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Wire-driven haptic devices can easily achieve highspeed operation because of the low inertia of light and thin wires. Therefore, it is expected to be widely used as a motion support system in fields such as sports training. However, usually these wires are driven by controlling each wire's tension using servo motors, which raises concerns about the safety in human-robot interaction. Thus, we propose...
This paper proposes a co-worker in-time Parts/tools Delivery to You robot, PaDY, in an automobile assembly line. Since co-worker robots share a workspace, the workers are at risk of colliding with them. Therefore, the safety of the workers has to be considered when operating such robots. In previous studies, the robot generally stops to ensure the worker's safety when a collision is detected, delaying...
In this paper, we propose a novel robot hand called uGRIPP (Underactuated Gripper for Power and Precision Grasp) which has underactuated fingers for dual-arm manipulation tasks. A newly designed underactuated linkage enables the robot hand to achieve not only an adaptive grasp and a pinch grasp, but also manipulation by a palm of the hand. We introduce performance of the proposed linkage by a static...
A model predictive controller is developed for following the position of a human dancer in robot ballroom dancing. The control design uses a dynamic model of a dancer, based on a variant of the so-called 3D Linear Inverted Pendulum Mode that includes also the swing foot. This model serves as a basis for a Kalman predictor of the human motion during the single-support phase, while a simpler kinematic...
A motion prediction method using Gaussian Mixture Models (GMM) is applied to a kendo agent (Kendo is a traditional Japanese martial art). Human player motion is measured by a motion capture system, using markers attached to each of the player's joints. Measurement information is converted to a state vector with Euler angles to indicate orientation of the sword and orientation of each part of the player's...
Physical human-robot interaction between a human leader and a robot follower in waltz is studied in this paper. The dancers' body dynamics in single-support phase are modeled as inverted pendulums. On the robot side, an ankle torque control method is proposed and applied. The control law forms a time-dependent vector field, which makes the nominal orbit of the robot to be an attractor. To physically...
A pair of spring-damper-connected inverted pendulums are introduced to model two dancers' body dynamics in physical interaction. When timing errors are included in the model, condition for poly-quadratic stability is implemented to examine the system. With two laser ranger finders installed on the robot for measuring human dancer's states, a state-feedback-based method is proposed to minimize the...
In this study, we consider the development of a device for handling small parts for automatic product assembly in factories. Many robotic hands and one-degree-of-freedom grippers have been proposed as grasping parts; here, we focus on the shape of the tips of a handling device for picking up small parts robustly and agilely. In this research, we propose a concept for a handling device for picking...
A Dance Partner Robot, PBDR (Partner Ball Room Dance Robot), dances a waltz as a female dancer together with a human male dancer. The waltz, a ball room dance, is usually performed by a male dancer and a female dancer, and consists of a certain number of steps, and transition of the steps. The dance is lead by the male dancer based on the transition rule of the dance. The female dance partner estimates...
In this paper, we propose a communication strategy of "Two tops structure" of "Cellular Robotic System (CEBOT) communication network." The "Two tops structure" means that the network has two master cells. A network is separated into two subnetworks, each of which has one master cell. The efficiency of information flow will be improved and the load for a master cell in...
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