Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.mechatronics.2022.102822

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-022-00226-8

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier {BV}  

DOI： 10.1016/j.mechatronics.2022.102737

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Publishing type：Research paper (scientific journal)  

DOI： 10.1109/LRA.2022.3146611

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers ({IEEE})  

DOI： 10.1109/LRA.2022.3153700

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DOI： 10.20965/jrm.2022.p0266

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DOI： 10.1080/00405000.2021.1957275

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.sna.2021.113243

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Tendon-driven mechanism enables to realize a long-reach robot arm to inspect in industrial plants. However, a large elastic elongation of tendons due to gravitational joint torque makes joint control unstable. In this paper, we proposed a planning method to search for a path that includes only stable postures. The stability of the joint angle was formulated using the balance between tendon elasticity and gravitational torque. As a planning algorithm, Rapidly exploring Random Tree was used. The effectiveness of the proposal was demonstrated by manipulation of 5 kg payload by 10-m-long robotic arm.

DOI： 10.1299/jsmermd.2022.2p2-r01

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media Deutschland GmbH  

DOI： 10.1186/s40648-021-00194-5

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier B.V.  

DOI： 10.1016/j.sna.2021.112816

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2021.3091384

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2021.3094489

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/RoboSoft51838.2021.9479222

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Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-021-00198-1

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Publishing type：Research paper (scientific journal)  

DOI： 10.1080/00405000.2020.1742274

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper describes an investigation of the position accuracy of a long-reach coupled tendon-driven robot arm. An operational test of the arm was conducted in a full-scale field. Tip positions estimated using joint angles were compared with the tip position measured by the laser scanner. As a result, the tip position error in the yaw bending posture was larger than that in the horizontal posture. The reason is that the torsional deformation was caused by gravity. In the future, we will conduct calibration of joint sensors and modeling of deformation error caused by gravity.

DOI： 10.1299/jsmermd.2021.2a1-o03

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2021/0/2021_2A1-O03/_pdf

Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media Deutschland GmbH  

DOI： 10.1186/s40648-020-00165-2

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media Deutschland GmbH  

DOI： 10.1186/s40648-020-00184-z

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/IROS45743.2020.9341062

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2020.2985622

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2020.2983668

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2020.2974448

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Mary Ann Liebert Inc.  

DOI： 10.1089/soro.2019.0022

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/SII46433.2020.9026266

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/SII46433.2020.9026282

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/SII46433.2020.9026006

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/SII46433.2020.9025832

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/SII46433.2020.9026261

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2020.3004775

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/MHS48134.2019.9249289

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/IROS40897.2019.8968074

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2019.2907433

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/ROBOSOFT.2019.8722802

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/SII.2019.8700419

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2019.2894855

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2019.2895398

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Mary Ann Liebert Inc.  

DOI： 10.1089/soro.2018.0076

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2019.2893429

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

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Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-019-0133-2

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2018.2851025

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Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers ({IEEE})  

DOI： 10.1109/LRA.2018.2851033

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/ROBOSOFT.2018.8404907

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2018.2800129

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2018.2803204

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Other Link： http://orcid.org/0000-0002-3036-6447

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/transjsme.18-00083

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DOI： 10.1080/01691864.2018.1464946

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DOI： 10.1080/01691864.2018.1463868

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DOI： 10.1109/ROBOSOFT.2018.8405387

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Other Link： http://orcid.org/0000-0002-3036-6447

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/SII.2017.8279206

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2017.2734244

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DOI： 10.3390/app8071096

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer International Publishing  

DOI： 10.1186/s40648-017-0076-4

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As a part of our research on several different types of Giacometti robots, a 20-m-long, considerably light, and simple robot arm, referred to as the Giacometti arm, is developed in this study. Even though the Giacometti arm is not suitable for precise positioning, rapid motion, and high load capacity, which are the aspects most conventional robots focus on, it is designed for extremely specific purposes such as the inspection of otherwise unreachable regions using a small camera at the arm’s tip. In addition, it is designed to be essentially safe even if it falls down or hits an object. This aspect is realized using helium-filled balloon bodies and thin pneumatic muscles. We designed, developed, and tested a prototype of a 7-m-long Giacometti arm in a previous study [3]. In this study, we designed another type of Giacometti arm. This arm is 20-m-long, weighs 940 g, and has 20 degrees of freedom. To realize this long arm, we created a kinematic model of the 20-m-long Giacometti arm, factoring in the air resistance. We verified the model using the arm, and its utility was confirmed at a mock-up facility.

