Introduction of Advanced Robot Systems Laboratory
( OSUMI Lab. )@
1. Policy of research
There are amount of robot control algorithms proposed until now, but most of them have not been
used in practice because of their complexity and the difficulties of obtaining accurate dynamic
models of robots. On the other hand, most popular industrial robots are controlled by simple PID
position controllers. In order to expand the practical applications for popular robots, robotic
mechanisms and control systems are necessary that are designed taking account of the performance
of PID position controllers or other simple control laws. Our approach to the popularization of robot
technology is based on this policy. As concrete research projects, cooperative systems consisting of
multiple robots, redundant robots and wire driven systems are studied in the laboratory.
2. Research projects
Using the above policy, we are developing several robotic systems. The key technologies common to
the following projects are,
- - how to design kinematic compliance to achieve cooperative handlings based on position
controllers,
- - how to realize cooperation among multiple robots, and
- - how to exploit redundancy included in robotic systems.
The research projects are as follows:
- Development of force control device consisting of a corse actuator and a fine actuator
- Development of a mobile manipulator consisting of a six d.o.f. manipulator and an
omni-cirectional mobile platform
- Fast walking for four legged robots
- Control of a redundant manipulator placed on a wire suspended plate
- Automatic scooping of a wheel loader gYamazumi Projecth
- O.Kanai, H.Osumi,
S.Sarata and M.Kurisu: Autonomous Scooping of a Rock Pile by a Wheel Loader Using Disturbance
Observer, Proc. 23rd International Symposium on Automation and Rbotics in Construction,
pp.462-475, 2006.
- Y.Takahashi, R.yasuhara, O.Kanai, H.Osumi and S.Sarata
Development of Bucket Scooping Mechanism for Analysis of Reaction Force against Rock Piles
Proc. 23rd International Symposium on Automation and Robotics in Construction, pp.476-481, 2006.
- S.Sarata, N.Koyachi, T.Tsubouchi, H.Osumi, M.Kurisu and K.Sugawara
Development of Autonomous System for Loading Operation by Wheel Loader
Proc. 23rd International Symposium on Automation and Robotics in Construction, pp.466-471, 2006.
- Development of a crane control system with a novel sensor system for measuring wire angles
- Development of a wire suspended mechanism with hierarchical structure
- Development of a cooperative system consisting of three PID position controlled manipulators
- H.Osumi, M.Kagatani: Cooperative Control of Three PID PositionControlled Robots with Passive Joint Mechanisms, Proc. Fourth World Automation Congress, ISORA-9921(CDROM), 2000.
- H.Osumi: Design of Cooperative System Consisting of Multiple Position Controlled Robots, JSME Int. Journal, Vol.43, No.2, 394-400, 2000.
- Hisashi OSUMI, Manabu ONO, Mitsuyuki FUJIBAYASHI, Manabu KAGATANI:
Cooperative System for Multiple Position-controlled Robots with Free Joint Mechanisms
Proc. 1997 IEEE Int. Conf. on Robotics and Automation, pp.1484-1489, 1997.
- Control of a wire suspended manipulator using control units of counter weights
- Development of a cooperative control system consisting of multiple mobile manipulators