Image-Based Visual PID Control of a Micro Helicopter Using a Stationary Camera

This paper proposes an image-based visual servo control method for a micro helicopter. The helicopter does not have any sensors to measure its position or posture on the body. A stationary camera is placed on the ground and it obtains image features of the helicopter. The differences between current features and given reference features are computed. PID controllers then make control input voltages for helicopter control and they drive the helicopter. The proposed controller can avoid some major difficulties in computer vision such as numerical instability due to image noise or model uncertainties, since the reference is defined in the image frames. An experimental result demonstrates that the proposed controller can keep the helicopter in a stable hover.     

Dexterity and versatility in the pinching motion of robot fingers with multi-degrees of freedom

This paper focuses on dexterity and versatility in pinching a rectangular object by a pair of robot fingers based on sensory feedback. In the pinching motion of humans, it is possible to execute concurrent pinching and orientation control quickly and precisely by using only the thumb and index finger. However, it is not easy for robot fingers to perform such imposed tasks agilely and simultaneously. In the case of robotic grasping, to perform concurrently such plural tasks retards the convergence speed in the execution of the overall task. This means that in order to increase versatility by imposing additional tasks, dexterity in the execution of each task may deteriorate. In this paper it is shown that both dexterity and versatility in the execution of such imposed tasks can be enhanced remarkably, without any deterioration in dexterity in the execution of each task, by using a sensory feedback method based on the idea of role-sharing joint control which comes from observation of the functional role of each human finger joint.     

Factors Involved in Tactile Texture Perception Through Probes

An understanding of texture perception by robotic systems can be gained by examining human texture perception through a probe. As with texture perception in direct touch with the finger, texture perception by indirect touch by means of a probe is multidimensional, comprising rough, hard and sticky texture continua. In this study we describe variability among individual subjects in probe-mediated texture perception, and compare similarities and differences of texture perception between direct touch and indirect touch. The results show variability among subjects, as individual subjects may choose to rely on different texture dimensions, and examine the texture surface using different scanning velocities and contact forces. Despite the fact that the subjects use different scanning velocities and forces, they discriminate textures reliably and make subjective magnitude estimates consistently along a texture continuum when indirectly exploring texture surfaces with a probe. These data will be potentially useful in designing robotic sensory systems and understanding of sensory feedback, which is essential to teleoperations.     

Autonomously generating efficient running of a quadruped robot using delayed feedback control

We report on the design and stability analysis of a simple quadruped running controller that can autonomously generate steady running of a quadruped with good energy efficiency and suppress such disturbances as irregularities of terrain. In this paper, we first consider the fixed point of quasi-passive running based on a sagittal plane model of a quadruped robot. Next, we regard friction and collision as disturbances around the fixed point of quasi-passive running, and propose an original control method to suppress these disturbances. Since it is difficult to accurately measure the total energy of the system in a practical application, we use a delayed feedback control (DFC) method based on the stance phase period measured by contact sensors on the robot's feet with practical accuracy. The DFC method not only stabilizes running around a fixed point, but also results in the transition from standing to steady running and stabilization in running up a small step. The effectiveness of the proposed control method is validated by simulations. MPEG footage of these simulations can be viewed at: http://www.kimura.is.uec.ac.jp/running.     

KAT II: Tactile Display Mouse for Providing Tactile and Thermal Feedback

This paper proposes a tactile display mouse providing both pin-array-type tactile feedback and thermal feedback. The pin-array-type tactile display is composed of a 6 × 5 pin-array that is actuated by 30 piezo-electric bimorphs. Micro shape and vibrotactile feedback can be generated by the device, and various planar distributed patterns can be displayed as can Braille cell patterns. The thermal feedback device is composed of a thin-film resistance temperature detector, a Peltier thermoelectric heat pump and a water cooling jacket. Users can discriminate among different materials by considering the temperature variation that can be sensed as they touch an object's surface. This paper also includes an experimental evaluation of the tactile display mouse to prove the effectiveness of displaying textures. Evaluation of the ability to identify material properties was conducted using the thermal feedback part that displays a simulated temperature profile. To investigate thermo–tactile interaction, an experiment determining perceived magnitude of vibrotactile stimulus according to different temperature conditions was conducted.