The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2019
Displaying 1101-1150 of 1326 articles from this issue
  • Yasuhiko SATO, Shoshiro HATAKEYAMA, Masami IWASE, Jun INOUE
    Session ID: 2P1-O03
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In this research, we aim to develop a human machine interface using the contact force of the fingertip for patients who need absolute rest. The interface outputs the direction and strength of the contact force based on the nail color changing measured by the camera vision. The device has been developed, and has demonstrated the validity of the direction of the contact force estimated by image processing.

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  • Taketo HAMAGUCHI, Yudai TAKAMATSU, Ryo KITAMURA, Masataka YOSHIOKA
    Session ID: 2P1-O04
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In this study, we construct a power assist system aimed at independence of the care recipient. For the purpose, we examine how the muscles move when the fingertips move using an infrared sensor. Principal component analysis is performed from a plurality of values obtained by the sensor and compared with the flexion angle of the finger. Based on that we aim for application to power assistance gloves.

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  • Tsutomu YAMAGUCHI, Hironori MITAKE, Shoichi HASEGAWA
    Session ID: 2P1-O05
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    Investigation of human thermal perception concerning a thermal display is important for designing a better interface. However, research about human perception characteristics for a thermal display using radiant heat has not been conducted so much. In this study, we examined human thermal perception when the palm was irradiated by visible light. Firstly, we compared temperature distribution in case of a peltier device and the visible light LEDs. The result showed that the temperature distribution of the LEDs was ununiform. Secondly, we revealed the minimum temperature where a human can feel the warmth on the skin. As a result, the required minimum temperature of the visible light LEDs to feel warmth is higher than that of a contact type thermal display. The result indicates that the difference between deep body temperature and skin temperature became small and that influences human thermal perception since visible light is absorbed into melanin and hemoglobin well.

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  • Kaito ANDO, Toru OSHIMA, Takumi TAMAMOTO, Ken’ichi KOYANAGI, Tatsuo MO ...
    Session ID: 2P1-P03
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    At the stage of walking of humans, the activity level of the rectus femoris and hamstrings, which are antagonistic bipartite muscles, are switched. We focus on the alternation of the activity level of this antagonistic bipartite muscle and believe that gait training is possible by presenting a disturbance stimulus that induces the rectus femoris and hamstrings activity even at resting standing. Therefore, the purpose of this research is to propose a training device that enables gait training without walking by giving a disturbance stimulus to a person standing up and keeping posture. We report on the disturbance stimulus, floor reaction force action point, relation of muscle activity.

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  • Daisuke SAKAGUCHI, Yunan HE, Osamu FUKUDA, Nobuhiko YAMAGUCHI, Hiroshi ...
    Session ID: 2P1-P04
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In this paper, we propose a system to estimate 5-finger motions based on recognition of a general object and operator’s EMG signals. DCNN recognizes the object to be grasped by the operator using a camera image, and then LSTM network estimates the 5 finger joint angles from the EMG signals. LSTM networks are prepared for each target object and they are switched to use according to the recognition result of DCNN network. In order to verify estimation accuracy of the proposed system, we conducted the experiments on five types of target objects. As a result, we revealed that the 5 finger joint angles were successfully estimated with high accuracy. The estimation accuracy improved compared with the case where the system did not use the result of object recognition.

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  • Ryusuke KUBOZONO, Yunan HE, Osamu FUKUDA, Nobuhiko YAMAGUCHI, Hiroshi ...
    Session ID: 2P1-P05
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In this research, we propose a system that can estimate intended operation of a prosthetic hand by using a mounted camera. The position of the target object is measured from the image, and the motion of the prosthetic hand is detected by the acceleration and angular velocity sensors. The intended operation is estimated based on these information. The experiments were conducted to verify the effectiveness of the proposed method. Four kinds of objects were arranged in the environment, and the object that the operator intended to grasp was successfully selected. The proposed method realized to support the operator to select the object.

