The 9th Symposium on Theory of Machines and Mechanisms

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The 9th Symposium on Theory of Machines and Mechanisms

Date: June 27, 2003
Place: Meeting Room 4, 28Floor,
Kogakuin University (Shinjyuku Campus)

Program:

9:50 Opening Address by Hirofumi MIURA, President, JCToMM
(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

Chair Nobuyuki IWATSUKI (Tokyo Institute of Technology)

12:10-13:10 Luncheon

Session 2 腆 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

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.

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

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 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.