Synergy is the method that reduces the control inputs of a multi-fingered hand and is utilized for designing underactuated robotic hands and efficient control. Calculating conventional synergies depends on the measured human grasping postures. Therefore, preparing synergies for the not-human-like multi-fingered hands is challenging. We propose a reinforcement learning platform for acquiring synergies of a multi-fingered robotic hand through learning a grasping task. The learning process automatically generates postures for creating synergies so that this system can prepare synergies for any robotic hand. Experiments show that this reinforcement learning platform improves learning tasks and acquires the synergy that is suitable for the learned task.
{"title":"Acquisition of synergy for low-dimensional control of multi-fingered hands by reinforcement learning","authors":"Kazuki Higashi, Tomohiro Motoda, Yusuke Nishimura, Akiyoshi Hara, Takamasa Hamamoto, K. Harada","doi":"10.1299/jsmermd.2021.1p1-i16","DOIUrl":"https://doi.org/10.1299/jsmermd.2021.1p1-i16","url":null,"abstract":"Synergy is the method that reduces the control inputs of a multi-fingered hand and is utilized for designing underactuated robotic hands and efficient control. Calculating conventional synergies depends on the measured human grasping postures. Therefore, preparing synergies for the not-human-like multi-fingered hands is challenging. We propose a reinforcement learning platform for acquiring synergies of a multi-fingered robotic hand through learning a grasping task. The learning process automatically generates postures for creating synergies so that this system can prepare synergies for any robotic hand. Experiments show that this reinforcement learning platform improves learning tasks and acquires the synergy that is suitable for the learned task.","PeriodicalId":398371,"journal":{"name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132604232","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 : 2019-08-07DOI: 10.1299/jsmermd.2019.2p1-l07
Seiji Yamaguchi
{"title":"Development of expressive intelligence during collaborative tasks with humans","authors":"Seiji Yamaguchi","doi":"10.1299/jsmermd.2019.2p1-l07","DOIUrl":"https://doi.org/10.1299/jsmermd.2019.2p1-l07","url":null,"abstract":"","PeriodicalId":398371,"journal":{"name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121189310","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 : 2019-06-05DOI: 10.1299/jsmermd.2019.2p1-m03
Sarin Kittisares, Hiroyuki Nabae, G. Endo, K. Suzumori
{"title":"Knee Support Device with Polycentric Joint Mechanism Driven by Bundled Thin Soft Muscles","authors":"Sarin Kittisares, Hiroyuki Nabae, G. Endo, K. Suzumori","doi":"10.1299/jsmermd.2019.2p1-m03","DOIUrl":"https://doi.org/10.1299/jsmermd.2019.2p1-m03","url":null,"abstract":"","PeriodicalId":398371,"journal":{"name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124470893","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 : 2019-06-05DOI: 10.1299/jsmermd.2019.1a1-g05
Zhenyu Wang, Masashi Takahashi, G. Endo, K. Suzumori, Hiroyuki Nabae, H. Takahashi, H. Kikura
As one part of the decommission tasks of Fukushima nuclear power plant, efficient and appropriate operation of removal of fuel debris requires essential information of distribution and characteristics of fuel debris. A robotic remote measurement system using an ultrasonic sensor called RhinoUS was developed to detect the distribution of the fuel debris and localize the unknown water leakages in the primary containment vessels (PCV) of the No.1 reactor. Experiments are carried out to evaluate the localization accuracy on the robot pose of the visual odometry method. The results turn out that we could acquire characteristics of the fuel debris and achieved localization error less than 15mm/1m in complex motion, and generate smooth grating map in bird view. We conclude that the visual odometry localization method might serve as a feasible solution to assist the robot localization on grating.
