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JRM

Journal of Robotics and Mechatronics

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

Indexed in ESCI, Scopus, Compendex (Ei)

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2022-07-19T16:19:37+0000

Vol.29 (2017)

No.6

(Dec)

Special Issue on Educational Robotics

Special Issue on Educational Robotics

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

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

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

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

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

Regular Papers

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

No.5

(Oct)

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

Review on Digital Human Models for Human-Centered Design

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

Special Issue on AI, Robotics, and Automation in Space

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

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

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

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

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

Regular Papers

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

No.4

(Aug)

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

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

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

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

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

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

Regular Papers

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

3D Printer for Robotics and Mechatronics

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

No.3

(Jun)

Special Issue on Dynamically and Biologically Inspired Legged Locomotion

Special Issue on Dynamically and Biologically Inspired Legged Locomotion

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

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

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

Regular Papers

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

No.2

(Apr)

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

Review on Current Status and Future Trends on Robot Vision Technology

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

Special Issue on Innovative Technology for Nursing Care and Nosotrophy

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

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

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

Regular Papers

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

No.1

(Feb)

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

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

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

Special Issue on Robot Audition Technologies

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

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

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

Regular Papers

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

Vol.28 (2016)

No.6

(Dec)

Regular papers

Regular Papers

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

No.5

(Oct)

Special Issue on New Development in Adaptive & Learning Control

Special Issue on New Development in Adaptive & Learning Control

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

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

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

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

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

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

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

Regular Papers

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

No.4

(Aug)

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

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

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

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

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

Regular Papers

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

No.3

(Jun)

Special Issue on Autonomous Flying Robot

Special Issue on Autonomous Flying Robot

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

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

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

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

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

Regular Papers

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

No.2

(Apr)

Special Issue on Construction and Built Environment

Special Issue on Construction and Built Environment

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

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

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

Regular Papers

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

No.1

(Feb)

Regular papers

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

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

Regular Papers

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

Grand Robots Museum

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

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

Regular Papers

: pp. 681-690
FPGA-Based Stereo Vision System Using Gradient Feature Correspondence
Abstract
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
Michio Tanaka, Hiroki Matsubara, and Takashi Morie
: pp. 698-705
Simple Trajectory Control Method of Robot Arm Using Flexible Pneumatic Cylinders
Abstract
Mohd Aliff, Shujiro Dohta, and Tetsuya Akagi
: pp. 706-713
Study on Presentation System for Walking Training Using High-Performance Shoes
Abstract
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
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
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
Masashi Sugimoto and Kentarou Kurashige
: pp. 480-488
Visual Measurement for On-Orbit Reflector Assembly
Abstract
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
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
Kuat Telegenov, Yedige Tlegenov, Shahid Hussain, and Almas Shintemirov
: pp. 504-512
Flexible Parallel Link Mechanism Using Tube-Type Dielectric Elastomer Actuators
Abstract
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
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
Ran Xiao, Yaping Ma, Boyan Huang, Yegui Xiao, and Koji Hasegawa
: pp. 528-534
Gait Analysis with Automatic Speed-Controlled Treadmill
Abstract
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
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
Akio Namiki and Fumiyasu Takahashi
: pp. 552-562
Fictitious Target-Trajectory Forming Control for Redundant Manipulator and Active Regulation of Impulsive Forces
Abstract
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
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
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
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
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
Shin'ichi Yuta
: pp. 327-336
Development of Mobile Robot “SARA” that Completed Mission in Real World Robot Challenge 2014
Abstract
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
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
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
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
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
Kento Hosaka and Tetsuo Tomizawa
: pp. 382-391
New Lane Detection Algorithm that Emulates Human Color Recognition
Abstract
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
Keita Kurashiki, Mareus Aguilar, and Sakon Soontornvanichkit
: pp. 401-409
Integrated Autonomous Navigation System and Automatic Large Scale Three Dimensional Map Construction
Abstract
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
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
M. Reza Motamedi, David Florant, and Vincent Duchaine
: pp. 430-443
Blink-Spot Projection Method for Fast Three-Dimensional Shape Measurement
Abstract
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
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
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
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
Guimei Gu, Rang Hu, and Yuanyuan Li
: pp. 251-258
Parameter Tuning in the Application of Stochastic Resonance to Redundant Sensor Systems
Abstract
Nagisa Koyama, Shuhei Ikemoto, and Koh Hosoda
: pp. 259-266
Impact Piezo-Driven Micro Dispenser and Precise Miniature XY Stage
Abstract
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
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
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
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
Kousuke Inoue, Tamio Arai, and Jun Ota
: p. 305
Power Assist Chair
Abstract
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
Toshiaki Tsuji and Kunihiro Ogata
: pp. 126-135
A Robust Appearance Model and Similarity Measure for Image Matching
Abstract
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
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
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
Daiki Kobayashi, Tomohito Takubo, and Atsushi Ueno
: pp. 167-173
Wearable Device for High-Speed Hand Pose Estimation with a Ultrasmall Camera
Abstract
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
Shuichi Akizuki and Manabu Hashimoto
: pp. 182-190
Fast and Robust Vision System for Shogi Robot
Abstract
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
Fumitaka Hashikawa and Kazuyuki Morioka
: pp. 200-207
Triboacoustic Localization for Mobile Device: Improving Accuracy & Noise Clustering
Abstract
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
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
Ryosuke Matsumi, Pongsathorn Raksincharoensak, and Masao Nagai
: pp. 12-23
Real-Time Image Mosaicing System Using a High-Frame-Rate Video Sequence
Abstract
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
Xianglong Wan, Takateru Urakubo, and Yukio Tada
: pp. 41-48
New Urea-SCR Control System for Super Clean Diesel
Abstract
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
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
Kentarou Kurashige and Kaoru Nikaido
: pp. 64-73
Reduction of Distance Drift with Temperature in Uniaxial Laser Rangefinder by Using Multiecho Sensing
Abstract
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
Kousuke Okabe and Yasumichi Aiyama
: pp. 83-90
Operator-Based Sliding-Mode Nonlinear Control Design for a Process with Input Constraint
Abstract
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
Akkharaphong Eksiri and Tetsuya Kimura
: pp. 103-104
Unobtrusive Tremor Detection While Gesture Controlling a Robotic Arm
Abstract
Jörg Güttler, Dany Bassily, Christos Georgoulas, Thomas Linner, and Thomas Bock
: pp. 105-106
GEWOS — A Mechatronic Personal Health & Fitness Assistance System
Abstract
Thomas Linner and Thorsten Schulz
: p. 107
LISA — A Mechatronic Wall for Assistance with ADLs
Abstract
Christos Georgoulas, Jörg Güttler, Thomas Linner, and Thomas Bock
: p. 108
The Development of Intra-House Mobility, Logistics and Transfer Solutions in PASSAge
Abstract
Thomas Bock, Jörg Güttler, Christos Georgoulas, and Thomas Linner
: p. 109
USA² — Ubiquitous and Robot Assisted Cloud Manufacturing in an Ageing Society
Abstract
Thomas Linner, Jörg Güttler, Christos Georgoulas, and Thomas Bock
: pp. 110-111
Link Type Arm Support Equipment
Abstract
Kazuto Miyawaki

