Robotics Group

Introduction

Over the past two decades, the application of robotic and machine technology has expanded from industrial use to residential use. Advances in hardware and software computing have also enabled sophisticated implementation, that covers not only the motion control and the dynamic planning strategy but also the learning and the sensorimotor coordination for autonomous robots. Future machines and robots will be required to interact with people in a dynamic and uncertain environment.

Regarding the information sharing among people and robots, natural and intuitive multimodal communication, and the active function of thinking and understanding people's feelings are key subjects. On the other side, regarding the sharing of physical action space, robots must ensure the safety and precision of their motion, assuming physical contact with people. With the improvements in information technology, intelligent information processing has become a main issue in many fields. Classical artificial intelligence has emerged as the issue. The causality of implementation is described as the logical rule. Symbols, signs, and language are used as the explanation of knowledge. Modeling is the process of describing the system in terms of mathematical equations.

Our laboratory is a member of Humanoid Robotics Institute, and also a member of WABOT-HOUSE Laboratory, and 21st Century COE Program, Waseda University, "The innovative research on symbiosis technologies for human and robots in the elderly dominated society" (see web site). Aiming at realization of human-collaborative robot, we develop and study on fundamental technologies. Moreover, for the realization of more flexible robots, we established "Chemical reaction robot group (CR)" since 2001. The reseach topics cover with humanoid roboti interface, human interfaces, robot vision, telecommunication devices, autonomous robot and chemical reaction robot.

 

Members

Visiting Associate Reseacher
Enriquez Guillermo

Associate
Huei Ee YAP

PhD Student

Graduate Student
Kousuke Yamada
Takumi Zamami
Tito Pradhono Tomo
Kazuya Yamamoto

Undergraduate Student
Uori Koike
Tomohiko Nishio
Daichi Matsuoka

 

Humanoid Robot "iSHA"

We have been developing a humanoid robot "iSHA" (interactive Sys-tems for Humanoid Agent), which is designed to behave like and interact with humans. We implemented an intelligent robotic architecture, which integrates goal-oriented subsystems by taking into consideration the flexibility and scalability of the system.


Indoor navigation of autonomous mobile robot using passive RFID


We present a novel method using the read time of an antenna from a RFID system to reduce the localization error of a mobile robot in an RFID navigation system. Using this approach, our passive RFID system is capable of estimating the robot's location and orientation more accurately without the use of external sensors, signal strength measurement, and a vision system.


Tactile and Haptic Devices for Robots and Applications


The research aims are to realize an autonomous robot and a harmonized Human-Machine environment by utilizing tactile sensors, which will support the human daily tasks. Applications: 1st apply it to eliminate manual procedures for improving the safety in human work spaces. 2nd apply it for human-robot cooperation for moving an object together. 3rd Apply it to the humanoid robot foots for autonomously balancing and walking in various environments. In these applications, information about the involve objects or orientations are not required in advance.


Wireless Sensor Network-based Navigation System


We propose an navigation system using wireless sensor network (WSN) nodes to construct a virtual potential field. The nature of WSNs allows for a system that supports navigation as well as providing the ability to interface with other hardware. The system has applications in robot and human navigation.


Incremental Development of a Passive Dynamics-based Walking Machine


We built a four-legged passive-dynamic walking machine with its inner and outer legs connected rigidly two by two, We conducted experiments with a magnetic-type, and with an active release-type knee-locking mechanisms. We performed a series of experiments in which we counted the steps the walker made while walking down an incline. The active release-type mechanism made an increased number of successful walks down the slope from which we concluded that the new active release mechanism is more reliable and easier to use and set up.


Development of Crawler and Wheel Type Carrier Robot 'Dai-sha' Using the Load as an Interface


We proposed to use the load itself as a control interface. Strain gauges are equipped under the load rack of the robot to measure the force applied to the load by the operator. The robot is controlled so as to cancel out the applied force. Therefore the operator can control the robot intuitively by only push the load while holding. The developed experimental robot can operate on flat terrain and stairs safely.


Planar inverted pole balancing using inertia flywheel


Acceleration of a rotational flywheel exerts torque to a system which could be used as an external force to alter the state of a system. In this research the controllability of an under actuated inverted pendulum in 2 dimensional space using flywheels is investigated. Two flywheels are used to provide counteracting torque to balance the inverted pole in both roll and pitch directions. A state feedback controller is used to control and stabilize the system.


Autonomous Motion Generation with Fault Diagnosis Function for a Robot based on Reinforcement Learning


As the structure and movement of robots is becoming more and more complex, programs become more complex, often requiring the laborious task of writing a section of program for each operation in a variety of circumstances and detecting the broken part of the robot is also difficult because robots consist of many interconnecting parts. Therefore, we propose an autonomous motion generation along with fault diagnosis function is necessary to solve these problems.


Development of mouth interface controller for robotic arm manipulation


We developed interface to control a robot arm as our third arm. This interface is a controller device input by human mouse motion, because mouse is a body part having high degree of freedom next to hands.We controlled the actual robot arm using our developed interface.


Proposal of uneven terrain measure for mobile robot


We propose the uneven terrain measure, named "Uneven terrain degree" (UTD) that is able to estimate mobility as well as selecting of path planning for mobile robot. The UTD is derived by the size and shape of the robot and geographical features. We examined the feasibility of the proposed UTD through a series of experiment with different uneven terrains and robots.


Development of a mobile robot with dodging control


In human environment, it is considered that the robots contact with or crush against humans or objects unexpectedly. These situations are dangerous not only for human but also robot itself. Moreover robot may fail in its task. In this study, we propose the robot is controlled to dodge the external force to cope with the problems of the sudden contacts and collisions. And we developed robot which takes a dodging motion in such a situation while tracking the planned route.


 
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