Assembly of complex shaped objects: A stiffness control with contact...
AbstractThis paper presents a compliant control method for insertion of complex objects with concavities. The control algorithm presented here is capable of generating satisfactory compliant motion...
View ArticleA target-approachable force-guided control with adaptive accommodation for...
AbstractIn this paper, a target approachable force-guided control with adaptive accommodation for complex assembly is presented. Complex assembly (CA) is defined as a task which deals with complex...
View ArticleWheeled blimp : Hybrid structured airship with passive wheel mechanism for...
AbstractThis paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle...
View ArticleSafe arm design with MR-based passive compliant joints and visco—elastic...
AbstractIn this paper a safe arm with passive compliant joints and visco—elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a...
View ArticleTeleloperation of field mobile manipulator with wearable Haptic-based...
AbstractThis paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system. Recently some teleoperated field robots are employed for hazard...
View ArticleROBHAZ-DT2: Passive Double-Tracked Mobile Manipulator for Explosive Ordnance...
AbstractIn this paper, design and integration of ROBHAZ-DT2 is presented which is a newly developed mobile manipulator system. It is designed to carry out military and civilian missions in various...
View ArticleOptimal design of a variable stiffness joint in a robot manipulator using the...
AbstractThe response surface method combined with the design of experiment-based design optimization of a variable stiffness joint (VSJ) is presented in this article. A VSJ used in a manipulator of a...
View ArticleProfile-based roughness discrimination with pen-type texture sensor
AbstractTactile discriminations of surface roughness using artificial sensors have been challenging. The modeling methods and parameters that have been using to describe the mechanical properties of...
View ArticleControl of impulsive contact force between mobile manipulator and environment...
AbstractRecently, mobile manipulators are being widely employed for various service robots in human environments. Safety is the most important requirement for the operation of mobile robot in a...
View ArticleRobotic manipulators employing a bevel gravity compensator
AbstractThis paper presents robotic manipulators that employ the bevel gravity compensator. The bevel gravity compensator can counterbalance a 2-dof rotation comprised of two 1-dof gravity compensators...
View ArticleA 2-dof gravity compensator with bevel gears
AbstractThis paper presents a 2-dof gravity compensator used for roll-pitch rotations, which are often applied to the shoulder joint of a service or humanoid robot. The 2-dof gravity compensator is...
View ArticleA Framework for Unknown Environment Manipulator Motion Planning via Model...
AbstractIn this paper, we propose a novel framework for an unknown environment path planning of manipulator type robots. Unknown environment motion planning, by its nature, requires a sensor based...
View ArticleDesign and Analysis of Variable Yielding-Torque Spring Clutch (VSC) for the...
AbstractJoint stiffness control for safety is widely investigated and many devices are invented both active and passive control of joint stiffness. However, none of them are satisfied both larger...
View ArticleVibrotactile Cues for Motion Guidance
AbstractIn this paper, we have developed motion guiding device with utilizing Kinect of Microsoft Inc. for motion capturing sensor and phantom sensation which is famous tactile illusion effect...
View ArticleA safe robot arm with safe joints and gravity compensator
AbstractThis study presents a robot arm equipped with safe joints and multi DOFs gravity compensators. The safe joint, also referred to as “Spring-clutch”, is simple passive mechanism that consist of a...
View ArticleMine Detecting Robot System
AbstractHumanitarian demining, the peaceful and non-explosive de-mining strategies, has been gaining worldwide acceptance lately. As the series of humanitarian demining, tele-operated mine detecting...
View ArticleA novel method for estimating external force: Simulation study with a 4-DOF...
AbstractThis paper proposes an algorithm to estimate external force exerted on the end-effector of a robot manipulator using information from joint torque sensors (JTS). The algorithm is the...
View ArticleDevelopment and preclinical trials of a wire-driven end effector device for...
AbstractSeveral different flexible end effectors have been developed to solve the problem of approaching the lesion in a minimally invasive surgery. In this paper, we developed a wire-driven end...
View ArticleDevelopment and Preclinical Trials of a Surgical Robot System for Endoscopic...
AbstractIn endoscopic endonasal transsphenoidal surgery, for the treatment of deep brain tumors, such as craniopharyngiomas, an endoscope and surgical instruments are inserted through a nasal cavity...
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