Ayaka Watanabe; Tomonori Mitsuhashi; Masayuki Okugawa; Katsuji Ogane; Tetsuya Kimura; Tetsuya Kinugasa; Yoshikazu Ohtsubo
Journal of Robotics and MechatronicsFuji Technology Press Ltd.36(3)732 - 7450915-39422024/06
Remote-controlled mobile robots are expected to be used in difficult- or impossible-to-access environments for inspection workers and responders, such as in investigations and search activities at accident/disaster sites and inspection/investigation work at plants/infrastructure. Among ground mobile robots, crawler mobile robots with sub-crawlers (also known as ground-adaptive crawler robots) excel at in-ground adaptability and stack escape; however, their operators require advanced remote-control technology and experience. Therefore, the introduction of semi-autonomous control to assist the operator is required. In this study, the principle of the pushing-up sequence and the possibility of mobiligence emerging from interaction with obstacles caused by the robot movement were described. In addition, the sub-crawler rotary joint’s compliance, which significantly contributes to ground adaptability, was hypothesized, and a compliance control system design method that uses the sub-crawler constraint angle as a design condition was proposed. It was confirmed that the model robot for the evaluation, which used the proposed method, could adapt to unknown obstacles without measuring their height and shape and traverse them based on experimental results. In addition, based on the numerical calculation results, it was determined that the optimum solution for the restriction angle of the sub-crawler was approximately 35°–50° from the perspective of propulsive force and tumble stability.
OHNISHI Jinna; YASE Hayato; IKEDA Atsutoshi; TAKEMOTO Yasuhiko; KAJIWARA Shinji; OHTSUBO Yoshikazu; KOSAKA Manabu
Transactions of the JSME (in Japanese)The Japan Society of Mechanical Engineers89(924)23-00104 - 23-001042023
Pneumatic rubber artificial muscles are nearly ideal for power assistance, medical care, and rehabilitation due to their lightweight drive unit made of rubber, which is soft and safe for human use. However, they have complex nonlinearities, including input saturation, hysteresis, and changes in static characteristics due to shrinkage. Additionally, when used with a human subject, the artificial muscle control system’s characteristics may vary based on the person’s physique, fitness, temperature, and the rubber’s deterioration. Therefore, it is desirable to be able to auto-tune the PID and other controllers in a short time before use. Data-driven controls such as FRIT and VRFT are suitable for auto-tuning in a short time. Among them, V-Tiger presented a procedure for predicting the actual closed-loop response and its Confidence interval. However, V-Tiger is not applicable to nonlinear systems with input saturation. This paper describes a procedure for (1) tuning PID gains by predicting the closed-loop response with V-Tiger in the presence of input saturation, (2) obtaining Confidence intervals for the predicted response affected by input saturation, and (3) how to use the Confidence intervals to apply this method to nonlinear systems.
Tadokoro Satoshi; Kimura Tetsuya; Oogane Katsuji; Ohtsubo Yoshikazu; Okugawa Masayuki; Sato Noritaka; Shimizu Masaru; Suzuki Soichiro; Aoki Takeshi; Okada Yosh*to; Chikushi Shota; Toda Yuichiro; Nagano Hikaru; Hasumi Yudai; Yamaguchi Daisuke; Murata Mika; Takahashi Mitsuru; Morita Yumi; Rooney Elena Mary
Journal of the Robotics Society of JapanThe Robotics Society of Japan40(6)475 - 4830289-18242022
Ayaka Watanabe; Masayuki Okugawa; Katsuji Ogane; Tetsuya Kimura; Tetsuya Kinugasa; Yoshikazu Ohtsubo
Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 20201348 - 13532020/01[Refereed]
© 2020 IEEE. There is a demand for remotely controlled mobile robots with high terrain performance on uneven roads where the road surface has taken on a rugged profile due to rubble deposition in the aftermath of a disaster. Crawler-type mobile robots with sub-crawlers (ground-adaptive crawler robot) are known to have a high level of rough terrain performance. However, their operation is complicated and difficult. In this study, we defined ground adaptability and proposed its evaluation index in order to realize the objective of a crawler robot that is both ground-adaptive and smooth traversing on rough terrain. The purpose of this study is to clarify the traversing principle of the ground-adaptive crawler robot on rough terrain by positively adopting the characteristics of the mechanism. The traversing principle for a ground-adaptive crawler robot, using the mechanical characteristics of the robot, aiming to achieve the stated objective was elucidated by focusing on the interaction between the robot and continuous steps obstacles. As a result of clarifying the relationship for the moments generated on the interaction between the obstacle and the robot, the possibility of traversing with ground adaptability on rough terrain by utilizing the mechanical compliance of the groundadaptive crawler robot was shown.
