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Generalization of movements in quadruped robot locomotion by learning specialized motion data
Springer Science and Business Media LLC - Tập 7 - Trang 1-14 - 2020
Hiroki Yamamoto, Sungi Kim, Yuichiro Ishii, Yusuke Ikemoto
Machines that are sensitive to environmental fluctuations, such as autonomous and pet robots, are currently in demand, rendering the ability to control huge and complex systems crucial. However, controlling such a system in its entirety using only one control device is difficult; for this purpose, a system must be both diverse and flexible. Herein, we derive and analyze the feature values of robot...... hiện toàn bộ
Hardware-in-the-loop simulation of massive-payload manipulation on orbit
Springer Science and Business Media LLC - Tập 5 - Trang 1-12 - 2018
Jaesung Yang, Atsushi Konno, Satoko Abiko, Masaru Uchiyama
This paper describes a hardware-in-the-loop simulation of massive-payload manipulation on orbit using a master–slave teleoperation system. The main problems in teleoperating a space robot arm from the earth to manipulate a massive payload are communication delay, unexpected excessive force generated between the slave arm and the payload, and geometric/dynamic modeling error. In order to overcome t...... hiện toàn bộ
Age-related injury risk curves for the lumbar spine for use in low-back-pain prevention in manual handling tasks
Springer Science and Business Media LLC - Tập 6 - Trang 1-10 - 2019
Naoki Kudo, Yoji Yamada, Daisuke Ito
This study introduces injury risk curves for the lumbar spine for use in the risk assessment of low back pain (LBP) caused by manual lifting of heavy loads. LBP has been a longstanding problem among industrial workers, giving rise to the development of assistive devices. However, quantitative evaluation methods to verify the safety of such devices have not yet been established. The notable biomech...... hiện toàn bộ
A measurement system toward to skill analysis of wall painting using a roller brush
Springer Science and Business Media LLC - Tập 10 Số 1
Kyosuke Miyairi, Yutaka Takase, Yoshihiko Watanabe, Mikita Miyaguchi, Kimitoshi Yamazaki
AbstractIn this study, we describe a measurement system aiming to skill analysis of wall painting work using a roller brush. Our proposed measurement system mainly comprises an RGB-D sensor and a roller brush with sensors attached. To achieve our requirements in understanding roller operation, we developed an algorithm that is suitable to estimate the roller part p...... hiện toàn bộ
A robotic end-effector with rolling up mechanism for pick-and-release of a cotton sheet
Springer Science and Business Media LLC - Tập 7 - Trang 1-9 - 2020
Taiki Abe, Yuichi Kawasaki, Kimitoshi Yamazaki
In this paper we introduce a novel robotic end-effector for pick-and-release of a sheet of cotton cloth. One of the main operations in a factory for sewing cloth products is to pick up cloth parts, provide them to a sewing machine, and sew them together. Fabric products are assembled by performing this work in various processes. Each work starts with a lot of cloth parts stacked near a sewing mach...... hiện toàn bộ
Development of a steerable in-pipe locomotive device with six braided tubes
Springer Science and Business Media LLC - Tập 5 - Trang 1-11 - 2018
Hirozumi Takeshima, Toshio Takayama
Numerous studies have developed in-pipe locomotive devices to inspect pipes. However, it is difficult to achieve selective locomotion in a branched piping system. In this study, a novel steerable in-pipe locomotive device is proposed based on “a six-braided-tubes locomotive device,” which is an in-pipe locomotive device that is actuated by only six pneumatic inflatable tubes. It is one of the simp...... hiện toàn bộ
Analytical methodology for the analysis of vibration for unconstrained discrete systems and applications to impedance control of redundant robots
Springer Science and Business Media LLC - Tập 8 Số 1 - Trang 1-21 - 2021
Kao, Imin, Saldarriaga, Carlos
This paper presents a general methodology for the analysis and synthesis of a positive semi-definite system described by mass, damping and stiffness matrices that is often encountered in impedance control in robotics research. This general methodology utilizes the fundamental kinematic concept of rigid-body and non-rigid-body motions of which all motions consist. The rigid-body mode results in no ...... hiện toàn bộ
Evaluation of the deformation shape of a balloon-type dielectric elastomer actuator prestretched with water pressure
Springer Science and Business Media LLC - Tập 8 - Trang 1-10 - 2021
Natsumi Koike, Takeshi Hayakawa
In this study, we evaluated the deformation shape of a balloon-type dielectric elastomer actuator (DEA) that has been prestretched with water pressure. We fabricated the DEA with poly(dimethylsiloxane) (PDMS) as the elastomeric material and carbon grease as the electrode. We derived analytical solutions for the deformation of the DEA based on structural mechanical models. Additionally, we compared...... hiện toàn bộ
Thiết bị biến đổi luồng khí tự kích thích cho việc tăng áp định kỳ của robot mềm Dịch bởi AI
Springer Science and Business Media LLC - - 2021
Toshio Takayama, Yusuke Sumi
Tóm tắtGần đây, robot mềm điều khiển bằng khí nén đã được phát triển rộng rãi. Nguyên lý hoạt động của loại robot này thường là sự bơm phồng và xì hơi của các buồng khí đàn hồi bằng áp suất không khí. Một số robot mềm cần bơm phồng và xì hơi nhanh chóng và định kỳ các buồng khí của chúng để tạo ra chuyển động liên tục như chuyển động tiến hoặc chuyển động quay. Tuy...... hiện toàn bộ
Evaluation of effects caused by individual differences in human shape that affect the safe utilization of wearable robots
Springer Science and Business Media LLC - - 2018
Yoshiko Sakai, Yasuhiro Akiyama, Yoji Yamada, Shogo Okamoto
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