氏名

シュミッツ アレクサンダー

シュミッツ アレクサンダー

職名

准教授(任期付) (https://researchmap.jp/7000006759/)

所属

(大学院創造理工学研究科)

連絡先

URL等

研究者番号
30729455

本属以外の学内所属

学内研究所等

次世代ロボット研究機構

研究所員 2015年-

理工学術院総合研究所(理工学研究所)

兼任研究員 2018年-

論文

A Wearable Three-Axis Tactile Sensor for Human Fingertips

Kristanto, H., Sathe, P., Schmitz, A., Tomo, T. P., Somlor, S., Sugano, S

IEEE Robotics and Automation Letters (RA-L)3(4)p.4313 - 43202018年-

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掲載種別:研究論文(学術雑誌)

A New Silicone Structure for uSkin - a Soft, Distributed, Digital 3-axis Skin Sensor - and its Integration on the Humanoid Robot iCub

Tomo, T.P., Regoli, M., Schmitz, A., Natale, L., Kristanto, H., Somlor, S., Metta, G., Sugano, S

IEEE Robotics and Automation Letters (RA-L)3(3)p.2584 - 25912018年-

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掲載種別:研究論文(学術雑誌)

Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands

Tomo, T.P., Schmitz, A., Wong, W.K., Kristanto, H., Somlor, S., Hwang, J., Jamone, L., Sugano, S.

IEEE Robotics and Automation Letters (RA-L)3(1)p.124 - 1312018年-

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掲載種別:研究論文(学術雑誌)

Evaluation of Series Clutch Actuators With a High Torque-to-Weight Ratio for Open-Loop Torque Control and Collision Safety

Wang, Y., Schmitz, A., Kobayashi, K., Alvarez Lopez, J.A., Matsuo, Y., Sakamoto, Y., Sugano, S.

IEEE Robotics and Automation Letters (RA-L)3(1)p.297 - 3042018年-

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掲載種別:研究論文(学術雑誌)

Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation

Wang, W., Wei, C., Suga, Y., Kuo, C., Schmitz, A. and Sugano, S.

IEEE Robotics and Automation Letters3(1)p.187 - 1942018年-

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掲載種別:研究論文(学術雑誌)

Bio-inspired Ciliary Force Sensor for Robotic Platforms

Ribeiro, Pedro; Ribeiro, Pedro; Asadullah Khan, Mohammed; Alfadhel, Ahmed; Kosel, Jürgen; Franco, Fernando; Franco, Fernando; Cardoso, Susana; Cardoso, Susana; Bernardino, Alexandre; Schmitz, Alexander; Santos-Victor, José; Jamone, Lorenzo; Jamone, Lorenzo

IEEE Robotics and Automation Letters2(2)p.971 - 9762017年04月-2017年04月 

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概要:© 2017 IEEE. The detection of small forces is of great interest in any robotic application that involves interaction with the environment (e.g., objects manipulation, physical human-robot interaction, minimally invasive surgery), since it allows the robot to detect the contacts early on and to act accordingly. In this letter, we present a sensor design inspired by the ciliary structure frequently found in nature, consisting of an array of permanently magnetized cylinders (cilia) patterned over a giant magnetoresistance sensor (GMR). When these cylinders are deformed in shape due to applied forces, the stray magnetic field variation will change the GMR sensor resistivity, thus enabling the electrical measurement of the applied force. In this letter, we present two 3 mm × 3 mm prototypes composed of an array of five cilia with 1 mm of height and 120 and 200 μm of diameter for each prototype. A minimum force of 333 μ N was measured. A simulation model for determining the magnetized cylinders average stray magnetic field is also presented.

Wayang robot with gamelan music pattern recognition

Tomo, Tito Pradhono; Tomo, Tito Pradhono; Schmitz, Alexander; Schmitz, Alexander; Enriquez, Guillermo; Enriquez, Guillermo; Hashimoto, Shuji; Sugano, Shigeki

Journal of Robotics and Mechatronics29(1)p.137 - 1452017年02月-2017年02月 

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ISSN:09153942

概要:© 2017, Fuji Technology Press. All rights reserved. This paper proposes a way to protect endangered wayang puppet theater, an intangible cultural heritage from Indonesia, by turning a robot into a puppeteer successor. We developed a seven degrees-offreedom (DOF) manipulator to actuate the sticks attached to the wayang puppet body and hands. The robot can imitate 8 distinct human puppeteer’smanipulations. Furthermore, we developed a gamelan music pattern recognition, towards a robot that can perform based on the gamelan music. In the offline experiment, we extracted energy (time domain), spectral rolloff, 13 Mel-frequency cepstral coefficients (MFCCs), and the harmonic ratio from 5 s long clips, every 0.025 s, with a window length of 1 s, for a total of 2576 features. Two classifiers (3 layers feed-forward neural network (FNN) and multi-class Support Vector Machine (SVM)) were compared. The SVMclassifier outperformed the FNN classifier with a recognition rate of 96.4%for identifying the three different gamelan music patterns.

