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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 Editors-in-Chief :Takayuki Tanaka (Hokkaido University)
Akio Namiki (Chiba University)

Indexed in ESCI, Scopus, Compendex (Ei), DOAJ

Journal Impact Factor: 1.1 (2022)

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Vol.31 (2019)

No.6

(Dec)

Special Issue on Infrastructure Maintenance and Inspection Robotics

Special Issue on Infrastructure Maintenance and Inspection Robotics

Editorial: p. 743
Infrastructure Maintenance and Inspection Robotics
Koichi Osuka and Shin’ichi Yuta

It is a well-known fact that Japan saw an annual average economic growth rate of over 10% from around 1955 to around 1973, its so-called “high-economic-growth period.” Japan’s rate was two to four times higher than that of Europe or the United States. During this period, Japan’s infrastructure (roads, bridges, tunnels, etc.) was rapidly developed nationwide, bringing Japan’s national average road pavement ratio in 2017 to over 80%, one of the highest rates in the world. Such rapid infrastructure development has made all of Japan a comfortable place to live. However, as Japan’s infrastructure is now becoming increasingly deteriorated, the structures nationwide must be inspected for soundness and should be repaired or rebuilt if any defects are found. As these structures are highly developed, the number of structures to be inspected becomes so numerous that the human-based inspection cannot keep up.

This situation has led to growing calls for artifact inspection systems that carry out inspection work more efficiently, and the Cross-ministerial Strategic Innovation Promotion Program (SIP) was established, one of which is “Infrastructure Maintenance, Renovation and Management,” with Yozo Fujino as Program Director (SIP Infrastructure), having been implemented for five years since fiscal year 2014.

This Special Issue on Infrastructure Maintenance and Inspection Robotics has collected papers that propose a broad range of infrastructure maintenance/renovation/management technologies, especially those developed by SIP Infrastructure, in order to contribute to the further development of the field of infrastructure maintenance and inspection technologies.

Review: pp. 744-751
Research and Development on Robotic Technologies for Infrastructure Maintenance
Abstract
Keiji Nagatani and Yozo Fujino
Paper: pp. 752-761
Shape Adaptation of the Inspection Guide Frame in Tunnels to Avoid Obstacles Detected by a Laser Range Finder
Abstract
Fumihiro Inoue, Soonsu Kwon, Satoru Nakamura, and Yoshitaka Yanagihara
Paper: pp. 762-771
Inspection Test of a Tunnel with an Inspection Vehicle for Tunnel Lining Concrete
Abstract
Satoru Nakamura, Atsushi Yamashita, Fumihiro Inoue, Daisuke Inoue, Yusuke Takahashi, Nobukazu Kamimura, and Takao Ueno
Paper: pp. 772-780
Shadow-Based Operation Assistant for a Pipeline-Inspection Robot Using a Variance Value of the Image Histogram
Abstract
Atsushi Kakogawa, Yuki Komurasaki, and Shugen Ma
Paper: pp. 781-793
Development of a Peristaltic-Movement Duct-Cleaning Robot for Application to Actual Environment - Examination of Brush Type and Installation Method to Improve Cleaning Efficiency –
Abstract
Fumio Ito, Takahiko Kawaguchi, Yasuyuki Yamada, and Taro Nakamura
Paper: pp. 794-802
Verification and Evaluation of Robotic Inspection of the Inside of Culvert Pipes
Abstract
Hiroyasu Miura, Ayaka Watanabe, Masayuki Okugawa, and Takahiko Miura
Paper: pp. 803-815
Development of Lifting System for High-Elevation Inspection Robot Targeting Hanger Ropes
Abstract
Yoshinori Fujihira, Naohiko Hanajima, Kentarou Kurashige, Hidekazu Kajiwara, and Masato Mizukami
Paper: pp. 816-826
Development of Concrete Inspection Robot with Dual Stage Suckers
Abstract
Yuta Matsumoto, Isao Kurashige, and Kan Yoneda
Paper: pp. 827-836
Reliable Activation of an EPM-Based Clinging Device for Aerial Inspection Robots
Abstract
Arata Masuda, Akihiro Tanaka, Yoshiyuki Higashi, and Nanako Miura
Paper: pp. 837-844
Development of a Bridge Inspection Support Robot System Using Two-Wheeled Multicopters
Abstract
Manabu Nakao, Eiji Hasegawa, Taku Kudo, and Naoyuki Sawasaki
Paper: pp. 845-854
Autonomous Adaptive Flight Control of a UAV for Practical Bridge Inspection Using Multiple-Camera Image Coupling Method
Abstract
Kenta Hidaka, Daiki Fujimoto, and Kazuya Sato
Development Report: pp. 855-862
Development of Hanger-Rope Inspection Robot for Suspension Bridges
Abstract
Hidekazu Kajiwara, Naohiko Hanajima, Kentarou Kurashige, and Yoshinori Fujihira
Development Report: pp. 863-870
Visualization of Voids Between Tile and Concrete by Multi-Layered Scanning Method with Electromagnetic Waves
Abstract
Takumi Honda, Takayuki Tanaka, Satoru Doi, Shigeru Uchida, and Maria Q. Feng

Regular Papers

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

No.5

(Oct)

