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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 : Yoshihiro Takita (National Defence Academy of Japan)
Deputy Editor-in-Chief : Koichi Osuka (Osaka University),
Takayuki Tanaka (Hokkaido University)

Indexed in ESCI, Scopus, Compendex (Ei)

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2018-04-20T00:44:59+0000

Vol.25 (2013)

No.6

(Dec)

Special Issue on Assistive Technology Based on ICT/IRT for Aged Society

Special Issue on Assistive Technology Based on ICT/IRT for Aged Society

: p. 887
Assistive Technology Based on ICT/IRT for Aged Society
Takayuki Tanaka, Yasuhisa Hasegawa, Takanori Miyoshi, Shunji Shimizu, and Toru Ifukube

Although Japan and many other countries are going to the super-aging society quickly prior to the world, according to the latest investigations, there are a lot of elderly persons who do not suffer instrumental activity of daily living (IADL). This special issue made a broad call for papers on research and development of assistive technologies to support and enhance their employment and daily-life activity based on information-communication technology (ICT) and information-robotics technology (IRT). The topics of the special issue include wearable assistive device, power/skill assist, mobility assist, locomotive assist, communication assist, kinesthetic feedback assist, sensor/actuator technologies for assistive system, robotics and mechatronics to support elderly persons. We finally believe that these assistive technologies greatly contribute to support many elderly persons and make their lives more worth living. We thank the authors for their fine contributions and the reviewers for their generous time and effort. In closing, we thank the Editorial Board of the Journal of Robotics and Mechatronics for helping make this issue possible.

: pp. 888-896
Enhancement of Plantar Tactile Sensitivity by Wearable Stabilization Device Based on Stochastic Resonance for Fall Prevention
Abstract
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Satoshi Kudoh, Akira Obara, Yuu Satoh, Ming Ding, Hiroshi Mizoguchi, and Hiroshi Takemura
: pp. 897-905
Force, Stiffness and Viscous Damping Control of a Stewart-Platform-Type Ankle-Foot Rehabilitation Assist Device with Pneumatic Actuator
Abstract
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Takayuki Onodera, Eiji Suzuki, Ming Ding, Hiroshi Takemura, and Hiroshi Mizoguchi
: pp. 906-914
A Survey Method for Identifying Real Support Needs of People with Early-Stage Dementia for Designing Assistive Technology
Abstract
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Hirotoshi Yamamoto, Yasuyoshi Yokokohji, and Hajime Takechi
: pp. 915-922
Power Assist Control Calculated by a Human Model and Joint Angles for Walking Motion Using Pneumatic Actuators
Abstract
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Motonobu Sato, Eiichi Yagi, and Kazuo Sano
: pp. 923-930
Development of a Wearable Assist Suit for Walking and Lifting-Up Motion Using Electric Motors
Abstract
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Kazuo Sano, Eiichi Yagi, and Motonobu Sato
: pp. 931-938
Development of Power Assist Crane Operated by Tensional Information of Dual Wire
Abstract
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Naoyuki Takesue, Tomoyuki Mine, Rikiya Makino, Kousyun Fujiwara, and Hideo Fujimoto
: pp. 939-948
Development of an Exercise Support System for the Elderly Which Uses a Small Humanoid Robot
Abstract
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Masataka Hirano, Naohiko Hanajima, Keigo Urita, Satoru Muto, Yohei Muraoka, and Makoto Ohata
: pp. 949-958
Development of an Exoskeleton to Support Eating Movements in Patients with Essential Tremor
Abstract
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Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Yasutaka Nakashima, Hiroshi Iijima, Masanori Nagaoka, and Masakatsu G. Fujie
: pp. 959-965
Investigation of User Load and Evaluation of Power Assistive Control on Cycling Wheelchair
Abstract
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Aya Kaisumi, Yasuhisa Hirata, and Kazuhiro Kosuge
: pp. 966-972
Development of Autonomous Intelligent Driving System to Enhance Safe and Secured Traffic Society for Elderly Drivers – Autonomous Collision Avoidance System with Hazard Anticipation Driver Characteristics –
Abstract
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Ryosuke Matsumi, Pongsathorn Raksincharoensak, and Masao Nagai
: pp. 973-982
Pneumatically Driven Prehension Orthosis with Force Control Function
Abstract
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Shunji Moromugi, Takayuki Tanaka, Toshio Higashi, Maria Q. Feng, and Takakazu Ishimatsu
: pp. 983-991
Quantitative Evaluation of Shoulder Joint Function to Reproduce Results of Clinical Tests by Therapist
Abstract
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Noritaka Sato, Keita Kamada, Yuki Hiramatsu, Kazunori Yamazaki, Yoshifumi Morita, Hiroyuki Ukai, Kenji Komori, and Shinya Taguchi
: pp. 992-999
Development of Transfer Assist Robot Based on the User Needs
Abstract
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Mio Nakamura, YoheiKume, Jun Suzurikawa, Shohei Tsukada, Hideo Kawakami, Kaoru Inoue, and Takenobu Inoue
: pp. 1000-1010
Design of Brain-Machine Interface Using Near-Infrared Spectroscopy
Abstract
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Tomotaka Ito, Satoshi Ushii, Takafumi Sameshima, Yoshihiro Mitsui, Shohei Ohgi, and Chihiro Mizuike
: pp. 1011-1019
Development of Danger Avoidance Assist System for Electric Cart
Abstract
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Masanori Sato, Tetsuo Tomizawa, Shunsuke Kudoh, and Takashi Suehiro
: pp. 1020-1028
Development of Sensor-Less Power-Assisted System with Disturbance Observer Considering High Friction
Abstract
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Takanori Miyoshi, Ryosuke Imai, Kazuhiko Terashima, and Kanemitsu Ochiai
: pp. 1029-1037
Kinetostatic Design of Ankle Rehabilitation Mechanism Capable of Adapting to Changes in Joint Axis
Abstract
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Daisuke Matsuura, Tatsuya Koga, Shota Ishida, and Yukio Takeda
: pp. 1038-1049
Muscle Synergy Analysis Between Young and Elderly People in Standing-Up Motion
Abstract
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Qi An, Yusuke Ikemoto, and Hajime Asama
: pp. 1050-1059
A Proposal for a Model of Change of Maximum Isometric Muscle Force in Step-Change Workload
Abstract
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Shota Ando, Takayuki Tanaka, Hiroyuki Nara, and Kazuki Takizawa
: pp. 1060-1069
Implementation Approach of Affective Interaction for Caregiver Support Robot
Abstract
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Yutaka Miyaji and Ken Tomiyama
: pp. 1070-1077
Optimized Motion Control of an Intelligent Cane Robot for Easing Muscular Fatigue in the Elderly During Walking
Abstract
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Pei Di, Jian Huang, Shotaro Nakagawa, Kosuke Sekiyama, Qiang Huang, and Toshio Fukuda
: pp. 1079-1087
Mechanism of Linear Load-Sensitive Continuously Variable Transmission with Spherical Driving Unit
Abstract
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Kenjiro Tadakuma, Riichiro Tadakuma, Kazuki Terada, Aiguo Ming, and Makoto Shimojo
: pp. 1088-1096
Construction Methodology for NIUTS – Bed Servoing System for Body Targets –
Abstract
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Norihiro Koizumi, Joonho Seo, Takakazu Funamoto, Yutaro Itagaki, Akira Nomiya, Akira Ishikawa, Hiroyuki Tsukihara, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
: pp. 1097-1104
Levitation Control of AEROTRAIN: The Design and System of Experimental Manned Wing-in-Ground Vehicle ART003R
Abstract
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Yusuke Sugahara, Satoshi Kikuchi, Kazuhiro Kosuge, and Yasuaki Kohama
: pp. 1105-1113
Measuring Particle Positions in Micro Channel with Multifiber Array
Abstract
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Ichiro Okuda, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, and Tatsuo Arai

No.5

(Oct)

Special Issue on Underwater Robotics and Mechatronics

Special Issue on Underwater Robotics and Mechatronics

: p. 771
Underwater Robotics and Mechatronics
Kuniaki Kawabata, Fumiaki Takemura, Shinichi Sagara, Kazuo Ishii, and Teruo Fujii

With two-thirds of the earth covered by oceans, rivers, lakes, ponds, and glaciers – underwater work becomes specialized in often extreme environments that need unusual solutions. The unique techniques required are central to the major research and development fields of robotics and mechatronics. Research related to finding the resources and environmental observation makes underwater technology an attractive field for study. This issue covers advanced R&D in underwater robotics and mechatronics, their applications and uses. The 7 papers brought together introduce the latest in underwater robotics and mechatronics findings. Three are related to visual systems and image processing for underwater observation and inspection and visual survey. Three are related to designs for mechanisms enabling mobile manipulators, buoyancy control devices and deformable tensegrity structures for underwater vehicles. The last but not least paper implements control of underwater vehicles with passive thrusters. These cutting-edge presentations exploring underwater robotics and mechatronics are both innovative and interesting and may give you new ideas for your own work. We thank the authors for their fine contributions and the reviewers for their generous time and effort. In closing, we thank the Editorial Board of the Journal of Robotics and Mechatronics for helping make this issue possible.

: pp. 772-777
On-Line Image Gathering Utilizing an Operated Underwater Movable Sensor Node
Abstract
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Kuniaki Kawabata, Fumiaki Takemura, Shota Futenma, and Tsuyoshi Suzuki
: pp. 778-784
Development of Easy-Removable Underwater Manipulator Unit with Built-in Controller
Abstract
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Fumiaki Takemura, Reyes Tatsuru Shiroku, Kuniaki Kawabata, and Shinichi Sagara
: pp. 785-794
A Stereo Vision System for Underwater Vehicle-Manipulator Systems – Proposal of a Novel Concept Using Pan-Tilt-Slide Cameras –
Abstract
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Shinichi Sagara, Radzi Bin Ambar, and Fumiaki Takemura
: pp. 795-803
Depth Control of Underwater Robot with Metal Bellows Mechanism for Buoyancy Control Device Utilizing Phase Transition
Abstract
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Koji Shibuya, Yukihiro Kishimoto, and Sho Yoshii
: pp. 804-811
Use of a Deformable Tensegrity Structure as an Underwater Robot Body
Abstract
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Mizuho Shibata, Takahiro Miyamura, Norimitsu Sakagami, and Shigeharu Miyata
: pp. 812-819
Experimental Verification of Lifting Force of Underwater Robot with Thrusters Using Passive Posture Maintenance
Abstract
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Fumiaki Takemura, Shota Futenma, Kuniaki Kawabata, and Shinichi Sagara
: pp. 820-829
Method of Dynamic Image Processing for Ecology Observation of Marine Life
Abstract
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Yasutake Okuda, Hiroki Kamada, Satoru Takahashi, Shun’ichi Kaneko, Kuniaki Kawabata, and Fumiaki Takemura

Regular Papers

: pp. 831-839
Switching Control Method for Stable Landing by Legged Robot Based on Zero Moment Point
Abstract
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Naoki Motoi, Kenta Sasahara, and Atsuo Kawamura
: pp. 840-847
Spherical Spaces for Illumination Invariant Face Relighting
Abstract
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Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, and Tatsuo Arai
: pp. 848-854
Evaluation of Microgap Control of Needle-Type Dispenser for Precise Microdroplet Dispensation
Abstract
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Shinnosuke Hirata, Kazuki Hirose, Yuuka Irie, and Hisayuki Aoyama
: pp. 855-862
Impression Difference Between Intelligent Medicine Case and Small Service Robot in Self-Medication Support Situations
Abstract
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Takuo Suzuki, Yuta Jose, and Yasushi Nakauchi
: pp. 863-870
Assemblable Hand for Laparoscopic Surgery with Phased Array and Single-Element Ultrasound Probes
Abstract
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Mikio Osaki, Toru Omata, and Toshio Takayama
: pp. 871-876
Generating Situation-Dependent Behavior: Decentralized Control of Multi-Functional Intestine-Like Robot that can Transport and Mix Contents
Abstract
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Takeshi Kano, Toshihiro Kawakatsu, and Akio Ishiguro

No.4

(Aug)

Special Issue on Bio Assembler

Special Issue on Bio Assembler

: p. 585
Bio Assembler
Tatsuo Arai, Fumihito Arai, Masayuki Yamato, and Yasushi Mae

Research in a new field, the Hyper Bio Assembler for 3D Cellular Innovation, or Bio Assembler for short, started in July 2011 thanks to support from grants-in-aid for scientific research on innovative areas from the Ministry of Education, Culture, Sports, Science and Technology of Japan. The Bio Assembler’s eventual objectives include creating innovative methodologies for building cellular 3D systems that function in vitro – an entirely new area not yet explored. The Bio Assembler is expected to measure and separate target cells at high speed to help in making possible the construction of cellular 3D systems in vitro and the clarification of the principles of ultrahigh-speed measurement and manipulation together with tissue function expression. Understanding the different aspects of cellular 3D systems and establishing technologies and techniques will enable these systems to be constructed, which will, in turn, enable breakthroughs in tissue engineering and biology, thereby establishing new technical areas in high-speed micro-nano robotics. This special issue on Bio Assembler reports the latest achievements in new research through 15 exciting papers and a letter selected based on a thorough-going peer review. We thank the authors for their invaluable perseverance and expertise and the reviewers for their insightful and timely comments. We also thank the Journal of Robotics and Mechatronics editorial board for providing this opportunity to take part in making this special issue possible.

: pp. 586-595
A Real-Time Microscopic PIV System Using Frame Straddling High-Frame-Rate Vision
Abstract
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Motofumi Kobatake, Tadayoshi Aoyama, Takeshi Takaki, and Idaku Ishii
: pp. 596-602
Fluorescent-Based Temperature Measurement with Simple Compensation of Photo-Degradation Using Hydrogel-Tool and Color Space Conversion
Abstract
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Hisataka Maruyama, Taisuke Masuda, and Fumihito Arai
: pp. 603-610
Measuring Mechanical Properties of Cell Sheets by a Tensile Test Using a Self-Attachable Fixture
Abstract
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Kaoru Uesugi, Yoshitake Akiyama, Takayuki Hoshino, Yoshikatsu Akiyama, Masayuki Yamato, Teruo Okano, and Keisuke Morishima
: pp. 611-618
A Bio-Manipulation Method Based on the Hydrodynamic Force of Multiple Microfluidic Streams
Abstract
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Yaxiaer Yalikun, Yoshitake Akiyama, Takayuki Hoshino, and Keisuke Morishima
: pp. 619-622
Pneumatic Micro Dispenser System for Ubiquitous Microchemical Devices
Abstract
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Tadahiro Hasegawa, Fumiyuki Omatsu, and Koji Ikuta
: pp. 623-630
A High-Throughput Device for Patterned Differentiation of Embryoid Bodies
Abstract
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Xiaoming He, Hiroshi Kimura, and Teruo Fujii
: pp. 631-636
Preparation of Poly(N-isopropylacrylamide) Grafted Polydimethylsiloxane by Using Electron Beam Irradiation
Abstract
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Yoshikatsu Akiyama, Masayuki Yamato, and Teruo Okano
: pp. 637-643
Selective Cell Adhesion and Detachment on Antibody-Immobilized Thermoresponsive Surfaces by Temperature Changes
Abstract
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Jun Kobayashi, Masanori Nishi, Yoshikatsu Akiyama, Masayuki Yamato, Hirofumi Yajima, and Teruo Okano
: pp. 644-649
Size Regulation of Chondrocyte Spheroids Using a PDMS-Based Cell Culture Chip
Abstract
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Takahisa Anada and Osamu Suzuki
: pp. 650-656
Line Patterning with Microparticles at Different Positions in a Single Device Based on Negative Dielectrophoresis
Abstract
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Tomoyuki Yasukawa, Yusuke Yoshida, Hironobu Hatanaka, and Fumio Mizutani
: pp. 657-664
Design and Fabrication of Changeable Cell Culture Mold
Abstract
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Puwanan Chumtong, Masaru Kojima, Kenichi Ohara, Yasushi Mae, Mitsuhiro Horade, Yoshikatsu Akiyama, Masayuki Yamato, and Tatsuo Arai
: pp. 665-672
Automated Construction System for 3D Lattice Structure Based on Alginate Gel Fiber Containing Living Cells
Abstract
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Kenichi Ohara, Masaru Kojima, Akira Fukushima, Shun Onozaki, Mitsuhiro Horade, Masumi Yamada, Minoru Seki, Yasushi Mae, and Tatsuo Arai
: pp. 673-681
Fabrication of 3D Photoresist Structure for Artificial Capillary Blood Vessel
Abstract
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Azrena Abu Bakar, Masahiro Nakajima, Chengzhi Hu, Hirotaka Tajima, Shoichi Maruyama, and Toshio Fukuda
: pp. 682-689
Formation of Cell Aggregates Using Microfabricated Hydrogel Chambers for Assembly into Larger Tissues
Abstract
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Masaki Iwase, Masumi Yamada, Emi Yamada, and Minoru Seki
: pp. 690-697
Three-Dimensional Assembly of Multilayered Tissues Using Water Transfer Printing
Abstract
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Taisuke Masuda, Yuka Yamagishi, Natsuki Takei, Hirofumi Owaki, Michiya Matsusaki, Mitsuru Akashi, and Fumihito Arai
: pp. 698-704
Control of Liver Tissue Reconstitution in Mesenteric Leaves: The Effect of Preculture on Mouse Hepatic Progenitor Cells Prior to Transplantation
Abstract
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Nobuhiko Kojima and Yasuyuki Sakai

Regular Papers

: pp. 705-717
Design, Modeling and Performance Testing of End-Effector for Sweet Pepper Harvesting Robot Hand
Abstract
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Shivaji Bachche and Koichi Oka
: pp. 718-725
Development of an Air Balancer Applying Passive Dynamic Control
Abstract
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Yasuhiro Minamiyama, Yuki Gomi, Takanori Kiyota, and Noboru Sugimoto
: pp. 726-736
Design Methodology for Human Symbiotic Machines Based on the Description of User’s Mental Model
Abstract
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Rui Fukui, Shuhei Kousaka, Tomomasa Sato, and Masamichi Shimosaka
: pp. 737-747
Experimental Verification of Adaptive Dominant Type Hybrid Adaptive and Learning Controller for Trajectory Tracking of Robot Manipulators
Abstract
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Munadi and Tomohide Naniwa
: pp. 748-754
Development of Bellows-Type Artificial Rubber Muscle and Application to Peristaltic Crawling Endoscopic Robot
Abstract
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Takaichi Yanagida, Kazunori Adachi, and Taro Nakamura
: pp. 755-761
Development of Minimally Invasive Microneedle Made of Tungsten – Sharpening Through Electrochemical Etching and Hole Processing for Drawing up Liquid Using Excimer Laser –
Abstract
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Takahiro Tanaka, Tomokazu Takahashi, Masato Suzuki, and Seiji Aoyagi
: pp. 762-766
Integration of Ultrasonic Sensors and Kinect Sensors for People Distinction and 3D Localization
Abstract
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Takayuki Adachi, Masafumi Goseki, Hiroshi Takemura, Hiroshi Mizoguchi, Fusako Kusunoki, Masanori Sugimoto, Etsuji Yamaguchi, Shigenori Inagaki, and Yoshiaki Takeda

No.3

(Jun)

Regular papers

Regular Papers

: pp. 439-448
Contacting Surface-Transfer Control for Reconfigurable Wall-Climbing Robot Gunryu III
Abstract
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Woosub Lee and Shigeo Hirose
: pp. 449-457
Applicability of Equilibrium Theory of Intimacy to Non-Verbal Interaction with Robots: Multi-Channel Approach Using Duration of Gazing and Distance Between a Human Subject and Robot
Abstract
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Hiroko Kamide, Koji Kawabe, Satoshi Shigemi, and Tatsuo Arai
: pp. 458-465
Human-Scale Motion Capture with an Accelerometer-Based Gaming Controller
Abstract
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Sagar N. Purkayastha, Michael D. Byrne, and Marcia K. O’Malley
: pp. 466-475
Propulsion Mechanism for a Lunar Subterranean Excavator Using Peristaltic Crawling
Abstract
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Hiroyuki Kitamoto, Hayato Omori, Hiroaki Nagai, Taro Nakamura, Hisashi Osumi, and Takashi Kubota
: pp. 476-483
Local Ablation of a Single Cell Using Micro/Nano Bubbles
Abstract
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Hiroki Kuriki, Yoko Yamanishi, Shinya Sakuma, Satoshi Akagi, and Fumihito Arai
: pp. 484-496
Autonomous Pedestrian Push Button Activation by Outdoor Mobile Robot in Outdoor Environments
Abstract
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Aneesh N. Chand and Shin’ichi Yuta
: pp. 497-505
Presentation of Rapid Temperature Change Using Spatially Divided Hot and Cold Stimuli
Abstract
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Katsunari Sato and Takashi Maeno
: pp. 506-514
Development of Method Using a Combination of DGPS and Scan Matching for the Making of Occupancy Grid Maps for Localization
Abstract
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Junji Eguchi and Koichi Ozaki
: pp. 515-520
A Robot Measuring Upper Limb Range of Motion for Rehabilitation Database
Abstract
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Toshiaki Tsuji, Mitsuyuki Yamada, and Yasuyoshi Kaneko
: pp. 521-528
An Approach to Rescue Robot Workshops for Kindergarten and Primary School Children
Abstract
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Kazuo Kawada, Masayasu Nagamatsu, and Toru Yamamoto
: pp. 529-537
TouchMe: An Augmented Reality Interface for Remote Robot Control
Abstract
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Sunao Hashimoto, Akihiko Ishida, Masahiko Inami, and Takeo Igarashi
: pp. 538-544
Grasp Motion Planning with Redundant DOF of Grasping Pose
Abstract
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Kazuyuki Nagase and Yasumichi Aiyama
: pp. 545-552
Path Planning for Mobile Mapping System Considering the Geometry of the GPS Satellite
Abstract
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Kiichiro Ishikawa, Yoshiharu Amano, and Takumi Hashizume
: pp. 553-558
Basic Study of Touchless Human Interface Using Net Structure Proximity Sensors
Abstract
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Ichiro Miyamoto, Yosuke Suzuki, Aiguo Ming, Masatoshi Ishikawa, and Makoto Shimojo
: pp. 559-566
Development of Active-Joint Active-Wheel High Traversability Snake-Like Robot ACM-R4.2
Abstract
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Kentarou Kouno, Hiroya Yamada, and Shigeo Hirose
: pp. 567-574
Development of Rescue Support Stretcher System with Stair-Climbing
Abstract
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Yuki Iwano, Koichi Osuka, and Hisanori Amano

