Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/MHS56725.2022.10092168

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Other Link： https://dblp.uni-trier.de/db/conf/mhs/mhs2022.html#MayumiMKMHT22

Publishing type：Research paper (scientific journal)  

DOI： 10.3390/s22229016

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Publishing type：Research paper (scientific journal)   Publisher：International Press of Boston  

DOI： 10.4310/cis.2022.v22.n4.a3

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ISMR48346.2021.9661566

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Other Link： https://dblp.uni-trier.de/db/conf/ismr/ismr2021.html#MatsunoMKMSMH21

Language：English   Publishing type：Research paper (scientific journal)   Publisher：SPRINGER  

Objectives To evaluate the accuracy of robotic CT-guided out-of-plane needle insertion in phantom and animal experiments. Methods A robotic system (Zerobot), developed at our institution, was used for needle insertion. In the phantom experiment, 12 robotic needle insertions into a phantom at various angles in the XY and YZ planes were performed, and the same insertions were manually performed freehand, as well as guided by a smartphone application (SmartPuncture). Angle errors were compared between the robotic and smartphone-guided manual insertions using Student's t test. In the animal experiment, 6 robotic out-of-plane needle insertions toward targets of 1.0 mm in diameter placed in the kidneys and hip muscles of swine were performed, each with and without adjustment of needle orientation based on reconstructed CT images during insertion. Distance accuracy was calculated as the distance between the needle tip and the target center. Results In the phantom experiment, the mean angle errors of the robotic, freehand manual, and smartphone-guided manual insertions were 0.4 degrees, 7.0 degrees, and 3.7 degrees in the XY plane and 0.6 degrees, 6.3 degrees, and 0.6 degrees in the YZ plane, respectively. Robotic insertions in the XY plane were significantly (p < 0.001) more accurate than smartphone-guided insertions. In the animal experiment, the overall mean distance accuracy of robotic insertions with and without adjustment of needle orientation was 2.5 mm and 5.0 mm, respectively. Conclusion Robotic CT-guided out-of-plane needle insertions were more accurate than smartphone-guided manual insertions in the phantom and were also accurate in the in vivo procedure, particularly with adjustment during insertion.

DOI： 10.1007/s00330-019-06477-1

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INTRODUCTION: This was a prospective, first-in-human trial to evaluate the feasibility and safety of insertion of biopsy introducer needles with our robot during CT fluoroscopy-guided biopsy in humans. MATERIALS AND METHODS: Eligible patients were adults with a lesion ≥ 10 mm in an extremity or the trunk requiring pathological diagnosis with CT fluoroscopy-guided biopsy. Patients in whom at-risk structures were located within 10 mm of the scheduled needle tract were excluded. Ten patients (4 females and 6 males; mean [range] age, 72 [52-87] years) with lesions (mean [range] maximum diameter, 28 [14-52] mm) in the kidney (n = 4), lung (n = 3), mediastinum (n = 1), adrenal gland (n = 1), and muscle (n = 1) were enrolled. The biopsy procedure involved robotic insertion of a biopsy introducer needle followed by manual acquisition of specimens using a biopsy needle. The patients were followed up for 14 days. Feasibility was defined as the distance of ≤ 10 mm between needle tip after insertion and the nearest lesion edge on the CT fluoroscopic images. The safety of robotic insertion was evaluated on the basis of machine-related troubles and adverse events according to the Clavien-Dindo classification. RESULTS: Robotic insertion of the introducer needle was feasible in all patients, enabling pathological diagnosis. There was no machine-related trouble. A total of 11 adverse events occurred in 8 patients, including 10 grade I events and 1 grade IIIa event. CONCLUSION: Insertion of biopsy introducer needles with our robot was feasible at several locations in the human body. KEY POINTS: • Insertion of biopsy introducer needles with our robot during CT fluoroscopy-guided biopsy was feasible at several locations in the human body.

DOI： 10.1007/s00330-019-06409-z

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Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Informa UK Limited  

DOI： 10.1080/01691864.2019.1691941

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)  

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Computer Aided Surgery  

DOI： 10.5759/jscas.22.14

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2020.p0692

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmermd.2019.2a2-d10

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier Ireland Ltd  

Objective: To evaluate the accuracy of robotic insertion of various ablation needles at various locations under computed tomography (CT) guidance in swine. Materials and methods: The robot was used for CT-guided insertion of four ablation needles, namely a single internally cooled radiofrequency ablation (RFA) needle (Cool-tip), a multi-tined expandable RFA needle (LeVeen), a cryoablation needle (IceRod), and an internally cooled microwave ablation needle (Emprint). One author remotely operated the robot with the operation interface in order to orient and insert the needles under CT guidance. Five insertions of each type of ablation needle towards 1.0-mm targets in the liver, kidney, lung, and hip muscle were attempted on the plane of an axial CT image in six swine. Accuracy of needle insertion was evaluated as the three-dimensional length between the target centre and needle tip. The accuracy of needle insertion was compared according to the type of needle used and the location using one-way analysis of variance. Results: The overall mean accuracy of all four needles in all four locations was 2.8 mm. The mean accuracy of insertion of the Cool-tip needle, LeVeen needle, IceRod needle, and Emprint needle was 2.8 mm, 3.1 mm, 2.5 mm, and 2.7 mm, respectively. The mean accuracy of insertion into the liver, kidney, lung, and hip muscle was 2.7 mm, 2.9 mm, 2.9 mm, and 2.5 mm, respectively. There was no significant difference in insertion accuracy among the needles (P =.38) or the locations (P =.53). Conclusion: Robotic insertion of various ablation needles under CT guidance was accurate regardless of type of needle or location in swine.

DOI： 10.1016/j.ejrad.2018.06.006

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© 2018, ISAROB. Snake robots could be utilized in many fields because of their hyper-redundant properties, although there are still control problems when they are operated in complex environments. For example, a helical rolling motion has been used to climb a pipe. By using this kind of motion, a snake robot can move along the inside or outside of a pipe. However, this motion has limitations when the robot moves along a pipe containing a high gap or a branch point. In this study, we propose a type of motion for snake robots that involves wrapping around the outside of a pipe to overcome a branch point on it. This new motion uses a hyperbolic function to make a helical wave curve, which is then propagated by shifting the shape of the hyperbolic function along the body of the snake robot. The joint angles of the snake robot are derived by calculating the curvature and torsion of the curve on the basis of the formula of the continuous curve model. Finally, the results of simulations performed using the Robot Operating System and Gazebo programs are shown to validate the effectiveness of the new motion.

DOI： 10.1007/s10015-018-0479-1

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Publishing type：Research paper (scientific journal)  

DOI： 10.1504/IJMA.2018.10016616

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：RADIOLOGICAL SOC NORTH AMERICA  

Purpose: To evaluate the accuracy of the remote-controlled robotic computed tomography (CT)-guided needle insertion in phantom and animal experiments.
Materials and Methods: In a phantom experiment, 18 robotic and manual insertions each were performed with 19-gauge needles by using CT fluoroscopic guidance for the evaluation of the equivalence of accuracy of insertion between the two groups with a 1.0-mm margin. Needle insertion time, CT fluoroscopy time, and radiation exposure were compared by using the Student t test. The animal experiments were approved by the institutional animal care and use committee. In the animal experiment, five robotic insertions each were attempted toward targets in the liver, kidneys, lungs, and hip muscle of three swine by using 19-gauge or 17-gauge needles and by using conventional CT guidance. The feasibility, safety, and accuracy of robotic insertion were evaluated.
Results: The mean accuracies of robotic and manual insertion in phantoms were 1.6 and 1.4 mm, respectively. The 95% confidence interval of the mean difference was 20.3 to 0.6 mm. There were no significant differences in needle insertion time, CT fluoroscopy time, or radiation exposure to the phantom between the two methods. Effective dose to the physician during robotic insertion was always 0 mSv, while that during manual insertion was 5.7 mSv on average (P&lt;.001). Robotic insertion was feasible in the animals, with an overall mean accuracy of 3.2 mm and three minor procedure-related complications.
Conclusion: Robotic insertion exhibited equivalent accuracy as manual insertion in phantoms, without radiation exposure to the physician. It was also found to be accurate in an in vivo procedure in animals. (C) RSNA, 2017

DOI： 10.1148/radiol.2017162856

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

A medical procedure called Interventional Radiology(IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. Therefore this surgical method is low-invasiveness method. In this surgery, computed tomography (CT) equipment is often used. But a doctor is exposed to strong radiation from CT. Thus, we have developed a remote-controlled surgery support robot called 'Zerobot'. Because Zerobot is placed front of CT equipment by human, an angle offset from installation target position occurs. If a doctor punctures without noticing that Zerobot has an installation angle offset, there is danger of hurting the part that should not be hurt around a target cancer. In order to solve this problem, we propose an angle offset compensation method and the installation angle offset derivation method using a CT equipment is proposed. Then, effectiveness of proposed method is confirmed through experiments.

