Advanced Robotics (Adv Robot )

Publisher: Robotics Society of Japan, Brill Academic Publishers


The international journal of the Robotics Society of Japan. Published jointly with the Robotics Society of Japan. Advanced Robotics is the international bimonthly journal of the Robotics Society of Japan. The journal meets the demand for an international interdisciplinary journal which integrates publication of all aspects of research on robotics science and engineering with special emphasis being placed on work done in Japan. Although founded as the International Journal of the Robotics Society of Japan, researchers in every country are welcomed to submit papers for publication in the journal. Advanced Robotics publishes original research papers, short communications, reviews and reports. Issues contain papers on the analysis, design, implementation and use of robots in various areas such as manipulators, locomotion, sensors, actuators, materials, control, intelligence, language, software, man-machine systems and system architecture. The journal also covers aspects of social and managerial analysis and policy regarding robots.

  • Impact factor
  • 5-year impact
  • Cited half-life
  • Immediacy index
  • Eigenfactor
  • Article influence
  • Website
    Advanced Robotics website
  • Other titles
    Advanced robotics, Advanced robotics online
  • ISSN
  • OCLC
  • Material type
  • Document type
    Journal / Magazine / Newspaper

Publisher details

Brill Academic Publishers

  • Pre-print
    • Author can archive a pre-print version
  • Post-print
    • Author can archive a post-print version
  • Conditions
    • Pre-print can only be deposited after acceptance for peer-review
    • Author may post on authors own website only
    • Publisher version may be posted on authors own website
    • Institution may post on institutional website/ repository only
    • Publisher's version/PDF cannot be used in institutional repository
    • Must link to publisher version
    • Published source must be acknowledged
  • Classification
    ​ green

