Kosei Kitagaki

RT-middleware: distributed component middleware for RT (robot technology)

In this paper, we propose RT-middleware for robot system integration. RT means robot technology, which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-middleware which is proposed in this paper is a software platform for RT systems. We have studied modularization of RT elements and have developed RT-middleware, which promotes application of RT in various fields. Robotic system development methodology and our RT-middleware concepts are discussed. The RT-component, which is a basic software unit of RT-middleware based system integration, is derived from this discussion. A methodology of system development by using RT-components, and a framework for component development are proposed. Evaluations of some RT-component based systems are performed. Finally, conclusions and future work is described.

RT-Component Object Model in RT-Middleware—Distributed Component Middleware for RT (Robot Technology)

This paper proposes RT-component object model in RT-middleware for robot system integration. RT means robot technology, which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-middleware is a software infrastructure for RT systems. We have studied modularization of RT elements at software level. For that reason, RT-middleware, which promotes application of RT in various field, have been developed. Robotic system development methodology and our RT-middleware concepts was discussed. RT-component, which is a basic software unit of RT-middleware based system integration, is derived from that discussion. Next, the object model and the interface definition of RT-component architecture was discussed. Finally conclusion and future work are described

Composite component framework for RT-middleware (robot technology middleware)

We have studied a framework of RT-component which promotes application of robot technology (RT) in various field. In this paper, we discussed robotic system development methodology and our RT-middleware concepts. The system development methodology using RT-component, and new framework to make composite component for RT-component is shown. An evaluation of composite component framework, which realizes low level and real-time composition of independent RT-components, is derived. Finally, conclusion and future are described

Task skill transfer method using a bilateral teleoperation

In this paper, we propose a task skill transfer method using a bilateral teleoperation. We assume that a task skill for a complicated motion is described by the suitable trajectory of the impedance center. Thus, a important point is how to get the suitable trajectory of the impedance center. In our method, the suitable trajectory is got from results of bilateral teleoperation. In the bilateral teleoperation, an operator constructs a motion procedure able to execute the task. The suitable trajectory of the impedance center is calculated from the position and the force data in the teleoperation experiment. A basic element of the task skill is composed of an initial condition, a task skill motion and a final condition. The initial and final conditions are described by values of both sensor and tip position. The task skill motion is described by a hybrid impedance/force control. To demonstrate how to use of our method, we choose the nut attachment task as an example

Visualization and simulation of sensory events as a representation of states for state-based teaching by demonstration in VR

Teaching by demonstration is a method to generate a robot program that makes a robot do the same task as the task that a human operator demonstrates. We have developed a teaching by demonstration in VR system (TbDinVR) which automatically generates a robot program to work in the real world after a task is demonstrated by an operator in the virtual world. In this paper, we have explained necessary and sufficient condition for states in a task description, advantages of using state-based TbDinVR system, and a simulator for determining parameters of skill primitives by using sensor simulation in VR and a random search technique in detail. We have shown an experimental result and visualization of that result.

Task skill transfer of nut attachment task

This paper describes how to construct a task skill of nut attachment. An operator constructs a teleoperation procedure able to execute this task using a bilateral teleoperation system. A motion process of the nut attachment task skill is defined from the teleoperation procedure. Each motion of the task skill is composed of an initial condition, a task skill motion and a final condition. The initial and final conditions are described by values of both sensor and tip position. The task skill motion is described by a hybrid control composed of impedance and force controls. The necessary parameters of the task skill can be obtained from the result of teleoperation experiment. Our experiment which is executed by several sizes of the nut shows the effectiveness and robustness of the nut attachment task skill

A Practical Redundancy Resolution for 7 DOF Redundant Manipulators with Joint Limits

This paper proposes a practical redundancy resolution for 7 DOF redundant manipulators with joint limits. The primary concern of the paper is how to resolve the redundancy in the global configuration space when the movable joint angles are considerably restricted. First, a parameterized inverse kinematic solution for a 7 DOF manipulator model is derived. Second, how the joint limits affect the inverse kinematic solution is examined to explicitly identify the feasible solution under the joint limits. Then, an analytical redundancy resolution method for avoiding the joint limits is developed. Finally, kinematic simulations show that the method is effective for avoiding the joint limits as well as expanding the reachable region of the manipulators tip.

Task skill transfer of circle handle valve manipulation

This paper describes how to write a task skill program of circle handle valve manipulation. It is difficult to program a complicated motion with a knack. Thus, in a previous paper, we proposed a task skill transfer method using a bilateral teleoperation to be able to program the knack easily. The task skill is composed of an initial condition, a task skill motion and a final condition. The initial and final conditions are described by the force and the position of the end-effector. The task skill motion is implemented by the hybrid impedance/force control. This hybrid impedance/force control is effective to a positional error. In this paper, we show that it is able to program the complicated motion with the knack (the hole search motion) easily.

Task skill transfer of 3-prong plug manipulation

This paper describes how to write a task skill program for a 3-prong plug manipulation. One of important features in this paper is that it is easy to program a hole search motion and so on. In a previous paper, we proposed a task skill transfer method using a bilateral teleoperation. The task skill is composed of an initial condition, a task skill motion and a final condition. The initial and final conditions are described by the force and the position of the end-effector. The task skill motion is implemented by the hybrid impedance/force control. This hybrid impedance/force control is effective to a positional error. A motion process of the task skill is defined from the teleoperation procedure. The necessary parameters of the task skill are obtained from the results of teleoperation experiment. Thus, the task skill is generated from the teaching data and the teaching intention (motion strategy). In this paper, our task skill transfer method is applied to the 3-prong plug manipulation. Some experiments shows an efficiency of the 3-prong plug manipulation task skill

On friction picking up a piece of fabric from layers

This paper investigates picking up a piece of fabric that is a limp material with softness and flexibility. Fabric is characterized by its non-linear properties and intricate factors of deformation. A robot hand for fabric is developed and tried to pick up a piece of fabric from layers experimentally. Relationships between its successful behavior and fabric properties are considered.