In this paper, we present a vel driving method of on-chip probe for the measurement of the mechanical properties of floating cells whose size is tens micrometers in diameter. The measurement of cellular mechanical properties is performed by the assistance with a force sensor and an on-chip probe in a microfluidic chip. The key for the measurement method is how to actuate the on-chip probe whose thickness is tens micrometers. We propose the “Direct-Outer-Drive (D-O-D) mechanism” to connect the on-chip probe and the external actuator placed outside of the chip. The D-O-D mechanism is composed of two bonded silicon layers with different thickness, which are fabricated for the thin tip and the thick contact point, respectively. By using the D-O-D mechanism, we succeed in measuring reactive force of the cells when they are deformed by the on-chip probe.
Hyper redundant snake robot systems have possibility of utilizing in many fields, although there are control complexity problems when attempting to climb obstacles. An example of the climbing obstacles by snake robot is helical rolling motion which have been used to climb a cylinder. However, helical rolling motion is not available to step over an obstacle on a cylinder such as a flange. In this paper we propose a new spiral inchworm gait, by simplifying a gait from a biological snake, which can be used to present an alternative gait to the helical rolling motion for pitch-yaw connected robotic snakes to climb obstacles. The shape of the robot under spiral inchworm motion is planned by using mathematical continuum curve model. Some experimental results are shown to verify the effectiveness of the spiral inchworm gait.
A number of rescue robots have been developed for quick and safe rescue operations at the time of earthquake. In order to develop rescue robots suitable for disaster site, it is necessary to test traversing performance of rescue robots in various rubble fields. However, the inaccessibility of real rubble fields makes it difficult to accumulate enough knowledge about rubble and rescue robots. This study aims to construct a software system which enables to evaluate traversing performance of rescue robots in virtual rubble fields. In this paper, we present the configuration of this system and we show example of knowledge about rubble and rescue robots, which is obtained through using this system. In addition, we report the result of traversing performance tests in real and virtual rubble fields to demonstrate the effectiveness of this system.
In Tsukuba Challenge 2013, every robot had to navigate on a given path and detect specific persons wearing showy color clothes. There are many ideal functions for achieving the mission. It is, however, difficult to implement all ideal functions since complex algorithms are required. This paper, therefore, considers simplified functions for achieving the mission even if complex algorithms are not implemented. Our robot can run long distance by using a unique localization method which uses both of magnetic and geometric landmarks. Moreover, it can detect the target based on a color extraction method. These abilities enable the robot to exactly work the simple functions. Through the experiments, it is shown that our robot can exactly achieve the given mission by using only the simplified functions.
Precision finishing is skill-demanding for workers and its automation is demanded for quality control. Robot arms have wide movable area and are suitable to automate such finishing processes but there is not a practical finishing robot system to be applied to various precision finishing processes such as deburring, chamfering, brushing and polishing. In order to develop such practical robot system, we focus into four technical issues: process control of soft and abrasive tools by position/force hybrid control, robot path creation, measurement of the workpiece by touch sensing, and integration of these functions. Solving these issues by integrating practical technologies enabled us to achieve almost the same quality as finished by skilled workers and the system is applied to an actual finishing process of aero engines' parts. In this paper, the selection and improvement of technologies for the four technical issues are discussed and the performance of the system is evaluated through the experiment to compare the quality of finishing with a skilled worker.
The final goal of this research is to fabricate a human like robot hand with integrated functions, such as sensors, actuators, etc. In this paper, a concept model of a novel “Integrated Origami Hand” is fabricated via the Shape Deposition Manufacturing (SDM) scheme. The structure of the Integrated Origami Hand is inspired by the Origami Art. A robot hand with a three dimensional shape can be easily fabricated using the structure. Experimental results show how Integrated Origami Hand could grasp an object.
This paper presents a novel approach for personal robots to identify and track the walking owner, by using an omnidirectional camera on the robot and IR LED tags emitting particular lighting patterns. For the ageing society, personal robots which bring baggage and follow the owner, can improve the quality of life of elderly people. Robust identification of the owner is one of the important issues for this purpose. In this paper, a new pattern classification method based on the particle filter is proposed to identify the light emitting tags on the owner's feet. Proposed method estimates the cycle and phase of the lighting patterns as to track the tags robustly even in outdoor environment. The effectiveness of the proposed approach is verified by some experiments using our robot and prototype of the tag.
In this paper, we propose a mobile robot localization system in frequent GPS-denied situations. We utilize multiple observations that are obtained from sequential appearance-based place recognition and GPS. Using GPS observations has still some challenging problems such as multipath or signal lost under environments where there are tall buildings nearby. The appearance-based place recognition that is combined with positional information has capability to overcome the issue. We apply both of observations derived from GPS and appearance-based place recognition to a mobile robot localization for the sake of achieving robust localization. Moreover sequential appearance-based place recognition makes it possible to recognize their own position even when we navigate a robot at night. Our system uses not only multiple observations but also dead reckoning with gyrodometry model. Our experiments are performed over aggregate 5300m trajectory approximately that contain a 1600m outdoor route in different seasons and at different times, and a 500m short-range route to verify its validity.
Japan (Japanese lacquer) has many kinds of interesting characteristics. Even among them, we focus on electric non-conductance and weakness of ultraviolet rays. From these features, it is assumed that an ultraviolet laser remove Japan locally, and several layers can be connected via removed point. This hypothesis means that it is possible to build a Japan-based multilayered electronic circuit. In this paper, we explain a development method of a Japan-based electronic circuit, and report three experiments to confirm feasibility of our hypothesis. In addition, we discuss application potentiality of Japan-based electronic circuit.