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  • -Comparison of recognition rates by AlexNet-
    Ryoya KANO, Kazuyoshi WADA, Asako KANEZAKI, Tetsuo TOMIZAWA, Tamio TAN ...
    Session ID: 2P1-Q01
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    Recently, it has been required to automate the task of displaying products in convenience stores by robots. In this paper, we use a deep learning-based method to recognize pose and category of product. However, when an object is photographed by a camera, the recognition rate of objects with few features in color and shape is low. Therefore, we made a hypothesis that the recognition rate is improved by adding some features to the product. Two types of color markers were developed and those recognition rates were examined by using AlexNet. As a result, the proposed markers were able to improve the category recognition rate and pose recognition rate of the products.

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  • -The 1st report: development of seat built-in prototype-
    Naoya SHINOKI, Kazuyoshi WADA, Akihito HORI, Tetsuo TOMIZAWA, Toshihik ...
    Session ID: 2P1-Q02
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    Toilet cleaning is one of the tasks that automation is particularly required at retail stores such as convenience stores. In this paper, we proposed a toilet for reducing scattering of urine and developed “Toilet bowl top cleaning mechanism”. The mechanism is built in toilet seat, and consists of a timing belt and pulleys. It cleans top of the toilet bowl with cleaning tools attached to the timing belt while toilet seat is closing. Cleaning ability of the mechanism was evaluated by using simulated urine. As the results, this mechanism cleaned up simulated urine with a removal rate of over 96% on average.

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  • Takamasa TERAI, Ryota HAMANAKA, Masaki TAKAYAMA, Tamio TANIKAWA, Kenic ...
    Session ID: 2P1-Q03
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    Recently, automated dolly has been researched and developed. These dollies can support human workers. However, almost these dollies have originally actuation functions. However, almost dollies in current logistics field are difficult to attach actuation functions. To solve this problem, we propose Active Plat Cart, which is called as APC. APC has active casters, which is actuation module to realize intelligent space. In this paper, the APC is evaluated through preliminary experiment and confirmed the effectiveness of APC.

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  • Yoshinori SOGA, Ryousuke OE, Akio TOMITA, Itsuki MORIYA, Kenichi OHARA
    Session ID: 2P1-Q04
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    To easily construct the personal intelligent space, we have proposed the panel-type RT device, which includes RT functions like sensor, actuator and so on. However, previous panel devices have problems about cooperability and responsibility. To realize the high usability, we have proposed the improvement approaches about cooperability and responsibility. As the cooperative functions, we improved mechanical and electrical functions. On the other hand, we also improve the communication protocol to realize plug-and-play of panel devices. Through the experiments, we confirmed the effectiveness of improvement functions.

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  • Mayuka SHII, Kenichi Ohara
    Session ID: 2P1-Q05
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    Service robots that can support human work are expected. In particular, it can be said that it is useful to apply to daily work such as display and disposal on a regular basis.However, the robot used as a service robot has a problem that the accuracy of object manipulation is low due to the kinematic error caused by the low rigidity of the arm, such as safety from the viewpoint of safety, compared to industrial robots.Therefore, In this paper, we introduce the high precision manipulation modules for SEED Noid with visual servo technique. We also evaluate this technique through experiments.

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  • Jumpei OKIMOTO, Mihoko NIITSUMA
    Session ID: 2P1-Q06
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    Generally, industrial robot is not suitable for complicated or precise work and lacks flexibility to production line change. On the other hand, human is not suitable for repetitive work and not allowed to work for a long time. Therefore, Human-Robot Collaboration (HRC), which enables human and robot to share the work, was proposed. Collaborative robot can work right next to human without safety fence and easy to control, so the demand for HRC is expected to increase. However, the risk assessment of current collaborative robot does not consider cooperativeness with human, but only physical safety. Since accumulation of mental stress of workers may cause human error and inefficiency, it is necessary to develop a collaborative system considering stress of workers. We evaluated worker’s mental stress towards VR simulation by using both objective and subjective evaluation, and validity of mental stress assessment using VR simulation for HRC was confirmed.

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  • Tadafumi MIYANO, Sigeki ABE, Yoshinari FUJIWARA, Hitoshi OKANO, Makoto ...
    Session ID: 2P1-R02
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    Industrial robots are utilized currently in various production lines, such as welding, painting or parts machining. There are variety of advanced utilization needs, but its typical example is the bin picking. Bin picking is a technique for taking out the parts that are not aligned, there are several advanced needs in the manufacturing industry.

