Publication

index

• Mikio Osaki, Toshio Takayama, Toru Omata, Toshiki Ohya, Kazuyuki Kojima, Kozo Takase and Naofumi Tanaka: Single-Trocar Assemblable Retractor-Hand for Laparoscopic Surgery, Proc. of 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 3490-3495, 2009
• Toshio Takayama, Yoshinori Chiba and Toru Omata: Tokyo-TECH 100 N Hand : Three-fingered eight-dof hand with a force-magnification mechanism, Proc. of 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 593-598, 2009
• Takeshi TAKAKI, Toru Omata: High Performance Anthropomorphic Prosthetic Hand with Grasp Force Magnification Mechanism, Proc. of 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 1697-1703, 2009
• Ritsuya Oshima, Toshio Takayama, Toru Omata, Kazuyuki Kojima, Kozo Takase, and Naofumi Tanaka, "Assemblable Three-Fingered Nine-Degree of Freedom Hand for Laparoscopic Surgery," Proc. of The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 11-15, 2009 St. Louis, USA, pp. 5528-5533

• Ritsuya Ohshima, Toshio Takayama, Toru Omata, Toshiki Ohya, Kazuyuki Kojima, Kozo Takase and Naofumi Tanaka: Assemblable Three Fingered Five-DOF Hand for Laparoscopic Surgery, Proc. of 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, pp. 3896-3901, 2008 (IEEE Robotics and Automation Society Japan Chapter Young Award)
• Toshio Takayama, Toru Omata, Kazuyuki Kojima, and Naofumi Tanaka: Assemblable Pursestring Suture Instrument for Laparoscopic Surgery, Proc. of 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, pp. 3908-3913, 2008
• Ritsuya Ohshima, Toshio Takayama, Toru Omata, Toshiki Ohya, Kazuyuki Kojima, Kozo Takase and Naofumi Tanaka: Assemblable Three Fingered Five-DOF Hand for Laparoscopic Surgery, Journal of the Robotics Society of Japan, Vol. 26，No. 5，pp. 453-461, 2008(in Japanese).
• Toshio Takayama, Toru Omata, Kazuyuki Kojima, and Naofumi Tanaka: Development of Assemblable Pursestring Suture Instrument, Journal of Japan Society of Computer Aided Surgery, Vol. 10，No. 2，pp. 131-138, 2008(in Japanese).

• Takeshi Takaki and Toru Omata: Grasp Force Magnifying Mechanism for Parallel Jaw Grippers, Proc. of the 2007 IEEE International Conference on Robotics and Automation, pp. 199-204, 2007.
• Toshio Takayama, Toru Omata, Takashi Futami, Hideki Akamatsu, Toshiki Ohya, Kazuyuki Kojima, Kozo Takase, and Naofumi Tanaka: Detachable-Fingered Hands for Manipulation of Large Internal Organs in Laparoscopic Surgery, Proc. of 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 244-299, 2007
• Toshio Takayama, Toru Omata, Takashi Futami, Hideki Akamatsu, Toshiki Ohya, Kazuyuki Kojima, Kozo Takase, and Naofumi Tanaka: Hands with Detachable Fingers for Laparoscopic Surgery, Journal of the Robotics Society of Japan, Vol.25，No.3，pp.154-159, 2007(in Japanese).

• Takeshi Takaki, Keisuke Sugiyama, Toshio Takayama, and Toru Omata: Development of two DOF finger using ultrasonic motors and load-sensitive continuously variable transmissions, Advanced Robotics, Vol. 20, No. 8, pp. 897-911, 2006.
• Elon Rimon, Joel. W. Burdick and T. Omata: A Polyhedral Bound on the Indeterminate Contact Forces in Quasi-Rigid Fixturing and Grasping Arrangements, IEEE Trans. on Robotics, Vol.22, No.2, pp.240-255, 2006.
• Takeshi Takaki and Toru Omata: 100g-100N Finger Joint with Load-Sensitive Continuously Variable Transmission, Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, pp. 976-981, 2006.
• Takeshi Takaki and Toru Omata, 100[g]-100[N] Robot Finger with Load-Sensitive Continuously Variable Transmission, Journal of the Robotics Society of Japan, Vol.24, No.2, pp.263-269, 2006 (in Japanese).

