The purpose of this study is to execute a beverage can opening task by an articulated versatile robot arm, which is often executed in our daily life. We generated beverage can opening trajectories for position controlled single robot arm and dual robot arm. We analyzed the humans' can opening operations and generated trajectories for opening the lid of beverage can. They are sequential rotational and translational motions for a single robot arm, and their concurrent cooperated motions for a dual robot arm. We confirmed that the beverage can opening operations by single and dual robot arms are successfully achieved based on our generated trajectories. Additionally, from the comparison of these two trajectories, we found out that the trajectory of the dual robot arm is robust and efficient. And, the configuration of the motions of single and dual robot arms is different, but operations to the beverage can by each robot arm are essentially the same.

In this research, we develop user-oriented RT service proposal system in Kukanchi. Kukanchi is interactive Human-Space Design and Intelligence. By carrying out data mining of user information, service history, sensor data, and object data, this system finds out those relationships and gives weight to each of them. As a result of experiment, this system came to be able to propose “Tsuide Service” (Additional RT service) that each user expects.

In this research, we propose the service management system design of robot technology (RT) service for interactive human-space design and intelligence to make robot provide appropriate services according to situations. For this, we propose to define that "service" as an order that the end user requests and "task" as elements that compose "service". We focus on the development of the system that manages services for various robots to work by cooperating. And we systematize RAC (robot action command) for service generation by the system. In this paper, we describe the outline of RT-service management system and experiments.

In this research, we propose the robot technology (RT) ontology for interactive human-space design and intelligence to make robot provide appropriate services according to situations. For this, we propose to define that "main task" as a task that the user requests and "Tsuide task" as an essential task accompanied with the "main task" to complete it. We focus on the development of the system for identifying and defining "Tsuide task" that is changed by the intention of user and the main task. We name the proposing technique as "RT ontology" which can be used for the infrastructure technology for structuring space information. In this paper, we describe the outline of RT ontology and experiments.

Non-elastic hyper-flexible elements like tethers and ropes will have various possibilities of unconventional manipulations. In this paper, casting and winding manipulation of hyperflexible manipulators (HFM) is proposed. The HFM is modeled as an underactuated multi-link system connected by non-elastic passive joints, and simulation results with dynamic parameters heuristically determined corresponding to the experimental results show the validity of the proposed non-elastic model. The simulation results also correspond to the experimental ones with actuation at the base joint. Observations on the simulation results is derived to reveal a better casting actuation to succeed in winding to an object. Then, single swing actuation for winding is proposed and verified in simulations

Presents a robust method for an autonomous mobile robot with a sonar-ring to follow walls. The sonar-ring consists of multiple ultrasonic range sensors. The proposed wall-following algorithm makes a robot able to follow a wall in various shapes such as a square wall, a circular wall etc. The autonomous mobile robot "Yamabico" is used for experiments after being equipped with a 12 directional sonar-ring. The on-board controller of the robot decides its motion based on sonar-ring range data every 3 centimeters going forward. The authors carried out many experiments with this autonomous mobile robot, and investigated the validity and the limits of this method.