DOI： 10.1109/ICMA.2017.8015859

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Authorship：Lead author   Language：Japanese  

DOI： 10.7210/jrsj.35.317

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/SII.2017.8279291

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© 2016 Fuji Technology Press Ltd. All Rights Reserved. In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fl roscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fl roscopy. However, doctors are exposed to strong radiation from the CT equipment. In order to overcome this problem, we have developed a remote-controlled surgical assistance robot called Zerobot. In animal puncture experiment, the operation of Zerobot was based on joint control. Therefore, during a surgery, the tip of the needle moves when a surgeon orders for a change in the direction of the needle. This makes the robot less user-friendly because the surgeon tracks the trajectory of the tip of the needle. This problem can be solved by using remote center control.

DOI： 10.20965/jrm.2016.p0911

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

There is minimally invasive method called Interventional Radiology (IR) that achieves an operation by using diagnostic imaging equipment such as Computed Tomography (CT). IR has advantages that it is a minimally invasive method and it is applied widely such as lung cancer treatment, liver cancer treatment, biopsy, and so on. However, it has a problem that doctors are exposed by X-ray due to a procedure in the vicinity of the CT gantry. To solve this problem, we have developed a robot so we calling "Zerobot". Zerobot has six DOF and controlled remotely. We previously conducted animal experiment using a rabbit to evaluate Zerobot. As a result, percutaneous puncture was impossible without epidermis cutting. Therefore, we developed a new function called instantaneously puncture that can achieve high speed and short stroke puncture like a human operator. In this paper, overview of Zerobot is described first. Then, measurement of puncture speed of a human operator is described. Furthermore, design and system structure of instantaneously puncture system is described. Finally, we present results of animal experiment using the instantaneously puncture system.

DOI： 10.1109/IROS.2016.7759369

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Interventional radiology is a minimally invasive image-guided procedure. In the case of using computed tomography (CT) as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote-controlled puncturing robot which has five degrees of freedom. In this paper, we describe the details of the prototype robot and show experimental results to evaluate the robot's repeatability and a result of puncturing to a phantom.

DOI： 10.1109/ICIEA.2016.7603732

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Hyper redundant snake robots have a possibility of utilizing in many fields, although there are control complexity problems when it is applied to complicated environment. For example, helical rolling motion have been used to climb a pipe. By using the helical rolling motion, a snake robot can move along the inside or the outside of a pipe. However, this motion has limitation when it moves in a pipe with a high gap or a branch point. In this study, we propose a motion of a snake robot, which wraps around the outside of a pipe, to overcome a branch point on a pipe. The new motion uses a hyperbolic function to make a helical wave curve. The helical wave curve is propagated by changing the parameter of hyperbolic function. Then, the joint angles of a snake robot is derived by calculating curvature and torsion of the curve based on the formula of continuous curve model. Finally, the result of simulational experiment on ROS and Gazebo are shown to validate the effectiveness of the new motion.

DOI： 10.1109/SII.2016.7844101

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper presents a sound-based online localization method for an in-pipe snake robot with an inertial measurement unit (IMU). In-pipe robots, in particular, snake robots need online localization for autonomous inspection and for remote operator supports. The GPS is denied in a pipeline, and conventional odometry-based localization may deteriorate due to slippage and sudden unintended movements. By putting a microphone on the robot and a loudspeaker at the entrance of the pipeline, their distance can be estimated by measuring the time of flight (ToF) of a reference sound emitted from the loudspeaker. Since the sound propagation path in the pipeline is necessary for estimating the robot location, the proposed sound-based online localization method simultaneously estimates the robot location and the pipeline map by combining the distance obtained by the ToF and orientation estimated by the IMU. The experimental results showed that the error of the distance estimation was less than 7% and the accuracy of the pipeline map was more than 68.0%.

DOI： 10.1109/SSRR.2016.7784300

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We propose a method that corrects effects of refractions and absorptions for underwater scan data obtained by general-purpose laser range finders (LRFs) using HOKUYO UTM-30LX (Top-URG). For measurements by LRFs in water, it is known that refractions make measurement distances longer and absorptions make reflection intensities weaker. In order to confirm those characteristics of measurements in water, we first conduct two basic experiments that Top-URG measures a target in the environment with the assumed turbid deep-sea and evaluate an accuracy and a performance of Top-URG in water. The first basic experiment is that Top-URG measures surroundings in a sink filled with water by changing the turbidity of the water. The second basic experiment is conducted by changing a location and an angle of a target. Next, we develop a method that (1) corrects scan data of Top-URG by considering a refractive index of water and (2) eliminates scan data with low reliabilities based on reflection intensities obtained by Top-URG using automatically calculated thresholds. We evaluate those two methods by using two types of target objects and seven situations. Our developed methods can correct distorted scan points by refractions in water and can eliminate ghost scan points which are not existent. We confirm that their performances for underwater scan data are effective enough to use Top-URG in water.

DOI： 10.1299/transjsme.15-00412

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

A medical procedure called Interventional Radiology (IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. It has advantage that invasiveness is low compared with conventional surgery. In order to take patient's fluoroscopic image, computed tomography (CT) equipment is often used. In this case, it is problem that the doctor is exposed to radiation because the doctor should conduct the procedure close to CT equipment. Thus, we have developed a robot called "Zerobot" which has six DOF and remote-control feature with dedicated input device. In this paper, first, overview of Robotic IR is described. Then, we describes about animal puncture experiment of Zerobot, and discuss the result of puncture reaction force analysis in the experiment.

DOI： 10.1109/SII.2015.7404888

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DOI： 10.9746/sicetr.51.8

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

We have proposed EARLI (Extended Asymmetrical Reverse Lateral Inhibition) which is a behavior of snake robot's obstacle aided locomotion. The idea of EARLI starts with an original idea of lateral inhibition. Joints rotate in reverse direction compared with the original lateral inhibition. Information of contact affects not only adjacent joints but also a couple of neighboring joints away from the contacting link. Distribution of torque are empirically set asymmetrically in order to propel a snake robot forward. The algorithm of EARLI is implemented to a model of snake robot in ODE (Open Dynamics Engine) to see its behavior and to verify its effectiveness. In this paper, we introduce randomized EARLI to avoid getting stuck in crowded obstacles when the snake robot uses only one pattern of EARLI. In addition, efficiency of the snake robot's locomotion is evaluated by measuring power of snake robot's joints. It is verified that the snake robot can move in crowded obstacles effectively by using random EARLI behavior.

DOI： 10.1109/SSRR.2014.7017666

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

There is a surgical method called Interventional Radiology (IVR) as one of lung cancer treatments. It has a problem that doctors are exposed to radiation because IVR is conducted in CT apparatus. In order to avoid the problem, a robotic IVR system that doctors conduct the puncture with a robot is developed. An operation test is necessary to develop the robotic IVR system, however, an experiment with real patients is rejected based on ethic regulation. Therefore, a phantom is used for experiments instead of patients. A phantom is a model of human used for both evaluation and adjustment of medical imaging equipments such as CT and MRI. However, ready-made phantoms can not be punctured, because they are only aimed to radiography and their surface are hard. Therefore a phantom for CT-IVR which can be punctured is developed.

DOI： 10.1109/SII.2014.7028016

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

When an operator teleoperates a rescue robot, it is necessary for the operator to understand the relationship between the robot and its environment while indirect-vision driving. A LRF (Laser Range Finder) installed on a rotating stage is often used for scanning the environment in order to give the operator spatial information, while there is a trade-off between its scanning speed and point density. To solve the problem, we implement plane detection by RANSAC (RANdom SAmple Consensus) algorithm, integration of overlapped planes using tables and drawing them as convex hulls. The experimental results show that the scanning speed could be improved because the result of 3D scanning with a low point density shows a good match for that with a high point density by using the implemented methods.