No.2

(Apr)

Regular papers

Regular Papers

: pp. 277-284
Cellular Force Measurement Using a Nanometric-Probe-Integrated Microfluidic Chip with a Displacement Reduction Mechanism
Abstract
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Shinya Sakuma and Fumihito Arai
: pp. 285-293
Development of a Human Symbiotic Assist Arm “PAS-Arm” (Experimental System and Creation of Virtual Guiding Surfaces)
Abstract
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Mineo Higuchi and Tsukasa Ogasawara
: pp. 294-305
Design of Large Motion Range and Heavy Duty 2-DOF Spherical Parallel Wrist Mechanism
Abstract
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Koji Ueda, Hiroya Yamada, Hiroaki Ishida, and Shigeo Hirose
: pp. 306-315
Tether Based Locomotion for Astronaut Support Robot Introduction of Robot Experiment on JEM
Abstract
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Mitsuhiro Yamazumi and Mitsushige Oda
: pp. 316-323
Experimental Discussion of Occurrence of High-Frequency Component on Slip Sensor Output Using Pressure Conductive Rubber
Abstract
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Yosuke Suzuki, Seiichi Teshigawara, Mitsuhiro Chiba, Takumi Shimada, Aiguo Ming, and Makoto Shimojo
: pp. 324-332
Development of Stacked-Type Electrostatic Actuator Using Two Ribbon Films
Abstract
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Kazuo Okuda and Keiji Saneyoshi
: pp. 333-339
A System for Automated Interaction with the Cricket Utilizing a Micro Mobile Robot
Abstract
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Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda, and Jianru Xue
: pp. 340-346
Improvement of a Screw Drive In-Pipe Robot with Pathway Selection Mechanism to Pass Through T-Branches
Abstract
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Taiki Nishimura, Atsushi Kakogawa, and Shugen Ma
: pp. 347-354
Kinetic Energy Maximization on Elastic Joint Robots Based on Feedback Excitation Control and Excitation Limit Hypersurface
Abstract
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Takatoshi Hondo and Ikuo Mizuuchi
: pp. 355-363
A Photoelastic Tactile Sensor to Measure Contact Pressure Distributions on Object Surfaces
Abstract
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Taku Nakamura, Fuminobu Kimura, and Akio Yamamoto
: pp. 364-374
A Method for Obtaining High-Coverage 3D Images of Rough Seafloor Using AUV – Real-Time Quality Evaluation and Path-Planning –
Abstract
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Ayaka Kume, Toshihiro Maki, Takashi Sakamaki, and Tamaki Ura
: pp. 375-383
Development of Noncircular Wheel “TFW” for Traveling over a Single Step only by Rotational Movement
Abstract
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Tomohiko Oki and Toshio Morita
: pp. 384-391
Ultrasonic Motor Using Two Sector-Shaped Piezoelectric Transducers for Sample Spinning in High Magnetic Field
Abstract
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Daisuke Yamaguchi, Takefumi Kanda, Koichi Suzumori, Kazuya Fujisawa, Kiyonori Takegoshi, and Takashi Mizuno
: pp. 392-399
Control and Development of Cylindrical Mobile Robot
Abstract
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Tetsuro Hirano, Masato Ishikawa, and Koichi Osuka
: pp. 400-407
Path Planning for Autonomous Vehicles Using QZSS and Satellite Visibility Map
Abstract
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Mitsunori Kitamura, Yoichi Yasuoka, Taro Suzuki, Yoshiharu Amano, and Takumi Hashizume
: pp. 408-416
Identification Method of Sensor Directions and Sensitivities in Multi-Axis Accelerometer (Actual Measurement of Direction Tensor and Sensitivity Tensor)
Abstract
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Hitoshi Kimura, Masashi Nakamura, Norio Inou, Masayuki Matsudaira, and Minoru Yoshida
: pp. 417-424
Development of Transfer Assist Robot System Supporting Self-Reliant Life
Abstract
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Yohei Kume, Tomohiro Shimoda, AkihiroOhta, Shohei Tsukada, Hideo Kawakami, Mio Nakamura, Jun Suzurikawa, and Takenobu Inoue
: pp. 425-434
Development of the Robust Positioning System in Weather Disturbance Based on Geometric Landmark
Abstract
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Satoshi Ashizawa, Shunichi Tsuzuki, Takeshi Sakurai, Michio Yamashita, Tomoya Owaki, and Takeo Oomichi

No.1

(Feb)

Regular papers

Regular Papers

: pp. 5-15
Outdoor Map Construction Based on Aerial Photography and Electrical Map Using Multi-Plane Laser Range Scan Data
Abstract
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Taketoshi Mori, Takahiro Sato, Aiko Kuroda, Masayuki Tanaka, Masamichi Shimosaka, Tomomasa Sato, Hiromi Sanada, and Hiroshi Noguchi
: pp. 16-24
A Bio-Inspired Robot Using Electro-Conjugate Fluid
Abstract
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Kenichiro Tokida, Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, and Kazuya Edamura
: pp. 25-37
Visual Localization for Mobile Robots Based on Composite Map
Abstract
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Hung-Hsiu Yu, Hsiang-Wen Hsieh, Yu-Kuen Tasi, Zhi-Hung Ou, Yea-Shuan Huang, and Toshio Fukuda
: pp. 38-52
Robust Global Localization Using Laser Reflectivity
Abstract
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Dongxiang Zhang, Ryo Kurazume, Yumi Iwashita, and Tsutomu Hasegawa
: pp. 53-59
Consideration of Scanning Line Density and Capture of Shape of Human Movement from 3D Laser Scanning Sensor Using Roundly Swinging Mechanism
Abstract
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Mitsuhiro Matsumoto and Shin’ichi Yuta
: pp. 60-71
Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles
Abstract
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Mohammad Fadhil Bin Abas, Dwi Pebrianti, Syaril Azrad Md. Ali, Daisuke Iwakura, Yuze Song, Kenzo Nonami, and Daigo Fujiwara
: pp. 72-79
Haptic Augmentation Utilizing the Reaction Force of a Base Object
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Yuichi Kurita, Atsutoshi Ikeda, Kazuyuki Nagata, and Tsukasa Ogasawara
: pp. 80-88
Abstraction Multimodal Low-Dimensional Representation from High-Dimensional Posture Information and Visual Images
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Tatsuya Hirose and Tadahiro Taniguchi
: pp. 89-96
Development of Active 3-DOF Rotational Ball Joint with Hollow Shaft Motors
Abstract
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Yong Yu, Yoshitaka Narita, Yoshinori Harada, and Toshimi Nakao
: pp. 97-105
Development of Microscopic Hardness and Stiffness Investigation System with Microrobot 2nd Report, Vision Based Precise Navigation
Abstract
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Montree Pakkratoke, Shinnosuke Hirata, Chisato Kanamori, and Hisayuki Aoyama
: pp. 106-114
Hopping by a Monopedal Robot with a Biarticular Muscle by Compliance Control – An Application of an Electromagnetic Linear Actuator –
Abstract
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Yoshihiro Nakata, Atsuhiro Ide, Yutaka Nakamura, Katsuhiro Hirata, and Hiroshi Ishiguro
: pp. 115-124
High-Speed Focusing and Tracking of Multisized Microbiological Objects
Abstract
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Chanh-Nghiem Nguyen, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai
: pp. 125-135
Robust Visual Servoing for Object Manipulation Against Temporary Loss of Sensory Information Using a Multi-Fingered Hand-Arm
Abstract
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Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, and Tsutomu Hasegawa
: pp. 136-144
Development of Rehabilitation System for Upper Limbs: PLEMO-P3 System for Hemiplegic Subject (Motor Function Test for Assessment and Training, and Research for Development of Practical Type)
Abstract
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Takuya Ozawa, Junji Furusho, Takehito Kikuchi, Kazuki Fukushima, Sosuke Tanida, and Takamitsu Fujikawa
: pp. 145-152
Improving the Maneuverability of Power Assist Valves by Considering the Characteristics of Biarticular Muscles
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Motoki Nakano, Takayuki Tanaka, and Shun’ichi Kaneko
: pp. 153-161
New Method of Evaluating Muscular Strength of Lower Limb Using MEMS Acceleration and Gyro Sensors
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Shinsuke Yoshioka, Akinori Nagano, Dean C. Hay, Izumi Tabata, Tadao Isaka, Motoyuki Iemitsu, and Senshi Fukashiro
: pp. 162-171
Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurements to Clarify Immersive Reality
Abstract
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Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo, and Masakatsu G. Fujie
: pp. 172-182
Adaptive Gait for Dynamic Rotational Walking Motion on Unknown Non-Planar Terrain by Limb Mechanism Robot ASTERISK
Abstract
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Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai
: pp. 183-191
Development of Multi-Scalable Microhand System with Precise Motion Ability
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Ebubekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, and Tatsuo Arai
: pp. 192-200
Quasi-Sliding Mode Control of a High-Precision Hybrid Magnetic Suspension Actuator
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Dengfeng Li and Hector Martin Gutierrez
: pp. 201-210
Indoor Localization of Flying Robot by Means of Infrared Sensors
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Daisuke Iwakura and Kenzo Nonami
: pp. 211-219
Development of a Human Symbiotic Assist Arm “PAS-Arm” (Design of Mechanism · CVT and Experimental System)
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Mineo Higuchi
: pp. 220-231
Ground Reaction Force Reduction of Biped Robot for Walking Along a Step with Dual Length Linear Inverted Pendulum Method
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Fariz Ali, Naoki Motoi, Kirill Van Heerden, and Atsuo Kawamura
: pp. 232-239
Rock Moving Operation Using a Rod-Shaped Manipulator
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Anusorn Iamrurksiri, Takashi Tsubouchi, and Shigeru Sarata
: pp. 240-251
MAV Circular Leader-Follower Formation Control Utilizing Mass-Spring-Damper with Centripetal Force Consideration
Abstract
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Mohammad Fadhil Bin Abas, Syaril Azrad Md. Ali, Daisuke Iwakura, Yuze Song, and Kenzo Nonami
: pp. 252-261
Characterization of Deformable Objects by Using Dynamic Nonprehensile Manipulation
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Ixchel G. Ramirez-Alpizar, Mitsuru Higashimori, and Makoto Kaneko
: pp. 262-270
Stabilization of an Inverted Pendulum Cart with a Balancing Mechanism by Consistent Trajectories in Acceleration Behavior
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Takayuki Matsuno, Jian Huang, Toshio Fukuda, and Katsunori Doi

Vol.24 (2012)

No.6

(Dec)

Special Issue on Construction Robot

Special Issue on Construction Robot

: p. 923
Construction Robot
Yoshitaka Yanagihara, Hiroshi Yoshinada, and Fumihiro Inoue

Robot and mechatronics technologies in the construction industry, as in the manufacturing industry, are, first of all, expected to help provide high-quality structures and services safely in the shortest possible time at the lowest possible expense. Increasingly greater expectations have arisen since the 2011 Great East Japan Earthquake in regard to technologies involving disaster response and global environment protection. Under these circumstances, we are publishing a special issue on element technologies required for construction robots, and technologies adopted at actual disaster sites. These papers include one each on automatic and drive control technologies for heavy machinery, five on remote operations, three on position measurement and detection technologies, and three on technologies to be used at actual disaster sites. Application fields of these technologies are broad enough to cover all building and civil engineering work, network systems to be incorporated into structures, disaster response, marine development, and space development. Construction robots have always required robust robot technologies for severe outdoor work. We hope this special issue will help to accelerate the research and development of construction robots, to promote practical applications, and to support the utilization of element technologies in special environments in addition to outdoor environments.

: pp. 924-932
Efficient Scooping of Rocks by Autonomous Controlled Wheel Loader
Abstract
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Hisashi Osumi, Tomoya Uehara, Naoto Okada, Takuya Fujiwara, and Shigeru Sarata
: pp. 933-938
Kinematics of Wheel-Type Tracked Vehicle with Crawlers in Between the Front and Rear Wheels
Abstract
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Ryosuke Eto, Tomoaki Satomi, and Hiroshi Takahashi
: pp. 939-948
A Symbolic Construction Work Flow Based on State Transition Analysis Using Simplified Primitive Static States
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Mitsuhiro Kamezaki, Hiroyasu Iwata, and Shigeki Sugano
: pp. 949-957
Evaluation of Construction Robot Telegrasping Force Perception Using Visual, Auditory and Force Feedback Integration
Abstract
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Ahmad Anas Yusof, Takuya Kawamura, and Hironao Yamada
: pp. 958-966
Construction Robot Operation System with Object’s Hardness Recognition Using Force Feedback and Virtual Reality
Abstract
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Lingtao Huang, Takuya Kawamura, and Hironao Yamada
: pp. 967-976
Examination of Information Presentation Method for Teleoperation Excavator
Abstract
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Taketsugu Hirabayashi
: pp. 977-984
Master-Slave Control Method for Hydraulic Excavator
Abstract
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Hiroshi Yoshinada, Kenji Okamura, and Shinich Yokota
: pp. 985-991
High Accuracy Position Marking System Applying Mobile Robot in Construction Site
Abstract
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Fumihiro Inoue and Eri Ohmoto
: pp. 992-999
Development of 3D Scanning System Using Automatic Guiding Total Station
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Ken Endou, Takafumi Ikenoya, and Ryo Kurazume
: pp. 1000-1004
Application of Images and Laser Range to Detection of Workers Around Heavy Construction Equipment
Abstract
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Soungho Chae
: pp. 1005-1013
A Two Dimensional Model to Apprehend the Dynamic Response of Shallow Buried Structures due to Impact Loading Related to Mechanical Landmine Clearing Operations
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Nuhansyah Sulaiman and Hiroshi Takahashi
: pp. 1014-1022
Smart Home Network System Integration with RT Middleware for Embedded Controller
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Kenichi Ohara, Tamio Tanikawa, Mitsuhiro Toyoda, Hiroyuki Nakamoto, Masato Iijima, Yoshimasa Endo, Toru Takahashi, Takeshi Sakamoto, Tetsuo Kotoku, Kohtaro Ohba, and Tatsuo Arai
: pp. 1023-1030
Model Tests of Regolith Packaging Mechanism
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Daisuke Inoue, Yoshitaka Yanagihara, Hiroshi Ueno, and Shin’ichiro Nishida

Regular Papers

: pp. 1031-1039
Development of a Small, Lightweight Rover with Elastic Wheels for Lunar Exploration
Abstract
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Kojiro Iizuka, Tatsuya Sasaki, Hidenori Hama, Atsuro Nishitani, Takeshi Kubota, and Ichiro Nakatani
: pp. 1040-1045
Turbojet Engine for Aerial Cargo Robot (ACR)
Abstract
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Kakuya Iwata, Koji Matsubara, Kazumasa Kawasaki, and Osamu Matsumoto
: pp. 1046-1053
Development of a Mobile Robot for Transport Application in Hospital
Abstract
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Masaki Takahashi, Toshiki Moriguchi, Shoji Tanaka, Hirofumi Namikawa, Hideo Shitamoto, Tsuyoshi Nakano, Yuichirou Minato, Takashi Ihama, and Takahiko Murayama
: pp. 1054-1062
An In-Pipe Mobile Robot for Use as an Industrial Endoscope Based on an Earthworm’s Peristaltic Crawling
Abstract
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Shota Horii and Taro Nakamura
: pp. 1063-1070
Recognition of Face Orientations Based on Nostril Feature
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Nobuaki Nakazawa, Takashi Mori, Aya Maeda, Il-Hwan Kim, Toshikazu Matsui, and Kou Yamada
: pp. 1071-1079
The Effect of Mobile Robot on Group Behavior of Animal
Abstract
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Daisuke Fujiwara, Kojiro Iizuka, Yoshiyuki Matsumura, Tohru Moriyama, Ryo Watanabe, Koichiro Enomoto, Masashi Toda, and Yukio Gunji
: pp. 1080-1088
Application of “Planar Muscle” with Soft Skin-Like Outer Function Suitable for Musculoskeletal Humanoid
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Masahiko Osada, Hironori Mizoguchi, Yuki Asano, Toyotaka Kozuki, Junichi Urata, Yuto Nakanishi, Kei Okada, and Masayuki Inaba
: pp. 1089-1091
Verification of Fall Detection Sensor
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Tadahiro Hasegawa and Hiroki Yokota

No.5

(Oct)

Special Issue on Medical Science and Engineering Cooperation

Special Issue on Medical Science and Engineering Cooperation

: p. 717
Medical Science and Engineering Cooperation
Hideaki Takanobu and Taketoshi Mori

Intentions for health and well-being are increasing as associated technology has progressed. In 2011, the average life span of Japanese men was 79.44 years and that of women was 85.90 years. This situation has made cooperation in medical science and engineering an important issue in robotics and mechatronics research. In the same way, cooperation in medical science and engineering has come to include operations support, life support, informational intelligence, virtual reality, and so on. The following special issues in the Journal of Robotics and Mechatronics have been related to medical science and engineering: – Special Issue on Service Technology for Health andWell-Being, Vol.20, No.6. – Special Issue on Human Modeling in Robotics, Vol.17, No.6. – Special Issue on Advanced Mechatronics Technology for Life Support and Human Welfare, Vol.4, No.4. This next special issue centers on the following keywords: wheelchair, rehabilitation support system, life pattern estimation, blood flow measurement, diagnostic probe, surgical navigation, children, blood pressure, safe actuator, gait rehabilitation, measurement, and children’s behavior. We thank all of the authors who have submitted their papers for this special issue and reviewers for their time and effort. We also thank the JRM Editorial Board for the opportunity to take part in this work.

: pp. 718-730
A Depressurization Assistance System for a Seated Patient on a Wheelchair
Abstract
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Daisuke Chugo, Kazuya Fujita, Yuki Sakaida, and Sho Yokota
: pp. 731-742
2-D Force Display System with Redundant ER Fluid Brake Aimed at Rehabilitation Support System for Upper Limbs
Abstract
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Makoto Haraguchi, Junji Furusho, and Ryoji Kawatani
: pp. 743-753
Basic Research of “MR-PLEMO”: 2-D Passive-Type Rehabilitation System for Upper Limbs Using MR Fluid Brake
Abstract
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Makoto Haraguchi and Junji Furusho
: pp. 754-765
Life Pattern Estimation of the Elderly Based on Accumulated Activity Data and its Application to Anomaly Detection
Abstract
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Taketoshi Mori, Takahito Ishino, Hiroshi Noguchi, Tomomasa Sato, Yuka Miura, Gojiro Nakagami, Makoto Oe, and Hiromi Sanada
: pp. 766-772
Insole-Type Simultaneous Measurement System of Plantar Pressure and Shear Force During Gait for Diabetic Patients
Abstract
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Taketoshi Mori, Masako Hamatani, Hiroshi Noguchi, Makoto Oe, and Hiromi Sanada
: pp. 773-781
A Blood Flow Measurement Robotic System: Ultrasound Visual Servoing Algorithms Under Pulsation and Displacement of an Artery
Abstract
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Keiichiro Ito, Tomofumi Asayama, Hiroyasu Iwata, and Shigeki Sugano
: pp. 782-790
A Portable Arthroscopic Diagnostic Probe to Measure the Viscoelasticity of Articular Cartilage
Abstract
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Naohiko Sugita, Toru Kizaki, Daisuke Kanno, Nobuhiro Abe, Yusuke Yokoyama, Toshifumi Ozaki, and Mamoru Mitsuishi
: pp. 791-801
Automatic Surgical Workflow Estimation Method for Brain Tumor Resection Using Surgical Navigation Information
Abstract
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Ryoichi Nakamura, Tomoaki Aizawa, Yoshihiro Muragaki, Takashi Maruyama, and Hiroshi Iseki
: pp. 802-810
Development of Database of Children’s Fall Dynamics Using Daily Behavior Observing System
Abstract
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Hiroyuki Kakara, Yoshifumi Nishida, Sang Min Yoon, Hiroshi Mizoguchi, and Tatsuhiro Yamanaka
: pp. 811-819
Relation Between Blood Pressure Estimated by Pulse Wave Velocity and Directly Measured Arterial Pressure
Abstract
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Tsukasa Inajima, Yasushi Imai, Masaki Shuzo, Guillaume Lopez, Shintaro Yanagimoto, Katsuya Iijima, Hiroyuki Morita, Ryozo Nagai, Naoki Yahagi, and Ichiro Yamada
: pp. 820-827
MR-Safe Pneumatic Rotation Stepping Actuator
Abstract
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Hiroyuki Sajima, Hiroki Kamiuchi, Kenta Kuwana, Takeyoshi Dohi, and Ken Masamune
: pp. 828-837
Gait Phase Detection Using Foot Acceleration for Estimating Ground Reaction Force in Long Distance Gait Rehabilitation
Abstract
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Kazuya Kawamura, Yuya Morita, Jun Okamoto, Kohei Saito, Salvatore Sessa, Massimiliano Zecca, Atsuo Takanishi, Shin-ichiro Takasugi, and Masakatsu G. Fujie
: pp. 838-850
A System for Predicting Unprecedented Injury by Spatiotemporally Superimposing Children’s Normal Behavior
Abstract
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Yoshinori Koizumi, Yoshifumi Nishida, Koji Kitamura, Yusuke Miyazaki, Yoichi Motomura, and Hiroshi Mizoguchi

