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JRM

Journal of Robotics and Mechatronics

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

Indexed in Scopus, Compendex (Ei)

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2019-10-20T13:29:10+0000

Vol.31 (2019)

No.5

(Oct)

Regular papers NEW

Regular Papers

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

Latest Research Topics

: pp. 720-722
Zombification of Insects as a Model for Searching the Source of Various Behaviors of Living Organisms
Abstract
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Koichi Osuka
: pp. 723-726
Centipede Type Robot i-CentiPot: From Machine to Creatures
Abstract
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Koichi Osuka, Tetsuya Kinugasa, Ryota Hayashi, Koji Yoshida, Dai Owaki, and Akio Ishiguro

No.4

(Aug)

Special Issue on Machine Learning for Robotics and Swarm Systems

Special Issue on Machine Learning for Robotics and Swarm Systems

: p. 519
Machine Learning for Robotics and Swarm Systems
Masahito Yamamoto, Takashi Kawakami, and Keitaro Naruse

In recent years, machine-learning applications have been rapidly expanding in the fields of robotics and swarm systems, including multi-agent systems. Swarm systems were developed in the field of robotics as a kind of distributed autonomous robotic systems, imbibing the concepts of the emergent methodology for extremely redundant systems. They typically consist of homogeneous autonomous robots, which resemble living animals that build swarms. Machine-learning techniques such as deep learning have played a remarkable role in controlling robotic behaviors in the real world or multi-agents in the simulation environment.

In this special issue, we highlight five interesting papers that cover topics ranging from the analysis of the relationship between the congestion among autonomous robots and the task performances, to the decision making process among multiple autonomous agents.

We thank the authors and reviewers of the papers and hope that this special issue encourages readers to explore recent topics and future studies in machine-learning applications for robotics and swarm systems.

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

Regular Papers

: pp. 567-582
Omnidirectional Mobility Following Through Trochoidal Trajectory
Abstract
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Taro Maeda and Hideyuki Ando
: pp. 583-593
Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire
Abstract
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Hitoshi Kino, Naofumi Mori, Shota Moribe, Kazuyuki Tsuda, and Kenji Tahara
: pp. 594-602
Development of the Biological Information Measurement System for STEM Education and High School/University Articulation
Abstract
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Takeshi Shimoto, Chika Miyamoto, and Takatoshi Umeno
: pp. 603-611
Underwater Structure from Motion for Cameras Under Refractive Surfaces
Abstract
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Xiaorui Qiao, Atsushi Yamashita, and Hajime Asama
: pp. 612-620
Set-Point Control of a Musculoskeletal System Under Gravity by a Combination of Feed-Forward and Feedback Manners Considering Output Limitation of Muscular Forces
Abstract
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Yuki Matsutani, Kenji Tahara, and Hitoshi Kino
: pp. 621-628
High-Frequency Vibration of Leg Masses for Improving Gait Stability of Compass Walking on Slippery Downhill
Abstract
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Longchuan Li, Fumihiko Asano, and Isao Tokuda
: pp. 629-638
Mood Perception Model for Social Robot Based on Facial and Bodily Expression Using a Hidden Markov Model
Abstract
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Jiraphan Inthiam, Abbe Mowshowitz, and Eiji Hayashi

No.3

(Jun)

Review on Introduction to Simultaneous Localization and Mapping
Special Issue on Education Based on Practical Exercise on Sensing and Control

Review on Introduction to Simultaneous Localization and Mapping

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

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

: p. 375
Education Based on Practical Exercise on Sensing and Control
Shoichiro Fujisawa, Kazuo Kawada, and Yoshihiro Ohnishi

Control engineering and sensing engineering improve productivity and save resources and energy in industry, and they are also deeply related to the solving greater societal, economic, and environmental problems. Control engineering and sensing engineering have become dynamic forces that enrich various phases of life through interdisciplinary or cross-sectional study. Furthermore, in recent years, due to the development of information technology, as symbolized by terms such as “big data” or “AI,” “sensing and control at a higher level” has become possible, premised by big data processing that is faster by orders of magnitude than conventional data processing. All this has increased the importance of control engineering and sensing engineering.

In response to the development of the fields of control engineering and sensing engineering associated with the advance of the “information society,” education in these fields has also needed to be enhanced. On the national scale, the Ministry of Education, Culture, Sports, Science and Technology will introduce Japanese elementary school computational thinking education into elementary school in fiscal year 2020, and the new Courses of Study for High School Information Education in fiscal year 2022. At the same time, individual companies, educational institutions, etc. have also been experimenting with various forms of education in control engineering and sensing engineering. During these changing times, the most advanced studies related to the development of instruction and evaluation methods for educational materials on control engineering, sensing engineering, and control technology have been collected, and the present special issue was planned.

This special issue is a collection of practical papers related to measurement and control education, including one paper on Model-Based Development education in a company and eight papers on education in an educational institution. These eight papers include two on education using a robot contest in a university, one on introducing measurement and control engineering education in a national institute of technology college, three on introducing it in a junior high school, and two on introducing it in an elementary school.

We hope that this special issue serves to support the readers’ future efforts in control engineering and sensing engineering education, and we thank the authors and reviewers of the papers.

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

Regular Papers

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

No.2

(Apr)

Special Issue on Probabilistic Robotics and SLAM

Special Issue on Probabilistic Robotics and SLAM

: p. 179
Probabilistic Robotics and SLAM
Keigo Watanabe, Shoichi Maeyama, Tetsuo Tomizawa, Ryuichi Ueda, and Masahiro Tomono

Intelligent mobile robots need self-localization, map generation, and the ability to explore unknown environments autonomously. Probabilistic processing can be applied to overcome the problems of movement uncertainties and measurement errors. Probabilistic robotics and simultaneous localization and mapping (SLAM) technologies are therefore strongly related, and they have been the focus of many studies. As more and more practical applications are found for intelligent mobile robots, such as for autonomous driving and cleaning, the applicability of these techniques has been increasing.

In this special issue, we provide a wide variety of very interesting papers ranging from studies and developments in applied SLAM technologies to fundamental theories for SLAM. There are five academic papers, one each on the following topics: first visit navigation, controls for following rescue clues, indoor localization using magnetic field maps, a new solution for self-localization using downhill simplex method, and object detection for long-term map management through image-based learning. In addition, in the next number, there will be a review paper by Tsukuba University’s Prof. Tsubouchi, who is famous for the Tsukuba Challenge and research related to mobile robotics.

We editors hope this special issue will help readers to develop mobile robots and use SLAM technologies and probabilistic approaches to produce successful applications.

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

Regular Papers

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

No.1

(Feb)

Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2018
JRM 30th Anniversary
Special Issue on History, Trends, and Future of Practical Robotics and Mechatronics

Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2018

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

We are pleased to announce that the 11th Journal of Robotics and Mechatronics Best Paper Award (JRM Best Paper Award 2018) has been decided by the JRM editorial committee.

The following paper won the JRM Best Paper Award 2018, severely selected from among all 97 papers published in Vol.29 (2017). The Best Paper Award ceremony was held in Gakushi-Kaikan, Tokyo, Japan, on December 17, 2018, attended by the authors and JRM editorial committee members who took part in the selection process. The award winner will also be announced on the JRM website and was given a certificate and a nearly US$1,000 honorarium.

 

JRM Best Paper Award 2018

Title: Spherical Video Stabilization by Estimating Rotation from Dense Optical Flow Fields

Authors: Sarthak Pathak, Alessandro Moro, Hiromitsu Fujii, Atsushi Yamashita, and Hajime Asama

J. Robot. Mechatron., Vol.29 No.3, pp. 566-579, June 2017

Congratulations to the Elected IEEE Presidents

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

We are pleased to announce that Professor Toshio Fukuda, the second Editor-in-Chief of JRM, has been elected as 2019 IEEE (The Institute of Electrical and Electronics Engineers) President-Elect (2020 President), and Professor Kazuhiro Kosuge, former Deputy Editor-in-Chief of JRM, has been elected as 2019 IEEE Technical Activities Vice President-Elect (2020 IEEE TA Vice President). Congratulations! They have devoted themselves to the development of the Journal of Robotics and Mechatronics.