    In this paper, we provide visual system and end effector element technologies assuming bin picking of relatively simple shaped parts. After a prototype system is developed using these element technologies, several systems are introduced into the production line in the companies.

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  • Yuji HARADA, Shoji KOYAKUMARU
    Session ID: 2P1-R03
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In this paper, we propose the automated bin-picking and placing system that is composed of two low cost RGB-D cameras, two robots and the assembly jig for automotive parts manufacturing industry. In the system, the depth image of the target part is captured by the RGB-D camera to estimate its position and orientation. Then, the robot picks one of parts from randomly stacked in a pallet, and places it onto the assembly jig automatically. We describe the method for integration the vision technology and the robot technology into one system, and evaluate its performance by applying on real automotive parts.

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  • Koyo SATO, Masahide OIKAWA, Daichi FURUTA, Kyo KUTSUZAWA, Sho SAKAINO, ...
    Session ID: 2P1-R04
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    This paper proposes a success detection system for tasks with high generalization performance by neural networks using force information. Automation of anomaly detection is important. Especially, accurate judgment of the success and failure of tasks is important. For example recognizing the failure of the task improves the reliability of the task . However, conventional methods using machine learning cannot judge success and failure for objects which has not been trained. This paper showed that the neural network using force information can judge success and failure of tasks for objects which cannot be trained. This paper compared success detection methods using force information, image information, or position information. The results showed the method with force information resulted in the highest generalitation objects in a pen assembly task.

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  • Ryo HANAI, Isao HARA, Noriaki ANDO
    Session ID: 2P1-R05
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    This paper organizes the information necessary to implement commands appearing in task descriptions for the teaching software using controllers of components such as robot arms and grippers. Considering a class of robot systems and typical commands, we identify different parts and common parts among robot systems. Then we propose a design of a framework to make it easy to implement a controller for these robot systems. In this framework, a controller for the whole system is instantiated by giving information on different parts and combining sub-controllers. Some example implementations are also presented.

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  • Takumi Hachimine, Satoshi Makita
    Session ID: 2P1-R06
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    Since working population is decreasing, industrial robots for various operations such as assembly are widely expected. Assembly sequences consist of low level tasks such as Peg-in-Hole Assembly, Snap Assembly, and so forth. In this paper, we propose a strategy of motion planning for manipulators that operate sash insertion into frame, a kind of assembly tasks. Sash insertion can be assumed as a three-dimensional path planning on the plane when an edge of the sash is always parallel to the frame. Motion of manipulator grasping the sash is generated from the planned motion of the sash by solving inverse kinematics. The generated motion for sash insertion is successfully performed by a 6 DOF manipulator and own-built sash and frame.

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  • Kazuki HORIE, Tomokazu TAKAHASHI, Masato SUZUKI, Seiji AOYAGI
    Session ID: 2P1-R07
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    We proposed the grippers with the suction cups, which has a valve opened in contact with the objects. The valve is normally closed because the valve element closes the suction port in the initial state. When the suction cup touches the object, the valve element moves, and the valve opens. We fabricated two prototypes of suction cup with this valve. One is a suction cup that can be arrayed in mesh pattern. The other is a sheet suction cup with 0.85 mm thickness. Moreover, we made a mechanical finger with the suction cups connected in series.

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  • Daisuke SAKAI, Naohiro SAWADA, Tomokazu TAKAHASHI, Masato SUZUKI, Seij ...
    Session ID: 2P1-R08
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    This paper presents the experimental results of grasping the flexible pouch bags using a prototype of indirect suction gripper with the stopper and funnel. This gripper generates negative pressure by an expansion of volume between the sucker and the object. The pouch bag is small deformed by the negative pressure because the bag contacts the rigid stopper with 1.5 mm thickness. The stopper has radial beams structure and the number of beams is six. The silicone funnel of gripper follows the uneven surface shape of pouch bags. The prototype of gripper with 45 mm outer diameter grasped the flexible pouch bags with 472 g or less weight.