Regular Papers

: pp. 851-865
Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance
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Eiichirou Tanaka, Tadaaki Ikehara, Hirokazu Yusa, Yusuke Sato, Tomohiro Sakurai, Shozo Saegusa, Kazuhisa Ito, and Louis Yuge
: pp. 866-875
3-D Biped Walking Using Double Support Phase and Swing Leg Retraction Based on the Assumption of Point-Contact
Abstract
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Tadayoshi Aoyama, Kosuke Sekiyama, Zhiguo Lu, Yasuhisa Hasegawa, and Toshio Fukuda
: pp. 876-883
Development of a Novel Rotor-Embedded-Type Multidegree-of-Freedom Spherical Ultrasonic Motor
Abstract
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Bo Lu, Manabu Aoyagi, Hideki Tamura, and Takehiro Takano
: pp. 884-893
Pilot Study of Split Belt Treadmill Based Gait Rehabilitation System for Symmetric Stroke Gait
Abstract
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Takeshi Ando, Eiichi Ohki, Yasutaka Nakashima, Yutaka Akita, Hiroshi Iijima, Osamu Tanaka, and Masakatsu G. Fujie
: pp. 894-901
Evaluation for Vehicle Positioning in Urban Environment Using QZSS Enhancement Function
Abstract
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Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano, and Takumi Hashizume
: pp. 902-907
A Study of the Sole Mechanism of Biped Robots to Rough Terrain Locomotion
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Takumi Yokomichi and Nobuhiro Ushimi
: pp. 908-916
A Basic Study on Biological Signal of Operator During Master-Slave System Control
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Yu Okamoto, Kotaro Tadano, and Kenji Kawashima

No.4

(Aug)

Special Issue on Focused Areas and Future Trends of Bio-Inspired Robots

Special Issue on Focused Areas and Future Trends of Bio-Inspired Robots

: pp. 559-560
Focused Areas and Future Trends of Bio-Inspired Robots “Analysis, Control, and Design for Bio-Inspired Robotics”
Kin Huat Low, Shuxiang Guo, Xinyan Deng, Ravi Vaidyanathan, James Tangorra, Hoon Cheol Park, and Fumiya Iida

The science of biomimetics is about “the abstraction of good design from nature.” The goal of this scientific field is to identify specific desirable features in the biological systems and apply them to the design of new products or systems. Engineers, scientists, entrepreneurs, and business people are increasingly turning towards nature for design inspiration. The combination of biological principles, mechanical engineering, and robotics has opened entirely new areas and possibilities. On the other hand, we can see that nature can serve as an important source of inspiration to foster innovation. Industrial applications designers can exploit millions of years of tinkering and tweaking by borrowing from nature’s best designs and applying these to new problems and situations. Through biomimetics, we are able to learn and mimic the aforementioned abilities from biology to effectively promote the development of science and technology. In this special issue, you will find a total of eleven papers covering various biomimetics research with focus on analysis, control, design, and simulation. The articles in this issue are contributed by authors from several countries (USA, Japan, UK, China, Switzerland, Brunei, and Singapore) and are grouped into three categories: analysis, control, and design. In the first paper, Kim and Kurabayashi formulate the stability conditions for the artificial pheromone potential field. On the basis of the result of the stability analysis, they further presented a pheromone filter for making a smoothing kernel. The proposed filter was applied to the potential field with several peaks and used by the mobile agent. They are developing a fully automated pheromone robotic system, which aims at achieving a system closer to the natural biological world. In the second paper by Zhang and He, the influence of reciprocal effect between swimming models and morphologic on the fin propulsion performance is analyzed. From the simulation and experiments, they find that the compliance of the distribution mode of fin outline with amplitude envelope can generate better propulsion force. The results are useful for the optimal design of undulating robotic fins. For the third paper, Gouwanda and Senanayake introduce the use of wearable wireless gyroscopes for estimating gait stability. An experimental study was conducted to verify the validity of this approach. The result is expected to be employed in clinical research to assist clinicians and biomechanists in further study, which allows clinicians and biomechanists to devise appropriate strategies that improve human walking stability and reduce the risk of falls in the elderly. In another paper, Pang, Guo, and Song present an implementation of a continuous upper limb motion recognition method based on surface electromyography (sEMG) into control of an Upper Limb Exoskeleton Rehabilitation Device (ULERD). Experimental results showed that this method is effective for obtaining a control source through raw sEMG signals derived from the unaffected arm for motor control of a ULERD equipped on the affected arm during bilateral rehabilitation in real-time. There are three papers related to the control of bioinspired robots. In the paper by Sinnet and Ames, a sagittal walking is designed using Human-Inspired Control which produces human-like bipedal walking with good stability properties. The proposed control scheme, which is based on a fundamental understanding of human walking, is validated in both simulation and experiment. In the second paper, Cheng and Deng have presented a filtered-error based controller for attitude stabilization and tracking in flapping flight. By approximating nonlinear terms in the dynamic equation, the controller has successfully achieved stabilization and tracking tasks for two different insect models. Compared to a Linear Quadratic Gaussian (LQG) controller designed solely for stabilization purposes, the current controller achieves faster convergence and a broader stable region. In order to tackle such a discrepancy between biological and artificial systems, Maheshwari, Gunura and Iida present the concept and design of an adaptive clutch mechanism that discretely covers the full-range of dynamics. This novel actuation principle is then tested in a case study of position and trajectory control for a simple pendulum. The preliminary investigation of this actuation principle has shown a few potentially interesting research directions in the future. The four papers in this special issue cover the design and simulation. In the first paper, Chi and Low introduce the background of fin designs for robotic manta ray. After having analyzed and summarized the various designs, the structure of fin ray effect is investigated in depth. Their characteristics in motion are revealed through kinematic analysis, and the potential design for their RoMan IV with such structure is also presented. The work in the second paper by Boxerbaum et al. reports on the design and optimization of a biologically inspired amphibious robot for deployment and operation in an ocean beach environment. The authors present a new design fusing a range of insect-inspired passive mechanisms with active autonomous control architectures to seamlessly adapt to and traverse through a range of challenging substrates both in and out of the water. A bio-inspired adaptive perching mechanism is presented in the third paper by Chi et al. Based on the anatomy analysis of bird’s perching, some guiding principles for the perching mechanism design are obtained. By making use of motion capture system, reliability of the designed perching mechanism under static conditions is validated. Experiment results show that the perching mechanism is applicable to wide ranges of perching angles and target diameters. In the last paper, Guo et al. present virtual-reality simulators for training with force feedback in Minimally Invasive Surgery (MIS). This application allows generating realistic physical-based models of catheters and blood vessels, and enables surgeons to touch, feel and manipulate virtual catheter inside a vascular model through the same surgical operation mode as is used in actual MIS. The special issue of the Journal of Robotics and Mechatronics on Focused Areas and Future Trends of Bio-Inspired Robots at a particularly appropriate time when the area of biomimetics has attracted a growing interest in recent years in developing autonomous robots that can interact in an unknown environment. Research has also shown that biologically inspired robots will exhibit much greater adaptivity and robustness in performance in unstructured environments than today’s conventional robots. This new class of robots will be substantially more compliant and stable than current robots, and will take advantage of new developments in materials, fabrication technologies, sensors and actuators. Applications of bio-inspired robots will include autonomous or semi-autonomous tasks such as reconnaissance and de-mining for small, insect-like robots and human interaction tasks at a larger scale. We would like to thank the authors for contributing their research papers to this special issue, and the reviewers who, in spite of their busy schedules, took time to provide in-depth comments and constructive criticisms. Last but not least, we would like to thank Editor-in-Chief, Professor Tatsuo Arai, for his support and suggestions to our proposal, which makes the publication of this special issue possible. Our heartfelt thanks go to Mr. Kunihiko Uchida of Fuji Technology Press Ltd. for his professional assistance during the editing process of this special section.

: pp. 561-567
Efficient Formation of Pheromone Potential Field by Filtering Interaction
Abstract
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Piljae Kim and Daisuke Kurabayashi
: pp. 585-594
Study on the sEMG Driven Upper Limb Exoskeleton Rehabilitation Device in Bilateral Rehabilitation
Abstract
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Muye Pang, Shuxiang Guo, and Zhibin Song
: pp. 595-601
Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots
Abstract
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Ryan W. Sinnet and Aaron D. Ames
: pp. 602-611
A Neural Adaptive Controller in Flapping Flight
Abstract
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Bo Cheng and Xinyan Deng
: pp. 612-619
Trajectory Control Based on Discrete Full-Range Dynamics
Abstract
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Nandan Maheshwari, Keith Gunura, and Fumiya Iida
: pp. 620-628
Review and Fin Structure Design for Robotic Manta Ray (RoMan IV)
Abstract
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Wanchao Chi and Kin Huat Low
: pp. 629-641
Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility
Abstract
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Alexander S. Boxerbaum, Matthew A. Klein, Jeffery E. Kline, Stuart C. Burgess, Roger D. Quinn, Richard Harkins, and Ravi Vaidyanathan
: pp. 642-648
A Bio-Inspired Adaptive Perching Mechanism for Unmanned Aerial Vehicles
Abstract
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Wanchao Chi, Kin Huat Low, Kay Hiang Hoon, Johnson Tang, and Tiauw Hiong Go
: pp. 649-655
Virtual Reality Simulators Based on a Novel Robotic Catheter Operating System for Training in Minimally Invasive Surgery
Abstract
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Jin Guo, Shuxiang Guo, Nan Xiao, and Baofeng Gao

Regular Papers

: pp. 657-665
Feasibility Check of an Assist System Through the Simulation of Bipedal Walking Using a CPG
Abstract
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Tomohito Takubo, Yohei Fukano, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai
: pp. 666-676
Vision-Force Guided Monitoring for Mating Connectors in Wiring Harness Assembly Systems
Abstract
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Pei Di, Fei Chen, Hironobu Sasaki, Jian Huang, Toshio Fukuda, and Takayuki Matsuno
: pp. 677-685
3D Measurement Using a Fish-Eye Camera Based on EPI Analysis
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Kenji Terabayashi, Toru Morita, Hiroya Okamoto, and Kazunori Umeda
: pp. 686-698
Real-Time Optical Flow Estimation Using Multiple Frame-Straddling Intervals
Abstract
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Lei Chen, Hua Yang, Takeshi Takaki, and Idaku Ishii
: pp. 699-705
Analysis of Nurse Calls for Residents and Workers Condition Understanding in Nursing Homes
Abstract
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Hiroyasu Miwa and Tomohiro Fukuhara

No.3

(Jun)

Regular papers

Regular Papers

: pp. 423-429
Force Characteristics for Fine Deformation of CMC Touch Sensor and Estimation of Force Variance Using Hybrid Tactile Sensor System
Abstract
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Takuya Kawamura, Ko Nejigane, Kazuo Tani, and Hironao Yamada
: pp. 430-440
Finger-Mounted Tactile Sensor for Evaluating Surfaces
Abstract
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Ryo Kikuuwe, Kenta Nakamura, and Motoji Yamamoto
: pp. 441-451
Design and Application of an Intelligent Robotic Gripper for Accurate and Tolerant Electronic Connector Mating
Abstract
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Fei Chen, Kosuke Sekiyama, Baiqing Sun, Pei Di, Jian Huang, Hironobu Sasaki, and Toshio Fukuda
: pp. 452-457
Drip Adjuster: Use of an LED Display to Manually Adjust Intravenous Fluid Infusion Rate
Abstract
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Takeshi Ando, Noriyoshi Tanaka, Kenji Yamada, and Yuko Ohno
: pp. 458-463
Development of a Human Symbiotic Assist Arm “PAS-Arm” (Basic Concept and Mechanism)
Abstract
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Mineo Higuchi
: pp. 464-471
Development of Portable Energy-Saving Type Air Supply System – 1st Report: Effect of Variable Volume Tank –
Abstract
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Tatsuyuki Iwawaki, Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa
: pp. 472-479
Curved Type Pneumatic Artificial Rubber Muscle Using Shape-Memory Polymer
Abstract
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Kazuto Takashima, Toshiro Noritsugu, Jonathan Rossiter, Shijie Guo, and Toshiharu Mukai
: pp. 480-486
Design and Evaluation of Electromagnetic Wobble Motor
Abstract
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Masaki Miyake, Koichi Suzumori, and Kazuo Uzuka
: pp. 487-497
Efficiency Improvement of Electric Generating Engine System Based on Internal Combustion Engine: Energy Simulation of New Engine Operation with Electric Generator and Motor
Abstract
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Hiroki Ishikawa, Yuta Takeda, Satoshi Ashizawa, and Takeo Oomichi
: pp. 498-506
High-Efficient Biped Walking Based on Flat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles
Abstract
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Yuta Hanazawa and Masaki Yamakita
: pp. 507-516
Image Information Added Map Making Interface for Compensating Image Resolution
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Shinya Kawakami, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai
: pp. 517-530
Design and Running Performance Evaluation of Inchworm Drive with Frictional Anisotropy for Active Scope Camera
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Michihisa Ishikura, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo, and Satoshi Tadokoro
: pp. 531-539
Vision-Based Object Tracking by Multi-Robots
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Takayuki Umeda, Kosuke Sekiyama, and Toshio Fukuda
: pp. 540-546
Achievement of Hula Hooping by Robots Through Deriving Principle Structure Towards Flexible Spinal Motion
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Yuriko Kakehashi, Tamon Izawa, Takuma Shirai, Yuto Nakanishi, Kei Okada, and Masayuki Inaba
: pp. 547-552
Applicability of Hand-Guided Robot for Assembly-Line Work
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Yu Ogura, Masakazu Fujii, Kazuyuki Nishijima, Hiroki Murakami, and Mitsuharu Sonehara

No.2

(Apr)

Regular papers

Regular Papers

: pp. 275-283
Development of an Active Walker and its Effect
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Hiroshi Kobayashi, Takuya Hashimoto, So Nakayama, and Kazutaka Irie
: pp. 284-290
Improvement of the Needle-Type Dispenser for Precise Micro-Droplet Dispensation – Gap Measurement Between the Needle Tip and the Target Surface Based on Needle Vibration –
Abstract
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Shinnosuke Hirata, Kazuki Hirose, Yuuka Irie, and Hisayuki Aoyama
: pp. 291-297
A Yank-Based Variable Coefficient Method for a Low-Powered Semi-Active Power Assist System
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Andre Rosendo, Takayuki Tanaka, and Shun’ichi Kaneko
: pp. 298-310
High Speed and High Sensitivity Slip Sensor for Dexterous Grasping
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Seiichi Teshigawara, Takahiro Tsutsumi, Yosuke Suzuki, and Makoto Shimojo
: pp. 311-319
Mouth Movement Recognition Using Template Matching and its Implementation in an Intelligent Room
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Kiyoshi Takita, Takeshi Nagayasu, Hidetsugu Asano, Kenji Terabayashi, and Kazunori Umeda
: pp. 320-329
Predicting Behaviors of Residents by Modeling Preceding Action Transition from Trajectories
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Taketoshi Mori, Shoji Tominaga, Hiroshi Noguchi, Masamichi Shimosaka, Rui Fukui, and Tomomasa Sato
: pp. 330-339
Expression of Continuous State and Action Spaces for Q-Learning Using Neural Networks and CMAC
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Kazuaki Yamada
: pp. 340-346
Path Tracking Method for Traveling-Wave-Type Omnidirectional Mobile Robot (TORoIII)
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Teruyoshi Ogawa and Taro Nakamura
: pp. 347-353
Building of HD MACs Using Cell Processing Robot for Cartilage Regeneration
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Takeshi Shimoto, Koichi Nakayama, Shuichi Matsuda, and Yukihide Iwamoto
: pp. 354-362
Pressure Feedback Control Based on Singular Perturbation Method of an Electro-Hydrostatic Actuator for an Exoskeletal Power-Assist System
Abstract
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Hirokazu Tanaka, Hiroshi Kaminaga, and Yoshihiko Nakamura
: pp. 363-371
Numerical Solution Using Nonlinear Least-Squares Method for Inverse Kinematics Calculation of Redundant Manipulators
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Shunsuke Toritani, Ruhizan Liza Ahmad Shauri, Kenzo Nonami, and Daigo Fujiwara
: pp. 372-378
Development of a Passive Turn Type Skiing Robot with Variable Height Mechanism of Gravitational Center
Abstract
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Kengo Kono and Norihiko Saga
: pp. 379-388
Technologizing and DigitalizingMedical Professional Skills for a Non-Invasive Ultrasound Theragnostic System – Technologizing and Digitalizing Kidney Stone Extraction Skills –
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Norihiro Koizumi, Deukhee Lee, Joonho Seo, Takakazu Funamoto, Akira Nomiya, Akira Ishikawa, Kiyoshi Yoshinaka, Naohiko Sugita, Yoichiro Matsumoto, Yukio Homma, and Mamoru Mitsuishi
: pp. 389-398
Attitude Determination by Globally and Asymptotically Stable Estimation of Gyroscope Bias Error with Disturbance Attenuation and Rejection
Abstract
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Hideaki Yamato, Takayuki Furuta, and Ken Tomiyama
: pp. 399-407
Development of Anchor Diver III: Easy-to-Operate Tensioned-Tether Type ROV for Underwater Search and Rescue Operations
Abstract
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Ya-Wen Huang, Yuki Sasaki, Yukihiro Harakawa, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 408-415
RTMEXTender: Developer Support Tool for OpenRTM
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Hiroaki Yaguchi, Tomoaki Yoshikai, Kei Okada, and Masayuki Inaba

No.1

(Feb)

Regular papers

Regular Papers

: pp. 5-15
Probabilistic Planning for Predictive Condition Monitoring and Adaptation Within the Self-Optimizing Energy Management of an Autonomous Railway Vehicle
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Benjamin Klöpper, Christoph Sondermann-Wölke, and Christoph Romaus
: pp. 16-27
Self-Supervised Online Long-Range Road Estimation in Complicated Urban Environments
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Yoji Kuroda, Masataka Suzuki, Teppei Saitoh, and Eisuke Terada
: pp. 28-36
Placing Motion of an Object by a Robot Hand with a Flexible Sensor
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Naoki Saito, Toshiyuki Satoh, Yoshinao Suzuki, and Hideharu Okano
: pp. 37-46
PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment
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Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, and Toshio Fukuda
: pp. 47-54
Optical Odor Imaging by Fluorescence Probes
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Hirotaka Matsuo, Yudai Furusawa, Masashi Imanishi, Seiichi Uchida, and Kenshi Hayashi
: pp. 55-63
AutonomousWalking over Obstacles by Means of LRF for Hexapod Robot COMET-IV
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Mohd Razali Daud and Kenzo Nonami
: pp. 64-70
Data Communication Support for Reusability of RT-Components – Converter Classification and Prototype Supporting Tool –
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Tsuyoshi Suenaga, Kentaro Takemura, Jun Takamatsu, and Tsukasa Ogasawara
: pp. 71-85
Omni-Directional Gait of Multi-Legged Robot on Rough Terrain by Following the Virtual Plane
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Kenji Kamikawa, Tomohito Takubo, Yasushi Mae, Kenji Inoue, and Tatsuo Arai
: pp. 86-94
Specification and Implementation of Open Source Software Suite for Realizing Communication Intelligence
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Yosuke Matsusaka, Hideki Asoh, Isao Hara, and Futoshi Asano
: pp. 95-104
Identification of Dominant Error Force Component in Hydraulic Pressure Reading for External Force Detection in Construction Manipulator
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Mitsuhiro Kamezaki, Hiroyasu Iwata, and Shigeki Sugano
: pp. 105-114
GPU Acceleration in a Visual Servo System
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Chuantao Zang and Koichi Hashimoto
: pp. 115-122
Proposal of an Energy Saving Control Method for SCARA Robots
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Guangqiang Lu, Sadao Kawamura, and Mitunori Uemura
: pp. 123-132
Development of Microscopic Hardness and Stiffness Investigation System with MicroRobot
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Montree Pakkratoke, Shinnosuke Hirata, Chisato Kanamori, and Hisayuki Aoyama
: pp. 133-140
On-Demand and Size-Controlled Production of Droplets by Magnetically Driven Microtool
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Lin Feng, Tomohiro Kawahara, Yoko Yamanishi, Masaya Hagiwara, Kazuhiro Kosuge, and Fumihito Arai
: pp. 141-149
Myoelectric-Controlled Exoskeletal Elbow Robot to Suppress Essential Tremor: Extraction of Elbow Flexion Movement Using STFTs and TDNN
Abstract
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Takeshi Ando, Masaki Watanabe, Keigo Nishimoto, Yuya Matsumoto, Masatoshi Seki, and Masakatsu G. Fujie
: pp. 150-157
Development of High Contractile Pneumatic Artificial Rubber Muscle for Power Assist Device
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Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa
: pp. 158-164
Moving Mechanism of and Control Method for a Vibration-Driven Electromagnet-Type Microrobot (Mathematical Model of Microrobot Running Straight, Investigations of Characteristics of Microrobot Running Straight and Turning by Simulation and Experiments)
Abstract
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Masahiro Isogai and Toshio Fukuda
: pp. 165-173
An RT Component for Simulating People Movement in Public Space and its Application to Robot Motion Planner Development
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Atsushi Shigemura, Yuki Ishikawa, Jun Miura, and Junji Satake
: pp. 174-179
Multi-Leg System for Aerial Vehicles
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Takahiro Doi, Kazunori Miyata, Takamasa Sasagawa, and Kenjiro Tadakuma
: pp. 180-190
Gesture-World Environment Technology for Mobile Manipulation – Remote Control System of a Robot with Hand Pose Estimation –
Abstract
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Kiyoshi Hoshino, Takuya Kasahara, Motomasa Tomida, and Takanobu Tanimoto
: pp. 191-204
Calculation of 6-DOF Pose of Arbitrary Inclined Nuts for a Grasping Task by Dual-Arm Robot
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Ruhizan Liza Ahmad Shauri and Kenzo Nonami
: pp. 205-218
A Power Assist Device Based on Joint Equilibrium Point Estimation from EMG Signals
Abstract
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Toshihiro Kawase, Hiroyuki Kambara, and Yasuharu Koike
: pp. 219-225
Driver’s Intention Estimation Based on Bayesian Networks for a Highly-Safe Intelligent Vehicle
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Bo Sun and Michitaka Kameyama
: pp. 226-234
A Study on Position Measurement System Using Laser Range Finder and its Application for Construction Work
Abstract
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Fumihiro Inoue, Takeshi Sasaki, Xiangqi Huang, and Hideki Hashimoto
: pp. 235-243
Design and Development of Human Interface System with 3D Measurement Functions (Concept and Basic Experiments)
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Jianming Yang and Takashi Imura
: pp. 244-253
Development of the Real-Time Position Detection Sensor for the Small Projected Objects
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Yusuke Kuromiya, Satoshi Ashizawa, Daiki Ando, and Takeo Oomichi
: pp. 254-260
Simulation Analysis of a Miniature Shutter Unit Using an Electromagnet for Digital Still Cameras and Video Cameras
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Masayuki Sugasawa and Kohtaro Ohba
: pp. 261-267
Multi-Material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles
Abstract
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Genya Ishigami, Jim Overholt, and Karl Iagnemma

Vol.23 (2011)

No.6

(Dec)

Special Issue on Strategic Development of Advanced Robotics Elemental Technologies

Special Issue on Strategic Development of Advanced Robotics Elemental Technologies

: p. 906
Strategic Development of Advanced Robotics Elemental Technologies
Shigeoki Hirai, Fumi Seto, and Kazuhito Yokoi

The Strategic Development of Advanced Robotics Elemental Technologies (STARET), a METI (Ministry of Economy, Trade and Industry) project conducted under a 5-year plan starting in 2006, was a nonconventional, unique, mission-oriented effort concerning the stage gate system. METI’s technology development project R&D is usually pursued bottom up. It is where most advanced modern technologies are selected and developed for practical use. The STARET, however, has pursued development top down without selecting a specific technology. Potentially practical work is selected from the view of businesses using robots. The target here is defined as a mission in which robot systems are built combining optimum technologies. Practical work has focused on two manufacturing themes, three service field themes, and two special environment themes. These were selected for new ranges of purpose, new marketability, and a public nature. This special issue features STARET topics focusing on research outcomes of robot systems intended for practical use. Topics on practical technologies related to the above themes were sought, resulting in many papers from nonproject participants in addition to those from STARET participants. The regular standard was applied to the peer review and articles were chosen for originality. We expect this special issue will help speed up and promote the research and development of robots intended for practical use.