Design and characterization of a three-axis hall effect-based soft skin sensor

Tomo, Tito Pradhono; Somlor, Sophon; Schmitz, Alexander; Jamone, Lorenzo; Huang, Weijie; Kristanto, Harris; Sugano, Shigeki

Sensors (Switzerland)16(4)2016年04月-2016年04月 

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掲載種別:研究論文(学術雑誌)ISSN:14248220

概要:© 2016 by the authors; licensee MDPI, Basel, Switzerland.This paper presents an easy means to produce a 3-axis Hall effect–based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.

Improving IMES localization accuracy by integrating dead reckoning information

Fujii, Kenjiro; Arie, Hiroaki; Wang, Wei; Kaneko, Yuto; Sakamoto, Yoshihiro; Schmitz, Alexander; Sugano, Shigeki

Sensors (Switzerland)16(2)2016年01月-2016年01月 

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掲載種別:研究論文(学術雑誌)ISSN:14248220

概要:© 2016 by the authors; licensee MDPI, Basel, Switzerland.Indoor positioning remains an open problem, because it is difficult to achieve satisfactory accuracy within an indoor environment using current radio-based localization technology. In this study, we investigate the use of Indoor Messaging System (IMES) radio for high-accuracy indoor positioning. A hybrid positioning method combining IMES radio strength information and pedestrian dead reckoning information is proposed in order to improve IMES localization accuracy. For understanding the carrier noise ratio versus distance relation for IMES radio, the signal propagation of IMES radio is modeled and identified. Then, trilateration and extended Kalman filtering methods using the radio propagation model are developed for position estimation. These methods are evaluated through robot localization and pedestrian localization experiments. The experimental results show that the proposed hybrid positioning method achieved average estimation errors of 217 and 1846 mm in robot localization and pedestrian localization, respectively. In addition, in order to examine the reason for the positioning accuracy of pedestrian localization being much lower than that of robot localization, the influence of the human body on the radio propagation is experimentally evaluated. The result suggests that the influence of the human body can be modeled.

A Novel Tri-axial Capacitive-Type Skin Sensor

Somlor, S., Hartanto, R.S., Schmitz, A. and Sugano, S

Advanced Robotics29(21)p.1375 - 13912015年-

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掲載種別:研究論文(学術雑誌)

Hyperbolic positioning with antenna arrays and multi-channel pseudolite for indoor localization

Fujii, Kenjirou; Sakamoto, Yoshihiro; Wang, Wei; Arie, Hiroaki; Schmitz, Alexander; Sugano, Shigeki

Sensors (Switzerland)15(10)p.25157 - 251752015年09月-2015年09月 

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掲載種別:研究論文(学術雑誌)ISSN:14248220

概要:© 2015 by the authors; licensee MDPI, Basel, Switzerland. A hyperbolic positioning method with antenna arrays consisting of proximately-located antennas and a multi-channel pseudolite is proposed in order to overcome the problems of indoor positioning with conventional pseudolites (ground-based GPS transmitters). A two-dimensional positioning experiment using actual devices is conducted. The experimental result shows that the positioning accuracy varies centimeterto meter-level according to the geometric relation between the pseudolite antennas and the receiver. It also shows that the bias error of the carrier-phase difference observables is more serious than their random error. Based on the size of the bias error of carrier-phase difference that is inverse-calculated from the experimental result, three-dimensional positioning performance is evaluated by computer simulation. In addition, in the three-dimensional positioning scenario, an initial value convergence analysis of the non-linear least squares is conducted. Its result shows that initial values that can converge to a right position exist at least under the proposed antenna setup. The simulated values and evaluation methods introduced in this work can be applied to various antenna setups; therefore, by using them, positioning performance can be predicted in advance of installing an actual system.

First Results of Tilted Capacitive Sensors to Detect Shear Force

Somlor, S., Schmitz, A., Hartanto, R.S. and Sugano S.

Procedia Computer Science76p.101 - 1062015年-

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掲載種別:研究論文(学術雑誌)

The Design of the iCub Humanoid Robot

Parmiggiani, A., Maggiali, M., Natale, L., Nori, F., Schmitz, A., Tsagarakis, N., Santos Victor, J., Becchi, F., Sandini, G. and Metta, G.

