In this study, we propose a customized multi copter that passive wheels are installed on its bottom to add the ground sliding function. This multi copter slides with wheel at flat terrain, and flies if there is a rough terrain or obstacles. We test this multi copter in runnel experiment equipment.

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Robots for disasters in runnel are strongly expected. We developed a mobile robot with 3D scanner for these disasters. This robot consists of a mobile mechanism, which is able to locomote on uneven surface, and a 3D scanner which is able to obtain precise 3D shape data. A verification experiment was conducted in a tunnel where several obstacles were set to imitate disaster environment.

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Existing tele-operated construction machineries are by far less efficient than directly operated ones. Although a number of studies were conducted on the tele-operation of construction machineries, most of them treat a stationary work without traveling. Therefore, this study aims to improve the operability of traveling work. From studies on the tele-operation, it is evident that visual information is an important factor on the tele-operation. In this research, we evaluate the image presentation method for better operability on tele-operation of traveling work. To compare the operability of image presentation schemes, we devise an evaluation method which takes account of workload in addition to work precision and time. Results of a path tracking experiment suggest the usefulness of the proposed evaluation method.

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This paper presents a concept of remote inspection robots for steel structures which equips vibration probe feet to adhere to the surface of the target structure by magnetic force and to give vibratory forces for inspection based on piezoelectric impedance method. The design of the probe foot with piezoelectric elements and Neodymium permanent magnets is presented and the mathematical model is derived. The contact stiffness between the magnets and the structural surface, which is a highly important parameter that determines the sensitivity of the probe foot to the change of the structural modal parameters, is identified through experiments.

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A prototype of an omnidirectional luminaire consists of a hyperboloid mirror and a LED ring illuminance has been developed and evaluated. Our prototype luminaire can assist a camera with wide field of view when it is used for an inspection in a dark and intricate environment. In this paper, we evaluate our prototype to reveal its feature by measuring illuminance and comparison with standard LED ring illuminance.

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We have developed a vision system consists of a wide camera and an omnidirectional camera to acquire an image with wide field of view for teleoperation of mobile robots. Our system, Synthesized Extra-Wide Vision System, can acquire an similar image with a fisheye camera. In this paper, we reveal the characteristics of our vision system by comparing with the fisheye camera and the wide camera. We also evaluate the effect of the projection of the acquired image onto a dome screen.

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In order to accomplish effective teleoperation of construction machine, it is essential to visualize the surrounding environment, operational part, and work object. We had proposed the presentation method which can visualize the surrounding environment and operational part, however it could not represent the shape of earth and soil in operation part. In this paper, earth region detection method for visualization of the surrounding environment and operational part for the teleoperation of construction machines is proposed. The proposed method was tested with real machine.

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An autonomous environmental camera control system we previously developed can provide operators with various and variable visual information suited to the work situation for unmanned construction. However, cognitive load of operators may increase, so we propose a selective visual attention and situational awareness support system using augmented reality (AR) to enhance the ability of visual attention. The components include (i) monitor frame, (ii) obscuration, (iii) distance arrow, and (iv) end-point vertical arrow, with variable color and flashing effect to facilitate understanding the situation. Moreover, the system adaptively draws visual attention by changing types and parameters of AR components according to situations. Debris removal tasks were conducted using a VR simulator to compare without and with AR support. Results showed that the AR support reduced the frequent changes of point of gaze and provided the sense of depth and attention to potential collisions.

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A basic input/output gain (BIOG) tuning system for a human-operated machine was previously proposed. It adjusts a BIOG at long intervals to conform the histogram of control input, representing global features in operator and work content, to a normal distribution curve, meaning that all ranges of control lever are evenly used. Experimental results showed that the system improved time efficiency and the subjective usability. As the next step, we analyze features of work and operator on the basis of input-output information in the BIOG tuning system. We first analyze relationship among I/O information, workability, and operability, and then analyze time-series variation of I/O information. The results indicate that some axes largely affected both workability and operability. We also found from the results that the form of BIOG map in each axis reveals the feature of operator and work content such as the movement direction of end-point where precise operations require, and also reveals improvements on the BIOG tuning system.