Regular papers

Regular Papers

Paper: pp. 647-656
Step Response Characteristics of Anisotropic Gel Actuator Hybridized with Nanosheet Liquid Crystal
Abstract
Hitoshi Kino, Akihiro Kiyota, Takumi Inadomi, Tomonori Kato, Hiroyuki Fujioka, and Nobuyoshi Miyamoto
Paper: pp. 657-670
Three-Dimensional Aerial Image Interface, 3DAII
Abstract
Takafumi Matsumaru, Asyifa Imanda Septiana, and Kazuki Horiuchi
Paper: pp. 671-685
A Tandem Marker-Based Motion Capture Method for Dynamic Small Displacement Distribution Analysis
Abstract
Zulhaj Aliansyah, Kohei Shimasaki, Mingjun Jiang, Takeshi Takaki, Idaku Ishii, Hua Yang, Chikako Umemoto, and Hiroshi Matsuda
Paper: pp. 686-696
Effect of Trunk Swinging Behaviors on Planar Bipedal Walking with an Upper Body on Gentle Slope
Abstract
Toyoyuki Honjo and Hidehisa Yoshida
Paper: pp. 697-706
Gravity Compensation Modular Robot: Proposal and Prototyping
Abstract
Yukio Morooka and Ikuo Mizuuchi
Development Report: pp. 707-714
Development of the Servo Valve with High Durability Using Split-Type Sleeve – Reduction of Wear with Ceramic Material –
Abstract
Koki Sakakibara, Shunya Suzuki, Kazushi Shibata, Yuto Sawada, Satoshi Ashizawa, and Takeo Oomichi
Letter: pp. 715-718
Development of Respiration Measuring Robot
Abstract
Junji Satake, Tsukasa Ushijima, and Yusuke Kudo
News: pp. 720-722
Zombification of Insects as a Model for Searching the Source of Various Behaviors of Living Organisms
Abstract
Koichi Osuka
News: pp. 723-726
Centipede Type Robot i-CentiPot: From Machine to Creatures
Abstract
Koichi Osuka, Tetsuya Kinugasa, Ryota Hayashi, Koji Yoshida, Dai Owaki, and Akio Ishiguro

No.4

(Aug)

Special Issue on Machine Learning for Robotics and Swarm Systems

Special Issue on Machine Learning for Robotics and Swarm Systems

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

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

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

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

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

Regular Papers

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

No.3

(Jun)

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

Review on Introduction to Simultaneous Localization and Mapping

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

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

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

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

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

This special issue is a collection of practical papers related to measurement and control education, including one paper on Model-Based Development education in a company and eight papers on education in an educational institution. These eight papers include two on education using a robot contest in a university, one on introducing measurement and control engineering education...<more>

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

Regular Papers

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

No.2

(Apr)

Special Issue on Probabilistic Robotics and SLAM

Special Issue on Probabilistic Robotics and SLAM

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

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

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

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

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

Regular Papers

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

No.1

(Feb)

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

Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2018

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

Congratulations to the Elected IEEE Presidents

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

JRM 30th Anniversary

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

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

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

Regular Papers

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

Vol.30 (2018)

No.6

(Dec)

Special Issue on Integrated Knowledge on Innovative Robot Mechanisms

Special Issue on Integrated Knowledge on Innovative Robot Mechanisms

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

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

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

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

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

Regular Papers

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

No.5

(Oct)

Mini Special Issue on Human Sensing, Modeling, and Augmentation

Mini Special Issue on Human Sensing, Modeling, and Augmentation

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

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

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

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

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

Regular Papers

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

No.4

(Aug)

Special Issue on Real World Robot Challenge in Tsukuba

Special Issue on Real World Robot Challenge in Tsukuba

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

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

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

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

Regular Papers

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

No.3

(Jun)

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

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

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

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

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

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

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

Regular Papers

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

No.2

(Apr)

Special Issue on Advanced Robotics in Agriculture, Forestry and Fisheries

Special Issue on Advanced Robotics in Agriculture, Forestry and Fisheries

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

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

In this special issue, twelve papers are included. The first paper by Noguchi is the survey paper of the state-of-the-art in the agricultural vehicle type robots and discusses the future scope of agriculture with robotics. The next three papers are on tomato-monitoring system, and Fukui et al. propose a tomato fruit volume estimation method using saliency-based image processing and point cloud and clustering technology, Yoshida et al. do the cutting point identification for tomato-harvesting using a RGBD sensor and evaluate in the real farm experiments, and Fujinaga et al. present an image mosaicking method of tomato yard based on the infrared images and color images of tomato-clusters in the large green house. The fifth paper by Sori et al. reports a paddy weeding robot in wet-rice field to realize the pesticide-free produce of rice, and the sixth paper by Shigeta et al. is about an image processing system to measure cow’s BCS (Body Condition Score) automatically before milking cows and analyzes the tw...<more>

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

Regular Papers

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

No.1

(Feb)

Congratulations! JRM Best Paper Award 2017

Congratulations! JRM Best Paper Award 2017

Award: p. 1
Congratulations! JRM Best Paper Award 2017
Editorial Office

Regular Papers

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

Vol.29 (2017)

No.6

(Dec)

Special Issue on Educational Robotics

Special Issue on Educational Robotics

Editorial: 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.

Review: pp. 944-951
Development of Communication Robot for STEM Education by Using Digital Fabrication
Abstract
Kazuo Kadota
Review: pp. 952-956
Trends of Technology Education in Compulsory Education in Japan
Abstract
Hiroyuki Muramatsu
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 999-1004
Study on Assist Education of Swing Riding Using a Robot
Abstract
Kazuo Kawada and Masahiro Ito
Paper: pp. 1005-1013
Undergraduate-Student Teaching Materials for Mechatronics
Abstract
Yoshikazu Ohtsubo, Atsutoshi Ikeda, Kiyoshi Ioi, and Manabu Kosaka
Paper: pp. 1014-1024
Development of Teaching Material for Robot Mechanisms Applying Projection Mapping Technology
Abstract
Yasuhiro Kushihashi and Sho Mizumura
Paper: 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
Paper: 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

Paper: pp. 1049-1056
Development of an IoT-Based Prosthetic Control System
Abstract
Osamu Fukuda, Yuta Takahashi, Nan Bu, Hiroshi Okumura, and Kohei Arai
Paper: 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
Paper: pp. 1065-1072
Operator-Based Robust Nonlinear Control Design and Analysis of a Semiconductor Refrigeration Device
Abstract
Aihui Wang, Zhengxiang Ma, and Shengjun Wen
Paper: 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

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

Special Issue on AI, Robotics, and Automation in Space

Editorial: 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.

