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Research on biomimetic machine vision with the cooperation of eye movement and focusing

Research Project

Project/Area Number 26420214
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionRitsumeikan University

Principal Investigator

Ishii Akira  立命館大学, 総合科学技術研究機構, 客員研究員 (90278490)

Co-Investigator(Kenkyū-buntansha) 下ノ村 和弘  立命館大学, 理工学部, 准教授 (80397679)
Co-Investigator(Renkei-kenkyūsha) ISHII Akira  香川大学, 工学部, 教授 (90134866)
Project Period (FY) 2014-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2016: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Keywords自動外観検査 / 目視検査 / 協働方式 / 全焦点画像 / クァッド型飛行ロボット / マルチロータ型飛行ロボット / FPGAプロセッサ / ARMプロセッサ / 自動検査 / 飛行ロボット / 空中マニピュレーション / 遠隔操作用映像システム / 空中ドッキング / 外観検査 / 視線移動 / 焦点調節 / マルチロータ / 天井面移動型 / ハンドリング / ヘキサコプタ / ヨー回転 / インパクト機構 / サッカード / クアッドロータ / 視線安定化制御
Outline of Final Research Achievements

In order to realize a biomimetic machine vision system taking proper images for state discrimination and manipulation of a 3-D object with the cooperation of eye movement and focusing, we developed two types of vision systems for supporting the collaboration of automatic inspection and visual inspection and for an aerial robot working at high altitude respectively. The vision system for collaborative inspection composes an entirely-in-focus image of a product and displays it for visual inspection. The stored images can be used for post-analysis of inspection results. The aerial robot is equipped with two robotic manipulators and an embedded vision system onto a multirotor platform for realizing high precision and complex aerial manipulation. The ARM based embedded vision system was developed for position and orientation control of the aerial robot for achieving complex manipulation task.

Report

(5 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • 2014 Research-status Report
  • Research Products

    (26 results)

All 2018 2017 2016 2015 2014

All Journal Article (1 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results) Presentation (25 results) (of which Int'l Joint Research: 6 results)

  • [Journal Article] FPGA-Based Fast Response Image Analysis for Orientational Control in Aerial Manipulation Tasks2017

    • Author(s)
      Robert Ladig, Suphachart Leewiwatwong, Kazuhiro Shimonomura
    • Journal Title

      Journal of Signal Processing Systems

      Volume: - Pages: 1-11

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access
  • [Presentation] 自動検査と目視検査の協働方式の検討2018

    • Author(s)
      石井 明
    • Organizer
      精密工学会画像応用技術専門委員会2018年度第1回研究会
    • Related Report
      2017 Annual Research Report
  • [Presentation] 機体固定用ハンドと作業用マニピュレータを備えた高所作業用飛行ロボットの作業範囲拡大2017

    • Author(s)
      小野晃嗣,Hannibal Paul,Robert Ladig,下ノ村和弘
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] マルチロータ型飛行ロボットの空中ドッキング方式の検討2017

    • Author(s)
      宮崎遼,Jiang Rui,Robert Ladig,下ノ村和弘
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2017
    • Related Report
      2017 Annual Research Report
  • [Presentation] Airborne docking of multi-rotor UAVs2017

    • Author(s)
      Ryo Miyazaki, Jiang Rui, Koji Ono, Kazuhiro Shimonomura
    • Organizer
      Joint Workshop on Machine Perception and Robotics (MPR2017)
    • Related Report
      2017 Annual Research Report
  • [Presentation] 垂直多関節型マニピュレータを備えた高所作業用飛行ロボット2017

    • Author(s)
      小野晃嗣,Hannibal Paul,Robert Ladig,下ノ村和弘
    • Organizer
      計測自動制御学会第18回SI部門講演会(SI2017)
    • Related Report
      2017 Annual Research Report
  • [Presentation] ハンド搭載飛行ロボットによる棒状物体把持のためのアクティブカメラシステム2017

    • Author(s)
      Jiang Rui,宮崎遼,下ノ村和弘
    • Organizer
      計測自動制御学会第18回SI部門講演会(SI2017)
    • Related Report
      2017 Annual Research Report
  • [Presentation] マルチロータ型飛行ロボットの空中ドッキングのための輸送機の開発2017

    • Author(s)
      宮崎遼,Jiang Rui,下ノ村和弘
    • Organizer
      計測自動制御学会第18回SI部門講演会(SI2017)
    • Related Report
      2017 Annual Research Report
  • [Presentation] 機体固定用ハンドと作業用マニピュレータを備えた高所作業用飛行ロボット2016

    • Author(s)
      小野晃嗣,Robert Ladig,下ノ村和弘
    • Organizer
      計測自動制御学会第17回SI部門講演会(SI2016)
    • Place of Presentation
      札幌コンベンションセンター(北海道・札幌市)
    • Year and Date
      2016-12-16
    • Related Report
      2016 Research-status Report
  • [Presentation] Aerial robot with manipulator for high-place work2016

