| 1.Research Institution | Science University of Tokyo | |
| 2.Research Area | Physical and Engineering Sciences | |
| 3.Research Field | Micro-mechatronics and Soft-mechanics | |
| 4.Term of Project | FY1996〜FY2000 | |
| 5.Project Number | 96P00803 | |
| 6.Title of Project | Study on Soft-mechanics and Function Creation in Morpho-functional Machines |
| Name | Institution,Department | Title of Position |
| Fumio Hara | Science University of Tokyo, Department of Engineering | Professor |
8.Core Members
| Names | Institution,Department | Title of Position |
| Yuji Nakasone | Science University of Tokyo, Department of Engineering | Professor |
| Yukinori Kakazu | Hokkaido University, Department of Engineering | Professor |
| Hiroshi Yokoi | Hokkaido University, Department of engineering | Assoc. Professor |
9.Cooperating Researchers
| Names | Institution,Department | Title of Position |
| H.Kobayashi | Science University of Tokyo, Department of Engineering | Assoc. Professor |
| R.Pfeifer | University of Zurich | Professor |
| M.Wada | Hokkaido University, Department of Engineering | Professor |
10.Summary of Research Results
|
Integrating the research results obtained by the subgroup organized in the Science University of Tokyo in the course of 5 years activities, one task group has been organized for developing the design principles of morpo-functional machines. The international workshop on morpho-functional machines was held from 5th to 7th March, 2001 and the outcome of the workshop will be published as a technical book from Springer Verlag (Tokyo) in October, 2001 1) 3D FEM analysis of large deformation in facial expressions was done successfully. By integrating elastic/visco-elastic model of facial muscles with ABAQUAS software to analyze a large deformation of human face skin, we have succeeded in generating 6 typical facial expressions on CG face, i.e., anger, surprise, fear, disgust, sad and happy faces. The wrinkle model has been developed and proved by experiments. 2) The face robot of almost same size as that human face has been developed by using 19 small SMA actuators and a DC motor. The face robot can produce realistic facial expressions of anger, surprise, fear, disgust, sad and happy. Their Kansei quality was evaluated and was found enough high for application. Real-time automatic recognition of facial expressions was developed. The group of touch-sensors fixed on a single soft finger robotic system showed a good possibility to recognize the shape and softness of the objects. 3) The characteristics of intelligence acquired by STL learning algorithm clarified the importance of morphology of robotic body, sensor and actuator allocation by simulation and experiment for the 2-mibile robotic system carrying a long bar along a wavy road, multi-robotic system expanding communication network and a linear cluster robotic systems recognizing objects and performing the task of enclosing objects of different shapes. 4) SMA net-type robotic systems, a star-fish like robotic system have been developed and the intelligence of the robots to locomote on a flat plate has been successfully acquired by Q-learning algorithm. Furthermore a linear cluster robotic system consisting of 5 cylindrical modules implemented with solar cell sensors has been developed and its intelligence is acquired by Q-learning process. Then, mercury drops driven electromagnetic field controlled by outer demand were easily control their locomotion on the magnetic field plate. 5) The measure to evaluate the softness of morphology and function in morpho-functional machines has been developed and its usefulness is demonstrated by using the robotic systems developed. Finally we have qualitatively formulated the design principles of morpho-functional machines from the view point of ecological balance of morphology, materials and control. |
11.Key Words
(1)Soft-mechanics、(2)Amoeba-like robots、(3)Cluster robots
(4)Face robot、(5)Super redundant DOF、(6)Soft actuator
(7)Soft materials、(8)morphology、(9)Learning
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| International Workshop on Morpho-functional Machines | 2000 | 194-221 | ||
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| Journal of JSME | 65 | 1999 | 208-215 | |
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| Daisuke Iijima | Autonomous Acquisition of Environmental Oriented Behavior for a Distributed Autonomous Swimming Robot | |||
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| Proceedings of SICE'99 | 1999 | 953-958 | ||
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| Daisuke Iijima | An Acquisition of a Narrow Path Going Through Behavior for a Distributed Autonomous Swimming Robot | |||
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| Proceedings of 1999 IEEE International Conference of Systems, Man and Cybernetics | 1999 | 602-607 | ||
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| Daisuke Iijima | Adaptive Behavior Acquisition for a Distributed Autonomous Swimming Robot Based on Real-World Learning | |||
| Journal | Volume | Year | Pages Concerned | |
| Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems | 1999 | 229-234 | ||