DOI： 10.1109/ICIEA.2013.6566671

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

In this paper, we develop a new type of snake-like robot using screw-drive units that are connected by active joints. The screw-drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omnidirectional mobility by combinations of screws' angular velocities. We also derive a kinematic model and apply it to trajectory tracking control. Furthermore, we design a front-unit-following controller, which is suitable for manual operations. In this control system, operators are required to command only one unit in the front; then, commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic convergence of the tracking error of the front-unit-following controller is analyzed based on a Lyapunov approach for the case of constant curvature. The effectiveness of the control method is demonstrated by numerical examples and experiments.

DOI： 10.1109/TRO.2012.2183050

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：WYDAWNICTWO SIGMA-N O T SP Z O O  

This study applies the spherical stepping motor the authors developed to the driving device of a stirrer and develops a proto-type stirrer. The developed stirrer is composed of a rotor, a stator, a control PC, an electric-magnet excitation circuit, and a power supply. The rotor is composed of double spherical shell in order to contain liquid in its inner spherical shell. Totally 91 permanent magnets are arranged in the rotor. On the other hand, 80 electro-magnets are arranged on the stator. The applicability of the stirrer to material production is evaluated by stirring experiments.

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, EARLI (Extended Asymmetrical Reverse Lateral Inhibition) is proposed for the snake robot's obstacle aided locomotion and behavior. The idea of EARLI starts with an original idea of lateral inhibition; although joints rotate in reverse direction compared with the original lateral inhibition; and information of contact affects not only adjacent joints but also a couple of neighboring joints away from a contacting link. Furthermore, distribution of adding torque is empirically set asymmetrically in order to propel the snake robot forward. The algorithm of EARLI is implemented to ODE (Open Dynamics Engine) to see its behavior in simulation environments and to verify its effectiveness. As a result, a behavior emerges in which the the snake robot is pushing obstacles for longer times and moving greater distances than when using original lateral inhibition. In addition, continuous pushing behavior is also observed when an obstacle is located behind the the snake robot.

DOI： 10.1109/SSRR.2012.6523889

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this research, we present development of a mobile robot platform integrated with off-the-shelf sensors and equipments for disaster response. The proposed platform aims to offer an opportunity for researchers and engineers to let their effort on developing more advanced methods related to disaster response, allowing for further development from R&amp
D to practical or business purpose. Unlike the applications including research and education or military and civil defense forces, it is expected that the platform can be utilized for practical use with small initial budget and less effort for development. In this paper, we explain the development scheme of the proposed platform, which focuses on the outdoor environmental monitoring, and the progress on the development including its hardware and software configuration. Furthermore some experimental results, carried out in the nuclear power plant, are also shown. © 2012 IEEE.

DOI： 10.1109/SSRR.2012.6523894

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Publisher：The Japan Society of Mechanical Engineers  

This study develops a mixing machine driven by a spherical motor that can rotate around any axis. The developed mixing machine is composed of a rotor, a stator, a control PC, an electro-magnet excitation circuit, and a power supply. The rotor that its outer diameter is 200 [mm] is composed of double spherical shells in order to contain liquid in its inner spherical shell. Totally 91 permanent magnets are arranged in almost spherical symmetry on the inner surface of the outer spherical shell. On the other hand, 80 electro-magnets are arranged on the stator of a semi-spherical shell. The applicability of the mixing machine to material production under the condition of small influence of gravitational force is evaluated by mixing experiments to dissolve salt of 50 [g] in water of 200 [g]. The mixing performance is compared for five mixing methods. The results show that the mixing performance of the method to change randomly the rotation direction is only slightly lower than that of the method of rotating continuously around a horizontal axis that exhibits the highest mixing performance. © 2011 The Japan Society of Mechanical Engineers.

DOI： 10.1299/kikaic.77.2400

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Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：WILEY-BLACKWELL  

In this study, we propose a new system for searching the inside of a damaged building using grouped rescue robots. Because the assumed target environment is broad and variable, the proposed system is designed to have adaptability, scalability, and usability. The system consists of robots, sensors, a network, a communication protocol, user interfaces, and database management systems; their complementary capabilities allow them to satisfy the requirements for the system. This study presents the requirements and design of the proposed system, briefly describes each element, and provides examples of how the elements function as an integrated system. (C) 2011 Wiley Periodicals, Inc.

DOI： 10.1002/rob.20413

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Currently, various rescue robots are developed to use them at a disaster site. It is suggested that legged-robots are useful on uneven and fragile terrain because a legged-robot can choose a grounding point discretely. In the previous study, leg-grope movement was proposed for a quadruped robot walking on fragile terrain. However, the walking experiment by using the leg-grope movement was carried out only for one cycle of walking gait, and the possibility of continuous walk that using the leg-grope movement has not analyzed yet. In this paper, we studied whether the leg-grope movement can be carried out continuously or not. As a result, we found the region for the leg-grope movement will never extend in future steps. Therefore, once the region for the leg-grope movement becomes small, the region cannot recover its groping area. The proposed leg-grope movement has to satisfy severe condition for a quadruped robot to walk continuously. © 2011 IEEE.

DOI： 10.1109/SII.2011.6147634

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A snake robot would be applied to a machine that goes into a narrow space to investigate the inside of a structure. Recently, multiple locomotion modes of snake robots have been realized. In the previous study, we also achieved some kind of locomotion modes such as undulatory locomotion mode, sidewinding locomotion mode, lateral rolling locomotion mode and helical rolling locomotion mode to move along a pipe. The shape of the robot in each locomotion mode is calculated by using mathematical continuum curve model respectively. However, it is necessary to change these shape smoothly when the environment where the snake robot is moving changes. It is relatively easy to achieve this in the case that the snake robot moves along its body, namely it moves to a tangential direction, by using the traditional shift control. In this paper, we propose a s-shift control and a v-shift control for a snake robot moving vertical direction to its body. In this paper, the v-shift control is installed to an experimental snake robot and the locomotion performance of robot is evaluated for the pipe composed of a straight pipe and an elbow pipe. As a result, the snake robot could successfully changes its locomotion mode to move the inside of the pipes with two types of helical rolling motion. © 2011 IEEE.

DOI： 10.1109/SSRR.2011.6106789

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：一般社団法人 日本機械学会  

This paper presents a prototype of holonomic omnidirectional moving vehicle driven by a spherical motor that rotates in all directions. This paper also proposes a method called spherical deceleration driving method that can increase the driving torque by tilting the rotation axis of the spherical motor. Experimental results to evaluate the moving performance of the prototype vehicle by the spherical deceleration driving method show that the measured driving forces are almost coincident with the theoretical values within the range that the driving torque of the spherical motor does not exceed the maximum static frictional force between the motor surface and floor. In addition, the driving force can be increased up to about twice the value at the inclination angle of 0 °. On the other hand, the measured moving speeds are well agreed with the theoretical speeds if the slip between the surface of the rotor of sperical motor and road surface does not exist. © 2011 The Japan Society of Mechanical Engineers.

DOI： 10.1299/kikaic.77.4630

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In this research, we present a development of a mobile robot platform integrated with off-the-shelf sensors and equipment for disaster response. Unlike the applications including research and education or military and civil defense forces, it is expected that the platform can be utilized for practical use with small initial budget and less effort for development. The platform offers an opportunity for researchers and engineers to let their effort on developing more advanced methods, allowing for further development from R&amp
D to practical or business purpose. In order to accomplish these challenges, we also construct an advantageous system for researchers and engineers in both academic and industry by means of disclosing and providing information about hardware and software as an open-source. Some experiments are also shown for validation of the basic functions of the platform. © 2011 IEEE.

DOI： 10.1109/SII.2011.6147630

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It is necessary for rescue workers to understand the internal environment of a damaged building. A laser scanner mounted on a rotating platform on a mobile robot is commonly used for acquiring the 3D information of the building. In this study, a stereoscopic presentation system that displays 3D scan data is constructed in order to improve the cognitive ability of an operator who teleoperates the robot. Two types of experiments that an end user evaluates the constructed system are conducted and the experimental results show a good tendency to use the stereoscopic presentation. © 2011 IEEE.

DOI： 10.1109/SSRR.2011.6106745

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Language：Japanese   Publisher：The Robotics Society of Japan  

This paper presents a front-unit-following control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.

DOI： 10.7210/jrsj.28.707

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Authorship：Lead author   Language：Japanese   Publisher：The Robotics Society of Japan  

When a legged-robot walks on an irregular terrain such as a stricken area, some footholds may be collapsed by an external force that caused by the walking robot, and consequently the robot stumbles and falls. In this study we propose locomotion method that will not cause large collapse of the environment while the robot walks on the weak area. First, we define the weak environment that has possibility to collapse the field, then a strategy to walk on the weak environment is shown. Next, the condition of center of gravity of the robot and the leg-grope sequence is derived based on statics. Furthermore, experimental results to verify the proposed method are shown by using a quadruped legged-robot.

