Mizuho Shibata

Kindai University

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A unified approach to position and force control by fuzzy logic

IEEE Transactions on Industrial Electronics (1996)

Mizuho Shibata Toshiyuki Murakami Kouhei Ohnishi

This paper proposes a unified control strategy of position and force. The authors' technique is based on impedance control with fuzzy logic and realizes the smooth shift from position control to force control and vice versa. At first, a robust impedance controller based on a disturbance observer is shown, and the method to unify the position and the force control through one controller is described. Next, an algorithm to estimate the dynamic characteristics of the environment is shown, and a force tracking control using the estimated parameters is proposed. Finally, the unified control algorithm of position and force based on fuzzy logic is established. The validity of this method is confirmed by several experimental results.

Position (finance)

Impedance Control

Observer (physics)

Tracking (education)

10.1109/41.481411

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Citations (36)

Task-board task for assembling a belt drive unit

Advanced Robotics (2020)

Mizuho Shibata Hiroki Dobashi Wataru Uemura Shinya Kotosaka Yasumichi AIYAMA

A task board is a board for assembling parts, developed to test the abilities of a robot system to perform assembly operations associated with a manufacturing process. This study describes a task board that can serve as a basis for developing program modules for assembling a specific product. A properly designed task board can serve as a preliminary template for a specific assembly and can promote robotic assembly. This study analyzes the design of a Task-board task performed at the World Robot Summit 2018 (WRS 2018). The main competitive task at the WRS 2018 was the assembly of a belt drive unit. Analyses showed that the directions of assembly, especially the horizontal direction, were common difficulties in both Task-board and Assembly task competitions. Development of a task board for a specific assembly product requires an increase of its relevance to the assembly product, such as using the same workpieces or using similar assembly orientations.

10.1080/01691864.2020.1717613

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Citations (2)

Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems

IEEE Robotics and Automation Letters (2020)

Kenneth Kimble Karl Van Wyk Joe Falco Elena R. Messina Yu Sun

This article presents a set of performance metrics, test methods, and associated artifacts to help progress the development and deployment of robotic assembly systems. The designs for three task board artifacts that replicate small part insertion and fastening operations such as threading, snap fitting, and meshing with standard screws, nuts, washers, gears, electrical connectors, belt drives, and wiring are presented. To support the evaluation of robotic assembly and disassembly operations, benchmarking protocols and performance metrics are presented that leverage these task boards. Finally, robot competitions are discussed as use cases for these task boards.

Benchmarking

Leverage (statistics)

10.1109/lra.2020.2965869

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Citations (62)

Angle control of a loosely coupled mechanism in 3D space using length sensors

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (2007)

Mizuho Shibata Takahiro Yoshimura Shinichi Hirai

We describe here a mechanism for controlling angles of a human-like joint using length sensors in threedimensional (3D) space. This joint mechanism, which is called a loosely coupled mechanism, includes a viscoelastic object and soft actuators in place of the cartilage and muscles of a human arm. To confirm motion of the link using one length sensor, we constructed a prototype of the mechanism in two-dimensional (2D) space. Based on this prototype, we constructed a 3D loosely coupled mechanism with length sensors, and we were able to control two projecting angles of the 3D prototype. In addition, we propose an appropriate method of measurement to reduce errors in measurement due to the length sensors. Using this method, we found that, for each projecting plane, the errors were less than 1.0 deg in our 3D prototype.

10.1109/iros.2007.4399093

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Citations (2)

Decoupling COG control for redundant biped robot based on null-space disturbance observer

Mizuho Shibata T. Natori

Describes a method to control the center of gravity (COG) of the legs of a biped robot. Each leg is endowed with 4 joints, so that the robot has a redundancy in each leg. In the redundant system, the position and posture of the leg can be controlled independently, with decoupling controller. In the paper, three types of disturbance observer are applied at a controller, and then the decoupled controller is established. Both decoupled motions of the tiptoe and COG are achieved with the disturbance observers.

Decoupling (probability)

Cog

Center of gravity

10.1109/iecon.2000.972225

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Citations (1)

"'Carnation Nou No.1', a carnation [Dianthus caryophyllus] breeding line resistant to bacterial wilt (Burkholderia caryophylli)."

Horticultural Research (Japan) (2002)

Takashi Onozaki Hiroshi Ikeda Takashi Yamaguchi Masami Himeno Midori Amano

Dianthus

Source

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Citations (1)

Fabric Unfolding Using Pinching Slip Motion

Journal of the Robotics Society of Japan (2009)

Mizuho Shibata Tsuyoshi Ohta Shinichi Hirai

We discuss an unfolding of fabrics by robotic hands. During unfolding, humans usually allow their fingertips to slip on the fabric surfaces, referred to as a pinching slip motion. We define this motion using differential geometry coordinate. In this motion, the weight of the fabric generates relative movement between the moving fingertips and the fabric, and then, the edges of the fingertips are in contact with the hem of the fabric. We confirm experimentally that the success rate depends on fingertip shapes and grasping force of a robotic hand during the motion. The range between fingertips can be selected widely when fingertips with circular edges are applied. Finally, we demonstrate a fabric unfolding experimentally.

10.7210/jrsj.27.1029

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Citations (4)

Development of a removable multi-DOF manipulator system for man-portable underwater robots

Norimitsu Sakagami Daisuke Ibata Takaaki Ikeda Mizuho Shibata Tomohiro Ueda

Manipulator (device)

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Citations (8)

2P1-H06 Development of An Underwater Gripper-Robot based on A Moveable Buoyancy Mechanism(Underwater Robot and Mechatronics(2))

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (2012)

Kensei Ishizu Yuki Fukushima Tomohiro Ueda Masumi OIDE Norimitsu Sakagami

We have designed and realized a human-portable underwater robot with a gripper. By using a moveable floating mechanism, the gripper of the underwater robot can achieve ± 90deg in pitch angle and ± 180deg in roll angle. This report describes the basic ability of the realized underwater robot.

10.1299/jsmermd.2012._2p1-h06_1

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Citations (0)

2P1-B22 Development and Evaluation Simultaueous Controller of Arm/Body Movement of Underwater Robot with Dual-manipulator

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (2010)

Takayuki Saito Mizuho Shibata Norimitsu Sakagami Hiroyuki Onishi Haruo Murakami

In this paper, we develop and evaluate a controller system for UVMSs (Underwater Vehicle-Manipulator System). The joysthicks are mounted on arm control devices. As a result, operator can control arm and main body movement simultaneousty. However, coodinates of the joysthick are chenged. Duaring the operation so that the operability may be getting worse. We evaluate the operability experimentaly when the joysthick confirming that a difficalt-to-operate wrist posture exist. Finally, we demonstrete the simultaneous control using the controller.

Manipulator (device)

10.1299/jsmermd.2010._2p1-b22_1

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Citations (0)