The World robot summit disaster robotics category - achievements of the 2018 preliminary competition
Satoshi Tadokoro; Tetsuya Kimura; Masayuki Okugawa; Katsuji Oogane; Hiroki Igarashi; Yoshikazu Ohtsubo; Noritaka Sato; Masaru Shimizu; Soichiro Suzuki; Tomoichi Takahashi; Shin'ichiro Nakaoka; Mika Murata; Mitsuru Takahashi; Yumi Morita; Elena Mary Rooney
ADVANCED ROBOTICSTAYLOR & FRANCIS LTD33(17)854 - 8750169-18642019/09[Refereed]
The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.
Tadokoro Satoshi; Takahashi Tomoichi; Nakaoka Shin'ichiro; Murata Mika; Takahashi Mitsuru; Morita Yumi; Rooney Elena Mary; Kimura Tetsuya; Okugawa Masayuki; Oogane Katsuji; Igarashi Hiroki; Ohtsubo Yoshikazu; Sato Noritaka; Shimizu Masaru; Suzuki Soichiro
Journal of the Robotics Society of JapanThe Robotics Society of Japan37(3)224 - 2340289-18242019
Group Control of Mobile Robots for More Efficient Searches -Verification of Semi-Autonomous Trajectory Tracking Motions in Irregular Ground Environment-
Yoshikazu Ohtsubo; Morihito Matsuyama
Journal of Robotics and Mechatronics30(6)980 - 9902018/12[Refereed]
Yoshikazu Ohtsubo; Atsutoshi Ikeda; Kiyoshi Ioi; Manabu Kosaka
Journal of Robotics and MechatronicsFuji Technology Press29(6)1005 - 10131883-80492017/12[Refereed]
This study develops teaching materials for mechatronics in higher education. Industrial societies require numerous mechatronics engineers, and most technical universities provide mechatronics exercises in their curriculums. However, it is difficult for teachers and students to modify and improve the mechatronic teaching materials because the provided materials are finished products. Therefore, a simple and inexpensive educational system is developed to overcome the disadvantages of the finished products. In this paper, an experimental apparatus is proposed for mechatronics education, and a practical example is presented that involves learning control methods, sensors, actuators, and mechanics.
Development of Educational Materials for Mechatronics
Kiyoshi Ioi; Yoshikazu Ohtsubo; Manabu Kosaka; Atsutoshi Ikeda; Shima Okada
WSEAS TRANSACTIONS on ADVANCES in ENGINEERING EDUCATION142017/02[Refereed]
IOI Kiyoshi; OHTSUBO Yoshikazu; TSUJIAI Masaya
Transactions of the JSME (in Japanese)The Japan Society of Mechanical Engineers2017
This paper analyzes metal-mold polishing by human hands. The metal-mold polishing generally requires long experiences about polishing works. Although experienced persons have many excellent skills, it is a little difficult to evidently teach them to beginners in words because most skills are considered to depend on their physical and intuitive memories. Thus we attempt to bring out the characteristic skills about metal-mold polishing by human hands. This paper mainly discusses the difference of polishing skills between experienced persons and beginners. First, a new data acquisition tool is developed to obtain polishing data, which is designed similar to old tools used by experienced persons. The tool basically consists of a small grasping spatula, a grindstone chip, a force sensor, and a 3D motion sensor. Second, basic data acquired from the developed tool are explained, and the estimation method about some kinds of data is proposed, which are not directly obtained from the sensors attached to the tool. Third, the characteristics between experienced persons and beginners are carefully compared from the view of the tool angle, the polishing velocity, the pressing force, and the mean power of polishing. Then, we focus on the phase trajectories between the polishing position and velocity, and the resistant forces appeared in forward and backward polishing. In order to understand the interesting phenomena about the phase trajectories and resistant forces, a simple dynamical model is newly assumed, and the model evidently explains the phenomena. Finally, the main results and future works are summarized.