: pp. 907-918
Development of a Wire Harness Assembly Motion Planner for Redundant Multiple Manipulators
Abstract
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Kyongmo Koo, Xin Jiang, Atsushi Konno, and Masaru Uchiyama
: pp. 919-925
Image Detection of Seam Line for Laser Welding Robot
Abstract
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Akihiko Matsushita, Takafumi Morishita, Shun’ichi Kaneko, Hitoshi Ohfuji, and Kaoru Fukuda
: pp. 926-938
Cooperation Between a High-Power Robot and a Human by Functional Safety
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Masahiro Morioka, Satoshi Adachi, Shinsuke Sakakibara, Jeffrey Too Chuan Tan, Ryu Kato, and Tamio Arai
: pp. 939-950
Development of Production Robot System that can Assemble Products with Cable and Connector
Abstract
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Rintaro Haraguchi, Yukiyasu Domae, Koji Shiratsuchi, Yasuo Kitaaki, Haruhisa Okuda, Akio Noda, Kazuhiko Sumi, Takayuki Matsuno, Shun’ichi Kaneko, and Toshio Fukuda
: pp. 951-968
A Home Healthcare System with Communication Robot Technologies – Development of Experimental Systems and in-Home Verification Experiments by Older Persons
Abstract
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Kengo Toda, Mutsuhisa Fujioka, Atsuhiro Fujii, Shigeki Okawa, Junri Shinohara, Shinji Tanaka, Takayuki Nakamura, and Takayuki Furuta
: pp. 969-977
Development of Whole-Body Emotional Expression Humanoid Robot for ADL-Assistive RT Services
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Nobutsuna Endo and Atsuo Takanishi
: pp. 978-990
Motion-Based-Design of Elastic Material for Passive Assistive Device Using Musculoskeletal Model
Abstract
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Yumeko Imamura, Takayuki Tanaka, Yoshihito Suzuki, Kazuki Takizawa, and Masanori Yamanaka
: pp. 991-998
Control of Air Cylinder Actuator with Common Bias Pressure
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Kiyoshi Hoshino and Weragala Don Gayan Krishantha
: pp. 999-1011
Reflective Collision Avoidance for Mobile Service Robot in Person Coexistence Environment
Abstract
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Takafumi Sonoura, Seiji Tokura, Tsuyoshi Tasaki, Fumio Ozaki, and Nobuto Matsuhira
: pp. 1012-1023
Obstacle Location Classification and Self-Localization by Using a Mobile Omnidirectional Camera Based on Tracked Floor Boundary Points and Tracked Scale-Rotation Invariant Feature Points
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Tsuyoshi Tasaki, Seiji Tokura, Takafumi Sonoura, Fumio Ozaki, and Nobuto Matsuhira
: pp. 1024-1030
Control of Pneumatic Robots Using Variable Offset Pressure Controller
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Naoki Igo and Kiyoshi Hoshino
: pp. 1031-1040
Development of HELIOS IX: An Arm-Equipped Tracked Vehicle
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Koji Ueda, Michele Guarnieri, Takao Inoh, Paulo Debenest, Ryuichi Hodoshima, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 1041-1054
HELIOS Tracked Robot Team: Mobile RT System for Special Urban Search and Rescue Operations
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Ryuichi Hodoshima, Michele Guarnieri, Ryo Kurazume, Hiroshi Masuda, Takao Inoh, Paulo Debenest, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 1055-1065
Passively Adaptable Wall Climbing Robot in Narrow Space
Abstract
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Anna Ariga, Tomoyuki Yamaguchi, and Shuji Hashimoto
: pp. 1066-1072
Sorting System for Recycling of Construction Byproducts with Bayes’ Theorem-Based Robot Vision
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Takuya Gokyuu, Satoru Nakamura, Takao Ueno, Munetaka Nakamura, Daisuke Inoue, and Yoshitaka Yanagihara

Regular Papers

: pp. 1073-1079
Bio-Inspired Omnidirectional Multilink Propulsion Mechanism in Fluid
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Shunichi Kobayashi, Kyota Fujii, Taiga Yamaura, and Hirohisa Morikawa
: pp. 1080-1090
Image-Searching for Office Equipment Using Bag-of-Keypoints and AdaBoost
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Seiji Aoyagi, Atsushi Kohama, Yuki Inaura, Masato Suzuki, and Tomokazu Takahashi
: pp. 1091-1099
Improved Stability Using Environmental Adaptive Yaw Control for Autonomous Unmanned Helicopter and Bifurcation of Maneuvering in Turning
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Hiroaki Nakanishi, Sayaka Kanata, and Tetsuo Sawaragi
: pp. 1100-1107
Stability Control of a Three-Dimensional Passive Walker by Periodic Input Based on the Frequency Entrainment
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Soichiro Suzuki, Masamichi Takada, and Yuta Iwakura
: pp. 1108-1114
Development of a “TSUMIKI” Robot Toy Based on a Figure Original to the Hokkaido Region – Examination of a Prototype Robot of Blakiston’s Fish Owl, Called “Kotan Kor Kamuy,” a Household God of the Aynu
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Atsushi Mitani and Yukiko Matsumoto
: pp. 1115-1124
Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery
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Yuta Sekiguchi, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, and Masakatsu G. Fujie
: pp. 1125-1131
Improvement of GPS and GLONASS Positioning Accuracy by Multipath Mitigation Using Omnidirectional Infrared Camera
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Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano, and Takumi Hashizume

No.5

(Oct)

Special Issue on Education of Robotics & Mechatronics

Special Issue on Education of Robotics & Mechatronics

: pp. 607-610
Education of Robotics & Mechatronics “Focusing on the Learning Process and Producing an Education Literature”
Naomi Miyake, Fumi Seto, Makoto Mizukawa, Shinya Kotosaka, and Tomomasa Sato

The world of robotics has long been trying to teach the essence of engineering by using robots as a subject. A process of robot production and operation is said to have the total essence of engineering education, and the actual manufacturing of robots has certainly been motivational for students. For this reason, robotics researchers and those in educational institutions such as universities and technical colleges in particular have worked hard on robot education. However, researchers have been faced with a dilemma: a report of educational activities, however, has not been regarded as a research paper, even though they have worked so hard on it. This special issue intends to resolve the dilemma and convey their educational activities in educational literature. From a scientific point of view, we will utilize robots in robot education to activate human resource development in robotics in terms of both quantity and quality. Learning sciences researchers focus on what educational content they want to give and get back through various learning processes that enable such education. More specifically, they analyze what activities in what educational contexts yield what effects to what extent, thereby facilitating learning of higher quality than ever. The same attempt may be possible for education using robots. Various practices that give us hope for good results have been conducted independently. Comparison of those practices may result in the extraction of a principle to bring about learning of higher quality. A single report itself on a practice is not likely to be a research paper. Instead, in an effort to promote robotics itself, a compilation of processes and results of various educational attempts with various clear and specific subgoals that are comparable and examinable can be a precious group of research papers from which principles of attempts in engineering education are drawn. The formation of a community in which practices are conducted, processes and results are shared, and further practices are planned is highly likely to improve the overall quality of practices. This special issue provides the first step towards such formation of a new community based on such a compilation of new research. Educational research papers, common assets for the formation of such community, are thus required to clearly include the following contents which constitute an education literature. • Purpose of learning: Learners with what background knowledge acquire what and to what extent. • Activity program: The purpose of learning is achieved specifically through what activities, in what order, implemented for what period of time. • Learning process: During the course of the program, what specific learning activities are observed. • Assessments: Whether expected activities are made, to what extent the purpose is achieved, and whether activities and results seen are beyond what was expected. If at least the above items come to be known from one practice, subsequent practices can be improved and new goals can be set. At the same time, the practices can be observed on other occasions. Once an original “learning score,” like a musical score, is manifested, it will be able to be improved or edited. As no two musical performances are the same as a written musical score, no two practices will be the same as one “learning score.” However, that does not mean that the “learning scores” and their processes in practice are not subjects of research. As musical scores and performances are studied for the next composition and more impressive performance, “learning scores” and their outcomes in practice are the subjects of research aimed at designing better future processes and conducting practices of higher quality. The attempts in this special issue are expected to inspire more and more elaborative papers and to improve the quality of practices that utilize the results. This time, the first time, we had as many as 39 contributions from the public. We asked referees to select those that would constitute as diverse a collection as possible, and they finally adopted 29 contributions. We are sure that with these contributions as our point of departure, the accumulation of results will continuously engender next-dimension practices in the future. Let us now overview the papers selected this time and discuss their findings for the future contributions in three areas: purpose, contrast, and assessment. Please forgive us if the discussions overlap to some extent, but they include factors that are more related than independent. < Contrast in Purpose and Result > Goal setting is normally difficult in educational research. As a result, the most common mistake is that goals are set that are overly ambitious. The fact the goal of compulsory education currently set by the Ministry of Education, Culture, Sports, Science and Technology is a “zest for living” serves to indicate that the idea “the bigger the educational goal, the better” prevails. Big goals cannot be accomplished at once, however, so clearer and more specific interim goals of half-year, one-year, and four-year duration need to be set. To link the subject of research to the next practice, we have to specify as clearly as possible what interim activities and what results we expect. Otherwise, we will have vague results which do not merit papers. An example of a real story to show what a specific goal is like is warranted here. A researcher teaching biology in a liberal arts course, in the final examination after all the lectures, tasked his students with the following: “name, in their order of importance, technical terms that you had not intended to remember but actually did during the course, and explain their definitions in that order in the time allotted.” The task may seem far-fetched, but he actually expected a certain list of terms and their explanations. He had in fact intended for the students to be able to reproduce the terms on the list and be able to explain them; he had explained them by introducing the terms in a well-prepared order, using them repeatedly, encouraging the students to use them, and setting an opportunity for the students to explain them among themselves. Such effort made this practice popular among the students and made the task performance exceed his expectations. This practice program and the report of its process could be of very high quality as subjects of research. We can carefully track which of the planned activities facilitated learning, how active they were, and what level of results were brought for each term. If the students’ answers include important items that the students learned spontaneously although the teacher did not mean to teach them to that extent, this practice clearly “produced higher results than expected.” If we can review the records of the learning process (e.g., videos of the classes, records of the students’ conversations, copies of notes taken by the students in each lecture, etc.), we can at least guess which of the activities at what point in time produced the more-than-expected results, and we can produce a specific plan for the next practice. Thus, it is very beneficial to specify the educational goals before working on practices. < Contrast > Learning sciences are asking less and less for socalled “control groups” for their research. This is because, for the betterment of the next practice, it is more efficient to use the time for reviewing the process of a successful practice than making a single factor comparison, because what we want to know is not whether it worked but how it worked in relation with other factors. There are many reasons a practice gives the desired results or not, and they interact. Therefore, even if a cause or contributing factor to a successful outcome is identified, it can not be the only factor behind its success. This does not mean, however, that educational research should not compare at all, rather than that, if there are two or more paths to the successful accomplishment of a specific goal, comparing of them allows factors associated with the results to be identified more easily. In that sense, when devising a new way of teaching, it is often meaningful to compare both the processes and results of the first practice and second practice with slightly adjusted approach based on the results of the first practice. Regarding education using robots, there is an idea that the tangible nature of robots has educational effects on students through their physical experiences that can not be expected from classroom lectures alone. Here is an imaginary example. Suppose that a class previously allowed students to deal with an object only on a computer screen, but now the students are provided with a real model. Now suppose this real model has had some effects, but not to the level expected. In the second year, the class again includes operations on the screen in its introductory period, and, after the students have discussed the robot’s operation, a hands-on experience is provided. As a result, the second practice has almost the expected results despite the fact that the discussion on the operation on the screen has reduced the time for the operation of the real object. Now, how can this result be documented in a paper? In other words, how can this practice be reported in such a way that the reporter and readers may develop the next practice? A conclusion that “a hands-on experience may be important but the length of time does not affect the results” does not focus on what class is to be devised next. First of all, such conclusion misses the point in terms of the successful experience the second time. Now suppose that this practice is video-recorded at a level of resolution high enough to allow the comparison of the processes of the first and second classes. Reviewing the progression of the first class, we find that the model is introduced too early for the students to understand how to operate the real object and time is wasted over it. For this reason, the students utilize only about two-thirds of the expected length of time assigned to operation of the real object. Reviewing the progression of the second practice, we find that the length of time for discussion of the screen operation is just about one-third of the length of time assigned to the real object operation in the first class; that is, the length of time to operate the real object that is thought to be reduced is almost the same as that utilized in the first class. The first and the second classes are compared as Table 1. Although it may seem to be an afterthought, the results of the comparison of the two practices will be concluded as “to effectively learn from the actual object operation, the balance between the length of time to clarify what to do in the actual object operation and then the length of time to actually operate the object is apparently more important than the total length of time assigned to the actual object operation.” Some of the papers adopted this time should have manifested such comparison for an easier-to-understand result. < Assessment > Assessing what was learned as a result of teaching is more difficult than normally thought. Suppose we ask students the question, “In what year was Natsume Soseki (a Japanese famous novelist) born?” Which of the students should we give a higher score: a student who answers “1867” correctly, or a student who answers, “In the middle of the 19th century, probably,” based on the year of the Meiji Restoration, the year of the outbreak of the Thirty Year’sWar, and other betterknown years? In this case, the latter student often has more historical perspective than does the former. Tests require various problem-solving processes, depending on the way the questions are posed (or one’s understanding of what was asked). In that sense, an assessment is defined as “an interpretation of a cognitive process that, from a behavior observed by an approach, leads to the behavior.” The “approach” here is the equivalent of the test question above (i.e., the action of asking the year of Soseki’s birth), and “the behavior observed” is the equivalent of the answer of each student. The essence of an assessment depends on what the cognitive process that drew the answer interpreted from the behavior is. In this case, the answers of the two students imply that the cognitive process of the former student may only be to refer to a chronological table; on the other hand, that of the latter may be closer to a process of making an inference from a series of relevant events structured in memory as modern history. If one needs to confirm whether such interpretation is true, the student can be asked to elaborate in the assessment, i.e., the student can be asked a couple of similar questions, and the overall tendency of his observable behaviors may be interpreted. This suggests educational research consisting of continuous assessments rather than of a single collective assessment. In fact, the former involves elaboration but gives stable interpretations. Scoring the students by their performance over a couple of weeks of practice totaling several hours, performance that allows their behaviors to be observed, based on a confident, down-to-earth grade, is easier than scoring the students by their performance in once-a-week classes in a large lecture hall where individual reactions are invisible to the teacher and assessment is based only on the result of a single examination. Accordingly, if a practice is the subject of research, its results do not have to depend only on the final, single examination. Also, relying on a subjective assessment, which is more difficult to interpret, is not necessarily a wise thing to do. A stable assessment is achieved by continuously providing opportunities for behavioral observations in which cognitive processes are easy to interpret. Practices utilizing robots givemore opportunities for student observation for the purpose of assessment than other classes (e.g., mathematics or philosophy) in the sense that the students “externalize what they think” with a real subject. Educational research on robot education should take advantage of this. This argument can be countered by an argument that it is impossible to analyze such a great amount of data on the learning process, such as video. One of the answers to this counterargument is that it is good to keep as much data as possible to, when necessary, analyze it as needed. Now we look back the example of the imaginary classroom of experiential learning that we saw when we discussed the comparison. When we interpret the results of the two practices, if the length of time for actual object operation is focused on, we may first measure only the point in question from the video. Simply doing so ends up the discussion in the above example. Although time cannot be measured without a video record, measuring time is sufficient for one to be able to write a paper in the above example. In that sense, data on a leaning process is worth recording. In addition, if a further hypothesis, i.e., there is a difference in results depending not only the length of time but also how to use the time by each team between a group that performed a specific actual object operation and a group did not perform it, is generated, the video may be viewed again, and the occurrence of the specific activity alone can be focused on as a subject of analysis. Adding a report of learning process analysis results led by such a hypothesis not only facilitates the practice results to be brought into a paper but also serves as a strong factor that may lead to the next practice, the next educational study, and the next paper. Those researchers who have been involved in engineering education utilizing robots may each have individual hypotheses for better ways of teaching from their own individual experiences. Clarifying the instructional goal itself is the subject of research. By being aware of a hypothesis, translating a “better way of teaching” into reality in line with the hypothesis, clarifying an instructional goal, determining from a series of learning processes to what extent the goal can actually be accomplished, and reporting all of them to leave them to cooperative examination, those rules of thumb can be turned into learning principles. This special issue is, in that sense, the first step to new learning research.

: pp. 611-617
Development of Mechatronics Teaching Materials for Embedded System Engineer Education
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Kazuhito Hyodo, Hirokazu Noborisaka, and Takashi Yada
: pp. 618-628
Development of Educational Robotics Instruction Kit for Embodying Creativity: “f-palette” Educational Microcomputer Kit with Extension Methodsand Full JTAG Function
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Yu Okumura, Kengo Toda, Ken Tomiyama, and Takayuki Furuta
: pp. 629-637
Mechatronics Education in School of Design – Development of Educational Tool to Study Design Expression Using Mechatronics
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Atsushi Mitani and Tamon Hosoya
: pp. 638-644
Development of Educational Materials for Construction of Mechatronic Systems and Their Application
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Tadahiro Kaneda, Yasumasa Yoshitani, Toshitaka Umemoto, Atsuo Yabu, Tomoharu Doi, and Masatoshi Semi
: pp. 645-657
Application of an Intelligent Table-Top Vacuum Robot Cleaner in Mechatronics System Design Education
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Cheng S. Chin and Keng M. Yue
: pp. 658-664
Design and Delivery of a Subject in Robotics
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Gu Fang
: pp. 665-675
Creating Attraction for Technical Education Material and its Educational Benefit (Development of Robotic Education Material Characterized by 3D CAD/CAM and Compact Stereo Vision)
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Takeshi Morishita
: pp. 676-683
Development of Hands-on Educational Tool for Control Based on ARCS Model and Emotions
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Takao Tasaki, Shinichi Watanabe, Yoshihito Shikanai, and Koichi Ozaki
: pp. 684-700
Practical Education Curriculum for Autonomous Mobile Robot (Project Learning Program for School Based on Subsumption Architecture)
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Yoshihiko Kawazoe, Masaki Mitsuoka, and Sho Masada
: pp. 701-708
An Integrated Hands-on Training Program for Education on Mechatronics
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Masatsugu Iribe and Hiroaki Tanaka
: pp. 709-716
Practice of School Education Using Micro Robots and Verification of its Effectiveness
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Daigo Misaki and Koichi Arai
: pp. 717-723
Laboratory Experiment on Control Engineering Using Inverted Pendulum and a 32-Bit DSP CPU
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Kazuhiko Yokosawa, Keisuke Ikeda, and Ken Tomiyama
: pp. 724-738
The Introduction Case and Effect of “Robot Design” for Object Lesson of Mechanical Engineer
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Hajime Aoyama, Kazutaka Yokota, Kazuyoshi Ishikawa, Saori Ishimura, Junya Seki, Yoshinori Adachi, Yuichi Satsumi, Asami Takahashi, Yoji Ishimaru, Nobushige Imai, Yoshinao Okamura, Itsuo Nishihara, and KojiArai
: pp. 739-747
Design Education Using Personal Mobile Robot
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Yoshiyuki Takahashi, Motoki Takagi, and Ikuo Yoneda
: pp. 748-758
A Unified and Integrated Approach to Teaching a Two-Course Sequence in Robotics Engineering
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Taskin Padir, Gregory S. Fischer, Sonia Chernova, and Michael A. Gennert
: pp. 759-767
Educational Activities with a Focus on Robot Strategies – Through the Development of LEGO Manipulation Robots –
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Rui Fukui and Tomomasa Sato
: pp. 768-777
Street Performance Robot Contest as Practice in Creativity Education
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Gen Endo, Takeshi Aoki, Hideaki Suzuki, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 778-788
Improvement of Introductory Engineering Education of Mechatronics Based on Outcomes Evaluation by Defining Rubric– Continuous PDCA Cycle Achievement with Reducing Teaching Assistants’Work Load –
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Shin’ya Morijiri, Yoshinobu Ando, Takashi Yoshimi, and Makoto Mizukawa
: pp. 789-798
Hands-on Education of Robotics Department for Four Years of College
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Yasuo Hayashibara, Shuro Nakajima, Ken Tomiyama, and Kan Yoneda
: pp. 799-810
Hands-on Robotics Instruction Program for Beginners
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Kengo Toda, Yu Okumura, Ken Tomiyama, and Takayuki Furuta
: pp. 811-821
Enhancing Student Engineering, Personal, and Interpersonal Skills Through Yumekobo Projects
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Kosei Demura, Takumi Sakamoto, Yasuki Asano, and Masakatsu Matsuishi
: pp. 822-829
Educating Robot Development in a University Laboratory from First Year – A Trial of a Robotics Club Under Observation at a Laboratory –
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Masaaki Kumagai
: pp. 830-839
Education Method of Robotics with Jigsaw Method by Using RT Component
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Yasuo Hayashibara, Shinya Kotosaka, Naomi Miyake, and Tomomasa Sato
: pp. 840-849
Joint Education Program Between Technical High School and University for Technical High School Student ThroughDeveloping Robots
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Ryohei Shimanuki and Shuro Nakajima
: pp. 850-858
Quick, Cheap, and Creative Development for Robotics Education: Understanding and Experiencing Prosthetics Technology
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Kojiro Matsushita
: pp. 859-870
Distributed Robotics Education
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Henrik Hautop Lund and Luigi Pagliarini
: pp. 871-880
EMARO: A European Contribution in Shaping the Future World Roboticists
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Wisama Khalil, Rezia Maria Molfino, and Valentina Resaz
: pp. 881-892
Use of Cranes in Education and International Collaborations
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William Singhose, Joshua Vaughan, Kelvin Chen Chih Peng, Brice Pridgen, Urs Glauser, Juan de Juanes Márquez, and Seong-Wook Hong
: pp. 893-901
Robot Assisted Instruction in Elementary School Based on Robot Theater
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Akihiro Yorita and Naoyuki Kubota