{"title":"Empirical Evaluation on the Localization Accuracy of Visual Odometry on the Gratings for PCV Internal Investigation","authors":"Zhenyu Wang, Masashi Takahashi, G. Endo, K. Suzumori, Hiroyuki Nabae, H. Takahashi, H. Kikura","doi":"10.1299/jsmermd.2019.1a1-g05","DOIUrl":"https://doi.org/10.1299/jsmermd.2019.1a1-g05","url":null,"abstract":"As one part of the decommission tasks of Fukushima nuclear power plant, efficient and appropriate operation of removal of fuel debris requires essential information of distribution and characteristics of fuel debris. A robotic remote measurement system using an ultrasonic sensor called RhinoUS was developed to detect the distribution of the fuel debris and localize the unknown water leakages in the primary containment vessels (PCV) of the No.1 reactor. Experiments are carried out to evaluate the localization accuracy on the robot pose of the visual odometry method. The results turn out that we could acquire characteristics of the fuel debris and achieved localization error less than 15mm/1m in complex motion, and generate smooth grating map in bird view. We conclude that the visual odometry localization method might serve as a feasible solution to assist the robot localization on grating.","PeriodicalId":398371,"journal":{"name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126219303","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 : 1900-01-01DOI: 10.1299/jsmermd.2022.2a1-f02
K. Harada, I. Mizuuchi
{"title":"Realization of Multi-Functionality by a Soft Robot Equipped with Multi-Degree-of-Freedom Soft Actuators with Suction Performance","authors":"K. Harada, I. Mizuuchi","doi":"10.1299/jsmermd.2022.2a1-f02","DOIUrl":"https://doi.org/10.1299/jsmermd.2022.2a1-f02","url":null,"abstract":"","PeriodicalId":398371,"journal":{"name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114989291","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 : 1900-01-01DOI: 10.1299/jsmermd.2021.2p1-e04
S. Oshino, K. Wakamatsu, Daiki Matsui, H. Adachi, H. Kumamoto, Hirochika Oshima, Rie Nishihama, M. Okui, Taro Nakamura
{"title":"Construction of Distributed Sensing System for Peristaltic Continuous Mixing Conveyor Simulating Intestines","authors":"S. Oshino, K. Wakamatsu, Daiki Matsui, H. Adachi, H. Kumamoto, Hirochika Oshima, Rie Nishihama, M. Okui, Taro Nakamura","doi":"10.1299/jsmermd.2021.2p1-e04","DOIUrl":"https://doi.org/10.1299/jsmermd.2021.2p1-e04","url":null,"abstract":"","PeriodicalId":398371,"journal":{"name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115124750","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 : 1900-01-01DOI: 10.1299/jsmermd.2021.1a1-b03
Kotohiro Masuda, H. Sugimatsu, J. Kojima, Yuya Nishida, T. Maki
{"title":"Development and evaluation of digital wideband hydrophone using MEMS","authors":"Kotohiro Masuda, H. Sugimatsu, J. Kojima, Yuya Nishida, T. Maki","doi":"10.1299/jsmermd.2021.1a1-b03","DOIUrl":"https://doi.org/10.1299/jsmermd.2021.1a1-b03","url":null,"abstract":"","PeriodicalId":398371,"journal":{"name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","volume":"157 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115130338","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 : 1900-01-01DOI: 10.1299/jsmermd.2019.2a1-g05
Hisaka Wada, Aleš Vysocký, J. Kinugawa, K. Kosuge
{"title":"Human-Friendly/Cooperative Working Support Robot -PaDY-for the Production Site","authors":"Hisaka Wada, Aleš Vysocký, J. Kinugawa, K. Kosuge","doi":"10.1299/jsmermd.2019.2a1-g05","DOIUrl":"https://doi.org/10.1299/jsmermd.2019.2a1-g05","url":null,"abstract":"","PeriodicalId":398371,"journal":{"name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115157197","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 : 1900-01-01DOI: 10.1299/jsmermd.2019.1p1-b02
Wakana Toriya, Rintaro Miura, Y. Aoki
{"title":"Measurement of mental rotation ability and construction of internal information visualization system for echography","authors":"Wakana Toriya, Rintaro Miura, Y. Aoki","doi":"10.1299/jsmermd.2019.1p1-b02","DOIUrl":"https://doi.org/10.1299/jsmermd.2019.1p1-b02","url":null,"abstract":"","PeriodicalId":398371,"journal":{"name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115635168","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 : 1900-01-01DOI: 10.1299/jsmermd.2011._2A2-O09_1
M. Koike, S. Saga, Takayuki Okatani, K. Deguchi
{"title":"2A2-O09 Design and implementation of reflection-based tactile sensor with diffused lighting source for touch panel use(Tactile and Force Sensing (1))","authors":"M. Koike, S. Saga, Takayuki Okatani, K. Deguchi","doi":"10.1299/jsmermd.2011._2A2-O09_1","DOIUrl":"https://doi.org/10.1299/jsmermd.2011._2A2-O09_1","url":null,"abstract":"","PeriodicalId":398371,"journal":{"name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115642573","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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