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| Daisuke Iijima | Adaptive Behavior Learning for a Distributed Autonomous Swimming Robot in an Environment Including a Narrow Gate | |||
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| Intelligent Engineering Systems through Artificial neural Networks | 9 | 1999 | 1135-1140 | |
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| Koji Nishikawa | Multi-agent Control System for the Symmetric Body Robot | |||
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| 3rd European Workshop on Advanced Mobile Robots | 28 | 1999 | 25-32 | |
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| Daisuke Nishikawa | On-line Learning Method for EMG Prosthetic hand Controlling | |||
| Journal | Volume | Year | Pages Concerned | |
| Journal of IEICE | 82-D | 1999 | 1510-1519 | |
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| Daisuke Iijima | Distributed Robotic Learning : Adaptive Behavior Acquisition for Distributed Autonomous Swimming Robot in Real-World | |||
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| Machine Learning Proceedings of the 13th International Conference | 12 | 1999 | 191-199 | |
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| Hiroshi Yokoi | Morpho-Functional Machine : Robotics Approach of Amoeba Model based on Vibrating Potential Method | |||
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| From animals to animats | 5 | 1998 | 297-302 | |
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| Hiroshi Yokoi | A Morpho-Functional Machine : An Artificial Amoeba Based on the VPM | |||
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| Proceedings of the Sixth International Conference on Artificial Life | VI | 1998 | 477-482 | |
| Author | Title of Article | |||
| Hiroshi Yokoi | Morpho-Functional Machine : Amoeba Like Robot based on Vibrating potential Method | |||
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| Intelligent Autonomous Systems | 5 | 1998 | 542-549 | |
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| journal of Robotics and Mechatronics | 10 | 1998 | 413-417 | |
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| 1998 Japan-USA Symposium on Flexible Automation | 1998 | 577-583 | ||
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| Intelligent Autonomous System | 5 | 1998 | 550-555 | |
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| Intelligent Engineering Systems Through Artificial Networks | 8 | 1998 | 543-548 | |
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| Wenwei Yu | Adaptive Electromyographic (EMG) Prosthetic Hand Control Using Reinforcement Learning | |||
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| Intelligent Autonomous Systems | 5 | 1998 | 266-271 | |
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| Jun Hakura | A Metamorphic Internal Image with the Complex Learning System | |||
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| Second International Conference on Knowledge-based Intelligent Electronic Systems | 1998 | |||
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| Yukinori Kakazu | Multiagent Systems and Their Applications | |||
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| Towards Developing Flexible Manufacturing System in Steel Industry | 1997 | 31-41 | ||
| Author | Title of Article | |||
| Hiroshi Yokoi | A Study on Force Feed-back Device Using 6 D.O.F Cartesian Robot (Adaptive control method for human spatial movement) | |||
| Journal | Volume | Year | Pages Concerned | |
| Transactions of the Japan Society of Mechanical Engineers | 63 | 1997 | 204-210 | |
| Author | Title of Article | |||
| Jun Hakura | A Study on Perceptual Mechanism of Autonomous Mobile Robots : Integration of Physical Properties of Robot into Perception | |||
| Journal | Volume | Year | Pages Concerned | |
| Intelligent Engineering Systems through Artificial Neural Networks | 7 | 1997 | 509-514 | |
| Author | Title of Article | |||
| Wenwei Yu | Electromyographic (EMG) Pattern Recognition by Reinforcement Learning Method for Prosthetic Arm Control | |||
| Journal | Volume | Year | Pages Concerned | |
| Intelligent Engineering Systems through Artificial Neural Networks | 7 | 1997 | 503-508 | |
| Author | Title of Article | |||
| Wenwei Yu | A Study on State Grouping an Opportunity Evaluation for Reinforcement Learning Methods | |||
| Journal | Volume | Year | Pages Concerned | |
| Trans. IEE of Japan | 117-C | 1997 | 1300-1307 | |
| Author | Title of Article | |||
| Koji Nishikawa | A Study on Reactive System Using Reconstructed Unit of Environmental Information | |||
| Journal | Volume | Year | Pages Concerned | |
| Intelligent Engineering Systems through Artificial Neural Networks | 7 | 1997 | 239-244 | |
| Author | Title of Article | |||
| Koji Yamada | Adaptive Distributed System on the Vibrating Potential Field : An approach to the combinatorial optimization problem | |||
| Journal | Volume | Year | Pages Concerned | |
| Trans. IEE of Japan | 177-C | 1997 | 843-849 | |
| Author | Title of Book | ||
| F.Hara | Science of KANSEI | ||
| Publisher | Year | Pages | |
| Science Pub. Company | 1997 | pp.132-136 | |