MATSUYAMA Morihito; OHTSUBO Yoshikazu
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)The Japan Society of Mechanical Engineers20171P2 - N042017
When a disaster has occurred, it is very important to search quickly and accurately at the wide disaster area. It is efficiency to investigate using multiple mobile search robots at the disaster area. Accordingly, we focused cooperative cruising in the disaster environment and propose the trajectory tracking control method with semi-autonomous search robots. We apply to the new operating system using ROS to execute the trajectory tracking control with UMRS2009. In this paper, we show about the trajectory tracking control using gravity potential method and results of cooperative cruising experiment in disaster environment.
Masaru Shimizu; Masayuki Okugawa; Katsuji Oogane; Yoshikazu Ohtsubo; Tetsuya Kimura; Tomoichi Takahashi; Satoshi Tadokoro
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)Springer Verlag9776440 - 4511611-33492017[Refereed]
Robotic technology can be effectively used in the inspection and maintenance of aging social infrastructure. The capabilities of these robots are similar to those required for disaster response robots. This paper presents the concepts and outlines of the Japan Virtual Robotics Challenge (JVRC). The tasks in this challenge were designed based on the Sasago tunnel disaster, in which ceiling panels fell over 130m as a result of the release of the anchor bolts from the walls over time. Lessons from JVRC indicate that service robots can function as first responders, and that disaster rescue tasks have much in common with every day maintenance tasks. Standard tasks for robots are proposed and one scenario is demonstrated to show its validity. We hope that the application of robots used for everyday maintenance can improve the availability of robots at disaster scenes.
Tetsuya Kimura; Masayuki Okugawa; Katsuji Oogane; Yoshikazu Ohtsubo; Masaru Shimizu; Tomoichi Takahashi; Satoshi Tadokoro
IEEE International Symposium on Safety, Security and Rescue Robotics(SSRR)IEEE129 - 1302017[Refereed]
Analysis of Mold-Polishing Skills Based on Polishing Motion Data
Masaya Tsujiai; Kiyoshi Ioi; Yoshikazu Ohtsubo
2016 International Automatic Control Conference2016/11[Refereed]
M. Okugawa; K. Oogane; M. Shimizu; Y. Ohtsubo; T. Kimura; T. Takahashi; S. Tadokoro
SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics2016/03
For aging social infrastructure, robot technology is effective for the inspection and maintenance. Such capabilities are similar to those required in the disaster response robots. The application of response robot technology to frequently-used maintenance robots for infrastructure accelerate the social implementation of the response robots. In the paper, the concept and outlines of Japan Virtual Robotics Challenge (JVRC) task development have been introduced, in which ordinal inspection tasks and disaster response tasks of tunnel are carried out by an identical robot. In the paper, we propose a test scenario for robotic operations for inspection and rescue tasks. The tasks will be checked in Japan Virtual Robotics Challenge that will be held in October 2015.
Development of a New Skill Acquisition Tool and Evaluation of Mold-Polishing Skills
Kensuke Kodama; Kiyoshi Ioi; Yoshikazu Ohtsubo
SICE Annual Conference 2015139 - 1422015/07[Refereed]
Tomoharu Doi; Tetsuya Kinugasa; Masayuki Okugawa; Hitoshi Yamauchi; Toshi Takamori; Yoshikazu Ohtsubo
2013 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)IEEE2374-32472013[Refereed]
The DDT Project on rescue robots and related technologies in Japan developed many advanced devices related to robotics as countermeasure against earthquake disaster. The devices included robots, intelligent sensors, information equipment, and human interfaces that support emergency responses such as urban search and rescue, particularly victim search, information gathering, and communication. However, first responders had to wear gloves, and thus, it was difficult for first responders to dexterously operate the devices. In the training, robotics specialists who developed the devices operated by themselves just behind the firefighters. However, there is high possibility of secondary disaster in real situations. Therefore, it is not realistic for the robotics specialists to support technically in or near hazardous area. In this study, we propose a suit type teIe-operated support system that achieves tele-operation of search and rescue support advanced devices using information and communication technology (ICT). We develop a prototype of the system called 'ICT rescue vest' and validate its effectiveness.
