Pub Date : 2021-10-25DOI: 10.21203/rs.3.rs-968693/v1
Y. Ishikawa, Hiroyuki Nabae, G. Endo, K. Suzumori
Artificial multiarticular musculoskeletal systems consisting of serially connected links driven by monoarticular and multiarticular muscles, which are often inspired by vertebrates, enable robots to elicit dynamic, elegant, and flexible movements. However, serial links driven by multiarticular muscles can cause unstable motion (e.g., buckling). The stability of musculoskeletal mechanisms driven by antagonistic multiarticular muscles depends on the muscle configuration, origin/insertion of muscles, spring constants of muscles, contracting force of muscles, and other factors. We analyze the stability of a multi-serial-link mechanism driven by antagonistic multiarticular muscles aiming to avoid buckling and other undesired motions. We theoretically derive the potential energy of the system and the stable condition at the target point, and validate the results through dynamic simulations and experiments. This paper presents the static stability criteria of serially linked robots, which are redundantly driven by monoarticular and multiarticular muscles, resulting in the design and control guidelines for those robots.
{"title":"Stability analysis of multi-serial-link mechanism driven by antagonistic multiarticular artificial muscles","authors":"Y. Ishikawa, Hiroyuki Nabae, G. Endo, K. Suzumori","doi":"10.21203/rs.3.rs-968693/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-968693/v1","url":null,"abstract":"Artificial multiarticular musculoskeletal systems consisting of serially connected links driven by monoarticular and multiarticular muscles, which are often inspired by vertebrates, enable robots to elicit dynamic, elegant, and flexible movements. However, serial links driven by multiarticular muscles can cause unstable motion (e.g., buckling). The stability of musculoskeletal mechanisms driven by antagonistic multiarticular muscles depends on the muscle configuration, origin/insertion of muscles, spring constants of muscles, contracting force of muscles, and other factors. We analyze the stability of a multi-serial-link mechanism driven by antagonistic multiarticular muscles aiming to avoid buckling and other undesired motions. We theoretically derive the potential energy of the system and the stable condition at the target point, and validate the results through dynamic simulations and experiments. This paper presents the static stability criteria of serially linked robots, which are redundantly driven by monoarticular and multiarticular muscles, resulting in the design and control guidelines for those robots.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"9 1","pages":"1-12"},"PeriodicalIF":1.4,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41973448","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}
Disaster response robots are expected to perform complicated tasks such as traveling over unstable terrain, climbing slippery steps, and removing heavy debris. To complete such tasks safely, the robots must obtain not only visual-perceptual information (VPI) such as surface shape but also the haptic-perceptual information (HPI) such as surface friction of objects in the environments. VPI can be obtained from laser sensors and cameras. In contrast, HPI can be basically obtained from only the results of physical interaction with the environments, e.g., reaction force and deformation. However, current robots do not have a function to estimate the HPI. In this study, we propose a framework to estimate such physically interactive parameters (PIPs), including hardness, friction, and weight, which are vital parameters for safe robot-environment interaction. For effective estimation, we define the ground (GGM) and object groping modes (OGM). The endpoint of the robot arm, which has a force sensor, actively touches, pushes, rubs, and lifts objects in the environment with a hybrid position/force control, and three kinds of PIPs are estimated from the measured reaction force and displacement of the arm endpoint. The robot finally judges the accident risk based on estimated PIPs, e.g., safe, attentional, or dangerous. We prepared environments that had the same surface shape but different hardness, friction, and weight. The experimental results indicated that the proposed framework could estimate PIPs adequately and was useful to judge the risk and safely plan tasks.