Prof. Fukuda and Prof. Kosuge will serve as IEEE President and IEEE Technical Activities Vice President, respectively, in 2020. We look forward to their continued success in the future.

JRM 30th Anniversary

: p. 5
Celebrating 30 Years Anniversary of JRM Publication
Kazuo Yamafuji

The Journal of Robotics and Mechatronics (JRM) is celebrating its thirtieth anniversary since its establishment in June 1989. As the founding Editorin-Chief, I would like to express my heartfelt gratitude to all the people and organizations that have helped in making JRM a success.

Although founded in Japan, our primary objective was to provide a global platform for facilitating the publication of research work comprising outstanding results and novel information regarding robotics and mechatronics. Encouraged by the emphatic support received from several prominent researchers and engineers in numerous countries, including the United States of America and European countries, our team decided to launch JRM.

It is now our aim to develop JRM into a highly ranked international journal. I sincerely hope that more academicians and engineers will participate in JRM’s development process by contributing their valuable feedback, research results, and technical information.

 

Kazuo Yamafuji

: p. 6
Looking Toward the Next Ten Years
Masanori Idesawa

As its first issue was published in 1989, the Journal of Robotics and Mechatronics (JRM) has been in existence for 30 years. Its entrance into its fourth decade this year coincides with the change in the name of the Japanese era, marking a joyous milestone. During the three decades since the JRM was founded, much progress has been made in the areas covered by it, and these areas have expanded to encompass very diverse fields.

It was around 1988, when I was at the Institute of Physical and Chemical Research (RIKEN), that I received a letter from Kazuo Yamafuji, later the first Editor-in-Chief of the editorial board, stressing the need for a journal such as the JRM. I gladly joined the committee to discuss its publication, and after attending a few meetings, I witnessed its successful launch. I served as the Deputy Editorin- Chief of the editorial board.

Prior to that time, robots had mainly inhabited the world of science fiction and were not recognized as a technological subject within an academic discipline, except in the field of factory automation. The robots that did exist were usually thought of in a recreational context. Meanwhile, the general trend in academic and engineering disciplines was toward specialization and segmentation, with engineering splitting into mechanical, electronic, and other branches, each becoming progressively isolated from the others. Yet, those working in areas related to product development and manufacturing were expected not only to have knowledge of several engineering disciplines but also to integrate them in applying them. These engineers/technicians were treated as unoriginal emulators existing outside of the conventional systematized and specialized fields, and they were regarded as heretics with no suitable field to represent in making presentations at professional or academic conferences. Even if they hoped to publicize their research findings, there were no professional/academic journals that could provide a proper peer review.

It was under these circumstances that the word “mechatronics” was coined in Japan, where it gained currency and also came to earn some recognition in the English-speaking world. Founded at just the right time, the JRM contributed to the spread and growth of mechatronics. Subsequently, the term came to denote, in addition to its original meaning of the integration of mechanics, electronics, and information science, the fusion of widely diverse technologies in human sciences, social sciences, and medicine. In this context, it is my ardent hope that the JRM, in its fourth decade, will increase its presence as a journal that remains unconstrained by conventional specialties and accepts papers and articles that deal with as-yet-unestablished areas that cross multiple fields, contributing to their dissemination.

At the time the JRM was founded, Keiji Hayashi was president of Fuji Technology Press Ltd., the organization that annually presents the JRM Best Paper Award. Unfortunately, he passed away at the age of 90 on March 19, 2017, before he could see the JRM’s 30th anniversary. Some time before he passed, he telephoned me to say that he hoped the JRM would continue to widely encompass and nurture as-yet-unknown areas. On this occasion of the 30th anniversary of the JRM, I wish to pay my respects and express my deep gratitude to Mr. Hayashi, who provided his own funds to support its publication. I pray that his soul may rest in peace, and I sincerely hope that the JRM continues to make great strides in the coming decade.

 

Masanori Idesawa

: p. 7
Celebrating the Publication of the 30th Anniversary Issue
Tatsuo Arai

I congratulate the Journal of Robotics and Mechatronics (JRM) on the publication of its 30th anniversary issue. As one of JRM’s past Editors-in- Chief, I am extremely pleased and proud of this great achievement. JRM was the first journal dealing with robotics and mechatronics in the world when it was launched thirty years ago. Since then, the journal has made a strong impact on the robotics and mechatronics field. It has been hard for the journal to provide high quality issues for so many years. I would like to sincerely express my great respect to Mr. Hayashi, founder and former president of Fuji Technology Press Ltd.; former Editors-in-Chief Prof. Yamafuji, Prof. Fukuda, and Prof. Kaneko; the current Editor-in-Chief, Prof. Takita; and our colleagues, including the editorial board and editorial staff, for their hard work. I would also like to express my great appreciation to all the authors, reviewers, and readers for their superb contributions. This grand thirty-year achievement could not have been attained without all their contributions.

I was Editor-in-Chief for seven years ‒ volumes 19 through 25 ‒ beginning in January 2007. I enjoyed my role as Editor-in-Chief, since many young, talented researchers and engineers took part in the editorial process, and I could discuss with them how we would achieve a high-quality journal. I remember clearly how hard they worked to edit superlative volumes by proposing and organizing special issues with up-to-date topics. During that period, we had the good fortune of collaborating with the Japan Society of Mechanical Engineers (JSME). They supported us in providing committee members for our editorial board, and in collecting and reviewing the many excellent papers. I would also express my thanks to JSME for their abundant and generous support. Because of it, JRM achieved a high reputation and contributed to both academia and industry.

Today there are many relevant journals in the world. Competing with them and producing an even higher quality journal than ever before are the most critical issues in the next step of JRM’s advancement. I applaud the current editorial board members and staff and expect JRM to become the very top journal in the field. In conclusion, I hope I can celebrate with you ten and twenty years from now, again and again!

 

Tatsuo Arai

: p. 8
Congratulations on the 30th Anniversary of the JRM
Yoshihiro Takita

Congratulations to the Journal of Robotics and Mechatronics (JRM) on its 30th anniversary. I would like to thank all authors and readers who have contributed to the JRM through 30 years.

The JRM started as an English-language journal published to provide articles on robot technologies to the world from Japan. It has been jointly edited by the Robotics and Mechatronics Division (RMD) of the Japan Society of Mechanical Engineers (JSME) and Fuji Technology Press Ltd. Five years ago, when the English-language journal of the JSME was reorganized, the JRM also underwent some changes, and it has since been issued under the editorial direction of Fuji Technology Press Ltd. Immediately after the reorganization, beginning with Vol.26, I was appointed Editor-in-Chief. Now, as five years have passed, the next Editor-in-Chief will take over from Vol.31. Over these five years, the number of submissions and their quality have been our major concern, as we have been seeking to register the JRM with the Science Citation Index (SCI). To achieve this goal, we have published special issues on the robot technologies required as the field has progressed as well as on the mechatronics technologies that underlie them.

The JRM plans to continue providing the world with information on robot technologies, so please keep reading it and submitting your articles to it on a regular basis.

 

Yoshihiro Takita

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

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

Regular Papers

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

Vol.30 (2018)

No.6

(Dec)

Special Issue on Integrated Knowledge on Innovative Robot Mechanisms

Special Issue on Integrated Knowledge on Innovative Robot Mechanisms

: p. 845
Integrated Knowledge on Innovative Robot Mechanisms
Naoyuki Takesue, Koichi Koganezawa, and Kenjiro Tadakuma

A robot is a system integrated with many elements such as actuators, sensors, computers, and mechanical components. Currently, progress in the field of artificial intelligence induced by tremendous improvements in computer processing capabilities has enabled robots to behave in a more sophisticated manner, which is drawing considerable attention. On the other hand, the mechanism that directly produces robot movements and mechanical work sometimes brings out some competencies that cannot be provided solely by computer control that relies on sensor feedback.

This special issue on “Integrated Knowledge on Innovative Robot Mechanisms” aims to introduce a knowledge system for robot mechanisms that bring forth useful and innovative functions and values.