• Tasuku Yamawaki, Osamu Mori and Toru Omata, 4R and 5R Parallel Mechanism Mobile Robots, Journal of the Robotics Society of Japan, Vol.23, No.2, pp.213-219, 2005 (in Japanese).
• Takeshi Takaki and Toru Omata, Load-Sensitive Continuously Variable Transmission for Robot Hands, Journal of the Robotics Society of Japan, Vol.23, No.2, pp.238-244, 2005 (in Japanese).

• Tasuku Yamawaki, Osamu Mori and Toru Omata, Dynamic Rolling Control of 5R Closed Kinematic Chain with Passive Joints, Journal of the Robotics Society of Japan, Vol.22, No.1, pp.112-119, 2004 (in Japanese).
• Jin-Kyu Choi, Toru Omata, and Osamu Mori: Self-Reconfigurable Planar Parallel Robot, Proc of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2654-2660, 2004.
• Jin-Kyu Choi, Osamu Mori, and Toru Omata: Dynamic and Stable Reconfiguration of Self-Reconfigurable Planar Parallel Robots, Advanced Robotics, Vol.18, No.6, pp.565-582, 2004.
• Jin-Kyu Choi, Osamu Mori, Toshiya Tsukiai, and Toru Omata: Self-Reconfigurable Planar Parallel Robot in the Horizontal Plane, Advanced Robotics, Vol.18, No.1, pp.45-60, 2004.
• Takaki Takaki and Toru Omata: Load-Sensitive Continuously Variable Transmission for Powerful and Inexpensive Robot Hands, Proc of the 1st IEEE Technical Exhibition Based Conference on Robotics and Automation, 2004 (Best Technical Exhibition Award).
• Tasuku YAMAWAKI, Toru OMATA and Osamu MORI: 4R and 5R Parallel Mechanism Mobile Robots, Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 3684-3689, (2004) Abstract
• Takeshi TAKAKI and Toru OMATA: Load-Sensitive Continuously Variable Transmission for Robot Hands, Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 3391-3396, (2004) (Japan Chapter Young Award) Abstract
• Elon RIMON, Joel W. BURDICK and Toru OMATA: A Polyhedral Bound on the Indeterminate Contact Forces in Fixturing and Grasping Arrangements, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp.1817-1823, (2003).
• Tasuku YAMAWAKI, Osamu MORI and Toru OMATA: Nonholonomic Dynamic Rolling Control of Reconfigurable 5R Closed Kinematic Chain Robot with Passive Joints, Proceedings of the 2003 IEEE International Conference on Robotics and Automation,pp.4054-4059, (2003).
• Toru Omata, Osamu Mori and Takayoshi Tomozane, Coupling of Two 2R Open Kinematic Chains with Second Joints Unactuated in the Horizontal Plane Making Use of Uncertainty Sigularity, Journal of the Robotics Society of Japan, Vol.21, No.4, pp.444-450, 2003 (in Japanese).
• Toru Omata, An Algorithm for Computing Grasp Force Solutions in Power Grasps Considering Errors in Elastic Contact Model, Journal of the Robotics Society of Japan, Vol.21, No.7, pp.794-801, 2003 (in Japanese).
• Osamu MORI and Toru OMATA: Coupling of Two 2-Link Robots with a Passive Joint for Reconfigurable Planar Parallel Robot, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 4120-4125, (2002) Abstract
• Toru OMATA, Kazuo TSUKAGOSHI and Osamu MORI: Whole Quadrupted Manipulation, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2028-2033, (2002) (Best Manipulation Paper Award) Abstract
• Toru Omata, Kazuo Tsukagoshi and Osamu Mori, Whole Body Manipulation with a Quadruped Robot -Avoidance of Increased Mobility Singularity-, Journal of the Robotics Society of Japan, Vol.20, No.7, pp.734-741, 2002 (in Japanese).
• Toru Omata, Osamu Mori and Yuji Utsumi, Self-Reconfigurable Parallel Robot on Vertical Plane by Coupling of Two Two-Link Robots with First Joints Unactuated, Journal of the Robotics Society of Japan, Vol.20, No.6, pp.640-646, 2002 (in Japanese).
• Thomas SCHLEGL, Toru OMATA, Martin BUSS and Guenther SCHMIDT: Robust and Fast Manipulation of Objects with Multi-Fingered Hands: Video Proceedings, 2001 IEEE International Conference on Robotics and Automation (2001)
• Thomas SCHLEGL, Toru OMATA and Guenther SCHMIDT: Fast Dextrous Regrasping with Optimal Contact Forces and Contact Sensor-Based Impedance, Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp.103-108, (2001)
• Toru OMATA: Rigid Body Analysis of Power Grasps: Bounds of the Indeterminate Grasp Force, Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp.2203-2209, (2001)
• Mohammad Asim Farooqi,Toru OMATA: Online Construction of the Manipulation-Model of an unknown Object by a Robot Hand using the Regrasping Primitives, Advanced Robotics: Vol.14, No.2, 135-151, (2000) Abstract
• Toru OMATA and Kazuyuki NAGATA: Rigid Body Analysis of the Indeterminate Grasp Force in Power Grasps, IEEE Transactions on Robotics and Automation, Vol.16, No.1, 46-54, (2000) Abstract
• Mohammad Asim FAROOQI, Takashi TANAKA, Yukio IKEZAWA, Toru OMATA and Kazuyuki NAGATA: Sensor Based Control the Execution of Regrasping Primitives on a Multifingered Robot Hand, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 3217-3223, (1999)
• Toru OMATA and Eiichiro TANAKA: A quadruped robot which can take various postures, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 2366-237, (1999) Abstract
• Toru OMATA: Learning with Assistance based on Evolutionary Computation, Proceedings of IEEE International Conference on Robotics and Automation, 2180-2185, (1998) Abstract