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In recent years, tele-operation of construction machineries has been intensely investigated. To improve the work efficiency of tele-operations, it is important that the operators can understand the depth of environment in the remote control. In order to transmit the depth cue for the operators, we introduce the motion parallax 3D display. We implemented the real time motion parallax display system for miniature construction machines simulator and it is evaluated in terms of delay time.

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We join the NEDO robot project and engage in developing underwater robot system that investigates underwater infrastructure such as a dam and a river facility. In this paper, we propose reconfigurable surface/underwater robot system whose physical configuration can be changed according to working environment or task. We firstly discuss how to identify the position of an investigation system when it is hung by cable in the water. Both length and angle of cable are used to calculate tip of the cable, namely the position of the investigation system. We then build the prototype robot system and conduct the experiment with it in the real world, Tama River. We verify that the robot system can send visual data of the riverbed and position data of the investigation system.

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This paper proposes a system for realizing real-time structure from motion with UAV aerial photography based on parallelizing matching processes among images. The input images are grouped into matching frames based on input time, and in each frame matching process among images is executed as an independent process. The proposed system is evaluated with movies taken with a drone.

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Among various construction problems facing us in today's Japan are rapidly aging society, decrease in constructor, etc. Therefore, there is an urgent development of a robot to assist the construction industry. However, there is not raised remarkable achievements now. Particularly, in the field of the bridge investigation and inspection, a lot of robotization is considered to be a prime task when location is severe environment. However, it is the present conditions that inspection often becomes difficult, and clear result is not achieved by climatic condition. Next, we compared the 3 different types of robot the respective specifications. Therefore, we have developed a new bridge investigation and inspection robot system RoBInS that does not depend on the weather conditions. In addition, we report the demonstration experiment.

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This paper considers the possibility of crack detection in road surface by using the range image sensor that is reasonable. Recently, the major method of road inspection is visual observation. However, this method costs a lot of time and money. If it can be possible to make road inspection automatic by using reasonable sensor, it is expectable that time and money of road inspection reduce substantially. We conduct experiments in order to consider the possibility of crack detection in road surface based on 3-Dimentional Point Cloud Information by using Kinect for Windows v2 Sensor. As a result, we confirmed the possibility of the crack detection.

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Fukushima daiichi nuclear power station are contaminated with high levels of radioactivity. Robot performing decontamination activity is necessary because human can not go in the building. When performing the decontamination activities, it is necessary to prevent diffusion of contaminants and get over the step in the building. To solve this problem, We made a robot named "SHAR" which is able to do decontamination activities. This robot was using 8 mecanum wheels that was cut in half. As a result, it is possible to overcome the steps of 100 [mm] in the forward and backward direction, and 50 [mm] in the sideways direction.

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Researches for snake robots has been studied and they are hoped to be made practicable. In this research, it is assumed that environments where snake robots work constructed by pipes which are arranged parallel and densely. We made a snake robot which has joints of yaw and pitch using servo motor Dynamixel XL-320, and software to control the robot. This robot is so tiny that we accomplish a task of elevation in the mock environment using helical-rolling motion. In addition, we propose a new motion so we call as across-pipes motion which can move from a pipe to another pipe.

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In this paper, we analyze a slip condition between a claw and hole on concrete wall and develop a small wall climbing robot with a grip mechanism by claws. A small robot has a great advantage for vertical wall climbing because of scale effect, i.e., the smaller the body size, the larger the ratio of muscle force for the body weight. Here we manufactured the simple grip mechanism with dimensions of 81×81×45 mm^3 and weight of 8g. The analysis result showed the maximum grain angle of 36deg that the robot did not slip on the vertical wall with holes and the experimental result on the vertical concrete wall achieved the payload of 43 g (520%) for a single grip mechanism. Moreover, the developed robot consisting of two grip mechanisms realized passive adhesion on the vertical concrete wall.

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Spherical rolling is an interesting methodology for locomotion from both nonlinear control and robotics points of view. In this paper, we propose a model of a spherical rolling robot with the focus on dynamics and eccentricity of its center of gravity. Thanks to consideration of the previous study results concerned with spherical rolling robots, some experiments, robot creation, and dynamical spherical rolling robot simulation, one obtains some ideas, which may be valid for solving the problems related to design and control of the robot. Then they uncover some demands, which are necessary for the development of the robot in the future work.

