayama
: pp. 827-834
Low-Cost Design Solutions for Educational Robots
Abstract
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

: 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.

: 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 –
Abstract
Shin’ichi Yuta
: pp. 513-522
Detection of Target Persons Using Deep Learning and Training Data Generation for Tsukuba Challenge
Abstract
Yuichi Konishi, Kosuke Shigematsu, Takashi Tsubouchi, and Akihisa Ohya
: pp. 523-531
Creating a 3D Cuboid Map Using Multi-Layer 3D LIDAR with a Swing Mechanism
Abstract
Yoshihiro Takita
: pp. 532-539
Enhancement of Scan Matching Using an Environmental Magnetic Field
Abstract
Sam Ann Rahok, Hirohisa Oneda, Taichi Nakayama, Kazumichi Inoue, Shigeji Osawa, Akio Tanaka, and Koichi Ozaki
: pp. 540-551
Person Searching Through an Omnidirectional Camera Using CNN in the Tsukuba Challenge
Abstract
Shingo Nakamura, Tadahiro Hasegawa, Tsubasa Hiraoka, Yoshinori Ochiai, and Shin’ichi Yuta
: pp. 552-562
Robust Road-Following Navigation System with a Simple Map
Abstract
Yuki Hosoda, Ryota Sawahashi, Noriaki Machinaka, Ryota Yamazaki, Yudai Sadakuni, Kazuya Onda, Ryosuke Kusakari, Masaro Kimba, Tomotaka Oishi, and Yoji Kuroda
: pp. 563-583
End-to-End Autonomous Mobile Robot Navigation with Model-Based System Support
Abstract
Alexander Carballo, Shunya Seiya, Jacob Lambert, Hatem Darweesh, Patiphon Narksri, Luis Yoichi Morales, Naoki Akai, Eijiro Takeuchi, and Kazuya Takeda
: pp. 584-590
Developing a Remotely Operated Portable Mobile Robot
Abstract
Tetsuo Tomizawa, Masato Shibuya, Ryodo Tanaka, and Takeshi Nishida
: pp. 591-597
Teaching-Playback Navigation Without a Consistent Map
Abstract
Naoki Akai, Luis Yoichi Morales, and Hiroshi Murase
: pp. 598-612
Tsukuba Challenge 2017 Dynamic Object Tracks Dataset for Pedestrian Behavior Analysis
Abstract
Jacob Lambert, Leslie Liang, Luis Yoichi Morales, Naoki Akai, Alexander Carballo, Eijiro Takeuchi, Patiphon Narksri, Shunya Seiya, and Kazuya Takeda

Regular Papers

: pp. 613-623
Refining Two Robots Task Execution Through Tuning Behavior Trajectory and Balancing the Communication
Abstract
Jorge David Figueroa Heredia, Shouhei Shirafuji, Hamdi M. Sahloul, Jose Ildefonso U. Rubrico, Taiki Ogata, Tatsunori Hara, and Jun Ota
: pp. 624-637
Four-Fingered Robot Hand with Mechanism to Change the Direction of Movement – Mechanical Design and Basic Experiments –
Abstract
Junya Tanaka, Atsushi Sugahara, and Hideki Ogawa
: pp. 638-649
Development of a Micro-Manipulator for Bio-Targets Using Micro Flows
Abstract
Jean-Charles Pelletier, Hisayuki Aoyama, Yuuka Irie, Chisato Kanamori, and Nadine Piat
: pp. 650-659
Development of the MRI Flow Phantom System Focused on Low Speed Flows in Fluid Machinery
Abstract
Kazunori Hosotani, Shota Uehara, Toru Ishihara, Atsushi Ono, Kazuhiro Takeuchi, and Yusuke Hashiguchi
: pp. 660-670
Refraction-Based Bundle Adjustment for Scale Reconstructible Structure from Motion
Abstract
Akira Shibata, Yukari Okumura, Hiromitsu Fujii, Atsushi Yamashita, and Hajime Asama
: pp. 671-682
Mobile Robot Decision-Making Based on Offline Simulation for Navigation over Uneven Terrain
Abstract
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

: 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.

: pp. 322-336
Research and Development of Drone and Roadmap to Evolution
Abstract
Kenzo Nonami
: pp. 337-343
Development of Bio-Inspired Low-Noise Propeller for a Drone
Abstract
Ryusuke Noda, Toshiyuki Nakata, Teruaki Ikeda, Di Chen, Yuma Yoshinaga, Kenta Ishibashi, Chen Rao, and Hao Liu
: pp. 344-353
Multiple Rotors Hovering Near an Upper or a Side Wall
Abstract
Yasutada Tanabe, Masahiko Sugiura, Takashi Aoyama, Hideaki Sugawara, Shigeru Sunada, Koichi Yonezawa, and Hiroshi Tokutake
: pp. 354-362
Position and Posture Measurement Method of the Omnidirectional Camera Using Identification Markers
Abstract
Naoya Hatakeyama, Tohru Sasaki, Kenji Terabayashi, Masahiro Funato, and Mitsuru Jindai
: pp. 363-372
Velocity Estimation for UAVs by Using High-Speed Vision
Abstract
Hsiu-Min Chuang, Tytus Wojtara, Niklas Bergström, and Akio Namiki
: pp. 373-379
Integrated Navigation for Autonomous Drone in GPS and GPS-Denied Environments
Abstract
Satoshi Suzuki
: pp. 380-389
Autonomous Flight Control of Quadrotor Helicopter by Simple Adaptive Control with Inner Loop PD Controller
Abstract
Yasuaki Oda and Makoto Kumon
: pp. 390-396
Self-Tuning Neuro-PID Controller for Indoor Entertainment Balloon Robot
Abstract
Hiroya Nagata, Soichiro Yokoyama, Tomohisa Yamashita, Hiroyuki Iizuka, Masahito Yamamoto, Keiji Suzuki, and Hidenori Kawamura
: pp. 397-405
Controller Performance for Quad-Rotor Vehicles Based on Sliding Mode Control
Abstract
Takayoshi Oba, Mai Bando, and Shinji Hokamoto
: pp. 406-415
Teleoperated Construction Robot Using Visual Support with Drones
Abstract
Hironao Yamada, Naoyuki Bando, Katsutoshi Ootsubo, and Yuji Hattori
: pp. 416-425
Wall Inspection Robot with Maneuvering Assist Control System Against Crosswind
Abstract
Yogo Takada, Yuhei Tokura, Yodai Matsumura, Takahiro Tanaka, and Tatsuki Kanada
: pp. 426-435
Assessment of MUSIC-Based Noise-Robust Sound Source Localization with Active Frequency Range Filtering
Abstract
Kotaro Hoshiba, Kazuhiro Nakadai, Makoto Kumon, and Hiroshi G. Okuno
: pp. 436-442
Development of an Accurate Video Shooting Method Using Multiple Drones Automatically Flying over Onuma Quasi-National Park
Abstract
Sho Yamauchi, Kouki Ogata, Keiji Suzuki, and Toshio Kawashima
: pp. 443-452
Acquisition of Disaster Emergency Information Using a Terrain Database by Flying Robots
Abstract
Yasuki Miyazaki, Takafumi Hirano, Takaaki Kobayashi, Yoshihiro Imai, Shin Usuki, Yuichi Kobayashi, Kenji Terabayashi, and Kenjiro T. Miura

Regular Papers

: pp. 453-466
Real-Time Monocular Three-Dimensional Motion Tracking Using a Multithread Active Vision System
Abstract
Shaopeng Hu, Mingjun Jiang, Takeshi Takaki, and Idaku Ishii
: pp. 467-476
Development of an Intersection Module for a Modularized Rail Structure – Implementation of Compliant Mechanisms for a Replacing Task of Movable Parts –
Abstract
Rui Fukui, Gen Kanayama, Yuta Kato, Ryo Takahashi, and Shin’ichi Warisawa
: pp. 477-484
Development of Educational Service Robot and Practical Training
Abstract
Atsuo Yabu, Tadahiro Kaneda, Issei Maeda, and Wataru Sakurai
: pp. 485-492
Motion Planning of Mobile Robots for Occluded Obstacles
Abstract
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

: 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.

