Summary of Research Project Results Under the JSPS FY2000
"Research for the future Program"



1.Research Institution The University of Tokyo
 
2.Research Area Physical and Engineering Science
 
3.Research Field Micro-mechatronics and Soft-mechanics
 
4.Term of Project FY1996〜FY2000
 
5.Project Number 96P00801
 
6.Title of Project Research on Micro and Soft-Mechanics Integration for Bio-mimetic Machines

7.Projetct Leader
Name Institution,Department Title of Position
Inoue, Hirochika Graduate School of Engineering Professor

8.Core Members

Names Institution,Department Title of Position
Shimoyama, Isao The University of Tokyo, Graduate School of Engineering Professor
Hirose, Shige Tokyo Institute of Technology, Graduate School of Science and Engineering Professor
Dohi, Takeyoshi The university of Tokyo, Graduate School of Engineering Professor

9.Cooperating Researchers

Names Institution,Department Title of Position
Shinoda, Hiroyuki The university of Tokyo, Graduate School of Engineering Assoc. Professor
Nakamura, Yoshihiko The university of Tokyo, Graduate School of Engineering Professor
Inaba, masayuki The university of Tokyo, Graduate School of Engineering Professor

10.Summary of Research Results

This project aims to explore novel techniques on micro-mechatronics and soft-mechanics, and by integrating those results with intelligent software, it also develops a soft and flexible humanoid as a safe and human friendly robot for the future society.
1) New tactile sensor by acoustic resonant cell, telemetric sensor skin, and MEMS based tactile sensor of deformable LC-circuit are developed. 2) Cybernetic shoulder system which resembles flexibility and complexity of human shoulder is proposed. As a frontier study for the artificial muscle of the future, gel-robots are created by using conductive polymer. The control of electric field inside the water enables the star fish gel robot to turn over. 3) Micro artificial air muscle and MEMS based micro air-valve are developed. Driving bone model of human hand with that micro servo system, precision robot hand of human size is developed. 4) Spine structure of animals and humans induces flexibility of body motions. The muti-linked spine structure is designed and controlled by tendon-driven servo mechanism to realize soft motions of mechatronic artifact. 5) By integrating soft sensors, soft actuation control, real-time stereo vision and intelligent control software, a humanoid robots H5, H6, H7 which can walk, handle objects, and communicate with are developed. 6) Low invasive surgery support system is also developed as the real application of micro and soft mechatronic technologies.

11.Key Words

(1)micro-mechatronics、(2)soft mechanics、(3)sensor distributed robot skin
(4)cybernetic shoulder、(5)mechatrnic artifact、(6)humanoid robot
(7)surgery support system

12.References

[Reference Articles]
Author Title of Article
H. Inoue Whither Robotics: Key Issues, Approaches and Applications
Journal Volume Year Pages Concerned
Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems   1996 9-14

Author Title of Article
N. Terada Tensor Cell Tactile Sensor Utilizing Multimode Acoustic Resonance
Journal Volume Year Pages Concerned
Trans. of the Society of Instrument and Control Engineers Vol.33,No.4 1997 234-240

Author Title of Article
H. Shinoda Tactile Sensing Based on Acoustic Resonance Tensor Cell
Journal Volume Year Pages Concerned
Int. Conf. on Solid-State Sensors and Actuators (Transducers'97)   1997 129-132

Author Title of Article
H. Shinoda Acoustic Resonant Tensor Cell for Tactile Sensing
Journal Volume Year Pages Concerned
Proc. of Int. Conf. on Robotics & Automation   1997 3087-3092

Author Title of Article
T. Noritsugu Pneumatic Actuator
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.15,No.3 1997 355-359

Author Title of Article
T. Noritsugu Development of Flexible Actuator with 3 D. O. F. using Rubber Balls
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.15,No.4 1997 557-564

Author Title of Article
T. Noritsugu Human-Friendly Soft Actuator
Journal Volume Year Pages Concerned
Int. J. of The Japan Society for Precision Eng. Vol.31,No.2 1997 92-96