Vol.26 (2014)

No.6

(Dec)

JRM’s 25 Years Anniversary of Publication Reviews
Special Issue on Human Centric, Universal and Interactive Design for Robotics and Mechatronics

JRM’s 25 Years Anniversary of Publication Reviews

: pp. 673-684
NANBA Walking Robot (JIZAI Movement of Physical Body Using State Transition with Instability)
Abstract
Yoshihiko Kawazoe
: pp. 685-690
Understanding of Falling Cat Phenomenon and Realization by Robot
Abstract
Takashi Kawamura

Special Issue on Human Centric, Universal and Interactive Design for Robotics and Mechatronics

: p. 691
Human Centric, Universal and Interactive Design for Robotics and Mechatronics
Noriyuki Kawarazaki, Tadashi Yoshidome, Nobuto Matsuhira, and Takayuki Tanaka

According to the aged society in Japan, the expectation is high for the development of the human support robot or devices in daily life and in medical treatment and welfare. The human centered design and the universal design are very important concept for creating the useful human support devices. Human centric and universal designs are the designs of products and environments to be usable by all people, to the greatest extent possible, without the need for adaptation or specialized design. This special issue provides current researches and developments of human centric, universal and interactive design for robotics and mechatronics. Also, this special issue covers a broad range of research topics, such as human centric design, universal and interactive design, human machine interaction, transport system, housing environment system, rehabilitation devices, multi modal interface, evaluation of the usability, sensor/actuator technologies for assistive system, robotics and mechatronics to support elderly persons. We thank the authors for their fine contributions and the reviewers for their generous time and effort. In closing, we thank the Editorial Board of the Journal of Robotics and Mechatronics for helping make this issue possible.

: pp. 692-703
Development of Expanded Periodical Input Control for Periodic Motion with Multiple Frequency Components
Abstract
Takuto Yoshifuji, Takayuki Tanaka, and Takashi Kusaka
: pp. 704-717
Image-Projecting Desktop Arm Trainer for Hand-Eye Coordination Training
Abstract
Takafumi Matsumaru, Yang Liu, Yi Jiang, and Chuankai Dai
: pp. 718-734
Human Detecting and Following Mobile Robot Using a Laser Range Sensor
Abstract
Jianzhao Cai and Takafumi Matsumaru
: pp. 735-742
A Supporting System of Choral Singing for Visually Impaired Persons Using Depth Image Sensor
Abstract
Noriyuki Kawarazaki, Yuhei Kaneishi, Nobuyuki Saito, and Takashi Asakawa
: pp. 743-749
Estimation of Care Receiver’s Position Based on Tactile Information for Transfer Assist Using Dual Arm Robot
Abstract
Yuki Mori, Ryojun Ikeura, and Ming Ding
: pp. 750-757
Design and Control of a Human-Operated Biped Robot for Transportation of Objects
Abstract
Naoki Uchiyama, Dai Kurita, and Shigenori Sano
: pp. 758-771
Proposal of Framework Based on 4W1H and Properties of Robots and Objects for Development of Physical Service System
Abstract
Yukihiro Nakamura, Shin-yo Muto, Yoshio Maeda, Makoto Mizukawa, Manabu Motegi, and Youichi Takashima
: pp. 772-779
Communication Method of Time Synchronization and Strength Using Haptic Interface
Abstract
Takashi Asakawa and Noriyuki Kawarazaki
: pp. 780-789
Control Method for Power Assisted Cart Using Walking Effect Prediction Aimed at Improvement of Load Reduction Ratio
Abstract
Norihiro Kobayashi and Takayuki Tanaka