: pp. 165-172
Agricultural Vehicle Robot
Abstract
Noboru Noguchi
: 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 –
Abstract
Rui Fukui, Kenta Kawae, and Shin’ichi Warisawa
: pp. 180-186
Fast Detection of Tomato Peduncle Using Point Cloud with a Harvesting Robot
Abstract
Takeshi Yoshida, Takanori Fukao, and Takaomi Hasegawa
: pp. 187-197
Image Mosaicing Using Multi-Modal Images for Generation of Tomato Growth State Map
Abstract
Takuya Fujinaga, Shinsuke Yasukawa, Binghe Li, and Kazuo Ishii
: pp. 198-205
Effect for a Paddy Weeding Robot in Wet Rice Culture
Abstract
Hitoshi Sori, Hiroyuki Inoue, Hiroyuki Hatta, and Yasuhiro Ando
: pp. 206-213
Automatic Measurement and Determination of Body Condition Score of Cows Based on 3D Images Using CNN
Abstract
Masahiro Shigeta, Reiichirou Ike, Hiroshi Takemura, and Hayato Ohwada
: pp. 214-222
Development of Upper-Limb Power Assist Machine Using Linkage Mechanism – Drive Mechanism and its Applications –
Abstract
Hiroyuki Inoue and Toshiro Noritsugu
: pp. 223-230
Robot Navigation in Forest Management
Abstract
Abbe Mowshowitz, Ayumu Tominaga, and Eiji Hayashi
: pp. 231-237
Body Measurement of Reared Red Sea Bream Using Stereo Vision
Abstract
Kazuyoshi Komeyama, Tatsuya Tanaka, Takeharu Yamaguchi, Shigeru Asaumi, Shinsuke Torisawa, and Tsutomu Takagi
: pp. 238-247
Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems
Abstract
Yuya Nishida, Takashi Sonoda, Shinsuke Yasukawa, Kazunori Nagano, Mamoru Minami, Kazuo Ishii, and Tamaki Ura
: pp. 248-256
Vision System for an Autonomous Underwater Vehicle with a Benthos Sampling Function
Abstract
Shinsuke Yasukawa, Jonghyun Ahn, Yuya Nishida, Takashi Sonoda, Kazuo Ishii, and Tamaki Ura
: pp. 257-264
Gait Planning and Simulation Analysis of a New Amphibious Quadruped Robots
Abstract
Shuo Han, Yuan Chen, Guangying Ma, Jinshan Zhang, and Runchen Liu

Regular Papers

: pp. 265-281
A Non-Linear Manifold Alignment Approach to Robot Learning from Demonstrations
Abstract
Ndivhuwo Makondo, Michihisa Hiratsuka, Benjamin Rosman, and Osamu Hasegawa
: pp. 282-291
Effects of a Novel Sympathy-Expression Method on Collaborative Learning Among Junior High School Students and Robots
Abstract
Felix Jimenez, Tomohiro Yoshikawa, Takeshi Furuhashi, and Masayoshi Kanoh
: pp. 292-299
Fabrication of Magnetically Driven Biopsy Mechanism Applicable to Capsule-Type Medical Device
Abstract
Toshiki Matsui, Satoshi Murata, and Takashi Honda
: pp. 300-310
Vehicle Speed Control by a Robotic Driver Considering Vehicle Dynamics for Continuously Variable Transmissions
Abstract
Naoto Mizutani, Hirokazu Matsui, Ken’ichi Yano, and Toshimichi Takahashi

No.1

(Feb)

Regular papers

Congratulations! JRM Best Paper Award 2017

: p. 1
Congratulations! JRM Best Paper Award 2017
Editorial Office
: pp. 5-14
Adaptive Path Planning for Cleaning Robots Considering Dust Distribution
Abstract
Takahiro Sasaki, Guillermo Enriquez, Takanobu Miwa, and Shuji Hashimoto
: pp. 15-23
Risk Predictive Driver Assistance System for Collision Avoidance in Intersection Right Turns
Abstract
Yohei Fujinami, Pongsathorn Raksincharoensak, Dirk Ulbricht, and Rolf Adomat
: pp. 24-32
Semi-Autonomous Multi-Legged Robot with Suckers to Climb a Wall
Abstract
Asuki Saito, Kazuki Nagayama, Kazuyuki Ito, Takeo Oomichi, Satoshi Ashizawa, and Fumitoshi Matsuno
: pp. 33-42
Design and Experimental Verification of a Pantograph-Based Mechanism for Lower Limb Load Reduction by Compensating for Upper Body Weight
Abstract
Shotaro Mamiya, Tomoya Takahashi, and Naoki Uchiyama
: pp. 43-54
Development of Spatially Seamless Local Communication System Based on Time Sharing Communication Strategy
Abstract
Yoshikazu Arai, Makoto Sugawara, Shintaro Imai, and Toshimitsu Inomata
: pp. 55-64
Docking Method for Hovering-Type AUVs Based on Acoustic and Optical Landmarks
Abstract
Toshihiro Maki, Yoshiki Sato, Takumi Matsuda, Kotohiro Masuda, and Takashi Sakamaki
: pp. 65-75
Computationally Efficient Mapping for a Mobile Robot with a Downsampling Method for the Iterative Closest Point
Abstract
Shodai Deguchi and Genya Ishigami
: pp. 76-85
AR-Marker/IMU Hybrid Navigation System for Tether-Powered UAV
Abstract
Hiroaki Nakanishi and Hiroyuki Hashimoto
: pp. 86-92
Structure and Examination of the Guidance Robot LIGHBOT for Visually Impaired and Elderly People
Abstract
Kazuteru Tobita, Katsuyuki Sagayama, Mayuko Mori, and Ayako Tabuchi
: pp. 93-105
Research on High Efficiency Operation Method of Linear Generator Engine
Abstract
Daiki Arashi, Yuuto Kakinuma, Kei Sugiura, Takamasa Terai, Satoshi Ashizawa, and Takeo Oomichi
: pp. 106-116
Sensor Data Fusion of a Redundant Dual-Platform Robot for Elevation Mapping
Abstract
Avi Turgeman, Shraga Shoval, and Amir Degani
: pp. 117-127
A High-Speed Vision System with Multithread Automatic Exposure Control for High-Dynamic-Range Imaging
Abstract
Xianwu Jiang, Qingyi Gu, Tadayoshi Aoyama, Takeshi Takaki, and Idaku Ishii
: pp. 128-137
A New IntelliSense Strategy Based on Artificial Immune System for Multi-Robot Cooperation
Abstract
Tao Xu, Zengyong Shi, and Xiaomin Li
: pp. 138-144
Tire Characteristics Estimation Method Independent of Road Surface Conditions
Abstract
Yuuki Shiozawa and Hiroshi Mouri
: pp. 145-154
Development of Robot for 3D Measurement of Forest Environment
Abstract
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

: 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.

: pp. 944-951
Development of Communication Robot for STEM Education by Using Digital Fabrication
Abstract
Kazuo Kadota
: pp. 952-956
Trends of Technology Education in Compulsory Education in Japan
Abstract
Hiroyuki Muramatsu
: pp. 957-968
Design of Contest for Educational Underwater Robot for STEM: Learning Applying Modeling Based on Control Engineering
Abstract
Hirokazu Yamagata and Toshio Morita
: pp. 969-979
CISTEM Education with Robotic Platform: For Human-Human Synchrony and Human-Machine Synchrony
Abstract
Kazuki Nakada, Miwako Tsunematsu, Takuya Kihara, Takumu Hattori, Tatsuji Tokiwa, and Hiroshi Fukuda
: pp. 980-991
Development of a Programming Teaching-Aid Robot with Intuitive Motion Instruction Set
Abstract
Takafumi Noguchi, Hidekazu Kajiwara, Kazunori Chida, and Sakae Inamori
: pp. 992-998
Robotics Programming Learning for Elementary and Junior High School Students
Abstract
Yoshihiro Ohnishi, Kimitoshi Honda, Rintaro Nishioka, Shinnosuke Mori, and Kazuo Kawada
: pp. 999-1004
Study on Assist Education of Swing Riding Using a Robot
Abstract
Kazuo Kawada and Masahiro Ito
: pp. 1005-1013
Undergraduate-Student Teaching Materials for Mechatronics
Abstract
Yoshikazu Ohtsubo, Atsutoshi Ikeda, Kiyoshi Ioi, and Manabu Kosaka
: pp. 1014-1024
Development of Teaching Material for Robot Mechanisms Applying Projection Mapping Technology
Abstract
Yasuhiro Kushihashi and Sho Mizumura
: pp. 1025-1036
Student Education Utilizing the Development of Autonomous Mobile Robot for Robot Competition
Abstract
Satoshi Muramatsu, Daisuke Chugo, Sho Yokota, and Hiroshi Hashimoto
: pp. 1037-1048
Promotion of Self-Growth of Students by PBL-Type Manufacturing Practice
Abstract
Keiko Nakatani, Tomoharu Doi, Takeshi Wada, and Tadahiro Kaneda