Author Title of Article
M. Inaba A Full-Body Tactile Sensor Suit Using Electrically Conductive Fabric
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.16,No.1 1997 80-86

Author Title of Article
T. Oka BeNet : A Parallel Process Model for Describing Autonomous Robot Brain
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.15,No.6 1997 878-885

Author Title of Article
T. Oka Implementaion of Environments for Developing Robot Brains based on an Abstract Module Network Model
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.15,No.7 1997 1050-1059

Author Title of Article
S. Kagami Construction and Implementation of Software Platform in Remote-Brained Robot Approach
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.15,No.4 1997 550-556

Author Title of Article
M. Inaba Remote-Brained Ape-Like Robot to Study Full-Body Mobile Behaviors Based on Simulated Models and Real-Time Vision
Journal Volume Year Pages Concerned
Advanced Robotics Vol.11,No.6 1997 653-668

Author Title of Article
A. Konno Development of a Humanoid Robot Saika
Journal Volume Year Pages Concerned
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS97)   1997 805-810

Author Title of Article
E. Kobayashi \
Journal Volume Year Pages Concerned
BME Vol.11,No.8 1997 40-45

Author Title of Article
K. Masamune Development of a CT-guided Neurosurgical Manipulator for Photon Radiosurgery System
Journal Volume Year Pages Concerned
Computer Assisted Radiology and Surgery   1997 1035

Author Title of Article
M. Hakozaki Telemetric Skin
Journal Volume Year Pages Concerned
Technical Digest of the 16th Sensor Symp.   1998 223-226

Author Title of Article
N. Asamura Selectively Stimulating Skin Receptors for Tactile Display
Journal Volume Year Pages Concerned
IEEE Computer Graphics and Applications Vol.18,No.6 1998 32-37

Author Title of Article
T. Oka Description and Design of Motion Systems for Autonomous Robot based on a Real-Time Parallel Computational Model
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.16,No.3 1998 337-344

Author Title of Article
T. Oka Developing Real-time Robot Vision in a Programming Environment based on BeNEt, a Parallel Computational Model
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.16,No.3 1998 391-398

Author Title of Article
Y. Tamiya Realtime Balance Compensation for Dynamic Motion of Full-Body Humanoid Standing on One Leg
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.17,No.2 1998 268-274

Author Title of Article
M. Inaba Design and Implementation of a 35 D. O. F. Full-Body Humanoid that can Sit, Stand Up and Grasp an Object
Journal Volume Year Pages Concerned
Advanced Robotics Vol.12,No.1 1998 1-14

Author Title of Article
I. Mizuuchi Adaptive Pick-and-Place Behaviors in a Whole-Body Humanoid Robot with an Autonomous Layer Based on Parallel Sensor-Motor Modules
Journal Volume Year Pages Concerned
Robotics and Autonomous Systems Vol.28 1998 99-113

Author Title of Article
M. Hakozaki Telemetric Robot Skin
Journal Volume Year Pages Concerned
Proc. of the 1999 IEEE Int. Conf. on Robotics & Automation   1999 957-961

Author Title of Article
H. Shinoda Thermally Induced Ultrasonic Emission from Porous Silicon
Journal Volume Year Pages Concerned
nature Vol.400,No.6747 1999 853-855

Author Title of Article
M. Okada Shoulder Mechanism with Human-Like Motion
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.17,No.6 1999 782-785

Author Title of Article
M. Okada Development of the Cybernetic Shoulder-A Three DOF Mechanism that Imitates Biological Shoulder-Motion
Journal Volume Year Pages Concerned
IEEE/RSJ Int. Conf. on Intelligent Robots and System   1999 543-548

Author Title of Article
T. Noritsugu Soft Actuator
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.17,No.6 1999 795-798

Author Title of Article
S. Hirose Development of X-Screw : A Load-Sensitive Actuator Incorporating a Variable Transmission
Journal Volume Year Pages Concerned
Proc. of the 1999 IEEE Int. Conf. on Robotics & Automation   1999 193-199