DOI： 10.1109/IROS.2017.8206097

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/AIM.2017.8014146

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DOI： 10.1109/AIM.2017.8014195

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DOI： 10.1109/AIM.2017.8014143

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Publishing type：Research paper (scientific journal)   Publisher：Elsevier {BV}  

DOI： 10.1016/j.sna.2017.04.047

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2017.2655111

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/SII.2016.7844067

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Language：Japanese   Publisher：The Robotics Society of Japan  

For a quadruped robot, the crawl gait is commonly used on rough terrain environment where a pre-motion planing is required. However its walking speed is slower than other walking gaits and make it difficult to develop a practical legged robot. Among the various types of gaits, we consider that the trot gait is safety gait which can prevent complete falling by hitting its swinging leg on the ground. Therefore in this paper we propose a position specified sway compensation trajectory based on 3D sway compensation trajectory which can control footsteps and end position of the center of gravity to walk over rough terrain environment. The validity of the proposed algorithm is confirmed by using physics simulator V-REP with model of experimental quadruped robot TITAN-XIII. As a result, the robot model succeeded to walk over simple step, and random step and proved the feasibility of the proposed gait on a difficult terrain.

DOI： 10.7210/jrsj.35.621

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Disaster responding robots mainly uses electromagnetic motors and reducers, but they are weak to shock and spoil robots' toughness. Hydraulic actuators, on the other hand, have not only shock-resistance, but also high F/M ratio and backdrivability. They are useful characters to disaster responding robots. But hydraulic actuators were often used to constructing machines or plant facilities, they are too big, heavy, and high friction to apply them to robots. In this paper, we developed a new hydraulic cylinder for tough robots and conducted evaluation tests. The cylinders realize lightweight by utilizing Multi-Directional Forging magnesium alloy, hi power by setting its driving pressure 35 MPa, and high controllability by applying two types of low frictional pistons: one is utilizing a fluid bearing technology and the other is common combination packing. The cylinder achieved about 4.4 times high F/M ratio to conventional cylinders. And in evaluation tests, they performed minimum driving pressure 0.01 MPa, which is 1/30 smaller friction than conventional cylinders.</p>

DOI： 10.1299/jsmermd.2017.2A2-B02

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>A soft pneumatic actuator has big and heavy gas control system. To solve this problem, we have suggested a new portable gas control system, which is based on the electrolysis/synthesis of water. Previously, we have developed its several soft actuator, for example, the balloon actuator, the flexible actuator. However, we have never been applied this principle to the McKibben artificial muscle. Because the conventional method disturbs the flexible motion of the actuator. In this paper, we suggested a new method to apply this principle to the McKibben artificial muscle. This means that we successfully developed the portable McKibben artificial muscle.</p>

DOI： 10.1299/jsmermd.2017.2A1-B03

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Disaster responding robots mainly uses electromagnetic motors and reducers, but they are weak to shock and spoil robots' toughness. Hydraulic actuators, on the other hand, have not only shock-resistance, but also high F/M ratio and backdrivability. They are useful characters to disaster responding robots. But hydraulic actuators were often used to constructing machines or plant facilities, they were too big, heavy, and high friction to apply them to robots. In this paper, we use a lightweight, low friction, high power hydraulic cylinder for tough robots to actuate a robotic leg. The cylinders realize lightweight by utilizing Multi-Directional Forging magnesium alloy, high controllability by applying low frictional pistons, and hi power by setting its driving pressure 35 MPa. Using the cylinder, the robotic leg can lift up 65 kg weight and jump about 300 mm.</p>

DOI： 10.1299/jsmermd.2017.2A1-P12

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Hydraulic artificial muscles are so flexible and light in weight for robots and generate very high force by oil hydraulic pressure. In addition, these muscles can be placed and twisted freely. In this paper, we propose 3 DoF wrist mechanism that is compact, frexible and light in weight by hydraulic artifical muscles.</p>

DOI： 10.1299/jsmermd.2017.2A2-B01

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>There are a lot of studies of step climbing for a mobile robot. However, almost all studies do not discuss the relation between the ability of step-climbing and the angle of entering step. We proposed a differential passive suspension mechanism for a mobile robot with two independent drive wheel and evaluated the ability of step-climbing with slantwise entering angle. In this paper, we improve and evaluate the mechanism with the numerical simulator and by the experimental model. As a result of the experiment, it was confirmed that the mechanism improved the ability of step-climbing with under 30 deg entering angle.</p>

DOI： 10.1299/jsmermd.2017.1P2-D12

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Displacement amplified electromagnetic actuators are developed for efficient use of the electromagnetic attractive force by applying displacement amplification mechanisms. Although these actuators are expected to realize faster drive than actuators directly using the electromagnetic attractive force without displacement amplification, both theoretical and experimental verifications have not been conducted yet in detail. This paper introduces an experimental verification of the effect of amplification ratio to the actuation time. A measurement system for the experimental verification was developed. The results of the experiment showed that application of displace amplification to the electromagnetic attractive force reduces the actuation time under the adequate conditions.</p>