DOI： 10.7210/jrsj.28.215

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Recently, multiple locomotion gaits of snakes have been realized by snake robots. A snake robot would be applied to going into a narrow space to investigate the inside of a long and slim pipe and to executing some simple work by using its slim body. In this paper, we achieve a new locomotion mode that propels a snake robot the inside of a pipe with helical rolling motion, in addition to previously achieved locomotion modes. A structure of the snake robot is constructed by connecting many units in series. The unit has a pitch axis, a yaw axis and two passive wheels. A shape of the robot is calculated by using mathematical continuum curve model. In addition, we present a method that the shape of snake robot is adjusted to a diameter of a pipe automatically. Moreover, we indicate a possibility of a new locomotion mode which conduct helical rolling motion with conical spiral form in order to improve a position of a camera while the snake robot investigates the inside of a pipe. © 2010 SICE.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：KOREAN SOC MECHANICAL ENGINEERS  

This paper presents a spherical motor driven by electro-magnets that can rotate omnidirectionally with some degrees of rotation angle error independent of rotation direction. The spherical motor is composed of a spherical rotor, a semi-spherical stator, a control PC, a control circuit, and a DC power supply. The rotor has 92 neodymium magnets. On the other hand, 84 electro-magnets are arranged on the stator. Each electro-magnet can be excited to north or south magnetic pole. The control PC calculates the posture of the rotor after a small time interval and generates the pattern of excitation of electro-magnets in order to rotate the rotor to its calculated posture. The results of the performance of the developed spherical motor show that the maximum torque is 0.24 (N . m), the maximum rotation speed is 2.5 (rad/s), and the average error of rotation angle is several degrees.

DOI： 10.1007/s12206-009-1163-0

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Recently, multiple locomotion gaits of snake have been realized by snake robots. However, previous locomotion gaits are mainly limited on two-dimensional plane. In this study, we make a snake robot that can move in three-dimensional space by connecting several units serially. The each unit is composed by assembling one pitch axis and one yaw axis, and it can have two passive wheels. We realize previously achieved basic locomotion gaits and simple cylinder climbing locomotion. In addition, we also realize cylinder climbing locomotion with helical form by the snake robot using mathematical continuum model.

DOI： 10.1109/ROBOT.2009.5152862

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Language：Japanese   Publisher：一般社団法人日本機械学会  

This paper studies a spherical motor driven by electro-magnetic force. The spherical motor is composed of a rotor and a stator. The rotor has 32 permanent magnets positioned at the vertices of a geometric configuration combined with a regular dodecahedron and a regular icosahedron. There are 84 electro-magnets in the stator. The electro-magnets are excited to make the rotor rotate in omnidirection by the pattern such that the electro-magnets near the rotation goal positions of permanent magnets in the rotor after a small time step are excited to the attractive pole and the electro-magnets apart from the permanent magnets to the repulsive pole. A simulation program is developed for the purpose of designing the structure and excitation method of electro-magnets and evaluating rotation performance. A prototype spherical motor is developed and the motor is confirmed to rotate is omnidirection by the experiments and simulations for rotation performance evaluation.

DOI： 10.1299/kikaic.74.2713

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This study develops an intelligent mark and its recognition system. Robots need information about its environment and/or objects in order to do effectively the tasks required. Intelligent marks are used by attaching on objects and can send the information such as object category, weight, and so on by an infrared ray communication. Robots get the data of an object by the recognition system. The recognition system also measures relative position of an object by calculating the difference of reaching time between infrared rays and ultrasonic waves sent from the intelligent mark. This study evaluates experimentally the communication range and the accuracy of relative position measurements to confirm the applicability of the intelligent mark and its recognition system.

DOI： 10.1299/kikaic.74.2331

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

We are developing new mobile robot platforms to achieve a given mission. The concept of developing robot is high-functional and grouped rescue robots. The robot group consists of two type of robot, one is high functional pioneer type, and the other is relatively small and high mobility semi-automatics surveyor type. The pioneer type equips a manipulator to eliminate light weight obstacles and open doors and also the pioneer type loads adhoc wireless relay devices and its distribution mechanism to expand wireless radio connection area. ne surveyor types equip flipper arm to achieve high mobility. To complete the mission, the pioneer type robots expand the area where surveyor robots can move and can connect to a wireless network, and then the surveyor robots search detail of damaged building in the expanded area. Until now, we have developed prototype of each pioneer and surveyor robot platforms. The robots have sensors such as a Web camera, CMOS fish-eye cameras, a LRF, an attitude sensor, IR sensors and rotary encoders. We have also implemented three control methods, and confirmed an effectiveness of each control method. Finally, we conducted two robots at the same time to confirm that it is possible to operate plural robots by using something autonomous control method.

DOI： 10.1109/SICE.2008.4654926

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper presents a path-tracking control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automaticatly calculated to track the path of the preceding units. Although the velocity commands for exact path tracking can be calculated using past command signals due to the omni-directional property of the robot, a simpler control law without using past signals is adopted from the implementation viewpoint. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.

DOI： 10.1109/IROS.2008.4650867

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Authorship：Lead author   Language：Japanese   Publisher：The Robotics Society of Japan  

The long and thin snake-like robots have became popular for searching narrow spaces, such as debris of the collapsed buildings under the impact of large-scale disasters. Till now, most of the previous research efforts on snake-like robots have primarily focused on development of its mobility or its locomotion. In this research we present the development of a snake-like robot under remote control operation. The present paper gives a detailed description of the mechanism and the construction of the developed snake-like rescue robot KOHGA. This double headed snake-like rescue robot KOHGA can present an operator the image from the viewpoint of a robot&#039;s rear side by changing its form into scorpion shape mode. The usefulness of the scorpion mode is amply verified by performing several successful experiments.

DOI： 10.7210/jrsj.25.1074

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Language：Japanese   Publisher：(一社)日本遠隔医療学会  

本論文では、外科手術において、遠隔から執刀医をアドバイスできるシステムを検討した。そのシステムの具体例として、離れた場所の画像を見るためのWebカメラと、遠隔からでもポインティング指示を可能とするレーザポインタを備えた執刀医支援ロボットと、それを操作するための遠隔指示インタフェースから構成される手術指導支援システムを開発した。そして、手術指導の想定応用場面に類似したタスクに対する被験者実験によって、レーザポインタによる指示精度を評価しシステムの有用性を示した。(著者抄録)

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Language：Japanese   Publisher：The Robotics Society of Japan  

In this paper, we develop a prototype of a new snake-like robot using the screw drive mechanism, and design a control system for trajectory tracking. First, we explain the outline of the snake-like robot using the screw drive units and joint units, as well as the principle of the screw drive mechanism. Next, in order to achieve the trajectory tracking of the robot, we derive a kinematic model. Finally, the validity of the derived model and the effectiveness of the proposed control system are demonstrated by simulations and experiments.

DOI： 10.7210/jrsj.25.779

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Other Link： https://jlc.jst.go.jp/DN/JALC/00297900632?from=CiNii

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, we develop a prototype of a new snake-like robot using the screw drive mechanism, and design a control system design for trajectory tracking. First, we explain the outline of the snake-like robot using the screw drive units and joint units, as well as the principle of the screw drive mechanism. Next, in order to achieve the trajectory tracking of the robot, we derive a kinematic model. Finally, the validity of the derived model and the effectiveness of the proposed control system are demonstrated by simulations and experiments.

DOI： 10.1109/ROBOT.2007.364074

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

To search victims in the narrow space at the disaster site, we have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially by active joints. KOHGA has a problem that obstacles are caught to the joints and then the robot is stuck. To solve this problem, we developed an unit assembled robot "KOHGA2". It can be rearranged. The robot can swing crawler-arms and avoid the stuck. In this paper, we report the construction of the hardware and the control system of KOHGA2, the basic mobility performance, and the stuck avoidance strategy.

DOI： 10.1109/ROBOT.2007.364073

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Our research perspective is to develop mechanisms for gathering information efficiently in disaster sites. Ideally this requires mechanisms with capabilities of flexible, on-site, adaptation of the overall shape and of the locomotion strategy to unknown and unstable environments. We have been developing three-legged modular robots which can be interconnected to cooperatively achieve multiple locomotion modes and collaboratively perform tasks that cannot be done by a single module. In this paper, we report the development of experimental modular robots and experimentations with their cooperative activities which evolve out of their various inter-connectivity options.

