Pub Date : 2022-12-15DOI: 10.1186/s40648-022-00238-4
Tzu-Hsuan Hsia, S. Okamoto, Yasuhiro Akiyama, Yoji Yamada
{"title":"One-touch calibration of hum-noise-based touch sensor for unknown users utilizing models trained by different users","authors":"Tzu-Hsuan Hsia, S. Okamoto, Yasuhiro Akiyama, Yoji Yamada","doi":"10.1186/s40648-022-00238-4","DOIUrl":"https://doi.org/10.1186/s40648-022-00238-4","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"9 1","pages":"1-12"},"PeriodicalIF":1.4,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44961819","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-09DOI: 10.1186/s40648-022-00237-5
Takuto Fujiki, K. Tahara
{"title":"Series admittance–impedance controller for more robust and stable extension of force control","authors":"Takuto Fujiki, K. Tahara","doi":"10.1186/s40648-022-00237-5","DOIUrl":"https://doi.org/10.1186/s40648-022-00237-5","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"9 1","pages":"1-16"},"PeriodicalIF":1.4,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45981843","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-08DOI: 10.1186/s40648-022-00235-7
Nagayasu Maruyama, H. Mouri
{"title":"A proposal for adaptive cruise control balancing followability and comfortability through reinforcement learning","authors":"Nagayasu Maruyama, H. Mouri","doi":"10.1186/s40648-022-00235-7","DOIUrl":"https://doi.org/10.1186/s40648-022-00235-7","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"9 1","pages":"1-14"},"PeriodicalIF":1.4,"publicationDate":"2022-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42411845","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-27DOI: 10.1186/s40648-022-00236-6
Masaki Waragai, T. Takayama
{"title":"Development of a high-speed and low-torque loss two-way clutch","authors":"Masaki Waragai, T. Takayama","doi":"10.1186/s40648-022-00236-6","DOIUrl":"https://doi.org/10.1186/s40648-022-00236-6","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"9 1","pages":"1-10"},"PeriodicalIF":1.4,"publicationDate":"2022-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44244365","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-09-30DOI: 10.1186/s40648-022-00234-8
Sogo Amagai, Qiwei Ye, Yujiro Fukuoka, S. Warisawa, R. Fukui
{"title":"Clustering of distance sensors to transfer training data for relative position and orientation measurement devices","authors":"Sogo Amagai, Qiwei Ye, Yujiro Fukuoka, S. Warisawa, R. Fukui","doi":"10.1186/s40648-022-00234-8","DOIUrl":"https://doi.org/10.1186/s40648-022-00234-8","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":" ","pages":"1-12"},"PeriodicalIF":1.4,"publicationDate":"2022-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45855538","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-09-22DOI: 10.1186/s40648-022-00233-9
Takeshi Yoshida, Yuki Onishi, T. Kawahara, T. Fukao
{"title":"Automated harvesting by a dual-arm fruit harvesting robot","authors":"Takeshi Yoshida, Yuki Onishi, T. Kawahara, T. Fukao","doi":"10.1186/s40648-022-00233-9","DOIUrl":"https://doi.org/10.1186/s40648-022-00233-9","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":" ","pages":"1-14"},"PeriodicalIF":1.4,"publicationDate":"2022-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49486333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-07-14DOI: 10.1186/s40648-022-00232-w
Taisuke Kobayashi, Kenta Yoshizawa
{"title":"Optimization algorithm for feedback and feedforward policies towards robot control robust to sensing failures","authors":"Taisuke Kobayashi, Kenta Yoshizawa","doi":"10.1186/s40648-022-00232-w","DOIUrl":"https://doi.org/10.1186/s40648-022-00232-w","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"9 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"65733893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Human-like environment recognition by musculoskeletal humanoids is important for task realization in real complex environments and for use as dummies for test subjects. Humans integrate various sensory information to perceive their surroundings, and hearing is particularly useful for recognizing objects out of view or out of touch. In this research, we aim to realize human-like auditory environmental recognition and task realization for musculoskeletal humanoids by equipping them with a human-like auditory processing system. Humans realize sound-based environmental recognition by estimating directions of the sound sources and detecting environmental sounds based on changes in the time and frequency domain of incoming sounds and the integration of auditory information in the central nervous system. We propose a human mimetic auditory information processing system, which consists of three components: the human mimetic binaural ear unit, which mimics human ear structure and characteristics, the sound source direction estimation system, and the environmental sound detection system, which mimics processing in the central nervous system. We apply it to Musashi, a human mimetic musculoskeletal humanoid, and have it perform tasks that require sound information outside of view in real noisy environments to confirm the usefulness of the proposed methods.
