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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 nhiên, nếu robot mềm cần hoạt độ... 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
Proposition and evaluation of a collision detection method for real time surgery simulation of opening a brain fissure
Springer Science and Business Media LLC - Tập 1 - Trang 1-14 - 2014
Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
In neurosurgery, opening a brain fissure allows an operator to access to the basis cranii and to treat a disease part safely, but the operator is required highly sophisticated techniques. In order to develop a neurosurgery simulator enabling surgeons to train themselves for opening a brain fissure procedure, it is required to detect collision between a thin instrument model and a deformable brain ... hiện toàn bộ
Optimization algorithm for feedback and feedforward policies towards robot control robust to sensing failures
Springer Science and Business Media LLC - Tập 9 Số 1 - 2022
Taisuke Kobayashi, Keiko Yoshizawa
Abstract Background and problem statement Model-free or learning-based control, in particular, reinforcement learning (RL), is expected to be applied for complex robotic tasks. Traditional RL requires that a policy to be optimized is state-dependent, that means, the policy is a kind of feedback (FB) controllers. Due to the necessity of correct state observation in such a FB controller, it is sensi... hiện toàn bộ
Terrain traversability prediction for off-road vehicles based on multi-source transfer learning
Springer Science and Business Media LLC - Tập 9 - Trang 1-25 - 2022
Hiroaki Inotsume, Takashi Kubota
In this paper, a novel terrain traversability prediction method is proposed for new operation environments. When an off-road vehicle is operated on rough terrains or slopes made up of unconsolidated materials, it is crucial to accurately predict terrain traversability to ensure efficient operations and avoid critical mobility risks. However, the prediction of traversability in new environments is ... hiện toàn bộ
Safe tree felling using expansion agent
Springer Science and Business Media LLC - Tập 4 - Trang 1-9 - 2017
Chyon Hae Kim, Hiroaki Abe, Akio Numakura, Jyunpei Koyama, Yukio Takahashi
We discuss about safe tree felling methods. In previous work, tree felling robots that were equipped with cutting instruments have been investigated in order to keep workers’ safety. However, these robots may take damage when trees fall down against them. We propose a tree felling framework that maintains the workers and robots both in safe. In the proposed framework, a robot inserts a slow-acting... hiện toàn bộ
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