Regular Papers

: pp. 1049-1056
Development of an IoT-Based Prosthetic Control System
Abstract
Osamu Fukuda, Yuta Takahashi, Nan Bu, Hiroshi Okumura, and Kohei Arai
: pp. 1057-1064
Dangerous Situation Detection for Elderly Persons in Restrooms Using Center of Gravity and Ellipse Detection
Abstract
Lin Meng, Xiangbo Kong, and Daiki Taniguchi
: pp. 1065-1072
Operator-Based Robust Nonlinear Control Design and Analysis of a Semiconductor Refrigeration Device
Abstract
Aihui Wang, Zhengxiang Ma, and Shengjun Wen
: pp. 1073-1081
Robust Control of Nonlinear System with Input and Output Nonlinear Constraints
Abstract
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

: pp. 783-789
Digital Human Models for Human-Centered Design
Abstract
Masaaki Mochimaru

Special Issue on AI, Robotics, and Automation in Space

: 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.

: pp. 792-800
On-Orbit Demonstration of Tether-Based Robot Locomotion in REX-J Mission
Abstract
Hiroki Nakanishi, Mitsuhiro Yamazumi, Sotaro Karakama, Mitsushige Oda, Shin-ichiro Nishida, Hiroki Kato, Keisuke Watanabe, Atsushi Ueta, Masahiro Yoshii, and Satoshi Suzuki
: pp. 801-807
Document-Based Programming System for Seamless Linking of Satellite Onboard Software and Ground Operating System
Abstract
Shinichi Kimura, Yuki Asakura, Hiroaki Doi, and Masahiro Nakamura
: pp. 808-818
Machine-Code Program Evolution by Genetic Programming Using Asynchronous Reference-Based Evaluation Through Single-Event Upset in On-Board Computer
Abstract
Tomohiro Harada and Keiki Takadama
: pp. 819-828
Supporting Reaching Movements of Robotic Hands Subject to Communication Delay by Displaying End Effector Position Using Three Orthogonal Rays
Abstract
Akihito Chinen and Kiyoshi Hoshino
: pp. 829-837
Wearable Hand Pose Estimation for Remote Control of a Robot on the Moon
Abstract
Sota Sugimura and Kiyoshi Hoshino
: pp. 838-846
Traversability-Based RRT* for Planetary Rover Path Planning in Rough Terrain with LIDAR Point Cloud Data
Abstract
Reiya Takemura and Genya Ishigami
: pp. 847-855
Vision-Based Behavior Planning for Lunar or Planetary Exploration Rover on Flat Surface
Abstract
Riho Ejiri, Takashi Kubota, and Ichiro Nakatani
: pp. 856-863
Visual Monocular Localization, Mapping, and Motion Estimation of a Rotating Small Celestial Body
Abstract
Naoya Takeishi and Takehisa Yairi
: pp. 864-876
Robust Wireless Communication for Small Exploration Rovers Equipped with Multiple Antennas by Estimating Attitudes of Rovers in Several Experimental Environments
Abstract
Masahiko Mikawa
: pp. 877-886
Recovery System Based on Exploration-Biased Genetic Algorithm for Stuck Rover in Planetary Exploration
Abstract
Fumito Uwano, Yusuke Tajima, Akinori Murata, and Keiki Takadama
: pp. 887-894
Development and Performance Evaluation of Planar Travel Distance Sensors for Mobile Robots in Sandy Terrain
Abstract
Arata Yanagisawa and Genya Ishigami
: pp. 895-901
Hopping Motion Estimation on Soft Soil by Resistive Force Theory
Abstract
Kosuke Sakamoto, Masatsugu Otsuki, Takashi Kubota, and Yoshiki Morino
: pp. 902-910
Wheel Slip Classification Method for Mobile Robot in Sandy Terrain Using In-Wheel Sensor
Abstract
Takuya Omura and Genya Ishigami
: pp. 911-918
Percussive Rock Surface Remover Driven by Solenoid with Planer Motion for Lunar Exploration
Abstract
Katsushi Furutani and Hisashi Kamiishi

Regular Papers

: pp. 919-927
Adaptive Learning of Hand Movement in Human Demonstration for Robot Action
Abstract
Ngoc Hung Pham and Takashi Yoshimi
: pp. 928-934
Performance Evaluation of Robot Localization Using 2D and 3D Point Clouds
Abstract
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 –

: p. 629
Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings –
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.

: pp. 630-638
Development of Flexible Cowl Covered Mobile Robot in Consideration with Safety and Design Property
Abstract
Yasunari Kakigi, Kazumichi Inoue, Masaaki Hijikata, and Koichi Ozaki
: pp. 639-648
Development of Autonomous Navigation System Using 3D Map with Geometric and Semantic Information
Abstract
Yoshihiro Aotani, Takashi Ienaga, Noriaki Machinaka, Yudai Sadakuni, Ryota Yamazaki, Yuki Hosoda, Ryota Sawahashi, and Yoji Kuroda
: pp. 649-659
Autonomous Mobile Robot Searching for Persons with Specific Clothing on Urban Walkway
Abstract
Ryohsuke Mitsudome, Hisashi Date, Azumi Suzuki, Takashi Tsubouchi, and Akihisa Ohya
: pp. 660-667
Generated Trajectory of Extended Lateral Guided Sensor Steering Mechanism for Steered Autonomous Vehicles in Real World Environments
Abstract
Yoshihiro Takita
: pp. 668-684
Open Source Integrated Planner for Autonomous Navigation in Highly Dynamic Environments
Abstract
Hatem Darweesh, Eijiro Takeuchi, Kazuya Takeda, Yoshiki Ninomiya, Adi Sujiwo, Luis Yoichi Morales, Naoki Akai, Tetsuo Tomizawa, and Shinpei Kato
: pp. 685-696
Robust and Accurate Monocular Vision-Based Localization in Outdoor Environments of Real-World Robot Challenge
Abstract
Adi Sujiwo, Eijiro Takeuchi, Luis Yoichi Morales, Naoki Akai, Hatem Darweesh, Yoshiki Ninomiya, and Masato Edahiro
: pp. 697-705
Mobile Robot Navigation Utilizing the WEB Based Aerial Images Without Prior Teaching Run
Abstract
Satoshi Muramatsu, Tetsuo Tomizawa, Shunsuke Kudoh, and Takashi Suehiro
: pp. 706-711
Using Difference Images to Detect Pedestrian Signal Changes
Abstract
Tetsuo Tomizawa and Ryunosuke Moriai

Regular Papers

: pp. 713-719
Automating the Appending of Image Information to Grid Map Corresponding to Object Shape
Abstract
Tomohito Takubo, Hironobu Takaishi, and Atsushi Ueno
: pp. 720-727
Examination of a Guidance Robot for Visually Impaired People
Abstract
Kazuteru Tobita, Katsuyuki Sagayama, and Hironori Ogawa
: pp. 728-736
Cooking Behavior Recognition Using Egocentric Vision for Cooking Navigation
Abstract
Sho Ooi, Tsuyoshi Ikegaya, and Mutsuo Sano
: pp. 737-745
Control Method for Helicopters Tethered to Ground Station with Compensation for Disturbance Caused by Cable Tension
Abstract
Atsushi Imadu, Takanori Sakai, and Tadao Kawai
: pp. 746-756
Maneuverability of Impedance-Controlled Motion in a Human-Robot Cooperative Task System
Abstract
Toru Tsumugiwa, Yoshiki Takeuchi, and Ryuichi Yokogawa
: pp. 757-765
Experimental Study on Optimal Tracking Control of a Micro Ground Vehicle
Abstract
Soichiro Watanabe and Masanori Harada

3D Printer for Robotics and Mechatronics

: pp. 767-771
Study on the Influence of Temperature of Extruder Head on the Strength of the FDM 3D Printing Model
Abstract
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

: p. 455
Dynamically and Biologically Inspired Legged Locomotion
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.