Author Title of Article
M. Otake Development of Gel Robots made of Electro-Active Polymer PAMPS Gel
Journal Volume Year Pages Concerned
Proc. of the 1999 IEEE Int. Conf. on Systems Man and Cybernetics   1999 WA20-2

Author Title of Article
T. Nakakubo Three-dimensional Micro Self-assembly using Bridging Flocculation
Journal Volume Year Pages Concerned
Int. Conf. on Solid-state Sensors and Actuators   1999 1166-1169

Author Title of Article
A. Konno Development of an Anthropomorphic Multi-Finger Hand and Experiments on Grasping Unknown Objects by Groping
Journal Volume Year Pages Concerned
Transactions of the Japan Society of Mechanical Engineers (C) Vol.65,No.638 1999 4070-4075

Author Title of Article
T. Yoshiike Preliminary Experiments on Programing of a Humanoid's Motions by Human Demonstration
Journal Volume Year Pages Concerned
Transactions of the Japan Society of Mechanical Engineers (C) Vol.65,No.638 1999 4070-4075

Author Title of Article
K. Kayama Panoramic-Environmental Description as Robot Visual Short-Term Memory
Journal Volume Year Pages Concerned
Transactions of the Japan Society of Mechanical Engineers (C) Vol.65,No.632 1999 1524-1529

Author Title of Article
S. Kagami Real-Time 3D Flow Generation System
Journal Volume Year Pages Concerned
Proc. of Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI'99)   1999 237-242

Author Title of Article
K. Nishiwaki Generation of Reactive Stepping Motion for a Humanoid by Dynamically Stable Mixture of Pre-designed Motions
Journal Volume Year Pages Concerned
Proc. of 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics No.VI 1999 702-707

Author Title of Article
K. Masamune Development of Sterilizable Manipulator for Neurosurgery with Seperated Drive Mechanism
Journal Volume Year Pages Concerned
J. JSCAS Vol.1,No.1 1999 24-29

Author Title of Article
S. Tadokoro Development of a Micro Forceps Manipulator for Minimally Invasive Neurosurgery
Journal Volume Year Pages Concerned
Proc. Computer Assisted Radiology and Surgery '99   1999 700-705

Author Title of Article
H. Shinoda Tactile Sensing for Dexterous Hand
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.18,No.6 2000 767-771

Author Title of Article
H. Shinoda Instantaneous Evaluation of Friction Based on ARTC Tactile Sensor
Journal Volume Year Pages Concerned
Proc. of the IEEE Int. Conf. on Robotics & Automation   2000 2173-2178

Author Title of Article
H. Shinoda Wireless Tactile Sensing Element Using Stress-Sensitive Resonator
Journal Volume Year Pages Concerned
IEEE/ASME Transaction on Mechatronics Vol.5,No.3 2000 258-265

Author Title of Article
M. Okada Development of Cybernetic Shoulder - A Three DOF Mechanism That Imitates Human Shoulder-Motions -
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.18,No.5 2000 690-698

Author Title of Article
M. Okada Design of Active/Passive Hybrid Compliance in the Frequency Domain - Shaping Dynamic Compliance of Humanoid Sholder Mechanism
Journal Volume Year Pages Concerned
Int. Conf. on Robotics and Automation (ICAR'00)   2000 to appear

Author Title of Article
M. Okada Design of Programmable Passive Compliance (PPC) Mechanism using Closed Kinematic Chain - PPC Cybernetic Shoulder for Humanoid Robots -
Journal Volume Year Pages Concerned
Pre-Prints of the Proc. of Int. Symp. on Experimental Robotics (ISER2000)   2000 31-40

Author Title of Article
T. Noritsugu Development of Pneumatic Rotary Soft Actuator
Journal Volume Year Pages Concerned
Transactions of the Japan Society of Mechanical Engineers (C) 66巻647号 2000 2280-2285

