I Cutting Edge Robotics 2010 Cutting Edge Robotics 2010 Edited by Vedran Kordic In-Tech intechweb.org Published by In-Teh In-Teh Olajnica 19/2, 32000 Vukovar, Croatia Abstracting and non-prot use of the material is permitted with credit to the source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained inside. After this work has been published by the In-Teh, authors have the right to republish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. © 2010 In-teh www.intechweb.org Additional copies can be obtained from: publication@intechweb.org First published September 2010 Printed in India Technical Editor: Zeljko Debeljuh Cover designed by Dino Smrekar Cutting Edge Robotics 2010, Edited by Vedran Kordic p. cm. ISBN 978-953-307-062-9 V Preface Robotics research, especially mobile robotics is a young eld. Its roots include many engineering and scientic disciplines from mechanical, electrical and electronics engineering to computer, cognitive and social sciences. Each of this parent elds is exciting in its own way and has its share in different books. This book is a result of inspirations and contributions from many researchers worldwide. It presents a collection of a wide range of research results in robotics scientic community. Various aspects of current research in robotics area are explored and discussed. We have tried to investigate the most important research areas of a really wide scope of robotic science. We hope you will enjoy reading the book as much as we have enjoyed bringing it together for you. The book presents efforts by a number of people. We would like to thank all the researchers and especially the chapter authors who entrusted us with their best work and it is their work that enabled us to collect the material for this book. Of course, great acknowledgments go to the people who invested their time to review all manuscripts and choose only the best ones. VII Contents Preface V 1. MotionControlofRobotsBasedonSensingsofHumanForcesandMovements 001 TaoLiu,ChunguangLi,KyokoShibataandYoshioInoue 2. ReactiveRobotControlwithHybridOperational TechniquesinaSeaportContainerTerminalConsideringtheReliability 019 SatoshiHoshinoandJunOta 3. Robustnonlinearcontrolofa7DOFmodel-scale helicopterunderwindgustsusingdisturbanceobservers 031 AdnanMartini,FrangoisLeonardandGabrielAbba 4. Pursuit-EvasionGamesinPresenceofObstaclesin UnknownEnvironments:towardsanoptimalpursuitstrategy 047 C.Giovannangeli,M.HeymannandE.Rivlin 5. MotionPlanningbyIntegrationofMultiplePoliciesforComplexAssemblyTasks 081 NatsukiYamanobe,HiromitsuFujii,TamioAraiandRyuichiUeda 6. RoboticStrategiestoAssistPilotsinLanding andTakeoffofHelicoptersonShipsandOffshore 099 AlexandreCampos,JacquelineQuintero,RoqueSaltarén,ManuelFerreandRafaelAracil 7. OptimalityPrinciplesandMotionPlanningofHuman-LikeReachingMovements 115 MikhailM.Svinin,IgorA.Goncharenko,ShigeyukiHosoeandYoshihitoOsada 8. AnExperimentalStudyofThree-Dimensional PassiveDynamicWalkingwithFlatFeetandAnkleSprings 131 TerumasaNarukawa,KazutoYokoyama,MasakiTakahashiandKazuoYoshida 9. ActiveKnee-releaseMechanismforPassive-dynamicWalkingMachines 145 KalinTrifonovandShujiHashimoto 10. SimpliedHumanHandModelsforManipulationTasks 155 SalvadorCobos,ManuelFerre,RafaelAracil,JavierOrtegoandM.ÁngelSanchéz-Urán VIII 11. AnImpactMotionGenerationSupportSoftware 175 TeppeiTsujita,AtsushiKonno,YukiNomura, ShunsukeKomizunai,YasarAyazandMasaruUchiyama 12. Peltier-BasedFreeze-ThawConnectorforWaterborneSelf-AssemblySystems 187 ShuheiMiyashita,FlurinCasanova,MaxLungarellaandRolfPfeifer 13. AdhesionForcesReductionbyOscillationandItsApplicationtoMicroManipulation 199 TetsuyouWatanabeandZhongWeiJiang 14. PassivitybasedcontrolofhydrauliclineararmsusingnaturalCasimirfunctions 215 SatoruSakai 15. TheFormationStabilityofaMulti-RoboticFormationControlSystem 227 Chih-FuChangandLi-chenFu 16. EstimationofUser’sRequestforAttentiveDeskworkSupportSystem 243 YusukeTamura,MasaoSugi,TamioAraiandJunOta 17. AdaptiveSwarmFormationControlforHybridGroundandAerialAssets 263 LauraBarnes,RichardGarcia,MaryAnneFieldsandKimonValavanis 18. IntelligentRobotSystemsbasedonPDA forHomeAutomationSystemsinUbiquitous 279 In-KyuSa,HoSeokAhn,YunSeokAhn,Seon-KyuSaandJinYoungChoi 19. OnboardMissionManagementfora VTOLUAVUsingSequenceandSupervisoryControl 301 FlorianAdolfandFranzAndert 20. EmotionRecognitionthroughPhysiological SignalsforHuman-MachineCommunication 317 ChoubeilaMAAOUIandAlainPRUSKI 21. RobotAssistedSmileRecovery 333 DushyanthaJayatilake,AnnaGruebler,andKenjiSuzuki 22. AugmentingSparseLaserScanswithVirtualScans toImprovethePerformanceofAlignmentAlgorithms 351 RolfLakaemper 23. Sensornetworkforstructuringpeopleandenvironmentalinformation 367 S.Nishio,N.Hagita,T.Miyashita,T.Kanda,N.Mitsunaga,M.ShiomiandT.Yamazaki 24. Minimallyinvasiveforcesensingfortendon-drivenrobots 379 AlbertoCavallo,GiuseppeDeMaria,CiroNataleandSalvatorePirozzi 25. TweezersTypeToolManipulationbya MultingeredHandUsingaHigh-speedVisualServoing 395 SatoruMizusawa,AkioNamiki,TakuSenooandMasatoshiIshikawa IX 26. Vision-BasedHapticFeedbackwithPhysically-BasedModelforTelemanipulation 411 JungsikKimandJungKim 27. ImageStabilizationforIn VivoMicroscopicImaging 429 SungonLee [...]