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Robots for inspection that can access to narrow spaces and are able to work in hazardous areas usually tend to utilize a large amount of actuators, and usually it is necessary to increase the thickness of the robot to make it longer. In this paper a new inspection system is proposed, which has a length of 40 meters with a constant diameter smaller than 20 millimeters and is actuated by three high pressure washing machines, through the variation of the pressure generated on each one. Experiments were carried out inside the water, on the ground and in a PVC tube to verify its mobility. First results are promising and confirm the applicability of the system for inspection tasks.

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This report describes a new self-propelled cleaning robot which cleans floor by a wet rotational brush like a floor polisher. The rotational brush does not only clean floor but also transfer itself. Velocity of the robot is controlled by inclining the rotational axis of the brush. Its moving direction is controlled by direction of the rotational axis and moving speed is controlled by degree of inclination angle of the rotational axis. A cleaning robot which has single rotational brush driven by hydraulic motor and the water passed through the hydraulic motor is used to clean the floor was proposed and designed. Its kinematic model was proposed and its moving characteristics ware theoretically and experimentally investigated.

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Recently, spiral-based mobile mechanisms were proposed in order to help the activities to protect the wetlands. They are expected to be used as carriers in the field survey of wetlands and to prevent treading on scarce plants and sinking into muddy ground. Preceding study has proposed a mechanism for walking the robot without falling from the spiral. However, force analysis to maintain the balance, such as a leg closing force in obliqueness. In this paper we analyzed the leg closing force to maintain the balance by means of the statics calculation the formula and the robot dynamics simulator, and found the condition for a stable standing, i.e. Force more than 390[N] was necessary for the leg closing mechanism. It can be utilized for development of the leg mechanism.

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The wall climbing of buildings is one of the dangerous tasks. This area of research focus on climbing artificial structures, such as vertical walls with flat and uneven surfaces. In order to climb the wall, the climbing robots are developed based on two ideas; vacuum pads and claws. However, the vacuum pads are suffered from the air leak on the uneven surface, and the claw may scratch the surface. In order to achieve the wall climbing on the uneven surface without scratching, we developed the novel vacuum pad, named Universal Vacuum Gripper (UVG), based on Universal Gripper (UG). UG is the robot hand that using jamming of coffee powder inside a balloon to grip the material with uneven surface. UVG is a vacuum pad with the deformable skirt based on UG. If the skirt shape is deformed along with surfaces, the air leak can be avoided. Moreover, the deformed skirt can be stiffened, thereby works as claws. In this paper, we developed the wall climbing robot with UVG, and evaluated it on uneven surfaces.

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To survey narrow places where humans can't access like disaster area, tethered teleoperated robots are often used because wireless operations are not available in such limited spaces. A problem of tethered robots is tangling with obstacles which makes it difficult for the robots to move. This research proposes the tether handling mechanism that solve tangles. The devices are attached to the tether and move the tether to solve tangles. The proposed mechanism has two locomotive functions; longitudinal movement to move the robot along the cable and lateral movement to carry the cable aside for solving the tangles. Two prototypes for the lateral movement were developed and compared. Both of them succeeded in carrying cables. The experimental results shows the advantages and disadvantages of each prototype and suggests guidelines for further improvements.

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This paper presents the design issue of a novel mobility mechanism toward another application of rescue robots. As considering the activities of the robots within long and narrow work spaces formed by debris, it is essential to lessen the size of actuating systems. For the purpose, a mobility device using a nut-and-bolt mechanism is designed, resulting in spiral motions. In this paper, our challenge is placed on how to realize the mobility device based on the spiral motion. We describe the mechanical design and the driving mechanism in detail. Moreover, the proposed mechanism are examined and analyzed through extensive simulations.

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In petrochemical plants, there are a large number of steel pipes running horizontally, vertically, and obliquely, and inspecting them is difficult and time-consuming. There is therefore a strong demand for practical pipe inspection robots to aid in this task. The aim of the present study is to develop an outer-pipe inspection robot that can move along narrow pipes and wires. Simulation model of mobile robot was developed. The simulation model consists of motion equation. This model has 8 degrees of freedom. Identification of the simulation model was conducted with the mobile robot. Using this model, we evaluate effects of center of gravity on the running stability. The procedure of calculate is Runge-Kutta method. It confirmed that pitch vibration is suppressed by moving center of gravity.