{"title":"Human-mimetic binaural ear design and sound source direction estimation for task realization of musculoskeletal humanoids","authors":"Omura, Yusuke, Kawaharazuka, Kento, Nagamatsu, Yuya, Koga, Yuya, Nishiura, Manabu, Toshimitsu, Yasunori, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki","doi":"10.1186/s40648-022-00231-x","DOIUrl":"https://doi.org/10.1186/s40648-022-00231-x","url":null,"abstract":"Human-like environment recognition by musculoskeletal humanoids is important for task realization in real complex environments and for use as dummies for test subjects. Humans integrate various sensory information to perceive their surroundings, and hearing is particularly useful for recognizing objects out of view or out of touch. In this research, we aim to realize human-like auditory environmental recognition and task realization for musculoskeletal humanoids by equipping them with a human-like auditory processing system. Humans realize sound-based environmental recognition by estimating directions of the sound sources and detecting environmental sounds based on changes in the time and frequency domain of incoming sounds and the integration of auditory information in the central nervous system. We propose a human mimetic auditory information processing system, which consists of three components: the human mimetic binaural ear unit, which mimics human ear structure and characteristics, the sound source direction estimation system, and the environmental sound detection system, which mimics processing in the central nervous system. We apply it to Musashi, a human mimetic musculoskeletal humanoid, and have it perform tasks that require sound information outside of view in real noisy environments to confirm the usefulness of the proposed methods.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"38 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138512368","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-06-11DOI: 10.1186/s40648-022-00228-6
Kenta Yokoe, T. Aoyama, Toshiki Fujishiro, Masaru Takeuchi, Y. Hasegawa
{"title":"An immersive micro-manipulation system using real-time 3D imaging microscope and 3D operation interface for high-speed and accurate micro-manipulation","authors":"Kenta Yokoe, T. Aoyama, Toshiki Fujishiro, Masaru Takeuchi, Y. Hasegawa","doi":"10.1186/s40648-022-00228-6","DOIUrl":"https://doi.org/10.1186/s40648-022-00228-6","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"9 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"65734255","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this study, we present a recognition method for a fruit-harvesting robot to automate the harvesting of pears and apples on joint V-shaped trellis. It is necessary to recognize the three-dimensional position of the harvesting target for harvesting by the fruit-harvesting robot to insert its end-effector. However, the RGB-D (red, green, blue and depth) camera on the harvesting robot has a problem in that the point cloud obtained in outdoor environments can be inaccurate. Therefore, in this study, we propose an effective method for the harvesting robot to recognize fruits using not only three-dimensional information obtained from the RGB-D camera but also two-dimensional images and information from the camera. Furthermore, we report a method for determining the ripeness of pears using the information on fruit detection. Through experiments, we confirmed that the proposed method satisfies the accuracy required for a harvesting robot to continuously harvest fruits.
{"title":"Fruit recognition method for a harvesting robot with RGB-D cameras","authors":"Yoshida, Takeshi, Kawahara, Takuya, Fukao, Takanori","doi":"10.1186/s40648-022-00230-y","DOIUrl":"https://doi.org/10.1186/s40648-022-00230-y","url":null,"abstract":"In this study, we present a recognition method for a fruit-harvesting robot to automate the harvesting of pears and apples on joint V-shaped trellis. It is necessary to recognize the three-dimensional position of the harvesting target for harvesting by the fruit-harvesting robot to insert its end-effector. However, the RGB-D (red, green, blue and depth) camera on the harvesting robot has a problem in that the point cloud obtained in outdoor environments can be inaccurate. Therefore, in this study, we propose an effective method for the harvesting robot to recognize fruits using not only three-dimensional information obtained from the RGB-D camera but also two-dimensional images and information from the camera. Furthermore, we report a method for determining the ripeness of pears using the information on fruit detection. Through experiments, we confirmed that the proposed method satisfies the accuracy required for a harvesting robot to continuously harvest fruits.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"15 5","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138527560","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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