Development Report: 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
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 829-837
Wearable Hand Pose Estimation for Remote Control of a Robot on the Moon
Abstract
Sota Sugimura and Kiyoshi Hoshino
Paper: 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
Paper: pp. 847-855
Vision-Based Behavior Planning for Lunar or Planetary Exploration Rover on Flat Surface
Abstract
Riho Ejiri, Takashi Kubota, and Ichiro Nakatani
Paper: pp. 856-863
Visual Monocular Localization, Mapping, and Motion Estimation of a Rotating Small Celestial Body
Abstract
Naoya Takeishi and Takehisa Yairi
Paper: 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
Paper: 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
Paper: pp. 887-894
Development and Performance Evaluation of Planar Travel Distance Sensors for Mobile Robots in Sandy Terrain
Abstract
Arata Yanagisawa and Genya Ishigami
Paper: pp. 895-901
Hopping Motion Estimation on Soft Soil by Resistive Force Theory
Abstract
Kosuke Sakamoto, Masatsugu Otsuki, Takashi Kubota, and Yoshiki Morino
Paper: pp. 902-910
Wheel Slip Classification Method for Mobile Robot in Sandy Terrain Using In-Wheel Sensor
Abstract
Takuya Omura and Genya Ishigami
Paper: pp. 911-918
Percussive Rock Surface Remover Driven by Solenoid with Planer Motion for Lunar Exploration
Abstract
Katsushi Furutani and Hisashi Kamiishi

Regular Papers

Paper: pp. 919-927
Adaptive Learning of Hand Movement in Human Demonstration for Robot Action
Abstract
Ngoc Hung Pham and Takashi Yoshimi
Development Report: 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 –
3D Printer for Robotics and Mechatronics

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

Editorial: 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.

Paper: 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
Paper: 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
Paper: 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
Paper: pp. 660-667
Generated Trajectory of Extended Lateral Guided Sensor Steering Mechanism for Steered Autonomous Vehicles in Real World Environments
Abstract
Yoshihiro Takita
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 706-711
Using Difference Images to Detect Pedestrian Signal Changes
Abstract
Tetsuo Tomizawa and Ryunosuke Moriai

Regular Papers

Paper: pp. 713-719
Automating the Appending of Image Information to Grid Map Corresponding to Object Shape
Abstract
Tomohito Takubo, Hironobu Takaishi, and Atsushi Ueno
Paper: pp. 720-727
Examination of a Guidance Robot for Visually Impaired People
Abstract
Kazuteru Tobita, Katsuyuki Sagayama, and Hironori Ogawa
Paper: pp. 728-736
Cooking Behavior Recognition Using Egocentric Vision for Cooking Navigation
Abstract
Sho Ooi, Tsuyoshi Ikegaya, and Mutsuo Sano
Paper: 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
Paper: pp. 746-756
Maneuverability of Impedance-Controlled Motion in a Human-Robot Cooperative Task System
Abstract
Toru Tsumugiwa, Yoshiki Takeuchi, and Ryuichi Yokogawa
Paper: 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

Development Report: 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

Editorial: 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.
Review: pp. 456-470
Dynamically and Biologically Inspired Legged Locomotion: A Review
Abstract
Tetsuya Kinugasa and Yasuhiro Sugimoto
Paper: pp. 471-479
Time-Scale Control Approaches to Collisionless Walking of an Underactuated Rimless Wheel
Abstract
Fumihiko Asano, Yanqiu Zheng, and Xuan Xiao
Paper: 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
Paper: pp. 490-499
Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking
Abstract
Yuta Hanazawa and Fumihiko Asano
Paper: pp. 500-508
Visual Lifting Approach for Bipedal Walking with Slippage
Abstract
Xiang Li, Mamoru Minami, Takayuki Matsuno, and Daiji Izawa
Paper: pp. 509-519
Sliding Passive Dynamic Walking of Compass-Like Biped Robot: Collision Modeling, Necessary Conditions, and Complexity
Abstract
Fumihiko Asano and Yuji Harata
Paper: 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
Paper: pp. 528-535
Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation
Abstract
Yoichi Masuda and Masato Ishikawa
Paper: pp. 536-545
Analysis of the Energy Loss on Quadruped Robot Having a Flexible Trunk Joint
Abstract
Masahiro Ikeda and Ikuo Mizuuchi
Paper: 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

Paper: pp. 557-565
Real-Time Estimation of Sensorless Planar Robot Contact Information
Abstract
Zhiguang Liu, Fei Yu, Liang Zhang, and Tiejun Li
Paper: 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
Paper: pp. 580-590
Development of a Robotic Laparoscope for Laparoscopic Surgery and its Control
Abstract
Iori Murasawa, Shuhei Murofushi, Chiharu Ishii, and Hideki Kawamura
Paper: 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
Paper: pp. 602-612
Swarm Robotic Systems Based on Collective Behavior of Chloroplasts
Abstract
Satoshi Hoshino, Ryo Takisawa, and Yutaka Kodama
Development Report: 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

Review: 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

Editorial: 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.
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Development Report: 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

Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
3D Printer for Robotics and Mechatronics