Back to Top

• Learning with Assistance based on Evolutionary Computation Go list
  
  This paper proposes a learning method which learns a motion by employing an assistance in order to simplify it. This learning is done from easy to difficult level. Using Genetic Algorithm, it searches for the parameters of a controller appropriate for controlling the motion to be learnt by gradually increasing difficulty, i.e., by gradually decreasing the degree of assistance. We show that this gradual search enables Genetic Algorithm to evolve a population of controllers efficiently by giving two examples: stable riding of a bicycle and stable controlling of a double inverted pendulum. A bicycle is much easier to control when it is running at a certain velocity. An initial velocity is given as assistance and it is decreased gradually. Similarly a double inverted pendulum is much easier to control when an upward force supports the distal end of the pendulum. The reduction rate of assistance is adjustable in accordance with the adaptability of a population to the reduction.
  
  
• A quadruped robot which can take various postures Go list
  
  We developed a quadruped robot which can take various postures, e.g. lying on the floor and standingon the knees. When the limbs are free from supporting the body of the robot, they can serve as arms. Up to two limbs can be freed from supporting the body when the robot stands on the knees. The motionof the robot is constrained if it maintains current contact with the floor. This paper analyzespossible motions of the robot to maintain current contact. We show that even if the same parts ofthe robot are in contact with the floor, there exist singular postures at which the body of therobot has an additional degree of freedom.
  
  
• Rigid Body Analysis of the Indeterminate Grasp Force in Power Grasps Go list
  
  This paper analyzes the indeterminate grasp force in power grasps with a rigid body model. A powergrasp overconstrains an object with multiplecontact points using the surfaces of finger links and palm. It is known that the overconstrained grasp results in the static indeterminacy of the grasp force. This paper shows that it also resultsin an infeasible combination of the sliding directions at the contact points. A static frictional force acts only in the opposite direction of the trend of sliding. This characteristic of friction restricts the grasp force in power graspsalthough it is indeterminate. First we show an example toillustrate the restriction on the grasp force. Then we formulateit formally. This analysis leads to a special casewhere the grasp force is unique.
  