DOI： 10.1109/ROBOT.2007.364076

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, we summarize the findings and know-hows in the individual developments and try to establish guidelines of human-interface design of rescue robots. These guidelines would be useful for the future development of rescue robots. Preliminary guidelines were set from some case studies of the DDT project and RoboCup Rescue. A trial towards the standardized interface is also shown.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake, In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture Sports, Science and Technology Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin Earthquake in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-nibble mobile platforms.

DOI： 10.1109/SICE.2006.314767

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper we will discuss the usability of remote control for a snake-like rescue robot named KOHGA. This robot is one of many snake-like robots developed for search and rescue operations. KOHGA is constructed by connecting multiple crawler vehicles serially, thus resulting a long and thin structure. This is a great advantage as the robot can have both the capability to climb over obstacles, and as well as the ability to enter narrow spaces. Moreover, KOHGA can transform into a Scorpion Configuration, where the two CCD cameras positioned at robot's both ends, will provide to the operator a clear view of both the robot and its surroundings. In this paper, the design concept of KOHGA and the evaluation experiments for usability of remote control method are discussed in detail.

DOI： 10.1109/SSRR.2005.1501269

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In order to improve our life further, it is our inspiration to develop efficient robotic systems that can assist our usual need. The system that we are developing not only bring forward efficiency and credibility for daily usage or research platform, but when natural catastrophes like earthquake happens to strike, our robotic system is also capable of entering post-disaster sites and collect information about victim states that will be transmitted to the human rescuers, so that a more accurate and efficient rescue mission can be carried out. This paper will present the up-to-date information about our robotic system development of two different types of robots, the snake-type and the wheel-type. © 2004 IEEE.

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper we report the development of a new rescue robot platform. The robot is constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space. The units are connected by 2-DOF active joints and 3-DOF passive joints, so that the robot can have both the capability to climb over obstacles as well as adaptation to irregular surfaces. Basic steering and experiments for the robot are also shown.

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Publisher：IEEE  

DOI： 10.1109/IROS.2004.1389541

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Authorship：Lead author   Language：Japanese   Publisher：The Robotics Society of Japan  

We analyze the the lateral rolling type of locomotion, present path planning of shape transition, and develop a 3-dimensional snake-like robot. First we propose one of a lateral rolling type of locomotion &amp;ldquo;Twisting mode&amp;rdquo; and analyze the principle of the locomotion based on statics. Next, the motion planning using Genetic Algorithm for transition of locomotion modes is explained and simulation results for the GA research are shown. Finally, we explain the designed prototype system and experimental results are shown.

DOI： 10.7210/jrsj.21.509

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Reinforcement learning is very effective for robot learning. Because it does not need prior knowledge and has higher capability of reactive and adaptive behaviors. In our previous works, we proposed new reinforce learning algorithm: "Q-learning with Dynamic Structuring of Exploration Space Based on Genetic Algorithm (QDSEGA)". It is designed for complicated systems with large action-state space like a robot with many redundant degrees of freedom. However the application of QDSEGA is restricted to static systems.
A snake-like robot has many redundant degrees of freedom and the dynamics of the system are very important to complete the locomotion task. So application of usual reinforcement learning is very difficult.
In this paper, we extend layered structure of QDSEGA so that it becomes possible to apply it to real robots that have complexities and dynamics. We apply it to acquisition of locomotion pattern of the snake-like robot and demonstrate the effectiveness and the validity of QDSEGA with the extended layered structure by simulation and experiment.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

The use of autonomous intelligent robots in search and rescue (SAR) is a new and challenging field of robotics dealing with tasks in extremely hazardous and complex disaster environments. Intelligent, biologically inspired mobile robots and, in particular serpetine mechanisms have turned out to be widely used robot types, providing effective, immediate, and reliable responses to many SAR operations. This paper outlines the challenges of serpentine search robot hardware, sensor-based path planning, and control design.

DOI： 10.1109/MRA.2002.1035210

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

We present a new type of locomotion mode, path planning of shape transition, and design and implementation of a 3-dimensional hyper-redundant snake-like robot. First we explain the multiple locomotion modes, for example ring mode, inching mode, bridge mode, and so on. We propose a new type of locomotion "Twisting mode" and analyze the principle of the locomotion based on statics. Next, the motion planning using Genetic Algorithm for transition of locomotion modes is explained and simulation result for the GA research is shown. Finally, we explain the designed prototype system and experimental results are shown.

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Total pages：vii, 159p   Language：Japanese

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DOI： 10.1080/01691864.2020.1774107

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (scientific journal)   Publisher：(一社)日本インターベンショナルラジオロジー学会  

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Language：Japanese   Publisher：(株)メジカルビュー社  

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Language：Japanese   Publisher：(株)北隆館  

CTガイド下に行うIVRには、がんの治療であるアブレーションや生検、ドレナージなど様々な手技がある。針を穿刺するのみで実施可能であるため低侵襲であり、超高齢化社会におけるがん医療として需要が高まっている。我々は、2012年からCTガイド下IVR用の針穿刺ロボット(Zerobot)を開発している。様々な非臨床試験によりロボットの安全性と性能を評価した後、2018年にはFirst-in-Humanの臨床試験を特定臨床研究として実施した。今後は治験を実施し、ロボットの薬事承認すなわち製品化を目指す予定である。(著者抄録)

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Publisher：Springer International Publishing  

DOI： 10.1007/978-3-030-05321-5_6

DOI： 10.7210/jrsj.37.789_references_DOI_J4u2K9zbH1WAYI44KpMstMJDliC

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Language：English  

Since 2012, we have been developing a remote-controlled robotic system (Zerobot®) for needle insertion during computed tomography (CT)-guided interventional procedures, such as ablation, biopsy, and drainage. The system was designed via a collaboration between the medical and engineering departments at Okayama University, including various risk control features. It consists of a robot with 6 degrees of freedom that is manipulated using an operation interface to perform needle insertions under CT-guidance. The procedure includes robot positioning, needle targeting, and needle insertion. Phantom experiments have indicated that robotic insertion is equivalent in accuracy to manual insertion, without physician radiation exposure. Animal experiments have revealed that robotic insertion of biopsy introducer needles and various ablation needles is safe and accurate in vivo. The first in vivo human trial, therefore, began in April 2018. After its completion, a larger clinical study will be conducted for commercialization of the robot. This robotic procedure has many potential advantages over a manual procedure: 1) decreased physician fatigue; 2) stable and accurate needle posture without tremor; 3) procedure automation; 4) less experience required for proficiency in needle insertion skills; 5) decreased variance in technical skills among physicians; and 6) increased likelihood of performing the procedure at remote hospitals (i.e., telemedicine).

DOI： 10.18926/AMO/56370

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Language：Japanese   Publisher：The Japanese Society of Interventional Radiology  

Computed tomography (CT) fluoroscopy-guided interventions such as ablation and biopsy are performed by inserting a specific needle into the lesion under CT fluoroscopy-guidance While those have various advantages including less invasive procedure, short procedure time, and low cost, a major concern to physicians is intraprocedural radiation exposure. In order to address this concern, we hypothesized that a remotely controllable robot could free physicians from radiation exposure. Since 2012, therefore, we have developed such a robot (Zerobot^&reg;), the tasks of which are to hold, target, and insert a needle under CT-guidance by a physician's remotely manipulating a controller. The robot is floor-mounted and specially designed for a sliding-gantry CT scanner for CT-guided interventions. Phantom experiments showed that robotic needle insertion was equivalent in accuracy without exposing the physician to radiation, in comparison to manual insertion. Animal experiments showed that it was feasible, safe, and accurate in an in vivo procedure. In this article, we provide an overview of the robot, including future perspectives.