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

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

Special Issue on Robot Audition Technologies

Editorial: 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 ...<more>
Paper: pp. 16-25
Development, Deployment and Applications of Robot Audition Open Source Software HARK
Abstract
Kazuhiro Nakadai, Hiroshi G. Okuno, and Takeshi Mizumoto
Paper: pp. 26-36
Noise-Robust MUSIC-Based Sound Source Localization Using Steering Vector Transformation for Small Humanoids
Abstract
Ryu Takeda and Kazunori Komatani
Paper: pp. 37-48
Sound Source Localization Using Deep Learning Models
Abstract
Nelson Yalta, Kazuhiro Nakadai, and Tetsuya Ogata
Paper: pp. 49-58
Active Sound Source Localization by Pinnae with Recursive Bayesian Estimation
Abstract
Wataru Odo, Daisuke Kimoto, Makoto Kumon, and Tomonari Furukawa
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 105-113
Psychologically-Inspired Audio-Visual Speech Recognition Using Coarse Speech Recognition and Missing Feature Theory
Abstract
Kazuhiro Nakadai and Tomoaki Koiwa
Paper: 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
Paper: 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
Paper: pp. 137-145
Wayang Robot with Gamelan Music Pattern Recognition
Abstract
Tito Pradhono Tomo, Alexander Schmitz, Guillermo Enriquez, Shuji Hashimoto, and Shigeki Sugano
Paper: 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
Paper: 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
Paper: pp. 168-176
Evaluation of Microphone Array for Multirotor Helicopters
Abstract
Takahiro Ishiki, Kai Washizaki, and Makoto Kumon
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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

3D Printer for Robotics and Mechatronics

Development Report: 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

Paper: pp. 781-789
A Suitable Design of Assist System for Human Meal by Reducing Maneuverability Variance in Workspace
Abstract
Kiyotaka Fukui and Katsuyoshi Tsujita
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 830-836
Measurement Experiments and Analysis for Modeling of McKibben Pneumatic Actuator
Abstract
Daisuke Nakanishi, Yasuhiro Sugimoto, Hiroaki Honda, and Koichi Osuka
Paper: pp. 837-841
Passivity-Based Tracking Control for Uncertain Nonlinear Feedback Systems
Abstract
Ni Bu and Mingcong Deng
Paper: pp. 842-853
Antagonistically Twisted Round Belt Actuator System for Robotic Joints
Abstract
Takahiro Inoue, Ryuichi Miyata, and Shinichi Hirai
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 887-898
Autonomous Mobile Robot Navigation Using Scene Matching with Local Features
Abstract
Toshiaki Shioya, Kazushige Kogure, Tomoyuki Iwata, and Naoya Ohta
Paper: pp. 899-910
Autonomous Flight of Hexacopter Under Propulsion System Failure
Abstract
Yi Yang, Daisuke Iwakura, Akio Namiki, Kenzo Nonami, and Wei Wang
Paper: 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
Paper: 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
Paper: pp. 928-935
Design of the Nonlinear Structure Adaptive Model Inversion Flight Control System
Abstract
Hao Long and Yi-Nung Chung
Paper: pp. 936-948
Sliding Mode Control for Hexacopter Stabilization with Motor Failure
Abstract
Yi Yang, Wei Wang, Daisuke Iwakura, Akio Namiki, and Kenzo Nonami
Development Report: 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

Editorial: 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.

Review: pp. 616-624
Design and Experimental Evaluation of a Performance-Driven PID Controller
Abstract
Toru Yamamoto, Takuya Kinoshita, Yoshihiro Ohnishi, and Sirish L. Shah
Paper: pp. 625-632
Fictitious Reference Signal Based Real-Time Update of State Feedback Gains and its Experimental Verification
Abstract
Yuki Okano and Osamu Kaneko
Paper: 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
Paper: pp. 640-645
Reduction of Quantization Error in Multirate Output Feedback Control
Abstract
Takao Sato, Hironobu Sakaguchi, Nozomu Araki, and Yasuo Konishi
Paper: pp. 646-653
Antisway Control for a Rotary Crane by Using Evolutionary Computation
Abstract
Akira Abe and Keisuke Okabe
Paper: 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
Paper: 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
Paper: pp. 674-680
Self-Tuning Generalized Minimum Variance Control Based on On-Demand Type Feedback Controller
Abstract
Akira Yanou, Mamoru Minami, and Takayuki Matsuno
Paper: pp. 681-686
Method Evaluation for Short-Term Wind Speed Prediction Considering Multi Regions in Japan
Abstract
Ikki Tanaka and Hiromitsu Ohmori
Paper: pp. 687-694
Adaptive Speed Control of Wheeled Mobile Robot on Uncertain Road Condition
Abstract
Kyosuke Terada, Hiroyasu Miura, Masayuki Okugawa, and Yoshimitsu Kobayashi
Paper: pp. 695-701
Control Parameters Tuning Method of Nonlinear Model Predictive Controller Based on Quantitatively Analyzing
Abstract
Tomohiro Henmi
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 722-729
Design and Experimental Evaluation of a Data-Oriented Generalized Predictive PID Controller
Abstract
Zhe Guan, Shin Wakitani, and Toru Yamamoto
Paper: 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
Paper: pp. 739-744
Virtual Reference Feedback Tuning for Cascade Control Systems
Abstract
Huy Quang Nguyen, Osamu Kaneko, and Yoshihiko Kitazaki
Paper: pp. 745-751
FRIT of Internal Model Controllers for Poorly Damped Linear Time Invariant Systems: Kautz Expansion Approach
Abstract
Hnin Si and Osamu Kaneko
Paper: 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