  
• Online Construction of the Manipulation-Model of an Unknown Object by a Robot Hand Using the Regrasping Primitives Go list
  
  This paper presents a planner which explores an unknown polyhedral object with a multifingered handin a systematic way by constructing the manipulation-model of the object. The manipulation-model ofan object we proposed previously is a database which consists of landmark orientations of the object, the applicability of manipulation primitives to them, and inter-transformations among them. In this paper, two regrasping primitives rotation and pivoting are employed. A multifingered hand probes a given unknown object for pivot/rotation axes. If a new axis is found,the planner recursively performs pivoting or rotation-test (which is similar to but does not rotate the object actually) about the found axis and searches the object formore axes. The manipulation-model of the object is constructed based on the found axes. Experiment for constructing a manipulation-model of a non-convex polyhedral object is conducted using a four-fingered hand. Force/torque sensors mounted on the fingertips collect the data of the object. A geometrical model of the object is also constructed.
  
  
• Whole Quadrupted Manipulation Go list
  
  This paper proposes whole quadruped manipulation, a novel manipulation with a quadruped robot using its whole body. The quadruped robot we have developed can stand on its knees and its two legs can serve as arms. The robot can hold a relatively big and heavy object in its two arms, and can manipulate it by moving its body. The desired configurations of the robot during the manipulation are at an increased mobility singularity if the whole distal links of its two legs are in contact with the floor or ground. The problem with the singularity is that the mobility of the robot changes significantly around it. This paper shows a contact type for the two legs to avoid such a singularity. We verify that our quadruped robot can perform the proposed manipulation experimentally.
  
  
• Coupling of Two 2-Link Robots with a Passive Joint for Reconfigurable Planar Parallel Robot Go list
  
  This paper proposes a reconfigurable planar parallel robot by coupling two 2R open kinematic chains (or 2-link robots), the first joints of which are passive. We show that they can reconfigure to a 5R closed kinematic chain which has the same number of actuators as its degrees of freedom. They can also reconfigure to a 4R closed kinematic chain plus one actuated link. The parallel robot has only two actuators but can have multiple functions by reconfigurations. Due to the passive joints, whether or not the 2R open kinematic chains can couple with each other is a non-trivial problem. We propose coupling sequences for forming the 4R and 5R closed kinematic chains and verify those experimentally.
  
  
• Load-Sensitive Continuously Variable Transmission for Robot Hands Go list
  
  This paper presents a load-sensitive continuously variable transmission (CVT) for finger joints. Fingers of a robot hand require power when grasping an object and speed when opening and closing. Therefore a CVT is ideal to improve the power transmission of a finger joint. Existing friction CVTs are too big and heavy to be installed in a finger joint. By focusing on the fact that finger joints do not necessarily rotate 360 degrees, a remarkably simple and small load-sensitive CVT can be developed based on a crank CVT. The mechanism consists of a five-bar linkage and a torsion coiled spring. We have developed one joint with the CVT and have experimentally verified that the CVT can increase its reduction ratio from 0.5 to 3.3 in response to a load.
  
  
• 4R and 5R Parallel Mechanism Mobile Robots Go list
  
  We have proposed a self-reconfigurable parallel robot, which can be configured to 4R and 5R closed kinematic chains. This paper proposes a parallel mechanism mobile robot by mounting it on a crawler mechanism. The combined mobile robot can gain some useful functionalities from the advantage of its parallel mechanism other than just locomotion, such as getting over a bump by control of its center of gravity and carrying an object by making use of its shape. Furthermore, the robot can form three-dimensional structures with other such robots and reach a certain height in which the single one cannot. We have developed two such robots that are self-contained. This paper analyzes the motions of the functionalities and verifies them experimentally using the robots.
  
  

Back to Top