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The authors have developed the prototype of a track-changeable quadruped walking robot named "TITAN X". TITAN X can switch from legged form to tracked form according to the mobile environment. This paper describes gait for an upward step by combined legged and tracked motions. First, step classification is described for gait planning. Next, the authors discuss about COG trajectory, robot posture and the parameters such as stride and trackbelt velocity for gait planning using dynamics simulator. Then, the proposed gait is implemented into the prototype and the virtual impedance wall for trajectory tracking and LRF (laser range finder) for posture estimation are introduced. The authors have successfully demonstrated the climbing motion of TITAN X with a 420-millimeter-high step and successive steps.

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Infrastructures for human activities e.g. elevators are almost not designed for robots and telescopic manipulators will be a solution for extending the mobility of robots. We designed a novel telescopic manipulator mechanism which comprises aggregated convex tapes as an arm. The convex arm has unique characters - e.g. wide telescopic range and toughness against mechanical stresses. In this study, we designed two kinds of telescopic manipulators to challenge the automatic boarding to the elevator for a mobile robot. We could successfully achieve the model task and in the future, with improvements of the telescopic manipulator, we can realize a low-cost practical three-dimensional movable robot.

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In this paper, a motion control method for a capsule-type robot which consists of an outside capsule and a movable inner mass. To realize efficient motions, we proposed motion algorithms utilizing reaction force against the motion of inner mass and friction characteristics. In the previous works, only the input force in horizontal direction was used. Adding an input force in vertical direction leads to variations of friction characteristics and is considered to have possibility to improve the efficiency of locomotion. Proposed methods are investigated by numerical simulations and compared to the previous methods.

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We aim to develop a simple locomotive mechanism utilizing of friction characteristic between a body of the robot and environments. In this study a board type robot with rotating arms is considered, and a simple motion algorithm is applied. The motion of the robot is analysed through motional simulations.

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Rolling constraints often appear as nonholonomic constraints and give us some difficult control problems in robotics. We have tried to build the unified framework for the rolling robots whose locomotion is generated by internal mass manipulation. Therefore, we developed a novel driving module for such special rolling robots. The module plays roles in the internal mass manipulator and the internal mass itself. Using the module with cylindrical shell, we carried out the rolling experiments especially of spiral motions because the spiral motion can be one of the fundamental motions of the rolling robots. As the result of the experiments, it is revealed that rolling and spin resistance are actually dominant in spiral motions for the rolling robot with cylindrical shell.

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An effectiveness of leg-wheel robots is obvious that it has two point that walking scheme for legged robots, and high payloads in the wheel move. In this paper, we introduce the leg-wheeled hybrid mobile robot and derivative for the load of leg and the load sharing ratio of leg, and suppose how to control with it. The rotation angle and speeds of the wheel make errors between actual value and desired value when he machine runs on rough terrain. We can derive the load of leg with this errors. So we derive the load with the values from the sensors equipped with the machine, when we compare with flat and rough terrain. The values of sensors used derivative for the load of leg are encoders equipped with each wheels and current sensors in each motor-drivers, which show the rotation angle and speeds of the wheel.

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We propose a novel method of assisting jumping locomotion by using an ankle-foot exoskeleton robot to enable 3-Dimensional movement such as jumping over obstacles, jumping off and on buildings or cliffs. The proposed device enhances the wearer's jumping ability as vertical movement while not interfering horizontal locomotion. In this paper, we describe the mechanical design of the system, pneumatic actuators and their driver circuit, which are verified by simulation to provide the designed jumping support.

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Various crawler type rescue robots have been developed. These robots are used for exploration activity in the environment where a person cannot enter and must move around the rough terrain such as debris zone or mud. In addition, the robot must perform exploration activity quickly. Therefore, coexistence of the machine performance on rough terrain and the running speed performance is required. This study propose a small size mobile robot which have two connected crawlers and flexion jump mechanism. It is confirmed that degradation of the machine performance on rough terrain by the downsizing can be improved by the deployment of the flexion jump mechanism.