The editors hope that the studies discussed in this special issue will help in the realization and further improvement of the mechanical functions of robots in the real world.

: pp. 846-854
Spherical and Non-Spherical Combined Two Degree-of-Freedom Rotational Parallel Mechanism for a Microsurgical Robotic System
Abstract
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Jumpei Arata, Yoshiteru Kobayashi, Ryu Nakadate, Shinya Onogi, Kazuo Kiguchi, and Makoto Hashizume
: pp. 855-862
Development of Gripper to Achieve Envelope Grasping with Underactuated Mechanism Using Differential Gear
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Takumi Tamamoto, Keita Takeuchi, and Koichi Koganezawa
: pp. 863-872
Development of Mechanical-Impedance-Varying Mechanism in Admittance Control
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Toru Tsumugiwa, Miho Yura, Atsushi Kamiyoshi, and Ryuichi Yokogawa
: pp. 873-879
Utilizing the Nonlinearity of Tendon Elasticity for Compensation of Unknown Gravity of Payload
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Chao Shao, Junki Togashi, Kazuhisa Mitobe, and Genci Capi
: pp. 880-891
Analysis of Displayable Force Region at Passive-Type Force Display with Redundant Brakes – Development of Rehabilitation System for Upper Limbs mboxPLEMO-Y (Redundant) –
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Naoyuki Takesue, Junji Furusho, Shota Mochizuki, and Takeaki Watanabe
: pp. 892-899
Non-Energized Above Knee Prosthesis Enabling Stairs Ascending and Descending with Hydraulic Flow Controller
Abstract
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Takayuki Kikuchi, Ryota Fujino, Kenta Igarashi, and Koichi Koganezawa
: pp. 900-909
Dynamic Simulation of 1-DOF Swing Motion Propulsion Mechanism by Rotary Actuator
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Nobuhiko Miyamoto, Noriaki Ando, and Kazuyoshi Wada
: pp. 910-919
Modeling and Mechanical Design of an Active-Caster Omnidirectional Mechanism with a Ball Transmission
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Kosuke Kato and Masayoshi Wada

Regular Papers

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

No.5

(Oct)

Mini Special Issue on Human Sensing, Modeling, and Augmentation

Mini Special Issue on Human Sensing, Modeling, and Augmentation

: p. 695
Human Sensing, Modeling, and Augmentation
Takayuki Tanaka

Human work and life support are areas that provide practical applications for robotics and mechatronics technology. There is great expectation from the industry in these fields, and research and development efforts have been actively undertaken with great social impact. To support human work and life accurately, we must understand the complicated sensory, nervous, and motor control systems that enable design and development of appropriate assistive devices.

Therefore, in this mini special issue, we focus on robotics and mechatronics for human sensing, modeling, and augmentation.

The editor hopes that this special issue will attract researchers’ interest and contribute to further developments in this field.

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

Regular Papers

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

No.4

(Aug)

Special Issue on Real World Robot Challenge in Tsukuba

Special Issue on Real World Robot Challenge in Tsukuba

: p. 503
Real World Robot Challenge in Tsukuba
Yoshihiro Takita, Shin’ichi Yuta, Takashi Tsubouchi, and Koichi Ozaki

Tsukuba Challenge, which started in 2007, has contributed to the development of novel control technologies for autonomous navigation. The second stage of this challenge was completed in 2017, and now, the time is ripe for exploring new ideas and avenues. This is the fifth Special Issue on Real World Robot Challenge in Tsukuba, and it seems that the technological elements required for autonomous navigation are almost complete. However, it is obvious that such navigation capabilities are still at a significantly lower level of development compared to human capabilities. The need for automatic and self-driving vehicles has increased rapidly in recent years; many companies and researchers have been making great strides in research and development in the field of automatic driving. The Tsukuba Challenge pursues and encourages both student education and advanced research and development, focusing on automatic driving as an application technology. The essential capabilities required for a robot to reach the designated goal in the Tsukuba Challenge are self-localization and obstacles avoidance, and many studies have been conducted on these features. To complete the designated task, unification of these technologies and other qualities such as searching for persons, traveling on crosswalks, and recognizing traffic signals is required.

This special issue concentrates on control technologies of autonomous mobile robots and expects to contribute toward future studies and development in this field.

: pp. 504-512
Tsukuba Challenge: Open Experiments for Autonomous Navigation of Mobile Robots in the City – Activities and Results of the First and Second Stages –
Abstract
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Shin’ichi Yuta
: pp. 513-522
Detection of Target Persons Using Deep Learning and Training Data Generation for Tsukuba Challenge
Abstract
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Yuichi Konishi, Kosuke Shigematsu, Takashi Tsubouchi, and Akihisa Ohya
: pp. 523-531
Creating a 3D Cuboid Map Using Multi-Layer 3D LIDAR with a Swing Mechanism
Abstract
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Yoshihiro Takita
: pp. 532-539
Enhancement of Scan Matching Using an Environmental Magnetic Field
Abstract
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Sam Ann Rahok, Hirohisa Oneda, Taichi Nakayama, Kazumichi Inoue, Shigeji Osawa, Akio Tanaka, and Koichi Ozaki
: pp. 540-551
Person Searching Through an Omnidirectional Camera Using CNN in the Tsukuba Challenge
Abstract
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Shingo Nakamura, Tadahiro Hasegawa, Tsubasa Hiraoka, Yoshinori Ochiai, and Shin’ichi Yuta
: pp. 552-562
Robust Road-Following Navigation System with a Simple Map
Abstract
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Yuki Hosoda, Ryota Sawahashi, Noriaki Machinaka, Ryota Yamazaki, Yudai Sadakuni, Kazuya Onda, Ryosuke Kusakari, Masaro Kimba, Tomotaka Oishi, and Yoji Kuroda
: pp. 563-583
End-to-End Autonomous Mobile Robot Navigation with Model-Based System Support
Abstract
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Alexander Carballo, Shunya Seiya, Jacob Lambert, Hatem Darweesh, Patiphon Narksri, Luis Yoichi Morales, Naoki Akai, Eijiro Takeuchi, and Kazuya Takeda
: pp. 584-590
Developing a Remotely Operated Portable Mobile Robot
Abstract
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Tetsuo Tomizawa, Masato Shibuya, Ryodo Tanaka, and Takeshi Nishida
: pp. 591-597
Teaching-Playback Navigation Without a Consistent Map
Abstract
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Naoki Akai, Luis Yoichi Morales, and Hiroshi Murase
: pp. 598-612
Tsukuba Challenge 2017 Dynamic Object Tracks Dataset for Pedestrian Behavior Analysis
Abstract
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Jacob Lambert, Leslie Liang, Luis Yoichi Morales, Naoki Akai, Alexander Carballo, Eijiro Takeuchi, Patiphon Narksri, Shunya Seiya, and Kazuya Takeda

Regular Papers

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

No.3

(Jun)

Special Issue on Cutting Edge of Drone Research and Development, and its Application

Special Issue on Cutting Edge of Drone Research and Development, and its Application

: p. 321
Cutting Edge of Drone Research and Development, and its Application
Kenzo Nonami and Satoshi Suzuki

Currently, drones have reached the stage of practical application, business, and social contribution from the stage of research and development. In fact, drones are now opening up a new market not only in the field of aerial photography and agricultural chemical spraying, which had traditionally been on the market, but also in the field of surveying. Furthermore, new markets are expected to be formed within several years in the field of infrastructure inspection and logistics.

Under these circumstances, research on drone application is becoming significant, along with research on drone design and control, which have been done conventionally. However, there are still only a few studies and journals focusing not only on drone development and design but also drone application. Therefore, in this special issue, we invited papers with comprehensive contents, including research focusing on drone application, and created a space to present cutting-edge research results.

By reading this special issue, we hope that readers will understand the latest information about the applications of drones and their cutting-edge technology. Furthermore, we also hope that readers will be able to proactively promote the use of drones in their own research and work, based on the information obtained from this special issue.