Regular Papers

: pp. 791-798
Analysis of Trunk Stabilization Effect by Passive Power-Assist Device
Abstract
Yumeko Imamura, Takayuki Tanaka, Yoshihito Suzuki, Kazuki Takizawa, and Masanori Yamanaka
: pp. 799-808
One-Step Prediction for Improving Gear Changing Control of HEVs
Abstract
Mohammad Khodabakhshian, Lei Feng, and Jan Wikander
: pp. 809-810
Sushi Robot: Robotic Technology that Supports Food Culture – Suzumo Machinery Co., Ltd. –
Abstract
JRM staff writer

No.5

(Oct)

JRM’s 25 Years Anniversary of Publication Reviews

JRM’s 25 Years Anniversary of Publication Reviews

: pp. 529-539
Current State of the Art of Multi-Axis Control Machine Tools and CAM System
Abstract
Yoshimi Takeuchi
: pp. 540-549
Development of Robotic Unicycles
Abstract
Hisanobu Suzuki, Shunji Moromugi, and Takeshi Okura

Regular Papers

: pp. 551-565
A Path-Following Feedback Control Law of a Five-Axle, Three-Steering Coupled-Vehicle System
Abstract
Hiroaki Yamaguchi, Ryota Kameyama, and Atsushi Kawakami
: pp. 566-572
3-1 Piecewise NCP Function for New Nonmonotone QP-Free Infeasible Method
Abstract
Ailan Liu and Dingguo Pu
: pp. 573-579
Reachability and Controllability Analysis of Periodic Switched Boolean Control Networks
Abstract
Zhiqiang Li, Jinli Song, and Huimin Xiao
: pp. 580-591
Effects of Haptic and 3D Audio Feedback on Operator Performance and Workload for Quadrotor UAVs in Indoor Environments
Abstract
Robert M. Philbrick and Mark B. Colton
: pp. 592-599
Kinematics Analysis of Serial-Parallel Hybrid Humanoid Robot in Reaching Movement
Abstract
Li Qin, Fucai Liu, Tiantian Hou, and Lihuan Liang
: pp. 600-606
Development of Energy Management of Hybrid Electric Vehicle for Improving Fuel Consumption via Sequential Approximate Optimization
Abstract
Ryuhei Hagura and Satoshi Kitayama
: pp. 607-615
Network-Wide Optimization of Traffic Signals Using Mixed Integer Programming
Abstract
Md. Abdus Samad Kamal, Jun-ichi Imura, Tomohisa Hayakawa, Akira Ohata, and Kazuyuki Aihara
: pp. 616-621
Mobile Nodes Deployment Scheme Design Based on Perceived Probability Model in Heterogeneous Wireless Sensor Network
Abstract
Ningning Wu, Juwei Zhang, Qiangyi Li, Shiwei Li, Yachuang Liu, Yale Wang, and Zhumu Fu
: pp. 622-627
Analysis and Optimization for Balancing Mechanism of High-Speed & Heavy-Load Manipulators
Abstract
Yongfei Xiao, Shuhui Bi, Xuelin Wang, Xiangdong Li, and Xinjian Fan
: pp. 628-637
Driver Speed Control Modeling for Predictive Braking Assistance System Based on Risk Potential in Intersections
Abstract
Pongsathorn Raksincharoensak, Yuta Akamatsu, Katsumi Moro, and Masao Nagai
: pp. 638-648
Fluid-Structure Interaction Analysis of a Soft Robotic Fish Using Piezoelectric Fiber Composite
Abstract
Wenjing Zhao, Aiguo Ming, Makoto Shimojo, Yohei Inoue, and Hiroshi Maekawa
: pp. 649-655
Monitoring System for Elderly People Using Passive RFID Tags
Abstract
Yoshikazu Mori and Shinichiro Kido

Grand Robots Museum

: pp. 657-658
Autonomous Mobile Robot MAUV – Mission Achievement on Tsukuba Challenge 2011, 12 and 13 –
Abstract
Naoki Akai, Kazumichi Inoue, Sam Ann Rahok, Masatoshi Shinohara, and Koichi Ozaki
: p. 659
Development of a Personal Mobility Robot “NENA”
Abstract
Kazumichi Inoue, Naoki Akai, and Koichi Ozaki
: pp. 660-661
Satellite, Planetary or Terrestrial Subsurface Explorer Robot Based on Earthworm Locomotion
Abstract
Hayato Omori, Hiroyuki Kitamoto, Asuka Mizushina, Taro Nakamura, and Takashi Kubota
: pp. 662-664
Manzai Robots: Entertainment Robots Based on Auto-Created Manzai Scripts from Web News Articles
Abstract
Tomohiro Umetani, Ryo Mashimo, Akiyo Nadamoto, Tatsuya Kitamura, and Hirotaka Nakayama

No.4

(Aug)

JRM’s 25 Years Anniversary of Publication Reviews
Special Issue on “What can We do for Developing Search and Rescue Robot?”

