Joint Symposium on
Sensory-Motor Coordination in
Robotic Manipulation
Cosponsored by
21st Century COE Program
Micro Nanoscience Integrated Systems
March 2 − 3, 2004
EPOCH Ritsumei 21,
Biwako-Kusatsu Campus
Preface
It is my pleasure to launch
Hanoi University of
Technology and Ritsumeikan University Joint
Symposium on Sensory-Motor Coordination in Robotic Manipulation. Robotics has been an interdisciplinary
technology among mechanical engineering, electronics, control engineering,
computer science, manufacturing and material science, and others.
Two
years ago, the Japanese Ministry of Education, Culture, Sports, Science and
Technology has elected
Hanoi
University of Technology and
Finally, I express my
sincere thanks to all contributors to this joint symposium, especially, to the
cooperation of Dr. Nguyen
Pham Thuc Anh.
Shinichi Hirai
Department of Robotics
Table of Contents
Nguyen Thien Phuc 1
Anand Vaz and Shinichi Hirai 9
Bond
Graph Based Design of Prosthesis for Partially Impaired Hands
Hiroe HASHIGUCHI, Suguru ARIMOTO, and Ryuta
OZAWA 19
Control of a
Handwriting Robot with DOF-Redundancy based on Feedback in Task-Coordinates
Takahiro Inoue and Shinichi Hirai 27
Rotational
Contact Model of Soft Fingertip for Tactile Sensing
S. Arimoto, J.-H. Bae, H. Hashiguchi,
and R. Ozawa 33
Natural Resolution of
Ill-Posedness of Inverse Kinematics for Redundant Robots under Constraints
P.T.A. Nguyen, S.
Arimoto, C.H. Nguyen, and M. Yoshida
49
Mizuho
Shibata and Shinichi Hirai 59
Effect of Fingertip
Dynamics in Soft-fingered Grasping
J.-H. Bae, S. Arimoto, and R. Ozawa 65
Enhancement of Dexterity
of Object Manipulation by Surplus DOF of Robot Fingers
Ryuta Ozawa, Suguru Arimoto, Shinsuke
Nakamura, and Ji-Hun Bae 75
Kenji TAHARA, Zhi-Wei LUO, Tadashi
ODASHIMA, and Atsuo KATO 81
Development of Dynamic Human Simulation Platform
Takashi Mitsuda and Paolo Onorati 85
Hoang Vinh Sinh, Banh
Tien Long, and Nguyen Cong Hien 91
A
study of method to control EDMing process
Katsuya KANAOKA 97
Virtual
Power Limiter System which Guarantees Stability of Control Systems
P.T.A. Nguyen, S.
Arimoto, M. Yoshida 103
Realizing Dexterous Motions of Robotic Fingers
with Spherical Rigid-Tips
Byoung-Ho Kim and Shinichi Hirai 111
Soft Contact-based Rigid
Object Manipulation: Planar Case
Masahiro SEKIMOTO and Suguru ARIMOTO 119
Dao Ba Phong, Phan Xuân Minh, and Nguyen Doan Phuoc 127
Dzung Viet Dao, Toshiyuki Toriyama, John Wells, and Susumu Sugiyama 133
Silicon Piezoresistive Six-Degree of Freedom Micro
Force-Moment Sensor
Shinichi Hirai and Shinya Yamamoto 141
Robust and Video-frame
Rate Tracking of Planar Motion by Matched Filtering on FPGA
Schedule
Dean
of Academic Affairs, Dept. Photonics
10:10 – 10:40 Nguyen
Thien Phuc
11:10 – 11:40 Hiroe
Hashiguchi
16:10 – 16:40 Kenji
Tahara
17:20 – 19:00 Banquet