The Experts below are selected from a list of 1110 Experts worldwide ranked by ideXlab platform
Hideharu Okano - One of the best experts on this subject based on the ideXlab platform.
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Placing Motion of an Object by a Robot Hand with a Flexible Sensor
Journal of robotics and mechatronics, 2012Co-Authors: Naoki Saito, Toshiyuki Satoh, Yoshinao Suzuki, Hideharu OkanoAbstract:We examine a placing motion of a grasped object by a robot hand equipped with a flexible sensor on the finger. The aim of this study is to realize a quick placing motion with a small Impulse Force between the object and the floor. To derive a dynamic model of the motion, we consider the deformation of the flexible sensor occurring when the hand grasps the object. The dynamic model represents the relation between the Impulse Force and an approaching trajectory of the robot hand to the floor. From this model, we can obtain the trajectory of the hand that ensures that the impact Force is less than the object’s mass. The validity of the model and the effect of the sensor’s flexibility are examined through simulation. We then confirm experimentally that the robot hand puts down the object without an excessive impact Force using the obtained trajectory.
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Placing Motion of an Object by a Robot Hand with a Flexible Sensor
Transactions of the Japan Society of Mechanical Engineers. C, 2007Co-Authors: Naoki Saito, Toshiyuki Satoh, Yoshinao Suzuki, Hideharu OkanoAbstract:We discuss a placing motion of a grasped object by a robot hand equipped with a flexible sensor on the finger. The aim of this study is to realize a quick placing motion with the Impulse Force between the object and the floor small. To derive a dynamic model of the motion, we consider the deformation of the flexible sensor occuring when the hand grasps the object. The dynamic model represents the relationship between the Impulse Force and an approaching trajectory of the robot hand to the floor. From this model, we can obtain the trajectory of the hand which ensures that the impact Force is less than the object's mass. The validity of the model and the effect of the sensor's flexibility are examined through simulation. We then experimentally confirm that the robot hand puts down the object without an excessive impact Force by using the obtained trajectory.
Bertrand David - One of the best experts on this subject based on the ideXlab platform.
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High-resolution modal analysis
Journal of Sound and Vibration, 2020Co-Authors: Xavier Boutillon, Bertrand DavidAbstract:International audienceUsual modal analysis techniques are based on the Fourier transform. Due to the Delta T .Delta f limitation, they perform poorly when the modal overlap mu exceeds 30%. A technique based on a high-resolution analysis algorithm and an order-detection method is presented here, with the aim of filling the gap between the low- and the high-frequency domains (30% < mu < 100%). A pseudo-Impulse Force is applied at points of interests of a structure and the response is measured at a given point. For each pair of measurements, the Impulse response of the structure is retrieved by deconvolving the pseudo-Impulse Force and filtering the response with the result. Following conditioning treatments, the reconstructed Impulse response is analysed in different frequency-bands. In each frequency-band, the number of modes is evaluated, the frequencies and damping factors are estimated, and the complex amplitudes are finally extracted. As examples of application, the separation of the twin modes of a square plate and the partial modal analyses of aluminium plates up to a modal overlap of 70% are presented. Results measured with this new method and those calculated with an improved Rayleigh method match closely
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High-resolution modal analysis
Journal of Sound and Vibration, 2009Co-Authors: Xavier Boutillon, Bertrand DavidAbstract:Usual modal analysis techniques are based on the Fourier transform. Due to the Delta T .Delta f limitation, they perform poorly when the modal overlap mu exceeds 30%. A technique based on a high-resolution analysis algorithm and an order-detection method is presented here, with the aim of filling the gap between the low- and the high-frequency domains (30% < mu < 100%). A pseudo-Impulse Force is applied at points of interests of a structure and the response is measured at a given point. For each pair of measurements, the Impulse response of the structure is retrieved by deconvolving the pseudo-Impulse Force and filtering the response with the result. Following conditioning treatments, the reconstructed Impulse response is analysed in different frequency-bands. In each frequency-band, the number of modes is evaluated, the frequencies and damping factors are estimated, and the complex amplitudes are finally extracted. As examples of application, the separation of the twin modes of a square plate and the partial modal analyses of aluminium plates up to a modal overlap of 70% are presented. Results measured with this new method and those calculated with an improved Rayleigh method match closely.
Hideo Fujimoto - One of the best experts on this subject based on the ideXlab platform.
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Impulse Force Generator Based on a Serial Chain of Torsion Springs for Catapulting an Object
Journal of the Robotics Society of Japan, 2011Co-Authors: Yasuhisa Ichikawa, Hiromi Mochiyama, Hideo FujimotoAbstract:In this paper, we propose an Impulse Force generator for catapulting an object. The proposed Impulse Force generator utilizes snap-through buckling of an elastic body. The distinguished feature of the device is to adopt a serial chain of torsion springs with both high elasticity and flexibility as its elastic body. The use of the serial chain of torsion springs enables us to increase the energy density of the elastic body. Experimental results show that the proposed compact and lightweight Impulse Force generator has high capability of catapulting an object. The generated maximum momentum is of 16[Ns] in spite that the maximum driving torque necessary for snap-through buckling is only of 21[Nm].