International Journal of Humanoid Robotics9(4)p.1 - 232012年-

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掲載種別:研究論文(学術雑誌)

Methods and Technologies for the Implementation of Large Scale Robot Tactile Sensors

Schmitz, A., Maiolino, P., Maggiali, M., Natale, L., Cannata, G. and Metta G.

Transactions on Robotics27(3)p.389 - 4002011年-

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掲載種別:研究論文(学術雑誌)

A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots

Fujii, Kenjiro; Yonezawa, Ryosuke; Sakamoto, Yoshihiro; Schmitz, Alexander; Sugano, Shigeki

2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 20162016年11月-2016年11月 

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概要:© 2016 IEEE.A combined method of Doppler positioning and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite is proposed for indoor localization. This method uses carrier-phase output from a GPS/pseudolite receiver. The carrier-phase observable is precise but does not provide range information between the pseudolite and receiver antennas necessary for position calculation. This is because of the existence of carrier ambiguity. This problem can be solved by using the proposed combined method. In the present work, the positioning theory is established and experimentally evaluated with actual devices including a robot. The experimental result shows that a positioning accuracy of more than 10 cm is achievable.

Design optimisation and performance evaluation of a toroidal magnetorheological hydraulic piston head

Dominguez, Gonzalo Aguirre; Kamezaki, Mitsuhiro; He, Shan; Sophon, Somlor; Schmitz, Alexander; Sugano, Shigeki

IEEE International Conference on Intelligent Robots and Systems2016-Novemberp.350 - 3552016年11月-2016年11月 

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ISSN:21530858

概要:© 2016 IEEE.The advantages of mechanical compliance have driven the development of devices using new smart materials. A new kind of magnetorheological piston based on a toroidal array of magnetorheological valves, has been previously tested to prove its feasibility. However, being an initial prototype its potential was still limited by its complex design, and low output force. This study presents the revisions done to the design with several improvements targeting key performance parameters. An improved annular piston design is also introduced as comparison with conventional devices. The toroidal and annular piston head prototypes are built and tested, and their force performance compared with the previous iteration. The experimental results show an overall performance improvement of the toroidal assembly. However, the force model used in the study still fails to accurately predict the magnetic flux at the gaps of the piston head. This deviation is later verify and corrected using a FEM analysis. The force performance of the new toroidal assembly is on par with the commonplace annular design. It also displays a more linear behaviour, at the expense of lower energy efficiency. Finally, it also shows potential for a greater degree of customisation to meet different system requirements.

Position-force combination control with passive flexibility for versatile in-hand manipulation based on posture interpolation

Or, Keung; Tomura, Mami; Schmitz, Alexander; Funabashi, Satoshi; Sugano, Shigeki

IEEE International Conference on Intelligent Robots and Systems2016-Novemberp.2542 - 25472016年11月-2016年11月 

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ISSN:21530858

概要:© 2016 IEEE.In-hand manipulation is often needed to accomplish a practical task after grasping an object. In-hand manipulation of variously sized and shaped objects in multi-fingered hands without dropping the object is challenging. In this paper we suggest a combined strategy of force control and passive adaptation through soft fingertips with simple interpolation control to achieve in-hand manipulation between various postures and with various objects. While passive compliance can be achieved in numerous ways, this paper uses soft skin, as it does not require complex mechanisms and was easy to integrate in the robot hand (Allegro hand). Softness has proven to significantly ease object grasping, and the current paper shows the importance of softness also for in-hand manipulation. In particular, the simple interpolation strategy between various postures is successful when combined with soft fingertips, with or without force control, but fails with hard fingertips. Objects of varying size, shape and hardness were reliably manipulated. While the soft fingertips enabled good results in our experiments, a sufficiently precise definition of the postures and object size was required. When combining the interpolation control with a force control strategy, bigger errors in defining the posture and object size are possible, without deforming or dropping the object, and the resultant force is lower. As a result, we achieved robust in-hand manipulation between various postures and with objects of different size, shape and hardness.

Development of robotic fingertip morphology for enhanced manipulation stability

Or, Keung; Schmitz, Alexander; Funabashi, Satoshi; Tomura, Mami; Sugano, Shigeki

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM2016-Septemberp.25 - 302016年09月-2016年09月 

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概要:© 2016 IEEE.This study aims to develop a fingertip in order to improve the manipulation performance of posture interpolation control for a multifingered robot hand. Increasing the contact area between the fingertips and object is one solution for improving grasping and manipulation stability. A reasonable fingertip shape design and material selection can increase the contact area. In this paper, we compare an anthropomorphic shape to a cylindrical body with a semispherical tip. In order to test the practical property such as contact area size of our proposed fingertip, a pressure experiment was conducted for comparing the two fingertip shapes under different workloads. Finally, we installed the fingertips on a commercial available robot hand Allegro Hand. Two tasks were conducted for evaluating our proposed fingertip with posture interpolation control. The results show that our proposed fingertip could improve manipulation performance by comparing the success rate in both the experiments.

