論文 Development of a continuum robot enhanced with distributed sensors for search and rescue ROBOMECH Journal,9(1) 2022(Dec.) Author:Yu Yamauchi; Yuichi Ambe; Hikaru Nagano; Masashi Konyo; Yoshiaki Bando; Eisuke Ito; Solvi Arnold; Kimitoshi Yamazaki; Katsutoshi Itoyama; Takayuki Okatani; Hiroshi G. Okuno; Satoshi Tadokoro Abstract:Abstract
Continuum robots can enter narrow spaces and are useful for search and rescue missions in disaster sites. The exploration efficiency at disaster sites improves if the robots can simultaneously acquire several pieces of information. However, a continuum robot that can simultaneously acquire information to such an extent has not yet been designed. This is because attaching multiple sensors to the robot without compromising its body flexibility is challenging. In this study, we installed multiple small sensors in a distributed manner to develop a continuum-robot system with multiple information-gathering functions. In addition, a field experiment with the robot demonstrated that the gathered multiple information has a potential to improve the searching efficiency. Concretely, we developed an active scope camera with sensory functions, which was equipped with a total of 80 distributed sensors, such as inertial measurement units, microphones, speakers, and vibration sensors. Herein, we consider space-saving, noise reduction, and the ease of maintenance for designing the robot. The developed robot can communicate with all the attached sensors even if it is bent with a minimum bending radius of 250 mm. We also developed an operation interface that integrates search-support technologies using the information gathered via sensors. We demonstrated the survivor search procedure in a simulated rubble environment of the Fukushima Robot Test Field. We confirmed that the information provided through the operation interface is useful for searching and finding survivors. The limitations of the designed system are also discussed. The development of such a continuum robot system, with a great potential for several applications, extends the application of continuum robots to disaster management and will benefit the community at large.
Cloth Manipulation with Estimation of Material Properties 第40回日本ロボット学会学術講演会(RSJ2022) 2022(Sep.) Author:Solvi Arnold; Kimitoshi Yamazaki
Picking of One Sheet of Cotton Cloth by Rolling up Using Cylindrical Brushes 2021 IEEE/SICE International Symposium on System Integration (SII) 2021(Jan. 11) Author:Yuichi Kawasaki; Solvi Arnold; Kimitoshi Yamazaki
Visual Servoing Using Virtual Space for Both Learning and Task Execution 2021 IEEE/SICE International Symposium on System Integration (SII) 2021(Jan. 11) Author:Tomoki Kawagoshi; Solvi Arnold; Kimitoshi Yamazaki
Active Learning of the Cutting of Cooking Ingredients using Simulation with Object Splitting 2020 IEEE/SICE International Symposium on System Integration (SII) 2020(Jan.) Author:Nahomi Ikegami; Solvi Arnold; Kotaro Nagahama; Kimitoshi Yamazaki
Fast and Flexible Multi-Step Cloth Manipulation Planning using an Encode-Manipulate-Decode NetworkNetwork (EM*D Net) Frontiers Neurorobotics,13 2019(May 31) Author:Solvi Arnold; Kimitoshi Yamazaki Abstract:Frontiers Neurorobotics
An image recognition system aimed at search activities using cyber search and rescue dogs Journal of Field Robotics,36(4):677-695 2018(Dec. 03) Author:Solvi Arnold; Kazunori Ohno; Ryunosuke Hamada; Kimitoshi Yamazaki Abstract:Journal of Field Robotics
二次学習の進化による心的表象の創発 人工知能学会誌,33(4):476-483 2018(Jul. 01) Author:有田隆也; Arnold Solvi; 鈴木麗璽 Abstract:人工知能学会誌
遠隔移動体を用いた災害時捜索活動のための画像認識システム 画像ラボ,29(2):7-14 2018(Feb.) Author:山崎公俊; Solvi Arnold Abstract:画像ラボ
The emergence of executive functions by the evolution of second-order learning Artificial Life and Robotics,22(4):483–489 2017(Dec. 01) Author:Keisuke Daimon; Solvi Arnold; Reiji Suzuki; Takaya Arita Abstract:Artificial Life and Robotics
Unfolding of a rectangular cloth from unarranged starting shapes by a Dual-Armed robot with a mechanism for managing recognition error and uncertainty Advanced Robotics, Vol.31, Issue 10, pp. 544 – 556, http://dx.doi.org/10.1080/01691864.2017.1285722,31(10):544-556 2017(Feb. 09) Author:Hiroyuki Yuba; Solvi Arnold; Kimitoshi Yamazaki Abstract:Advanced Robotics, Vol.31, Issue 10, pp. 544 – 556, http://dx.doi.org/10.1080/01691864.2017.1285722
Selection for Representation in Higher-Order Adaptation Minds & Machines,25:73-95 2015(Feb. 20) Author:Solvi Arnold; Reiji Suzuki; Takaya Arita Abstract:Minds & Machines
Why artificial intelligence cannot be creative without being Intelligent11 Nagoya Journal of Philosophy,11:62-77 2014(Mar. 14) Author:Solvi Arnold Abstract:Nagoya Journal of Philosophy
Selection for Reinforcement-Free Learning Ability as an Organizing Factor in the Evolution of Cognition Advances in Artificial Intelligence,2013 2013(Mar. 31) Author:Solvi Arnold; Reiji Suzuki; Takaya Arita Abstract:Advances in Artificial Intelligence