DOI： 10.1299/jsmermd.2017.2A2-A03

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

<p>This research presents Giacometti gait mechanism for the Giacometti robot. Motivated by the Giacometti structure, which is thin and long, the robot has leg design that is non-stiff and deformable which makes it difficult to walk with conventional walking gait. Using the proposed gait, walking experiment was conducted with various input pressure and gait frequency and could achieve stable walking at 0.05m/s.</p>

DOI： 10.1299/jsmermd.2017.1A1-B07

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer International Publishing  

DOI： 10.1186/s40648-016-0053-3

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE Computer Society  

DOI： 10.1109/ARSO.2016.7736280

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

DOI： 10.1080/01691864.2016.1142896

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Publishing type：Research paper (scientific journal)   Publisher：Wiley  

DOI： 10.1002/rob.21589

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DOI： 10.20965/jrm.2016.p0559

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Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-016-0047-1

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DOI： 10.1080/01691864.2016.1155483

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DOI： 10.1080/01691864.2015.1102649

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Remotely operated mobile robots are demanded in many disaster fields, such as Nuclear/Biological/Chemical(NBC) terrorist attacks, earthquake and tsunami, and even in minefields, to assure safety for the human workers. It is a common choice to use commercial game controllers with joysticks and buttons to control such robots, but many complex manipulation tasks require much higher operability only achieved by Master-Slave systems. In this research, we propose a new bilateral remote controller called "Armrest Joystick" which has Master-Slave function and also presents high operability characteristics. It consists of : (i) a 3DOF position arm mechanism which is attached to a foldable portable chair, and the foremost link part acts as an armrest to support the operators arm; (ii) a 3DOF wrist posture mechanism whose rotation centers were carefully designed to match the human hand; (iii) a gripper mechanism which has good follow-up performance for fingers. Furthermore, all 7 joints (axes) are equipped with electrical motors and are actuated to give the operator Force Feedback. In this paper, we report the basic concept and explain in detail the mechanism design of the Armrest Joystick, and then show the experiments to check basic performance, specially about the armrest, and which we conducted using an actual rescue robot as "slave". The results verify the validity of the mechanical design, and show that the Armrest Joystick can be more intuitively used than the former commercial game controllers.

DOI： 10.1299/transjsme.15-00562

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In places such as nuclear power plant disaster area, which it is difficult for human workers to enter, robots are required to scout those places instead of human workers. In this paper, we present a mobile manipulator HELIOS X for a nuclear plant decommissioning task. Firstly, we address demands and specifications for the robot, considering the mission of reconnaissance. Then we outline the system of the robot, mainly focusing on the following mechanism:"Crank Wheel", " Main Arm "," Sphere Link Wrist "," Camera Arm "," Control System "and" System architecture ". Especially, we installed 3 degree of freedom" Camera Arm "on the" Main Arm ", in order to improve functionality of remote control system. This enables the operator to monitor both the gripper and its overall view of the robot." Camera Arm " helps the operator to recognize the distance from an object to the gripper, because the operator can interactively move the viewpoint of the camera, and monitor from another camera angle without changing the gripper's position. We confirmed the basic functionality of mobile base," Main Arm "and" Camera Arm "through hardware experiments. We also demonstrated that HELIOS X could pass through the pull-to-open door with a substantial closing force when the operator watched camera view only.

DOI： 10.1299/transjsme.15-00494

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Language：Japanese   Publisher：Japan Society for Design Engineering  

<p>In this paper, we discuss the development of sprawling-type quadruped robot named "TITAN-XIII". We developed an experimental quadruped robot especially designed for dynamic walking. Unlike dog-like robots, the developed robot looks like a four-legged spider. As a dynamic walking experiment robot, we designed it focusing on the three basic concepts: lightweight, wide range of motion and ease of maintenance. To achieve these goals, we introduce a wire-driven mechanism using a synthetic fiber rope to transmit power to each axis making use of this wire-driven mechanism, we can locate the motors at the base of the leg, reducing its inertia. Additionally, each part of the robot is unitized, and can be easily disassembled. The developed robot was tested and it was confirmed that the robot can perform dynamic walking at 1.38 m/s with cost of transport 1.76.</p>

DOI： 10.14953/jjsde.2016.2690

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer International Publishing  

DOI： 10.1186/s40648-015-0031-1

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

DOI： 10.1186/s40648-014-0026-3

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Other Link： http://link.springer.com/article/10.1186/s40648-014-0026-3/fulltext.html

Language：English   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

DOI： 10.1080/01691864.2015.1012555

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DOI： 10.1080/01691864.2015.1081103

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

Home Oxygen Therapy (HOT) patients always need to take the conveyance cart to carry oxygen equipment when they go out. However the equipment is heavy enough to discourage the patients from their going out. Therefore we try to develop a mobile robotic cart in order to support HOT patient's going out. by applying Force control and Inverted pendulum control. In this paper, we describe the control principle of the robotic cart by several simulations using Open Dynamics Engine (ODE), and we also show the effectiveness of our proposed control method.