JRM’s 25 Years Anniversary of Publication Reviews

: pp. 403-417
Technology of Unmanned Construction System in Japan
Abstract
Kazuhiro Chayama, Akira Fujioka, Kenji Kawashima, Hiroshi Yamamoto,Yasushi Nitta, Chikao Ueki, Atsushi Yamashita, and Hajime Asama
: pp. 418-425
Trends of Robot Therapy with Neurological Therapeutic Seal Robot, PARO
Abstract
Takanori Shibata and Joseph F. Coughlin
: pp. 426-433
Development of Flexible Manufacturing System
Abstract
Yasuhiko Yamazaki, Katsuhiko Sugito, and Sojiro Tsuchiya

Special Issue on “What can We do for Developing Search and Rescue Robot?”

: p. 435
“What can We do for Developing Search and Rescue Robot?”
Koichi Osuka

As a disaster-prone country, Japan has endured many earthquake disasters. The latest cases include the 1995 Great Hanshin-Awaji earthquake disaster, the 2004 Niigata Chuetsu earthquake, and the 2011 Great East Japan earthquake. Since the 1995 Great Hanshin-Awaji earthquake in particular, many robot researchers have started undertaking the research and development of rescue robots. Their practical applications have a long way to go, so to continue ongoing robot research and development, we should also be aware that comparatively few researchers and engineers are actually engaged in such research and development. Great earthquakes (or tsunami) are both rare and unpredictable, which makes it very difficult to establish research policies for rescue robots intended for specialized use in disaster response. We should also realize that Japan is almost constantly hit by one or another every year – e.g., the typhoons that hit Japan directly every year and themselves triggering other disasters caused by landslides or avalanches due to heavy rainfall. The Japanese populace is so accustomed to such happenings but, nevertheless, few actions have been taken unlike those against large-scale earthquakes. It is often said that an effective disaster response system can only be developed after we have experienced many actual disasters. It then occurs to us that we must first construct disaster response systems – rescue robots, etc. – directly targeting daily natural disasters. Any large-scale disaster response system can be built on such constant efforts. On the other hand, any disaster response system against daily natural disasters could only be developed by locally domiciled researchers and engineers. This makes us feel that it is possible to increase the number of personnel who become involved in disaster response research and development. Based on the above context, this special issue provides a wide range of articles on region-specific disasters and disaster response actions, focusing on their localities and specialties. We sincerely hope that this special issue will help in promoting research and development on rescue robots and putting them to practical use.

: pp. 436-441
Recent Trends and Issues of Volcanic Disaster Response with Mobile Robots
Abstract
Keiji Nagatani
: pp. 442-448
Desired Robot Technology in Consideration of the Records on Natural Disasters in Kyushu Region
Abstract
Ryota Hayashi
: pp. 449-453
The Application of Robot Technologies to Disasters from Torrential Rains on Japan’s Kii Peninsula
Abstract
Kenichi Tokuda
: pp. 454-459
Utilization of Robot Technology for Earthquake, Storm, and Flood Problems in the Tokai Region
Abstract
Masayuki Okugawa
: pp. 460-468
New Body Design for Flexible Mono-Tread Mobile Track: Layered Structure and Passive Retro-Flexion
Abstract
Takafumi Haji, Tetsuya Kinugasa, Shinichi Araki, Daiki Hanada, Koji Yoshida,Hisanori Amano, Ryota Hayashi, Kenichi Tokuda, and Masatsugu Iribe
: pp. 469-476
Small Search Robot Consisting of Plural Driving Wheels Connected by Flexible Shafts
Abstract
Ryota Hayashi, Kenta Nicho, Yong Yu, Tetsuya Kinugasa, and Hisanori Amano
: pp. 477-485
Deformable Anchor Ball for Thrown Referring to Octopus Suckers
Abstract
Hideyuki Tsukagoshi, Kazutaka Fuchigami, Eyri Watari, and Ato Kitagawa
: pp. 486-495
A Basic Framework of Virtual Reality Simulator for Advancing Disaster Response Work Using Teleoperated Work Machines
Abstract
Mitsuhiro Kamezaki, Junjie Yang, Hiroyasu Iwata, and Shigeki Sugano
: pp. 496-504
Development of the Stretcher with the Vibration Isolator Using Nonlinear-Structure
Abstract
Yuki Iwano, Satoru Horai, Koichi Osuka, and Hisanori Amano

Regular Papers

: pp. 505-512
A Control Method for a Swarm of Plant Pot Robots that Uses Artificial Potential Fields for Effective Utilization of Sunlight
Abstract
Masato Yuasa and Ikuo Mizuuchi