: pp. 456-470
Dynamically and Biologically Inspired Legged Locomotion: A Review
Abstract
Tetsuya Kinugasa and Yasuhiro Sugimoto
: pp. 471-479
Time-Scale Control Approaches to Collisionless Walking of an Underactuated Rimless Wheel
Abstract
Fumihiko Asano, Yanqiu Zheng, and Xuan Xiao
: pp. 480-489
Asymptotic Realization of Desired Control Performance by Body Adaptation of Passive Dynamic Walker
Abstract
Daisuke Ura, Yasuhiro Sugimoto, Yuichiro Sueoka, and Koichi Osuka
: pp. 490-499
Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking
Abstract
Yuta Hanazawa and Fumihiko Asano
: pp. 500-508
Visual Lifting Approach for Bipedal Walking with Slippage
Abstract
Xiang Li, Mamoru Minami, Takayuki Matsuno, and Daiji Izawa
: pp. 509-519
Sliding Passive Dynamic Walking of Compass-Like Biped Robot: Collision Modeling, Necessary Conditions, and Complexity
Abstract
Fumihiko Asano and Yuji Harata
: pp. 520-527
Kinematics and Singularity Analysis of a Four-Degree-of-Freedom Serial-Parallel Hybrid Manipulator
Abstract
Guangying Ma, Yuan Chen, Yunlong Yao, and Jun Gao
: pp. 528-535
Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation
Abstract
Yoichi Masuda and Masato Ishikawa
: pp. 536-545
Analysis of the Energy Loss on Quadruped Robot Having a Flexible Trunk Joint
Abstract
Masahiro Ikeda and Ikuo Mizuuchi
: pp. 546-555
Design of Vertebrae-Inspired Trunk Mechanism for Robust and Directive Quadruped Locomotion on Rough Terrain Without Requiring Sensing and Actuation
Abstract
Takashi Takuma, Yoshiki Murata, and Wataru Kase

Regular Papers

: pp. 557-565
Real-Time Estimation of Sensorless Planar Robot Contact Information
Abstract
Zhiguang Liu, Fei Yu, Liang Zhang, and Tiejun Li
: pp. 566-579
Spherical Video Stabilization by Estimating Rotation from Dense Optical Flow Fields
Abstract
Sarthak Pathak, Alessandro Moro, Hiromitsu Fujii, Atsushi Yamashita, and Hajime Asama
: pp. 580-590
Development of a Robotic Laparoscope for Laparoscopic Surgery and its Control
Abstract
Iori Murasawa, Shuhei Murofushi, Chiharu Ishii, and Hideki Kawamura
: pp. 591-601
Maneuvering Support System for an Amphibian Vehicle – Warning Display to Prevent Rough Maneuvers –
Abstract
Ryota Hayashi, Genki Matsuyama, Hisanori Amano, Hitomu Saiki, Tetsuya Kinugasa, Koji Yoshida, Masatsugu Iribe, and Kenichi Tokuda
: pp. 602-612
Swarm Robotic Systems Based on Collective Behavior of Chloroplasts
Abstract
Satoshi Hoshino, Ryo Takisawa, and Yutaka Kodama
: pp. 613-618
Impact Response Measurement of Poly-Urethane Sheet Using an Optical Interferometer
Abstract
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

: pp. 275-286
Current Status and Future Trends on Robot Vision Technology
Abstract
Manabu Hashimoto, Yukiyasu Domae, and Shun’ichi Kaneko

Special Issue on Innovative Technology for Nursing Care and Nosotrophy

: p. 287
Innovative Technology for Nursing Care and Nosotrophy
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.

: pp. 288-298
Evaluation of Walking Balance Based on Pose Difference Between Normal Walking and Walking Under Multi-Task Conditions
Abstract
Hiroyuki Maeda, Miho Shogenji, and Tetsuyou Watanabe
: pp. 299-305
Experimental Study of Ankle Joint Pushing Mechanism Concerning About the Horizontal Movement of Talus
Abstract
Hideki Toda, Takeshi Matsumoto, and Hiroya Takeuchi
: pp. 306-316
A New Ultrasonographic Image Displaying System to Support Vein Detection
Abstract
Shuhei Noyori, Gojiro Nakagami, Hiroshi Noguchi, Koichi Yabunaka, Taketoshi Mori, and Hiromi Sanada
: pp. 317-326
Development and Evaluation of a Low Cost Cuffless Systolic Blood Pressure Device
Abstract
Jörg Güttler, Muhammad Karim, Christos Georgoulas, and Thomas Bock
: pp. 327-337
Screening Sleep Disordered Breathing with Noncontact Measurement in a Clinical Site
Abstract
Yutaka Matsuura, Hieyong Jeong, Kenji Yamada, Kenji Watabe, Kayo Yoshimoto, and Yuko Ohno
: pp. 338-345
Application of Deep Learning to Develop a Safety Confirmation System for the Elderly in a Nursing Home
Abstract
Masaru Kawakami, Shogo Toba, Kohei Fukuda, Shinya Hori, Yuki Abe, and Koichi Ozaki
: pp. 346-352
Evaluating the Effectiveness of a Vascular Access Imaging Device Used in Training Recently Graduated Nurses
Abstract
Yutaka Murakami, Yuko Ohno, Miki Nishimura, Michiko Kido, and Kenji Yamada
: pp. 353-363
Excretion Detection System with Gas Sensor – Proposal and Verification of Algorithm Based on Time-Series Clustering –
Abstract
Yoshimi Ui, Yutaka Akiba, Shohei Sugano, Ryosuke Imai, and Ken Tomiyama

Regular Papers

: 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
Abstract
Zheng Chai and Takafumi Matsumaru
: pp. 381-394
Teleoperating Assistive Robots: A Novel User Interface Relying on Semi-Autonomy and 3D Environment Mapping
Abstract
Zdeněk Materna, Michal Španěl, Marcus Mast, Vítězslav Beran, Florian Weisshardt, Michael Burmester, and Pavel Smrž
: pp. 395-405
A Control System for a Tool Use Robot: Drawing a Circle by Educing Functions of a Compass
Abstract
Kyo Kutsuzawa, Sho Sakaino, and Toshiaki Tsuji
: 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 >
Abstract
Hiroshi Takahashi
: pp. 419-433
Teaching Tasks to Multiple Small Robots by Classifying and Splitting a Human Example
Abstract
Jorge David Figueroa Heredia, Jose Ildefonso U. Rubrico, Shouhei Shirafuji, and Jun Ota
: pp. 434-446
Servoing Performance Enhancement via a Respiratory Organ Motion Prediction Model for a Non-Invasive Ultrasound Theragnostic System
Abstract
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 -

: pp. 7-13
Community-Centric System – Support of Human Ties –
Abstract
Eri Sato-Shimokawara and Toru Yamaguchi

Special Issue on Robot Audition Technologies

: p. 15
Robot Audition Technologies
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.