DOI： 10.1299/jsmeicam.2015.6.272

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

Home Oxygen Therapy (HOT) patients need portable oxygen equipment when they go out. However, the currently-used oxygen equipment is heavy enough to discourage HOT patients from their going out. Therefore we try to develop the power assist robotic cart which supports HOT patients' going out. In this paper we describe escort type cart development which moves next to the users. We propose new operation interface device which has high reliability and capability of easy-understandable operation, and then we verify its validity by dynamical simulation applying Open Dynamics Engine.

DOI： 10.1299/jsmeicam.2015.6.35

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.15032/jsrcr.25.3_367

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/ICRA.2014.6907283

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DOI： 10.1080/01691864.2014.920722

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DOI： 10.5402/2013/317396

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Language：Japanese   Publisher：The Robotics Society of Japan  

This paper proposes an 1-DOF gliding locomotion robot named "Gyotaro-IIIa" as an educational robot. Gliding locomotion is one of propulsion method, which utilizes the difference of friction between the normal direction and tangential direction. Since this propulsion has interesting features in both physical aspect and engineering aspect, we think that gliding locomotion robot can be a good stimulus of student's curiosity for engineering. We developed a prototype of gliding locomotion robot with one RC servo motor, radio controller and receiver. Finally we used it in a robot lecture which aimed to bridge a classroom lecture and a hands-on experience in order to promote science education.

DOI： 10.7210/jrsj.31.124

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Other Link： https://jlc.jst.go.jp/DN/JALC/10017210859?from=CiNii

Language：Japanese   Publisher：The Robotics Society of Japan  

This paper introduces the outline of a creativity education course "machine creation" that has been conducted at the Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, for 21 years. The course is designed to provide students with extensive opportunities to work with real objects to bridge classroom lectures and hands-on experiences. The students work as a team within a time limitation under budget to create a "street performance robot" which can entertain audience. We assume that students can efficiently learn about a process of product development through this course from planning of the robot to the final presentation of the robot. To evaluate this assumption, we carried out questionnaire survey for the current students and alumni who are currently working as engineers in the real world. The results suggest that this course can provide a valuable experience for students and many alumni agree with our educational methodology.

DOI： 10.7210/jrsj.31.198

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Other Link： https://jlc.jst.go.jp/DN/JALC/10017210958?from=CiNii

Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2013.812176

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Publishing type：Research paper (scientific journal)  

DOI： 10.1299/kikaic.79.4940

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Publishing type：Research paper (scientific journal)  

DOI： 10.1007/978-3-319-00398-6_29

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/IROS.2013.6696824

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ARSO.2013.6705502

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Other Link： https://dblp.uni-trier.de/db/conf/arso/arso2013.html#AllanEIFITO13

Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publisher：The Robotics Society of Japan  

Home oxygen therapy (HOT) is a medical treatment for patients suffering from severe lung diseases. Although a walk in an outdoor environment is recommended for the patients to keep physical strength, patients always have to carry a portable oxygen supplier which is not sufficiently light weight for the patients. Our ultimate goal is to develop a mobile robot carrying an oxygen tank and follows a foregoing patient in an urban outdoor environment. We have proposed a mobile robot with a tether interface to detect the relative position of the foregoing patient. In this paper, we improve mobile platform mechanisms and active wheels to maximize the negotiating step height, and to allocate sufficient luggage area in the main body carrying an actual oxygen tank. The following control algorithm is also improved and demonstrate its effectiveness in an outdoor following experiment.

DOI： 10.7210/jrsj.30.779

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1163/156855312X633066

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Language：Japanese  

DOI： 10.9746/sicetr.47.640

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

DOI： 10.20965/jrm.2011.p0768

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/IROS.2011.6094633

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Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2011.html#TaniEFHIT11

Language：Japanese   Publisher：The Robotics Society of Japan  

We propose a new weight compensation mechanism with a non-circular pulley and a spring. We show the basic principle and numerical design method to derive the shape of the non-circular pulley. After demonstration of the weight compensation for an inverted/ordinary pendulum system, we extend the same mechanism to a parallel four-bar linkage system, analyzing the required torques with transposed Jacobian matrices. Finally, we develop a 3 D.O.F manipulator with relatively small output actuators and verify that the weight compensation mechanism greatly contributes to decrease static torques to keep the same posture within manipulator's work space.

