Akira Torige

Path planning of wheel loader type robot for scooping and loading operation by genetic algorithm

There is a demand of mining automation by heavy equipment in an open mine. Authors aim to automization of motion for wheel loader in scooping and loading operation. In this paper, we applied the optimization method by Genetic Algorithm to the path planning for the wheel loader on scooping and loading operation. We showed the quasi-optimized path and demonstrated by the miniature wheel loader robot.

Centipede type multi-legged walking robot

The authors propose a centipede type multi-legged walking robot, which has ten legs or over. Since the centipede type walking robot has more legs than other type robots, a centipede type walking robot transports a heavier payload than an other type robot. The walking sequence of this robot is different from conventional multi-legged walking robot that has a half cycle difference between the front and rear neighbor legs. A lateral pair of legs makes a unit, and a unit follows the movement of the front neighbor unit with a quarter delay of the walking cycle. Thus, this robot walks with statically stable condition. This robot also differs from conventional walking robots that have a controller to control movement of whole robot legs. This centipede type walking robot has computers for each pair of legs. These computers control legs and communicate the front and rear neighbor computers. No computer of these computers controls the whole robot. All legs without the head pair of legs follow the movement of the front neighbor legs with quarter walking cycle delay, then the whole robot walks with static stability.

Centipede type walking robot (CWR-2)

Many researchers have investigated a variety of types of robots. In this study, we investigated the centipede type walking robot. The purpose of this study is realizing the transition from straight walking to bending walking and the reverse transition by using control of the width of the leg stroke only. In our experiment, the robot walked from a straight line to a curve, and following parts of the robot walked on the trajectory of the head unit.

Control of manipulator with gravity center position control on mobile vehicle

This paper describes the development of a mobile manipulator with the control of its gravity center position. We have presented the three degree-of-freedom manipulator with the control of its horizontal gravity center position by using one kinematics redundancy on two dimensional Cartesian coordinates (horizontal and vertical one). So, by adding mobility to this manipulator, we developed a mobile manipulator. It is the characteristic of this mobile manipulator that the control method only controls the gravity center position of the manipulator system, not the mobile system. Furthermore, we present the compensation method for the inertia force in the moving mobile system.

Development of a gravity center position controlled manipulator with using a redundant degree of freedom

Abstract In this paper, we proposed a manipulator system with control of the horizontal gravity center position to decrease the torque to tumble. To add a redundant degree of freedom with a manipulator, it changes its configuration continuously with the steady position of the hand and the horizontal position of gravity center moves continuously too. To Choose the configuration that the horizontal gravity center position of the manipulator is located on the base of the manipulator, the torque to tumble the manipulator is decrease to zero We made a prototype of this manipulator and certified the availability of this manipulator.

Hand Shape Discrimination in Touch Interface toward Personal Authentication on a Tablet Computer

Recently, e-assessment has become popular, and it is now technically possible for people to take exams at home. However, because the testing environment is dramatically different from the traditional one, new technologies are required to prevent cheating. Many studies have addressed testing environments where a keyboard and mouse are used as input devices, but few have focused on an environment using tablet computers, which are widespread nowadays. The aim of our study is to develop a method of detecting impersonation using touch gestures on a tablet computer. We verified that tap gestures performed by different people on a tablet computer can be distinguished by extracting some features from finger tapping images. An experiment using 30 subjects was conducted for verification.

ANALYZING AND EVALUATING ROBOT MOTION ALGORITHM FOR SWEEPING TASK

ABSTRACT Recently, sweeping robots, such as cleaning robots for home use, have been actively developed. Most of these robots generate their motion by reactive algorithm with easy sensors mounted. However, with these algorithms, the sweeping task would be done uneven to the sweepable areas. So there are still rooms for developing a more efficient algorithm. To develop an efficient algorithm, evaluation method is in need. However, the methodology to evaluate the efficiency of state informed algorithm has not yet established. Cleaning robots do not always clean the same environment, so the difficulty of this research is that consideration of various kinds of environments is in need. We developed sweeping robot simulator to analyze the existing sweeping algorithms, and reveal their inefficient features to improve the existing algorithms. The algorithms that commercial robot cleaners install were analyzed, and those efficiencies were estimated.

Analysis of Consumption of Energy on Biped Robot

Abstract Walking robots are suitable for moving on the floor with steps or stairs and the rough terrain. When a walking robot is designed, the ratio of each part of robot legs is decided like a creature or a human being. However, since the characteristics of actuators on creature and robot are different, the optimal design for the walking robots would be different from a creature or a human being. In this paper, a design method of a walking robot is proposed. With this method, the energy consumption is calculated on many varying parameters, length of each links, weight of each links, the height of the hip point and so on. Then a optimal moving pattern is exist with each case. In addition, the energy consumption on each actuator is obtained.