Exploiting the slip behavior of friction based clutches for safer adjustable torque limiters

Wang, Yushi; Schmitz, Alexander; Kobayashi, Kento; Lopez, Javier Alejandro Alvarez; Wang, Wei; Matsuo, Yuki; Sakamoto, Yoshihiro; Sugano, Shigeki

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIMp.1346 - 13512017年08月-2017年08月 

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概要:© 2017 IEEE. Torque limiters are a proven way to enhance the safety in robots. To further increase the safety, adjustable torque limits depending on the task and the joint configuration (joint angles, velocity, acceleration) would be preferable. Friction clutches can be used as adjustable torque limiters (ATL). In contact free motion the ATL can be set with torque limits higher than the required torque, thereby not influencing the position tracking performance. At an impact, the torque is intrinsically limited, enhancing the safety. Furthermore, depending on the implementation, friction clutches have another relevant property. They can have different torque limits for static and kinetic friction: When the static torque limit is exceeded (as it would be the case in an incidental contact situation), the clutch starts slipping, and the torque output automatically decreases, thereby reducing the forces in a quasi-static contact, as defined in ISO/TS 15066:2016. The current paper implements and profiles an ATL, which exhibits a kinetic torque limit of only 50.4% of the static torque limit at 10rpm. This ensures both an adjustable torque limit fitting to the task requirement and a lower but not zero torque after impact for enhanced safety. Impact experiments validate the safety benefits outlined above.

Intent communication in navigation through the use of light and screen indicators

Shrestha, Moondeep C.; Kobayashi, Ayano; Onishi, Tomoya; Uno, Erika; Yanagawa, Hayato; Yokoyama, Yuta; Kamezaki, Mitsuhiro; Schmitz, Alexander; Sugano, Shigeki

ACM/IEEE International Conference on Human-Robot Interaction2016-Aprilp.523 - 5242016年04月-2016年04月 

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概要:© 2016 IEEE.Human's ability to perceive intent plays a crucial role in achieving smooth and efficient navigation. At the present state, even with the state-of-the-art anthropomorphic robots, displaying human-like non-verbal communication (kinesics) is a challenging task. This poses a significant difficulty in performing legible navigation behavior for robots. In this paper, we look into light (turn indicator) and screen (arrow indicator) indicators as a means of overcoming the shortcomings of the robot's non-verbal communication abilities. Our results show a statistically significant improvement in perceived comfort, predictability, and performance with the use of light indicators.

Feature Extraction by Deep Learning for Improved In-Hand Manipulation

FUNABASHI Satoshi;SATO Takashi;SCHMITZ Alexander;SUGANO Shigeki

The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts2015(6)p.31 - 322015年12月-2015年12月 

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ISSN:13488961

概要:This article presents feature extraction with deep learning for in-hand manipulation. It is important that robot hands can manipulate different sized and shaped objects. In order to generate versatile manipulation with such objects, we used deep learning to extract critical information from object manipulating motions.

Methods for improving IMES transmitters: Transmission diversity, variable beamwidth antenna, and leaky coaxial cable

Fujii, Kenjiro; Kawaguchi, Takamasa; Matsumoto, Hisanori; Tanikawara, Makoto; Toyama, Takashi; Sakamoto, Yoshihiro; Wang, Wei; Arie, Hiroaki; Schmitz, Alexander; Sugano, Shigeki

2015 IEEE/SICE International Symposium on System Integration, SII 2015p.326 - 3312016年02月-2016年02月 

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概要:© 2015 IEEE.IMES is an indoor messaging and positioning system. In the present work, three methods for improving the IMES transmitter are proposed based on the result of a radio acquisition analysis: Transmission diversity, a variable beamwidth antenna, and a leaky coaxial cable (LCX). The transmission diversity method increases the possibility of signal acquisition in areas with weak signal. A small-sized variable beamwidth antenna is developed to mitigate the multipath interference in narrow spaces. A field experiment with a LCX in an actual train setup is conducted to verify the effect of the LCX for the positioning of moving vehicles. The evaluation results of the proposed methods suggest their potential to be applied to practical applications.

