The Mecanum-wheeled robot has four special wheels. It can control wheels independently and seven turning axes. translate in all directions travel curves without changing its direction by means of the commands for ratio, speed, travel. However, no model been proposed that accurately simulate output actual machine three types inputs, even when characteristics motor driver are unknown. In this study, we synthesized simplified transfer functions estimated undetermined coefficients minimize sum...

In response to the imperative need for robotic involvement in decommissioning of Fukushima Daiichi Nuclear Power Plant, a proactive initiative was undertaken. This led organization “7th Decommissioning Creative Robot Contest,” which pivotal challenges related nuclear plant were addressed. Recognizing inaccessible areas within decommissioned plant, primary objective this study develop remotely operated robot capable executing decontamination tasks such environments. Two distinct locomotion...

At present, many Japanese tomato farmers harvest manually to select candidates considering ripeness and blemishes of each fruit. Therefore, part-time workers new have problems such as stability quality work efficiency because they do not a good eye for candidates. Thus, we propose system using Head Mounted Display (HMD) User Datagram Protocol (UDP) that computer gets camera images subjective perspective in real-time finally, HMD presents the information which is obtained by image processing...

Such a teleoperating system has been needed that enables scientists on the earth to make moon-exploring robot carry out geological explorations moon by means of same movements as their earth. Studies have carried systems reproduce operator’s movements. However, an existing complete-contact type unit for measuring disadvantages in it is large-sized, requiring skill acquirement and likely restrict free movements, making precise impossible. To overcome these disadvantages, we made study...

It is difficult to measure rotational eye movement constantly from "almost black eyeball image" acquired under the condition that brightness of an image content being watched by a user very low or almost no light irradiated its surrounding environment. To solve this problem, turning our attention "conjunctival blood vessel ends" located on periphery iris, which are not affected changes in pupil diameter, as well small "blue LED light" irradiation auxiliary light, authors developed new method...

We proposed a control algorithm for pneumatic robots which can realize accurate position and speed control. The achieves quick response less overshoot using the conventional proportional controller with variable offset pressure controller. experimental results showed that rise time was almost same as of PD controller, but tracking accuracy improved about 45[%] when ramp input given target. Furthermore, performance to disturbance is higher than PID

The authors propose, not a non-contact devise which our research group has been developing, but compact wearable device allows for estimation of the hand pose (hand motion capture) subject. miniature wireless RGB camera on back side user's hand, rather than palm side. Attachment small may make it possible to minimize restraint subject's motions during capture. conventional techniques attach reason that images fingertips always need be captured by before any other parts hand. In contrast,...

Eye rotation is a movement in which the eyeballs rotate opposite direction of head around gaze axis when tilted to left or right, could be used as physiological index for evaluating dizziness, VIMS, etc. However, human internal state model describing relationship between tilt and eye motion has not been clarified. The purpose this study was, therefore, describe behavior movements using transfer function model. authors measured time series data generated subjects were instructed their heads...

In this research, we aimed to realize a mobile robot that achieves the tasks in contest aiming at realizing towards decommissioning work. The challenge is carry 5 [kg] of baggage up top staircase with slope 41 degrees and return starting point. 1st contest, realized (U-bo I) can move automatically fewer sensors. 2nd remote control Mark II) double weight regulations (10 [kg]). Due trouble, neither was able achieve task within time limit, but were basic technology for work training human resources

In this study, a robot was created to compete in the “7th Decommissioning Creative Robot Contest. The “Decommissioning Contest” is contest which fields and tasks are set based on assumption of decommissioning work at TEPCO’s Fukushima Daiichi Nuclear Power Station. theme year’s competition 3D decontamination highly contaminated area inside nuclear reactor building. To solve problem, we propose for equipped with “an undercarriage mechanism that can cope slopes steps”, “a two types rotation...

Unlike other civil engineering works, water pipe works require digging out before construction because the site is buried. The AR application a system that displays buried objects in ground three dimensions when users hold device such as smartphone over ground, using images from smartphone. also registers new they are updated. target of this project pipes, which most familiar all structures. has following functions: “registration and display information” “acquisition current location...

We designed and fabricated robots with various mechanisms to solve the problems set in Creative Robot Contest for Decommissioning. Robots were manufactured by More specifically, a mechanism that can climb up stairs robustly was realized attaching claws crawlers problem of climbing steep staircase while carrying heavy load. For task retrieving simulated fuel debris from high location, we developed raise lower robot retrieve without fail. Consequently, idea technology required decommissioning...