DOI： 10.7210/jrsj.28.77

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/ROBOT.2010.5509797

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Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SI.2009.5384552

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/MRA.2009.932524

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Language：Japanese   Publisher：The Robotics Society of Japan  

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joint when Roller-Walker walks on rough terrain. This paper describes adaptation of characteristics of the propulsion by a leg trajectory in the case of wheeled locomotion. Firstly, we define a leg trajectory to produce forward straight propulsion and discuss the relationships between the parameters of the leg trajectory and the characteristics of the propulsion. Secondly, we demonstrate that Roller-Walker could ac...

DOI： 10.7210/jrsj.26.691

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Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TRO.2008.915457

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publisher：The Robotics Society of Japan  

We have proposed a new leg-wheel hybrid mobile robot named&quot;Roller-Walker&quot;. Roller-Walker is a vehicle with a special foot mechanism, which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by roller-skating using the passive wheels. The characteristics of Roller-Walker are: 1) it has a hybrid function but is light-weight, 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-...

DOI： 10.7210/jrsj.18.1159

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Language：Japanese   Publisher：The Robotics Society of Japan  

A snake is able to attain high terrain adaptability and versatile locomotion even though it has an extremely simple onedimensional configuration. In order to utilize these functions for robotics, we have adapted the basic biological machine elements of the snake into the Active Cord Mechanism (ACM) . And we have discussed about the creeping dynamics and applications to manipulation. In this paper, we developed a new experimental model named&quot;ACM-R1&quot;with a selfcontained system, which realizes higher mobility and terrain adaptability compared with a past model. Next, gliding experiments on ice...

DOI： 10.7210/jrsj.18.419

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Language：Japanese   Publisher：The Robotics Society of Japan  

We have proposed a new leg-wheel hybrid mobile robot named "Roller-Walker". Roller-Walker is a vehicle with a special foot mechanism on each leg which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by roller-skating using the passive wheels. The characteristics of Roller-Walker are: 1) it has a hybrid function but is lightweight, 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-walking is fully investigated in the future. In this paper, the 2 leg trajectory for straight roller-walking is optimized in order to achieve the maximum constant velocity. Also a changeable ankle mechanism was integrated into the Roller-Walker system. Experiments were performed to demonstrate the validity of the concept of Roller-Walker and the results of straight roller-walk experiments are compared with those derived through simulation.

DOI： 10.7210/jrsj.18.270

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Other Link： https://jlc.jst.go.jp/DN/JALC/00064997629?from=CiNii

Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2000.p0559

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The necessary performances for exploration are not only the traversability on rough terrain, but also the ability for getting through narrow space and climbing over large objects. In this point of view, the active wheeled snake-like robot is to be effective. However, prior types have some disadvantages in stairs or doorknobs because of its shortage of trunk length and small of wheels. In this paper, we developed new snake-like robot "ACM-R8 ", which possess large and special wheels and long trunk to cover disadvantages in stairs and doorknobs, yet its height and width are smaller than other types of exploration robots. We confirmed its high traversability on stairs and high steps by motion experiment. Especially, the step height was 600mm, which is twice as high as the height of the ACM-R8.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Typically, instead of high energy efficiency, wheel mechanism is inferior to crawler or walking mechanism in point of step climbability. In this research, we focused on a new wheel mechanism named "Swing-Grouser Wheel". At first, we confirmed its performance on climbing higher step than its wheel radius by the experiment with practical model. Furthermore, we experimented the performance of the energy efficiency and the step climbability in low friction environment with 2D physics simulation which allow to make such environment easily. As a result of this simulation, we confirmed that the Swing-Grouser Wheel was able to climb up the higher step than wheel radius, even in the environment whose friction coefficient is too small for rimless wheel to climb up. In addition, the energy efficiency of Swing-Grouser Wheel measured in physics simulation is also higher than rimless wheel.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper we discuss the dynamic walking algorithm for fast walking. In order to conduct smooth and fast walking, an acceleration and a deceleration are necessary. As a basic locomotion we use Longitudinal Acceleration Intermittent Trot gait which we presented before. An acceleration and a deceleration are performed while 4 legs support phase, this makes a robot be able to change the speed with fewer constraints. Additionally the swing leg trajectory which achieves 0 relative speed to the ground when the foot touch is implemented. In the end, the walking experiment was performed with proposed walking algorithm by using the TITAN-XIII. As a result the robot walked at 1.36 m/s.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Home Oxygen Therapy (HOT) patients need portable oxygen equipment at the time of going out. However, the currently-used oxygen equipment is enough heavy to discourage HOT patients from their going out. Therefore we try to develop the power assist robotic cart which supports HOT patients' going out. Especially we try to develop the side-moving type cart which moves next to the users. We propose new operation interface device which has high reliability and capability of easy-understandable operation, and then we verify its validity by dynamical simulation applying Open Dynamics Engine. In this paper, we report the result and show the effectiveness of our proposed interface device.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Home Oxygen Therapy (HOT) patients need portable oxygen equipment at the time of going out. However, the currently-used oxygen equipment is heavy enough to discourage HOT patients from their going out. Therefore we try to develop the power assist robotic cart which supports HOT patients' going out. Especially we try to develop the carry-cart type mobile robot which can assist HOT patients and be controlled by same operation of currently-used cart. In this paper, we describe our proposed carry-cart type mobile robot and then show its effectiveness.