No.4

(Aug)

Special Issue on Ambient Intelligence

Special Issue on Ambient Intelligence

: p. 465
Ambient Intelligence
Mihoko Niitsuma and Tamio Tanikawa

With research on human-assist robot systems increasingly using distributed sensors and actuators, robots are expected to provide appropriate real-time real-life support to users. Ambient intelligence, an approach important in realizing human-robot coexistence, helps robot devices adapt and act in real environments, since ambient intelligence is a technology basic to providing such abilities. Flexible, reliable system integration based on environment size and purpose is important in realizing ambient intelligence. The 8 papers in this special issue, all of which explore cutting-edge research, present the latest in ambient intelligence and its applications. The first three papers propose real-world observation in ambient intelligence. One example of major research topics in observation functions is the localization of human beings and objects, including mobile robots. Object recognition also is an important issue in supporting human beings. Papers 4 and 5 cover observation system design issues, including optimizing sensor arrangements to classify activities and for flexibly and efficiently integrating multiple distributed sensors. The last three papers discuss ways to automatically build ontology to help robots understand user intent, frameworks for flexibly and scalably integrating distributed robot technology elements, and strategy and mechanism design methodology for robot systems transferring and storing objects in home environments. We thank the authors for their invaluable contributions in submitting their latest research results to this issue. We are grateful to the reviewers for their precious time and effort. We also thank the Editorial Board members of the Journal of Robotics and Mechatronics for helping make this issue possible.

: pp. 466-474
Range Estimation Technique Using Received Signal Strength Indication on Low Frequency Waves
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Kenichi Ohara, Yuji Abe, Tomohito Takubo, Yasushi Mae, Tamio Tanikawa, and Tatsuo Arai
: pp. 475-483
Probabilistic Localization of Mobile Wireless LAN Client in Multistory Building Based on Sparse Bayesian Learning
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Tomohiro Umetani, Tomoya Yamashita, and Yuichi Tamura
: pp. 484-493
Visual Marker System for Autonomous Object Handling by Assistive Robotic Arm
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Hideyuki Tanaka, Tetsuo Tomizawa, Yasushi Sumi, Jae Hoon Lee, Hyun Min Do, Bong Keun Kim, Tamio Tanikawa, Hiromu Onda, and Kohtaro Ohba
: pp. 494-504
Sensor Arrangement for Classification of Life Activities with Pyroelectric Sensors – Arrangement to Save Sensors and to Quasi-Maximize Classification Precision
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Taketoshi Mori, Ryo Urushibata, Hiroshi Noguchi, Masamichi Shimosaka, Hiromi Sanada, and Tomomasa Sato
: pp. 505-514
Flexible Discovery of Components for Sensor Data Processing by RDF in Network Middleware for Home Environment
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Hiroshi Noguchi, Taketoshi Mori, and Tomomasa Sato
: pp. 515-522
Automatic Building Robot Technology Ontology Based on Basic-Level Knowledge
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Trung Lam Ngo, Haeyeon Lee, and Makoto Mizukawa
: pp. 523-531
Design and Implementation of Basic Framework for Integration of Robot Technology Elements in Intelligent Space
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Takeshi Sasaki, Yoshihisa Toshima, and Hideki Hashimoto
: pp. 532-543
Home-Use Object Transfer/Storage Robot System with Compliant Strategy and Mechanism (Commodities Management and its Extended Application of Daily Life Support for the Elderly)
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Rui Fukui, Taketoshi Mori, and Tomomasa Sato

Regular Papers

: pp. 545-556
Predictive Dynamics-Based Motion Control for the Rough-Terrain Locomotion of the Personal Vehicle Falcon-III
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Ewerton Ickowzcy, Takeshi Aoki, and Shigeo Hirose
: pp. 557-566
Unified Robot Control Scheme for Cooperative Motion, Autonomous Motion and Contact Reaction
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Vincent Duchaine and Clément Gosselin
: pp. 567-581
Building a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment
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Evgeni Magid, Takashi Tsubouchi, Eiji Koyanagi, and Tomoaki Yoshida
: pp. 582-588
Development of Contraction and Extension Artificial Muscles with Different Braid Angles and Their Application to Stiffness Changeable Bending Rubber Mechanismby Their Combination
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Kazuhiro Iwata, Koichi Suzumori, and Shuichi Wakimoto
: pp. 589-597
Stable Soft-Tissue Fracture Simulation for Surgery Simulator
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Masano Nakayama, Satoko Abiko, Xin Jiang, Atsushi Konno, and Masaru Uchiyama

No.3

(Jun)

Special Issue on New Frontiers in Research on Robotics and Mechatronics (Part 2)

Special Issue on New Frontiers in Research on Robotics and Mechatronics (Part 2)

: p. 327
New Frontiers in Research on Robotics and Mechatronics (Part 2)
Yasuhisa Hasegawa and Keiji Suzuki

Robotics and Mechatronics Conference 2010 (ROBOMEC’10) was held at Asahikawa Taisetsu arena in Asahikawa, Japan on June 13-16, 2010, sponsored by the Robotics and Mechatronics Division of the Japan Society ofMechanical Engineers (JSME). Prof. Masashi Furukawa of Hokkaido University served as the General Chair and Prof. Keiji Suzuki of Hokkaido University as the Program Chair. The conference theme was “Robotics, Mechatronics, Big-bang, Frontier,” detailing expectations of major technology expansion in robotics and mechatronics. Over 1,100 presentations were made in 86 sessions, and participants numbered 1500 including those from abroad, making it a great success. The ROBOMEC’10 program committee selected 136 outstanding presentations. We recommended that authors submit their original works to this issue, and then received 53 papers. This special issue, Part 2, presents 14 papers strictly reviewed and accepted from among them. 15 accepted papers have already appeared in Part 1 (Vol.23, No.2). The remaining accepted papers will appear in the next issue as regular papers. We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 328-337
Robot Hand Whose Fingertip Covered with Net-Shape Proximity Sensor – Moving Object Tracking Using Proximity Sensing –
Abstract
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Hiroaki Hasegawa, Yosuke Suzuki, Aiguo Ming, Masatoshi Ishikawa, and Makoto Shimojo
: pp. 338-349
Levitation Control of AEROTRAIN: Development of Experimental Wing-in-Ground Effect Vehicle and Stabilization Along Z Axis and About Roll and Pitch Axes
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Yusuke Sugahara, Yusuke Ikeuchi, Ryo Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Yukio Noguchi, Satoshi Kikuchi, and Yasuaki Kohama
: pp. 350-359
Software Deployment Infrastructure for Component Based RT-Systems
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Noriaki Ando, Shinji Kurihara, Geoffrey Biggs, Takeshi Sakamoto, Hiroyuki Nakamoto, and Tetsuo Kotoku
: pp. 360-369
Realization and Safety Measures of Patient Transfer by Nursing-Care Assistant Robot RIBA with Tactile Sensors
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Toshiharu Mukai, Shinya Hirano, Hiromichi Nakashima, Yuki Sakaida, and Shijie Guo
: pp. 370-377
On-Chip Particle Sorting into Multiple Channels by Magnetically Driven Microtools
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Masaya Hagiwara, Miyako Niimi, Tomohiro Kawahara, Yoko Yamanishi, Hayao Nakanishi, and Fumihito Arai
: pp. 378-385
32-Channel Omni-Directional Microphone Array Design and Implementation
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Yoko Sasaki, Tomoaki Fujihara, Satoshi Kagami, Hiroshi Mizoguchi, and Kyoichi Oro
: pp. 386-392
Temperature Dependence of the Lifetime of a Droplet on a Liquid Surface
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Tonau Nakai, Takahiro Ueno, Kenji Kanzawa, and Tomonobu Goto
: pp. 393-399
PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation
Abstract
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Yuki Shirato, Hiromi Mochiyama, Hisato Kobayashi, Junya Tatsuno, and Hiroyuki Kawai
: pp. 400-407
Biplane US-Guided Real-Time Volumetric Target Pose Estimation Method for Theragnostic HIFU System
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Joonho Seo, Norihiro Koizumi, Takakazu Funamoto, Naohiko Sugita, Kiyoshi Yoshinaka, Akira Nomiya, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
: pp. 408-415
Evaluation of Basic Driving Characteristics and Implementation of Redundant Speed Limiting Function of a Double-Motor Driving System
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Eri Watai and Seonghee Jeong
: pp. 416-425
Development of the Energy Simulator for the Water Hydraulic System Under Flow Condition Changes
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Satoshi Ashizawa, Toshiya Watanabe, Yuki Kamiya, Hidenori Aoki, and Takeo Oomichi
: pp. 426-433
Maskless Gray Scale Lithography and its 3D Microfluidic Applications
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Yoko Yamanishi, Takuma Nakano, Yu Sawada, Kazuyoshi Itoga, Teruo Okano, and Fumihito Arai
: pp. 434-442
Heart Rate and Respiratory Rate Measurement Using Body-Sound
Abstract
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Hiroyasu Miwa
: pp. 443-450
Development of Small Motor Driver Integrating Sensor Circuit and Interchangeable Communication Board
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Nobuyuki Ito, Junichi Urata, Yuto Nakanishi, Kei Okada, and Masayuki Inaba

Regular Papers

: pp. 451-457
Modulation of Musical Sound Clips for Robot’s Dynamic Emotional Expression
Abstract
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Eun-Sook Jee, Chong Hui Kim, and Hisato Kobayashi
: pp. 458-461
Passive Edge Tracing of Deformable Object by Robot
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Khairul Salleh Mohamed Sahari, Hiroaki Seki, Yoshitsugu Kamiya, and Masatoshi Hikizu

No.2

(Apr)

Special Issue on New Frontiers in Research on Robotics and Mechatronics (Part 1)

Special Issue on New Frontiers in Research on Robotics and Mechatronics (Part 1)

: p. 200
New Frontiers in Research on Robotics and Mechatronics (Part 1)
Yasuhisa Hasegawa and Keiji Suzuki

Robotics and Mechatronics Conference 2010 (ROBOMEC’10) was held at the Asahikawa Taisetsu arena in Asahikawa, Japan, on June 13-16, 2010, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Masashi Furukawa of Hokkaido University served as the General Chair and Prof. Keiji Suzuki of Hokkaido University as the Program Chair. The conference theme was “Robotics, Mechatronics, Big-bang, Frontier,” detailing expectations of major technology expansion in robotics and mechatronics. Over 1,100 presentations were made in 86 sessions, and participants numbered 1500 including those from abroad, making it a great success. The ROBOMEC’10 program committee selected 136 outstanding presentations. We recommended that authors submit original works for this issue, and received 53 papers. This special issue, Part 1 presents 15 papers strictly reviewed and accepted from among them. The remaining accepted papers will appear in the next issue as Part 2. We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 201-206
Tsukuba Challenge 2009 – Towards Robots Working in the Real World: Records in 2009 –
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Shin’ichi Yuta, Makoto Mizukawa, Hideki Hashimoto, Hirofumi Tashiro, and Tsuyoshi Okubo
: pp. 207-214
Hovering Control of Outdoor Blimp Robots Based on Path Following
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Hitomu Saiki, Takanori Fukao, Takateru Urakubo, and Takashi Kohno
: pp. 215-224
Fluid Powered Ropeway: Self-Propelled Probe Sliding Along Flexible Tube
Abstract
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Yotaro Mori, Hideyuki Tsukagoshi, and Ato Kitagawa
: pp. 225-230
Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure
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Yuya Nishida, Takashi Sonoda, and Kazuo Ishii
: pp. 231-238
Engineering Experiments in Manufacturing Education
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Hiroshi Satoh, Shigehiro Toyama, Nobuo Ogawa, Mikio Umeda, Akira Takahashi, Makoto Usui, and Hisaya Oyanagi
: pp. 239-248
Sensor-Based Integration of Full-Body Object Manipulation Based on Strategy Selection in a Life-Sized Humanoid Robot
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Shunichi Nozawa, Ryohei Ueda, Yohei Kakiuchi, Kei Okada, and Masayuki Inaba
: pp. 249-257
Design and Prototype of Variable Gravity Compensation Mechanism (VGCM)
Abstract
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Naoyuki Takesue, Takashi Ikematsu, Hideyuki Murayama, and Hideo Fujimoto
: pp. 258-265
Effect of Reduced Plantar Sensation on Human Gaits on Various Terrains
Abstract
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Shinichiro Suzuki, Akira Chaki, Kentaro Sekiguchi, Ming Ding, Hiroshi Takemura, and Hiroshi Mizoguchi
: pp. 266-270
A Study of Leg-Type Landing Gear for Aerial Vehicles – Development of One Leg Model –
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Kazunori Miyata, Takamasa Sasagawa, Takahiro Doi, and Kenjiro Tadakuma
: pp. 271-280
Rapid Short-Time Path Planning for Phase Space
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Chyon Hae Kim, Hiroshi Tsujino, and Shigeki Sugano
: pp. 281-291
Development of Soft Power-Assist Glove and Control Based on Human Intent
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Yoko Kadowaki, Toshiro Noritsugu, Masahiro Takaiwa, Daisuke Sasaki, and Machiko Kato
: pp. 292-301
3D Terrain Reconstruction by Small Unmanned Aerial Vehicle Using SIFT-Based Monocular SLAM
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Taro Suzuki, Yoshiharu Amano, Takumi Hashizume, and Shinji Suzuki
: pp. 302-309
Response Evaluation of Rollover Recognition in Myoelectric Controlled Orthosis Using Pneumatic Rubber Muscle for Cancer Bone Metastasis Patient
Abstract
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Takeshi Ando, Jun Okamoto, Mitsuru Takahashi, and Masakatsu G. Fujie
: pp. 310-315
Development of Flowering Stage Inspection Equipment for Small-Flowered Chrysanthemum
Abstract
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Yasuhiko Fukumoto, Toshihiro Hamada, Jun Suyama, Akira Yamamoto, and Terufumi Naka
: pp. 316-323
Study on a Practical Robotic Follower to Support Daily Life – Mobile Robot Development for Home Oxygen Therapy Patients with the “Hyper Tether” –
Abstract
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Masatsugu Iribe, Hideaki Matsuda, Hiroyuki Aizawa, Gen Endo, and Toshio Takubo

No.1

(Feb)

Regular papers

Regular Papers

: pp. 3-12
Examination of Practicability of Communication Robot-Assisted Activity Program for Elderly People
Abstract
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Masayoshi Kanoh, Yukio Oida, Yu Nomura, Atsushi Araki, Yoko Konagaya, Kazushige Ihara, Taro Shimizu, and Kenji Kimura
: pp. 13-18
Automatic Cell Cutting by High-Precision Microfluidic Control
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Akihiko Ichikawa, Tamio Tanikawa, Satoshi Akagi, and Kohtaro Ohba
: pp. 19-33
Design for a 2-DOF Motion Platform
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Ping-Lin Wu, Yang-Hung Chang, Chung-Shu Liao, and Wei-Hua Chieng
: pp. 34-43
Holding Device with a Chain Net and its Modeling
Abstract
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Hitoshi Noguchi, Toru Omata, and Toshio Takayama
: pp. 44-52
Identification of Contact Conditions by Active Force Sensing – Estimated Parameter Uncertainty and Experimental Verification –
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Takayoshi Yamada, Akira Tanaka, Manabu Yamada, Yasuyuki Funahashi, and Hidehiko Yamamoto
: pp. 53-65
An Intelligent High-Frame-Rate Video Logging System for Abnormal Behavior Analysis
Abstract
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Yao-DongWang, Idaku Ishii, Takeshi Takaki, and Kenji Tajima
: pp. 66-74
A Prototype of ElectricWheelchair Controlled by Eye-Only for Paralyzed User
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Kohei Arai and Ronny Mardiyanto
: pp. 75-82
Compensation of Measurement Precision for Three-Dimensional Position Measurement Device Based on Disturbance Observer
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Toshiaki Matsumoto and Satoru Takahashi
: pp. 83-93
Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces
Abstract
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Nobutaka Wada, Akihiro Takahashi, Masami Saeki, and Masaharu Nishimura
: pp. 94-104
A Force Measurement Device Using Optical Fiber for Surgical Tools – Basic Concept and Implementation –
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Kazuhiro Taniguchi, Etsuko Kobayashi, Sanghyun Joung, Minoru Ono, Noboru Motomura, Shunei Kyo, Shinichi Takamoto, and Ichiro Sakuma
: pp. 105-115
Active Catheters for Neuroradiology
Abstract
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Jérôme Szewczyk, Emilie Marchandise, Patrice Flaud, Laurent Royon, and Raphaël Blanc
: pp. 116-125
Development of a New Type of Personal Vehicle for Rough-Terrain Applications
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Ewerton Ickowzcy, Takeshi Aoki, and Shigeo Hirose
: pp. 126-136
Acquisition of a Gymnast-Like Robotic Giant-Swing Motion by Q-Learning and Improvement of the Repeatability
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Masayuki Hara, Naoto Kawabe, Jian Huang, and Tetsuro Yabuta
: pp. 137-148
Sliding Mode Controller for Stereo Vision Based Autonomous Flight of Quad-Rotor M
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Dwi Pebrianti, WeiWang, Daisuke Iwakura, Yuze Song, and Kenzo Nonami
: pp. 149-162
Compliant Walking Control for Hydraulic Driven Hexapod Robot on Rough Terrain
Abstract
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Addie Irawan and Kenzo Nonami
: pp. 163-172
Target Person Identification and Following Based on Omnidirectional Camera and LRF Sensor Fusion from a Moving Robot
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Mehrez Kristou, Akihisa Ohya, and Shin’ichi Yuta
: pp. 173-179
Emulation of Fast and Slow Pains Using Multi-Layer Sensor Modeled the Layered Structure of Human Skin
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Nobutomo Matsunaga, Aydin Tarik Zengin, Hiroshi Okajima, and Shigeyasu Kawaji
: pp. 180-195
Simultaneous Dynamics-Based Visual Inspection Using Modal Parameter Estimation
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Hua Yang, Takeshi Takaki, and Idaku Ishii

Vol.22 (2010)

No.6

(Dec)

Special Issue on Cybernetic City Transport Systems and Technologies

Special Issue on Cybernetic City Transport Systems and Technologies

: pp. 683-684
Cybernetic City Transport Systems and Technologies
Ljubo Vlacic, Toshio Fukuda, Yasuhisa Hasegawa, and Michel Parent

The publication of this issue was driven by the vision that, in the not too distant future, Cybernetic Transport Systems (CTS) will be seen on city roads and dedicated infrastructures. TheWorld Council for Sustainability has projected that CTS will be seen in cities in as early as 2030 (Mobility 2030: Meeting the Challenges to Sustainability; World Business Council for Sustainable Mobility, July 2004). CTS are based on fully automated driverless urban road vehicles (CyberCars). They can also be based on Dual-Mode Vehicles (DMV) – conventional vehicles with Advanced Driver Assistance Technology (ADAT) and capable of driverless driving, on request by a driver. ADAT covers electronic and software products that assist drivers in driving. DMV assumes that a driver is not in control of the vehicle at all times but is fully responsible for vehicle operation throughout. Both CyberCars and DMVs co-operate through vehicle-to-vehicle and vehicle-to-infrastructure communication links thus enabling cybernetic transport to achieve higher traffic flows and improve network efficiency. Main CTS building blocks are CyberCars and/or Dual Mode Vehicles, Road Infrastructure Elements and CTS Traffic Management & Control Centre. These four blocks are interconnected, integrated and made interoperable through Communication Architecture and Protocols, and Operational Safety & Reliability Certification Procedures. A variety of CTS concepts have been prototyped and evaluated within the scope of projects such as: (i) Toyota’s Intelligent Multimode Transportation System (http://www.expo2005.or.jp/en/technology/imts.html); (ii) the CyberCars (http://www.cybercars.org); CyberMove (http://www.cybermove.org); (iii) CityMobil (http://www.citymobil-project.eu/); (iv) Safespot (http://www.safespot-eu.org/); (v) CVIS (http://www.cvisproject.org); (vi) Group Rapid Transit (http://www.2getthere.eu/Group Transit). The figure above shows a CTS prototyped by the CyberCars-2 Project Consortium. An extensive infield, i.e., on-road testing of operational performance of co-operative cybernetic transport solutions was conducted at several road tracks, the last being held at La Rochelle, France, in September 2008. This issue addresses a broad spectrum of theoretical and implementational topics related to CTS development and deployment including: • Cooperative Cybernetic Transport System Architecture • Real-time Decision Making by driverless vehicles • On-road testing of operational performance of CTS • Road-Crossing Landmarks Detection algorithm • Landmark Shape Detection algorithm • Road Shape Estimation algorithm, and • Vehicle-to-road infrastructure (traffic lights) communication solutions. In addition, this issue presents papers that deal with ADAT and analyses: • Acceptability and Usability of a Parking Assistance System for Elderly Drivers • Relationships between Car Accidents and a Driver’s Physiology and Psychology • 2D Localization in Urban Environment, and • Sustainability and Reusability aspects of Common Robotic Technology components. We hope you enjoy the issue!

