Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
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Displaying 1-22 of 22 articles from this issue
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  • Masaki Miyashita, Kohei Kimura, Shunsuke Kudoh
    2025 Volume 43 Issue 5 Pages 515-522
    Published: 2025
    Released on J-STAGE: June 20, 2025
    JOURNAL FREE ACCESS
    Supplementary material

    The purpose of this study is to develop a method for an air hockey robot to hit back the puck to a target position using reinforcement learning. The learning of hitting back motion, which is executed on a simulator that reproduces an air hockey robot and a field hockey table, is conducted step by step in three phases: bringing the mallet into contact with the puck, hitting the puck back to the wall on the opponent's side, and aiming at the opponent's goal. Two types of movement are acquired based on two different strategies: aiming directly at the goal and aiming the goal with reflection on the side walls. First, experiments on the simulator were conducted to evaluate the model obtained by the proposed method, and then the actual air hockey robot system was operated using the model to confirm the feasibility of hitting the puck back to the goal.

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  • —Social Demonstration and Consideration in Robot Restaurant—
    Kazutsugu Suita, Yoshihiro Nakabo, Keiju Anada
    2025 Volume 43 Issue 5 Pages 523-528
    Published: 2025
    Released on J-STAGE: June 20, 2025
    JOURNAL FREE ACCESS

    A stop function that takes into considerations the principle of human behavior is defined as a ``Anshin Stop Switch'' and proposed as a cooperative safety technology for humans and machines. To confirm its effectiveness, we conducted a questionnaire survey among employees working in a robot restaurant in operation to confirm its hazard avoidance effect and its influence on future behavior. The results were organized as ``Safety Behavior Design Diagram'' based on ``Applied Behavior Analysis'' and its basic effectiveness was confirmed.

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  • —Compensating Arm Weight and Applying Perturbationwith Pneumatic–Electromagnetic Hybrid Actuator—
    Takuma Shimoyama, Tomoyuki Noda, Tatsuya Teramae, Yoshihiro Nakata
    2025 Volume 43 Issue 5 Pages 529-532
    Published: 2025
    Released on J-STAGE: June 20, 2025
    JOURNAL FREE ACCESS
    Supplementary material

    Assessment of patient joint stiffness during robotic upper extremity rehabilitation has the potential to expand the range of its adaptations. In this study, we investigated the feasibility of measuring shoulder joint impedance during arm weight compensation using an exoskeleton robot joint driven by an hybrid actuator. It is shown that, in principle, impedance measurement during assisting is possible by weight compensation by pneumatic force and perturbation application by electromagnetic force.

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  • Junya Shinnoki, Shingo Ino, Kazuo Okuhata, Yoshinobu Mizobuchi, Hirono ...
    2025 Volume 43 Issue 5 Pages 533-536
    Published: 2025
    Released on J-STAGE: June 20, 2025
    JOURNAL FREE ACCESS

    Harvesting Chinese chives is hard work that requires bending over at the waist, which can cause back pain, so the development of labor-saving machinery is expected. Therefore, various harvesting robots have been developed in recent years and have achieved a certain level of labor-saving effect, but more efficient harvesting machines are still desired. The IoP project in Kochi Prefecture has developed a Chinese chives harvester that can harvest 1.6[m] hilling width Chinese chives in batches, aiming to realize light labor and high-speed harvesting. This report outlines the system and describes the results of field tests.

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  • Aoto Yasue, Yen Benjamin, Katsutoshi Itoyama, Kazuhiro Nakadai
    2025 Volume 43 Issue 5 Pages 537-540
    Published: 2025
    Released on J-STAGE: June 20, 2025
    JOURNAL FREE ACCESS

    This paper addresses the extraction of the in-region sound sources. To solve this problem, we propose an LCMV-based Scan-and-Sum Beamformer (LCMV-SS-BF) that can extract sources within a specified wide and continuous region by integrating an LCMV Beamformer (LCMV-BF) for continuous region separation and a Scan-and-Sum Beamformer (SS-BF) for wide-area source separation. Numerical simulations using convolutional source datasets showed the effectiveness of source extraction by LCMV-SS-BF.

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  • Kohki Hagiwara, Mitsunori Uemura
    2025 Volume 43 Issue 5 Pages 541-544
    Published: 2025
    Released on J-STAGE: June 20, 2025
    JOURNAL FREE ACCESS

    The wire-driven orthogonal 3-axis joint mechanism was proposed utilizing a minimum 4 drive wires. ``Wire Support'' assembly guides two pairs of wires wound oppositely around the arm shaft in four directions, enabling the drive to tilt and twist rotations. This mechanism offers advantages such as no sliding, low friction, simple kinematics, and the potential for a compact design. A prototype was developed to conduct experimental evaluations confirming its repeatability and stiffness.

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  • Ryo Nakamura, Naoto Ando, Takaaki Morimoto, Takeya Izumikawa, Hiromits ...
    2025 Volume 43 Issue 5 Pages 545-548
    Published: 2025
    Released on J-STAGE: June 20, 2025
    JOURNAL FREE ACCESS

    In the construction industry, remote control of construction machines is highly demanded to improve productivity. A major problem of teleoperation is that the operator cannot accurately understand the surround environment, resulting in the risk of tipping over or collision. For example, three-dimensional (3D) information such as the height of obstacles, the depth of the excavated hole, and the slope angle, cannot be obtained when traveling. In this study, we propose a system to visualize such 3D information of a construction site for operators to avoid hazards during remote-controlled traveling by utilizing 3D terrain data of the site.

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  • Reina Nakanishi, Kakuya Naitoh, Shunsuke Kimura, Aoi Tarutani
    2025 Volume 43 Issue 5 Pages 549-552
    Published: 2025
    Released on J-STAGE: June 20, 2025
    JOURNAL FREE ACCESS

    We describe a demonstration experiment conducted to examine the usage scenarios and evaluate the functionality of the autonomous mobile robot ``AI Suitcase,'' which supports the mobility of people with visual impairments in unfamiliar environment. 11 participants with visually impairements walked around the exhibition space together with the robot, which provided voice guidance at various points. We conducted interviews regarding their needs for the exhibition spaces (ex. art galleries and museums) and the operability of the robot, and identified both advantages and areas for improvement. Additionally, based on speed data during navigation and the participants' understanding of the exhibit content, we confirmed the high compatibility between the exhibition spaces and the navigation robot.

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