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Language：Japanese  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Home Oxygen Therapy (HOT) patients need to carry the portable oxygen cylinder when they go out. However the portable oxygen cylinder seem to be heavy for carrying. I propose to a robotic cart for carrying oxygen cylinder to support HOT patients. Propose robotic cart applies compliance control to operate the cart itself easily by using handle shape interface which is usually attached to the popular carry cart, and then the robotic cart becomes to be able to follow the patients by carrying their portable oxygen cylinders. In this paper we describe the robotic cart operation.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper we describe a motion control of the mobile robot to support Home Oxygen Therapy patients' going out. We propose a guidance type mobile robot which moves ahead of the user. Force sensors are adopted to sense the input force from users, and the sensed signals are used for control the robot's motion. 2 D.O.F. control system is adopted for the robot's controller to adjust the operational response between the user and robot. Then the effectiveness of the control system is verified by some experiments with a prototype robot and HOT patients.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In artificial forest, thinning is essential for maintaining the forest normal. Usually, human power or winch are used in the case of carrying short distance. However, it involves danger and a lot of efforts to carry thinnings by those means. Add to that, those means limit the distance to be able to carry the thinnings. Sometimes, tractor is also used, but it is dangerous to drive rough terrain on it because there is a possibility to overturn. Therefore, we propose Non-boarding operation and hyper-tether. Non-boarding operation avoid the danger of vehicle tumbling accident previously and hyper tether enables to intuitive operation. This robot consists of several units which has two wheels and both wheels are able to drive and steer individually, so this system is all wheel drive and all wheel steer in the total.

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Language：Japanese   Publisher：メディカ出版  

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Other Link： http://search.jamas.or.jp/link/ui/2013322690

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Home Oxygen Therapy (HOT) patients always need to be supplied high concentration oxygen, and they also need to carry portable oxygen cylinders when they go out. However the oxygen cylinders seem to be heavy. So we propose and develop new type of robotic cart for carrying oxygen cylinder to support HOT patients. Our proposed robotic cart applies guide and lead style to carry oxygen cylinder by using the handle of two tight and left type interfaces which has 2 force sensors to generate the robot's moving direction and velocity. In this paper we describe the concept and principle of robotic cart operation, and then we show the effectiveness of our proposed feedback control system of force-velocity impedance control.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A combined electrical motor and Continuously Variable Transmission (CVT) drive system has a wide range of speed-torque characteristic, so that changing the motor's operating speed and CVT's speed ratio according to the load, it is possible to increase the overall efficiency of such a drive system. In this paper we modeled the drive system and performed experiments to derive a method for optimum operation of the drive system.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Home oxygen therapy (HOT) is a medical treatment for patients suffering from severe lung diseases. Our ultimate goal is to develop a mobile robot to carry an oxygen tank, which is essential for patients, and follow a patient in an urban outdoor environment. We have proposed a mobile robot with a tether interface to detect the relative position of the foregoing patient. In this paper, we report the questionnaire-based evaluation about the two developed prototypes by the HOT patients. The main results are as follow: The basic following performance is sufficient and the pulling force of the tether is sufficiently small for the patients; The patients prefer the small-sized prototype for compactness and light weight compared with the middle-sized prototype which can carry larger payload; The driving system which we have improved according to the evaluation result satisfies the user needs.