: pp. 685-693
CyberCars-2 Cooperative Cybernetic Transport System Architecture
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Lucia Isasi, Begoña Molinete, Jesus Murgoitio, and Dionisio del Pozo
: pp. 694-701
Real-Time Decision Making for Autonomous City Vehicles
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Andrei Furda and Ljubo Vlacic
: pp. 702-707
EU CyberCars-2 Final Demo Results: IAI-CSIC Standpoint
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Javier Alonso, Joshué Pérez, Vicente Milanés, Carlos González, and Teresa de Pedro
: pp. 708-717
Road-Crossing Landmarks Detection by Outdoor Mobile Robots
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Aneesh Chand and Shin‘ichi Yuta
: pp. 718-725
Shape Recognition of Metallic Landmark and its Application to Self-Position Estimation for Mobile Robot
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Hajime Fujii, Yoshinobu Ando, Takashi Yoshimi, and Makoto Mizukawa
: pp. 726-736
Self-Supervised Mapping for Road Shape Estimation Using Laser Remission in Urban Environments
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Teppei Saitoh and Yoji Kuroda
: pp. 737-744
Driver Assistance Systems with Communication to Traffic Lights – Configuration of Assistance Systems by Receiving and Transmission and Field Experiments –
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Shin Kato, Naohisa Hashimoto, Takeki Ogitsu, and Sadayuki Tsugawa
: pp. 745-750
Evaluation of Acceptability and Usability of a Parking Assistance System for Elderly Drivers – Relationship Between Experiment Results, Gender, Driving Frequency and Driving Styles –
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Naohisa Hashimoto, Shin Kato, and Sadayuki Tsugawa
: pp. 751-757
Stress Presumption of the Long Driving Using the Facial Thermal Image
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Hirotoshi Asano, Hitoshi Onogaki, Takumi Muto, Syuichi Yokoyama, and Hideto Ide
: pp. 758-766
Auxiliary Particle Filter Localization for Intelligent Wheelchair Systems in Urban Environments
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Masashi Yokozuka, Yusuke Suzuki, Toshinobu Takei, Naohisa Hashimoto, and Osamu Matsumoto
: pp. 767-776
The Joint Interface of RT Components for Mobile Robots: The Activity Report Inform the Mobile Robot Working Group of the NEDO Intelligent RT Software Project
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Masaharu Shimizu, Nobuyuki Kita, Toshihisa Saito, Eijiro Takeuchi, Yusuke Nakajima, Naohito Takegawa, Hiroki Igarashi, Yasuo Hayashibara, Hideaki Yamato, Kengo Toda, Takayuki Furuta, and Makoto Mizukawa

Regular Papers

: pp. 777-783
Two-Dimensional Wireless Power Supply to Ubiquitous Robots Using Microwaves
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Hiroyuki Shinoda, Yasutoshi Makino, Naoshi Yamahira, and Hiroto Itai
: pp. 784-789
Flexible Tactile Sensor Skin Using Wireless Sensor Elements Coupled with 2D Microwaves
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Hiroyuki Shinoda, Hiromasa Chigusa, and Yasutoshi Makino

No.5

(Oct)

Special Issue on Advances in System Cell Engineering by Multiscale Manipulation

Special Issue on Advances in System Cell Engineering by Multiscale Manipulation

: p. 567
Advances in System Cell Engineering by Multiscale Manipulation
Toshio Fukuda, Kenji Inoue, and Shoji Maruo

Recent advances in micro- and nano-robotics and mechatronics have led to the discovery of new bioscientific knowledge and the development of new methods of medical treatments and examinations. Scientific Research on Priority Areas, “System Cell Engineering by Multiscale Manipulation” (Head Investigator: Toshio Fukuda), was begun in 2005 to promote interdisciplinary research among engineering, biological, and medical fields and to promote progress in these fields. System cell engineering seeks to understand communication and control principles of a single cell focusing on multiscale manipulation – manipulation ranging from nanoscale to macroscale. By controlling the local environment around a single cell, we actively induce chemical and physical interaction inside and outside the cell and measure changes. We then clarify the mechanism behind the cell system, realize an artificial cell model based on gene expression control, and regenerate tissue by function control. Using innovative engineering, we obtain new scientific knowledge on life sciences and develop medical engineering, ultimately contributing to the good of society. Scientific Research on Priority Areas, “System Cell Engineering by Multiscale Manipulation,” was successfully concluded in March 2010. This special issue presents the latest achievements in system cell engineering and multiscale manipulation, following up on the special issue on System Cell Engineering by Multiscale Manipulation in Journal of Robotics and Mechatronics Vol.19, No.5 (October 20, 2007). Two reviews introduce challengingwork in themedical and biological fields, presenting suggestions to robotics and mechatronics engineers. Three papers develop microfluidic devices and embedded sensors. Three more papers present methods of fabricating micropatterns and microstructures using biological cells. Five papers propose novel actuators, tools, devices, and manipulation systems useful in bioscience and cell engineering. The second to the last paper in the series presents a method for micro teleoperation. The final paper discusses the simulation of self-reproduction of cells. We thank the authors for their invaluable contributions to this issue and the reviewers for their precious time and effort. We also thank the Editorial Board of JRM for making this issue possible.

: pp. 568-578
Verification of Single-Molecule Imaging and Single-Molecule Measurements
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Akihiko Ishijima, Hajime Fukuoka, and Yuichi Inoue
: pp. 579-586
Development of Time-Programmed, Dual-Release System Using Multilayered Fiber Mesh Sheet by Sequential Electrospinning
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Tatsuya Okuda and Satoru Kidoaki
: pp. 587-593
Parallel Formation of Three-Dimensional Spheroid Using Microrotational Flow
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Hiroki Ota and Norihisa Miki
: pp. 594-600
Microfluidic Device with Integrated Glucose Sensor for Cell-Based Assay in Toxicology
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Hiroshi Kimura, Hirokazu Takeyama, Kikuo Komori, Takatoki Yamamoto, Yasuyuki Sakai, and Teruo Fujii
: pp. 601-607
Measurements of Nonlinear Electrical Impedances by Virtue of Induced Conformational Changes in DNAs
Abstract
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Takatoki Yamamoto, Sangwook Lee, and Teruo Fujii
: pp. 608-612
Development of Microfabrication Technology with Maskless Photolithography Device Using LCD Projector
Abstract
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Kazuyoshi Itoga, Jun Kobayashi, Masayuki Yamato, and Teruo Okano
: pp. 613-618
Fabrication of Line and Grid Patterns with Cells Based on Negative Dielectrophoresis
Abstract
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Tomoyuki Yasukawa, Masato Suzuki, Hitoshi Shiku, and Tomokazu Matsue
: pp. 619-622
Rapid and Direct Cell-to-Cell Adherence Using Avidin-Biotin Binding System: Large Aggregate Formation in Suspension Culture and Small Tissue Element Formation Having a Precise Microstructure Using Optical Tweezers
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Nobuhiko Kojima, Ken Miura, Tomoki Matsuo, Hidenari Nakayama, Kikuo Komori, Shoji Takeuchi, and Yasuyuki Sakai
: pp. 623-630
2DOF Magnetically Driven Microtool for Soft Peeling of Zona Pellucida
Abstract
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Yoko Yamanishi, Tomohiro Kawahara, Tomohiro Iyanagi, Masaya Hagiwara, Takehito Mizunuma, Naoki Inomata, Shogo Kudo, and Fumihito Arai
: pp. 631-638
Optical Adhesion Control of Hydrogel Microtools for On-Demand Immobilization and Measurement of Cells on a Microfluidic Chip
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Hisataka Maruyama, Toshio Fukuda, and Fumihito Arai
: pp. 639-643
Detection and Collection System of Target Single Cell Based on pH and Oxygen Sensing
Abstract
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Masayasu Suzuki, Hiroyuki Tanaka, and Yasunori Iribe
: pp. 644-650
Nanoliters Discharge/Suction by Thermoresponsive Polymer Actuated Probe and Applied for Single Cell Manipulation
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Masaru Takeuchi, Masahiro Nakajima, Masaru Kojima, and Toshio Fukuda
: pp. 651-658
Quantitative Evaluation of Injected Molecules into Phospholipid-Coated Microdroplets for In situ Biological Reactions
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Masahiro Nakajima, Yuta Matsuno, Masaru Kojima, Yohko Takiguchi, Kingo Takiguchi, Kousuke Nogawa, Michio Homma, and Toshio Fukuda
: pp. 659-668
Usability Evaluation of Variable-Scale Microteleoperation System
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Takahiro Kanno and Yasuyoshi Yokokohji
: pp. 669-676
Simulating Self-Reproduction of Cells in a Two-Dimensional Cellular Automaton
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Takeshi Ishida

No.4

(Aug)

Special Issue on Machine Intelligence for Robotics and Mechatronics

Special Issue on Machine Intelligence for Robotics and Mechatronics

: p. 417
Machine Intelligence for Robotics and Mechatronics
Kuniaki Kawabata, Zhi-Wei Luo, and Jie Huang

Machine intelligence is important in realizing intelligent recognition, control, and task execution in robotics and mechatronics research. One major approach involves developing machine learning / computational intelligence. This exciting field displays continuous dramatic progress based on new computer performance advances and trends. The 15 papers in this special issue present the latest machine intelligence for robotics and mechatronics and their applications. The first four papers propose interactive human-machine systems and human interfacing supporting human activities and service operations. One example of the major applications of robotics and mechatronics research is supporting daily life and work. The next four papers cover the issues of multiagents and multirobot systems, including intelligent design approach to control based on advanced distributed computational intelligence. Two papers on visual/pattern recognition discuss the asbestos fiber counting problem in qualitative analysis as a typical machine intelligence application. The next two papers deal with bio-related issues – social insects (termites) inspiring labor control of multirobots and “nonsocial” insects (crickets) inspiring a novel experimental interactive robot-insect tool. The last three papers present intelligent control of robot manipulators, mainly using learning algorithms as computational intelligence. All explore cutting-edge research machine intelligence for robotics and mechatronics. We thank the authors for their invaluable contributions in submitting their most recent research results to this issue. We are grateful to the reviewers for their generous time and effort. We also thank the Editorial Board member of the Journal of Robotics and Mechatronics for helping to make this issue possible.

: pp. 418-429
Adaptive Attitude Control of Redundant Time-Varying Complex Model of Human Body in the Nursing Activity
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Haiwei Dong, Zhiwei Luo, and Akinori Nagano
: pp. 430-438
Development of Deskwork Support System Using Pointing Gesture Interface
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Masao Sugi, Hisato Nakanishi, Masataka Nishino, Yusuke Tamura, Tamio Arai, and Jun Ota
: pp. 439-446
Electric Wheelchair Controlled by Human Body Motion -Classification of Body Motion and Improvement of Control Method-
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Sho Yokota, Hiroshi Hashimoto, Yasuhiro Ohyama, and Jinhua She
: pp. 447-455
A Framework to Identify Task-Phase and Attentional-Condition for Supporting Complicated Dual-Arm Operations
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Mitsuhiro Kamezaki, Hiroyasu Iwata, and Shigeki Sugano
: pp. 456-466
Risk Management System Based on Uncertainty Estimation by Multi-Robot
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Daichi Kato, Kousuke Sekiyama, and Toshio Fukuda
: pp. 467-474
Adaptive Formation Transition of a Swarm of Mobile Robots Based on Phase Gradient
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Daisuke Kurabayashi, Tatsuki Choh, Jia Cheng, and Tetsuro Funato
: pp. 475-484
Flow Path Network Design for Robust AGV Systems Against Tasks Using Competitive Coevolution
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Ryosuke Chiba, Tamio Arai, and Jun Ota
: pp. 485-495
Fault-Tolerant Multi-Robot Operational Strategy for Material Transport Systems Considering Maintenance Activity
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Satoshi Hoshino, Hiroya Seki, Yuji Naka, and Jun Ota
: pp. 496-505
Asbestos Detection in Building Materials Through Consolidation of Similarities in Color and Shape Features
Abstract
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Atsuo Nomoto, Kazuhiro Hotta, and Haruhisa Takahashi
: pp. 506-513
Automatic Counting Robot Development Supporting Qualitative Asbestos Analysis -Asbestos, Air Bubbles, and Particles Classification Using Machine Learning-
Abstract
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Kenichi Ishizu, Hiroshi Takemura, Kuniaki Kawabata, Hajime Asama, Taketoshi Mishima, and Hiroshi Mizoguchi
: pp. 514-525
Adaptive Division-of-Labor Control Algorithm for Multi-Robot Systems
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Yusuke Ikemoto, Toru Miura, and Hajime Asama
: pp. 526-531
Behavior Change of Crickets in a Robot-Mixed Society
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Rodrigo da Silva Guerra, Hitoshi Aonuma, Koh Hosoda, and Minoru Asada
: pp. 532-541
Path Searching of Robot Manipulator Using Reinforcement Learning-Reduction of Searched Configuration Space Using SOM and Multistage Learning-
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Seiji Aoyagi and Kenji Hiraoka
: pp. 542-550
Learning of Whole Arm Manipulation with Constraint of Contact Mode Maintaining
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Nobuyuki Kawarai and Yuichi Kobayashi
: pp. 551-560
Fuzzy Self-Tuning Precompensation PD Control with Gravity Compensation of 3 DOF Planar Robot Manipulators
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Ahmed Foad Amer, Elsayed Abdelhameed Sallam, and Wael Mohammed Elawady

No.3

(Jun)

Special Issue on ROBOMEC’09 (Part 2)

Special Issue on ROBOMEC’09 (Part 2)

: p. 252
ROBOMEC’09 (Part 2)
Kazunori Umeda and Kazuo Kiguchi

Robotics and Mechatronics Conference 2009 (ROBOMEC’09) was held at the Fukuoka International Congress Center in Fukuoka, Japan, on May 24-26, 2009, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Tsutomu Hasegawa of Kyushu University served as general chair and Prof. Kazuo Kiguchi of Saga University as program chair. The conference theme was “Robotics and Mechatronics for creating an affluent society.” Over 1,000 presentations were made in some 70 sessions, and participants numbered 1,500 including those from abroad, making it a great success. We asked the ROBOMEC’09 program committee to select outstanding presentations, among which they presented 115. We recommended that authors submit their original work to the special issue on ROBOMEC’09, and received 36. This special issue, Part 2, presents 19 papers strictly reviewed and accepted from among the 36. 13 accepted papers have already appeared in Part 1 (Vol.22, No.2). We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 253-261
Development of Detection and Scanning Sensor Mechanism for the Concealed Objects
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Yusuke Kuromiya, Satoshi Ashizawa, Daiki Ando, and Takeo Oomichi
: pp. 262-272
Skin Color Registration Using Recognition of Waving Hands
Abstract
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Kota Irie, Masahito Takahashi, Kenji Terabayashi, Hidetoshi Ogishima, and Kazunori Umeda
: pp. 273-279
A Study of Scanning the Ultrasound Probe on Body Surface and Construction of Visual Servo System Based on Echogram
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Yusuke Aoki, Kenta Kaneko, Taro Sakai, and Kohji Masuda
: pp. 280-285
Size-Dependent Filtration and Trapping of Microparticles in a Microfluidic Chip Using Graduated Gaps and Centrifugal Force
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Hisataka Maruyama, Shinya Sakuma, Yoko Yamanishi, and Fumihito Arai
: pp. 286-292
Design and Characterization of Load Sensor with AT-Cut QCR for Miniaturization and Resolution Improvement
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Keisuke Narumi, Toshio Fukuda, and Fumihito Arai
: pp. 293-300
Tracked-Vehicle Clutching Position Detectability on Bumps by Distributed Inclination Sensors
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Daisuke Inoue, Kazunori Ohno, Masashi Konyo, and Satoshi Tadokoro
: pp. 301-307
Truly-Tender-Tailed Tag-Playing Robot Interface Through Friendly Amusing Mobile Function
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Takafumi Matsumaru, Yasutada Horiuchi, Kosuke Akai, and Yuichi Ito
: pp. 308-314
Development of BilateralWearable Device Kento for Control Robots Using Muscle-Actuator Modules
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Kazuo Hongo, Yuto Nakanishi, Mariko Yoshida, Ikuo Mizuuchi, and Masayuki Inaba
: pp. 315-321
Generating Circular Motion of a Human-Like Robotic Arm Using Attractor Selection Model
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Atsushi Sugahara, Yutaka Nakamura, Ippei Fukuyori, Yoshio Matsumoto, and Hiroshi Ishiguro
: pp. 322-332
Integration of Manipulation, Locomotion, and Communication Intelligent RT Software Components for Mobile Manipulator System Using Scenario Tools in OpenRT Platform
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Natsuki Yamanobe, Ee Sian Neo, Eiichi Yoshida, Nobuyuki Kita, Kazuyuki Nagata, Kazuhito Yokoi, and Yosuke Takano
: pp. 333-340
Development of the Small Flow Rate Water Hydraulic Servo Valve
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Toshiya Watanabe, Tomokazu Inayama, and Takeo Oomichi
: pp. 341-347
Disposable Inkjet Mechanism for Microdroplet Dispensing
Abstract
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Takehito Mizunuma, Yoko Yamanishi, Shinya Sakuma, Hisataka Maruyama, and Fumihito Arai
: pp. 348-355
Development of a Robot Balanced on a Ball – First Report, Implementation of the Robot and Basic Control –
Abstract
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Masaaki Kumagai and Takaya Ochiai
: pp. 356-362
Massive Parallel Assembly of Microbeads for Fabrication of Microtools Having Spherical Structure and Powerful Manipulation by Optical Tweezers
Abstract
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Hisataka Maruyama, Ryo Iitsuka, Kazuhisa Onda, and Fumihito Arai
: pp. 363-370
Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism
Abstract
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Kazuyuki Hyodo, Sadayoshi Mikami, and Sho’ji Suzuki
: pp. 371-379
Design and Fabrication of All-in-One Unified Microfluidic Chip for Automation of Embryonic Cell Manipulation
Abstract
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Yoko Yamanishi, Shinya Sakuma, Tomohiro Iyanagi, Fumihito Arai, Tatsuo Arai, Akiyuki Hasegawa, Tamio Tanikawa, Akihiko Ichikawa, Osamu Satoh, Akihiro Nakayama, Hiroshi Aso, Mitsuhiro Goto, Seiya Takahashi, and Kazutsugu Matsukawa
: pp. 380-390
Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System
Abstract
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Tadaaki Ikehara, Eiichirou Tanaka, Kazuteru Nagamura, Takanobu Tamiya, Takurou Ushida, Kenichi Hashimoto, Sho Kojima, Kiyotaka Ikejo, and Louis Yuge
: pp. 391-401
Improvement of Performance for Musculoskeletal Robots by Mountable Actuator Units
Abstract
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Shigeki Ohta, Kazuo Hongo, Yuto Nakanishi, Ikuo Mizuuchi, and Masayuki Inaba
: pp. 402-410
Pitch-Cluster-Map Based Daily Sound Recognition for Mobile Robot Audition
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Yoko Sasaki, Masahito Kaneyoshi, Satoshi Kagami, Hiroshi Mizoguchi, and Tadashi Enomoto

No.2

(Apr)

Special Issue on ROBOMEC’09 (Part 1)

Special Issue on ROBOMEC’09 (Part 1)

