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Tracking Control of Snake-like Robot with Rotational Elastic Actuators
Syunsuke Nansai,Masami Iwase 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
The long-term goal of this study is to realize a locomotion control for snake-like robots on various environments. Key points for robots to adapt to various environments are measurement of stress applied to robots, and to realize locomotion control utilizing the stress. The observation leads to utilize a spring because a spring twists by the applied stress and generates energy by being twisted. We suggest a rotational elastic actuator (REA) consisting of a motor and a spring, and have developed a snake-like robot installing this mechanism at each joint. However, an effective locomotion control of the snake-like robot with REAs has not realized yet. In this paper, a controller tracking a serpenoid curve formulated from snake’s kinematics is suggested based on a dynamic model with REAs. To realize such controller, the dynamic model of the snake-like robot with REAs is derived by the Projection Method. The derived dynamic model is linearized by an input-output linearization technique. A servo controller is also designed by utilizing the linearized system with its state space representation. A smooth locomotion of the snake-like robot with REAs tracking a serpenoid curve utilizing the designed servo controller is verified through numerical simulations.
Development of Snake-like Robot with Rotational Elastic Actuators
Syunsuke Nansai,Yuta Suzuki,Masami Iwase,Masaki Izutsu,Shoshiro Hatakeyama 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
The long-term goal of this study is to develop a snake-like robot which can move in the three-dimensional space. Jumping and climbing are examples of such motion. To realize the three-dimensional locomotion, the robot weight should be light, and the actuator power should be strong. The robot requires actuators with high-powered output and quick response, but such actuators tend to be heavy. To resolve the problem, the robot uses rotational elastic actuators which consist of a light and small motor and a spring used to store energy so as to realize instantaneous high power output and quick response. The joints of the robot need to have 2-DOF. To realize a 2-DOF joint, a universal joint is utilized as the joint mechanism. The entire body of the robot is designed to connect some modules consisting of the actuator, the joint and two links. The motion equations of the developed robot are derived by the Projection Method. The mechanism and the effectiveness of the developed robot are verified through numerical simulations.
Surgical Outcomes of High-Grade Spinal Cord Gliomas
Toshitaka Seki,Kazutoshi Hida,Syunsuke Yano,Takeshi Aoyama,Izumi Koyanagi,Kiyohiro Houkin 대한척추외과학회 2015 Asian Spine Journal Vol.9 No.6
Study Design: A retrospective study. Purpose: The purpose of this study was to obtain useful information for establishing the guidelines for treating high-grade spinal cord gliomas. Overview of Literature: The optimal management of high-grade spinal cord gliomas remains controversial. We report the outcomes of the surgical management of 14 high-grade spinal glioma. Methods: We analyzed the outcomes of 14 patients with high-grade spinal cord gliomas who were surgically treated between 1989 and 2012. Survival was charted with the Kaplan-Meier plots and comparisons were made with the log-rank test. Results: None of the patients with high-grade spinal cord gliomas underwent total resection. Subtotal resection was performed in two patients, partial resection was performed in nine patients, and open biopsy was performed in three patients. All patients underwent postoperative radiotherapy and six patients further underwent radiation cordotomy. The median survival time for patients with high-grade spinal cord gliomas was 15 months, with a 5-year survival rate of 22.2%. The median survival time for patients with World Health Organization grade III tumors was 25.5 months, whereas the median survival time for patients with glioblastoma multiforme was 12.5 months. Both univariate and multivariate Cox proportional hazards models demonstrated a significant effect only in the group that did not include cervical cord lesion as a factor associated with survival (p =0.04 and 0.03). Conclusions: The surgical outcome of patients diagnosed with high-grade spinal cord gliomas remains poor. Notably, only the model which excluded cervical cord lesions as a factor significantly predicted survival.
Robot Manufacturing Class for Children Led by University Students
Ukida, Hiroyuki,Aika, Yuuta,Achi, Keita,Ishihara, Yasuyuki,Kuroda, Jou,Kosaki, Gaku,Suzuki, Syunsuke,Nagata, Yuuki Korean Society for Engineering Education 2010 공학교육연구 Vol.13 No.2
This paper introduces the Tokushima Robot Programming Club. This is a robot manufacturing class for elementary and junior-high school students. This club is planned and managed by university students. First, we show the organization of our club. And, robot kits and software development systems we use are introduced. And then, we describe the activities of this club and show its educational effectiveness for both the children and the university students.