Educational Activities with a Focus on Robot Strategies – Through the Development of LEGO Manipulation Robots –

Rui Fukui; Tomomasa Sato

doi:10.20965/jrm.2011.p0759

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JRM Vol.23 No.5 pp. 759-767

doi: 10.20965/jrm.2011.p0759

(2011)

Paper:

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Educational Activities with a Focus on Robot Strategies – Through the Development of LEGO Manipulation Robots –

Rui Fukui and Tomomasa Sato

7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Department of Mechano-Informatics, The University of Tokyo

Received:

February 8, 2011

Accepted:

April 13, 2011

Published:

October 20, 2011

Keywords:

robot education, strategy design, manipulation, design optimization, LEGO MINDSTORMS

Abstract

This paper reports a robotics educational trial for 3rd grade undergraduate students in Intelligent Cooperative Systems Laboratory at The University of Tokyo. In the trial, we discussed with the students about strategies to realize automatic domino aligning or transferring robots comparing with existing manipulation robots. The students produced prototype robots to confirm the validity of their strategies. These processes prompted the students to understand the importance of adopting the best strategy to realize this target mission with the least effort.

Cite this article as:

R. Fukui and T. Sato, “Educational Activities with a Focus on Robot Strategies – Through the Development of LEGO Manipulation Robots –,” J. Robot. Mechatron., Vol.23, No.5, pp. 759-767, 2011.

Data files:

References

[1] L. Valk. “The LEGO MINDSTORMS NXT 2.0 Discovery Book,” No Starch Press, 2010.
ISBN: 978-1593272111
[2] T. Yoshikawa, “Manipulation technology,” J. of the Robotics Society of Japan, Vol.23, No.4, pp. 408-410, 2005 (in Japanese).
[3] K. Ikeuchi, “Generating robot grasp planning through observation of human grasping,” J. of the Robotics Society of Japan, Vol.18, No.6, pp. 792-797, 2000 (in Japanese).
[4] J. J. Craig andM. H. Raibert, “Hybrid position/force control of manipulators,” ASME J. of Dynamic Systems, Measurement and Control, Vol.103, No.2, pp. 126-133, 1981.
[5] H. Makino et al., “Research and commercialization of SCARA robot the case of industry-university joint research and development,” Int. J. of Automation Technology, Vol.1, No.1, pp. 61-67, 2007.
[6] D. E. Whitney, “Quasi-static assembly of compliantly supported rigid parts,” ASME J. of Dynamic Systems, Measurement and Control, Vol.104, pp. 65-77, 1982.
[7] S. Joo et al., “New design methodology for RCC using elastomer shear pads,” J. of Robotics and Mechatronics, Vol.9, No.5, pp. 362-372, 1997.
[8] Y. Maeda et al., “Planning of graspless manipulation by multiple robot fingers,” In Proc. of IEEE Int. Conf. on Robotics and Automation, Vol.3, pp. 2474-2479, 2001.
[9] Z. Wang and V. Kumar, “Object closure and manipulation by multiple cooperating mobile robots,” In Proc. of IEEE Int. Conf. on Robotics and Automation, Vol.1, pp. 394-399, 2002.
[10] B. Dizioglu and K. Lakshiminarayana, “Mechanics of form closure,” Acta Meehaniea, Vol.52, pp. 107-118, 1984.
[11] V.-D. Nguyen, “Constructing force-closure grasps in 3d,” In Proc. of IEEE Int. Conf. on Robotics and Automation, Vol.4, pp. 240-245, 1987.
[12] The Japan Society of Mechanical Engineers (Eds.), “Kinematics of Machinery JSME Textbook Series,” MARUZEN PUBLISHING, 2007 (in Japanese).
ISBN: 978-4888981675
[13] The Robotics Society of Japan (Eds.), “Robotics Handbook – 2nd ed.,” CORONA PUBLISHING, 2005 (in Japanese).
ISBN: 978-4339045765
[14] S. Hirai and H. Wakamatsu, “Handling Technology,” CORONA PUBLISHING, 2005 (in Japanese).
ISBN: 978-4339045253
[15] I. Nagaoka, “Basis of Handling Instrument Engineering – Overview of Transfer Technology –,” Kogyo Chosakai Publishing, 1988 (in Japanese).
ISBN: 978-4769320777
[16] The Japan Society of Mechanical Engineers (Eds.), “JSME Mechanical Engineers’ Handbook – Engineering – C3 : Material handling,” MARUZEN PUBLISHING, 1989 (in Japanese).
ISBN: 978-4888981675
[17] M. T. Mason, “Mechanics of Robotic Manipulation (Intelligent Robotics and Autonomous Agents),” The MIT Press, 2001.
ISBN: 978-0262133968