Shigeru Kobayashi; Yoshikazu Ohtsubo; Hidetake Iwasaki; Yasuhiro Kobayashi; Toshi Takamori
9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011149 - 1542011[Refereed]
Rescue robots have to work in a variety of terrains, so the drive train of these robots must be robust against load changes including impulsive forces like collisions. To address this issue, the super- robust HFD actuator was developed. Also robots have to have special mechanisms to enter rooms by opening doors. A door opening system composed of a manipulator unit and suction mechanical unit for search robots was developed. The specific features of these robot components are reported in this paper. © 2011 IEEE.
HARADA Takashi; OHTSUBO Yoshikazu; HASHIMOTO Tomohisa; SUZUKI Naoya
Journal of JseeJapanese Society for Engineering Education58(2)46 - 511341-21672010/03
A creative educational program for department of mechanical engineering using bipedal walking robot is introduced. For educating in the mechanical engineering, we focused on kinematics and dynamics about the robot. The educational program was tested for university freshmen for a great number of people of 100 scales. They were divided into 10 groups with 10 peoples. A bipedal walking robot "e-nuvo WALK ver. 3" and software for the robot was given for each group. Robotic floor exercise in two minutes after one minute presentation was given for each group as a challenge. Guidance of the robot, group work and competition were lectured in 6 weeks. In this paper, tools, equipment, preparation and execution of the educational program are introduced in detail.
Development of Molding and Cladding Technologywith Using Direct Diode LaserDevelopment of Molding and Cladding Technologywith Using Direct Diode Laser
森本 純司; 大坪 義一
Proceedings of the seventh international symposium on applied plasma science291 - 2942009/08
レーザクラッディング法は，金型などの修復技術として使用されている。本論文では，CO2レーザに比べてエネルギー効率の良いダイオードレーザを用いて連続粉末供給方式により成膜実験を行った。その結果，適正レーザ照射条件において，650μm以上の高硬度のNi合金皮膜が作製できることを明らかにした。（英文）
前田 弘文; 大坪 義一; 高森 年; 田所; 諭; 八木; 秀樹; 松野 文俊; 金城; 隆也; 五十嵐; 広希
第14回ロボティクスシンポジア予稿集14th453 - 4581881-73002009/03
これまでに開発されたソフトウェアや部品などの資源を再利用・共通化するためにRTミドルウェアが提案されている。本論文では，RTミドルウェアを移動ロボットに実装し，マップ上に予め登録されたハザード情報を元に障害物回避が行えることを実証した。
アドホックネットワークを用いた移動ロボット群の長距離遠隔操縦
大坪 義一
第14回ロボティクスシンポジア予稿集465 - 4702009/02[Refereed]
Kiyoshi Ioi; Hirofumi Maeda; Yoshikazu Ohtsubo
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4IEEE1057 - +2009
We present simultaneous estimation of the shape and the mechanical impedance of unknown surfaces using a robotic linger with a resonant end-effector. To effectively estimate the mechanical impedance of unknown surfaces, the resonant mechanical part is located on the last digit, which has a force sensor on its fingertip. The force sensor, which is used as a surface detector to sense the reaction force from surfaces, has an important scanning control role of unknown surfaces. In this paper, the basic principle of estimating unknown surfaces is introduced for a one-degree-of-freedom finger that is extended to multi degrees of a freedom finger. In addition to estimation, scanning control is also proposed for unknown surfaces. Finally we verify the usefulness of our proposed system by experiments.
Kiyoshi Ioi; Hirofumi Maeda; Yoshikazu Ohtsubo
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4IEEE1057 - +2009[Refereed]
We present simultaneous estimation of the shape and the mechanical impedance of unknown surfaces using a robotic linger with a resonant end-effector. To effectively estimate the mechanical impedance of unknown surfaces, the resonant mechanical part is located on the last digit, which has a force sensor on its fingertip. The force sensor, which is used as a surface detector to sense the reaction force from surfaces, has an important scanning control role of unknown surfaces. In this paper, the basic principle of estimating unknown surfaces is introduced for a one-degree-of-freedom finger that is extended to multi degrees of a freedom finger. In addition to estimation, scanning control is also proposed for unknown surfaces. Finally we verify the usefulness of our proposed system by experiments.
