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As part of the NEDO robot project, we are engaged in developing a surface/underwater robot system which investigates underwater infrastructure such as dams and river facilities. In this paper, we propose a sailing control method based on “extended kite flying principle” for a moored unmanned surface vehicle (USV) system in running water. We also develop the mooring system and the miniaturized USV...
Manipulation of beacons is a method of Human-Swarm Interaction (HSI) of relative ease to implement, especially for computer simulated environments. This paper focuses on doing an in depth analysis of an implementation of attractor and repulsor fields and determining its advantages and disadvantages through experimental means. The results give an optimistic view of the method: the learning curve is...
This paper considers the application of finite-time control to a Cucker-Smale flocking model of autonomous agents with collision avoidance. A mathematical expression for the upper bound on the flocking time is derived. Previous results without considering collision avoidance showed that the flocking time decreases as the number of robots in the flock increases, which is counter-intuitive. We showed...
Assembly process complexity in the production of manufactured products has received considerable attention in recent years. With the growing trend towards cyber-physical systems and the fourth industrial revolution, assembly research efforts must aim to develop efficient production systems incorporating robotic arms and flexible fixtures. The aim of the research was to investigate end effector and...
Unmanned aerial vehicle that is moving from one place to another needs to have a real-time obstacle avoidance controller to prevent collisions in the obstacles around it. In this paper, the concept of artificial potential field is proposed to implement obstacle avoidance in swarm of quadrotors. This is based on the assumptions that the target and obstacle will introduce a certain force that will direct...
In this paper, a redundantly actuated chewing robot with two higher kinematic pairs (HKPs) is presented, which can be used in performance test and evaluation of denture material. The robot has six actuators, but only has four degrees of freedom, due to constraints of two HKPs which mimic two temporomandibular joints (TMJs) of human. Quasi-static force analysis in occlusion status is performed to calculate...
In this paper, the stability problem of bilateral tele-operation systems with data sampling and communication time delays is considered. Two buffers are introduced in the bilateral teleoperation control framework to deal with the issue that the information transmitted between the master and slave sides suffer from time-varying delays. The mathematical model of bilateral teleoperation systems based...
An interesting about MAV and a research for flapping wing aero vehicle has been increased. It is required that take-off and landing abilities to lift up a vehicle by flapping motion to achieve a special purpose for flapping wing aero vehicle. An airfoil has to generate lift force more than a weight of the body to work take-off from the ground without additional force. MAV can generate enough lift...
This paper aims to develop the motion loading system taking into account the variable control impedance and human reactions. In the motion saving phase, a four channel bilateral controller with a micro-vibration is utilized for the purpose of obtaining not only position and force responses to human motion but also the human impedance. In the motion loading phase, the hybrid angle and the human impedance...
In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human by considering impedance learning and human motion intention estimation. The least square method is used in human impedance identification, and the robot can adjust its impedance parameters according to human impedance model for guaranteeing compliant collaboration. Neural networks (NNs) are employed...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
This document introduces an air-land robotic platform called Hexapodopter, capable of ground locomotion and vertical take-off and landing (VTOL). For walking, each of the limbs feature three degrees of freedom (DoF); for flying, the thrust is provided by a set of motors and propellers mounted on every limb. Due to its mechanical design, the Hexapodopter can reconfigure the thrust vectors of propellers...
This paper proposes a system that can actuate itself with wirelessly received power. The system consists of two coils with different purposes; the power-receiving coil wirelessly receives power from the external sinusoidal magnetic field, and the actuation coil controls the current for 1D self-actuation. The actuation current has a square waveform and is controlled to be in phase with the external...
This paper reports on three measurement science field exercises for evaluating ground, aerial, and aquatic robots. These events, conducted from February to June 2017, were conducted in close co-ordination with the responder community, standards organizations, manufacturers, and academia. Test data from a wide variety of robot platforms were gathered in a wide variety of standard and prototypical test...
The compliant control of the robot is widely used in the Human-Machine Interface (HMI) and robot bionics. Because the system and the environment are mutually constrained, when the external environment changes, the control environment of the system will change with it, which deteriorates the control performance of the system. This article solves the problem of how to realize the compliant control with...
Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers...
The design employs direct drive torque motor to achieve a robot single joint with active compliance based on the impedance model. In order to maximize the torque density, transmission transparency and backdrivability, the joint employs a quasi-direct actuator that a single-stage planetary gear is mounted on the motor's rotor. When robot interacts with environments, it's inevitable to change the stiffness...
In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the...
Pectoral fin types of biological fish have an enormous diversity, and they play an essential role in locomotion of fish. The adaptation to shapes and movement mechanism of pectoral fin types helps swimming motion of the main body effectively, that results in the high flexibility and maneuverability of locomotion. This paper proposes a hydrodynamic model of a type of flexible pectoral fin (FPF), which...
This paper focuses on the control system design for a wearable power assist device which provides force/torque support for people who are doing physically demanding tasks. The device is actuated by the McKibben artificial muscle. The McKibben actuator is know to exhibit high nonlinearity between the supply pressure and the contractile length, and it is basically difficult to design a high performance...
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