Grand Robots Museum

: pp. 513-514
Babyloid
Abstract
Masayoshi Kanoh
: pp. 515-517
pico-FCV: Small Single-Operator Electric-Vehicle Using 20 W Hydrogen Fuel Cell Developed for Mechatronics Education
Abstract
Yoshihiko Takahashi, Masayuki Tomike, and Takahiro Hirayama
: p. 518
Impedance Control of Two d.o.f. CPM Device for Elbow Joint
Abstract
Nobutomo Matsunaga, Shota Miyaguchi, Hiroshi Okajima, and Shigeyasu Kawaji
: pp. 519-521
Autonomous Underwater Vehicle “Tuna-Sand” for Image Observation of the Seafloor at a Low Altitude
Abstract
Yuya Nishida, Tamaki Ura, Takeshi Nakatani, Takashi Sakamaki, Junichi Kojima, Yuzuru Itoh, and Kangsoo Kim

No.3

(Jun)

JRM’s 25 Years Anniversary of Publication Reviews

JRM’s 25 Years Anniversary of Publication Reviews

: pp. 279-286
Development of Bottom-Reliant Type Underwater Robots
Abstract
Toshihisa Naruse
: pp. 287-301
High-Speed Vision and its Application Systems
Abstract
Taku Senoo, Yuji Yamakawa, Yoshihiro Watanabe, Hiromasa Oku, and Masatoshi Ishikawa
: pp. 302-309
Development of Rehabilitation Systems for the Limbs Using Functional Fluids
Abstract
Junji Furusho and Makoto Haraguchi

Regular Papers

: pp. 311-320
High-Frame-Rate Structured Light 3-D Vision for Fast Moving Objects
Abstract
Yongjiu Liu, Hao Gao, Qingyi Gu, Tadayoshi Aoyama, Takeshi Takaki, and Idaku Ishii
: pp. 321-330
On-Line Collision Avoidance of Two Command-Based Industrial Robotic Arms Using Advanced Collision Map
Abstract
Ahmad Yasser Afaghani and Yasumichi Aiyama
: pp. 331-340
Robust Hybrid Control for Two-Dimensional Handheld Micromanipulator
Abstract
Sungwan Boksuwan, Taworn Benjanarasuth, Chisato Kanamori, and Hisayuki Aoyama
: pp. 341-348
Parameter Study of a Step-Climbing Machine for Heavy Load Carriers
Abstract
Shinji Kajiwara
: pp. 349-357
Evaluation of Driving Method of the Flexible Body Moving in Narrow Flow Passage
Abstract
Akio Yamano, Atsuhiko Shintani, Tomohiro Ito, and Chihiro Nakagawa
: pp. 358-368
Characteristics and Individual Differences of Human Actions for Avoiding Harm to Eyes from a Robot
Abstract
Takamasa Hattori, Yoji Yamada, Shogo Okamoto, Shuji Mori, and Shunsuke Yamada
: pp. 369-376
A Discrete Adaptive Auction-Based Algorithm for Task Assignments of Multi-Robot Systems
Abstract
Xuefeng Dai, Zhifeng Yao, and Yan Zhao
: pp. 377-387
Development of Robotic Defecation Simulator
Abstract
Koushi Tokoro, Takuya Hashimoto, and Hiroshi Kobayashi

Grand Robots Museum

: pp. 389-390
Development of Power-Assist Machine Using Linkage Mechanism
Abstract
Hiroyuki Inoue
: pp. 391-393
Robotic Fish
Abstract
Yogo Takada, Keisuke Koyama, and Takahiro Usami
: pp. 394-395
Aerial Cargo Robot (Cargo UAV)
Abstract
Kakuya Iwata and Osamu Matsumoto
: pp. 396-397
Remote Ultrasound Diagnostic System (RUDS)
Abstract
Norihiro Koizumi, Takehiko Tsurumi, Takahiro Kato, Shin’ichi Warisawa, Mitsuru Nagoshi, Hiroyuki Hashizume, and Mamoru Mitsuishi

No.2

(Apr)

JRM’s 25 Years Anniversary of Publication Reviews
Special Issue on Real World Robot Challenge in Tsukuba – Technology for the Coexistence with Human Beings –

JRM’s 25 Years Anniversary of Publication Reviews

: pp. 127-133
Development and Applications of the SCARA Robot
Abstract
Yasunori Yamazaki
: pp. 134-139
Development of Revolutionary Automation Line for Meter Gauge
Abstract
Koichi Fukaya, Sojiro Tsuchiya, and Yasuhiko Yamazaki
: pp. 140-147
A Simple, Natural and Effective Framework of Nonlinear Systems Control and its Application to Aerial Robots
Abstract
Motoyasu Tanaka, Hiroshi Ohtake, and Kazuo Tanaka

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

: pp. 149-150
Real World Robot Challenge in Tsukuba – Technology for the Coexistence with Human Beings –
Yoshihiro Takita, Shin’ichi Yuta, Takashi Tsubouchi, and Koichi Ozaki