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  • -Recognition of closed jigs and alignment work-
    Shunsuke TAKADA, Takayoshi YAMADA, Junya SATO, Kazuaki ITO, Hidehiko Y ...
    Session ID: 2P1-R09
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    We tackle problems arising from robotic assembly. In this paper, we treat the case that plural jigs are in close contact with each other. We use a 4-finger 12 d.o.f. hand equipped with a RGD-D camera on the palm and LINEMOD to recognize the closed jigs. After that, we move the obstructing surrounding jigs to eliminate close contact state and realize alignment work of jigs. Effectiveness of our proposed method is verified through experiment.

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  • Atsushi FUKUTSUKA, Tomonori FUJIBAYASHI, Tomokazu TAKAHASHI, Masato SU ...
    Session ID: 2P1-R10
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    This paper presents the results of grasping the frozen foods using Octopus inspired gripper. This gripper has the antifreeze-filled silicone pad on the bottom of gripper. The main component of antifreeze liquid is Propylene glycol with low toxicity to organisms. This gripper can hold a package bag by indirectly suction, because the liquid-filled pad follows the shape of the package bag. The antifreeze-filled pad was flexible after 24 hours at −18 °C. The prototype of gripper with antifreeze-filled pad grasped the frozen food with 610 g weight.

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  • - Comparison of the Compressed Air Volume Required for Peristalsis Drive Generator -
    Haruka ADACHI, Daiki HAGIWARA, Kota WAKAMATSU, Kyota ASHIGAKI, Yasuyuk ...
    Session ID: 2P1-S01
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    High viscosity fluids, solid-liquid mixed fluids and powders are used in various fields such as industries, foods, medicine, etc. as final products and intermediate materials. Existing methods such as screws may be unusable due to the shear forces that arise. Therefore, the authors developed a peristaltic motion type mixing conveyor using pneumatic artificial muscle. This device is pneumatic driven, and it requires driving speed and space of the device.Reduction of air and expansion volume for practical use will contribute to improvement of mixing conveyance efficiency and cost control. Therefore, by replacing artificial muscle with bellows, we aim to reduce the air and expansion volume required for operation.

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  • Kota WAKAMATSU, Daiki HAGIWARA, Haruka ADACHI, Kyota ASHIGAKI, Akihiro ...
    Session ID: 2P1-S02
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    We have been developing a peristaltic mixer simulating the intestines to realize safe and continuous solid propellant mixing and transport. In this report, we propose quantitative packing mixed transportation of mixed materials in order to avoid cleaning the inside of the device, to avoid mixing of air bubbles into the material, and to improve the quantitative control of mixed materials. Specifically, a mixing experiment was conducted with the mixture in a bag. Based on the experimental results, we believe that mixing is possible even if the material is packed.

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  • Ryota YAMADA, Takayoshi YAMADA, Kazuaki ITO, Junya SATO
    Session ID: 2P1-S03
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    This paper discusses coating work using a brush mounted on a robot arm to automatize the work by human beings. When position and orientation errors of an object to be coated occur, the robot has to control not only position but also contact force appropriately. By using Open Dynamics Engine (ODE) and OpenGL, we constructed a simulator that generates coating motion automatically.

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  • Ryoma ONO, Takashi HARADA
    Session ID: 2P1-S04
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    A groove gas cutting machine that chamfers the side of the steel plate is being developed. It is necessary to use a 5 axis robot to give the position (XYZ) and posture (AC) of the gas cutting torch. In this paper, a 5 axis robot, added 1 degree of freedom mechanism (Remote Center of Motion) to rotate A axis to the chip of C axis of the differential belt and differential screw drive H-Gantry type machine, is proposed. RCM is designed and invented calibration method using characteristic of RCM. Workspace of the H-Gantry type machine driven by differential belt and differential screw drive is enlarged.

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  • - Prototype Design of Sequential Input Operation Mechanism for Empty Box Collection -
    Jun KINUGAWA, Kazuma SATO, Taiyo YOSHIDA, Yuta WAKABAYASHI, Kazuhiro K ...
    Session ID: 2P1-S05
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    Due to the worldwide declining birthrate and aging population, a shortage of workers has become a big problem. In logistics, automated driving technology is expected to solve the problem, and automation has been actively carried out also in the factory or distribution center. The authors have proposed KitPaDY (Kitting Parts Delivery system) as a co-worker robot for supporting kitting task that can be introduced to small-scale processes. In this paper, we propose a prototype of a mechanism for collecting an empty box without using the sensor.

