Advanced Robotics

Kim, Ki-Kap; Yoon, Yong-San

doi: 10.1163/156855392X00277pmid: N/A

In solving inverse kinematics problems, traditional methods such as RMRC (resolved motion rate control) and the IKM (inverse kinematic method) are mostly complicated and time-consuming. Using a neural network, however, a practical algorithm for obtaining accurate joint angles in a much shorter time is possible. The neural network approach assumes a transfer function between inputs and outputs and trains the network to satisfy the representative input-output pairs in the least squares sense. First, a test of the appropriateness of the neural network method is performed for the case of a planar two degrees of freedom (DOF) robot. Then the neural network method is employed to find three joint angles of a planar 3-DOF robot maximizing local manipulability. In this algorithm, the proximal redundant joint angle is determined from a neural network and then the remaining joint angles are determined from analytical functions. The results from this method compare favourably with those from the other two traditional methods.

Igarashi, Eturoo; Nogai, Tooru

doi: 10.1163/156855392X00286pmid: N/A

Walking according to changes in the environment is called adaptive walking. We define lower level adaptive walking as a walk consisting only of trajectory control and walk-pattern generation. The purpose of this study was to realize lower level adapting walking in the sagittal plane by a biped locomotion robot in indoor space. In this paper, we propose a simplified procedure of walk-pattern generation, which is that walk patterns for various environments are generated by adjusting and combining the basic walk patterns which have previously been given for typical environments. Based on this idea, walking experiments were carried out for various environments. As a result, dynamic walking in a flat plane (about 1.5 s/step with a 0.3 m step width), changes of the step width in walking, and walking in various environments combined from a flat plane, an obstacle (such as a pipe) and a stair (up and down) were realized.

Sakane, Shigeyuki; Niepold, Ruprecht; Sato, Tomomasa; Shirai, Yoshiaki

doi: 10.1163/156855392X00295pmid: N/A

In hand-eye systems for advanced robotic applications such as assembly, the degrees of freedom of the vision sensor should be increased and actively made use of to cope with unstable scene conditions. Particularly, in the case of using a simple vision sensor, an intelligent adaptation of the sensor is essential to compensate for its inability to adapt to a changing environment. This paper proposes a vision sensor setup planning system which operates based on environmental models and generates plans for using the sensor and its illumination assuming freedom of positioning for both. A typical vision task in which the edges of an object are measured to determine its position and orientation is assumed for the sensor setup planning. In this context, the system is able to generate plans for the camera and illumination position, and to select a set of edges best suited for determining the object's position. The system operates for stationary or moving objects by evaluating scene conditions such as edge length, contrast, and relative angles based on a model of the object and the task environment. Automatic vision sensor setup planning functions, as shown in this paper, will play an important role not only for autonomous robotic systems, but also for teleoperation systems in assisting advanced tasks.

Tachi, Susumu; Sakaki, Taisuke

doi: 10.1163/156855392X00303pmid: N/A

An impedance controlled master-slave manipulation system is proposed for use as part of a tele-existence manipulation system. Tele-existence aims at the natural and efficient remote control of robots by providing a human operator at the controls with the real-time sensation of presence that enables him/her to perform remote manipulation tasks dexterously with the feeling that they exist inside the slave anthropomorphic robot in the remote environment. The proposed system regulates the impedance of the master manipulator and slave manipulator so that they coincide with each other. An impedance model of the remote environment is generated to be used for the control. Four basic impedance controlled master-slave manipulation schemes are applied to the system with a time delay. The feasibility of the proposed method is demonstrated by experiments using a hardware direct-drive master manipulator and a software slave manipulator.

Sugimoto, Gunji

doi: 10.1163/156855392X00312pmid: N/A

Active research and development is carried out for various mobile robots or robotic vehicles. This paper tries to find a new principle of the evolution of machine intelligence for robotic vehicles. The machine intelligence of robotic vehicles is the integrated ability composed of sensors, actuators, and computers, which produces the travel versatility of robots. Therefore, the relation between the performances of sensors, actuators, and computers, and the produced travel versatility was examined on 18 previously reported wheeled robotic vehicles with reference to the study on the evolution of vertebrate brains. The obtained hypothetical principles are as follows. Computer power varies in proportion to the summation of both rates of information input from sensors and information output to actuators for robots with the same grade of travel versatility. Robotic vehicles with a high grade of travel versatility have greater computer power than those with a low grade.

Yamaguchi, Masaaki; Iguchi, Nobuhiro

doi: 10.1163/156855392X00321pmid: N/A

The riding simulator that we have developed consists of a horse-like body, swing mechanisms, a control unit, and an imaging device, and realizes the three basic riding motions of real horses-namely, walk, trot, and canter. In addition, a rider can experience the feeling of real horse riding by controlling the movement of the horse, such as start, stop, and change of the riding pace, and with the aid of an image of the horse's riding course displayed on a screen in front of the rider.

Katoh, Akitaka

doi: 10.1163/156855392X00330pmid: N/A

Practical uses of industrial robots may be classified into six categories. Practical applications may be divided into two large categories-one being path control only, the other path control plus feeding of parts for assembly. I will describe the problems of each from a robot system user's point of view. From these results, I will describe why it is important that high-speed three-dimensional image processing technologies be developed.