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

In this paper, two new concepts are suggested: Non-Tumbling (NT) Gait, and the extension of the concept of Directional Normalized Energy Stability Margin, an approach to estimation of the relationship between direction of the destabilizing force (e.g. strong sidewind, or any other kind of impact) influencing the robot, and stability margin. The proposition of NT Gait is, in turn, based upon the notion of DNESM.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have developed a quadruped walking robot TITAN XII equipped with active ankle to go over large obstacles. Although it has high terrain adaptability, it is not able to move quickly. In this paper, we consider to attach active wheel to the tip of the leg of TITAN XII to achieve high mobility and energy efficiency on not only horizontal ground but also uneven terrain. As the first step, we confirm that TITAN XII can generate basic wheeled locomotion on the horizontal ground by experiments.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

For the decommissioning of the Fukushima Daiichi nuclear power plant, we need robot arms which have long and slender shape, wide motion range, and radiation-tolerant system. However, existing robot arms are not capable of satisfying those requirements. In particular, the extremely large torque generated by the arm weight is the most difficult problem in the development of such long and slender arms. Therefore, in order to satisfy those requirements, we propose a new robot arm named "3D CT-Arm". The 3D CT-Arm uses a "coupled tendon drive", in which the all joints are driven by motors located on the base through wires and pulleys, and the all motors support the torque on the base joint. Thus, the 3D CT-Arm can maintain its posture even when it extends the arm horizontally. In this paper, we introduce the concept of 3D CT-Arm and show the design and test of a prototype.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Home Oxygen Therapy (HOT) patients who are suffering from Chronic Obstructive Pulmonary Disease always need to be supplied high concentration oxygen, and they also need to carry portable oxygen cylinders. However the oxygen cylinders seem to be heavy for carrying. So we propose and develop new type of robotic cart for carrying oxygen cylinder to support HOT patients. Our proposed robotic cart applies compliance control to operate the cart itself easily by using handle shape interface which is usually attached to the popular carry cart, and then the robotic cart becomes to be able to follow the patients by carrying their portable oxygen cylinders. In this paper we describe the principle of robotic cart operation, hardware development, controller design, and their effectiveness.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Home Oxygen Therapy (HOT) patients always need to be supplied high concentration oxygen, and they also need to carry portable oxygen cylinders when they go out. However the oxygen cylinders seem to be heavy, so we propose and develop new type of robotic cart for carrying oxygen cylinder to support HOT patients. Our proposed robotic cart applies side-by-side running and following style to carry oxygen cylinder by using handle shape interface which has 4 force sensors to generate the robot's moving direction and velocity. In this paper we describe the concept and principle of robotic cart operation.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

HOT patients always need to carry portable oxygen cylinder when they go out. However the oxygen cylinder and its transport cart is heavy enough to become a burden for HOT patients. In this paper, we propose a new type of the oxygen cylinder conveyance robotic cart for HOT patients. Firstly, we describe the problems of Hyper-Tether type robotic cart, and then, we propose a new input device in order to solve the problem.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into a sole mode by rotating the ankle roll joint when Roller-Walker walks on rough terrain. This paper proposes a velocity increase method by the vertical leg movement in order to adjust weight distribution of the leg in accordance with a proper phase of the cyclic horizontal leg movement. We carried out hardware experiments and confirmed slight velocity increase.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper we propose a new type of power assist cart for Home Oxygen Therapy patients. To achieve the purpose, we adopted the inverted pendulum control technology to operate the cart, and also adopted the differential gear for actuation unit to enable passive turning control. And then we investigated the cart's effectiveness and proved its availability.

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

In this paper a new approach to estimation of stability of mobile robots, such as multi-legged robots, is suggested. New methodology is based on an assumption that value of stability depends on the direction of input disturbance velocity, which, in turn, represents kinetic energy destabilizing the system.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Home oxygen therapy (HOT) is a medical treatment for patients suffering from severe lung diseases. Although walking outdoors is recommended for patients to maintain physical strength, patients always have to carry a portable oxygen supplier which is not sufficiently light weight for this purpose. Our ultimate goal is to develop a mobile robot to carry an oxygen tank and follow a patient in an urban outdoor environment. We have proposed a mobile robot with a tether interface to detect the relative position of the foregoing patient. In this paper, we improve mobile platform mechanisms with considering the usability. The leader following control algorithm is also improved and its effectiveness is demonstrated in an outdoor and indoor experiment.

