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This paper describes a friction model that enables the simulation of mechanical motion with planar two-dimensional friction. Most existing friction models for control applications are applicable to one-dimensional motion only. The proposed model is derived by extending the conventional friction model, the Dahl model. This is achieved by replacing the scalar quantities in the Dahl model with vector...
This paper describes a geometrical method for grasping objects wherein an object is caged by rigid parts of a robot hand and simultaneously grasped by soft parts attached to said rigid parts. We term this process as caging-based grasping. In this study, we derive concrete conditions for two- and three-dimensional caging-based grasping of objects of various shapes using circular robots and multi-fingered...
This paper proposes a novel design method of disturbance observer (DOB) and reaction force observer (RFOB) for acceleration-based bilateral control (ABC) utilizing DC brushed motor (abbreviated as DC motor later). ABC is one of the control method to enable the transmission of haptic sensation between master and slave robots. In order to transmit highly precise haptic sensation, both DOB and RFOB are...
This paper presents a novel two channel control law for high transparency teleoperation under time delay with guaranteed delay independent L2 stability. Four channel controllers have long been known to provide transparent teleoperation when time delay does not exist on the communication channels. However under time delay, a trade-off between delay and transparency must be made to make the system stable...
An improved unit module of a novel mobile self-assembling modular robotic system is presented in this paper. Two continuous rotational DoFs are used in each module to implement both valuable self-locomotion and flexible reconfiguration. To achieve efficient exploration, unit module can implement two-dimensional locomotion independently and freely in a range of surface conditions in real world, even...
This paper proposes a novel viewpoint of the bilateral control with time delay in terms of modal space and the control method to track position and return force information from the slave to the master well. The bilateral control is characterized by a remote control, which return force information to the local site. Time delay is one of the problems of the bilateral control system, because it degrades...
In several previous researches, it was discovered that instantaneous phase is one of the universal features of tasks, especially writing tasks. Therefore, this paper focuses on a force-amplitude/phase control of a 1 degree of freedom system. In this paper, the SISO system is extended into a MIMO system defined in a complex plane by using Hilbert transformation. The amplitude/phase controllers of a...
In this paper, the resilient filtering problem for a class of discrete-time Markov jump systems with unideal measurements is investigated. The unideal measurements contain both quantization and missing measurements simultaneously, which occur randomly satisfying two mutually independent Bernoulli distribute white sequences. A unified model is used to describe the unideal measurements phenomena, and...
This paper presents the integrated circuit (IC) which could output a driving waveform to generate the walking motion of the piezoelectric element impact-type micro electro mechanical systems (MEMS) microrobot. The microrobot was made from silicon wafer fabricated by micro fabrication technology. The size of the fabricated robot was 4.0 × 4.6 × 3.6 mm. IC design of the pulse-type hardware neuron model...
This paper reports our latest experimental results on analyzing human's continuous learning ability with the reflection cost. To fill in the missing piece of reinforcement learning framework for the learning robot, we focus on two human mental learning processes, awareness as pre-learning process and reflection as post-learning process. To observe mental learning processes of a human, we propose a...
Currently, an increasing number of initiatives are observed aiming at enriching automation environment with modern Information and Communication Technologies (ICT). The desired solutions should lead to increasing and facilitating interoperability of production systems and their components. To realize this vision, a key component is an open and standardized communication platform. Meanwhile, OPC Unified...
Conventional methods for storing and reproducing task are based on only the information of the actuators in the robot. However, in these methods, reproducing the stored task is difficult when the environment differs from that in storing phase. This is because these methods consider a meaningful task as just a motion. In this paper, to reproduce a stored task even if the environment differs from that...
This paper presents adaptive tracking control with a partial regressor for multi-joint robots. The proposed controller can abbreviate the elaborate computations of a regressor matrix, which needs to be wholly calculated in conventional adaptive control. Therefore, this controller can be easily implemented in robotic systems. Even though the proposed controller does not utilize robustification techniques...
The modular robot is constructed by the same shape and function module. The robot can transform and exchange, because it is multiple modules and function. In previous paper, we manufactured the module by 3D printer, and evaluated the mechanical function of the simple module and modular robot. In this paper, the module is miniaturized and joint parts are improved. Joint parts are used tenon joint in...
In rehabilitation, a robot is useful and effective for repetitive trainings. However, few rehabilitation robots have adaptability to personal difference. Therefore, an index for quantitative assessment of the difference is required to achieve the adaptability. In conventional research, a hand stiffness is used as one of the indeces, and a dynamic hand stiffness is measured only in 2 dimensions. Then,...
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