Author Title of Article
T. Noritsugu Development of In-Pipe Mobile Robot using Pneumatic Soft-Actuator
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.18,No.6 2000 831-838

Author Title of Article
T. Noritsugu Soft Planar Actuator using Pneumatic-Rubber Balls
Journal Volume Year Pages Concerned
J. of Robotics and Mechatronics Vol.12,No.3 2000 254-260

Author Title of Article
T. Hagiwara Development of Dual Mode X-Screw a Novel Load-Sensitive Linear Actuator with a Wide Transmission Range
Journal Volume Year Pages Concerned
Transactions of the Japan Society of Mechanical Engineers (C) 66巻644号 2000 188-193

Author Title of Article
S. Hirose Development of X-screw : A load-Sensitive Actuator Incorporating a Variavle Transmission
Journal Volume Year Pages Concerned
Transactions of the Japan Society of Mechanical Engineers (C) 66巻646号 2000 1912-1918

Author Title of Article
H. Ohno Study on Slime Robot (Proposal of Slime Robot and Design of Slim Slime Robot)
Journal Volume Year Pages Concerned
Proc. of the 2000 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems   2000  

Author Title of Article
M. Otake Kinematics of Gel Robots made of Electro-Active Polymer PAMPS Gel
Journal Volume Year Pages Concerned
Proc. of the 2000 IEEE Int. Conf. on Robotics and Automation   2000 488-493

Author Title of Article
M. Otake Development of Electric Environment to Control Mollusk-Shaped Gel Robots made of Electro-Active Polymer PAMPS Gel
Journal Volume Year Pages Concerned
Proc. of SPIE, Electroactive Polymer Actuators and Devices (EAPAD) Vol.3987 2000 321-330

Author Title of Article
M. Otake Behavior of a Mollusk-Type Robot Made of Electro-Active Polymer Gel under Spatially Varying Electric Fields
Journal Volume Year Pages Concerned
In Intelligent Autonomous Systems 6   2000 686-691

Author Title of Article
PAUL, Y. K. LEE Vision of Pneumatic Rubber Artificial Muscle
Journal Volume Year Pages Concerned
J. of The Japan Hydraulics & Pneumatics Society Vol.31,No.1 2000 52-56

Author Title of Article
Y. K. Lee A Micro Rubber Artificial Muscle Driven by a Micro Compressor for Artificial Limbs
Journal Volume Year Pages Concerned
7th Int. Conf. on New Actuators   2000 to appear

Author Title of Article
N. Futai Micromachined Planar Coil Tactile Sensors Implantable in Soft Structure
Journal Volume Year Pages Concerned
the 2000 ASME Int. Mechanical Engineering Congress & Exposition (IMECE)   2000 51-56

Author Title of Article
Y. K. Lee A Micro Rubber Artificial Mmuscle Driven by a Micro Compressor for Artificial Limbs
Journal Volume Year Pages Concerned
7th Int. Conf. on New Actuators (ACTUATOR 2000) B3.2 2000 272-275

Author Title of Article
M. Inaba A Platform for Robotics Research Based on the Remote-Brained Robot Approach
Journal Volume Year Pages Concerned
the Int. J. of Robotics Research Vol.19,No.10 2000 933-954

Author Title of Article
S. Kagami A Fast Generation Method of a Dynamically Stable Humanoid Robot Trajectory with Enhanced ZMP Constraint
Journal Volume Year Pages Concerned
Proc. of IEEE Int. Conf. on Humanoid Robotics (Humanoid2000)   2000  

Author Title of Article
K. Nishiwaki Design and Development of Research Platform for Perception- Action Integration in Humanoid Robot : H6
Journal Volume Year Pages Concerned
Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'00) Vol.3 2000 1559-1564

Author Title of Article
S. Kagami Design, Implementation, and Remote Operation of the Humanoid H6
Journal Volume Year Pages Concerned
Proc. of 7th Int. Symp. on Exprimental Robotics   2000 41-50