Interpolation control posture design for in-hand manipulation

Or, Keung; Tomura, Mami; Schmitz, Alexander; Funabashi, Satoshi; Sugano, Shigeki

2015 IEEE/SICE International Symposium on System Integration, SII 2015p.187 - 1922016年02月-2016年02月 

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概要:© 2015 IEEE.Object handling and manipulation are important functions of dexterous anthropomorphic hands. As it is difficult to create a manipulation model analytically for performing complex tasks as humans do, a simple way to accomplish generic in-hand manipulation is desirable for robotic hands, especially for robot hands with few sensors. In this paper, we designed standard grasping postures based on the grasping behavior of humans. Interpolation control is used to control the robot hand. The combination of these postures results in versatile object manipulation. This control strategy is evaluated by testing it with the 16 degrees of freedom Allegro Hand grasping different sizes of spheres.

An investigation into the social acceptance of using contact for inducing an obstructing human

Shrestha, Moondeep C.; Kobayashi, Ayano; Onishi, Tomoya; Uno, Erika; Yanagawa, Hayato; Yokoyama, Yuta; Kamezaki, Mitsuhiro; Schmitz, Alexander; Sugano, Shigeki

IEEE-RAS International Conference on Humanoid Robots2015-Decemberp.941 - 9462015年12月-2015年12月 

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ISSN:21640572

概要:© 2015 IEEE.In densely populated scenarios with cramped spaces, it is very difficult to achieve safe and efficient navigation without cooperation from humans. One way in which we can seek cooperation from humans is by using contact to influence them to give way. However, such a method may incur certain psychological implications and therefore requires an acceptability check to ensure whether such action is acceptable or not. For this purpose, we investigate the participant's subjective response towards robot-initiated touch during the course of navigation. We conducted a 2 (robotic experience vs. none) x 2 (warning vs. none) between-subject experiment with 44 people in which a mobile robotic platform exerted contact on an unaware and obstructing participant to make way towards its goal. Our results show that prior experience with robots produces slightly better response even though the results are not statistically significant. However, a verbal warning prior to contact yielded much more favorable response. In general, the participants did not find contact to be uncomfortable and were not opposed to robot-initiated contact if deemed necessary.

Development of a hall-effect based skin sensor

Tomo, Tito Pradhono; Somlor, Sophon; Schmitz, Alexander; Hashimoto, Shuji; Sugano, Shigeki; Jamone, Lorenzo

2015 IEEE SENSORS - Proceedings2015年12月-2015年12月 

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概要:© 2015 IEEE. In this paper we introduce a prototype of a novel hall-effect based skin sensor for robotic applications. It uses a small sized chip that provides 3-axis digital output in a compact package. Our purpose was to evaluate the feasibility of measuring 3-axis force while maintain a soft exterior for safe interactions. Silicone was used to produce the soft skin layer with about 8 mm thickness. An MLX90393 chip was installed at the bottom of layer, with a small magnet approximately 5mm above it to measure 3-axial magnetic field data. To evaluate the sensor's performance, an experiment was conducted by measuring normal and shear force when applying total forces of 0.7-14N in the normal and tangential directions of the sensor. The test revealed that the sensor prototype was able to differentiate the components of the force vector, with limited crosstalk. A calibration was performed to convert the measurements of the magnetic field to force values.

Robust in-hand manipulation of variously sized and shaped objects

Funabashi, Satoshi; Schmitz, Alexander; Sato, Takashi; Somlor, Sophon; Sugano, Shigeki

IEEE International Conference on Intelligent Robots and Systems2015-Decemberp.257 - 2632015年12月-2015年12月 

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ISSN:21530858

概要:© 2015 IEEE.Moving objects within the hand is challenging, especially if the objects are of various shape and size. In this paper we use machine learning to learn in-hand manipulation of such various sized and shaped objects. The TWENDY-ONE hand is used, which has various properties that makes it well suited for in-hand manipulation: a high number of actuated joints, passive degrees of freedom and soft skin, six-axis force/torque (F/T) sensors in each fingertip, and distributed tactile sensors in the skin. A dataglove is used to gather training samples for teaching the required behavior. The object size information is extracted from the initial grasping posture. After training a neural network, the robot is able to manipulate objects of untrained sizes and shape. The results show the importance of size and tactile information. Compared to interpolation control, the adaptability for the initial posture gap could be greatly extended. Final results show that with deep learning the number of required training sets can be drastically reduced.