Robotics researchers appear to have shifted their focus since the Great East Japan Earthquake. Despite a large-scale national R&D project on Advanced Robots for Hazardous Environments for 8 years from 1983, the technology has not been put to use effectively following the Great Hanshin Earthquake and researchers are starting to look more closely at applications enabling robots to replace human beings, e.g., by rescuing victims of earthquake and flood disasters. A good example is Quince and the remote-controlled heavy equipment used to handle the pyroclastic flow at Unzen volcano in 1991 and then mobilized at the Fukushima Daiichi nuclear power plant following the Great East Japan Earthquake and tsunami in 2011. Robotics researchers of the past only used to describe their dream proposals when asked what robots could accomplish. Since the 2011 disaster event, however, it has become clear that the issues we should be looking at are those of developing robots that are practical and useful. If we are asked what role the real-world competition Tsukuba Challenge plays in this context, would first recommend that those who hope to take part visit the actual site and see for themselves what they must do to field a winning robot. The Tsukuba Challenge site includes public thoroughfares traversed by pedestrians and cyclists. Although there are no cars or motorcycles on these paths, almost anything can happen. From hot summer until cooler fall when the official run is held daily temperature, rain, wind and typhoons, and trees – all of which must be detected for navigation – undergo many changes. These changes require that robots navigate accurately in this real-world environment. In general, robotics research papers are accepted for publication if robots can navigate as planned in a restricted and fixed mobile environment even if they can do so only once. In the Tsukuba Challenge, however, many things can go wrong and robot maneuvers can become unstable or even nonmobile, regardless of successful navigation in laboratory settings. There is no space here to discuss all possible factors, but the established navigation method by one paper is not always successful and responsible in the actual Tsukuba Challenge environment. Robots historically came to be as devices operated by human beings, but those taking part in the Challenge must be controlled by computers instead of human operators. This means that it must be confirmed that robots can operate as required in experiments meeting various conditions. Teams may conduct ten or so trial runs a year on the actual route so that their systems can be adequately adjusted and modified. The total process that competing in the Tsukuba Challenge requires also has an educational effect in grooming new talent in robotics. The Challenge differs from the DARPA Grand Challenge and Urban Challenge, held from 2004 to 2007, in the size – robots must not be too big and must not appear threatening – and the need to take the presence of human beings into consideration. Although the task from 2007 to 2012 had been only to navigate a preset route and reach a final goal, still the percentage of successful runs has declined. From 2013 on, another task has been added – that of locating specific persons (search targets) within given areas – to encourage the use of advanced technology in realizing useful robots. Those interested may see the results on the Tsukuba Challenge website as follow: http://www.tsukubachallenge.jp/tc2013. The selection of articles for this special issue emphasized the following criteria: 1) For robots successfully completing required tasks, describing and discussing the superiority of the control technology and results. 2) For unsuccessful robots, clearly analyzing how the actual run differed from researchers’ expectations and pinpointing the underlying causes of failure. The submitted papers describe technologies that have enabled robots to navigate in spaces shared with human beings, and we hope that a study of these papers will spur readers to accelerate advances in autonomous mobile robots.

: pp. 151-157
Person Detection Method Based on Color Layout in Real World Robot Challenge 2013
Abstract
Kenji Yamauchi, Naoki Akai, Ryutaro Unai, Kazumichi Inoue, and Koichi Ozaki
: pp. 158-165
Autonomous Navigation Based on Magnetic and Geometric Landmarks on Environmental Structure in Real World
Abstract
Naoki Akai, Kazumichi Inoue, and Koichi Ozaki
: pp. 166-176
Development of the Autonomous Mobile Robot for Target-Searching in Urban Areas in the Tsukuba Challenge 2013
Abstract
Junji Eguchi and Koichi Ozaki
: pp. 177-184
A Robust NavigationMethod for Mobile Robots in Real-World Environments
Abstract
Sam Ann Rahok, Hirohisa Oneda, Akio Tanaka, and Koichi Ozaki
: pp. 185-195
Pre-Driving Needless System for Autonomous Mobile Robots Navigation in Real World Robot Challenge 2013
Abstract
Masanobu Saito, Kentaro Kiuchi, Shogo Shimizu, Takayuki Yokota, Yusuke Fujino, Takato Saito, and Yoji Kuroda
: pp. 196-203
Three Tiered Self-Localization of Two Position Estimation Using Three Dimensional Environment Map and Gyro-Odometry
Abstract
Kazuya Okawa
: pp. 204-213
Development of Intelligent Mobile Cart in a Crowded Environment – Robust Localization Technique with Unknown Objects –
Abstract
Satoshi Muramatsu, Tetsuo Tomizawa, Shunsuke Kudoh, and Takashi Suehiro
: pp. 214-224
Autonomous Navigation of a Mobile Robot Based on GNSS/DR Integration in Outdoor Environments
Abstract
Taro Suzuki, Mitsunori Kitamura, Yoshiharu Amano, and Nobuaki Kubo
: pp. 225-235
Minimal Autonomous Mover – MG-11 for Tsukuba Challenge –
Abstract
Toshiaki Shioya, Kazushige Kogure, and Naoya Ohta
: pp. 236-244
A Reasonable Path Planning via Path Energy Minimization
Abstract
Masashi Yokozuka and Osamu Matsumoto

Regular Papers

: pp. 245-252
Precision Improvement of Position Measurement Using Two Ultrasonic Land Markers
Abstract
Katsuhiko Tabata, Toshiaki Iwai, Shigeki Kudomi, Yoshimichi Endo, and Yoshifumi Nishida
: pp. 253-260
Basic Study for New Assistive Technology Based on Brain Activity During Car Driving
Abstract
Shunji Shimizu, Hiroaki Inoue, Hiroyuki Nara, Takeshi Tsuruga, Fumikazu Miwakeichi, Nobuhide Hirai, Senichiro Kikuchi, Eiju Watanabe, and Satoshi Kato