Paper: 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 –

Editorial: 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.
Paper: pp. 432-440
Development of Autonomous Robot with Simple Navigation System for Tsukuba Challenge 2015
Abstract
Yuta Kanuki and Naoya Ohta
Paper: pp. 441-450
Development of Autonomous Mobile Robot that Can Navigate in Rainy Situations
Abstract
Naoki Akai, Yasunari Kakigi, Shogo Yoneyama, and Koichi Ozaki
Paper: 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
Paper: 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
Paper: pp. 470-478
Prototyping of Kinematics Simulator for Supporting Autonomous Mobile Robot Development
Abstract
Kitaro Shimane, Ryo Ueda, and Susumu Tarao
Paper: 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
Paper: 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
Paper: pp. 500-507
Oncoming Human Avoidance for Autonomous Mobile Robot Based on Gait Characteristics
Abstract
Tetsuo Tomizawa and Yuya Shibata

Regular Papers

Paper: pp. 509-522
Control of Low-Cost Customizable Robot Arm Actuated by Elastic Tendons
Abstract
Junki Togashi, Kazuhisa Mitobe, and Genci Capi
Paper: pp. 523-532
Structured Light Field Generated by Two Projectors for High-Speed Three Dimensional Measurement
Abstract
Akihiro Obara, Xu Yang, and Hiromasa Oku
Paper: pp. 533-542
Bipedal Locomotion Control Based on Simultaneous Trajectory and Foot Step Planning
Abstract
Kouta Goto, Yuichi Tazaki, and Tatsuya Suzuki
Paper: 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
Paper: 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
Paper: pp. 568-578
Operator-Based Robust Nonlinear Control Design of a Robot Arm with Micro-Hand
Abstract
Zhengxiang Ma, Aihui Wang, and Tiejun Chen
Paper: 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
Paper: 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
Development Report: 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

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

Paper: 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
Paper: pp. 371-377
Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage
Abstract
Rongmin Zhang, Yuan Chen, and Jun Gao
Paper: 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
Paper: 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
Paper: 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
Paper: 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

Editorial: 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 condit...<more>
Review: pp. 116-122
Construction Robotics
Abstract
Thomas Bock
Review: pp. 123-128
Achievement and Future Prospects of ICT Construction in Japan
Abstract
Kazuyoshi Tateyama
Paper: 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
Paper: 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
Paper: pp. 149-157
Support System for Slope Shaping Based on a Teleoperated Construction Robot
Abstract
Katsutoshi Ootsubo, Daichi Kato, Takuya Kawamura, and Hironao Yamada
Paper: pp. 158-161
Planning of Movements of Building Robots with Speed Optimization
Abstract
Thomas Bock and Alexey Bulgakov
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 194-197
Suction Cup for Concrete Wall Testing Robot
Abstract
Saeko Tokuomi and Kazuya Mori

Regular Papers

Paper: pp. 199-214
Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety
Abstract
Jeremy A. Marvel and Roger Bostelman
Paper: pp. 215-225
Development of Digital Flight Motion Methodology Based on Aerodynamic Derivatives Approximation
Abstract
Norazila Othman and Masahiro Kanazaki
Paper: 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
Paper: 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
Paper: 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)

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

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

Review: 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

Paper: 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
Paper: 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
Paper: 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
Paper: pp. 50-60
Metrics Generation Process for Mechatronics
Abstract
Aude Warniez, Olivia Penas, Jean-Yves Choley, and Peter Hehenberger
Paper: pp. 61-68
Cloud/Crowd Sensing System for Annotating Users Perception
Abstract
Wataru Mito and Masahiro Matsunaga
Paper: 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
Paper: pp. 79-85
Seating System with Adjustable Sheet and Body Surface Measurement
Abstract
Takehito Kikuchi and Isao Abe
Development Report: 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
Development Report: 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
Development Report: pp. 95-103
Prototyping Force-Controlled 3-DOF Hydraulic Arms for Humanoid Robots
Abstract
Kensuke Izawa and Sang-Ho Hyon

Grand Robots Museum

Development Report: pp. 105-106
Electric Cart Matching the User Gait
Abstract
Kazuto Miyawaki

Regular Papers

Development Report: 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
Grand Robots Museum

Review on Mechanism and Control of Parallel-Wire Driven System

Review: 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

Editorial: 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.
Review: pp. 610-616
Toward Next Active Safety Technology of Intelligent Vehicle
Abstract
Hidehisa Yoshida, Manabu Omae, and Takahiro Wada
Paper: pp. 617-626
Vehicle Localization Based on the Detection of Line Segments from Multi-Camera Images
Abstract
Kosuke Hara and Hideo Saito
Paper: pp. 627-635
Development of Collision Avoidance System in Right Turn Maneuver Using Vehicle-in-the-Loop Simulation
Abstract
Pongsathorn Raksincharoensak and Yuta Akamatsu
Paper: pp. 636-644
Hazard Anticipatory Autonomous Braking Control System Based on 2-D Pedestrian Motion Prediction
Abstract
Kazuhiro Ezawa, Pongsathorn Raksincharoensak, and Masao Nagai
Paper: 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
Paper: pp. 653-659
Optimal Tracking Control of a Micro Ground Vehicle
Abstract
Soichiro Watanabe and Masanori Harada
Paper: 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
Paper: 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

Paper: pp. 681-690
FPGA-Based Stereo Vision System Using Gradient Feature Correspondence
Abstract
Hayato Hagiwara, Yasufumi Touma, Kenichi Asami, and Mochimitsu Komori
Paper: 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
Paper: pp. 698-705
Simple Trajectory Control Method of Robot Arm Using Flexible Pneumatic Cylinders
Abstract
Mohd Aliff, Shujiro Dohta, and Tetsuya Akagi
Paper: 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

Development Report: 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

Paper: pp. 461-468
Performance-Driven Adaptive Output Feedback Control with Direct Design of PFC
Abstract
Taro Takagi, Ikuro Mizumoto, and Junpei Tsunematsu
Paper: 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
Paper: pp. 480-488
Visual Measurement for On-Orbit Reflector Assembly
Abstract
Shin-ichiro Nishida and Heihachiro Kamimura
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 528-534
Gait Analysis with Automatic Speed-Controlled Treadmill
Abstract
Takehito Kikuchi, Kohei Sakai, and Kohei Ishiya
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Development Report: 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 –