A Concept for a robot arm with adjustable series clutch actuators and passive gravity compensation for enhanced safety

Schmitz, Alexander; Bhavaraju, Soumya; Somlor, Sophon; Dominguez, Gonzalo Aguirre; Kamezaki, Mitsuhiro; Wang, Wei; Sugano, Shigeki

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM2015-Augustp.1322 - 13272015年08月-2015年08月 

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概要:© 2015 IEEE. Passive compliance is useful for robotic arms to ensure their safety. Often springs are used, but they are problematic because they reduce the achievable accelerations and can lead to underdamped oscillations. Torque limiters enhance the safety, but usually the torque limit cannot be adjusted to a desired torque. Electronically adjustable torque limiters, also known as series clutch actuators, have several benefits, especially for robotic arms, but they also have severe limitations. This paper suggests incorporating series clutch actuators into a gravity compensated arm. Consequently, gravity should not limit the isotropically achievable force anymore and in the case of power outage the arm keeps its position. The benefits and limitations of a series clutch actuator in a gravity compensated arm are discussed, and a prototype of such an arm is presented. Commercially available magnetic friction clutches are used. Preliminary experiments demonstrate that the safety can be increased.

Using contact-based inducement for efficient navigation in a congested environment

Shrestha, Moondeep C.; Nohisa, Yosuke; Schmitz, Alexander; Hayakawa, Shouichi; Uno, Erika; Yokoyama, Yuta; Yanagawa, Hayato; Or, Keung; Sugano, Shigeki

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication2015-Novemberp.456 - 4612015年11月-2015年11月 

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概要:© 2015 IEEE.As robots progressively continue to enter human lives, it becomes important for robots to navigate safely and efficiently in crowded environments. In fact, efficient navigation in crowded areas is an important prerequisite for successful coexistence between humans and robots. In this paper, we explore an unconventional idea wherein a robot tries to achieve a more efficient navigation by influencing an obstructing human to move away by means of contact. First, preliminary human reaction experiments were conducted wherein we established that we can successfully induce a human to move in a desired direction. Following this result, we have proposed a novel motion planning approach which considers inducement by contact. The system is then verified through simulation and real experiments. The results show us that the proposed method can be utilized for safer and more efficient navigation in a crowded, but relatively static environment.

Exploring the use of light and display indicators for communicating directional intent

Shrestha, Moondeep C.; Kobayashi, Ayano; Onishi, Tomoya; Yanagawa, Hayato; Yokoyama, Yuta; Uno, Erika; Schmitz, Alexander; Kamezaki, Mitsuhiro; Sugano, Shigeki

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM2016-Septemberp.1651 - 16562016年09月-2016年09月 

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概要:© 2016 IEEE.Legible robot behavior is a key element for smooth and efficient navigation among humans. However, at present, even the state-of-the-art robots cannot communicate its internal state of directional intent by displaying human-like non-verbal cues. In this paper, we explore various modes for communicating directional intent of a robot across three different scenarios as a means of overcoming the shortcomings of the robot's non-verbal communication abilities. Specifically, we look into turn indicators, display indicators, and their combinations with sound and investigate their effectiveness across different passing scenarios. Our study shows us that using auxiliary communicating methods significantly improves the perceived feelings of our dependent measures. Further, communicating intention also helps in improving cooperation. However, the effectiveness greatly varies with the modes and the passing scenarios. In the case of 90 degrees crossing scenario, even though participants have positive perceived feelings, this does not necessarily translate into smooth and efficient navigation.

A study on fingertip designs and their influences on performing stable prehension for robot hands

Or, Keung; Morikuni, Shu; Ogasa, Shun; Funabashi, Satoshi; Schmitz, Alexander; Sugano, Shigeki

IEEE-RAS International Conference on Humanoid Robotsp.772 - 7772016年12月-2016年12月 

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ISSN:21640572

概要:© 2016 IEEE.This research aims to clarify and analyze potential factors in fingertip designs and conditions which may affect prehension performances in addition to the control strategy. In this paper, four factors of fingertip designs and conditions are considered: hardness, thickness of the skin, shape and the surface friction condition of the fingertip. Six fingertips were made in order to compare these factors and their influences on grasp stability under different conditions (high and low workload). An evaluation experiment was conducted in order to investigate how the proposed properties affect the grasping performance under different workloads. Results show an unexpected effectiveness of the soft skin grasping performance compared to less deformable materials, even with reduced friction; also the orientation of the fingertips significantly affects the grasping performance in the case of anthropomorphic fingertips. These results can be useful for designing a new robot hand and a control strategy, which can potentially lead to a better stability and efficient performance.