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  • Naoyuki NISHIO, Shin-Ichiro NISHIDA
    Session ID: 2P1-S06
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In the future of Mars exploration mission, rover will be required a higher running performance in rough terrain than conventional rovers. Therefore, in this study, we assume rover about 30 kg which can be transported by Japan's rocket, the purpose is to propose and develop a new mechanism of rover with high running performance with minimum degree of freedom in rough terrain. The proposed mechanism is a hinge mechanism which can move center of gravity by bending body with a motor. The assumed terrain is a hard rock with an inclination of 45 degree and a height of 15 cm on the sand. We consider and evaluate the effectiveness of the proposed mechanism against the assumed terrain.

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  • Shuto MAENAKA, Tatsuaki HASHIMOTO
    Session ID: 2P1-S07
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    Recently, autonomous rovers are used for lunar and planetary exploration. It is necessary that the rovers determine their routes and localize their positions autonomously. In the environment of celestial surface, visual images taken by optical cameras are used for localization. Skyline algorithm is one of methods for localizing with panoramic images. In this method, extracted real skyline is compared with known digital elevation model to decide position. To make navigation and localization with skyline algorithm easier, this paper proposed method of path planning with evaluation index on differences of skyline, and calculated rover paths with previous path planning method and proposed method. Furthermore, simulation of skyline navigation was executed in the case of each paths and error of rover trajectory was compared.

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  • Mizuki KOMIYAMA, Kojiro IIZUKA
    Session ID: 2P1-S08
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    The lunar and planetary rovers are effective devices to investigate the area with slopes and loose ground like craters. On the craters, the rovers are easy to slip since there are covered with a lot of loose soil. In the worst case, there is a possibility that planetary exploration becomes fail because of rover’s overturning, stuck which is caused by heavy slipping behavior. However, slip behavior is complicated phenomenon. Also there are many kinds of slip behavior. Therefore, it is difficult to make all-round models to deal with slip behavior. In this paper, we propose a method of suppressing slippage which doesn’t need models. The proposed method imitates the biological fluctuation to adjust sip flexibly. We compare a traversing method (normal method) which only allows to move forward with the proposed method. Our method is assessed by slippage of normal method and proposed method. Proposed controller mounted of theory of a fluctuation can be showed the result that the reduction of slip ratio was 80 % from actual traveling experiment. This result validates the effectivity of the proposed method.

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  • Tetsuyuki IKEDA, Kojiro IIZUKA, Daisuke FUJIWARA
    Session ID: 2P1-S09
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    Proposal of this paper is to verify the relationship between drawbar pull force of lugged wheel and rough terrain, compared with one of a non-lugged wheel in case of Push-Pull Locomotion methods. Planetary/Lunar Exploration Rover has a problem of slipping on the planetary surfaces. In order to avoid this problem, Push-Pull Locomotion methods have been developed thus far. In the previous studies, furthermore, the drawbar pull force of the locked wheel has been analyzed. However, in the previous studies, drawbar pull force has only analyzed with normal cylindrical wheels. In general, rovers have various kinds of wheel form, such as a lugged wheel and line shaved wheel. Therefore, in Push-Pull Locomotion methods, the relationship between the wheel form and the drawbar pull force is unknown and needs to be confirmed experimentally and theoretically.

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  • Tetsuya OSHIMA, Kojiro IIZUKA, Daisuke FUJIWARA
    Session ID: 2P1-S10
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    Recently, the Planetary explorations have been actively carried out for the purpose of elucidating the origin of the universe. In the Planetary explorations, the cylindrical wheel typed rovers often slip and become stuck. To solve this problem, Push-Pull Locomotion typed rovers have been developed. However, the wheel-soil interaction of this rover is not investigated enough thus far. In order to confirm the wheel-soil interaction of Push-Pull Locomotion, the support force and its stress distribution of a wheel are needed to analyze. For the reason, this paper uses an In-wheel sensor system. In addition, we try to measure stress distribution force acting on wheel surface using the In-wheel sensor system through the wheel drawing experiments.