Editorial: 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.
Review: pp. 318-326
Open Experiment of Autonomous Navigation of Mobile Robots in the City: Tsukuba Challenge 2014 and the Results
Abstract
Shin'ichi Yuta
Paper: 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
Paper: 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
Paper: pp. 346-355
Development of Autonomous Mobile Robot Based on Accurate Map in the Tsukuba Challenge 2014
Abstract
Junji Eguchi and Koichi Ozaki
Paper: 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
Paper: pp. 365-373
Color Extraction Using Multiple Photographs Taken with Different Exposure Time in RWRC
Abstract
Kenji Yamauchi, Naoki Akai, and Koichi Ozaki
Paper: 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
Paper: pp. 382-391
New Lane Detection Algorithm that Emulates Human Color Recognition
Abstract
Hideyuki Saito, Kazuyuki Kobayashi, Kajiro Watanabe, and Tetsuo Kinoshita
Paper: 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
Paper: 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
Paper: 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

Paper: 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
Paper: 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
Paper: 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

Paper: pp. 225-234
Linear Quadratic Optimal Regulator for Steady State Drifting of Rear Wheel Drive Vehicle
Abstract
Ronnapee Chaichaowarat and Witaya Wannasuphoprasit
Paper: 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
Paper: 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
Paper: pp. 251-258
Parameter Tuning in the Application of Stochastic Resonance to Redundant Sensor Systems
Abstract
Nagisa Koyama, Shuhei Ikemoto, and Koh Hosoda
Paper: pp. 259-266
Impact Piezo-Driven Micro Dispenser and Precise Miniature XY Stage
Abstract
Yuuka Irie, Shinnosuke Hirata, Chisato Kanamori, and Hisayuki Aoyama
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 293-304
Behavior Acquisition in Partially Observable Environments by Autonomous Segmentation of the Observation Space
Abstract
Kousuke Inoue, Tamio Arai, and Jun Ota
Development Report: 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

Editorial: 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.
Review: pp. 122-125
Rehabilitation Systems Based on Visualization Techniques: A Review
Abstract
Toshiaki Tsuji and Kunihiro Ogata
Paper: pp. 126-135
A Robust Appearance Model and Similarity Measure for Image Matching
Abstract
Dong Liang, Shun’ ichi Kaneko, and Yutaka Satoh
Paper: pp. 136-145
Development of Automatic Steering System by Modeling Human Behavior Based on Optical Flow
Abstract
Yuki Okafuji, Takanori Fukao, and Hiroshi Inou
Paper: 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
Paper: pp. 156-166
Model-Based Footstep Planning Method for Biped Walking on 3D Field
Abstract
Daiki Kobayashi, Tomohito Takubo, and Atsushi Ueno
Paper: pp. 167-173
Wearable Device for High-Speed Hand Pose Estimation with a Ultrasmall Camera
Abstract
Motomasa Tomida and Kiyoshi Hoshino
Paper: 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
Development Report: pp. 182-190
Fast and Robust Vision System for Shogi Robot
Abstract
Gou Koutaki and Keiichi Uchimura

Regular Papers

Paper: pp. 191-199
Convenient Position Estimation of Distributed Sensors in Intelligent Spaces Using SLAM for Mobile Robots
Abstract
Fumitaka Hashikawa and Kazuyuki Morioka
Paper: pp. 200-207
Triboacoustic Localization for Mobile Device: Improving Accuracy & Noise Clustering
Abstract
Yeng Weng Leong, Hiroaki Seki, Yoshitsugu Kamiya, and Masatoshi Hikizu
Paper: 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

Paper: pp. 5-11
Study on Autonomous Intelligent Drive System Based on Potential Field with Hazard Anticipation
Abstract
Ryosuke Matsumi, Pongsathorn Raksincharoensak, and Masao Nagai
Paper: 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
Paper: 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
Paper: pp. 41-48
New Urea-SCR Control System for Super Clean Diesel
Abstract
Hisao Haga, Eiji Hashimoto, Koichi Nakajima, Hideki Matsunaga, and Yuji Yasui
Paper: 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
Paper: pp. 57-63
Self-Generation of Reward by Moderate-Based Index for Senor Inputsvspace
Abstract
Kentarou Kurashige and Kaoru Nikaido
Paper: 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
Paper: pp. 74-82
Fast Motion of Path Tracking Task with Constant Hand Speed Using Redundant Manipulator
Abstract
Kousuke Okabe and Yasumichi Aiyama
Paper: 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
Development Report: pp. 91-102
Restaurant Service Robots Development in Thailand and Their Real Environment Evaluation
Abstract
Akkharaphong Eksiri and Tetsuya Kimura
Development Report: pp. 103-104
Unobtrusive Tremor Detection While Gesture Controlling a Robotic Arm
Abstract
Jörg Güttler, Dany Bassily, Christos Georgoulas, Thomas Linner, and Thomas Bock
Development Report: pp. 105-106
GEWOS — A Mechatronic Personal Health & Fitness Assistance System
Abstract
Thomas Linner and Thorsten Schulz
Development Report: p. 107
LISA — A Mechatronic Wall for Assistance with ADLs
Abstract
Christos Georgoulas, Jörg Güttler, Thomas Linner, and Thomas Bock
Development Report: p. 108
The Development of Intra-House Mobility, Logistics and Transfer Solutions in PASSAge
Abstract
Thomas Bock, Jörg Güttler, Christos Georgoulas, and Thomas Linner
Development Report: p. 109
USA² — Ubiquitous and Robot Assisted Cloud Manufacturing in an Ageing Society
Abstract
Thomas Linner, Jörg Güttler, Christos Georgoulas, and Thomas Bock
Development Report: 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