Publications in this journal

  • [show abstract] [hide abstract]
    ABSTRACT: The real-world applicability of modern computer vision and recognition applications is limited by its real-time performance. Hardware-based systems can provide fast solutions for real-time limited problems; however, hardware-friendly solutions usually lack the flexibility to handle highly complex tasks. On the other hand, software-based solutions are used to tackle complex tasks and allow for greater flexibility but lack the speeds which hardware systems can provide. Inspired by the function of the human memory, we propose a hardware-accelerated multi-prototype and nearest neighbor (NN) search-based learning and classification system, which overcomes these flexibility limitations. A major deficiency for NN-based implementations is the computational demand for the searching and clustering processes. An FPGA-implemented coprocessor architecture for the Euclidean distance search was designed to resolve this deficiency. We benchmarked the system on the complex application of human detection. The experimental results revealed that the system outperformed other implementations by significantly reducing training times and attained a per sample detection speed of 2.24μs.
    Advanced Robotics 01/2014; 28(5):255-265.
  • [show abstract] [hide abstract]
    ABSTRACT: We propose control of a snake robot that can switch lifting parts dynamically according to kinematics. Snakes lift parts of their body and dynamically switch lifting parts during locomotion: e.g. sinus-lifting and sidewinding motions. These characteristic types of snake locomotion are used for rapid and efficient movement across a sandy surface. However, optimal motion of a robot would not necessarily be the same as that of a real snake as the features of a robot’s body are different from those of a real snake. We derived a mathematical model and designed a controller for the three-dimensional motion of a snake robot on a two-dimensional plane. Our aim was to accomplish effective locomotion by selecting parts of the body to be lifted and parts to remain in contact with the ground. We derived the kinematic model with switching constraints by introducing a discrete mode number. Next, we proposed a control strategy for trajectory tracking with switching constraints to decrease cost function, and to satisfy the conditions of static stability. In this paper, we introduced a cost function related to avoidance of the singularity and the moving obstacle. Simulations and experiments demonstrated the effectiveness of the proposed controller and switching constraints.
    Advanced Robotics 01/2014; 28(6):415-429.
  • [show abstract] [hide abstract]
    ABSTRACT: In this paper the problem of patrolling an environment with a dynamic team of robots is targeted. Lately, the interest of the research community has been focused in the development of patrol strategies; however there is a deficit of studies comparing such strategies, namely in terms of their performance and team scalability in different environments. For this reason, an evaluation of five representative patrol approaches is presented in this article. Aiming to analyze the performance, ability to scale and the behavior resulting from interactions between teammates, extensive realistic simulation using ROS together with Stage was conducted. The metric used to compare the performance is the average idleness of the topological environment (i.e. graph), that represents the area to patrol. The results presented help to identify which strategies enable enhanced team scalability and which are the most suitable approaches given any environment, supporting future research directions in the field.
    Advanced Robotics 02/2013; 27(5):325-336.
  • [show abstract] [hide abstract]
    ABSTRACT: Human sensory inputs and motor outputs mutually affect one another. We pursue the idea that a tactile interface can influence human motor outputs by intervening in sensory-motor relationships. This study focuses on the shear deformation of a finger pad while a person traces a line or circle. During these tracing movements, the finger pads were deformed using a tactile interface. The tracing distances increased when the finger pad deformations were amplified by the tactile interface, which indicates that the intervention in the haptic sensorimotor loop affected the tracing movements. Elucidation of such interaction between the tracing movements and the shear deformations of finger pads enhances the understanding of human-assistive haptic techniques.
    Advanced Robotics 01/2013;
  • [show abstract] [hide abstract]
    ABSTRACT: This paper presents a novel method for the online estimation of variance parameters regulating the dynamics of a nonlinear dynamic system. The approach exploits and extends classical iterated Kalman filtering equations by propagating an approximation of the marginal posterior of the unknown variances over time. In addition to the theoretical foundations, this manuscript offers also a variety of numerical results. In particular, experiments with data collected both in simulation and with a real robot platform show how the proposed approach efficiently solves a robot localization problem.
    Advanced Robotics 09/2012; 26(18):2169-2188.
  • [show abstract] [hide abstract]
    ABSTRACT: This paper presents a sliding mode filter for removing noise. It effectively removes impulsive noise and highfrequency noise, producing a smaller phase lag than linear filters. In addition, it is less prone to overshoot than previous sliding mode filters and it does not produce chattering. It is computationally inexpensive and thus suitable for real-time applications. The proposed sliding mode filter employs a quadratic surface as its sliding surface, which is designed so that the output converges to the input in finite time when the input value is constant. Its algorithm is derived by using the backward Euler discretization, which can be used to prevent chattering. The effectiveness of the filter was shown by experiments using an ultrasonic sensor and an optical encoder.
    Advanced Robotics 07/2012; 26(8-9):877-896.
  • Source
    [show abstract] [hide abstract]
    ABSTRACT: We propose a dynamic turning control system for a quadruped robot that uses non-linear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. We verified the mechanical capabilities of the dynamic turning motion of the proposed control system through numerical simulations and hardware experiments. Various turning speeds and orientations made the motion of the robot asymmetrical in terms of the duty ratio, stride and center of pressure. The proposed controller actively and adaptively controlled redundant degrees of freedom to cancel out dynamic asymmetry, and established stable turning motion at various locomotion speeds and turning orientations.
    Advanced Robotics 01/2005; 19(10):1115-1133.
  • [show abstract] [hide abstract]
    ABSTRACT: Considering that intelligent robotic systems work in a real environment, it is important that they themselves have the ability to determine their own internal conditions. Therefore, we consider it necessary to pay some attention to the diagnosis of such intelligent systems and to construct a system for the self-diagnosis of an autonomous mobile robot. Autonomous mobile systems must have a self-contained diagnostic system and therefore there are restrictions to building such a system on a mobile robot. In this paper, we describe an internal state sensory system and a method for diagnosing conditions in an autonomous mobile robot. The prototype of our internal sensory system consists of voltage sensors, current sensors and encoders. We show experimental results of the diagnosis using an omnidirectional mobile robot and the developed system. Also, we propose a method that is able to cope with the internal condition using internal sensory information. We focus on the functional units in a single robot system and also examine a method in which the faulty condition is categorized into three levels. The measures taken to cope with the faulty condition are set for each level to enable the robot to continue to execute the task. We show experimental results using an omnidirectional mobile robot with a self-diagnosis system and our proposed method.
    Advanced Robotics 01/2003; 17:925-950.

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