: pp. 16-25
Development, Deployment and Applications of Robot Audition Open Source Software HARK
Abstract
Kazuhiro Nakadai, Hiroshi G. Okuno, and Takeshi Mizumoto
: pp. 26-36
Noise-Robust MUSIC-Based Sound Source Localization Using Steering Vector Transformation for Small Humanoids
Abstract
Ryu Takeda and Kazunori Komatani
: pp. 37-48
Sound Source Localization Using Deep Learning Models
Abstract
Nelson Yalta, Kazuhiro Nakadai, and Tetsuya Ogata
: pp. 49-58
Active Sound Source Localization by Pinnae with Recursive Bayesian Estimation
Abstract
Wataru Odo, Daisuke Kimoto, Makoto Kumon, and Tomonari Furukawa
: pp. 59-71
Simultaneous Identification and Localization of Still and Mobile Speakers Based on Binaural Robot Audition
Abstract
Karim Youssef, Katsutoshi Itoyama, and Kazuyoshi Yoshii
: pp. 72-82
Influence of Different Impulse Response Measurement Signals on MUSIC-Based Sound Source Localization
Abstract
Takuya Suzuki, Hiroaki Otsuka, Wataru Akahori, Yoshiaki Bando, and Hiroshi G. Okuno
: pp. 83-93
Layout Optimization of Cooperative Distributed Microphone Arrays Based on Estimation of Source Separation Performance
Abstract
Kouhei Sekiguchi, Yoshiaki Bando, Katsutoshi Itoyama, and Kazuyoshi Yoshii
: pp. 94-104
Probabilistic 3D Sound Source Mapping System Based on Monte Carlo Localization Using Microphone Array and LIDAR
Abstract
Ryo Tanabe, Yoko Sasaki, and Hiroshi Takemura
: pp. 105-113
Psychologically-Inspired Audio-Visual Speech Recognition Using Coarse Speech Recognition and Missing Feature Theory
Abstract
Kazuhiro Nakadai and Tomoaki Koiwa
: pp. 114-124
Ego-Noise Suppression for Robots Based on Semi-Blind Infinite Non-Negative Matrix Factorization
Abstract
Kazuhiro Nakadai, Taiki Tezuka, and Takami Yoshida
: pp. 125-136
Audio-Visual Beat Tracking Based on a State-Space Model for a Robot Dancer Performing with a Human Dancer
Abstract
Misato Ohkita, Yoshiaki Bando, Eita Nakamura, Katsutoshi Itoyama, and Kazuyoshi Yoshii
: pp. 137-145
Wayang Robot with Gamelan Music Pattern Recognition
Abstract
Tito Pradhono Tomo, Alexander Schmitz, Guillermo Enriquez, Shuji Hashimoto, and Shigeki Sugano
: pp. 146-153
Development of a Robotic Pet Using Sound Source Localization with the HARK Robot Audition System
Abstract
Ryo Suzuki, Takuto Takahashi, and Hiroshi G. Okuno
: pp. 154-167
Design and Assessment of Sound Source Localization System with a UAV-Embedded Microphone Array
Abstract
Kotaro Hoshiba, Osamu Sugiyama, Akihide Nagamine, Ryosuke Kojima, Makoto Kumon, and Kazuhiro Nakadai
: pp. 168-176
Evaluation of Microphone Array for Multirotor Helicopters
Abstract
Takahiro Ishiki, Kai Washizaki, and Makoto Kumon
: pp. 177-187
Outdoor Sound Source Detection Using a Quadcopter with Microphone Array
Abstract
Takuma Ohata, Keisuke Nakamura, Akihide Nagamine, Takeshi Mizumoto, Takayuki Ishizaki, Ryosuke Kojima, Osamu Sugiyama, and Kazuhiro Nakadai
: pp. 188-197
Outdoor Acoustic Event Identification with DNN Using a Quadrotor-Embedded Microphone Array
Abstract
Osamu Sugiyama, Satoshi Uemura, Akihide Nagamine, Ryosuke Kojima, Keisuke Nakamura, and Kazuhiro Nakadai
: pp. 198-212
Low Latency and High Quality Two-Stage Human-Voice-Enhancement System for a Hose-Shaped Rescue Robot
Abstract
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
: pp. 213-223
HARKBird: Exploring Acoustic Interactions in Bird Communities Using a Microphone Array
Abstract
Reiji Suzuki, Shiho Matsubayashi, Richard W. Hedley, Kazuhiro Nakadai, and Hiroshi G. Okuno
: pp. 224-235
Acoustic Monitoring of the Great Reed Warbler Using Multiple Microphone Arrays and Robot Audition
Abstract
Shiho Matsubayashi, Reiji Suzuki, Fumiyuki Saito, Tatsuyoshi Murate, Tomohisa Masuda, Koichi Yamamoto, Ryosuke Kojima, Kazuhiro Nakadai, and Hiroshi G. Okuno
: pp. 236-246
Bird Song Scene Analysis Using a Spatial-Cue-Based Probabilistic Model
Abstract
Ryosuke Kojima, Osamu Sugiyama, Kotaro Hoshiba, Kazuhiro Nakadai, Reiji Suzuki, and Charles E. Taylor
: pp. 247-254
Size Effect on Call Properties of Japanese Tree Frogs Revealed by Audio-Processing Technique
Abstract
Ikkyu Aihara, Ryu Takeda, Takeshi Mizumoto, Takuma Otsuka, and Hiroshi G. Okuno
: pp. 255-267
Swarm of Sound-to-Light Conversion Devices to Monitor Acoustic Communication Among Small Nocturnal Animals
Abstract
Takeshi Mizumoto, Ikkyu Aihara, Takuma Otsuka, Hiromitsu Awano, and Hiroshi G. Okuno

Regular Papers

: pp. 269-272
Development of Trident Motif Riden Mobile Robot for Robot-Triathlon Robot Contest
Abstract
Atsushi Mitani, Yuhei Suzuki, and Yuta Tochigi

Vol.28 (2016)

No.6

(Dec)

Regular papers

Regular Papers

: pp. 781-789
A Suitable Design of Assist System for Human Meal by Reducing Maneuverability Variance in Workspace
Abstract
Kiyotaka Fukui and Katsuyoshi Tsujita
: pp. 790-798
A Wearable Encounter-Type Haptic Device Suitable for Combination with Visual Display
Abstract
Shunsuke Komizunai, Keisuke Nishizaki, Kyohei Wada, Takuya Kijima, and Atsushi Konno
: pp. 799-807
Foot Structure with Divided Flat Soles and Springs for Legged Robots and Experimental Verification
Abstract
Shotaro Mamiya, Shigenori Sano, and Naoki Uchiyama
: pp. 808-818
Error Evaluation Method of Approximated Inverse Kinematics for Parallel-Wire Driven System – Basic Study for Three-Wire Planar System –
Abstract
Hitoshi Kino, Nobuhiro Okubo, Toshihide Ikeda, and Hiroaki Ochi
: pp. 819-829
Development of an Intraoral Interface for Human-Ability Extension Robots
Abstract
Uori Koike, Guillermo Enriquez, Takanobu Miwa, Huei Ee Yap, Madoka Kabasawa, and Shuji Hashimoto
: pp. 830-836
Measurement Experiments and Analysis for Modeling of McKibben Pneumatic Actuator
Abstract
Daisuke Nakanishi, Yasuhiro Sugimoto, Hiroaki Honda, and Koichi Osuka
: pp. 837-841
Passivity-Based Tracking Control for Uncertain Nonlinear Feedback Systems
Abstract
Ni Bu and Mingcong Deng
: pp. 842-853
Antagonistically Twisted Round Belt Actuator System for Robotic Joints
Abstract
Takahiro Inoue, Ryuichi Miyata, and Shinichi Hirai
: pp. 854-861
Vision-Based Real-Time Microflow-Rate Control System for Cell Analysis
Abstract
Tadayoshi Aoyama, Amalka De Zoysa, Qingyi Gu, Takeshi Takaki, and Idaku Ishii
: pp. 862-869
Scalable Component-Based Manzai Robots as Automated Funny Content Generators
Abstract
Tomohiro Umetani, Satoshi Aoki, Kazuhiro Akiyama, Ryo Mashimo, Tatsuya Kitamura, and Akiyo Nadamoto
: pp. 870-877
Fundamental Study on Road Detection Method Using Multi-Layered Distance Data with HOG and SVM
Abstract
Keisuke Kazama, Yasuhiro Akagi, Pongsathorn Raksincharoensak, and Hiroshi Mouri
: pp. 878-886
State Estimation and Control of an Unmanned Air Vehicle from a Ground-Based 3D Laser Scanner
Abstract
Ryan Arya Pratama and Akihisa Ohya
: pp. 887-898
Autonomous Mobile Robot Navigation Using Scene Matching with Local Features
Abstract
Toshiaki Shioya, Kazushige Kogure, Tomoyuki Iwata, and Naoya Ohta
: pp. 899-910
Autonomous Flight of Hexacopter Under Propulsion System Failure
Abstract
Yi Yang, Daisuke Iwakura, Akio Namiki, Kenzo Nonami, and Wei Wang
: pp. 911-920
Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control
Abstract
Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Masayuki Nakamura, Akira Yanou, and Mamoru Minami
: pp. 921-927
Adaptive Integral Sliding Mode Control via Fuzzy Logic for Variable Speed Wind Turbines
Abstract
Yan Ren, Chuanli Gong, Dekuan Wang, and Dianwei Qian
: pp. 928-935
Design of the Nonlinear Structure Adaptive Model Inversion Flight Control System
Abstract
Hao Long and Yi-Nung Chung
: pp. 936-948
Sliding Mode Control for Hexacopter Stabilization with Motor Failure
Abstract
Yi Yang, Wei Wang, Daisuke Iwakura, Akio Namiki, and Kenzo Nonami
: pp. 949-957
A Study of Power-Assist Technology to Reduce Body Burden During Loading and Unloading Operations by Support of Knee Joint Motion
Abstract
Yoshihiko Naruoka, Naruaki Hiramitsu, and Yusuke Mitsuya