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

Unmanned underwater vehicles (UUV) usually utilize several thruster to avoid non-holonomicity and generally neglect rolling moment along the longitudinal axis. A new UUV design is proposed that implements two counter rotating screw propellers that make active use of the resulting motor counter moment for locomotion. Inputs from the operator are controlled using data from an inertial measurement unit (IMU) integrated through a simple PID-controller. Experiments were carried out in a plexiglass pool. First results are promising and confirm the applicability of using the motor counter moment for locomotion.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we propose a practical robotic follower adopting "Hyper-Tether" concept for detecting a foregoing person to support daily life for a patient with Home Oxygen Therapy. And to achieve the purpose, we developed a prototype robotic follower and verified its effectiveness by an evaluation test which is implemented to certain number of persons. And last, we tried to improve the performance of the controller of its own.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper proposes a new design for a low-profile and cost-effective in-wheel motor with large diameter. We install electric motor(s) inside the wheel parallel to the raidal direction of the wheel, and utilize a single stage axis changing mechanical compornent such as a crown gear, a bevel gear, a friction wheel, a ladder chain and a sprocket and so on. The proposed design reduces total number of mechanical parts and it can be water-proof and dust-proof very easily.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We report about the development of a practical robotic follower adopting "Hyper-Tether" concept for detecting a foregoing person to support daily life of Home Oxygen Therapy patients. Especially, in this paper, we show a new type robotic follower for outdoor use.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into a sole mode by rotating the ankle roll joint when Roller-Walker walks on rough terrain. This paper reports propulsion experiments on ice using a specially manufactured skate edge. We verified that Roller-Walker could propel on ice at 0.5 m/s.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we propose a practical robotic follower adopting "Hyper-Tether" concept for detecting a foregoing person to support daily life for a patient with Home Oxygen Therapy. And to achieve such purpose, we developed a prototype of the robotic follower and verified its effectiveness by an evaluation test which is implemented to certain number of persons being tested.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joint when Roller-Walker walks on rough terrain. This paper discuss energy efficiency of locomotion in wheeled mode. We define a leg trajectory to produce forward straight propulsion and optimize the parameters of the leg trajectory using numerical simulator where optimization criteria is set to specific resistance. Then we carried out hardware experiments and empirically derived the experimental specific resistance. We show that the wheeled locomotion has 8 times higher energy efficiency than an ordinary crawl gait.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tips of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joint when Roller-Walker walks on a rough terrain. This paper describes omni-directional skating motion with ankle yaw rotation mechanism which permits the robot to independently determine the tangential direction of the passive wheel regardless of the position of the leg. We propose a new algorithm which achieves desired velocity in arbitrary direction and the method was evaluated by both numerical simulation and hardware experiments.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We propose a robot FOR a pet, not for an owner. Our ultimate goal is to develop a robot that contributes to create and maintain better relation between the pet and the owner while keeping good pet's health condition. In this paper, we propose the robot for the pet and discuss current situation of pet industry. We investigate literatures in the context of animal robot interaction and we discuss a possibility to create a new home robot market. Finally, we show an initial example of ongoing interaction experiment using a tele-operated robot with the dog.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We propose a practical robotic follower to support daily life. The robot carries a burden and follows a person with a certain distance like a porter. Our ultimate goal is to develop and commercialize a practical robotic tool as a consumer product which can be used in outdoor environment. In this paper, we focus on the "Hyper-Tether" concept for robust sensing for the foregoing person and discuss its application to carry an oxygen tank for a patient with home oxygen therapy.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We propose a new weight compensation mechanism with a non-circular pulley and a spring. We show the basic principle and numerical design method to derive the shape of the non-circular pulley. After demonstration of the weight compensation for an inverted/ordinary pendulum system, we extend the same mechanism to a parallel link manipulator, analyzing the required torques with Jacobian matrices. Finally, we carry out hardware experiments.

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Language：Japanese   Publisher：一般社団法人日本機械学会  

歩行機械の脚先に受動車輪を取り付けた脚・車輪型ハイブリッド移動体ローラーウォーカーの旋回・超信地旋回動作について考察する。速度を評価基準としてシミュレーションを行い, 脚軌道パラメータの最適化を行う。また本体速度・位置・姿勢を計測する実験システムを構築し, その結果をシミュレーション値と比較する。

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Language：Japanese  

歩行機械の脚先に受動車輪を取り付けた脚・車輪型ハイブリッド移動体ローラーウォーカーの旋回・超信地旋回動作について考察する。速度を評価基準としてシミュレーションを行い, 脚軌道パラメータの最適化を行う。また本体速度・位置・姿勢を計測する実験システムを構築し, その結果をシミュレーション値と比較する。

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Language：Japanese  

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into a sole mode by rotating the ankle roll joint when Roller-Walker walks on rough terrain. This paper reports propulsion experiments on ice using a specially manufactured skate edge. We verified that Roller-Walker could propel on ice at 0.5 m/s.

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Language：Japanese  

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joint when Roller-Walker walks on rough terrain. This paper discuss energy efficiency of locomotion in wheeled mode. We define a leg trajectory to produce forward straight propulsion and optimize the parameters of the leg trajectory using numerical simulator where optimization criteria is set to specific resistance. Then we carried out hardware experiments and empirically derived the experimental specific resistanc...

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Language：Japanese  

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tips of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joint when Roller-Walker walks on a rough terrain. This paper describes omni-directional skating motion with ankle yaw rotation mechanism which permits the robot to independently determine the tangential direction of the passive wheel regardless of the position of the leg. We propose a new algorithm which achieves desired velocity in arbitrary direction and the method was evaluated by both numerical simulation and...

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