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

Regular Papers

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

No.2

(Apr)

Special Issue on Advanced Robotics in Agriculture, Forestry and Fisheries

Special Issue on Advanced Robotics in Agriculture, Forestry and Fisheries

: pp. 163-164
Advanced Robotics in Agriculture, Forestry and Fisheries
Kazuo Ishii, Eiji Hayashi, Norhisam Bin Misron, and Blair Thornton

The importance of primary industries, agriculture, forestry and fisheries, is obvious and needless to mention, however, the reduction of the working population and the aging problem make the situation of primary industry more sever. To compensate for the issues, the advanced technology in robotics has attracted attentions and expected the contributions in terms of productivity, cost effectiveness, pesticide-less, monitoring of the growth and harvesting, etc. Recently, robotic technologies are gradually being used in primary industry and their application area will expand more in the near future. This special issue’s objectives include collecting recent advances, automation, mechanization, research trends and their applications in agriculture, forestry and fisheries to promote a deeper understanding of major conceptual and technical challenges and facilitate spreading of recent breakthroughs in primary industries, and contribute to the enhancement of the quality of agricultural, forestry and fisheries robots by introducing the state-of-the-art in sensing, mobility, manipulation and related technologies.

In this special issue, twelve papers are included. The first paper by Noguchi is the survey paper of the state-of-the-art in the agricultural vehicle type robots and discusses the future scope of agriculture with robotics. The next three papers are on tomato-monitoring system, and Fukui et al. propose a tomato fruit volume estimation method using saliency-based image processing and point cloud and clustering technology, Yoshida et al. do the cutting point identification for tomato-harvesting using a RGBD sensor and evaluate in the real farm experiments, and Fujinaga et al. present an image mosaicking method of tomato yard based on the infrared images and color images of tomato-clusters in the large green house. The fifth paper by Sori et al. reports a paddy weeding robot in wet-rice field to realize the pesticide-free produce of rice, and the sixth paper by Shigeta et al. is about an image processing system to measure cow’s BCS (Body Condition Score) automatically before milking cows and analyzes the two months data by CNN (Convolutional Neural Network). The seventh paper by Inoue et al. reports on an upper-limb power assist robot with a single actuator to reduce the weight and cost. The assist machine supports the shoulder and elbow movements for viticulture operations and upper-limb holding for load transport tasks. In the next paper, Tominaga et al. show an autonomous robotic system to move between the trees without damaging them and to cut the weeds in the forest for the forest industry. The last four papers are for the fishery industry, and Komeyama et al. propose a methods for monitoring the size of fish, red sea bream (RSB) aquaculture by developing a stereo vision system to avoid the risks of physical injury and mental stress to the fish. Nishida et al. report on a hovering type underwater robot to measure seafloor for monitoring marine resources whose sensor can be replaced depending on missions as the open hardware system. Yasukawa et al. propose a vision system for an autonomous underwater robot with a benthos sampling function, especially, sampling-autonomous underwater vehicles (SAUVs) to achieve a new sampling mission. The last paper by Han et al. is for gait planning and simulation analysis of an amphibious quadruped robot in the field of fisheries and aquaculture.

We hope that this special issue can contributes to find solutions in primary industries, agriculture, forestry and fisheries.

: pp. 165-172
Agricultural Vehicle Robot
Abstract
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Noboru Noguchi
: pp. 173-179
Development of a Tomato Volume Estimating Robot that Autonomously Searches an Appropriate Measurement Position – Basic Feasibility Study Using a Tomato Bed Mock-Up –
Abstract
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Rui Fukui, Kenta Kawae, and Shin’ichi Warisawa
: pp. 180-186
Fast Detection of Tomato Peduncle Using Point Cloud with a Harvesting Robot
Abstract
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Takeshi Yoshida, Takanori Fukao, and Takaomi Hasegawa
: pp. 187-197
Image Mosaicing Using Multi-Modal Images for Generation of Tomato Growth State Map
Abstract
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Takuya Fujinaga, Shinsuke Yasukawa, Binghe Li, and Kazuo Ishii
: pp. 198-205
Effect for a Paddy Weeding Robot in Wet Rice Culture
Abstract
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Hitoshi Sori, Hiroyuki Inoue, Hiroyuki Hatta, and Yasuhiro Ando
: pp. 206-213
Automatic Measurement and Determination of Body Condition Score of Cows Based on 3D Images Using CNN
Abstract
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Masahiro Shigeta, Reiichirou Ike, Hiroshi Takemura, and Hayato Ohwada
: pp. 214-222
Development of Upper-Limb Power Assist Machine Using Linkage Mechanism – Drive Mechanism and its Applications –
Abstract
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Hiroyuki Inoue and Toshiro Noritsugu
: pp. 223-230
Robot Navigation in Forest Management
Abstract
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Abbe Mowshowitz, Ayumu Tominaga, and Eiji Hayashi
: pp. 231-237
Body Measurement of Reared Red Sea Bream Using Stereo Vision
Abstract
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Kazuyoshi Komeyama, Tatsuya Tanaka, Takeharu Yamaguchi, Shigeru Asaumi, Shinsuke Torisawa, and Tsutomu Takagi
: pp. 238-247
Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems
Abstract
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Yuya Nishida, Takashi Sonoda, Shinsuke Yasukawa, Kazunori Nagano, Mamoru Minami, Kazuo Ishii, and Tamaki Ura
: pp. 248-256
Vision System for an Autonomous Underwater Vehicle with a Benthos Sampling Function
Abstract
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Shinsuke Yasukawa, Jonghyun Ahn, Yuya Nishida, Takashi Sonoda, Kazuo Ishii, and Tamaki Ura
: pp. 257-264
Gait Planning and Simulation Analysis of a New Amphibious Quadruped Robots
Abstract
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Shuo Han, Yuan Chen, Guangying Ma, Jinshan Zhang, and Runchen Liu

Regular Papers

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

No.1

(Feb)

Regular papers

Congratulations! JRM Best Paper Award 2017

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

Vol.29 (2017)

No.6

(Dec)

Special Issue on Educational Robotics

Special Issue on Educational Robotics

: p. 943
Educational Robotics
Shoichiro Fujisawa, Shinya Kotosaka, Masatsugu Iribe, and Masayuki Okugawa

This is the 2nd special issue on education of robotics & mechatronics on Journal Robotics & Mechatronics. Six years have passed since the previous issue (Vol.23, No.5) was published. This special issue includes nine research papers and two review papers, among which four research papers focus on the utilization of robots in STEM education, which has been spotlighted recently, and programming education for the young. Five research papers propose educational methods with novel, unprecedented ideas, and the two review papers overview technology education in Japan. The review papers focus on STEM education that utilizes a variety of manufacturing methods that have become familiar, and they present a variety of efforts being made in STEM education, programming education in today’s Japan.

At present, Germany’s Industry 4.0, Japan’s Robot Strategy, and many other initiatives are being undertaken in the world to promote development technology as it relates to production automation and efficiency. The development of human resources that are capable of working with these new technologies has also gathered public attention, with each educational institution now required to enrich its STEM education. As part of this movement, in 2020, programming education will be added to Japan’s elementary school curriculum, with robots being the focus of the education. This situation indicates that the importance of educational robotics is likely to continue to increase in the future. We expect that this special issue will contribute to the development of educational robotics communities and of human resources that are well prepared in the field of robotics.

We would like to express our sincere gratitude to all contributors and the reviewers for making this special issue possible.

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

Regular Papers

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

No.5

(Oct)

Review on Digital Human Models for Human-Centered Design
Special Issue on AI, Robotics, and Automation in Space

Review on Digital Human Models for Human-Centered Design

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

Special Issue on AI, Robotics, and Automation in Space

: p. 791
AI, Robotics, and Automation in Space
Takashi Kubota, Kazuya Yoshida, Shinichi Kimura, and Takehisa Yairi

Many missions have been launched to explore the Moon, Mars, asteroids, and comets, and many researchers are studying and developing lunar and planetary rovers for unmanned planet exploration, and further cooperative missions targeting human lunar exploration are under discussion. A key technology in these missions and orbital services is space robotics, including Al and automation. Space robotics is expected to support external vehicular activities (EVA) and internal vehicular activities (IVA), which will include constructing, repairing, and maintaining orbiting satellites and space structures.