No.5

(Oct)

Special Issue on New Development in Adaptive & Learning Control

Special Issue on New Development in Adaptive & Learning Control

: p. 615
New Development in Adaptive & Learning Control
Shoichiro Fujisawa, Toru Yamamoto, Ikuro Mizumoto, and Tomohiro Henmi

When first introduced half a century ago, adaptive control was half accepted as useful and half rejected as useless in industrial systems, and has greatly evolved theoretically. Learning control, a related discipline, has also been widely studied, especially in robot control. Adaptive/learning control, which incorporates the two, has become trendy in Japan and elsewhere. New design methods, e.g., data-driven controllers and the machine learning based controllers, are also attracting attention.

This special issue, which focuses on adaptive/learning control, includes 18 contributions classified as follows:

  •   • Closed-loop identification and controller redesign
  •   • Adaptive output feedback control
  •   • Data-driven control
  •   • Multirate control
  •   • Computational intelligence-based approaches
  •   • Applications centering on electric motors, engine systems, hydraulic excavators, rotary cranes, etc.

In addition, one review paper covers performance-driven control.

The theoretical study of adaptive/learning control has few actual applied examples in the form of real systems but is flourishing. Applied studies are expected to increasingly progress and adaptive/learning control theory holds big changes for industrial fields.

: pp. 616-624
Design and Experimental Evaluation of a Performance-Driven PID Controller
Abstract
Toru Yamamoto, Takuya Kinoshita, Yoshihiro Ohnishi, and Sirish L. Shah
: pp. 625-632
Fictitious Reference Signal Based Real-Time Update of State Feedback Gains and its Experimental Verification
Abstract
Yuki Okano and Osamu Kaneko
: pp. 633-639
Model-Based Minimum Total Loss Control of Interior Permanent Magnet Synchronous Motor
Abstract
Gen-Sheng Li, Zong-Xiao Yang, Lei Song, and Guan-Qiang Dong
: pp. 640-645
Reduction of Quantization Error in Multirate Output Feedback Control
Abstract
Takao Sato, Hironobu Sakaguchi, Nozomu Araki, and Yasuo Konishi
: pp. 646-653
Antisway Control for a Rotary Crane by Using Evolutionary Computation
Abstract
Akira Abe and Keisuke Okabe
: pp. 654-663
Development of Six-DOF Human Ankle Motion Control Device Using Stewart Platform Structure for Fall Prevention
Abstract
Kenta Nomura, Teru Yonezawa, Hiroshi Takemura, and Hiroshi Mizoguchi
: pp. 664-673
Adaptive Combustion Control System Design of Diesel Engine via ASPR Based Adaptive Output Feedback with a PFC
Abstract
Ikuro Mizumoto, Seiya Fujii, and Jyunpei Tsunematsu
: pp. 674-680
Self-Tuning Generalized Minimum Variance Control Based on On-Demand Type Feedback Controller
Abstract
Akira Yanou, Mamoru Minami, and Takayuki Matsuno
: pp. 681-686
Method Evaluation for Short-Term Wind Speed Prediction Considering Multi Regions in Japan
Abstract
Ikki Tanaka and Hiromitsu Ohmori
: pp. 687-694
Adaptive Speed Control of Wheeled Mobile Robot on Uncertain Road Condition
Abstract
Kyosuke Terada, Hiroyasu Miura, Masayuki Okugawa, and Yoshimitsu Kobayashi
: pp. 695-701
Control Parameters Tuning Method of Nonlinear Model Predictive Controller Based on Quantitatively Analyzing
Abstract
Tomohiro Henmi
: pp. 702-706
Design Method for Improvement of Transient-State Intersample Output of Multirate Systems Including Integrators
Abstract
Tomonori Kamiya, Takao Sato, Nozomu Araki, and Yasuo Konishi
: pp. 707-714
Realization of Prefilter for Virtual Reference Feedback Tuning Using Closed-Loop Step Response Data
Abstract
Yoshihiro Matsui, Hideki Ayano, Shiro Masuda, and Kazushi Nakano
: pp. 715-721
Feature Extraction for Excavator Operation Skill Using CMAC
Abstract
Kazushige Koiwai, Yuntao Liao, Toru Yamamoto, Takao Nanjo, Yoichiro Yamazaki, and Yoshiaki Fujimoto
: pp. 722-729
Design and Experimental Evaluation of a Data-Oriented Generalized Predictive PID Controller
Abstract
Zhe Guan, Shin Wakitani, and Toru Yamamoto
: pp. 730-738
Design and Application of a Data-Driven Expert Controller Based on the Operating Data of a Skilled Worker
Abstract
Hiroki Matsumori, Shin Wakitani, and Mingcong Deng
: pp. 739-744
Virtual Reference Feedback Tuning for Cascade Control Systems
Abstract
Huy Quang Nguyen, Osamu Kaneko, and Yoshihiko Kitazaki
: pp. 745-751
FRIT of Internal Model Controllers for Poorly Damped Linear Time Invariant Systems: Kautz Expansion Approach
Abstract
Hnin Si and Osamu Kaneko
: pp. 752-758
Data-Driven Torque Controller for a Hydraulic Excavator
Abstract
Yasuhito Oshima, Takuya Kinoshita, Kazushige Koiwai, Toru Yamamoto, Takao Nanjo, Yoichiro Yamazaki, and Yoshiaki Fujimoto

Regular Papers

: pp. 759-775
Near-Field Touch Interface Using Time-of-Flight Camera
Abstract
Lixing Zhang and Takafumi Matsumaru

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 –

: p. 431
Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings –
Yoshihiro Takita, Shin’ichi Yuta, Takashi Tsubouchi, and Koichi Ozaki

This issue is the third in a series on Real World Robot Challenge in Tsukuba. The Tsukuba Challenge has contributed much in establishing autonomous mobile robot control technology on outdoor walkways where robots must mingle with pedestrians and cyclists – not all of whom may be familiar with such robots. The rain on the day of the final run for the 2015 Tsukuba Challenge taught us valuable lessons in navigating robots in real environments. Since the 2013 Tsukuba Challenge, a new task was introduced in the second stage. This task consists of searching for human targets – a technological challenge for developing robots that are both mobile and useful. Our objective here is to share advanced control technology refined through experiments in the real-world environment of the Tsukuba Challenge. The Tsukuba Challenge is also providing a forum for technological education for university students studying robotics engineering and for technical exchange through open experiments. In this issue, we are pleased to present the control technology that this exchange has brought about. We would like to express our deep gratitude to the authors contributing to this issue and to the article reviewers who have helped make this all possible.