DOI： 10.11407/ivr.33.19

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Language：Japanese   Publisher：日本ロボット学会 ; 1983-  

DOI： 10.7210/jrsj.35.720

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Language：Japanese   Publisher：日本保全学会  

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Language：Japanese   Publisher：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2017.1P2-Q01

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>We are developing a snake robot for using it in a real plant to inspect pipes in the plant. The snake robot is constructed by connecting pitch axis and yaw axis alternately. The snake robot can move the inside and outside of a pipe with helical rolling motion. We integrated the snake robot with tactile pressure sensors and a sound-based localization sensor to make it high functional system for pipe inspection. The integrated snake robot was demonstrated in a test field with straight pipes and bending pipes to show the ability of mobility of the snake robot and the functions of sensors.</p>

DOI： 10.1299/jsmermd.2017.1P2-Q02

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Language：Japanese   Publisher：(株)メディカルアイ  

我々は、CT透視下IVR用針穿刺ロボットを開発している。ロボットは、6自由度の動作が可能で、術者が遠隔よりマスターコントローラを操作することにより、CT透視下の針穿刺が可能である。本ロボットを使用すれば、手ブレのない正確な針穿刺が術者被曝ゼロで可能となる。今後は製販業者と連携し、臨床試験(治験)の実施、医療機器の承認・上市を目指したい。(著者抄録)

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have developed one-legged jumping robots using crank mechanism. The robot has a spring and a motor and it succeeded in continuous jumping supported by a stand to restrain its motion in the vertical direction of one degree of freedom. In this study, we improved the one-legged jumping robot in order to remove the stand from the robot and to jump continuously without falling in three degrees of freedom on a vertical two-dimensional plane. The robot is constructed by adding a hip joint to the previous robot. We also developed smaller robot. Some experiments are conducted to verify the robot. The experimental results of implementing a posture stabilization control are shown.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Researches for snake robots has been studied and they are hoped to be made practicable. In this research, it is assumed that environments where snake robots work constructed by pipes which are arranged parallel and densely. We made a snake robot which has joints of yaw and pitch using servo motor Dynamixel XL-320, and software to control the robot. This robot is so tiny that we accomplish a task of elevation in the mock environment using helical-rolling motion. In addition, we propose a new motion so we call as across-pipes motion which can move from a pipe to another pipe.

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Language：Japanese   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.33.209

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Language：Japanese   Publisher：(一社)日本インターベンショナルラジオロジー学会  

CT透視システムは、血管内治療のガイディングツールとして極めて有用である。しかし、術者はCTガントリーの近くで手技を行うため、CT透視を用いている間に被曝する。術者が遠隔操作するロボットで針穿刺を行えば、術者の被曝は避けることができる。著者らは、術者の被曝ゼロを実現する遠隔操作可能なCT透視ガイド下針穿刺用のロボットの開発を行っている。これまでのロボット開発の歩みと今後の展望について述べた。

DOI： 10.11407/ivr.29.375

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Other Link： https://search.jamas.or.jp/index.php?module=Default&action=Link&pub_year=2014&ichushi_jid=J02793&link_issn=&doc_id=20141229330006&doc_link_id=10.11407%2Fivr.29.375&url=https%3A%2F%2Fdoi.org%2F10.11407%2Fivr.29.375&type=J-STAGE&icon=https%3A%2F%2Fjk04.jamas.or.jp%2Ficon%2F00007_2.gif

Language：Japanese   Publisher：エム・イー振興協会 ; 1975-  

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Language：Japanese   Publisher：計測自動制御学会  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Language：English  

We have constructed a new system for searching the inside of damaged buildings by grouped robots. Especially, we developed a new wireless ad-hoc network system called 'Robohoc network' system. It is necessary to communicate information such as commands to robots and sensor data to an operator including video images stably with considering not to break down all network performance. In this paper, an outline of each constructed element and an example of methodology how to integrate each element such as robots, network, user interface and data server are shown. ©2010 IEEE.

DOI： 10.1109/ARSO.2010.5679618

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We developed new rescue robot system that plural rescue robots are remotely controlled by one operator. In this system, a pioneer type robot put multi hop wireless network devices to extend area that surveyor type robots are able to search victims and surroundings in a damaged building. In this paper, evaluation of GUI interface to operate plural rescue robots and distributing system of wireless network device are shown.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A prototype spherical motor driven by electro-magnets was studied and developed in the previous study. The whole radius is 110[mm], the rotor radius is 50[mm], the maximum torque is 0.06[Nm], and the maximum rotation angular velocity is 6.5[rad/sec]. This paper reports the several investigations to improve the performance of the motor and to decrease its size. In improving performance, the new spherical motor is developed, where 92 permanent magnets are attached on inner surface of the rotor. The new motor outputs about 3 times torque of the prototype. On the other hands, in designing small spherical motor, the specifications of electro-magnet and permanent magnet are examined using an extended simulator for a small spherical motor whose whole radius is 25[mm] and rotor radius is 15[mm].

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Language：English   Publisher：Springer London  

Intelligent rescue systems with advanced information and robot technology have been expected to mitigate disaster damage, particularly in Japan after the 1995 Hanshin-Awaji Earthquake. It is important that the robots developed for search and rescue tasks can actually work at a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. In 2002, the DDT Project (Special Project for Earthquake Disaster Mitigation in Urban Areas, III-4 Development of Advanced Robots and Information Systems for Disaster Response) was launched by MEXT (Ministry of Education, Culture, Sports, Science and Technology, Japan). It was a 5-year project for 2002-2007. It aimed at developing necessary technologies for mitigating the damage caused by large-scale earthquakes of the scale of the Great Hanshin-Awaji Earthquake, occurring in densely populated areas in big city regions such as the Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit for the information collection by on-rubble mobile platforms. © 2009 Springer London.

DOI： 10.1007/978-1-84882-474-4_6

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Language：English   Publisher：Springer London  

In this chapter, we summarize the findings and knowhow in the individual developments of rescue robots and attempt to establish design guidelines for the human interface for rescue robots. The guidelines for image display were established on the basis of some case studies in the DDT project and RoboCupRescue. Since the established guidelines are general and independent of the purpose of a robot, we decided to build a standardized image display prototype. After introducing some implementation examples based on our guidelines, the standardized image display prototype is presented. The established guidelines would be useful for the future development of rescue robots. Further, the prototype image display is a good example of a standardized interface testbed. © 2009 Springer London.

DOI： 10.1007/978-1-84882-474-4_7

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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This study develops a spherical motor driven by electromagnetic force. The motor is composed of a rotor and stator. The rotor has permanent magnets. The stator has electromagnets. The electromagnets are excited to rotate the rotor by the excitation pattern generated in a control PC. We confirmed that the spherical motor rotates in omnidirection by rotation experiments.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, multiple locomotion gaits of snake has been realized by snake-like robots. For example, undulation propulsion, side winding propulsion and measuring worm propulsion are realized. In addition, a locomtion gait called "lateral rolling" that real snake does not achieve is realized. However, those previous locomotion gaits are limited on two-dimensional plane. In this study, we develop a snake-like robot that is constructed by assembling five units. One unit is composed by one pitch axis and one yaw axis, and can have two passive wheels. We realize previously presented locomotion gaits of snake with this robot. In addition, we realize cylinder climbing locomotion in three-dimensional plane that this robot coils itself to a cylinder and climbs it by lateral rolling.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Publishing type：Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have developed three legged modular robot. The robot unites mutually and achieves works that cannot be done one module by cooperating each other. Our research aim is to gather information efficiently in the disaster scene. In this paper,we report the construction of hardware and software of the developed robot, and experiment of cooperation working.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

When a legged-robot walks on an irregular terrain such as a stricken area, some footholds may be collapsed by the force that the robot generates during its walking, and consequently the robot stumbles and falls. In this study we propose locomotion method that will not cause collapse of the environment by the robot walking. Furthermore, we propose a new knowledge for "leg-grope" and its domain that can detect the footholds without strumbling and falling.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

To search victims in the narrow space at the disaster scene, We have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially, and each vehicle is connected by joints. KOHGA has a problem that obstacles are caught in the joints and then the robot is stuck. To solve this problem, we developed "KOHGA2", which is unit-type robot and can be rearranged. The robot can rotate crawlers and avoid stuck by using the crawler arms. In this paper, we report the construction of hardware and system of KOHGA2, basic mobility performance, and the stuck avoidance strategy.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we propose a snake-like robot with new driving mechanism based on screw principle to drive on or into debris in the stricken area for searching task. We report the construction of hardware and software of this robot , and control strategy for this robot.