This special issue presents the updated mission results and advanced research activities of space organizations, institutes, and universities, although it does not include all. We hope that this special issue will be useful to readers as an introduction to advanced space robotics in Japan, and that more robotics and Al researchers and engineers will become interested in space robotics and participate in space missions.

We thank the authors for their fine contributions and the reviewers for their generous contributions of time and effort. In closing, we also thank the Editorial Board of the Journal of Robotics and Mechatronics for helping to make this issue possible.

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

Regular Papers

: pp. 919-927
Adaptive Learning of Hand Movement in Human Demonstration for Robot Action
Abstract
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Ngoc Hung Pham and Takashi Yoshimi
: pp. 928-934
Performance Evaluation of Robot Localization Using 2D and 3D Point Clouds
Abstract
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Kiyoaki Takahashi, Takafumi Ono, Tomokazu Takahashi, Masato Suzuki, Yasuhiko Arai, and Seiji Aoyagi

No.4

(Aug)

Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings –

Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings –

: p. 629
Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings –
Yoshihiro Takita, Shin’ichi Yuta, Takashi Tsubouchi, and Koichi Ozaki

In this fourth of the “Special Issues on Real World Robot Challenge in Tsukuba,” we feature the control technology of autonomous robots. There is no guarantee that it will operate perfectly in a real-world environment even with the method already revealed. Participating robots in Tsukuba Challenge are required to carry out the assigned tasks under the prevailing weather conditions on the day of the events. Robots avoid oncoming pedestrians and obstacles in their path. In order to share the novel technology of the autonomous control method, this special issue presents a summary of the results of robots that participated in past Tsukuba Challenges.

It is only thanks to the ongoing efforts of the organizers of Tsukuba Challenge and the enthusiasm on the part of the participants that we are able to present an issue such as this, and we are truly thankful to them. We also wish to thank the authors who submitted papers and articles for this issue, as well as our reviewers.

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

Regular Papers

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

3D Printer for Robotics and Mechatronics

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

No.3

(Jun)

Special Issue on Dynamically and Biologically Inspired Legged Locomotion

Special Issue on Dynamically and Biologically Inspired Legged Locomotion

: p. 455
Dynamically and Biologically Inspired Legged Locomotion
Tetsuya Kinugasa, Koh Hosoda, Masatsugu Iribe, Fumihiko Asano, and Yasuhiro Sugimoto

Legged locomotion, including walking, running, turning, and jumping, strongly depends on the dynamics and biological characteristics of the body involved. Gait patterns and energy efficiency, for example, are known to be greatly affected by not only travel velocity and ground contact conditions but also by body configuration, such as joint stiffness and coordination, as well as foot sole shape. To understand legged locomotion principles, we must clarify how the body’s dynamic and biological characteristics affect locomotion. Effort must also be made to incorporate these characteristics inventively to improve locomotion performance, such as robustness, adaptability, and efficiency, which further refine the legged locomotion. This special issue on “Dynamically and Biologically Inspired Legged Locomotion,” studies on legged locomotion based on dynamic and biological characteristics, covers a wide range of themes, such as a rimless wheel, a design method for a biped based on passive dynamic walking, the analysis of biped locomotion based on passive dynamic walking and dynamically inspired walking, an analysis of gait generation for a triped robot, and quadruped locomotion with a flexible trunk. Since there are interesting papers on legged robots with different numbers of legs, we basically organized the papers based on the number of legs. Studies on “Dynamically and Biologically Inspired Legged Locomotion” are expected to not only realize and improve legged locomotion as engineering, but also to reveal the locomotion mechanism of various creatures as science.

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

Regular Papers

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

No.2

(Apr)

Review on Current Status and Future Trends on Robot Vision Technology
Special Issue on Innovative Technology for Nursing Care and Nosotrophy

Review on Current Status and Future Trends on Robot Vision Technology

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

Special Issue on Innovative Technology for Nursing Care and Nosotrophy

: p. 287
Innovative Technology for Nursing Care and Nosotrophy
Taketoshi Mori and Yo Kobayashi

As life expectancy has become longer, the number of those who have some handicaps or diseases as well as the families, caregivers and medical staff who support them has been also increasing. While modern medical science has rapidly advanced by adopting the innovation of engineering technology especially in the fields of mechanical and electric engineering, the support for nursing, care and assistance by making use of engineering technology has only just begun. This special issue on “Nursing Engineering,” a combination of nursing and engineering, covers a wide range of themes such as the measuring equipment characterized by non-invasiveness, unconstraint and real-time for the purpose of helping patients and healthcare professionals and the development of the related technology; the development of the technology for the equipment to support recuperation, rehabilitation or convalescent life of patients; and active introduction of information technology and user interface technique into nursing study and its case studies. “Nursing Engineering” is expected to play increasingly important role to support medical treatment and everyday life of patients along with the highly professional medical staff by making practical use of the technology of robotics and mechatronics and incorporating rehabilitation science, welfare engineering and technology for assistance.

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

Regular Papers

: pp. 365-380
ORB-SHOT SLAM: Trajectory Correction by 3D Loop Closing Based on Bag-of-Visual-Words (BoVW) Model for RGB-D Visual SLAM
Abstract
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Zheng Chai and Takafumi Matsumaru
: pp. 381-394
Teleoperating Assistive Robots: A Novel User Interface Relying on Semi-Autonomy and 3D Environment Mapping
Abstract
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Zdeněk Materna, Michal Španěl, Marcus Mast, Vítězslav Beran, Florian Weisshardt, Michael Burmester, and Pavel Smrž
: pp. 395-405
A Control System for a Tool Use Robot: Drawing a Circle by Educing Functions of a Compass
Abstract
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Kyo Kutsuzawa, Sho Sakaino, and Toshiaki Tsuji
: pp. 406-418
A Preliminary Study on the Handling of a Robotic Arm Based only on Temporarily Provided Auditory Information as a Substitute for Visual Information < The Case Study that Assumed the Resilient System Architecture >
Abstract
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Hiroshi Takahashi
: pp. 419-433
Teaching Tasks to Multiple Small Robots by Classifying and Splitting a Human Example
Abstract
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Jorge David Figueroa Heredia, Jose Ildefonso U. Rubrico, Shouhei Shirafuji, and Jun Ota
: pp. 434-446
Servoing Performance Enhancement via a Respiratory Organ Motion Prediction Model for a Non-Invasive Ultrasound Theragnostic System
Abstract
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Tatsuya Fujii, Norihiro Koizumi, Atsushi Kayasuga, Dongjun Lee, Hiroyuki Tsukihara, Hiroyuki Fukuda, Kiyoshi Yoshinaka, Takashi Azuma, Hideyo Miyazaki, Naohiko Sugita, Kazushi Numata, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi

No.1

(Feb)

Review on Community-Centric System - Support of Human Ties -
Special Issue on Robot Audition Technologies

