Journal of the Robotics Society of Japan

[title in Japanese]

[in Japanese]

2006 Volume 24 Issue 6 Pages 683
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.683

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Perspective of KANSEI-Robotics

Genichiro Kinoshita, Toshikazu Kato

2006 Volume 24 Issue 6 Pages 684-687
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.684

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Constructivist Approach to Robot Communication

—Emotional Communication Robot: WAMOEBA—

Shigeki Sugano, Tetsuya Ogata

2006 Volume 24 Issue 6 Pages 688-691
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.688

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InterRobot: Speech-Driven Embodied Interaction Robot

Tomio Watanabe

2006 Volume 24 Issue 6 Pages 692-695
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.692

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Toward System Integration of Mechanical Impedance Properties into Human-machine Systems

Toshio Tsuji, Yoshiyuki Tanaka

2006 Volume 24 Issue 6 Pages 696-699
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.696

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Co-creation System for Community Interface

—Creation of “Place” for Sympathy by Walk-Mate System—

Yoshihiro Miyake

2006 Volume 24 Issue 6 Pages 700-707
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.700

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Development of the Face Robot with Rich Facial Expressions and Realization of Receptionist System

Hiroshi Kobayashi

2006 Volume 24 Issue 6 Pages 708-711
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.708

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Human-Machine Interface in Endoscopic Surgery Assist Systems

Yasushi Yamauchi

2006 Volume 24 Issue 6 Pages 712-715
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.712

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Sensitivity of Human for Sounds and Words, and Their Engineering Use

Taichi Sato, Kihachiro Tanaka

2006 Volume 24 Issue 6 Pages 716-719
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.716

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Usability of Communication Robots?: Some Problems of Robots as User Interfaces

Etsuko T. Harada

2006 Volume 24 Issue 6 Pages 720-724
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.720

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Motion Stabilization of Biped Robot by Gaze Control

Shota Takizawa, Shun Ushida, Koichiro Deguchi

2006 Volume 24 Issue 6 Pages 727-734
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.727

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We present a motion stabilization system for a biped robot that makes it possible to keep relative posture and position to a moving or stationary object. Our system consists of two layers of control subsystems, gaze control system and motion control system. In order to achieve an actual motion which follows exactly a scheduled one, the biped robot gazes a target to estimate errors of robot motion and adjusts both an actual motion and the scheduled one simultaneously. The gaze control system has 2 DOF controller, visual feedback part and feedforward part based on a scheduled robot motion. A periodic motion of robot body swing induced by walking allows us to estimate the distance to the target by forming a motion stereo. The scheduled motion is adjusted based on an adaptive law of Model Reference Adaptive Control (MRAC) .

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A Bilinear Time Delay Neural Network Model for a Robot Software System

Fumio Nagashima

2006 Volume 24 Issue 6 Pages 735-746
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.735

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The software system for the human friendly robot is important to realize a practical flexible robot. I propose the system based on a bilinear time delay neural network model for this purpose. The proposed model can describe both linear and non-linear models for robot software. And this model also can describe both algebraic and differential equation systems. I discuss how this model works for robot functions. I also show the example robot functions of motion, sensing and logic using proposed model.

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Development of Wrist Rehabilitation Equipment Using Pneumatic Parallel Manipulator

—Realization of Multiple D.O.F. Rehabilitaiton Motion—

Masahiro Takaiwa, Toshiro Noritsugu

2006 Volume 24 Issue 6 Pages 747-753
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.747

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In this study, we focused on a rehabilitation motion of human wrist joint and aim at developing a mechanical equipment to support these rehabilitation motion. A pneumatic parallel manipulator is introduced since it can drive multiple D.O.F. enough to correspond to a wrist motion and has inherent compliance characteristics resulted from air compressibility works as safety mechanism and minute force regulating function. An impedance control strategy is applied on the manipulator to implement rehabilitation motion by adjusting impedance parameters appropriately. The validities of the proposed multiple D.O.F. rehabilitation system for the several rehabilitation motion are confirmed through experiments.

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Functional Micro Sensor for Force Measurement with Silicon Strain Gauge

—Structural Design, Development and Evaluation Experiment of Force Sensor—

Koichi Itoigawa, Masakata Kanbe, Teruhiko Koide, Toshio Fukuda, Fumihi ...

2006 Volume 24 Issue 6 Pages 754-765
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.754

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In this paper, we propose the design guideline of the micro force sensor that becomes important as a force measurement method with a semiconductor strain gauge. The range of the force can be measured is from μN to N, and we controlled the stress applied to the sensor by devising the sensor structure. We developed three types of force sensor to cover such a wide range. The force sensor to measure μN level of force has the cantilever structure, which can transmit the minute force effectively. The force sensor for mN range force is pressure sensor type, and the force can be measured as pressure through the transmission medium to avoid breakage. The force sensor for N range force adopted a new method that the force is directly applied to the diaphragm. We designed each type of sensor based on simulation, and enabled the output voltage range to mV/V regardless of the type. Then we made the prototypes (Maicrogrippar, Catheter Touch Sensor, and Belt Tension Sensor) that applied each sensor. As a result, we verifie the effectiveness of our design guideline for micro sensors to measure several ranges of force.

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Behavior Based Locomotion Control in Multi-Legged Robot Constructed by Hierarchical Distributed Structure

Tadashi Odashima, Zhi-wei Luo

2006 Volume 24 Issue 6 Pages 766-773
Published: September 15, 2006
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.24.766

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Multi-legged locomotion enables a mobile robot to behave flexibly in complex environment. High flexible locomotion, however, requires high computational load to the controller. Decentralized control approach is one of the most feasible ways to reduce the load. Although force control is useful in order to realize high adaptability to complex environment, solving a force distribution problem requires generally global information and it does not match the policy of decentralized control system. In this paper, we propose one method to solve a force distribution problem by bottom-up manner, in which local controllers modify the received target values locally by them.

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