A base parameter set as a minimum of inertial parameters whose values can determine dynamic model uniquely is investigated for general parallel and perpendicular manipulator with rotational joints only. The notion useful an efficient accurate identification the model. described in linear combinations link directly completely closed form given proved to constitute set. It be derived from this that number 7N-4 beta /sub 1/ (7N-4 2/-2 if first joint axis gravity vector), where N links...

The base parameters (nonredundant that can generate the dynamic equations of motion) are investigated for general parallel and perpendicular manipulators with only rotational joints. A set simple combinations link is proved to be by analyzing making clear redundancies manipulators. results applied parameter identification manipulator models in algorithms solving inverse problem.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

In this paper we introduce our developed prototype mobile inspection robot for rescue activities named MOIRA. The consists of multi links and the four directions each link are equipped with small crawlers. Due to structural features, MOIRA has following features. (a) can go into debris even if there is a restraint from (up-side, down-side, right-side left side). (b) does not have concept directions. That is, be operated sideslips without any recover actions.

In this paper, the socio-economic problems facing construction industry in Japan are presented, including COVID19 pandemic, an aging population, infrastructure, and severe natural disasters, a project to tackle problem is introduced. This project, called 'Collaborative robots for adaptation of diverse environments innovation infrastructure construction,' sub-project Moonshot organized by Cabinet Office Japan. The key approach proceeding with 'open design' robotics. Based on approach, three...

Robot, which has no actuators and walks down a slight slope, is called 'passive walking robot'. It well known that the passive robot important interesting target. In past papers, , stable steady periodic motion chaotic behavior of were analyzed by numerical simulations. To justify analysis, we have to show occurrence through experiment. However, not ever seen experimental analysis concerned with those behaviors.Therefore, in this research, constructed named QUARTET II tried behaviors. paper,...

The Great Hanshin-Awaji (Kobe) Earthquake killed more than 6,000 on Jan. 17, 1995. Many people barely escaped from the debris and actively saved buried lives. Rescue facilities are really important for robust social systems. They should be researched as applications of robotics mechatronics. In this paper, processes rescue just after disaster were investigated. It considers specifications robotic huge earthquakes basis real processes.

In this paper, passive walking of the eight-legged robot QUARTET II that has simple straight legs, and is also constrained to have two degrees freedom for simplicity its motion, described. The legged can continue walk down a slight slope steadily without any actuation if appropriate initial conditions are given. Since no control input, except gravitational torque, applied robot, more natural gaits compared with those conventional actuated robots expected. simulation, trajectory stability...

In this paper, we propose a manipulation system for agricultural robots that handle heavy materials. The structural systems of mobile platform and manipulator are selected designed after proposing new knowledge about robots. Also, the control these in presence parametric perturbation uncertainty while avoiding conservative results. validity both is confirmed by conducting watermelon harvesting experiments an open field. Furthermore, explicit design procedure three key tools clarified.

Recently, soft actuators have gained considerable attention owing to their flexibility and high output-to-weight ratios. The McKibben pneumatic actuator (MPA), a type of artificial muscle, is an that generates force by inflating rubber tube with compressed air. Conventional MPAs, such as linear actuators, generate along straight lines; hence, achieving complex movements, bending using single can be challenging. In this study, we enabled movements in MPA applying elastic adhesive coating MPA....

An actuator for achieving the same force in both directions, and a mechanism supporting rotary motion with are proposed. By fabricating models performing tests, action of mechanism, its application on an excavator was demonstrated. Simulations arm-moving task performed conventional show efficiency improvement use proposed particularly when arm is driven at low speed.

McKibben pneumatic actuators (MPAs) are soft that exert tension by inflating a rubber tube with compressed air. Although electropneumatic regulators can control air pressure, their cost and size limit applications. This study employs dynamic quantizer to an MPA using small solenoid valve only open or close, as opposed regulator. A is type of converts continuous signals into discrete signals. Our previous confirmed the length be achieved quantizer. As exerts force in direction contraction,...