Review on Community-Centric System - Support of Human Ties -

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

Special Issue on Robot Audition Technologies

: p. 15
Robot Audition Technologies
Hiroshi G. Okuno and Kazuhiro Nakadai

Robot audition, the ability of a robot to listen to several things at once with its own “ears,” is crucial to the improvement of interactions and symbiosis between humans and robots. Since robot audition was originally proposed and has been pioneered by Japanese research groups, this special issue on robot audition technologies of the Journal of Robotics and Mechatronics covers a wide collection of advanced topics studied mainly in Japan. Specifically, two consecutive JSPS Grants-in-Aid for Scientific Research (S) on robot audition (PI: Hiroshi G. Okuno) from 2007 to 2017, JST Japan-France Research Cooperative Program on binaural listening for humanoids (PI: Hiroshi G. Okuno and Patrick Danès) from 2009 to 2013, and the ImPACT Tough Robotics Challenge (PM: Prof. Satoshi Tadokoro) on extreme audition for search and rescue robots since 2015 have contributed to the promotion of robot audition research, and most of the papers in this issue are the outcome of these projects. Robot audition was surveyed in the special issue on robot audition in the Journal of Robotic Society of Japan, Vol.28, No.1 (2011) and in our IEEE ICASSP-2015 paper. This issue covers the most recent topics in robot audition, except for human-robot interactions, which was covered by many papers appearing in Advanced Robotics as well as other journals and international conferences, including IEEE IROS.   This issue consists of twenty-three papers accepted through peer reviews. They are classified into four categories: signal processing, music and pet robots, search and rescue robots, and monitoring animal acoustics in natural habitats.   In signal processing for robot audition, Nakadai, Okuno, et al. report on HARK open source software for robot audition, Takeda, et al. develop noise-robust MUSIC-sound source localization (SSL), and Yalta, et al. use deep learning for SSL. Odo, et al. develop active SSL by moving artificial pinnae, and Youssef, et al. propose binaural SSL for an immobile or mobile talker. Suzuki, Otsuka, et al. evaluate the influence of six impulse-response-measuring signals on MUSIC-based SSL, Sekiguchi, et al. give an optimal allocation of distributed microphone arrays for sound source separation, and Tanabe, et al. develop 3D SSL by using a microphone array and LiDAR. Nakadai and Koiwa present audio-visual automatic speech recognition, and Nakadai, Tezuka, et al. suppress ego-noise, that is, noise generated by the robot itself.   In music and pet robots, Ohkita, et al. propose audio-visual beat tracking for a robot to dance with a human dancer, and Tomo, et al. develop a robot that operates a wayang puppet, an Indonesian world cultural heritage, by recognizing emotion in Gamelan music. Suzuki, Takahashi, et al. develop a pet robot that approaches a sound source. In search and rescue robots, Hoshiba, et al. implement real-time SSL with a microphone array installed on a multicopter UAV, and Ishiki, et al. design a microphone array for multicopters. Ohata, et al. detect a sound source with a multicopter microphone array, and Sugiyama, et al. identify detected acoustic events through a combination of signal processing and deep learning. Bando, et al. enhance the human-voice online and offline for a hose-shaped rescue robot with a microphone array.   In monitoring animal acoustics in natural habitats, Suzuki, Matsubayashi, et al. design and implement HARKBird, Matsubayashi, et al. report on the experience of monitoring birds with HARKBird, and Kojima, et al. use a spatial-cue-based probabilistic model to analyze the songs of birds singing in their natural habitat. Aihara, et al. analyze a chorus of frogs with dozens of sound-to-light conversion device Firefly, the design and analysis of which is reported on by Mizumoto, et al.   The editors and authors hope that this special issue will promote the further evolution of robot audition technologies in a diversity of applications.

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

Regular Papers

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

Vol.28 (2016)

No.6

(Dec)

Regular papers

Regular Papers

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

No.5

(Oct)

Special Issue on New Development in Adaptive & Learning Control

Special Issue on New Development in Adaptive & Learning Control

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

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

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

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

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

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

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

Regular Papers

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

No.4

(Aug)

Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings –

Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings –

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

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

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

Regular Papers

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

No.3

(Jun)

Special Issue on Autonomous Flying Robot

Special Issue on Autonomous Flying Robot

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

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

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

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

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

Regular Papers

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

No.2

(Apr)

Special Issue on Construction and Built Environment

Special Issue on Construction and Built Environment

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

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

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

Regular Papers

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

No.1

(Feb)

Regular papers

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

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

Regular Papers

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

Grand Robots Museum

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

Vol.27 (2015)

No.6

(Dec)

Review on Mechanism and Control of Parallel-Wire Driven System
Special Issue on Intelligent Vehicle Technologies for Safety and Active Life

Review on Mechanism and Control of Parallel-Wire Driven System

: pp. 599-607
Mechanism and Control of Parallel-Wire Driven System
Abstract
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Hitoshi Kino and Sadao Kawamura

Special Issue on Intelligent Vehicle Technologies for Safety and Active Life

: p. 609
Intelligent Vehicle Technologies for Safety and Active Life
Hidehisa Yoshida, Manabu Omae, and Takahiro Wada

Intelligent automobiles equipped with active safety methods whose objective is to reduce accidents caused by human problems such as careless driving and loss of consciousness, have got the social acceptance widely which are recognized by introducing collision avoidance brakes to the market. Active safety and automated driving technologies of intelligent automobiles were featured at TokyoMotor Show 2015. Their displays attracted much attention.It is necessary to propose new technologies continuously by the technical subject of active safety and automated driving, for example, relation of cooperative driving by a vehicle system and a driver, from the restrictions of originality of technical developments and the liability issues at the time of an accident.Even so, users worldwide expect much from the dynamic future of transportation for safety and active life.This special issue features seven papers carefully reviewed by field specialists.I would like to express my heartfelt appreciation to the authors who have contributed their valuable research results to this special issue and to the reviewers who provided their invaluable expertise.I would also like to thank members of the Journal of Robotics and Mechatronics board for giving me the unique opportunity to plan and coordinate this issue.

: pp. 610-616
Toward Next Active Safety Technology of Intelligent Vehicle
Abstract
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Hidehisa Yoshida, Manabu Omae, and Takahiro Wada
: pp. 617-626
Vehicle Localization Based on the Detection of Line Segments from Multi-Camera Images
Abstract
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Kosuke Hara and Hideo Saito
: pp. 627-635
Development of Collision Avoidance System in Right Turn Maneuver Using Vehicle-in-the-Loop Simulation
Abstract
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Pongsathorn Raksincharoensak and Yuta Akamatsu
: pp. 636-644
Hazard Anticipatory Autonomous Braking Control System Based on 2-D Pedestrian Motion Prediction
Abstract
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Kazuhiro Ezawa, Pongsathorn Raksincharoensak, and Masao Nagai
: pp. 645-652
Emergency Avoidance Control System for an Automatic Vehicle – Slip Ratio Control Using Sliding Mode Control and Real-Number-Coded Immune Algorithm –
Abstract
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Masafumi Hamaguchi and Takao Taniguchi
: pp. 653-659
Optimal Tracking Control of a Micro Ground Vehicle
Abstract
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Soichiro Watanabe and Masanori Harada
: pp. 660-670
Analysis of Preference for Autonomous Driving Under Different Traffic Conditions Using a Driving Simulator
Abstract
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Udara Eshan Manawadu, Masaaki Ishikawa, Mitsuhiro Kamezaki, and Shigeki Sugano
: pp. 671-680
Evaluation of Low-Speed Driving Behavior of Remotely Controlled Vehicle
Abstract
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Manabu Omae, Yushi Odaka, Kenta Fujii, and Hiroshi Shimizu

Regular Papers

: pp. 681-690
FPGA-Based Stereo Vision System Using Gradient Feature Correspondence
Abstract
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Hayato Hagiwara, Yasufumi Touma, Kenichi Asami, and Mochimitsu Komori
: pp. 691-697
Human Detection and Face Recognition Using 3D Structure of Head and Face Surfaces Detected by RGB-D Sensor
Abstract
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Michio Tanaka, Hiroki Matsubara, and Takashi Morie
: pp. 698-705
Simple Trajectory Control Method of Robot Arm Using Flexible Pneumatic Cylinders
Abstract
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Mohd Aliff, Shujiro Dohta, and Tetsuya Akagi
: pp. 706-713
Study on Presentation System for Walking Training Using High-Performance Shoes
Abstract
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Yasuhiro Hayakawa, Shogo Kawanaka, Kazuma Kanezaki, Kosei Minami, and Shigeki Doi

Grand Robots Museum

: pp. 715-716
Mobility Support System for Personal Mobility Vehicles
Abstract
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Taro Fujikawa, Makiko Ishikawa, and Shuro Nakajima

No.5

(Oct)