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Language：Japanese   Publisher：日本工業出版  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Event date： 2021

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Event date： 2020

Language：Japanese  

<p>In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, the number of this surgery tends to increase. However, doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. When doctors operate by remote control, there is possibility that parts of the robot collide with peripheral devices or a patient. Especially, if in the case of collision with the patient, it could become a serious incident. Accordingly, it is important to build a suitable path plan of the needle insertion before the surgery. Doctors, however, currently, do not have methods to grasp the possibility of the collision. Therefore, a simulation which detect collision with a patient in the advanced planning is proposed in this paper. The effectiveness of proposed simulation is confirmed.</p>

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Event date： 2020

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Event date： 2020

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Event date： 2020

Language：Japanese  

<p>In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, but doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. We are currently developing an automated puncture system. Deviation of puncture point on body surface causes needle deflection during the automatic puncture. Because the needle deflection grows with the inserted depth, it makes the needle difficult to reach the target tumor. So as to solve them, the floating mechanism is developed to suppress needle deflection. Displacement sensor on floating mechanism can measure the movement of the floating part. In addition, the puncture reaction force can be measured by the force sensor on the robot. Algorithms to suppress the needle deflection using this information are proposed in this paper.</p>

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Event date： 2020

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Event date： 2019

Language：Japanese  

<p>A remote-controlled robot for CT-guided needle insertion has been developed to prevent a doctor from radiation exposure. However, it is difficult for a doctor to recognize abnormal states of insertion when the doctor uses the robot because the doctor cannot obtain force sense information from the needle directly. Such an abnormal state occurs when a needle contacts with a bone. Therefore, we propose detecting abnormal states of insertion if force sensor value exceed a threshold and stopping the robot automatically. First, we conducted experiments to determine thresholds. We measured force values when a doctor feels the sign of plastic deformation in needles. In consideration of the stop time delay, thresholds were set by subtracting the rise values of force from the measured force values. Then, we verified that the robot can stop appropriately by the thresholds without occurring plastic deformation.</p>

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Event date： 2019

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Event date： 2019

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Event date： 2019

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Event date： 2019

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Event date： 2019

Language：Japanese  

<p>In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, but doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. As a research topic, automated needle puncturing by the robot is focused on. However, currently the robot cannot obtain CT image in real time. So, the robot cannot obtain the form of needle based on CT image and cannot control state of needle accurately. On the other hands, we aim that the robot moves automatically for restraining a bend of needle. As the first step for this, the method to estimate a form of needle by using a force sensor information is proposed in this paper. If a form of the needle is displayed in user interface, it become easy for doctors to remove a bend of the needle during surgery with remote-controlled IR assistance robot. Additionally, we conducts the experiment to confirm effectiveness of proposed method.</p>

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Event date： 2019

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Presentation type：Symposium, workshop panel (nominated)  

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Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Presentation type：Oral presentation (invited, special)  

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Interventional radiology is a minimally invasive image-guided procedure that can be performed percutaneously. When computed tomography (CT) is used as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote control needle puncture robot which has five degrees of freedom. However, evaluation of the positioning performance of the robot was not conducted. In this paper, evaluation criteria of positioning performance required for a needle puncture robot is determined, and the performance of the robot is evaluated.

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Language：Japanese  

Researches for snake robots has been studied and they are hoped to be made practicable. In this research, it is assumed that environments where snake robots work constructed by pipes which are arranged parallel and densely. We made a snake robot which has joints of yaw and pitch using servo motor Dynamixel XL-320, and software to control the robot. This robot is so tiny that we accomplish a task of elevation in the mock environment using helical-rolling motion. In addition, we propose a new motion so we call as across-pipes motion which can move from a pipe to another pipe.

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Language：Japanese  

We have developed one-legged jumping robots using crank mechanism. The robot has a spring and a motor and it succeeded in continuous jumping supported by a stand to restrain its motion in the vertical direction of one degree of freedom. In this study, we improved the one-legged jumping robot in order to remove the stand from the robot and to jump continuously without falling in three degrees of freedom on a vertical two-dimensional plane. The robot is constructed by adding a hip joint to the previous robot. We also developed smaller robot. Some experiments are conducted to verify the robot. The experimental results of implementing a posture stabilization control are shown.

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Language：Japanese  

There is a surgical method called Interventional Radiology (IVR). We have been developing surgery support robot of IVR. IVR has the advantage that invasiveness is low, therefore the number of IVR surgery has been increasing in recent years. In lung cancer treatments, however, it has the problem that doctors are exposed to radiation because IVR is conducted in CT equipment. The purpose of this study is to avoid the problem by operating remote steerable IVR robot. IVR robot with 5 DOF have been developed in the prior study. Previously, each joint was controlled independently. Therefore, when the posture of needle is changed, the position also should be corrected manually. To improve operability of IVR robot, the forward kinematics and the inverse kinematics is solved. Finally, accuracy of needle tip position is evaluated.

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Language：Japanese  

Interventional Radiology (IVR) is a minimally invasive procedure that can be usually performed percutaneously. IVR has an advantage in that it is less invasive than conventional surgical intervention. On the other hand, IVR has a disadvantage in that operators are exposed to radiation during procedure when fluoroscopy or computed tomography (CT) is used as an image-guidance. To solve this problem, we are developing a remote controlled robot that handles a needle for CT-guided IVR. In this paper, our 3rd prototype IVR robotic system is reported. The 3rd prototype robot is consist of five degrees of freedom, three liner mechanism and two rotational mechanism. Especially, round guild rail is adopted for the 2nd degree of freedom. We also adopt parallel link mechanism for the hand part of the robot. The developed prototype was used in a real operation room with CT machine and achieve puncturing a phantom. The experimental result is also reported in this paper.

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There is a surgical method called Interventional Radiology (IVR) as one of lung cancer treatments. It has a problem that doctors are exposed to radiation because IVR is conducted in CT equipment. In order to avoid the problem, a robotic IVR system that doctors conduct the operation with a robot is developed. An operation test is necessary to develop the robotic IVR system, however, an experiment with real patients is rejected based on ethic regulation. Therefore, we use a phantom in experiments instead of patients. A phantom is a model of human used for evaluation and adjustment of medical imaging equipments such as CT and MRI. However, ready-made phantoms can not be punctured, because they are only aimed for radiography and their surface are hard. Therefore a phantom for CT-IVR which can be punctured is developed.

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In this study,we study a one-legged robot.A one-legged robot has a problem that the robot falls down if it has no stand.This study deals with an attitude stabilization control to continuously jump without falling.First,models of the robot and equations of motion are derived.The attitude control is achieved by PID control.As a result of simulation,it is confirmed that the robot can continuously jump without falling.

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There are studies on a monopode jumping robot.In order to avoid an obstacle for a monopode jumping robot,the robot has to recognize the obstacle.In this study,three infrared sensors are attached on front and rear of the robot and recognize environment.It is assumed that there is a step as an obstacle.The robot recognizes a step when a point measured by rear sensor is on the plane estimated by front three sensors.The experimental results show evaluation of the recognition accuracy.

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We developed a system that battery voltage of the mobile robot is converted to AD value and it is monitored on a PC.If the battery residual quantity falls below a certain value,the mobile robot will return to the initial position autonomously.Autonomous traveling control is achieved by the right/left hand method.In order to return exactly to the starting position,we propose a method to detect a landmark near the starting position.The system is developed by RT middleware.Comparison between the final position and the starting position of the mobile robot is shown by experimental result.

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Interventional Radiology (IVR) is a kind of surgical operation using real-time CT images and needles. IVR has an advantage that it is a lower invasive operation than a general surgical operation. On the other hand, IVR has a disadvantage that operators are exposed to radiation of X rays from a CT machine while they conduct the operation. To solve this problem, we propose developing a serial link robot as a remote controlled robot. In this paper, prototypes of robotic interventional radiology are described. First, specifications for the robotic IVR are described. Next, first version of prototype is designed and results of preliminary experiment for artifact are shown. In the second version, we have constructed a 3DOF mechanism and its driving system which is commanded by a joystick controller. Finally, experimental results of the developed prototype system are shown.

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Legged robots have been studied and developed as a mobile robotic platform.In many types of legged robots,a quadruped robot has both compactness and stability.To make a quadruped robot be useful,it is required to walk dynamically and to move fast.We propose an algorithm to achieve a dynamic gait pattern.The dynamic gait which we deal with is trot gait that the robot swings the pair of the legs on the diagonal line at the same time.Generally,in order to estimate the motion of the robot walking dynamically,we have to calculate the complex dynamics.Therefore we model the quadruped robot by an inverted pendulum in order to simplify the equation of motion of the robot.Then we generate the trot gait patterns by using the equation of motion of the inverted pendulum.The quadruped robot does not always walk correctly.Therefore we propose the swing leg trajectory which is composed of ellipse and straight lines in order to reduce the influence of wrong behaviors of the robot.We conducted experiments that the quadruped robot was walked by the trot pattern which we made.As a result,the quadruped robot walked successfully.