... tele-rehabilitation system for the treatment and assessment of the elbow deformity of stroke patients, Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, Vol 28, 7/2005, pp 149–151 18 Cutting Edge Robotics 2010 Reinkensmeyer, D.J.; Dewald, J.P.A & Rymer, W.Z (1999) Guidance-based quantification of arm impairment following brain injury: a pilot study, IEEE Transactions on Rehabilitation... motor shaft, the input torque provided for the master motor should be no less than the summation of T2 and 2T0 If the input torque is less than this summation, the operator can feel the 4 Cutting Edge Robotics 2010 difficulty and increase input force accordingly This means that the system is capable of realizing force sensing without a force sensor Thus, both the hardware and software design can be... being advantageous to reduce the weight as well as the volume of the system By combining (1) and (4), the relationship of the input electric power and output torque can be re-expressed as 6 Cutting Edge Robotics 2010 Tin Tout 2 NT0 (5) The difference between the input and output torques is magnified N times, thus a larger input torque is required for driving the same load But this does not impact... unhealthy With this master-slave control system, a patient’s impaired limb can be exercised in different modes by coordinating the two limbs The different training modes are explained as follows: 8 Cutting Edge Robotics 2010 1) Passive mode: one motor is operated by the healthy limb and deemed as the master motor to drive the other motor which is connected with the impaired limb and deemed as the slave motor... detected with the torque transducers The CLP1104 collected the speed and possition information though the incremental encoder interface, and worked out the control quantity of the PWM siganl 10 Cutting Edge Robotics 2010 with the motion control strategy, then though the PWM generation module in the slave DSP of the CLP1104 to offer PWM signal for the H-bridge driver, enabling the driver to supply the compensatary... the speeds of the motors (a) A representative results of the input torque, the output torque and the difference between the input and output torques (b) Speed tracking curves of the motors 12 Cutting Edge Robotics 2010 (c) Position tracking curves of the motors (d) The relation curve of resistance loss, compensated energy and electromagnetic power Fig 6 The results of the force sensing test 4.2 Active-assistance... Forces and Movements 13 (a) A representative results of the input torque, the output torque and the difference between the input and output torques (b) Speed tracking curves of the motors 14 Cutting Edge Robotics 2010 (c) Position tracking curves of the motors (d) The relation curve of resistance loss, compensated energy and electromagnetic power Fig 7 The results of the active-assistive working mode... be destroyed, because it works in the back drivable state in our experiments In conclusion, when the gearbox with a larger gear ratio is located in the healthy limb side, this 16 2) 3) 4) 5) Cutting Edge Robotics 2010 system can work well with a small demand for supplementary energy; however, when the gearbox with a larger gear ratio is located in the impaired limb side, it cannot work ideally, especially... (Nef et al., 2007) is another representative robotic device which can deliver patient-cooperative arm therapy However, these robotic arms are heavy in weight and must be fixed on walls and 2 Cutting Edge Robotics 2010 poles, so the motion space is limited and patients are easily to feel excess fatigue Otherwise, these robots are too complex to set up by patients themselves, thus, they are not suitable... controlling the operating robots including the AGV efficiently (Hoshino et al., 2007) Thus, we address and manage the horizontal system considering efficient maintenance of the operating robots 20 Cutting Edge Robotics 2010 Fig 1 Horizontal AGV transportation system in a seaport container terminal (top view) 2 Seaport Container Terminal 2.1 Horizontal AGV transportation system In the horizontal AGV transportation . I Cutting Edge Robotics 2010 Cutting Edge Robotics 2010 Edited by Vedran Kordic In-Tech intechweb.org Published by In-Teh In-Teh Olajnica. Debeljuh Cover designed by Dino Smrekar Cutting Edge Robotics 2010, Edited by Vedran Kordic p. cm. ISBN 978-953-307-062-9 V Preface Robotics research, especially mobile robotics is a young eld. Its roots. therapy. However, these robotic arms are heavy in weight and must be fixed on walls and 1 Cutting Edge Robotics 2010 2 poles, so the motion space is limited and patients are easily to feel excess