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IROS - Robotic jerboa: A compact bipedal kick-and-slide robot powered by unidirectional Impulse Force generators
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: Takashi Tsuda, Hiromi Mochiyama, Hideo FujimotoAbstract:In this video, we propose the robotic jerboa which is a compact bipedal kick-and-slide robot powered by unidirectional Impulse Force generators. The robotic jerboa moves fast not only running forward but also turning right and left by kicking and sliding on the ground repeatedly. The robotic jerboa kicks toward the direction which the horizontal component is large by its legs in order to jump forward effectively. The robotic jerboa is composed as its legs are protruded out of the side of its body respectively for realization of the quick turning. We show that the palm-top size robotic jerboa whose weight is of only 70[g] achieves the velocity of 1.5[m/s] and the turning angular velocity of 11.5[rad/s] instantaneously.
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IROS - A compact kick-and-bounce mobile robot powered by unidirectional Impulse Force generators
2009 IEEE RSJ International Conference on Intelligent Robots and Systems, 2009Co-Authors: Takashi Tsuda, Hiromi Mochiyama, Hideo FujimotoAbstract:In this paper, we propose a compact kick-and-bounce mobile robot powered by unidirectional Impulse Force generators. The unidirectional Impulse Force generator is a simple mechanical device for generating high-frequency Impulse Forces toward a certain direction unilaterally utilizing snap-through bucklings. The proposed kick-and-bounce robot has a pair of the unidirectional Impulse Force generators as the muscles of its biped legs. The robot moves forward rapidly by the repetition of the kicks and bounces to the ground. We show that the developed palm-top mobile robot whose weight is of only 67[g] achieves the velocity of 0.8[m/s] instantaneously.
Kazuo Tanie - One of the best experts on this subject based on the ideXlab platform.
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IROS - Reduced inertial effect in damping-based posture control of mobile manipulator
Proceedings 2001 IEEE RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millenni, 2001Co-Authors: Sungchul Kang, Kiyoshi Komoriya, Kazuhito Yokoi, Tetsuo Koutoku, Kazuo TanieAbstract:Deals with the reduced inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the Impulse Force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the Impulse Force at collision and to regulate the contact Force in mobile manipulation. The experimental results show that the reduced inertial effect of the mobile manipulator alleviates the impact Force at collision.
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ICRA - Utilization of inertial effect in damping-based posture control of mobile manipulator
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001Co-Authors: Sungchul Kang, Kiyoshi Komoriya, Kazuhito Yokoi, Tetsuo Koutoku, Kazuo TanieAbstract:Presents the utilization of inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. By changing the effective inertia property via null-motion, we can get the reduced inertial property of the mobile manipulator. The reduced effective inertia has a significant effect on reducing the Impulse Force in collision with the environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method which can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the Impulse Force at collision and to regulate the contact Force in mobile manipulation.
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Utilization of Inertial Effect in of Mobile Damping-based Posture Control Manipulator
2001Co-Authors: Sungchul Kang, Kiyoshi Komoriya, Kazuhito Yokoi, Tetsuo Koutoku, Kazuo TanieAbstract:This paper presents the utilization of inertial effect in damping-basedposture controlofa mobile manipulator: As a measure for redundancy resolution ofa mobile manipulator, an eJfective inertia at the endeffector in the operational space isproposedand investigated. By changing the effective inertia property via null-motion, we can get the reduced inertial property of the mobile manipulator. The reduced effective inertia has a significant effect on reducing the Impulse Force in collision with environment. Tofindaposturesatisfjing both the reduced inertia andjoint limit constraints, wepropose a combined potential function method which can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the Impulse Force at collision andto regulate the contactForce in mobile manipulation.
Xu Jin-xiang - One of the best experts on this subject based on the ideXlab platform.
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Study on 6-DOF Trajectory Simulation of Course Correction Projectiles
2007Co-Authors: Xu Jin-xiangAbstract:The makeup of course correction projectile weapon system and its working principle were studied,the models of Impulse Force and Impulse moment were established,the pursuit guidance laws used for course correction were analyzed and the method of establishing 6-DOF trajectory model of course correction projectile was presented.Typical course correction trajectory,orbit of laser detector optical axis and the influence of acting point of Impulse Force on miss distance were simulated by 6-DOF course correction trajectory simulation program.Simulation results indicate that direct Impulse Force nearby the mass center can achieve better effect on correcting final trajectory,the miss distance of velocity pursuit guidance law is smaller than that of body pursuit guidance law.
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Key Techniques of Terminal Correction Mortar Projectiles
2007Co-Authors: Xu Jin-xiangAbstract:The operational principle, the Impulse Force and terminal guidance laws of terminal correction mortar projectiles(TCMP) are researched in this paper, by using the TCMP simulation program, key techniques such as the miss distance influenced by the acting point of Impulse Force, the Impulse Force value, the correction threshold, and the number of Impulse rockets are researched in this paper. And the dual pulse control scheme is also studied. Simulation results indicate that the best acting point is near the center of gravity, sufficient correction resources are needed, the miss distance is insentive to the correction threshold, increasing the number of Impulse rockets properly is beneficial to increase the hit precision, the velocity pursuit guidance law has less miss distance, the change of the attack angle is milder and the transient time becomes less in the dual Impulse control scheme. These conclusions are important for choosing parameters and Impulse correction schemes designed for TCMP.