Regular papers

Regular Papers

: pp. 461-468
Performance-Driven Adaptive Output Feedback Control with Direct Design of PFC
Abstract
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Taro Takagi, Ikuro Mizumoto, and Junpei Tsunematsu
: pp. 469-479
A Study of Effective Prediction Methods of the State-Action Pair for Robot Control Using Online SVR
Abstract
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Masashi Sugimoto and Kentarou Kurashige
: pp. 480-488
Visual Measurement for On-Orbit Reflector Assembly
Abstract
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Shin-ichiro Nishida and Heihachiro Kamimura
: pp. 489-495
Improvement of EMC in MPPT Control of Photovoltaic System Using Auto-Tuning Adaptive Velocity Estimator
Abstract
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Tsuyoshi Ohba, Risa Matsuda, Haruo Suemitsu, and Takami Matsuo
: pp. 496-503
Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism
Abstract
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Kuat Telegenov, Yedige Tlegenov, Shahid Hussain, and Almas Shintemirov
: pp. 504-512
Flexible Parallel Link Mechanism Using Tube-Type Dielectric Elastomer Actuators
Abstract
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Changan Jiang, Kentaro Takagi, Shinya Hirano, Tatsuya Suzuki, Shigeyuki Hosoe, Kazunobu Hashimoto, and Akitoshi Nozawa
: pp. 513-519
Chaotic Vibration and Comfort Analysis of Nonlinear Half-Vehicle Mode Excited by Consecutive Speed-Control Humps
Abstract
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Zhiyong Yang, Shan Liang, Qin Zhu, Yongsheng Sun, and Shanbing Zhan
: pp. 520-527
A Hybrid Nonlinear ANC for Speech Recovery Using Both Bone- and Air-Conducted Measurements
Abstract
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Ran Xiao, Yaping Ma, Boyan Huang, Yegui Xiao, and Koji Hasegawa
: pp. 528-534
Gait Analysis with Automatic Speed-Controlled Treadmill
Abstract
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Takehito Kikuchi, Kohei Sakai, and Kohei Ishiya
: pp. 535-542
Using a Low-Cost Onboard Camera for Sliding Mode Control of a Mobile Robot in Slippery Environments
Abstract
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Ernesto Rivas, Koutaro Komagome, Kazuhisa Mitobe, and Genci Capi
: pp. 543-551
Motion Generation for a Sword-Fighting Robot Based on Quick Detection of Opposite Player’s Initial Motions
Abstract
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Akio Namiki and Fumiyasu Takahashi
: pp. 552-562
Fictitious Target-Trajectory Forming Control for Redundant Manipulator and Active Regulation of Impulsive Forces
Abstract
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Takahiro Inoue, Ryuichi Miyata, and Shinichi Hirai
: pp. 563-570
Emotional Model for Robotic System Using a Self-Organizing Map Combined with Markovian Model
Abstract
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Wisanu Jitviriya, Masato Koike, and Eiji Hayashi
: pp. 571-578
Development of an Acetic Acid Injection Device for Crown-of-Thorns Starfish Controlled by a Remotely Operated Underwater Robot
Abstract
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Fumiaki Takemura, Shuta Kobashigawa, Keita Hirayama, Kuniaki Kawabata, Shinichi Sagara, Hideyuki Yamashiro, and Eisuke Kuraya
: pp. 579-585
The Global Shortest Path Visualization Approach with Obstructions
Abstract
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Guan-Qiang Dong, Zong-Xiao Yang, Lei Song, Kun Ye, and Gen-Sheng Li
: pp. 587-589
Development of a Series of RT-Mover, Which is a Four-Wheel Type of Mobile Platform with an Ability of Negotiating Obstacles
Abstract
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Shuro Nakajima

No.4

(Aug)

Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Useful Mobile Robot –

Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Useful Mobile Robot –

: p. 317
Real World Robot Challenge in Tsukuba – Autonomous Technology for Useful Mobile Robot –
Yoshihiro Takita, Shin’ichi Yuta, Takashi Tsubouchi, and Koichi Ozaki

The first Tsukuba Challenge started in 2007 as a technological challenge for autonomous mobile robots moving around on city walkways. A task was then added involving the search for certain persons. In these and other ways, the challenge provides a test field for developing positive relationships between mobile robots and human beings. To make progress an autonomous robotic research, this special issue details and clarifies technological problems and solutions found by participants in the challenge. We sincerely thank the authors and reviewers for this chance to work with them in these important areas.

: pp. 318-326
Open Experiment of Autonomous Navigation of Mobile Robots in the City: Tsukuba Challenge 2014 and the Results
Abstract
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Shin'ichi Yuta
: pp. 327-336
Development of Mobile Robot “SARA” that Completed Mission in Real World Robot Challenge 2014
Abstract
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Naoki Akai, Kenji Yamauchi, Kazumichi Inoue, Yasunari Kakigi, Yuki Abe, and Koichi Ozaki
: pp. 337-345
Development of Autonomous Mobile Robot Using Articulated Steering Vehicle and Lateral Guiding Method
Abstract
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Shinya Ohkawa, Yoshihiro Takita, Hisashi Date, and Kazuhiro Kobayashi
: pp. 346-355
Development of Autonomous Mobile Robot Based on Accurate Map in the Tsukuba Challenge 2014
Abstract
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Junji Eguchi and Koichi Ozaki
: pp. 356-364
Development of an Autonomous Mobile Robot with Self-Localization and Searching Target in a Real Environment
Abstract
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Masatoshi Nomatsu, Youhei Suganuma, Yosuke Yui, and Yutaka Uchimura
: pp. 365-373
Color Extraction Using Multiple Photographs Taken with Different Exposure Time in RWRC
Abstract
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Kenji Yamauchi, Naoki Akai, and Koichi Ozaki
: pp. 374-381
A Person Detection Method Using 3D Laser Scanner – Proposal of Efficient Grouping Method of Point Cloud Data –
Abstract
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Kento Hosaka and Tetsuo Tomizawa
: pp. 382-391
New Lane Detection Algorithm that Emulates Human Color Recognition
Abstract
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Hideyuki Saito, Kazuyuki Kobayashi, Kajiro Watanabe, and Tetsuo Kinoshita
: pp. 392-400
Visual Navigation of a Wheeled Mobile Robot Using Front Image in Semi-Structured Environment
Abstract
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Keita Kurashiki, Mareus Aguilar, and Sakon Soontornvanichkit
: pp. 401-409
Integrated Autonomous Navigation System and Automatic Large Scale Three Dimensional Map Construction
Abstract
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Yusuke Fujino, Kentaro Kiuchi, Shogo Shimizu, Takayuki Yokota, and Yoji Kuroda
: pp. 410-418
Accurate Localization for Making Maps to Mobile Robots Using Odometry and GPS Without Scan-Matching
Abstract
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Masashi Yokozuka and Osamu Matsumoto

Regular Papers

: pp. 419-429
A Wearable Haptic Device Based on Twisting Wire Actuators for Feedback of Tactile Pressure Information
Abstract
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M. Reza Motamedi, David Florant, and Vincent Duchaine
: pp. 430-443
Blink-Spot Projection Method for Fast Three-Dimensional Shape Measurement
Abstract
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Jun Chen, Qingyi Gu, Tadayoshi Aoyama, Takeshi Takaki, and Idaku Ishii
: pp. 444-452
3D Dynamic Biped Walker with Flat Feet and Ankle Springs: Passive Gait Analysis and Extension to Active Walking
Abstract
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Tetsuya Kinugasa, Takashi Ito, Hiroaki Kitamura, Kazuhiro Ando, Shinsaku Fujimoto, Koji Yoshida, and Masatsugu Iribe

No.3

(Jun)