Grand Robots Museum

: p. 261
Performance of Wheel-Typed Vehicle with Crawlers in Between Front and Rear Wheels on Soft Ground
Abstract
Ryosuke Eto, Tomoaki Satomi, and Hiroshi Takahashi
: pp. 262-263
A Cruising AUV r2D4: Intelligent Multirole Platform for Deep-Sea Survey
Abstract
Kangsoo Kim and Tamaki Ura
: p. 264
Force Masking Humanoid Robot System
Abstract
Chyon Hae Kim, Kenta Yonekura, and Shigeki Sugano
: pp. 265-266
Swimming Humanoid Robot “SWUMANOID” as an Experimental Platform for Research of Human Swimming
Abstract
Changhyun Chung and Motomu Nakashima
: pp. 267-268
Asparagus Harvesting Robot
Abstract
Naoki Irie and Nobuyoshi Taguchi
: pp. 269-270
Human Symbiotic Assist Arm PAS-Arm
Abstract
Mineo Higuchi

No.1

(Feb)

Message from JRM Editor-in-Chief
JRM’s 25 Years Anniversary of Publication Reviews

Message from JRM Editor-in-Chief

: p. 3
Message from JRM Editor-in-Chief
Yoshihiro Takita

JRM’s 25 Years Anniversary of Publication Reviews

: pp. 5-8
Development of the SCARA
Abstract
Hiroshi Makino
: pp. 9-14
Parallel Bicycles and Their Applications
Abstract
Maria Q. Feng, Takashi Kawamura, and Takayuki Tanaka
: pp. 15-16
Autonomous Walking Humanoid that Astonished the World – Honda’s ASIMO
Abstract
JRM staff writer

Regular Papers

: pp. 17-33
Telerobotic Control System to Enhance Rescue Operations for Arm-Equipped Tracked Vehicle HELIOS IX
Abstract
Ryuichi Hodoshima, Koji Ueda, Hiroaki Ishida, Michele Guarnieri, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 34-39
Simulation and Measurement of Fuel Injection Quantity Based on TB4P
Abstract
Dongmin Li, Jianzhong Zhang, Jianjun Yuan, FancanGuo, and Huiming Wang
: pp. 40-50
Experimental Comparison of Two Ceiling Hanging Mobile Robots Through Real Prototypes Development
Abstract
Rui Fukui, Hiroshi Morishita, and Tomomasa Sato
: pp. 51-58
Reconstruction of Human Skills by Using PCA and Transferring them to a Robot
Abstract
Masahiro Takeuchi, Jun Shimodaira, Yuki Amaoka, Shinsuke Hamatani, Hiroaki Hirai, and Fumio Miyazaki
: pp. 59-67
Inside Vehicle Inspection System Utilizing a Mobile Robot with LRF Sensor
Abstract
Sanngoen Wanayuth, Akihisa Ohya, and Takashi Tsubouchi
: pp. 68-77
Development of Mobile Robot System Equipped with Camera and Laser Range Finder Realizing HOG-Based Person Following and Autonomous Returning
Abstract
Masashi Awai, Atsushi Yamashita, Takahito Shimizu, Toru Kaneko, Yuichi Kobayashi, and HajimeAsama
: pp. 78-84
Simple Virtual Reality Skill Training System for Manual Arc Welding
Abstract
Xin Liang, Hideo Kato, Nobuyoshi Hashimoto, and Kazuya Okawa
: pp. 85-94
Development of Surface Wave Mechanism: Proposition of the Concept and Experiment of Prototypes
Abstract
Yu-Chun Fu, Edwardo F. Fukushima, and Shigeo Hirose

Grand Robots Museum

: pp. 96-97
Wireless Remote Controlled Electromagnet-Type Moving Microrobot
Abstract
Masahiro Isogai
: pp. 98-99
Simple Legged Robots that Reveal Biomechanical and Neuromechanical Functions in Locomotion Dynamics
Abstract
Shinya Aoi
: p. 100
Myoelectric Prosthetic Hand with High Grasping Force
Abstract
Haruhisa Kawasaki and Tetsuya Mouri
: pp. 101-102
Rope Turning Humanoid Robot System
Abstract
Chyon Hae Kim, Kenta Yonekura, and Shigeki Sugano
: pp. 103-104
Hand Motion Assist Robot for Rehabilitation Therapy
Abstract
Haruhisa Kawasaki, Satoshi Ito, Yutaka Nishimoto, Satoshi Ueki, Yasutaka Ishigure, and Tetsuya Mouri
: pp. 105-106
Pneumatically-Driven Active Cord Mechanism “Slim Slime Robot”
Abstract
Hidetaka Ohno and Shigeo Hirose
: pp. 107-108
Android Robot SAYA
Abstract
Takuya Hashimoto and Hiroshi Kobayashi
: p. 109
A Plainly Designed Robot for the Experiments Regarding the Psychological Boundaries of Robots
Abstract
Chyon Hae Kim, Yumiko Yamazaki, Shunsuke Nagahama, and Shigeki Sugano
: pp. 110-111
Development of a Teleoperation System for a Construction Robot
Abstract
Hironao Yamada, Takuya Kawamura, and Katsutoshi Ootsubo
: pp. 112-114
Medical Round Robot – Terapio –
Abstract
Kuzuhiko Terashima, Seiichi Takenoshita, Jun Miura, Ryosuke Tasaki, Michiteru Kitazaki, Ryo Saegusa, Takanori Miyoshi, Naoki Uchiyama, Shigenori Sano, Junji Satake, Ren Ohmura, Toshihiko Fukushima, Kiyoaki Kakihara, Hirotoshi Kawamura, and Mikio Takahashi