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In this paper, we report a stair-step jumping experiment using an improved version of a compact jumping robot based on snap-through buckling of an arch-type closed elastica supported by an fi-shaped frame. Experimental results show that the robot can jump up an actual stair-step with a height of about 200[mm] and a tread of about 270[mm] in spite of a 40[g] payload, which exhibits the potential to achieve quick stair climbing by repeated jumping with mounting a micro-computer and appropriate sensors instead of the payload.

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This paper describes the omnidirectional mobile mechanism with passive crawlers. The mechanism has two crawler unit, outer crawler unit and inner crawler unit. This mechanism has the the circular cross section to realize the smooth mobility to sideways and passive rollers work as a caster to the longitudinal direction of the unit. The prototype model is designed, and the driving configuration of the crawler unit with circular cross section was considered.

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This paper describes the spherical mobile underwater agent to realize the smooth motion at the surface of the bottom of the water-environments, like sea, tank and so on. Especially, this robot activity is focus on the narrow and chaotic environment searching. The basic prototype model is designed and developed. The basic motion of the prototype is confirmed experimentally.

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This paper describes the Spherical omnidirectional wheel to realize the omnidirectional driving motion. In the previous model, the supporting shaft at the center of the mechanism, but it is not so easy to realize to have both smoothness and high load-capacity. The mechanism we suggest here has offset The prototype model is designed and developed. The basic motion of the prototype is confirmed experimentally.

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We propose an exploratory motor babbling utilizing variance prediction of recurrent neural network as a method to explore body dynamics of robot with flexible joints. With conventional research methods, practical use with real robots is difficult because of the large numbers of required motor babbling motions. With the proposed method, over-fitting of predictable motions is reduced by sequentially learning appropriate motion for body model from unpredictable motions. To evaluate the method, an experiment where the robot additionally learns crank turning task after the exploration of body dynamics were conducted. The results show that the proposed method is capable of efficient motion generation in any given motion task.

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This study proposes a novel system that evaluates human higher brain functions with a tablet device based on cognitive information processing models. The system consists of three parts. The first part is to measure touch events on the tablet associated with visual cognition, reaching motion control, rhythmic motion control, and working memory retrieval; the second part to calculate indices from the measured touch events based on the cognitive information processing models; and the third part to assess a risk score calculated from the indices normalized to a control group, hi this paper, the validity of the proposed system was discussed with the calculated indices from adult healthy subjects. The results showed that the risk score increased linearly by age (r = 0.64, p < 0.01). This suggests that the proposed system has the potential to evaluate higher brain functions objectively and quantitatively.

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The purpose of this study is to recognize patterns of grasping by using an electroencephalo-gram (EEG) data. We conduct experiments and measure brainwaves by EEG (n=4, all are males, 3 are right-handed, 1 is left-handed). In the experiment, we show 16 patterns of grasping according to Cutkosky's taxonomy to the subjects and measure their brain activities by EEG when they imitate the patterns. After the experiment, we use CSP filter to extract features from EEG data and calculate the recognition rate of files using k-NN method. As a result, the best recognition rate for 9 pattern of power-type grasping is 79.5 % and the best recognition rate for 7 pattern of precision-type grasping is 73.8 %.

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Recent developmental studies have shown that human babies learn from sensorimotor experiences starting from fetus periods. In addition, recent advance in brain imaging allows us to investigate the development of brain structures. However, how the brain functions develop is not unclear because of technical and ethical difficulties. In this study, we show a large-scale neonate cortex simulation, which consists of 2.6 million spiking neurons and 5.3 billion synaptic connections First, we determined the macroscopic anatomy of the cortex model by extracting fiber tracts and brain regions from neonate MR data. Next, we built other details of the cortex model based on experimental data. As a result of simulation, we found that our cortex simulation exhibits spontaneous activities, which are consistent with six experimental measures. Our result demonstrates that our cortex simulation possesses biological validity, suggesting that it's useful to investigate developmental mechanisms of how the brain functions.