Visual Servoing Using Virtual Space for Both Learning and Task Execution The 2021 IEEE/SICE International Symposium on System Integration 2021(Jan. 13) Presenter:Tomoki Kawagoshi , Solvi Arnold , Kimitoshi Yamazaki
Picking of One Sheet of Cotton Cloth by Rolling up Using Cylindrical Brushes The 2021 IEEE/SICE International Symposium on System Integration 2021(Jan. 12) Presenter:Yuichi Kawasaki, Solvi Arnold , Kimitoshi Yamazaki
Learning Latent Representations of Environments and Grasping Motions for Fast Database Retrieval of Environments and Grasping Motions for Fast Database Retrieval of Collision-Free Motions 第38回日本ロボット学会学術講演会 RSJ2020 2020(Oct. 10) Presenter:Solvi Arnold, Keisuke Takeshita, Takashi Yamamoto, Rui Zhu, Kotaro Nagahama, Kimitoshi Yamazaki Abstract:第38回日本ロボット学会学術講演会 RSJ2020
Active Learning of the Cutting of Cooking Ingredients using Simulation with Object Splitting The 2020 IEEE/SICE International Symposium on System Integration 2020(Jan. 15) Presenter:Nahomi Ikegami, Solvi Arnold, Kotaro Nagahama, Kimitoshi Yamazaki Abstract:The 2020 IEEE/SICE International Symposium on System Integration
A Neural Network Approach for Fast and Flexible Multi-Step Cloth Manipulation Planning Third Machine Learning in Planning and Control of Robot Motion Workshop at ICRA2018 2018(May) Presenter:Solvi Arnold, Kimitoshi Yamazaki Abstract:Third Machine Learning in Planning and Control of Robot Motion Workshop at ICRA2018
Cloth Manipulation Planning by Back-propagation using a 3D Convolutional Auto-Encoder and aRecurrent Neural Network 第35回日本ロボット学会学術講演会 2017(Sep. 13) Presenter:Solvi Arnold, Kimitoshi Yamazaki Abstract:第35回日本ロボット学会学術講演会
Real-time scene parsing by means of a convolutional neural network for mobile robots in disaster scenarios IEEE International Conference on Information and Automation 2017(Jul. 18) Presenter:Solvi Arnold, Kimitoshi Yamazaki Abstract:IEEE International Conference on Information and Automation
Hanging Work of T-Shirt in Consideration of Deformability and Stretchability IEEE International Conference on Information and Automation 2017(Jul. 18) Presenter:Yosuke Koishihara, Solvi Arnold, Kimitoshi Yamazaki, Takamitsu Matsubara Abstract:IEEE International Conference on Information and Automation
Emergence of executive functions by evolved second-order learning The 22nd International Symposium on Artificial Life and Robotics (AROB2017) 2017(Jan. 18) Presenter:Keisuke Daimon, Solvi Arnold, Reiji Suzuki and Takaya Arita Abstract:The 22nd International Symposium on Artificial Life and Robotics (AROB2017)
Implicit Policies for Deformable Object Manipulation with Arbitrary Start and End States: A Novel Evolutionary Approach 2016 IEEE Conference on Robotics and Biomimetics 2016(Dec. 06) Presenter:Solvi Arnold, Kimitoshi Yamazaki Abstract:2016 IEEE Conference on Robotics and Biomimetics
Unfolding of a Rectangular Cloth Based on Action Selection Depending on Recognition Uncertainty IEEE/SICE International Symposium on System Integration 2015(Dec.) Presenter:Hiroyuki Yuba, Solvi Arnold, Kimitoshi Yamazaki Abstract:IEEE/SICE International Symposium on System Integration
Using Second Order Learning to Evolve Social Representation (Theory of Mind) The 8th International Conference on Bio-inspired Information and Communications Technologies 2014(Dec. 01) Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita Abstract:The 8th International Conference on Bio-inspired Information and Communications Technologies
Evolution of Social Representation in Neural Networks Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems (ECAL2013) 2013(Sep. 04) Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita Abstract:Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems (ECAL2013)
Evolution of Social Representation in Neural Networks 第27回人工知能学会全国大会 2013(Jun. 06) Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita Abstract:第27回人工知能学会全国大会
Second order learning and the evolution of mental representation Proceedings of the 13th International Conference on the Simulation and Synthesis of Living Systems (ALIFE2012) 2012(Jun. 21) Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita Abstract:Proceedings of the 13th International Conference on the Simulation and Synthesis of Living Systems (ALIFE2012)
Modelling Mental Representation as Evolved Second Order Learning Proceedings of the 17th International Symposium on Artificial Life and Robotics (AROB2012) 2012(Jan. 19) Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita Abstract:Proceedings of the 17th International Symposium on Artificial Life and Robotics (AROB2012)
Neuro-cognitive Organization as a Side-effect of the Evolution of Learning Ability Proceedings of the 2011 IEEE Symposium on Artificial Life 2011(Apr. 11) Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita Abstract:Proceedings of the 2011 IEEE Symposium on Artificial Life
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