Regular papers

Regular Papers

: pp. 225-234
Linear Quadratic Optimal Regulator for Steady State Drifting of Rear Wheel Drive Vehicle
Abstract
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Ronnapee Chaichaowarat and Witaya Wannasuphoprasit
: pp. 235-243
Simulated and Experimental Comparisons of Slip and Torque Control Strategies for Regenerative Braking in Instances of Parametric Uncertainties
Abstract
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Maxime Boisvert, Philippe Micheau, and Didier Mammosser
: pp. 244-250
Study on Identification of Damage to Wind Turbine Blade Based on Support Vector Machine and Particle Swarm Optimization
Abstract
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Guimei Gu, Rang Hu, and Yuanyuan Li
: pp. 251-258
Parameter Tuning in the Application of Stochastic Resonance to Redundant Sensor Systems
Abstract
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Nagisa Koyama, Shuhei Ikemoto, and Koh Hosoda
: pp. 259-266
Impact Piezo-Driven Micro Dispenser and Precise Miniature XY Stage
Abstract
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Yuuka Irie, Shinnosuke Hirata, Chisato Kanamori, and Hisayuki Aoyama
: pp. 267-275
Energy-Saving High-Speed Pick-and-Place Robot Using In-Frame Parallel Spring
Abstract
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Jumpei Arata, Yuji Isogai, Junya Sumida, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri, and Makoto Hashizume
: pp. 276-285
Super Multi-Joint Manipulator by Using Creased Plate and Pneumatic Actuators Arranged Antagonistically
Abstract
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Shunon Kikuchi, Yasuyuki Yamada, Ryoichi Higashi, and Toshio Morita
: pp. 286-292
Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot
Abstract
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Kentaro Ueno, Tetsuo Kinoshita, Kazuyuki Kobayashi, and Kajiro Watanabe
: pp. 293-304
Behavior Acquisition in Partially Observable Environments by Autonomous Segmentation of the Observation Space
Abstract
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Kousuke Inoue, Tamio Arai, and Jun Ota
: p. 305
Power Assist Chair
Abstract
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Kazuto Miyawaki

No.2

(Apr)

Special Issue on Vision and Motion Control

Special Issue on Vision and Motion Control

: p. 121
Vision and Motion Control
Toyomi Fujita, Takayuki Tanaka, Satoru Takahashi, Hidenori Takauji, and Shun’ichi Kaneko

Robot vision is an important robotics and mechatronics technology for realizing intelligent robot systems that work in the real world. Recent improvements in computer processing are enabling environment to be recognized and robot to be controlled based on dynamic high-speed, highly accurate image information. In industrial application, target objects are detected much more robustly and reliably through high-speed processing. In intelligent systems applications, security systems that detect human beings have recently been applied positively in computer vision. Another attractive application is recognizing actions and gestures by detecting human – an application that would enable human beings and robots to interact and cooperate more smoothly when robots observe and assist human partners. This key technology could be used for aiding the elderly and handicapped in practical environments such as hospital, home, and so on. This special issue covers topics on robot vision and motion control including dynamic image processing. These articles are certain to be both informative and interesting to robotics and mechatronics researchers. We thank the authors for submitting their work and for assisting during the review process. We also thank the reviewers for their dedicated time and effort.

: pp. 122-125
Rehabilitation Systems Based on Visualization Techniques: A Review
Abstract
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Toshiaki Tsuji and Kunihiro Ogata
: pp. 126-135
A Robust Appearance Model and Similarity Measure for Image Matching
Abstract
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Dong Liang, Shun’ ichi Kaneko, and Yutaka Satoh
: pp. 136-145
Development of Automatic Steering System by Modeling Human Behavior Based on Optical Flow
Abstract
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Yuki Okafuji, Takanori Fukao, and Hiroshi Inou
: pp. 146-155
Complement Method for Obstructed Area on Images of Multiple Cameras Mounted Behind Crawler Shoe
Abstract
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Kenichi Tokuda, Tatsuya Hirayama, Tetsuya Kinugasa, Takafumi Haji, Hisanori Amano, and Kazunori Yasuda
: pp. 156-166
Model-Based Footstep Planning Method for Biped Walking on 3D Field
Abstract
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Daiki Kobayashi, Tomohito Takubo, and Atsushi Ueno
: pp. 167-173
Wearable Device for High-Speed Hand Pose Estimation with a Ultrasmall Camera
Abstract
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Motomasa Tomida and Kiyoshi Hoshino
: pp. 174-181
Stable Position and Pose Estimation of Industrial Parts Using Evaluation of Observability of 3D Vector Pairs
Abstract
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Shuichi Akizuki and Manabu Hashimoto
: pp. 182-190
Fast and Robust Vision System for Shogi Robot
Abstract
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Gou Koutaki and Keiichi Uchimura

Regular Papers

: pp. 191-199
Convenient Position Estimation of Distributed Sensors in Intelligent Spaces Using SLAM for Mobile Robots
Abstract
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Fumitaka Hashikawa and Kazuyuki Morioka
: pp. 200-207
Triboacoustic Localization for Mobile Device: Improving Accuracy & Noise Clustering
Abstract
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Yeng Weng Leong, Hiroaki Seki, Yoshitsugu Kamiya, and Masatoshi Hikizu
: pp. 208-214
Recognition of Center Circles for Encoded Targets in Digital Close-Range Industrial Photogrammetry
Abstract
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Huang Xuemei, Su Xinyong, and Liu Weihong

No.1

(Feb)

Regular papers

Regular Papers

: pp. 5-11
Study on Autonomous Intelligent Drive System Based on Potential Field with Hazard Anticipation
Abstract
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Ryosuke Matsumi, Pongsathorn Raksincharoensak, and Masao Nagai
: pp. 12-23
Real-Time Image Mosaicing System Using a High-Frame-Rate Video Sequence
Abstract
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Qingyi Gu, Sushil Raut, Ken-ichi Okumura, Tadayoshi Aoyama, Takeshi Takaki, and Idaku Ishii
: pp. 32-40
Landing Motion of a Legged Robot with Minimization of Impact Force and Joint Torque
Abstract
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Xianglong Wan, Takateru Urakubo, and Yukio Tada
: pp. 41-48
New Urea-SCR Control System for Super Clean Diesel
Abstract
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Hisao Haga, Eiji Hashimoto, Koichi Nakajima, Hideki Matsunaga, and Yuji Yasui
: pp. 49-56
Nonlinear Perfect Tracking Control for a Robot Arm with Uncertainties Using Operator-Based Robust Right Coprime Factorization Approach
Abstract
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Aihui Wang, Dongyun Wang, Haiquan Wang, Shengjun Wen, and Mingcong Deng
: pp. 57-63
Self-Generation of Reward by Moderate-Based Index for Senor Inputsvspace
Abstract
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Kentarou Kurashige and Kaoru Nikaido
: pp. 64-73
Reduction of Distance Drift with Temperature in Uniaxial Laser Rangefinder by Using Multiecho Sensing
Abstract
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Kouhei Ito, Akihisa Ohya, Naohiro Shimaji, and Takeshi Aoki
: pp. 74-82
Fast Motion of Path Tracking Task with Constant Hand Speed Using Redundant Manipulator
Abstract
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Kousuke Okabe and Yasumichi Aiyama
: pp. 83-90
Operator-Based Sliding-Mode Nonlinear Control Design for a Process with Input Constraint
Abstract
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Dongyun Wang, Fengguang Li, Shengjun Wen, Xiaomin Qi, Ping Liu, and Mingcong Deng
: pp. 91-102
Restaurant Service Robots Development in Thailand and Their Real Environment Evaluation
Abstract
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Akkharaphong Eksiri and Tetsuya Kimura
: pp. 103-104
Unobtrusive Tremor Detection While Gesture Controlling a Robotic Arm
Abstract
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Jörg Güttler, Dany Bassily, Christos Georgoulas, Thomas Linner, and Thomas Bock
: pp. 105-106
GEWOS — A Mechatronic Personal Health & Fitness Assistance System
Abstract
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Thomas Linner and Thorsten Schulz
: p. 107
LISA — A Mechatronic Wall for Assistance with ADLs
Abstract
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Christos Georgoulas, Jörg Güttler, Thomas Linner, and Thomas Bock
: p. 108
The Development of Intra-House Mobility, Logistics and Transfer Solutions in PASSAge
Abstract
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Thomas Bock, Jörg Güttler, Christos Georgoulas, and Thomas Linner
: p. 109
USA² — Ubiquitous and Robot Assisted Cloud Manufacturing in an Ageing Society
Abstract
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Thomas Linner, Jörg Güttler, Christos Georgoulas, and Thomas Bock
: pp. 110-111
Link Type Arm Support Equipment
Abstract
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Kazuto Miyawaki

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