: p. 139
ROBOMEC’09 (Part 1)
Kazunori Umeda and Kazuo Kiguchi

Robotics and Mechatronics Conference 2009 (ROBOMEC’09) was held at the Fukuoka International Congress Center in Fukuoka, Japan, on May 24-26, 2009, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Tsutomu Hasegawa of Kyushu University served as general chair and Prof. Kazuo Kiguchi of Saga University as program chair. The conference theme was “Robotics and Mechatronics for creating an affluent society.” Over 1,000 presentations were made in some 70 sessions, and participants numbered 1,500 including those from abroad, making it a great success. We asked the ROBOMEC’09 program committee to select outstanding presentations, among which they presented 115. We recommended that authors submit their original work to the special issue on ROBOMEC’09, and received 36. This special issue, Part 1, presents 13 papers strictly reviewed and accepted from among the 36. The remaining accepted papers will appear in the next issue, Part 2. We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 140-149
Robust Landmark Estimation and Unscented Particle Sampling for SLAM in Dynamic Outdoor Environment
Abstract
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Atsushi Sakai, Teppei Saitoh, and Yoji Kuroda
: pp. 150-157
Development of Small Fish Robots Powered by Small and Ultra-Light Passive-Type Polymer Electrolyte Fuel Cells
Abstract
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Yogo Takada, Ryosuke Araki, Yukinobu Nakanishi, Motohiro Nonogaki, Kazuaki Ebita, and Tomoyuki Wakisaka
: pp. 158-166
6-DOF Localization for a Mobile Robot Using Outdoor 3D Point Clouds
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Taro Suzuki, Yoshiharu Amano, and Takumi Hashizume
: pp. 167-172
Micro Rubber Structures for Passive Walking
Abstract
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Koichi Suzumori and Fumitaka Saito
: pp. 173-178
Nonlinear Reference Shaping with Endpoint Position Feedback for Large Acceleration Avoidance in Reaching Movement
Abstract
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Fumi Seto and Tomomichi Sugihara
: pp. 179-188
Development of a Pneumatic Surgical Manipulator IBIS IV
Abstract
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Kotaro Tadano, Kenji Kawashima, Kazuyuki Kojima, and Naofumi Tanaka
: pp. 189-196
Development of Walking Assist Machine Using Linkage Mechanism – Mechanism and its Fundamental Motion –
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Hiroyuki Inoue and Toshiro Noritsugu
: pp. 197-203
Optimizing the Conditions for pH Measurement with an Automated pH Measurement System Using a Flow-Through-Type Differential Sensor Probe Consisting of pH-FETs
Abstract
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Akira Yamada, Satoshi Mohri, Michihiro Nakamura, and Keiji Naruse
: pp. 204-211
Development of Dismantling Robot for Ceiling Boards – Human-Robot Cooperative System and System Design of the Robot –
Abstract
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Satoshi Ashizawa, Yusuke Kuromiya, Toshiya Watanabe, Takeo Oomichi, and Junichiro Maeda
: pp. 212-220
Generation of Large Mosaic Images for Vegetation Monitoring Using a Small Unmanned Aerial Vehicle
Abstract
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Taro Suzuki, Yoshiharu Amano, Takumi Hashizume, Shinji Suzuki, and Atsushi Yamaba
: pp. 221-229
Multiple-Person Tracking by Multiple Cameras and Laser Range Scanners in Indoor Environments
Abstract
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Hiroshi Noguchi, Taketoshi Mori, Takashi Matsumoto, Masamichi Shimosaka, and Tomomasa Sato
: pp. 230-238
Grasp Planning for a Multifingered Hand with a Humanoid Robot
Abstract
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Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, and Kenichi Maruyama
: pp. 239-247
Trajectory Generation of CPM Device for Upper Limbs Considering Constraint Caused by Joint Disorder
Abstract
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Shota Miyaguchi, Nobutomo Matsunaga, and Shigeyasu Kawaji

No.1

(Feb)

Regular papers

Regular Papers

: pp. 3-9
Evaluation of Spoken Language Understanding by Oxygenated Hemoglobin Concentration
Abstract
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Akio Nozawa, Tota Mizuno, Hirotoshi Asano, and Hideto Ide
: pp. 10-20
Rehabilitation System Using Teleoperation with Force-Feedback-Based Impedance Adjustment and EMG-Moment Model for Arm Muscle Strength Assessment
Abstract
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Minh Duc Duong, Kazuhiko Terashima, Takanori Miyoshi, and Tatsuya Okada
: pp. 21-27
Smooth Path Planning with Pedestrian Avoidance for Wheeled Robots
Abstract
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Yumiko Suzuki, Simon Thompson, and Satoshi Kagami
: pp. 28-35
Human Following by an Omnidirectional Mobile Robot Using Maps Built from Laser Range-Finder Measurement
Abstract
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Takashi Ogino, Masahiro Tomono, Toshinari Akimoto, and Akihiro Matsumoto
: pp. 36-42
Dynamic Locomotion of Quadrupeds Tekken3&4 Using Simple Navigation
Abstract
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Yasuhiro Fukuoka, Hiroki Katabuchi, and Hiroshi Kimura
: pp. 43-49
Detection of Driver’s Fight or Flight Reaction by Spatio-Temporal Spectrum Differential Analysis ofFacial Skin Thermogram
Abstract
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Hirotoshi Asano and Hideto Ide
: pp. 50-64
Recognition and Removal of Interior Facilities by Vision-Based Robot System
Abstract
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S. Rolando Cruz-Ramírez, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, and Kenichi Ohara
: pp. 65-75
Automatic ROI Detection and Evaluation in Video Sequences Based on Human Interest
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Mohammad Rokunuzzaman, Kosuke Sekiyama, and Toshio Fukuda
: pp. 76-81
Facial-Expression-Based Arousal Evaluation by NST
Abstract
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Hirotoshi Asano and Hideto Ide
: pp. 82-90
MPID Control Tuning for a Flexible Manipulator Using a Neural Network
Abstract
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Tamer Mansour, Atsushi Konno, and Masaru Uchiyama
: pp. 91-99
Miniaturization Design of Piezoelectric Vibration-Driven Pneumatic Unconstrained Valves
Abstract
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Sumadi Jien, Shinichi Hirai, and Kenshin Honda
: pp. 100-111
3-D Sensing for Flexible Linear Object Alignment in Robot Cell Production System
Abstract
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Yukiyasu Domae, Haruhisa Okuda, Yasuo Kitaaki, Yuta Kimura, Hidenori Takauji, Kazuhiko Sumi, and Shun’ichi Kaneko
: pp. 112-121
Effectiveness Evaluation of Precomputation Search Using Steering Sets
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Yumiko Suzuki, Simon Thompson, and Satoshi Kagami
: pp. 122-133
Acceleration of Reinforcement Learning by a Mobile Robot Using Generalized Inhibition Rules
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Kousuke Inoue, Tamio Arai, and JunOta

Vol.21 (2009)

No.6

(Dec)

Special Issue on Robot Vision - Vision for Action -

Special Issue on Robot Vision - Vision for Action -

: p. 671
Robot Vision – Vision for Action –
Masanori Idesawa, Yasushi Mae, Junji Oaki

Robot vision is a key technology in robotics and mechatronics for realizing intelligent robot systems that work in the real world. The fact that robot vision algorithms required much time and effort to apply in real-world applications has delayed their dissemination until new forms made possible by recent rapid improvements in computer speed. Now the day is coming when robot vision may surpass human vision in many applications.
This special issue presents 13 papers on the latest robot vision achievements and their applications. The first two propose ways of measuring and modeling 3D objects in everyday environments. Four more detail object detection and tracking, including visual servoing. Three propose advances in hand feature extraction and pose calculation, and one treats video coding for visual sensor networks. Two papers discuss robot vision applications based on human visual physiology, and the last clarifies an application in optical force sensors.
We thank the authors for their invaluable contributions to this issue and the reviewers for their generous time and effort. Last, we thank the Editorial Board of JRM for making this issue possible.

: pp. 672-679
3D Object Modeling and Segmentation Using Image Edge Points in Cluttered Environments
Abstract
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Masahiro Tomono
: pp. 680-688
Measurement of Three-Dimensional Environment with a Fish-Eye Camera Based on Structure from Motion – Error Analysis
Abstract
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Kenji Terabayashi, Hisanori Mitsumoto, Toru Morita, Yohei Aragaki, Noriko Shimomura, and Kazunori Umeda
: pp. 689-697
Object Detection and Recognition Using Template Matching with SIFT Features Assisted by Invisible Floor Marks
Abstract
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Seiji Aoyagi, Nobuhiko Hattori, Atsushi Kohama, Sho Komai, Masato Suzuki, Masaharu Takano, and Eiji Fukui
: pp. 698-708
Parallel Computation of the Region-Based Level Set Method for Boundary Detection of Moving Objects
Abstract
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Xianfeng Fei, Yasunobu Igarashi, Makoto Shinkai, Masatoshi Ishikawa, and Koichi Hashimoto
: pp. 709-719
Hand-Eye Motion-Invariant Pose Estimation with Online 1-Step GA -3D Pose Tracking Accuracy Evaluation in Dynamic Hand-Eye Oscillation-
Abstract
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Mamoru Minami and Wei Song
: pp. 720-725
High-Performance Active Camera Head Control Using PaLM-Tree
Abstract
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Takayuki Nakamura, Yoshio Sakata, Toshikazu Wada, and Haiyuan Wu
: pp. 726-738
Fast Hand Feature Extraction Based on Connected Component Labeling, Distance Transform and Hough Transform
Abstract
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Le Dung and Makoto Mizukawa
: pp. 739-748
User-Adaptable Hand Pose Estimation Technique for Human-Robot Interaction
Abstract
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Albert Causo, Etsuko Ueda, Kentaro Takemura, Yoshio Matsumoto, Jun Takamatsu, and Tsukasa Ogasawara
: pp. 749-757
3D Hand Pose Estimation Using a Single Camera for Unspecified Users
Abstract
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Kiyoshi Hoshino and Motomasa Tomida
: pp. 758-764
Functionally Layered Video Coding Based on JP2K for Robot Vision Network
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Sakol Udomsiri, Hideki Taguchi, Tomoyuki Takahashi, Masahiro Iwahashi, and Tetsuya Kimura
: pp. 765-772
Positional Features and Algorithmic Predictability of Visual Regions-of-Interest in Robot Hand Movement
Abstract
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Toyomi Fujita and Claudio M. Privitera
: pp. 773-779
Interpretation of Cross-Traffic Accidents and Playing Catch Based on Newly Found Visual Perception Characteristics
Abstract
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Qin Wang, Lei Wang, and Masanori Idesawa
: pp. 780-788
An Optical Tactile Sensor Assuming Cubic Polynomial Deformation of Elastic Body
Abstract
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Kiyoshi Hoshino, Daisuke Mori, and Motomasa Tomida

No.5

(Oct)

Special Issue on Mechatronics Technologies from Asia to the World

Special Issue on Mechatronics Technologies from Asia to the World

: p. 567
Mechatronics Technologies from Asia to the World
Takayuki Tanaka, Shun'ichi Kaneko, Aiguo Ming and Kazunori Umeda

Mechatronics – an ever-growing field enblacing actuators and sensors, electronics and mechanics, controls, system design and integration was founded in Japan at the end of the 1960s. It now supports industrial development, the global economy and inventions that enable people to live comfortably around the world.Asia is one of the most active areas in mechatronics research. Asian experts meet and mix in meetings and conferences such as the Japan-China symposium on Mechatronics started in 1988, Asia International Symposium on Mechatronics (AISM) organized by the Japanese Society of Precision Engineering and Chinese committees since 2004 to bring together researchers and engineers in this multidisciplinary field to stimulate new ideas, to share knowledge on practical problems and solutions, as well as to facilitate cooperation for the future.This special issue on “Mechatronics Technologies from Asia to the World” includes many of the fine papers presented at AISM2008 in August 2008, and encourages scientists in related fields to submit their research to encourage interested researchers in developing systems and technologies to become more skilled, smarter and tougher in the real world.We thank the authors for their interesting contributions and the reviewers for their devoted time and effort.

: pp. 568-573
Detection Principle of Shape and Orientation of Corrosive Defects Using Lamb Waves
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Chunguang Xu, Joseph L. Rose, and Xiang Zhao
: pp. 574-582
Three-Dimensional Environment Model Construction from an Omnidirectional Image Sequence
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Ryosuke Kawanishi, Atsushi Yamashita, and Toru Kaneko
: pp. 583-589
Development of Asparagus Harvester Coordinated with 3-D Vision Sensor
Abstract
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Naoki Irie, Nobuyoshi Taguchi, Takao Horie and Takakazu Ishimatsu
: pp. 590-596
Velocity and Acceleration Estimation by a Nonlinear Filter Based on Sliding Mode and Application to Control System
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Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, and Yukinori Kobayashi
: pp. 597-606
Human Joint Motion Recognition Using Ultrasound Pulse Echo Based on Test Feature Classifier
Abstract
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Yoichiro Tsutsui, Takayuki Tanaka, Shun'ichi Kaneko, Yukinobu Sakata, and Maria Q. Feng
: pp. 607-613
Development of Power Assist Wear Using Pneumatic Rubber Artificial Muscles
Abstract
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Toshiro Noritsugu, Masahiro Takaiwa, and Daisuke Sasaki
: pp. 614-620
Perception-Assist with an Active Stereo Camera for an Upper-Limb Power-Assist Exoskeleton
Abstract
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Kazuo Kiguchi, Manoj Liyanage, and Yasunori Kose
: pp. 621-627
SIEN: Telescopic-Arm Climbing-Support Robot
Abstract
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Tomoyuki Yamaguchi, Yoshiaki Sorioka, Sunhong Park, and Shuji Hashimoto
: pp. 628-634
Improving Maneuverability of Power-Assisted Valve for Fire Engines Based on Prediction of Valve Opening Times
Abstract
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Motoki Nakano, Takayuki Tanaka, Shun'ichi Kaneko, Koichi Yamano, and Yoichiro Tsutsui
: pp. 635-641
Piezo-Impact-Driven X-Y Stage and Precise Sample Holder for Accurate Microlens Alignment
Abstract
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Yuuka Irie, Hisayuki Aoyama, Junichi Kubo, Takahiro Fujioka, and Takashi Usuda
: pp. 642-646
Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction
Abstract
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Masafumi Hamaguchi and Takao Taniguchi
: pp. 647-655
Hybrid Planning for an Air Gap Adjustment System Using Fuzzy Models
Abstract
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Philipp Adelt, Natascha Esau, and Alexander Schmidt
: pp. 657-664
Intelligent Ambience that can Influence Robot Behavior
Abstract
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Shinichi Tsunoo, Takeshi Sakaguchi, Kazuhito Yokoi, and Kazuyoshi Wada

No.4

(Aug)

Special Issue on Kukanchi Interactive Human – Space Design and Intelligence Dedicated to Dr. Kazuo Tanie

Special Issue on Kukanchi Interactive Human – Space Design and Intelligence Dedicated to Dr. Kazuo Tanie

: pp. 441-442
Kukanchi Interactive Human – Space Design and Intelligence Dedicated to Dr. Kazuo Tanie
Makoto Mizukawa, Kazuhito Yokoi, Tsutomu Hasegawa, Shigeki Sugano and Yasushi Nakauchi

The history of science and technology evolution plays a great role in expanding human ability. Physical enhancement is done by controlling power after invention of steam engines and governor. These lead inventions of various useful machines to improve the productivity of material, food, and many attractive consumer products such as automobiles. Electrics and electronics also provided social infrastructure for industries and individual life.
From ancient times, media have been developed to assist in intellectual activities such as characters, clay boards, papers, printing machines to carry knowledge. The accumulation of knowledge was one source of governance power and social movement of the Enlightenment promoted spreading such knowledge to citizens by editing Encyclopedias. This movement opened modern and civilized era. Telecommunication and computer technologies have accelerated to develop tools that help thinking and communication using the enormous knowledge stored in storages distributed worldwide. Kukanchi —Interactive Human-Space Design and Intelligence— enhances human physical boundary limited by its body to its surrounding space adopting and fusing technologies such as robotics, structured information, sensor network, object oriented software, software engineering of Robot Technology (RT) middleware, human–robot–interaction, etc. Kukanchi is expected to provide barrier–free environment and support to maintain QoL of daily life for any kind of handicapped people.
This special issue features nine excellent papers from researchers devoting efforts to establishing kukanchi field and concept. This special issue is edited by guest editors, Prof. Makoto Mizukawa (Shibaura Institute of Technology) and four editors, Drs. Kazuhito Yokoi (AIST), Tsutomu Hasegawa (Kyushu University), Shigeki Sugano (Waseda University), Yasushi Nakauchi (University of Tsukuba). We thank the authors for their contributions and reviewers for their time and effort in making this special issue possible. We also thank the JRM Editorial Board for providing the opportunity to take part in this work.
In closing, we would like to express our deep gratitude to the late Dr. Kazuo Tanie, who founded the Kukanchi research group.

: pp. 443-452
A Service System Adapted to Changing Environments Using “Kukanchi”
Abstract
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Yusuke Fukusato, Eri sato–Simokawara, Toru Yamaguchi, and Makoto Mizukawa
: pp. 453-459
Supporting Robotic Activities in Informationally Structured Environment with Distributed Sensors and RFID Tags
Abstract
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Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume, and Yoshihiko Kimuro
: pp. 460-468
Rotation-Based Dynamic Localization at an Initial Dead-Zone Avoidance Stage on an RFID Tag Lattice
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Kenri Kodaka, Haruhiko Niwa, and Shigeki Sugano
: pp. 469-477
A Mobile Sensor Network Forming Concentric Circles Through Local Interaction and Consensus Building
Abstract
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Geunho Lee, Seokhoon Yoon, Nak Young Chong, and Henrik Christensen
: pp. 478-488
Autonomous Motion Generation Based on Reliable Predictability
Abstract
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Shun Nishide, Tetsuya Ogata, Jun Tani, Kazunori Komatani, and Hiroshi G. Okuno
: pp. 489-497
Robot Technology Ontology Targeting Robot Technology Services in Kukanchi — “Interactive Human-Space Design and Intelligence”
Abstract
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Ken Ukai, Yoshinobu Ando, and Makoto Mizukawa
: pp. 498-506
Cooking Procedure Recognition and Support by Ubiquitous Sensors
Abstract
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Sho Murakami, Takuo Suzuki, Akira Tokumasu, and Yasushi Nakauchi
: pp. 507-514
Design and Control of Librarian Robot System in Information Structured Environments
Abstract
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Bong Keun Kim, Kenichi Ohara, Kosei Kitagaki, and Kohtaro Ohba
: pp. 515-523
Observation of Human Activities Based on Spatial Memory in Intelligent Space
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Mihoko Niitsuma and Hideki Hashimoto

Regular Papers

: pp. 524-532
User-Adaptive Reconfigurable Interface for In-Vehicle Information Systems
Abstract
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Sangho Kim, Kosuke Sekiyama, and Toshio Fukuda
: pp. 533-540
A Double Image Acquisition System with Visible and UV LEDs for Citrus Fruit
Abstract
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Mitsutaka Kurita , Naoshi Kondo, Hiroshi Shimizu, Peter Ling, Paolo D. Falzea, Tomoo Shiigi, Kazunori Ninomiya, Takahisa Nishizu, and Kazuya Yamamoto
: pp. 541-553
Control of A New Type of Undulatory Wheeled Locomotor: A Trident Steering Walker Based on Chained Form
Abstract
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Hiroaki Yamaguchi
: pp. 554-562
Improvement of Vibration Sensitivity by Tangential Vibration
Abstract
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Hie-yong Jeong, Mitsuru Higashimori, and Makoto Kaneko

No.3

(Jun)

Special Issue on Selected Papers from ROBOMEC'08 (Part 2)

Special Issue on Selected Papers from ROBOMEC'08 (Part 2)

: p. 300
Selected Papers from ROBOMEC’08 (Part 2)
Kazunori Umeda and Hiroki Murakami

The Robotics and Mechatronics Conference 2008 (ROBOMEC’08) was held at the “Big Hat” in Nagano, Japan, June 5-7, 2008, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Minoru Hashimoto of Shinshu University served as organizing chair, Prof. Takashi Kawamura of Shinshu University as general chair, and Hiroki Murakami of IHI Corporation as program chair. The conference motto was “Robotics and Mechatronics for Sustainable Industrial Development.” A record-breaking 1,054 papers were presented in about 70 sessions, including Nano/Micro Fluid System and Medical and Welfare Robotics and Mechatronics. Participants numbered over 1,500, making it a great success.
This special issue presents 13 papers from the conference. Of the 109 outstanding presentations recommended for submission, 42 were submitted and reviewed. Of these, 28 excellent papers have been accepted including the first 15 already published in Part 1 (Vol.21, No.2).
We thank the authors for their invaluable contributions to this issue and the reviewers for their extensive time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 301-310
Intelligent Cutter for Pork Deboning Robot (Automatic Processing of Complete Pre-Deboning Process of Pork Arm)
Abstract
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Akitoshi Itoh, Yoshiaki Mori, Yuuki Sugiyama, and Shinzo Mammoto
: pp. 311-316
Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain
Abstract
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Kensuke Harada, Mitsuharu Morisawa, Shin-ichiro Nakaoka, Kenji Kaneko, and Shuuji Kajita
: pp. 317-323
An Emotional Model Based on Location-Dependent Memory for Partner Robots
Abstract
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Naoyuki Kubota and Shiho Wakisaka
: pp. 324-331
Parameter Setting Method for Sit-Stand Assist System Based on Human Model
Abstract
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Yasuhisa Hirata, Jun'ichi Higuchi, Takuro Hatsukari, and Kazuhiro Kosuge
: pp. 332-341
Dynamic Remodeling of Environmental Map Using Range Data for Remote Operation of Mobile Robot
Abstract
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Takafumi Matsumaru, Hiroshi Yamamori, and Takumi Fujita
: pp. 342-352
Trajectory Generation for Adaptive Motion by Phase Feedback – Synchronization of Multicycle Human Movement –
Abstract
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Takayuki Ubukata, Shinya Kotosaka, and Hideyuki Ohtaki
: pp. 353-358
Development of Energy Autonomous Type Pneumatic Walking Support Shoes
Abstract
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Masahiro Takaiwa and Toshiro Noritsugu
: pp. 359-375
A Proposal of Real-Time Configuration Control System for Redundant Manipulators
Abstract
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Tongxiao Zhang, Mamoru Minami, Wei Song, and Yusaku Nakamura
: pp. 376-383
View-Based Localization Using Head-Mounted Multi Sensors Information
Abstract
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Hiroaki Yaguchi, Nikolaus Zaoputra, Naotaka Hatao, Kimitoshi Yamazaki, Kei Okada, and Masayuki Inaba
: pp. 384-393
Educational Project for Robotics and Mechatronics Using Tele-Control System Between National College of Technology and Toyohashi University of Technology
Abstract
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Takashi Imamura, Takanori Miyoshi, Kazunari Miyake, Shinichi Arai, Tatsuya Okada, Manabu Yamamoto, Minh Duc Duong, Masayuki Okabe, Hideo Kitagawa, Tomoyasu Ichimura, Eiji Nishiyama, Yasunori Kawai, Shinya Oyama, and Kazuhiko Terashima
: pp. 394-402
Tractor Guidance System for Farm Work Using DGPS and Gyroscope
Abstract
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Keiichi Inoue, Kazuhiro Nii, and Yun Zhang
: pp. 403-411
Stabilizing Passive Dynamic Walk Under Wide Range of Environments by Constraint Mechanism Fitted to Sole of Foot
Abstract
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Kazuyuki Hyodo, Takeshi Oshimura, Sadayoshi Mikami, and Sho'ji Suzuki
: pp. 412-418
Fabrication of Articulated Microarm for Endoscopy by Stacked Microassembly Process (STAMP)
Abstract
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Keisuke Narumi, Daisaku Azuma, and Fumihito Arai