: pp. 432-440
Development of Autonomous Robot with Simple Navigation System for Tsukuba Challenge 2015
Abstract
Yuta Kanuki and Naoya Ohta
: pp. 441-450
Development of Autonomous Mobile Robot that Can Navigate in Rainy Situations
Abstract
Naoki Akai, Yasunari Kakigi, Shogo Yoneyama, and Koichi Ozaki
: pp. 451-460
Recognition Method Applied to Smart Dump 9 Using Multi-Beam 3D LiDAR for the Tsukuba Challenge
Abstract
Yoshihiro Takita, Shinya Ohkawa, and Hisashi Date
: pp. 461-469
Development of Autonomous Mobile Robot “MML-05” Based on i-Cart Mini for Tsukuba Challenge 2015
Abstract
Tomoyoshi Eda, Tadahiro Hasegawa, Shingo Nakamura, and Shin’ichi Yuta
: pp. 470-478
Prototyping of Kinematics Simulator for Supporting Autonomous Mobile Robot Development
Abstract
Kitaro Shimane, Ryo Ueda, and Susumu Tarao
: pp. 479-490
Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge
Abstract
Adi Sujiwo, Tomohito Ando, Eijiro Takeuchi, Yoshiki Ninomiya, and Masato Edahiro
: pp. 491-499
Human Detection by Fourier Descriptors and Fuzzy Color Histograms with Fuzzy c-Means Method
Abstract
Shohei Akimoto, Tomokazu Takahashi, Masato Suzuki, Yasuhiko Arai, and Seiji Aoyagi
: pp. 500-507
Oncoming Human Avoidance for Autonomous Mobile Robot Based on Gait Characteristics
Abstract
Tetsuo Tomizawa and Yuya Shibata

Regular Papers

: pp. 509-522
Control of Low-Cost Customizable Robot Arm Actuated by Elastic Tendons
Abstract
Junki Togashi, Kazuhisa Mitobe, and Genci Capi
: pp. 523-532
Structured Light Field Generated by Two Projectors for High-Speed Three Dimensional Measurement
Abstract
Akihiro Obara, Xu Yang, and Hiromasa Oku
: pp. 533-542
Bipedal Locomotion Control Based on Simultaneous Trajectory and Foot Step Planning
Abstract
Kouta Goto, Yuichi Tazaki, and Tatsuya Suzuki
: pp. 543-558
Visual Servoing for Underwater Vehicle Using Dual-Eyes Evolutionary Real-Time Pose Tracking
Abstract
Myo Myint, Kenta Yonemori, Akira Yanou, Khin Nwe Lwin, Mamoru Minami, and Shintaro Ishiyama
: pp. 559-567
Pneumatically Driven Multi-DOF Surgical Forceps Manipulator with a Bending Joint Mechanism Using Elastic Bodies
Abstract
Kyouhei Takikawa, Ryoken Miyazaki, Takahiro Kanno, Gen Endo, and Kenji Kawashima
: pp. 568-578
Operator-Based Robust Nonlinear Control Design of a Robot Arm with Micro-Hand
Abstract
Zhengxiang Ma, Aihui Wang, and Tiejun Chen
: pp. 579-590
Model-Based Development with User Model as Practical Process of HCD for Developing Robots
Abstract
Yoshinobu Akimoto, Eri Sato-Shimokawara, Yasunari Fujimoto, and Toru Yamaguchi
: pp. 591-599
Development of a New Pericardiocentesis Assist Device: Design Proposal and Evaluation of the Pericardium Grasping Mechanism
Abstract
Yuta Fukushima, Ryo Akita, Kiyoshi Naemura, and Hiroyuki Tsukihara
: pp. 600-608
Upper Body of Dummy Humanoid Robot with Exterior Deformation Mechanism for Evaluation of Assistive Products and Technologies
Abstract
Kunihiro Ogata, Tomoya Kawamura, Eiichi Ono, Tsuyoshi Nakayama, and Nobuto Matsuhira

No.3

(Jun)

Special Issue on Autonomous Flying Robot

Special Issue on Autonomous Flying Robot

: p. 261
Autonomous Flying Robot
Shoichiro Fujisawa, Kenzo Nonami, Masafumi Miwa, Satoshi Suzuki, and Kakuya Iwata

  Research on unmanned aerial vehicles (UAVs) has been conducted for quite some time, even though experiments were rather difficult to carry out. However, recent years have seen a proliferation of published reports in this field. This is most likely due to the spread of multicopters, which are easier and safer to operate than fixed-wing aircraft and single-rotor helicopters.   Other factors that have made it easier to conduct research on UAVs and thus contributed to the increased number of studies include the wide availability of high-performance flight controllers that are either low cost or offered on an open-source basis, such as ArduPilot and MultiWii.   Although this has minimized technological hurdles in conducting research, it has become more difficult to conduct research safely in a social and legal context. Prompted by a 2015 drone incident, Japan’s civil aeronautics law was revised to control UAV flights under stricter regulations. Even so, these regulations are still considered less restrictive than those in most other countries.   UAV research includes obvious risks and dangers of operating airborne devices, but also makes it more interesting as a scientific inquiry, generates high expectations about practical utility, and makes a highly significant area of investigation.   Placing a high priority on safety will hopefully lead to further research in this area.   This special issue covers the latest in UAV research, including

  •   • UAV control system design,
  •   • Studies on flight characteristics of aircraft equipped with special mechanisms,
  •   • UAV applications,
  •   • Studies on operational UAVs.

  Readers will find it interesting and rewarding to explore the latest UAV research trends presented in this issue.

: pp. 262-272
Drone Technology, Cutting-Edge Drone Business, and Future Prospects
Abstract
Kenzo Nonami
: pp. 273-285
On High-Performance Airfoil at Very Low Reynolds Number
Abstract
Katsuya Hirata, Ryo Nozawa, Shogo Kondo, Kazuki Onishi, and Hirochika Tanigawa
: pp. 286-294
A Simple Autonomous Flight Control of Multicopter Using Only Web Camera
Abstract
Kazuya Sato and Ryuichiro Daikoku
: pp. 295-303
LED Panel Detection and Pattern Discrimination Using UAV’s On-Board Camera for Autoflight Control
Abstract
Hiroyuki Ukida and Masafumi Miwa
: pp. 304-313
Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter
Abstract
Reesa Akbar, Bambang Sumantri, Hitoshi Katayama, Shigenori Sano, and Naoki Uchiyama
: pp. 314-319
Trial Production of Vertical Take-Off and Landing Aircraft Based on Tricopter
Abstract
Kiyoteru Hayama and Hiroki Irie
: pp. 320-327
Practical Applications of HORNET to Inspect Walls of Structures
Abstract
Yuhei Tokura, Kohei Toba, and Yogo Takada
: pp. 328-333
Arbitrary Attitude Hovering Control of Quad Tilt Rotor Helicopter
Abstract
Masafumi Miwa, Shinji Uemura, and Akitaka Imamura
: pp. 334-342
Flight Characteristics of Quad Rotor Helicopter with Thrust Vectoring Equipment
Abstract
Akitaka Imamura, Masafumi Miwa, and Junichi Hino
: pp. 343-350
Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach
Abstract
Shouhei Mori and Toru Namerikawa
: pp. 351-359
Effectiveness of Delayed Feedback Control Applied to a Small-Size Helicopter with a Suspended Load System
Abstract
Motomichi Sonobe, Masafumi Miwa, and Junichi Hino

Regular Papers

: pp. 361-370
Development of Sensory Feedback Device for Myoelectric Prosthetic Hand to Provide Hardness of Objects to Users
Abstract
Takakuni Morita, Takeshi Kikuchi, and Chiharu Ishii
: pp. 371-377
Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage
Abstract
Rongmin Zhang, Yuan Chen, and Jun Gao
: pp. 378-385
A Flexible Tactile Sensor Array Based on Pressure Conductive Rubber for Contact Force Measurement and Slip Detection
Abstract
Yancheng Wang, Kailun Xi, Deqing Mei, Guanhao Liang, and Zichen Chen
: pp. 397-403
Development of a Small Size Underwater Robot for Observing Fisheries Resources – Underwater Robot for Assisting Abalone Fishing –
Abstract
Motoki Takagi, Hayato Mori, Adiljan Yimit, Yoshihiro Hagihara, and Tasuku Miyoshi
: pp. 404-417
A New Method to Solve the Kinematic Problems of Parallel Robots Using Generalized Reduced Gradient Algorithm
Abstract
Thanh Trung Trang, Wei Guang Li, and Thanh Long Pham
: pp. 418-424
Gait and Posture Analysis Method Based on Genetic Algorithm and Support Vector Machines with Acceleration Data
Abstract
Huan Gou, Tengda Shi, Lei Yan, and Jiang Xiao

No.2

(Apr)