A modular, distributed, soft, 3-axis sensor system for robot hands

Tomo, Tito Pradhono; Wong, Wai Keat; Schmitz, Alexander; Kristanto, Harris; Sarazin, Alexandre; Jamone, Lorenzo; Somlor, Sophon; Sugano, Shigeki

IEEE-RAS International Conference on Humanoid Robotsp.454 - 4602016年12月-2016年12月 

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詳細

ISSN:21640572

概要:© 2016 IEEE.Integrating distributed sensors in the skin of robot hands is challenging, as the space is limited. This paper presents a dense and small tactile sensor system that can be installed on robotic hands. In the current implementation, the system is constituted by modules that are 26mm long and 27mm wide and they have been successfully integrated on the internal side of each finger phalange of the commercially available Allegro Hand (except the fingertips). Each sensor module contains 16 tri-axial taxels; each taxel is able to measure the applied 3D force vector using a Hall effect sensor and a magnet. The sensor modules are 4mm high, including the printed circuit board (PCB) with the sensors and the soft silicone with the magnets. The back of the PCB is flat without any components mounted, which eases the integration. Each sensor has I2C digital output, and each sensor module is connected to four I2C buses, requiring only seven wires for each module. The tri-axial taxels are close to each other (4.7 mm from the center of one taxel to the next), but experiments proved that independent force vectors can be measured and that the crosstalk is limited.

Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy

Paulino, Tiago; Ribeiro, Pedro; Neto, Miguel; Cardoso, Susana; Schmitz, Alexander; Santos-Victor, Jose; Bernardino, Alexandre; Jamone, Lorenzo; Jamone, Lorenzo

Proceedings - IEEE International Conference on Robotics and Automationp.966 - 9712017年07月-2017年07月 

DOIScopus

詳細

ISSN:10504729

概要:© 2017 IEEE. In this paper we present a low-cost and easy to fabricate 3-axis tactile sensor based on magnetic technology. The sensor consists in a small magnet immersed in a silicone body with an Hall-effect sensor placed below to detect changes in the magnetic field caused by displacements of the magnet, generated by an external force applied to the silicone body. The use of a 3-axis Hall-effect sensor allows to detect the three components of the force vector, and the proposed design assures high sensitivity, low hysteresis and good repeatability of the measurement: notably, the minimum sensed force is about 0.007N. All components are cheap and easy to retrieve and to assemble; the fabrication process is described in detail and it can be easily replicated by other researchers. Sensors with different geometries have been fabricated, calibrated and successfully integrated in the hand of the human-friendly robot Vizzy. In addition to the sensor characterization and validation, real world experiments of object manipulation are reported, showing proper detection of both normal and shear forces.

Object Recognition Through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors

Funabashi, S., Morikuni, S., Geier, A., Schmitz, A., Ogasa, S., Tomo, T.P., Somlor, S., Sugano. S.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)2018年-

An Adjustable Force Sensitive Sensor with an Electromagnet for a Soft, Distributed, Digital 3-Axis Skin Sensor

Holgado, A.C., Alvarez Lopez, J.A., Schmitz, A., Tomo, T.P, Somlor, S., Jamone, L., Sugano, S.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)2018年-

Design & Implementation of an Emergency Stop Function for On-Power Clutch Based Adjustable Torque Limiters

Wang, Y., Schmitz, A., Alvarez Lopez, J.A., Kobayashi, K., Sugano, S.

IEEE/SICE International Symposium on System Integration (SII 2017)2017年-

DOI

Development of a Capacitive-type 6-axis Force-Torque Sensor

Somlor, S., Schmitz, A., Jinsun, H., Tomo, T.P., Sugano, S

IEEE Sensors Conference 20172017年-

DOI

SNR Modeling and Material Dependency Test of a Low-cost and Simple to Fabricate 3D Force Sensor for Soft Robotics

Tomo, T.P., Wong, W.K., Schmitz, A., Kristanto, H., Somlor, S., Hwang, J. and Sugano, S.

IEEE/SICE International Symposium on System Integration (SII, 2016), Sapporo, Japan2016年-

DOI

Intent Communication in Navigation through the Use of Light and Screen Indicators

Shrestha, M.C., Kobayashi, A., Onishi, T., Uno, E., Yanagawa, H., Yokoyama, Y., Kamezaki, M., Schmitz, A., Sugano, S.

11th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2016), Late-Breaking Reports (peer reviewed), Christchurch, New Zealand,2016年-

DOI

A Haptic Interface with Adjustable Stiffness Using MR Fluid

Somlor, S., Aguirre Dominguez, G., Schmitz, A., Kamezaki, M. and Sugano, S.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2015), Busan, Korea2015年-

DOI

A Prototype of a Force Sensing Unit for a Capacitive-type Force-Torque Sensor

Somlor, S., Schmitz, A., Hartanto, R.S. and Sugano, S

IEEE/SICE International Symposium on System Integration (SII 2014), Tokyo, Japan2014年-

DOI

Tactile Object Recognition using Deep Learning and Dropout

Schmitz, A., Bansho, Y., Noda, K., Iwata, H., Ogata, T., Sugano, S.

IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain2014年-

DOI

Sensor Prediction and Grasp Stability Evaluation for In-Hand Manipulation

Kojima, K., Sato, T., Schmitz, A., Arie, H., Iwata, H. and Sugano, S.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan2013年-

DOI

A Toolbox for Supporting the Design of Large-Scale Capacitive Tactile Systems

Thuy-Hong-Loan, L., Maiolino, P., Mastrogiovanni, F., Cannata, G. and Schmitz, A.

IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), Bled, Sloveni2011年-

DOI

Improvement of Tactile Capacitive Sensors of the Humanoid Robot iCub's Fingertips

Ascia, A., Biso, M., Ansaldo, A., Schmitz, A., Ricci, D., Natale, L., Metta, G. and Sandini, G.

IEEE Sensors, Limerick, Ireland2011年-

DOI

詳細

掲載種別:研究論文(国際会議プロシーディングス)

Design, Realization and Sensorization of the Dexterous iCub Hand

Schmitz, A., Pattacini, U., Nori, F., Natale, L., Metta, G. and Sandini, G.

IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010), Nashville, Tennessee, USA2010年-

DOI

Touch Sensors for Humanoid Hands

Schmitz, A., Maggiali, M., Natale, L. and Metta, G.

Special session on the Role of Tactile Sensing in Human-Robot Interaction, 19th IEEE International Symposium in Robot and Human Interactive Communication (Ro-Man 2010), Viareggio, Italy2010年-

DOI

A Tactile Sensor for the Fingertips of the Humanoid Robot iCub

Schmitz, A., Maggiali, M., Natale, L., Bonino, B. and Metta, G.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan2010年-

DOI

A Prototype Fingertip with High Spatial Resolution Pressure Sensing for the Robot iCub

Schmitz, A., Maggiali, M., Randazzo, M., Natale, L. and Metta, G.

8th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008), Daejeon, Korea2008年-

DOI

On the Robustness of Simple Speed Control for a Quadruped Robot.

Schmitz, A., Gómez, G. J., Iida, F. and Pfeifer, R.

International Conference on Morphological Computation, Venice, Italy2007年-

書籍等出版物

Intrinsically Motivated Learning in Natural and Artificial Systems

Baldassarre, G. and Mirolli, M(分担執筆)

Springer-Verlag, Berlin2013年-

詳細

単行本(学術書)総ページ数:458担当ページ数:433-458ISBN:978-3-642-32375-1

概要:Interdisciplinary authors explain latest theories on mammalian intelligenceInterdisciplinary authors explain latest theories on mammalian intelligence...Interdisciplinary authors explain latest theories on mammalian intelligence and learning, artificial intelligence, creativity, and evolution Identifies scientific and technological open challenges and most promising research directions Grounds theoretical with practical robotics experiments

特許

整理番号:1667

多軸力センサ(日本, PCT)

ハルタント,リチャード, 菅野 重樹, シュミッツ,アレクサンダー, ソムロア,ソフォン

特願2015-086315、特開2016-205942

整理番号:1879

身体部位接触力センサ(日本, PCT)

シュミッツ,アレクサンダー, ソムロア,ソフォン, トモ,ティト プラドノ, クリスタント,ハリス, 黄 振善, 菅野 重樹

特願2017- 9422、特開2018-119801

整理番号:1911

機械装置の動力伝達システム(日本, PCT, アメリカ, 中華人民共和国)

シュミッツ,アレクサンダー, 汪 偉, オルガド, アレクシス カルロス, 許 晉誠, 小林 健人, アルバレス ロペス, ハビエル , 王 語詩, 菅野 重樹

特願2017-055173、特開2018-158389

整理番号:1912

トルクリミッタ(日本, PCT, アメリカ, 中華人民共和国)

シュミッツ,アレクサンダー, 汪 偉, オルガド, アレクシス カルロス, 許 晉誠, 小林 健人, アルバレス ロペス, ハビエル , 王 語詩, 菅野 重樹

特願2017- 53823、特開2018-155360

整理番号:1913

接触力調整エンドエフェクタ(日本)

汪 偉, 許 晉誠, シュミッツ,アレクサンダー, オルガド, アレクシス カルロス, 小林 健人, アルバレス ロペス, ハビエル , 菅野 重樹

特願2017-053824、特開2018-153898

外部研究資金

科学研究費採択状況

研究種別:

Small sized force/torque sensors for robotic arms and hands

2015年-0月-2017年-0月

配分額:¥4030000

研究種別:

Dense 3-axis tactile sensing and AI to implement human-like manual skills in robots

2019年-0月-2022年-0月

配分額:¥17420000

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