Robot competitions enhance search and rescue technology while raising awareness attracting funds. Urban Search Rescue (USAR) is a branch of that concentrates on victim detection removal from man-made structures, such as collapsed buildings after an earthquake. This in contrast to the other rescue, wilderness concerns people lost open spaces. Recent advances robotics platforms intelligent software, combined with 1995 Oklahoma City bombing United earthquake Japan, followed by earthquakes...

This paper presents a model reference adaptive nonlinear control strategy for active steering of two wheel car which is realized by steer-by-wire technology. The ideal fixed property system, provided model, attained D * control. proposed method can treat the relationships between slip angles and lateral forces on tires, uncertainties friction road surface, whose compensations are very important under critical situations. Some results realtime simulation with equipment show effectiveness method.

Animals, including human beings, can travel in a variety of environments adaptively. Legged locomotion makes this possible. However, legged is temporarily unstable and finding out the principle walking an important matter for optimum strategy or engineering applications. As one challenges, passive dynamic has been studied on this. Passive phenomenon which biped robot with no actuator walks down gentle slope. The gait very smooth (like human) much research conducted mainly about bipedalism....

This study investigates group navigation with the aid of strong interaction between two kinds agents: A shepherd drives a sheep large population to given goal position. Even though numerous studies have been performed on realization shepherd-like navigation, they are based condition that all positions given. examines using local-camera-based approach, i.e. perceives shepherd's vision. Before testing we design controller referred as farthest-agent targeting controller, in which selects...

As a case study for initial cost problem, we realize new manipulation and perception heavy material handling agricultural robot with high-cost components reductions, which requires more robust controllers. More precisely, first, give manipulator passive joint camera configuration only one camera. Second, design controllers using gain-scheduling -synthesis based on some structural properties such as the friction in presence of uncertainty, nonlinearity, constraint, while avoiding conservative...

A McKibben-type pneumatic actuator (MPA) is a soft that generates tension by inflating rubber tube with compressed air. Electropneumatic regulators are typically employed to regulate air pressure in MPAs. However, they normally large size and expensive, which significant obstacles the autonomous decentralized control of many MPAs achieving various robot motions. In this study, exerted MPA was controlled using small solenoid valve could be opened closed instead an electropneumatic regulator....

Passive-dynamic-walking (PDW) has been noticed in the research of biped walking robots. In this paper, combining our previous control methods, we provide a new method quasi-PDW. Quasi-PDW means that robot usually does PDW without any input torques, and actuators are used just only when begins or disturbances come in. The first feature is (k-1)th trajectory as reference k-th step. second kind gain scheduled PD adopted its gains regulated depending on state contact phase swing leg. As result,...

Abstract A McKibben-type pneumatic actuator is widely used for utilization of its self-stabilization characteristics with a simple model and control method. However, how act on the stability robot motion have not been sufficiently discussed. The purpose paper to analyze various McKibben (MPA) influence movements generated by MPA. In this paper, at first, we introduced two static models MPA which were proposed in previous research verified through validation experiments. form as simply...

Abstract McKibben pneumatic actuators (MPAs) are soft that exert tension by applying compressed air to expand a rubber tube. Although electro-pneumatic regulators can control pressure, most large and expensive. This study utilizes dynamic quantizer the MPA with small solenoid valve only open close instead of an regulator. A is one quantizers converts continuous signals discrete signals. Our previous confirmed under isometric conditions could be realized using quantizer. However, it often...

The authors designed an H/sup infinity / controller and applied it to control a pneumatic rubber artificial muscle named Rubbertuator whose dynamics is highly nonlinear. Some simple experiments show the effectiveness of controller. A short description provided.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

In this paper, we introdude a new control method of semi-passive dynamic walking for biped robot, which uses actuators just only to maintain the passive walking. First, focusing on contact phase swing leg, stability analysis robot is performed through discrete-time system robot. Second, propose based delayed feedback control, does not require any reference trajectory Finally, effectiveness law shown several sirriulations.

This paper proposes a new type of inspection robot for rescue activity MOIRA2. We have developed MOIRA before, which has ability to dive into rubble. Based on the experience MOIRA, we develop its improved version 2. In this paper, describe characteristics and design policy MOIRA2 comparing with MOIRA. Furthermore, results experiment are shown demonstrate performance