Special Issue on Construction and Built Environment

Special Issue on Construction and Built Environment

: p. 115
Construction and Built Environment
Thomas Bock and Tetsuji Yoshida

  The construction industry is one of the largest economicalsectors in developed countries. The economical contributionof the construction industry is comparable withthe contribution of the manufacturing industry. However,the construction industry is one of the most unfamiliar areasof R&D in the robotics community. The first ideasfor construction robots appeared in the 1970s in Japan.Due to quality problems of construction works, lack ofskilled labor, low productivity, numerous accidents andfatalities and high construction demand, the first prototypesof construction robots were developed towards theend of the 1970s. Since then more than 200 constructionrobots and service robots for buildings have been developed,but only about 10% of them have been successfullyintroduced to the construction market. The developmentof on-site robots in the 1980s peaked with the developmentof integrated automated building construction sitesin the 1990s. In the beginning of the 21st century humanoidrobots were researched and tested. In the futurewe will see robots that care for the elderly and handicappedas a further development of construction robots.
  This issue gives an overview on the state of art ofrobotic technologies in construction. The introductoryarticle also relates the construction robotics developmentto the industrial robotics technology in the prefabricationsector of the 1970s, gives examples of various constructionrobotics developments of the 1980s, the integratedautomated building construction sites since the 1990s, andthe humanoid construction robotics developments and integratedindustrialization efforts of recent date. Roboticsubtechnologies such as programming, sensors, kinematics,teleoperation, navigation, human-robot interaction arepresented to the reader. During the last years much efforthas been devoted to the application of robots and roboticstechnology in construction works. Most of them are forout-door application, where the tasks are developed incomplex unstructured environments and under hazardousconditions. The construction robots introduced during thelast years have dramatically improved labor conditions,productivity and quality levels, and also have increasedthe safety conditions for operators. The nowadays constructionrobotics technology tries to take advantage ofthe last developments for control, navigation, localization,human-machine interface or sensor use. Howeverrobotics in construction is still a very challenging topic inorder to clarify many unsolved R&D issues.
  The purpose of this special issue is to provide a reviewof open issues and new developments in robotics inconstruction, ranging from major construction engineeringprojects to residential building construction:

  •   • Robotics for building construction.
  •   • Robotics for civil engineering: roads, bridges, earthmoving, etc.
  •   • Inspection, maintenance and infrastructures robots.
  •   • Navigation, mapping and localization of robots inconstruction environments.
  •   • Technology components for construction robots: 3Dsensors, end-effectors, HMI, control strategies, cooperation,safety, etc.
: pp. 116-122
Construction Robotics
Abstract
Thomas Bock
: pp. 123-128
Achievement and Future Prospects of ICT Construction in Japan
Abstract
Kazuyoshi Tateyama
: pp. 129-137
Rail Structure Supporting Mechanism Using Foamable Resin for Pillar Expansion, Anchoring, and Fixation
Abstract
Rui Fukui, Kenta Kawae, Yuta Kato, and Masayuki Nakao
: pp. 138-148
First Trial of Underwater Excavator Work Supported by Acoustic Video Camera
Abstract
Taketsugu Hirabayashi, Kazuki Abukawa, Tomoo Sato, Sayuri Matsumoto, and Muneo Yoshie
: pp. 149-157
Support System for Slope Shaping Based on a Teleoperated Construction Robot
Abstract
Katsutoshi Ootsubo, Daichi Kato, Takuya Kawamura, and Hironao Yamada
: pp. 158-161
Planning of Movements of Building Robots with Speed Optimization
Abstract
Thomas Bock and Alexey Bulgakov
: pp. 162-172
Optimum Placement of Wireless Access Point for Mobile Robot Positioning in an Indoor Environment
Abstract
Abdul Halim Ismail, Ryosuke Tasaki, Hideo Kitagawa, and Kazuhiko Terashima
: pp. 173-184
Research on Superimposed Terrain Model for Teleoperation Work Efficiency
Abstract
Takanobu Tanimoto, Ryo Fukano, Kei Shinohara, Keita Kurashiki, Daisuke Kondo, and Hiroshi Yoshinada
: pp. 185-193
A New Close-Loop Control Method for an Inspection Robot Equipped with Electropermanent-Magnets
Abstract
Pakpoom Kriengkomol, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, and Tatsuo Arai
: pp. 194-197
Suction Cup for Concrete Wall Testing Robot
Abstract
Saeko Tokuomi and Kazuya Mori

Regular Papers

: pp. 199-214
Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety
Abstract
Jeremy A. Marvel and Roger Bostelman
: pp. 215-225
Development of Digital Flight Motion Methodology Based on Aerodynamic Derivatives Approximation
Abstract
Norazila Othman and Masahiro Kanazaki
: pp. 226-233
Study on a Pneumatically Actuated Robot for Simulating Evolutionary Developmental Process of Musculoskeletal Structures
Abstract
Hideyuki Ryu, Yoshihiro Nakata, Yuya Okadome, Yutaka Nakamura, and Hiroshi Ishiguro
: pp. 234-241
Image Correspondence Based on Interest Point Correlation in Difference Streams: Method and Applications to Mobile Robot Localization
Abstract
Helio Perroni Filho and Akihisa Ohya
: pp. 242-254
Teaching Mobile Robots Using Custom-Made Tools by a Semi-Direct Method
Abstract
Jorge David Figueroa Heredia, Hamdi Sahloul, and Jun Ota

No.1

(Feb)

Regular papers

Reviews on Research and Development of Functional Fluid Mechatronics, Rehabilitation Systems, and Mechatronics of Flexible Drive Systems

: pp. 5-16
Research and Development of Functional Fluid Mechatronics, Rehabilitation Systems, and Mechatronics of Flexible Drive Systems
Abstract
Junji Furusho and Naoyuki Takesue

Regular Papers

: pp. 17-30
Collision Avoidance Using Contact Information with Multiple Objects by Multi-Leg Robot
Abstract
Tomohito Takubo, Keishi Kominami, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai
: pp. 31-39
NLOS Satellite Detection Using a Fish-Eye Camera for Improving GNSS Positioning Accuracy in Urban Area
Abstract
Shodai Kato, Mitsunori Kitamura, Taro Suzuki, and Yoshiharu Amano
: pp. 40-49
A Novel Approach to Quantitative Evaluation of Tangle Formations for Seaweeds in Stirrer Cultivation
Abstract
Jun Ogawa, Hiroyuki Iizuka, Masahito Yamamoto, and Masashi Furukawa
: pp. 50-60
Metrics Generation Process for Mechatronics
Abstract
Aude Warniez, Olivia Penas, Jean-Yves Choley, and Peter Hehenberger
: pp. 61-68
Cloud/Crowd Sensing System for Annotating Users Perception
Abstract
Wataru Mito and Masahiro Matsunaga
: pp. 69-78
Toward Understanding Pedagogical Relationship in Human-Robot Interaction
Abstract
Hirofumi Okazaki, Yusuke Kanai, Masa Ogata, Komei Hasegawa, Kentaro Ishii, and Michita Imai
: pp. 79-85
Seating System with Adjustable Sheet and Body Surface Measurement
Abstract
Takehito Kikuchi and Isao Abe
: pp. 86-90
Virtual Mooring Buoy “ABA” for Multiple Autonomous Underwater Vehicles Operation
Abstract
Yuya Nishida, Junichi Kojima, Yuzuru Itoh, Kenkichi Tamura, Harumi Sugimatsu, Kangsoo Kim, Taku Sudo, and Tamaki Ura
: pp. 91-94
Autonomous Underwater Vehicle “BOSS-A” for Acoustic and Visual Survey of Manganese Crusts
Abstract
Yuya Nishida, Kenji Nagahashi, Takumi Sato, Adrian Bodenmann, Blair Thornton, Akira Asada, and Tamaki Ura
: pp. 95-103
Prototyping Force-Controlled 3-DOF Hydraulic Arms for Humanoid Robots
Abstract
Kensuke Izawa and Sang-Ho Hyon

Grand Robots Museum

: pp. 105-106
Electric Cart Matching the User Gait
Abstract
Kazuto Miyawaki
: pp. 107-108
A Desktop-Sized Communication Robot: “robovie-mR2”
Abstract
Reo Matsumura, Masahiro Shiomi, Kayako Nakagawa, Kazuhiko Shinozawa, and Takahiro Miyashita

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