At the Fukushima Daiichi Nuclear Power Station (NPS), robots are used to propel decommissioning work. Creating a 3D map of internal environment work is necessary technology for improving working efficiency robot. The purpose this research realize creating system using camera by operating humanoid general-purpose robot Pepper Robot Operating System (ROS) and implementing executing Visual SLAM. aims be applied in future. In study, we implemented SLAM methods R-tab Map, which method...

We proposed the downsizing of an optical tactile sensor using elastic body. This can be used as a robots. An body, layers light, and camera are for this sensor. The light use modification body contour line. A captures And forces detected from obtained picture. In previous research, was conventionally approximated by cubic polynomial. Therefore, two were used. one layer approximating second-order result evaluation experiment showed that research able to detect force in equivalent accuracy...

We proposed a control algorithm for pneumatic actuators which can realize accurate position control. Specifically, the controller achieves quick response and less overshoot using conventional proportional (P-controller) with an offset pressure may increase or decrease rigidity to actuators. The experimental results showed that rise time was almost same as of PD but tracking accuracy improved when lamp input given target.

In recent years, the IoT technology has spread rapidly. However, there is a lack of appropriate educational materials for students. The in this paper refer to engineering As result survey, problem that engineers and students who just started learn cannot understand it because are no about IoT, few opportunities itself. Therefore, study aims develop by themselves improve recognition presenting them free category 29th KOSEN Programming Contest. system, "drone field" center field "Virtual...

The authors propose a hand posture estimation system in real time and with high accuracy, for robot control human interface motions without no sensors attached to the users. This method searches similar image quickly from large volume of previously-sorted database which contains complicated shapes self-occlusions hand. Because doesn't need any special peripheral equipment such as range sensor PC cluster, works note using single high-speed camera, user can make dexterous behave he/she does,...

This research realizes an extended movement unit for expanding the range of Pepper. Pepper moves by omni wheel. However, wheel is difficult to freely move floor with structurally large steps and irregularities. To extend Pepper's movement, other devices are needed. We produced unit. The aims at a that can be used without remodeling consists mobile robot extends mobility docking joins robot. based on we developed. mechanism joined modifying various surfaces stored tasks. By changing shape,...

Decommissioning Robot Competition is a robotics competition for decommissioning of reactor. The purpose this study to develop human resources which will be responsible technology in the future by giving them knowledge and interest work itself, as well experience gained process. task fourth go through narrow pipe, pedestal section, then take golf or tennis ball at bottom hole section return. This aims build robot that can perform tasks 4th Competition. composed main unit sub-unit. hang lift...

The authors propose an algorism for miniaturizing optical tactile sensor using a thin, flexible elastomer membrane. This is composed membrane, layered light, and ultra-miniature camera. Irradiating sheet-like light onto deformed enables the deformation of to be represented as contour. two-dimensional images acquired from camera are used detect three-dimensional force information. In this study, quadratic polynomials were approximate elastomer. Three points, which two points: vertex fixing...

We propose a mobile robot control method using 3D hand pose estimation without sensors or controllers. The we reduces the number of image features per data set, which makes construction large-scale database possible, as well poses unspecified users with individual differences sacrificing accuracy. system involves in advance large comprising three elements: joint information including wrist, low-order proportional on images indicating rough shape, and comprised set.

We propose a control algorithm for air cylinder actuator which has normal PID controller with variable offset pressure controller, so as to achieve the high speed response and less overshoot. The is used constant in conventional algorithm, gives stiffness piston. Our therefore adopted time-variant each chamber, that properly increase or decrease according target. experimental results showed rise time was almost same of but tracking improved by 40% compared when lamp target more moderate.

The aim of this paper is to propose the technology allow people control robots by means everyday gestures without using sensors or controllers. hand pose estimation we reduces number image features per data set 64, which makes construction a large-scale database possible. This has also made it possible estimate 3D poses unspecified users with individual differences sacrificing accuracy. Specifically, system involved in advance large comprising three elements: joint information including...

We proposed a control algorithm for air cylinder actuator which is normal PID controller with variable offset pressure achieved high speed response and small overshoot to target. The gives the rigidity piston. used constant in case of general algorithm. Our it asunder each chamber. results that rise time almost same as but tracking has improved by 40% compared lamp input low increase rate.