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In this study,we study an articulated vehicle robot which achieves self-localization and mapping on two dimensional space.Each vehicle of the robot equips infrared sensors to measure the distance and encoders to measure the amount of rotation of the crawler.We propose an algorithm to improve the self-localization estimated by odometry.It is realized by using the ICP scan matching algorithm with scaned range data by infrared sensors redundantly.The experimental results shows the validity of the proposed method.

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There are some methods for self-localization for a mobile robot.For example,odometory calculates the robot's movement by rotation of wheels,and ICP algorithum calculates the robot's movement by the scan data of LRF obtained at two points.In this research,we realize three-dimensional self-localization by using odometry and ICP scan matching algorithum together.In addition,we conduct a stairs climbing experiments using a mobile robot developed in our laboratory,and we examine the usefulness of the self-localization method.

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When a robot system is developed by normal motors that rotate around one axis, the necessary number of motors is the same as that of joints resulting in a large and complicated system. On the other hand, spherical motors will realize a small and simple mechanism because they can rotate in various direction. A group of spherical motors that can rotate in 360 degrees is proposed by applying the working principle of planer stepping motor to spherical motors. There are various types in arranging permanent magnets on the rotor and electro-magnets on the stator. This study utilizes the arrangement in which a permanent magnet is placed on the apex of a truncated octahedron for the rotor and on electro-magnet is placed on either the apex of a regular dodecahedron or the middle point of two apexes for the stator. This study develops a spherical motor that can rotate around six axes and demonstrates the rotation around their axes.

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This paper proposes a method of turning for sidewinding locomotion of snake robot. Sidewinding locomotion is employed by a snake in the desert. It was shown that this locomotion can be generated by a repetitive traveling wave. However, most study of this locomotion is realized only straight forward locomotion. Sidewinding locomotion is considered as a curve along an helix of cylinder. We propose method to turn a direction of snake robot by changing a form of a snake robot from helix of cylinder to helix of cone. In addition, we consider a center of turning point to make a snale robot turning around arbitrary radius. We applied this method to the snake robot. Experimental results of a turning radius and turning speed are shown.

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Recently, jumping robots are studied in various organizations because the improvement of the speed of robots, the addition of avoiding ability the of the obstacle, and the enlargement of action range are expected if the jump movement of robots is achieved. And, it is necessary for a robot to adjust its action for the change of the environment. So, this study aims at developing a jumping robot that can jump a long rope. A one legged jumping robot that can change the jump cycle by using the air pressure was developed in the previous study. This paper examines the method of measuring rotational period of the rope by an image processing and the method of controlling the jump cycle by using the measurement results. It is confirmed that the jump cycle of the jumping robot can control appropriately by experiments.

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In this paper, we perform 3D shape reconstruction in the inside of a building by making use of 3D range information from a LRF and image from a camera equipped with a mobile robot. Abstractly, the mobile robot equip with a LRF mounted on a 2 D.O.F. (the pitch axis and the yawing axis) stand to get 3D scan data. Images from the camera are mapped on the corresponding 3D scan data by using a technique of texture mapping. Experimental results in a real environment by using a proposing method are shown. As a result, the robot moves and takes a picture from two or more points, and the mapping from these images to one 3D scanning data is achieved.

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Near future, robots are required to play a new role to cooperate and coexist with human. Therefore, this study focus on a high intelligence robot which have autonomous ability. An objective of this study is to construct a quadruped walking robot with a network camera that tracks a moving object autonomously. Thereby, this study explore a mechanism of intelligent robots. As a first study, we propose motion tracking algorithm using a network camera which has a function of video motion detection. In addition, to verify the algorithm, we conduct some experiments such as motion tracking of network camera using the algorithm, changing the behavior of a quadruped walking robot using the algorithm.

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Some snake like robots that connects plural vehicles in serial are studied as a rescue robot. These robots are expected to be able to connect various equipment according to a requirement for a disaster scene. However, in the case that the equipments adopt different standard, it is difficult to assemble them easily. Multiple vehicle connected snake like robot KOHGA developed in the previous work is using CAN communication between microcomputers for control. In this study, CANopen is adopted as communication protocol between microcomputers of KOHGA, aiming at modularity. CANopen is one of open networks based on CAN communication. In addition, the delay problem, when a command transmitted to the next vehicle, is improved by installing CANopen and constructing a new decentralized architecture for KOHGA.

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A prototype spherical motor driven by electro-magnets was studied and developed in the previous study. The whole radius is 110[mm], the rotor radius is 50[mm], the maximum torque is 0.06[Nm], and the maximum rotation angular velocity is 6.5[rad/sec]. This paper reports the several investigations to improve the performance of the motor and to decrease its size. In improving performance, the new spherical motor is developed, where 92 permanent magnets are attached on inner surface of the rotor. The new motor outputs about 3 times torque of the prototype. On the other hands, in designing small spherical motor, the specifications of electro-magnet and permanent magnet are examined using an extended simulator for a small spherical motor whose whole radius is 25[mm] and rotor radius is 15[mm].

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We developed new rescue robot system that plural rescue robots are remotely controlled by one operator. In this system, a pioneer type robot put multi hop wireless network devices to extend area that surveyor type robots are able to search victims and surroundings in a damaged building. In this paper, evaluation of GUI interface to operate plural rescue robots and distributing system of wireless network device are shown.

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This study develops a spherical motor driven by electromagnetic force. The motor is composed of a rotor and stator. The rotor has permanent magnets. The stator has electromagnets. The electromagnets are excited to rotate the rotor by the excitation pattern generated in a control PC. We confirmed that the spherical motor rotates in omnidirection by rotation experiments.

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Recently, multiple locomotion gaits of snake has been realized by snake-like robots. For example, undulation propulsion, side winding propulsion and measuring worm propulsion are realized. In addition, a locomtion gait called "lateral rolling" that real snake does not achieve is realized. However, those previous locomotion gaits are limited on two-dimensional plane. In this study, we develop a snake-like robot that is constructed by assembling five units. One unit is composed by one pitch axis and one yaw axis, and can have two passive wheels. We realize previously presented locomotion gaits of snake with this robot. In addition, we realize cylinder climbing locomotion in three-dimensional plane that this robot coils itself to a cylinder and climbs it by lateral rolling.

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When a legged-robot walks on an irregular terrain such as a stricken area, some footholds may be collapsed by the force that the robot generates during its walking, and consequently the robot stumbles and falls. In this study we propose locomotion method that will not cause collapse of the environment by the robot walking. Furthermore, we propose a new knowledge for "leg-grope" and its domain that can detect the footholds without strumbling and falling.

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Language：Japanese  

To search victims in the narrow space at the disaster scene, We have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially, and each vehicle is connected by joints. KOHGA has a problem that obstacles are caught in the joints and then the robot is stuck. To solve this problem, we developed "KOHGA2", which is unit-type robot and can be rearranged. The robot can rotate crawlers and avoid stuck by using the crawler arms. In this paper, we report the construction of hardware and system of KOHGA2, basic mobility performance, and the stuck avoidance strategy.

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Language：Japanese  

We have developed three legged modular robot. The robot unites mutually and achieves works that cannot be done one module by cooperating each other. Our research aim is to gather information efficiently in the disaster scene. In this paper,we report the construction of hardware and software of the developed robot, and experiment of cooperation working.

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Language：Japanese  

In this paper, we propose a snake-like robot with new driving mechanism based on screw principle to drive on or into debris in the stricken area for searching task. We report the construction of hardware and software of this robot , and control strategy for this robot.

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Applicant：国立大学法人 岡山大学

Application no：特願2018-166967  Date applied：2018.9.6

Announcement no：特開2020-039406  Date announced：2021.3.19

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Applicant：国立大学法人 岡山大学

Application no：PCT/JP2018/013938  Date applied：2018.3.30

Publication no：WO2018/207498  Date published：20181115

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Applicant：国立大学法人 岡山大学

Application no：PCT/JP2016/078920  Date applied：2016.9.29

Announcement no：特開2018-0206926 A1 

Publication no：WO2017/065016  Date published：2017420

Patent/Registration no：特許第6440177号  Date registered：2018.11.30 

J-GLOBAL

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Applicant：五福 明夫

Application no：特願2008-172778  Date applied：2008.6.3

Announcement no：特開2009-296864  Date announced：2009.12.17

J-GLOBAL

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