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  • Tetsuo YOSHIMITSU, Takashi KUBOTA
    Session ID: 2P1-T01
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    The authors developed two tiny twin rovers for Hayabusa2 spacecraft, which was launched in December 2014 and arrived at the target asteroid in June 2018. The rovers were deployed onto the target asteroid on 22 September 2018 at the altitude of approximately 50 meters above the surface. The deployment operation was perfectly made and the rovers started the autonomous surface explorations. This was the World first surface exploration on asteroid attained by unmanned robots as well as the first Japanese rover on terrestrial body. This paper describes the explorations attained by MINERVA-II twin rovers upto the present.

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  • Miho SHIOTANI, Mickaël LAÎNÉ, Yoshitaka HIGUCHI, Kazuya YOSHIDA, Kenji ...
    Session ID: 2P1-T02
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    Recently, the popularity of research and development surrounding robotic planetary exploration has drastically increased with many new private entities challenging space exploration. Accompanying this new trend, there has been several major restrictions, one them being a considerable decrease in rover size and weight. With this in mind, the Space robotics lab of Tohoku university has developed a new prototype, named Koguma, which is a 1 kg, three wheel rover. In this work, we describe a novel approach to achieve localization for micro-rovers in environment where the features are scarce. To overcome the issues related with the barrenness of the terrain, we propose a method in which we do not examine what lies ahead and instead look back and apply computer vision techniques to the tracks left by the rover in the soft soil, similar to what it would encounter during a real mission. We have implemented and tested various combinations of feature detectors and descriptors to compare their efficiency and determine the best method for our application.

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  • Shogo ENDO, Masafumi ENDO, Kenji NAGAOKA, Kasuya YOSHIDA
    Session ID: 2P1-T03
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    This paper describes a traveling state estimation method for lunar and planetary exploration. The purpose of this research is to estimate a robot state such as sinkage, slippage and driving torque for using a 4-wheeled robot in loose soil, in order to adapt the environment where those parameters change dynamically. A time-of-flight (ToF) camera and torque sensors are mounted on the robot, and each values are estimated by obtained raw data. The proposed estimation method is experimentally evaluated by straight running experiment. In this experiment, condition is changed the wheel shape and the soil.

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  • Atsushi TOKAIRIN, Kojiro IIZUKA
    Session ID: 2P1-T04
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    Rigid wheels and flexible wheels are used to lunar exploration rovers. Flexible wheels can make rovers more mobile because of avoiding stack and high traction performance. However, there are problems in terms of durability and crossing the slope. In order to solve these problems, wheels should change their flexibility depending on the situation. In this study, in order to further increase the running performance and durability of flexible wheels, we suggest the variable flexible mechanism. Moreover, we conduct experiments to confirm the effectiveness of the wheel that equipped a new mechanism.

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  • -Part 4; Analysis of Cross Position Roller Mechanism and Performance Experiment-
    Noriko SATO, Soonsu KWON, Fumihiro INOUE, Eri OMOTO, Yoji ISHIKAWA
    Session ID: 2P1-T05
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    In the transportation method of ground port and space station on Space Elevator Plan, it is very important to grasp and decide the mechanism of driving roller and friction force of the tether for space climber in points of selfweight, transport efficiency and energy consumption. As a driving mechanism of the climber for the space elevator, many types such as confrontation position type, cross position type, others were invented based on the arrangement of the tether and the roller, and various climber models have been prototyped. On the other hand, the weight of climbers considering practicality is expected to be several tens to several hundred tons, and it is necessary to verify whether the climber drive mechanism of about several tens of kilograms developed so far is sufficient. In this report, the development method of practical drive mechanism applying cross positon roller is studied based on design, analysis and performance experiment of drive mechanism assuming relatively high weight climber.