Junior Letters

: pp. 116-119
Foot Pressure-Sensor System for Tracking Safety and Health
Abstract
Kenneth Shinozuka

Vol.25 (2013)

No.6

(Dec)

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

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

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

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

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

Regular Papers

: pp. 1079-1087
Mechanism of Linear Load-Sensitive Continuously Variable Transmission with Spherical Driving Unit
Abstract
Kenjiro Tadakuma, Riichiro Tadakuma, Kazuki Terada, Aiguo Ming, and Makoto Shimojo
: pp. 1088-1096
Construction Methodology for NIUTS – Bed Servoing System for Body Targets –
Abstract
Norihiro Koizumi, Joonho Seo, Takakazu Funamoto, Yutaro Itagaki, Akira Nomiya, Akira Ishikawa, Hiroyuki Tsukihara, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
: pp. 1097-1104
Levitation Control of AEROTRAIN: The Design and System of Experimental Manned Wing-in-Ground Vehicle ART003R
Abstract
Yusuke Sugahara, Satoshi Kikuchi, Kazuhiro Kosuge, and Yasuaki Kohama
: pp. 1105-1113
Measuring Particle Positions in Micro Channel with Multifiber Array
Abstract
Ichiro Okuda, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, and Tatsuo Arai

No.5

(Oct)

Special Issue on Underwater Robotics and Mechatronics

Special Issue on Underwater Robotics and Mechatronics

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

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

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

Regular Papers

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

No.4

(Aug)

Special Issue on Bio Assembler

Special Issue on Bio Assembler

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

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

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

Regular Papers

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

No.3

(Jun)

Regular papers

Regular Papers

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

No.2

(Apr)

Regular papers

Regular Papers

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

No.1

(Feb)

Regular papers

Regular Papers

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

Vol.24 (2012)

No.6

(Dec)

Special Issue on Construction Robot

Special Issue on Construction Robot

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

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

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

Regular Papers

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

No.5

(Oct)

Special Issue on Medical Science and Engineering Cooperation

Special Issue on Medical Science and Engineering Cooperation

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

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

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

Regular Papers

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

No.4

(Aug)

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

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

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

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

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

Regular Papers

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

No.3

(Jun)

Regular papers

Regular Papers

: pp. 423-429
Force Characteristics for Fine Deformation of CMC Touch Sensor and Estimation of Force Variance Using Hybrid Tactile Sensor System
Abstract
Takuya Kawamura, Ko Nejigane, Kazuo Tani, and Hironao Yamada
: pp. 430-440
Finger-Mounted Tactile Sensor for Evaluating Surfaces
Abstract
Ryo Kikuuwe, Kenta Nakamura, and Motoji Yamamoto
: pp. 441-451
Design and Application of an Intelligent Robotic Gripper for Accurate and Tolerant Electronic Connector Mating
Abstract
Fei Chen, Kosuke Sekiyama, Baiqing Sun, Pei Di, Jian Huang, Hironobu Sasaki, and Toshio Fukuda
: pp. 452-457
Drip Adjuster: Use of an LED Display to Manually Adjust Intravenous Fluid Infusion Rate
Abstract
Takeshi Ando, Noriyoshi Tanaka, Kenji Yamada, and Yuko Ohno
: pp. 458-463
Development of a Human Symbiotic Assist Arm “PAS-Arm” (Basic Concept and Mechanism)
Abstract
Mineo Higuchi
: pp. 464-471
Development of Portable Energy-Saving Type Air Supply System – 1st Report: Effect of Variable Volume Tank –
Abstract
Tatsuyuki Iwawaki, Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa
: pp. 472-479
Curved Type Pneumatic Artificial Rubber Muscle Using Shape-Memory Polymer
Abstract
Kazuto Takashima, Toshiro Noritsugu, Jonathan Rossiter, Shijie Guo, and Toshiharu Mukai
: pp. 480-486
Design and Evaluation of Electromagnetic Wobble Motor
Abstract
Masaki Miyake, Koichi Suzumori, and Kazuo Uzuka
: pp. 487-497
Efficiency Improvement of Electric Generating Engine System Based on Internal Combustion Engine: Energy Simulation of New Engine Operation with Electric Generator and Motor
Abstract
Hiroki Ishikawa, Yuta Takeda, Satoshi Ashizawa, and Takeo Oomichi
: pp. 498-506
High-Efficient Biped Walking Based on Flat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles
Abstract
Yuta Hanazawa and Masaki Yamakita