Review: pp. 673-684
NANBA Walking Robot (JIZAI Movement of Physical Body Using State Transition with Instability)
Abstract
Yoshihiko Kawazoe
Review: 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

Editorial: 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.
Paper: pp. 692-703
Development of Expanded Periodical Input Control for Periodic Motion with Multiple Frequency Components
Abstract
Takuto Yoshifuji, Takayuki Tanaka, and Takashi Kusaka
Paper: pp. 704-717
Image-Projecting Desktop Arm Trainer for Hand-Eye Coordination Training
Abstract
Takafumi Matsumaru, Yang Liu, Yi Jiang, and Chuankai Dai
Paper: pp. 718-734
Human Detecting and Following Mobile Robot Using a Laser Range Sensor
Abstract
Jianzhao Cai and Takafumi Matsumaru
Paper: 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
Paper: 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
Paper: pp. 750-757
Design and Control of a Human-Operated Biped Robot for Transportation of Objects
Abstract
Naoki Uchiyama, Dai Kurita, and Shigenori Sano
Paper: 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
Paper: pp. 772-779
Communication Method of Time Synchronization and Strength Using Haptic Interface
Abstract
Takashi Asakawa and Noriyuki Kawarazaki
Paper: 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

Paper: 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
Paper: pp. 799-808
One-Step Prediction for Improving Gear Changing Control of HEVs
Abstract
Mohammad Khodabakhshian, Lei Feng, and Jan Wikander
Topic: 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
Grand Robots Museum

JRM’s 25 Years Anniversary of Publication Reviews

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

Regular Papers

Paper: 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
Paper: pp. 566-572
3-1 Piecewise NCP Function for New Nonmonotone QP-Free Infeasible Method
Abstract
Ailan Liu and Dingguo Pu
Paper: pp. 573-579
Reachability and Controllability Analysis of Periodic Switched Boolean Control Networks
Abstract
Zhiqiang Li, Jinli Song, and Huimin Xiao
Paper: 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
Paper: pp. 592-599
Kinematics Analysis of Serial-Parallel Hybrid Humanoid Robot in Reaching Movement
Abstract
Li Qin, Fucai Liu, Tiantian Hou, and Lihuan Liang
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 649-655
Monitoring System for Elderly People Using Passive RFID Tags
Abstract
Yoshikazu Mori and Shinichiro Kido

Grand Robots Museum

Development Report: 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
Development Report: p. 659
Development of a Personal Mobility Robot “NENA”
Abstract
Kazumichi Inoue, Naoki Akai, and Koichi Ozaki
Development Report: 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
Development Report: 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?”
Grand Robots Museum

JRM’s 25 Years Anniversary of Publication Reviews

Review: 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
Review: pp. 418-425
Trends of Robot Therapy with Neurological Therapeutic Seal Robot, PARO
Abstract
Takanori Shibata and Joseph F. Coughlin
Review: 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?”

Editorial: 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 putti...<more>
Review: pp. 436-441
Recent Trends and Issues of Volcanic Disaster Response with Mobile Robots
Abstract
Keiji Nagatani
Review: pp. 442-448
Desired Robot Technology in Consideration of the Records on Natural Disasters in Kyushu Region
Abstract
Ryota Hayashi
Review: pp. 449-453
The Application of Robot Technologies to Disasters from Torrential Rains on Japan’s Kii Peninsula
Abstract
Kenichi Tokuda
Development Report: pp. 454-459
Utilization of Robot Technology for Earthquake, Storm, and Flood Problems in the Tokai Region
Abstract
Masayuki Okugawa
Paper: 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
Paper: 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
Paper: pp. 477-485
Deformable Anchor Ball for Thrown Referring to Octopus Suckers
Abstract
Hideyuki Tsukagoshi, Kazutaka Fuchigami, Eyri Watari, and Ato Kitagawa
Paper: 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
Paper: 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

Paper: 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

Development Report: pp. 513-514
Babyloid
Abstract
Masayoshi Kanoh
Development Report: 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
Development Report: p. 518
Impedance Control of Two d.o.f. CPM Device for Elbow Joint
Abstract
Nobutomo Matsunaga, Shota Miyaguchi, Hiroshi Okajima, and Shigeyasu Kawaji
Development Report: 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
Grand Robots Museum

JRM’s 25 Years Anniversary of Publication Reviews

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

Regular Papers

Paper: 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
Paper: 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
Paper: pp. 331-340
Robust Hybrid Control for Two-Dimensional Handheld Micromanipulator
Abstract
Sungwan Boksuwan, Taworn Benjanarasuth, Chisato Kanamori, and Hisayuki Aoyama
Paper: pp. 341-348
Parameter Study of a Step-Climbing Machine for Heavy Load Carriers
Abstract
Shinji Kajiwara
Paper: 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
Paper: 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
Paper: pp. 369-376
A Discrete Adaptive Auction-Based Algorithm for Task Assignments of Multi-Robot Systems
Abstract
Xuefeng Dai, Zhifeng Yao, and Yan Zhao
Development Report: pp. 377-387
Development of Robotic Defecation Simulator
Abstract
Koushi Tokoro, Takuya Hashimoto, and Hiroshi Kobayashi

Grand Robots Museum

Development Report: pp. 389-390
Development of Power-Assist Machine Using Linkage Mechanism
Abstract
Hiroyuki Inoue
Development Report: pp. 391-393
Robotic Fish
Abstract
Yogo Takada, Keisuke Koyama, and Takahiro Usami
Development Report: pp. 394-395
Aerial Cargo Robot (Cargo UAV)
Abstract
Kakuya Iwata and Osamu Matsumoto
Development Report: 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 –
Grand Robots Museum

