Date: June 27, 2003
Venue: Meeting Room 4, 28Floor, Kogakuin University (Shinjyuku Campus)
Registration fee: Free
Program
| 9:30 Site opens 9:50 Opening Address by Hirofumi MIURA, President, Jc-IFToMM, (Kogakuin University) | |
| Session 1 : Mobile Robots (10:00-11:20) Chair: Masato YASHIMA (National Defense Academy) | |
| 10:00 | The Leg Mechanism of a Water Surface Running Machine *Masaru HIGUCHI: Tokyo Institute of Technology Yukio TAKEDA: Tokyo Institute of Technology Hideo TANAKA: Armonicos co., Ltd. Hiroaki FUNABASHI: Shibaura Institute of Technology |
| 10:20 | Simulation Study of Self-Excited Running of a Biped Mechanism *Kyosuke ONO: Tokyo Institute of Technology Xiaofeng YAO: Tokyo Institute of Technology |
| 10:40 | Cooperative Conveyance of an Object with Tethers by Two Mobile Robots Norio INOU: Tokyo Institute of Technology *Michihiko KOSEKI: Tokyo Institute of Technology Ryu KIKUCHI: Tokyo Institute of Technology Takafumi SUZUKI: Tokyo Institute of Technology |
| 11:00 | Group Intelligence using School of Fish based Mobile Robots *Tetsuhiro AIKO: Kogakuin University Hirokatsu GOTO: Kogakuin University Yoichi MIZUKOSHI: Kogakuin University Hideaki TAKANOBU: K0gakuin University Hirofumi MIURA: Kogakuin University |
| 11:30 | Special Lecture: Multi-robot manipulation: Force closure, form closure and object closure Prof. Dr. Vijay Kumar Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania, USA |
| 12:10 – 13:10 Luncheon | |
| Session 2 : Robot Control (13:10-14:30) Chair: Yukio SAITO (Tokyo Denki University) | |
| 13:10 | Learning Control of Hyper Redundant Robots Based on Linear Learning Control Scheme Yoichi SHIMADA: Komatsu Ltd. *Daisuke MATSUURA: Tokyo Institute of Technology Koichi MORIKAWA: Tokyo Institute of Technology Nobuyuki IWATSUKI: Tokyo Institute of Technology |
| 13:30 | Randomized Motion Planning for Multifingered Robot Hand Masahito YASHIMA: National Defense Academy |
| 13:50 | Study of Tongue Type Robot *Tadayoshi TANDAI: KOGAKUIN University Katsuya TANAKA: KOGAKUIN University Satoshi SAITO: KOGAKUIN University Hideaki TAKANOBU: KOGAKUIN University Hirofumi MIURA: KOGAKUIN University |
| 14:10 | Study of a Master Manipulator for Brain Surgery *Hiroshi ISHIHARA: KOGAKUIN University Akihiro YAMAMOTO: KOGAKUIN University Naoyuki YOSHIZAWA: KOGAKUIN University Hideaki TAKANOBU: KOGAKUIN University Hirofumi MIURA: KOGAKUIN University Hiroshi ISEKI: Tokyo Women’s Medical University Masakatsu G. FUJIE: Waseda University Jun OKAMOTO: Waseda University |
| 14:30 – 14:40 Break | |
| Session 3 : Analysis and Design of Mechanical Elements (14:40-15:40) Chair: Norio INOU (Tokyo Institute of Technology) | |
| 14:40 | Kinematic Analysis of an Orthogonal Axis Output Type Precession Motion Ball Reducer *Hidetsugu TERADA: University of Yamanashi |
| 15:00 | Analytical Study of Disk-Type Variable Torque Slipping Clutch with Skewed Rollers Ming FENG: Nidec Corporation *Kyosuke ONO: Tokyo Institute of Technology Kenji MIMURA: MIM Engineering Ltd. |
| 15:20 | A Digital Evaluation System of the Tooth Flank Shape for Transmission Gears *Kohei SAIKI: Fuji Heavy Industries Ltd. Yasuharu OHNISHI: Fuji Heavy Industries Ltd. Keiichi MARUYAMA: Fuji Heavy Industries Ltd. |
| 15:40 – 15:50 Break | |
| Session 4 : Analysis and Design of Linkage Mechanism (15:50-16:50) Chair: Hidetsugu TERADA (University of Yamanashi) | |