Regular Papers

: pp. 419-426
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fifth Report: Integrated Gait)
Abstract
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Shuro Nakajima and Eiji Nakano
: pp. 427-434
Neuro-Fuzzy Control of Power-Assist Omnidirectional Wheelchair Using Human-Friendly Touch Panel
Abstract
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Kazuhiko Terashima, Hideo Kitagawa, Takanori Miyoshi, Sou Kitamura, and Juan Urbano

No.2

(Apr)

Special Issue on Selected Papers from ROBOMEC'08 (Part 1)

Special Issue on Selected Papers from ROBOMEC'08 (Part 1)

: p. 171
Selected Papers from ROBOMEC’08 (Part 1)
Kazunori Umeda and Hiroki Murakami

The Robotics and Mechatronics Conference 2008 (ROBOMEC’08) was held at the “Big Hat” in Nagano, Japan, June 5-7, 2008, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Minoru Hashimoto of Shinshu University served as organizing chair, Prof. Takashi Kawamura of Shinshu University as general chair and Hiroki Murakami of IHI Corporation as program chair. The conference motto was “Robotics and Mechatronics for Sustainable Industrial Development.” A record-breaking 1,054 papers were presented in about 70 sessions, including Nano/Micro Fluid System and Medical and Welfare Robotics and Mechatronics. Participants numbered over 1,500, making it a great success. This special issue presents 15 papers from the conference selected from 109 outstanding presentations further narrowed to 42 before final selection for Part 1 (Vol.21, No.2). We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 172-178
A Study on Adaptive Arch Structure Applying Variable Geometry Truss (Mechanism of Movable Arch Roof with External Panel)
Abstract
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Fumihiro Inoue
: pp. 179-185
Realizing Spiral Laminar Flow Interfaces with Improved Micro Rotary Reactor
Abstract
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Hiroaki Furusawa, Koichi Suzumori, Takefumi Kanda, Akinori Muto, and Yusaku Sakata
: pp. 186-192
Development of an Automated Microscope for Supporting Qualitative Asbestos Analysis by Dispersion Staining
Abstract
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Kuniaki Kawabata, Soichiro Morishita, Hiroshi Takemura, Kazuhiro Hotta, Taketoshi Mishima, Hajime Asama, Hiroshi Mizoguchi, and Haruhisa Takahashi
: pp. 193-199
Tunnel Cross-Section Measurement System Using a Mobile Mapping System
Abstract
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Kiichiro Ishikawa, Jun-ichi Takiguchi, Yoshiharu Amano, Takumi Hashizume, and Takashi Fujishima
: pp. 200-208
High Speed and High Sensitivity Slip Sensor Utilizing Characteristics of Conductive Rubber – Relationship Between Shear Deformation of Conductive Rubber and Resistance Change –
Abstract
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Seiichi Teshigawara, Kenjiro Tadakuma, Aiguo Ming, Masatoshi Ishikawa, and Makoto Shimojo
: pp. 209-215
Magnetically Driven Microtools Actuated by a Focused Magnetic Field for Separating of Microparticles
Abstract
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Shinya Sakuma, Yoko Yamanishi, and Fumihito Arai
: pp. 216-222
Hollow, Variably Configured Segmented Wheel Suitable for Snow Travel
Abstract
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Shotaro Takaoka, Kazuya Horikawa, Akinori Nagano, and Taro Iwamoto
: pp. 223-228
Possibility of Head-Shape Simplification for an Acoustical Telepresence Robot: TeleHead
Abstract
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Iwaki Toshima and Shigeaki Aoki
: pp. 229-235
On-Chip Droplet Dispensing by a Magnetically Driven Microtool
Abstract
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Yoko Yamanishi, Yuki Kihara, Shinya Sakuma, and Fumihito Arai
: pp. 236-244
Identification of Contact Conditions from Contact Force and Moment – Experimental Verification in Effective Sensing Strategy –
Abstract
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Takayoshi Yamada, Tetsuya Mouri, Akira Tanaka, Nobuharu Mimura, and Yasuyuki Funahashi
: pp. 245-251
“Future Dream!” Review of The 2007 Robotics-Mechatronics Design Competition
Abstract
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Taisuke Sakaki, Ryuichi Oguro, Shinichi Sagara, Kanta Aoki, Nobuhiro Ushimi, Takanori Kiyota, Ryo Kikuuwe, Makoto Iwamura, Manabu Fukushima, Keiji Imado, Hidetaka Ikeuchi, and Shunji Moromugi
: pp. 252-259
Design of Autonomous/Man-Machine-Cooperative Mobile Robot
Abstract
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Shinkichi Inagaki, Tatsuya Suzuki, Takahiro Ito, and Wu Shidan
: pp. 260-266
Compact Force Sensor Using AT-Cut Quartz Crystal Resonator Supported by Novel Retention Mechanism
Abstract
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Keisuke Narumi, Ayumi Asakura, Toshio Fukuda, and Fumihito Arai
: pp. 267-276
Functions of Mobile-Robot Step-On Interface
Abstract
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Takafumi Matsumaru and Kosuke Akai
: pp. 277-283
Hovering Control of a Tail-Sitter VTOL Aerial Robot
Abstract
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Koichi Kita, Atsushi Konno, and Masaru Uchiyama

Regular Papers

: pp. 285-292
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fourth Report: Step-Over Gait)
Abstract
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Shuro Nakajima and Eiji Nakano

No.1

(Feb)

Regular papers

Regular Papers

: pp. 3-11
Emergent Approach to Circle Formation by Multiple Autonomous Modular Robots
Abstract
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Takehiro Miyamae, Sumiaki Ichikawa, and Fumio Hara
: pp. 12-19
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down Gait)
Abstract
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Shuro Nakajima and Eiji Nakano
: pp. 20-27
Development of MRI Compatible Manipulandum for Hand and Arm Movement
Abstract
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Toshiyuki Aodai and Shigeki Toyama
: pp. 28-35
Human Recognition Using RFID Technology and Stereo Vision
Abstract
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Songmin Jia, Jinbuo Sheng, Daisuke Chugo, and Kunikatsu Takase
: pp. 36-43
Adaptive Coordinated Control of Multi-Fingered Robot Hand
Abstract
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Satoshi Ueki, Haruhisa Kawasaki, and Tetsuya Mouri
: pp. 44-56
Iterative Transportation by Multiple Mobile Robots Considering Unknown Obstacles
Abstract
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Kousuke Inoue, Jun Ota, and Tamio Arai
: pp. 57-65
A Conversion of a Cooperative Transportation System with Two Car-Like Mobile Robots into Two-Chain, Single-Generator Chained Form and its Steering
Abstract
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Hiroaki Yamaguchi and Tamio Arai
: pp. 66-73
Control of a Two-Joint, Two-Steering Snake-Like Robot
Abstract
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Hiroaki Yamaguchi
: pp. 74-80
Stepwise Locomotion on a Deformable Surface Using Shear Displacement Produced by a Pneumatic Suction Device
Abstract
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Toshiaki Horie and Satoshi Konishi
: pp. 81-87
Comparison with Amount of Gustatory Sense and Nasal Skin Temperature
Abstract
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Hirotoshi Asano, Tota Mizuno, Akio Nozawa, and Hideto Ide
: pp. 87-94
Evaluation of Cognition of Information Which is Stimulated by the Sense of Touch Using Phantom Sensation and Apparent Movement
Abstract
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Tota Mizuno, Hirotoshi Asano, and Hideto Ide
: pp. 95-103
A Quantitative Navigability Measure of Rough Maps
Abstract
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Jooseop Yun and Jun Miura
: pp. 104-112
Force Compensating Trajectories for Redundant Robots: Experimental Results
Abstract
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Daniela Vassileva, George Boiadjiev, Haruhisa Kawasaki, and Tetsuya Mouri
: pp. 113-120
Performance Evaluation of Rotor Flux-Oriented Control on FPGA for Advanced AC Drives
Abstract
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Stéphane Simard, Rachid Beguenane, and Jean-Gabriel Mailloux
: pp. 121-127
Eccentricity Compensator for Wide-Angle Fovea Vision Sensor
Abstract
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Sota Shimizu and Joel W. Burdick
: pp. 128-134
Eccentricity Estimator for Wide-Angle Fovea Vision Sensor
Abstract
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Sota Shimizu and Joel W. Burdick
: pp. 135-145
Quantitative Evaluation of Automatic Parts Delivery in “Attentive Workbench” Supporting Workers in Cell Production
Abstract
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Masao Sugi, Ippei Matsumura, Yusuke Tamura, Makoto Nikaido, Jun Ota, Tamio Arai, Kiyoshi Kotani, Kiyoshi Takamasu, Hiromasa Suzuki, Akio Yamamoto, Yoichi Sato, Seiichi Shin, and Fumihiko Kimura
: pp. 146-155
Hybrid Impedance Control of Massage Considering Dynamic Interaction of Human and Robot Collaboration Systems
Abstract
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Kazuhiko Terashima, Takanori Miyoshi, Keisuke Mouri, Hideo Kitagawa, and Panya Minyong
: pp. 156-163
Development of Training Equipment with Adaptive and Learning Using a Balloon Actuator-Sensor System
Abstract
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Ryota Kurozumi, Toru Yamamoto, Shoichiro Fujisawa, and Osamu Sueda

Vol.20 (2008)

No.6

(Dec)

Special Issue on Service Technology for Health and Well-Being

Special Issue on Service Technology for Health and Well-Being

: p. 809
Service Technology for Health and Well-Being
Mihoko Otake

Thanks to the growing awareness that human health is inextricably linked to the health of our planet and environmental change, it is difficult to envisage an integrated scientific approach to sustainable development that does not include human health issues. In parallel with science for health and well-being (SHWB), which is recognized today as a major challenge, the field of service science, management and engineering (SSME) has emerged as a potential solution. How can robotics and mechatronics, both used in SHWB and SSME, contribute to solving human health issues?
This special issue focuses on service technology for health and well-being. It starts with studies on on-demand bus services for alternative transportation systems and home healthcare service for disease prevention based on ICT. Devices and systems then introduced include stand-up support devices, gait rehabilitation, omnidirectional wheelchairs and wheelchair design simulators, musculoskeletal simulators for rehabilitation, force display communication analysis systems, and evaluation method of driver’s temporary arousal level. These technologies for health and welfare services are the core of sustainable development.
We thank the authors for their invaluable contributions and the reviewers for their time and effort in making this special issue possible. We also thank the JRM Editorial Board for the opportunity to take part in this work.

: pp. 810-817
Evaluation of On-Demand Bus Services Applicability to Older Persons
Abstract
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Hiroyuki Yamato, Kota Tsubouchi, Kazuo Hiekata, Ken Honda, and Chika Sugimoto
: pp. 818-823
Creation of Validation Field for Preventive Medicine – Kashiwa-no-ha (Oak Leaf) Preventive Medical Project (KPMP)
Abstract
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Kunihiro Shiina
: pp. 824-827
Accurate, Easy-to-Use Sphygmomanometer – “Arm-in Memo” Blood-Pressure Meter Developed Based on “Compliance with Measurement”
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Yousuke Asou
: pp. 828-835
Standing-Up Motion Support Device by Using Elbow Support Face to Adapt to Human Physical and Motion Characteristics
Abstract
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Takuro Hatsukari, Norihisa Miyase, Jun'ichi Higuchi, Yasuhisa Hirata, and Kazuhiro Kosuge
: pp. 836-845
Development of a Gait Rehabilitation System With a Spherical Immersive Projection Display
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Hiroaki Yano, Takayuki Masuda, Yosuke Nakajima, Naoki Tanaka, Shintaro Tamefusa, Hideyuki Saitou, and Hiroo Iwata
: pp. 846-853
A 4WD Omnidirectional Wheelchair with Enhanced Step Climbing Capability
Abstract
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Masayoshi Wada
: pp. 854-862
Simulator for Optimal Wheelchair Design
Abstract
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Makoto Sasaki, Takumi Kimura, Kiyomi Matsuo, Goro Obinata, Takehiro Iwami, Kazuto Miyawaki, and Kazuo Kiguchi
: pp. 863-871
Muscle Strength Estimation Using Musculo-Skeletal Model for Upper Limb Rehabilitation
Abstract
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Tatsuya Okada, Takashi Imamura, Takanori Miyoshi, Kazuhiko Terashima, Yoshifumi Yasuda, and Takuo Suzuki
: pp. 872-879
Development of a Virtual Arm Wrestling System for Force Display Communication Analysis
Abstract
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Takashi Yamada and Tomio Watanabe
: pp. 880-886
Evaluation of Driver’s Temporary Arousal Level by Changes of Nasal Skin Temperature – Effect of Basic Arousal Level –
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Hirotoshi Asano, Tota Mizuno, and Hideto Ide

Regular Papers

: pp. 887-895
Mechanical Design and Basic Run Experiments with the Tri-StarIII – Horizontal Polyarticular Expandable 3-Wheeled Planetary Rover –
Abstract
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Kenjiro Tadakuma, Masatsugu Matsumoto, and Shigeo Hirose
: pp. 896-902
Simulation of a Pneumatic Hand Crane Power-Assist System
Abstract
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Tatsuya Doi, Hironao Yamada, Toshihisa Ikemoto, and Hiroshi Naratani
: pp. 903-911
Fault Diagnosis and Fault-Tolerant Control of a Joystick-Controlled Wheelchair
Abstract
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Masafumi Hashimoto, Yuuki Nakamura, and Kazuhiko Takahashi
: pp. 912-919
Adaptive Gait for a Leg-Wheel Robot Traversing Rough Terrain (Second Report: Step-Up Gait)
Abstract
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Shuro Nakajima and Eiji Nakano

No.5

(Oct)

Special Issue on MEXT 21st Century COE Programs (II)

Special Issue on MEXT 21st Century COE Programs (II)

: pp. 673-674
MEXT 21st Century COE Programs (II)
Tatsuo Arai, Yasuyoshi Yokokohji, Masamitsu Kurisu, and Hiroyasu Iwata

The Ministry of Education, Culture, Sports, Science, and Technology of Japan (MEXT) started the “21st Century COE Program” in 2002 to give targeted support to the creation of global-standard research and education bases. The five-year grant came to fund a total of 250 excellent programs from 95 universities. Topics related to robotics and mechatronics are treated in the following programs: (1) “Information Science and Technology Strategic Core,” University of Tokyo; (2) “Intelligent Human Sensing,” Toyohashi University of Technology; (3) “Innovation of Creative Engineering through the Development of Advanced Robotics,” Tokyo Institute of Technology; (4) “Micro- and Nano-Mechatronics for Information-Based Society,” Nagoya University; (5) “COE for Research and Education on Complex Functional Mechanical Systems,” Kyoto University; (6) “Paradigm Shift from Intelligence to Life,” Keio University; (7) “Human Adaptive Mechatronics (HAM),” Tokyo Denki University; and (8) “The Innovative Research on Symbiosis Technologies for Human and Robots in an Aging Society,” Waseda University. All of these programs were completed by March 2008. Our editorial board has decided that the time is right to organize a special issue on MEXT 21st Century Programs to disseminate these invaluable research findings as widely as possible. Our three guest editors – Prof. Yasuyoshi Yokokohji of Kyoto University, Prof. Masamitsu Kurisu of Tokyo Denki University, and Prof. Hiroyasu Iwata of Waseda University – have all worked in the specialized areas featured here. Of the 30 papers submitted for this special issue, 23 papers have been accepted for publication after a careful review. We thank the authors for their valuable contributions and the reviewers for their generous time and efforts in making this issue a success.

Prof. Tatsuo Arai
Editor-in Chief
: pp. 675-694
HELIOS VIII: Toward Practical Robots for Search and Rescue Operations
Abstract
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Michele Guarnieri, Inoh Takao, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 695-708
Control of Hydraulic Actuator Systems Using Feedback Modulator
Abstract
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Takeyuki Ohgi and Yasuyoshi Yokokohji
: pp. 709-718
Arc Feet Effects on Stability Based on a Simple Oscillator-Driven Walking Model
Abstract
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Shinya Aoi, Yuuki Sato, and Kazuo Tsuchiya
: pp. 719-725
Adaptive Regulation of Nonlinear Systems by Output Feedback
Abstract
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Mai Bando and Akira Ichikawa
: pp. 726-730
Performance Types and Activation of the Prefrontal Cortex
Abstract
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Harumi Kobayashi and Tetsuya Yasuda
: pp. 731-738
Control of Human Generating Force by Use of Acoustic Information? Substituting Artificial Sounds for Onomatopoeic Utterances
Abstract
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Miki Iimura, Taichi Sato, and Kihachiro Tanaka
: pp. 739-749
Emulation of Human Walking by Biped Humanoid Robot with Heel-Contact and Toe-Off Motion
Abstract
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Hideki Kondo, Yu Ogura, Kazushi Shimomura, Shimpei Momoki, Tatsu Okubo, Hun-Ok Lim, and Atsuo Takanishi
: pp. 750-756
Adaptive Modeling of Physical Systems Based on Affine Transform and its Application for Machine Learning
Abstract
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Shingo Nakamura and Shuji Hashimoto
: pp. 757-774
Reinforcement Signal Propagation Algorithm for Logic Circuit
Abstract
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Chyon Hae Kim, Tetsuya Ogata, and Shigeki Sugano
: pp. 775-784
Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment
Abstract
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Kenji Hashimoto, Yusuke Sugahara, Hun-Ok Lim, and Atsuo Takanishi

Regular Papers

: pp. 785-792
Gait Generation for a Walking Robot with Passive Joints
Abstract
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Kazunori Kaede and Tooru Nogai
: pp. 793-800
Development and Control of a Small Biped Walking Robot Using Shape Memory Alloys
Abstract
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Mami Nishida, Hua O. Wang, and Kazuo Tanaka
: pp. 801-805
Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (First Report : Gait Strategy)
Abstract
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Shuro Nakajima and Eiji Nakano

No.4

(Aug)

Special Issue on MEXT 21st Century COE Programs (I)

Special Issue on MEXT 21st Century COE Programs (I)

: pp. 513-514
MEXT 21st Century COE Programs (I)
Tatsuo Arai, Yasuyoshi Yokokohji, Masamitsu Kurisu, and Hiroyasu Iwata

The Ministry of Education, Culture, Sports, Science, and Technology of Japan (MEXT) started the “21st Century COE Program” in 2002 to give targeted support to the creation of global-standard research and education bases. The five-year grant came to fund a total of 250 excellent programs from 95 universities. Topics related to robotics and mechatronics are treated in the following programs: (1) “Information Science and Technology Strategic Core,” University of Tokyo; (2) “Intelligent Human Sensing,” Toyohashi University of Technology; (3) “Innovation of Creative Engineering through the Development of Advanced Robotics,” Tokyo Institute of Technology; (4) “Micro- and Nano-Mechatronics for Information-Based Society,” Nagoya University; (5) “COE for Research and Education on Complex Functional Mechanical Systems,” Kyoto University; (6) “Paradigm Shift from Intelligence to Life,” Keio University; (7) “Human Adaptive Mechatronics (HAM),” Tokyo Denki University; and (8) “The Innovative Research on Symbiosis Technologies for Human and Robots in an Aging Society,” Waseda University. All of these programs were completed by March 2008.
Our editorial board has decided that the time is right to organize a special issue on MEXT 21st Century Programs to disseminate these invaluable research findings as widely as possible. Our three guest editors – Prof. Yasuyoshi Yokokohji of Kyoto University, Prof. Masamitsu Kurisu of Tokyo Denki University, and Prof. Hiroyasu Iwata of Waseda University – have all worked in the specialized areas featured here. Of the 30 papers submitted for this special issue, some 18 papers have been accepted for publication after a careful review, and some are still under review.
We thank the authors for their valuable contributions and the reviewers for their generous time and efforts in making this issue a success.

Prof. Tatsuo Arai
Editor-in Chief

: pp. 515-525
Target Identification Through Human Pointing Gesture Based on Human-Adaptive Approach
Abstract
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Yusuke Tamura, Masao Sugi, Tamio Arai, and Jun Ota
: pp. 526-532
Development of Leg-Wheel Hybrid Quadruped “AirHopper”: Lightweight Leg-Wheel Design
Abstract
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Takahiro Tanaka and Shigeo Hirose
: pp. 533-540
Development of Cable Reel for Spherical Trailer – Uniform Cable Winding
Abstract
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Masayuki Arai and Shigeo Hirose
: pp. 541-549
Methods to Estimate Magnetic Declination for an Unmanned Aerial Vehicle
Abstract
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Hiroaki Nakanishi, Sayaka Kanata, Tetsuo Sawaragi, and Yukio Horiguchi
: pp. 550-558
Origami Folding by a Robotic Hand
Abstract
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Kenta Tanaka, Yusuke Kamotani, and Yasuyoshi Yokokohji
: pp. 559-566
Hierarchical Implicit Feedback Structure in Passive Dynamic Walking
Abstract
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Yasuhiro Sugimoto and Koichi Osuka
: pp. 567-577
Constructive Approach to Role-Reversal Imitation Through Unsegmented Interactions
Abstract
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Tadahiro Taniguchi, Naoto Iwahashi, Komei Sugiura, and Tetsuo Sawaragi
: pp. 578-584
Constant-Value Control of Joystick Operating Force Using Acoustic System Having Feedback Control System
Abstract
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Taichi Sato, Yuta Murayama, and Hiroshi Igarashi
: pp. 585-594
Identification of Human Bimanual Operation Using XY-Stages
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Yukihito Suzuki, Yaodong Pan, Hiroki Takase, and Katsuhisa Furuta
: pp. 595-601
Human Adaptive Calibration for Machine Operation Without Awareness
Abstract
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Hiroshi Igarashi
: pp. 602-609
Development of an Operation Skill-Training Simulator for Double-Front Construction Machinery – Training Effect for a House Demolition Work –
Abstract