Shigeru Kobayashi; Yasuhiro Kobayashi; Yoshihiro Yamamoto; Taro Watasue; Yoshikazu Ohtsubo; Takumi Inoue; Masanobu Yasuda; Toshi Takamori
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7IEEE1980 - +2008
In Rescue Operation with a group of rescue robots, the robot has an ability to move around freely even if there are doors parting rooms. Since Great Hanshin Awaji earthquake, the rescue robot series named UMRS have been developed. This time the robot with a door opening system has been developed. This robot has the manipulator to locate the end effecter precisely to door knob position and the hand to grip and rotate this knob. The outline of this robot and the sequence of this door opening are reported in this paper.
Shigeru Kobayashi; Yasuhiro Kobayashi; Yoshihiro Yamamoto; Taro Watasue; Yoshikazu Ohtsubo; Takumi Inoue; Masanobu Yasuda; Toshi Takamori
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7IEEE1980 - +2008[Refereed]
In Rescue Operation with a group of rescue robots, the robot has an ability to move around freely even if there are doors parting rooms. Since Great Hanshin Awaji earthquake, the rescue robot series named UMRS have been developed. This time the robot with a door opening system has been developed. This robot has the manipulator to locate the end effecter precisely to door knob position and the hand to grip and rotate this knob. The outline of this robot and the sequence of this door opening are reported in this paper.
Research on a force controlled medical robot with continuous passive motion for finger joint rehabilitation
渡辺 俊明; 大坪 義一; 東本 暁美
36th International Symposium on Robotics (ISR 2005)，Lecture No.TH1122005/11
高齢者や負傷者のための指のリハビリテーションを行うシステムの開発を行った。開発を行ったシステムは安価で力制御を行っているため患者に対して安全であるという特徴を持つ。（英文）
Proposal of the driving system making the best use of actuator
大坪 義一; 山本 昌彦; 高森 年; 小林
Proceedings of the fifth international symposium on applied plasma science409 - 4142005/09
省アクチュエータ駆動という新しいアクチュエータの駆動方法を提案し，ヘビ型レスキューロボットにその駆動方法を応用した。論文では，その開発したロボットの基本性能について述べた。（英文）
H Uda; H Yonezawa; Y Ohtsubo; M Kosaka; H Sonomura
SOLAR ENERGY MATERIALS AND SOLAR CELLSELSEVIER SCIENCE BV75(1-2)219 - 2260927-02482003/01
Polycrystalline US thin films have been deposited on borosilicate glass substrates coated with ITO film by metalorganic chemical vapor deposition using dimethyl cadmium and diethyl sulfide as source materials. The growth of CdS film occurred at substrate temperatures within the range of 280-360degreesC. The deposition rate increased with increasing VI/II molar ratio at any substrate temperature and showed a maximum value at the VI/II molar ratio of 4. The grain size of as-deposited US film prepared at substrate temperatures from 300degreesC to 360degreesC was about 0.1 mum. The CdS films consist of hexagonal form with a preferential orientation of the (002) plane parallel to the substrate. Thin CdS film with high optical transmittance was prepared at 350'C with the VI/II molar ratio of 4. The US film deposited by MOCVD may be used as a window layer for CdS/CdTe solar cell. (C) 2002 Elsevier Science B.V. All rights reserved.
A mechanism design of a pneumatic actuated biped robot
小坂 学; 大坪 義一; 宇田 宏; 山本 昌彦; 高橋弘通; 中井 庸一
Proceeding of 4th Int. Conf. Machine Automation（ICMA 2002）（583頁～590頁）583 - 5902002/09
空圧駆動二足ロボットのコンセプト立案、仕様設定と脚部の機構設計を行い、脚を製作し、仕様を満たすことを検証。（英文）
大坪 義一; 山本 昌彦; 高森 年; 田所
先端加工学会論文誌先端加工学会20(1)55 - 620916-34682001/09
光造形法を用いて静電型のアクチュエータを製作する方法について提案を行った。さらに提案した方法に基づいて実際にアクチュエータの製作を行った。そして製作したアクチュエータの動作特性の実験を行った。