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  • Tomoki WATANABE, Ami FUJIWARA, Megan BARTHELEMY, Naoaki TADAMI, Keita ...
    Session ID: 2P1-T06
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    In order to excavate lunar underground, we have developed a lunar earthworm-type excavation robot “LEAVO”. The target missions of LEAVO are 1) excavate boreholes for environmental sensors and 2) collect some samples in particular layer. LEAVO has succeeded in 938 mm vertical excavation and we confirmed its usefulness in the target mission 1). Then, we now aim to study curving excavation to achieve target mission 2). This study aims to excavate regolith in a particular layer with LEAVO. For this reason, new driving system is developed. It enables to deploy drive motor on the circumference of the excavating axis so LEAVO can curve easily. Therefore, the authors conduct excavation experiment using excavating unit, and check the possibility of the proposed system.

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  • Megan BARTHELEMY, Tomoki WATANABE, Ami FUJIWARA, Naoaki TADAMI, Keita ...
    Session ID: 2P1-T07
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In order to process lunar underground excavation, we have developed a lunar earthworm-type excavation robot ("LEAVO"). As we achieved vertical excavation with it, we now aim to perform curving excavation to make LEAVO be able to collect samples more efficiently in a particular layer. To achieve this goal, it is necessary for the LEAVO's excavation sub-units to support the robot on different borehole diameters, because the diameter enlarges in curves. As the previously developed curving excavation system could not support correctly the robot in the curves, we propose in this paper a "grasping system using a scroll chuck" and test its output characteristics. By doing so, we will conclude if it can be applied in a curving excavation system.

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  • -Trajectory in consideration of link jerks-
    Masahiko KAWAZOE, Daiki MISAKA, Koji YOSHIDA, Tetsuya KINUGASA, Ryota ...
    Session ID: 2P1-T08
    Published: 2019
    Released on J-STAGE: December 25, 2019
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  • KANTARO Matsuyama, Shinichi Kimura
    Session ID: 2P1-T09
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    This paper describes a contact control method for safely capturing space debris by free-flying robots. Impedance control by multiple point contact (in this paper, using a 2-point contact end effector) can finally move in unison while suppressing the rotational motion of the object. The proposed mechanism converts rotational motion into translational motion and shows that the robot arm can suppress their motion, together with the result of the dynamic simulation.

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  • Ryota MATSUMOTO, Shin-Ichiro NISHIDA
    Session ID: 2P1-T10
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    The number of launching satellites is increasing year after year. Along with this, increasing of space-debris (hereinafter, referred to as “debris”) and the risk of collision between debris and operational satellite is regarded as a problem. In order to realize a continuous development of space, effective measures are urgent to mitigate of debris. Examples of the capturing method of debris include, the linearly extensible mechanism, net, precision rigid manipulator and simple manipulator. In this study, we assumed that capturing debris with manipulator. The manipulator has flexible joints and a control method to capture the target. In this paper, results of designing the joint mechanism of the manipulator. The joint mechanism has a twist elastic mechanism. The effect of this mechanism inside the joint is buffering the torque applied from outside in higher frequency. Thus, capable of buffering passively even with the addition of a rapid external force (that cannot respond by impedance control of a joint by this at the time of capture of the object debris that performs relative motion at a low speed). In this study, the lightweight manipulator was prototyped and tested.

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  • Shin-Ichiro NISHIDA, Taichi KOBAYASHI
    Session ID: 2P1-U02
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In recent years, the number of space debris such as artificial satellites with the end of life and rocket upper stage reside in Earth’s orbit has increased, and there is an increased risk that the increased space debris will collide with artificial satellites and manned spacecraft. Therefore, it is necessary to positively remove debris.

    In this study, we aim to measure the position and orientation of debris by stereo cameras during debris capture in a removal satellite using a robot arm / hand.

    Focusing on the circular structure of the target upper rocket residue, we propose details of high speed and high precision of the system which extracts the circular end face of debris by stereo image measurement.

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  • Keisuke TAGA, Hiroki NAKANISHI, Daichi HIRANO
    Session ID: 2P1-U03
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In order to keep the orbital environment safe and clean, the mitigation of space debris is essential. However, the debris capture technology has not been established yet. This paper proposes a novel gripper system for space debris capture. The grasping motion of the gripper is controlled by a spring and a link singularity. Once this gripper contacts the debris, the grasping is completed automatically without any electrical sensors. Furthermore, after grasp the debris, this gripper is separated from the service robot and become a fixation mechanism for debris deorbiting devices. This paper describes the design concept of the gripper and results of verification experiments.