Author Title of Article
J. J. Kuffner Dynamically-stable Motion Planning for Humanoid Robots
Journal Volume Year Pages Concerned
Proc. of IEEE Int. Conf. on Humanoid Robotics (Humanoid2000)   2000  

Author Title of Article
J. J. Kuffner Graphical Simulation and High-Level Control of Humanoid Robots
Journal Volume Year Pages Concerned
Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'00) Vol.3 2000 1943-1948

Author Title of Article
S. Kagami AutoBalancer : An Online Dynamic Balance Compensation Scheme for Humanoid Robots
Journal Volume Year Pages Concerned
Proc. of 4th Int. Workshop on Algorithmic Foundations on Robotics (WAFR'00)   2000 SA-79--SA-89

Author Title of Article
S. Kagami Design and Implementation of Onbody Real-time Depthmap Generation System
Journal Volume Year Pages Concerned
Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA'00)   2000 1441-1446

Author Title of Article
S. Kagami Follow and Avoid a Walking Human Being using Real-time 3D Depth Flow Generation
Journal Volume Year Pages Concerned
Intelligent Autonomous Systems 6E   2000 257-264

Author Title of Article
K. Okada Onbody Realtime Disparity Image and Flow Generation System based on Highspeed Correspondance Matching using PC
Journal Volume Year Pages Concerned
J. of the Robotics Society of Japan Vol.18,No.6 2000 896-901

Author Title of Article
S. Nakajima Development of a 3-D Display System for Surgical Navigation the transactions of the institute of electronics
Journal Volume Year Pages Concerned
Information and Communication Engineers Vol.J83-D-II,No.1 2000 387-395

Author Title of Article
S. Nakajima High-speed 3-D Rending Method for a Stereoscopic Display by Integral Photography
Journal Volume Year Pages Concerned
J. of the Institute of Image Information and Television Engineers Vol.54,No.3 2000 420-425

Author Title of Article
S. Nakajima Surgical Navigation System with Intuitive Three-Dimensional Display
Journal Volume Year Pages Concerned
3rd Int. Conf. Proc. Medical Image Computing and Computer-Assisted Intervention(MICCAI 2000)   2000 404-411

Author Title of Article
K. Harada Development of a micro manipulator for minimally invasive neurosurgery
Journal Volume Year Pages Concerned
Computer Assisted Radiology and Surgery2000   2000 116-120

Author Title of Article
R. Nakamura Developoment of foreceps manipulator system for laparoscopic surgery
Journal Volume Year Pages Concerned
Computer Assisted Radiology and Surgery2000   2000 105-110

Author Title of Article
S. Nakajima Real 3-D display system for use in medical applications
Journal Volume Year Pages Concerned
Computer Assisted Radiology and Surgery2000   2000 613-618

Author Title of Article
K. Nishiwaki Online Mixture and Connection of Basic Motions for humanoid Walking Control by Footprint Specification
Journal Volume Year Pages Concerned
Proc of the 2001 IEEE Int. Conf. of Robotics & Automation   2001 to appear

Author Title of Article
S. Kagami Design and Implementation of Software Research Platform for Humanoid Robotics : H6
Journal Volume Year Pages Concerned
Proc. of Int. Conf. on Robotics and Automation (ICRA'01)   2001 to appear

Author Title of Article
K. Okada Walking Human Avoidance and Detection from A Mobile Robot using 3D Depth Flow
Journal Volume Year Pages Concerned
Proc. of Int. Conf. on Robotics and Automation (ICRA'01)   2001 to appear

Author Title of Article
K. Okada Plane Segment Finder : AlgorithmImplementation and Applications
Journal Volume Year Pages Concerned
Proc. of Int. Conf. on Robotics and Automation (ICRA'01)   2001 to appear

Author Title of Article
J. J. Kuffner Motion Planning for Humanoid Robots Under Obstacle and Dynamic Balance Constraints
Journal Volume Year Pages Concerned
Proc. of Int. Conf. on Robotics and Automation (ICRA'01)   2001 to appear


back