| 15:50 | Kinematic Analysis of MacPherson Strut Mechanism *Jun NANGO: Yamagata University Hiroshi KONNO: Yamagata University |
| 16:10 | Design of Closed Kinematic Chains Considering Machining Errors and Kinematic Constraints *Akihiko MURAI: The University of Tokyo Yoshihiko NAKAMURA: The University of Tokyo |
| 16:30 | Durability of Large-Deflective Hinges in Molded Pantograph Mechanisms with Hinges and Links *Mikio HORIE: Tokyo Institute of Technology Masaru TOMIMATSU: Tokyo Institute of Technology Daiki KAMIYA: Tokyo Institute of Technology Teruya SUGIHARA: Tokyo Institute of Technology |
| 16:50 – 17:00 Break | |
| Session 5 : Analysis and Control of Vibration (17:00-18:00) Chair: Kyosuke ONO (Tokyo Institute of Technology) | |
| 17:00 | Identification of Nonlinear Damping System by Higher Order Spectra *Hiroyuki MATSUMOTO:Institute of Technologists Shigekazu AOKI: KOGAKUIN University Hisami OISHI: KOGAKUIN University Shinji YAMAKAWA: KOGAKUIN University |
| 17:20 | Modal Control of Flexible Rotors Supported by Active Magnetic Bearings *Hiroyuki FUJIWARA: National Defense Academy Makoto ITO: National Defense Academy Naohiko TAKAHASHI: Hitachi Industries Koji EBINA: National Defense Academy Osami MATSUSHITA: National Defense Academy |
| 17:40 | Rotational Test of Flexible Rotor Supported by Active Magnetic Bearings *Makoto ITO: National Defense Academy Hiroyuki FUJIWARA: National Defense Academy Osami MATSUSHITA: National Defense Academy |
| 18:15 | Annual Meeting 2003 Address from president: Hirofumi MIURA (Kogakuin University) Chair : Nobuyuki IWATSUKI (Tokyo Institute of Technology) |
| 18:50 | Wine party at the faculty club, Kogakuin University. The fee is 5,000 Jpn yen and free for students. |
Abstract of the Special Lecture
Multi-robot manipulation: Force closure, form closure and object closure
by Prof. Dr. Vijay Kumar
Department of Mechanical Engineering and Applied Mechanics
GRASP Laboratory, University of Pennsylvania
Robots have been used for manipulating objects for over four decades.
In industrial applications, special purpose end effectors are designed
depending on the object and application in question. By using multiple
robots however, it is possible to have standardized modular robots
that can be reconfigured to manipulate large or heavy objects without
using special purpose end effectors. This talk presents three
paradigms of manipulation. Force closure requires the payload forces
to be counteracted by end effector forces. Form closure is a geometric
condition that constrains the payload and its motion. Object closure
involves a combination of these two paradigms where the object is
trapped or caged by robots, while appropriate forces are applied to
transport or move it in a prescribed direction. We present the
kinematics and dynamics of these different paradigms and experimental
results that will illustrate the basic ideas.
The 9th Jc-IFToMM Symposium was successfully held on June 27, Friday, 2003 at Shinjuku Campus, Kogakuin University, Tokyo with 17 excellent oral presentations and a special lecture ‘Multi-robot manipulation: Force closure, form closure and object closure’ given by Prof. Vijay Kumar, University of Pennsylvania.
Next symposium will be held in May or June in 2003. We hope you will submit symposium papers or join the symposium.