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This paper proposes a novel method for generating an asymptotically stable walking gait for a simple limit-cycle walker independent of target settling-time adjustment. We mathematically show that the output-following control can be surely completed by utilizing the property of the monotonous stance-leg motion as a virtual time parameter. We specify the desired trajectory of the control output as a fifth-order function of the stance-leg angle, and prove that the generated gait is always asymptotically stable by deriving the analytical solution of restored mechanical energy. We also discuss the relationship between the gait symmetry in the configuration space and gait efficiencies.

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The previous studies showed that the effect of the wobbling mass increases the walking speed of the passive combined rimless wheel (CRW) that walks on the rigid surface. This paper then investigates the effect on the same model that walks on the limited friction surface. First, we develop the equations of motion and collision, and perform numerical simulations to show that generating a stable walking gait while sliding is possible. Second, we numerically show that the effect of the wobbling mass increases the walking speed, and that it increases the stability region. Furthermore, through collision analysis, we mathematically show that the wobbling mass does not increase the angular velocity immediately after impact but increases the steady walking speed.

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This paper investigates the possibility of skipping gait generation of an underactuated bipedal humanoid that walks on the limited friction surface. We develop the model of a planar bipedal humanoid and design an output-following control. The simulation results show that the robot can generate stable skipping and walking gaits in different range of the control speed of the swinging legs. We also discuss about the properties of the both generated gaits through comparison of the gait efficiencies, and numerically show that the walking speed in both gaits tends to monotonically increase as the control speed of the swing-leg increases.

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The authors are developing a novel data measuring system for pseudo walking gait of a rimless wheel (RW) aiming at experimental verification of the stability principle underlying limit cycle walking with constraint on impact posture. This system consists of an 8-legged RW with small passive rollers, a DC motor fixed on the flame for driving the RW, and an up-and-down movable surface above the RW that reproduces the floor dynamics. Different from the traditional actuated RW model, a DC motor fixed on the frame can reduce the error of the vibration during impacts and help us to measure the angular velocity exactly. Vertical mode and horizontal mode are designed to investigate various of the gait properties. As a result, metastable walking gaits are generated in both modes.

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In this paper, we focus on how body structures effect on the quadruped walking phenomena. The morphology of the body is one of the factors that living things exhibit multiple and supple locomotion in an unknown environment. Quadruped PDW robots have demonstrated versatile behaviors by changing the body dynamics between fore and hind legs. Then, we build some bodies with multi flexibilities and restoring characteristics, and analyze the effect of the positions and stiffness of the body joints.

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This paper proposes a concept of quasi-passive bipedal walkers utilizing self-oscillation of bimetal. Two different walkers are proposed, which are based on compass-type passive walker and 3D passive walker, respectively. The latter type was prototyped to verify the concept. The walker successfully walked on a horizontal surface heated at 170 degrees C by swinging its body using the self-oscillation. The paper discusses fixation methods of bimetal sheets to show that a fixation method that allows deformation of the bimetal at its edge is imperative for successful walking.

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This paper proposes a novel underactuated locomotion robot that has high stiffness and reproduces the gait property equivalent to an eight-legged rimless wheel walking on a slippery road surface. First, we describe the overview of the experimental machine we developed and its mechanical features. Second, we develop the equations of motion and collision for the ideal model with small passive rollers, and discuss the collision dynamics for stance-leg exchange with the prospect of transition to non-instantaneous double-support motion. Third, we perform numerical simulations to understand the fundamental properties of the gait rolling on a rigid road surface, and discuss its similarity to limit cycle walking on a slippery road surface.

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The passive dynamic walking's adaptive behavior is well known. It is behavior that changes gait for adaptation to environment. In previous studies have been performed to verify by experiment. However, previous robot has problem that has asymmetric parameters. Therefore two-period gait is appearing by the structure. This is not good for analysis the gait. So, we do experimental validation using a robot that has symmetric parameters for passive dynamic walking's adaptive behavior. This robot has symmetric parameters and one-period gait. This experiment is using slope can change slope angle. The robot walking on this slope. This slope is changing slope angle when robot walking. Then the robot will trying keep walking. A result, we verified the adaptive behavior of the robot with a symmetric parameters.

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In this paper, we show a novel speeding-up method for biped running using motions of the arms. Many biped running robots do not use motions of the arms. In proposed method, biped robots generate motions of the arms for appropriate high-speed running. We show the effectiveness of the proposed method through numerical simulations.

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