{"title":"A framework of physically interactive parameter estimation based on active environmental groping for safe disaster response work","authors":"Kamezaki, Mitsuhiro, Uehara, Yusuke, Azuma, Kohga, Sugano, Shigeki","doi":"10.1186/s40648-021-00209-1","DOIUrl":"https://doi.org/10.1186/s40648-021-00209-1","url":null,"abstract":"Disaster response robots are expected to perform complicated tasks such as traveling over unstable terrain, climbing slippery steps, and removing heavy debris. To complete such tasks safely, the robots must obtain not only visual-perceptual information (VPI) such as surface shape but also the haptic-perceptual information (HPI) such as surface friction of objects in the environments. VPI can be obtained from laser sensors and cameras. In contrast, HPI can be basically obtained from only the results of physical interaction with the environments, e.g., reaction force and deformation. However, current robots do not have a function to estimate the HPI. In this study, we propose a framework to estimate such physically interactive parameters (PIPs), including hardness, friction, and weight, which are vital parameters for safe robot-environment interaction. For effective estimation, we define the ground (GGM) and object groping modes (OGM). The endpoint of the robot arm, which has a force sensor, actively touches, pushes, rubs, and lifts objects in the environment with a hybrid position/force control, and three kinds of PIPs are estimated from the measured reaction force and displacement of the arm endpoint. The robot finally judges the accident risk based on estimated PIPs, e.g., safe, attentional, or dangerous. We prepared environments that had the same surface shape but different hardness, friction, and weight. The experimental results indicated that the proposed framework could estimate PIPs adequately and was useful to judge the risk and safely plan tasks.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"46 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2021-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138527533","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 : 2021-09-15DOI: 10.1186/s40648-021-00208-2
Kentaro Masuyama, Y. Noda, Y. Ito, Y. Kagiyama, Koichi Ueki
{"title":"Force display control system for simultaneous 3-axis translational motion in surgical training simulator for chiseling operation","authors":"Kentaro Masuyama, Y. Noda, Y. Ito, Y. Kagiyama, Koichi Ueki","doi":"10.1186/s40648-021-00208-2","DOIUrl":"https://doi.org/10.1186/s40648-021-00208-2","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"8 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2021-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"65734045","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 : 2021-08-26DOI: 10.1186/s40648-021-00207-3
Takayama, Toshio, Sumi, Yusuke
Recently pneumatic-driven soft robots have been widely developed. Usually, the operating principle of this robot is the inflation and deflation of elastic inflatable chambers by air pressure. Some soft robots need rapid and periodic inflation and deflation of their air chambers to generate continuous motion such as progress motion or rotational motion. However, if the soft robot needs to operate far from the air pressure source, long air tubes are required to supply air pressure to its air chambers. As a result, there is a large delay in supplying air pressure to the air chamber, and the motion of the robot slows down. In this paper, we propose a compact device that changes its airflow passages by self-excited motion generated by a supply of continuous airflow. The diameter and the length of the device are 20 and 50 mm, respectively, and can be driven in a small pipe. Our proposed in-pipe mobile robot is connected to the device and can move in a small pipe by dragging the device into it. To apply the device widely to other soft robots, we also discuss a method of adjusting the output pressure and motion frequency.
{"title":"Self-excited air flow passage changing device for periodic pressurization of soft robot","authors":"Takayama, Toshio, Sumi, Yusuke","doi":"10.1186/s40648-021-00207-3","DOIUrl":"https://doi.org/10.1186/s40648-021-00207-3","url":null,"abstract":"Recently pneumatic-driven soft robots have been widely developed. Usually, the operating principle of this robot is the inflation and deflation of elastic inflatable chambers by air pressure. Some soft robots need rapid and periodic inflation and deflation of their air chambers to generate continuous motion such as progress motion or rotational motion. However, if the soft robot needs to operate far from the air pressure source, long air tubes are required to supply air pressure to its air chambers. As a result, there is a large delay in supplying air pressure to the air chamber, and the motion of the robot slows down. In this paper, we propose a compact device that changes its airflow passages by self-excited motion generated by a supply of continuous airflow. The diameter and the length of the device are 20 and 50 mm, respectively, and can be driven in a small pipe. Our proposed in-pipe mobile robot is connected to the device and can move in a small pipe by dragging the device into it. To apply the device widely to other soft robots, we also discuss a method of adjusting the output pressure and motion frequency.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"43 7","pages":""},"PeriodicalIF":1.4,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138527525","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 : 2021-07-06DOI: 10.1186/s40648-021-00206-4
M. Sanada, T. Matsuo, N. Shimada, Y. Shirai
{"title":"Recalling of multiple grasping methods from an object image with a convolutional neural network","authors":"M. Sanada, T. Matsuo, N. Shimada, Y. Shirai","doi":"10.1186/s40648-021-00206-4","DOIUrl":"https://doi.org/10.1186/s40648-021-00206-4","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40648-021-00206-4","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44615887","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 : 2021-04-16DOI: 10.1186/s40648-021-00200-w
A. Medeiros, P. Ratsamee, J. Orlosky, Yuki Uranishi, Manabu Higashida, H. Takemura
{"title":"3D pointing gestures as target selection tools: guiding monocular UAVs during window selection in an outdoor environment","authors":"A. Medeiros, P. Ratsamee, J. Orlosky, Yuki Uranishi, Manabu Higashida, H. Takemura","doi":"10.1186/s40648-021-00200-w","DOIUrl":"https://doi.org/10.1186/s40648-021-00200-w","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"8 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2021-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40648-021-00200-w","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"65733861","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 : 2021-03-20DOI: 10.1186/s40648-021-00198-1
Siyi Pan, G. Endo
{"title":"Toward mission-dependent long robotic arm enhancement: design method of flying watch attachment allocation based on thrust drivability","authors":"Siyi Pan, G. Endo","doi":"10.1186/s40648-021-00198-1","DOIUrl":"https://doi.org/10.1186/s40648-021-00198-1","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"8 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2021-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"65733586","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 : 2021-03-01DOI: 10.1186/s40648-021-00197-2
Deepak Kumar, Sushil Raut, Kohei Shimasaki, T. Senoo, I. Ishii
{"title":"Projection-mapping-based object pointing using a high-frame-rate camera-projector system","authors":"Deepak Kumar, Sushil Raut, Kohei Shimasaki, T. Senoo, I. Ishii","doi":"10.1186/s40648-021-00197-2","DOIUrl":"https://doi.org/10.1186/s40648-021-00197-2","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2021-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40648-021-00197-2","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47859465","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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