JRM’s 25 Years Anniversary of Publication Reviews

Review: pp. 127-133
Development and Applications of the SCARA Robot
Abstract
Yasunori Yamazaki
Review: pp. 134-139
Development of Revolutionary Automation Line for Meter Gauge
Abstract
Koichi Fukaya, Sojiro Tsuchiya, and Yasuhiko Yamazaki
Review: 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 –

Editorial: 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 pa...<more>
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 177-184
A Robust NavigationMethod for Mobile Robots in Real-World Environments
Abstract
Sam Ann Rahok, Hirohisa Oneda, Akio Tanaka, and Koichi Ozaki
Paper: 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
Paper: pp. 196-203
Three Tiered Self-Localization of Two Position Estimation Using Three Dimensional Environment Map and Gyro-Odometry
Abstract
Kazuya Okawa
Paper: 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
Paper: 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
Paper: pp. 225-235
Minimal Autonomous Mover – MG-11 for Tsukuba Challenge –
Abstract
Toshiaki Shioya, Kazushige Kogure, and Naoya Ohta
Paper: pp. 236-244
A Reasonable Path Planning via Path Energy Minimization
Abstract
Masashi Yokozuka and Osamu Matsumoto

Regular Papers

Paper: 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
Paper: 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

Development Report: 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
Development Report: pp. 262-263
A Cruising AUV r2D4: Intelligent Multirole Platform for Deep-Sea Survey
Abstract
Kangsoo Kim and Tamaki Ura
Development Report: p. 264
Force Masking Humanoid Robot System
Abstract
Chyon Hae Kim, Kenta Yonekura, and Shigeki Sugano
Development Report: pp. 265-266
Swimming Humanoid Robot “SWUMANOID” as an Experimental Platform for Research of Human Swimming
Abstract
Changhyun Chung and Motomu Nakashima
Development Report: pp. 267-268
Asparagus Harvesting Robot
Abstract
Naoki Irie and Nobuyoshi Taguchi
Development Report: 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
Grand Robots Museum

Message from JRM Editor-in-Chief

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

JRM’s 25 Years Anniversary of Publication Reviews

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

Regular Papers

Paper: 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
Paper: pp. 34-39
Simulation and Measurement of Fuel Injection Quantity Based on TB4P
Abstract
Dongmin Li, Jianzhong Zhang, Jianjun Yuan, FancanGuo, and Huiming Wang
Paper: pp. 40-50
Experimental Comparison of Two Ceiling Hanging Mobile Robots Through Real Prototypes Development
Abstract
Rui Fukui, Hiroshi Morishita, and Tomomasa Sato
Paper: 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
Paper: pp. 59-67
Inside Vehicle Inspection System Utilizing a Mobile Robot with LRF Sensor
Abstract
Sanngoen Wanayuth, Akihisa Ohya, and Takashi Tsubouchi
Paper: 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
Paper: pp. 78-84
Simple Virtual Reality Skill Training System for Manual Arc Welding
Abstract
Xin Liang, Hideo Kato, Nobuyoshi Hashimoto, and Kazuya Okawa
Paper: 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

Development Report: pp. 96-97
Wireless Remote Controlled Electromagnet-Type Moving Microrobot
Abstract
Masahiro Isogai
Development Report: pp. 98-99
Simple Legged Robots that Reveal Biomechanical and Neuromechanical Functions in Locomotion Dynamics
Abstract
Shinya Aoi
Development Report: p. 100
Myoelectric Prosthetic Hand with High Grasping Force
Abstract
Haruhisa Kawasaki and Tetsuya Mouri
Development Report: pp. 101-102
Rope Turning Humanoid Robot System
Abstract
Chyon Hae Kim, Kenta Yonekura, and Shigeki Sugano
Development Report: pp. 103-104
Hand Motion Assist Robot for Rehabilitation Therapy
Abstract
Haruhisa Kawasaki, Satoshi Ito, Yutaka Nishimoto, Satoshi Ueki, Yasutaka Ishigure, and Tetsuya Mouri
Development Report: pp. 105-106
Pneumatically-Driven Active Cord Mechanism “Slim Slime Robot”
Abstract
Hidetaka Ohno and Shigeo Hirose
Development Report: pp. 107-108
Android Robot SAYA
Abstract
Takuya Hashimoto and Hiroshi Kobayashi
Development Report: 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
Development Report: pp. 110-111
Development of a Teleoperation System for a Construction Robot
Abstract
Hironao Yamada, Takuya Kawamura, and Katsutoshi Ootsubo
Development Report: 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

Junior Letter: 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

Editorial: 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.
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 959-965
Investigation of User Load and Evaluation of Power Assistive Control on Cycling Wheelchair
Abstract
Aya Kaisumi, Yasuhisa Hirata, and Kazuhiro Kosuge
Paper: 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
Paper: pp. 973-982
Pneumatically Driven Prehension Orthosis with Force Control Function
Abstract
Shunji Moromugi, Takayuki Tanaka, Toshio Higashi, Maria Q. Feng, and Takakazu Ishimatsu
Paper: 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
Paper: 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
Paper: 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
Paper: pp. 1011-1019
Development of Danger Avoidance Assist System for Electric Cart
Abstract
Masanori Sato, Tetsuo Tomizawa, Shunsuke Kudoh, and Takashi Suehiro
Paper: 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
Paper: 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
Paper: pp. 1038-1049
Muscle Synergy Analysis Between Young and Elderly People in Standing-Up Motion
Abstract
Qi An, Yusuke Ikemoto, and Hajime Asama
Paper: 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
Paper: pp. 1060-1069
Implementation Approach of Affective Interaction for Caregiver Support Robot
Abstract
Yutaka Miyaji and Ken Tomiyama
Paper: 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 Pa