Supporting Online Materials:
[a] R. Fukui, “Demonstration movies of seminar 2009 and 2010.”
http://www.ra-laboratory.com/r/jrm/
[b] S. Kousaka, S. Masuda, Y. Matsumura, M. Watanabe, H. Ifukui, T. Suzuki, D. H. Giang, and K. Yasumoto, “Seminar reports in 2009 and 2010.”
http://www.ics.t.u-tokyo.ac.jp/semi/semi-j.html

[1] [1] L. Valk. “The LEGO MINDSTORMS NXT 2.0 Discovery Book,” No Starch Press, 2010.
ISBN: 978-1593272111

[2] [2] T. Yoshikawa, “Manipulation technology,” J. of the Robotics Society of Japan, Vol.23, No.4, pp. 408-410, 2005 (in Japanese).

[3] [3] K. Ikeuchi, “Generating robot grasp planning through observation of human grasping,” J. of the Robotics Society of Japan, Vol.18, No.6, pp. 792-797, 2000 (in Japanese).

[4] [4] J. J. Craig andM. H. Raibert, “Hybrid position/force control of manipulators,” ASME J. of Dynamic Systems, Measurement and Control, Vol.103, No.2, pp. 126-133, 1981.

[5] [5] H. Makino et al., “Research and commercialization of SCARA robot the case of industry-university joint research and development,” Int. J. of Automation Technology, Vol.1, No.1, pp. 61-67, 2007.

[6] [6] D. E. Whitney, “Quasi-static assembly of compliantly supported rigid parts,” ASME J. of Dynamic Systems, Measurement and Control, Vol.104, pp. 65-77, 1982.

[7] [7] S. Joo et al., “New design methodology for RCC using elastomer shear pads,” J. of Robotics and Mechatronics, Vol.9, No.5, pp. 362-372, 1997.

[8] [8] Y. Maeda et al., “Planning of graspless manipulation by multiple robot fingers,” In Proc. of IEEE Int. Conf. on Robotics and Automation, Vol.3, pp. 2474-2479, 2001.

[9] [9] Z. Wang and V. Kumar, “Object closure and manipulation by multiple cooperating mobile robots,” In Proc. of IEEE Int. Conf. on Robotics and Automation, Vol.1, pp. 394-399, 2002.

[10] [10] B. Dizioglu and K. Lakshiminarayana, “Mechanics of form closure,” Acta Meehaniea, Vol.52, pp. 107-118, 1984.

[11] [11] V.-D. Nguyen, “Constructing force-closure grasps in 3d,” In Proc. of IEEE Int. Conf. on Robotics and Automation, Vol.4, pp. 240-245, 1987.

[12] [12] The Japan Society of Mechanical Engineers (Eds.), “Kinematics of Machinery JSME Textbook Series,” MARUZEN PUBLISHING, 2007 (in Japanese).
ISBN: 978-4888981675

[13] [13] The Robotics Society of Japan (Eds.), “Robotics Handbook – 2nd ed.,” CORONA PUBLISHING, 2005 (in Japanese).
ISBN: 978-4339045765

[14] [14] S. Hirai and H. Wakamatsu, “Handling Technology,” CORONA PUBLISHING, 2005 (in Japanese).
ISBN: 978-4339045253

[15] [15] I. Nagaoka, “Basis of Handling Instrument Engineering – Overview of Transfer Technology –,” Kogyo Chosakai Publishing, 1988 (in Japanese).
ISBN: 978-4769320777

[16] [16] The Japan Society of Mechanical Engineers (Eds.), “JSME Mechanical Engineers’ Handbook – Engineering – C3 : Material handling,” MARUZEN PUBLISHING, 1989 (in Japanese).
ISBN: 978-4888981675

[17] [17] M. T. Mason, “Mechanics of Robotic Manipulation (Intelligent Robotics and Autonomous Agents),” The MIT Press, 2001.
ISBN: 978-0262133968

[18] Supporting Online Materials:

[19] [a] R. Fukui, “Demonstration movies of seminar 2009 and 2010.”
http://www.ra-laboratory.com/r/jrm/

[20] [b] S. Kousaka, S. Masuda, Y. Matsumura, M. Watanabe, H. Ifukui, T. Suzuki, D. H. Giang, and K. Yasumoto, “Seminar reports in 2009 and 2010.”
http://www.ics.t.u-tokyo.ac.jp/semi/semi-j.html