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  • Yuki Nakatsuka, Hiroki Nakanishi
    Session ID: 2P1-U04
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In recent years, an increase in space debris on orbit has become a serious problem, and active removal of existing debris is indispensable. For this reason, mechanism that can be securely attach propulsion systems to debris are required. In order to efficiently remove debris, the capturing mechanism is required not to be limited by the shape and attitude of the target. We considered to use the inflatable structure, which is capable of large deployment and shape control, for capturing mechanism. In this research, we propose a debris capturing mechanism using inflatable structure extended in a spherical helix shape. We then investigated the feasibility of a spherical helical design that meets the requirements for debris capture mechanism.

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  • Yohei IWASAKI, Hiroki NAKANISHI
    Session ID: 2P1-U05
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In order to reduce the workload of astronauts, increase safety, and provide economic advantages, robots are used to support or take the place astronauts. Fundamental functions of space activity are manipulation and locomotion. The authors focus a morphable beam which is used as flexible water pipe or a spine of desk light. This beam can be changed its shape by an applied force larger than a threshold. When the applied force is smaller than the threshold, the beam can maintain its shape. In this study, a novel robot system that the beam is used as a retractable arm or leg is investigated.

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  • Yuto MASUDA, Hiroki NAKANISHI
    Session ID: 2P1-U06
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In order to mitigate the space debris problem, establishment of a system for capturing space debris is urgently required. However, the debris capture technology has not been established yet. This study investigates a novel gripper system for space debris capture. The system has a convex shaped spring that winds up applying contact force as a trigger. This system can hold and fix debris regardless of the opponent shape and maintain capturing force. In this paper, the dynamics of bending and propagation of the convex spring are clarified. Through the experiment, the validity of the derived equations for the spring motions are verified.

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  • Kyousuke NAGASE, Tadashi EGAMI
    Session ID: 2P2-A01
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    In this paper, we propose a climber equipped with a reaction wheel mechanism for controlling the attitude of the space elevator climber for a rope-type tether. The reaction wheel mechanism can apply torque to the climber simply by changing the rotation speed. It is possible to suppress the change in attitude that occurs when the climber receives disturbance

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  • Takumi FURUYA, Yuki KATO, Kazuyuki MORIOKA
    Session ID: 2P2-A02
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    We developed an autonomous mobile robot system based on behaviors acquired by deep reinforcement learning. Navigation performances including traveling trajectories are affected by the design of state, action and reward in deep reinforcement learning. This paper focuses on rewards given in training of action policies on the simulator. For example, negative rewards are given to the situations that the robot approaches to obstacles closely. Then, the robot has a tendency to run far from obstacles. In the paper, robot navigation experiments in a real world were performed. Differences of the trajectories according to several rewards are discussed.

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  • Takao GOTO, Tadashi EGAMI
    Session ID: 2P2-A03
    Published: 2019
    Released on J-STAGE: December 25, 2019
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    When developing a climber, a drive unit and a brake that can withstand long-distance and long-time specifications are required. In this research, we develop a climber equipped with a brake that can control speed and complete stop by combining eddy current brake and disc brake by using a belt for the driving part, thereby enabling a stable long distance ascending and descending.

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  • -Improvement of control performance of the arm by compensation of known disturbances and the investigation on the control of the wheels-
    Shaojun ZHENG, Luis CANETE, Takayuki TAKAHASHI
    Session ID: 2P2-A04
    Published: 2019
    Released on J-STAGE: December 25, 2019
    CONFERENCE PROCEEDINGS RESTRICTED ACCESS

    In this research, we aim at the planar operation of a wheeled inverted pendulum robot. In order to improve the control performance of reaction force at the tip of the arm, we focused on the estimation capability of extended state observer which is applied to the control system of the arm. By compensating the known disturbances at the arm joints the control performance of the reaction force was improved. Besides, based on the dynamic model of the planar operation state of the wheeled inverted pendulum robot, we proposed a control law that adapts to the wheels of the robot. The effectiveness was proved through actual comparative experiments.

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