    • Author(s)
      Koji Ono, Robert Ladig, Kazuhiro Shimonomura
    • Organizer
      Joint Workshop on Machine Perception and Robotics (MPR2016)
    • Place of Presentation
      立命館大学(大阪府・茨木市)
    • Year and Date
      2016-11-12
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] High precision localization and movement on the ceiling using an aerial robot with top mounted omni wheel drive system2016

    • Author(s)
      Robert Ladig, Kazuhiro Shimonomura
    • Organizer
      Joint Workshop on Machine Perception and Robotics (MPR2016)
    • Place of Presentation
      立命館大学(大阪府・茨木市)
    • Year and Date
      2016-11-12
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] High precision marker based localization and movement on the ceiling employing an aerial robot with top mounted omni wheel drive system2016

    • Author(s)
      Robert Oliver Ladig and Kazuhiro Shimonomura
    • Organizer
      2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016)
    • Place of Presentation
      Daejeon (Korea)
    • Year and Date
      2016-10-12
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Aerial torsional manipulation employing multirotor flying robot2016

    • Author(s)
      Syohei Shimahara, Leewiwatwong Suphachart, Robert Ladig and Kazuhiro Shimonomura
    • Organizer
      2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016)
    • Place of Presentation
      Daejeon (Korea)
    • Year and Date
      2016-10-11
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] 機体上方を作業域とする空中マニピュレーションのためのFPVシステム2016

    • Author(s)
      小野晃嗣,松田諒太,島原祥平,Robert Ladig,下ノ村和弘
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2016
    • Place of Presentation
      パシフィコ横浜(神奈川県・横浜市)
    • Year and Date
      2016-06-09
    • Related Report
      2016 Research-status Report
  • [Presentation] Vision-based orientation control of multi-rotor UAV for aerial manipulation2016

    • Author(s)
      Leewiwatwong Suphachart, Syohei Shimahara, Robort Ladig and Kazuhiro Shimonomura
    • Organizer
      JSME The Robotics and Mechatronics Conference 2016
    • Place of Presentation
      パシフィコ横浜(神奈川県・横浜市)
    • Year and Date
      2016-06-09
    • Related Report
      2016 Research-status Report
  • [Presentation] 機体上方を作業域とする空中マニピュレーションのための組込みビジョンシステム2015

    • Author(s)
      松田諒太,松本雅裕,島原祥平,Robert Ladig,下ノ村和弘
    • Organizer
      計測自動制御学会第16回SI部門講演会 (SI2015)
    • Place of Presentation
      名古屋国際会議場(愛知県名古屋市)
    • Year and Date
      2015-12-14
    • Related Report
      2015 Research-status Report
  • [Presentation] Aerial torsional work by multirotor flying robot2015

    • Author(s)
      S.Shimahara, Leewiwatwong Suphachart, Robert Ladig, K.Shimonomura
    • Organizer
      Joint Workshop on Machine Perception and Robotics (MPR2015)
    • Place of Presentation
      JR博多シティ(福岡県福岡市)
    • Year and Date
      2015-11-27
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Aerial manipulation for the workspace above the airframe2015

    • Author(s)
      S.Shimahara, R.Ladig, L.Suphachart, S.Hirai, and K.Shimonomura
    • Organizer
      2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015)
    • Place of Presentation
      Hamburg(Germany)
    • Year and Date
      2015-09-29
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] 小型飛行ロボットによる空中捩じり作業2015

    • Author(s)
      島原祥平,Leewiwatwong Suphachart,Robert Ladig,下ノ村和弘
    • Organizer
      第33回日本ロボット学会学術講演会
    • Place of Presentation
      東京電機大学(東京都足立区)
    • Year and Date
      2015-09-04
    • Related Report
      2015 Research-status Report
  • [Presentation] ハンド搭載小型飛行ロボットのための自動把持システムの検討2015

    • Author(s)
      島原祥平,和田真幸,Robert Ladig, Leewiwatwong Suphachart, 平井慎一,下ノ村和弘
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      京都市勧業館みやこめっせ(京都府京都市)
    • Year and Date
      2015-05-19
    • Related Report
      2015 Research-status Report
  • [Presentation] ハンド搭載小型飛行ロボットのための組込みビジョンシステム2014

    • Author(s)
      下ノ村和弘、島原祥平、Robert Ladig
    • Organizer
      計測自動制御学会第15回SI部門講演会(SI2014)
    • Place of Presentation
      東京ビッグサイト(東京都・江東区)
    • Year and Date
      2014-12-17
    • Related Report
      2014 Research-status Report
  • [Presentation] Small helpers above - Prospects and challenges of aerial robotics2014

    • Author(s)
      Robert Ladig, Shouhei Shimahara and Kazuhiro Shimonomura
    • Organizer
      日本材料学会第28回信頼性シンポジウム
    • Place of Presentation
      阪南大学(大阪府・大阪市)
    • Year and Date
      2014-12-11
    • Related Report
      2014 Research-status Report
  • [Presentation] 飛行ロボットに搭載したハンドの視覚フィードバック制御2014

    • Author(s)
      島原祥平、Robert Ladig、平井慎一、下ノ村和弘
    • Organizer
      第32回日本ロボット学会学術講演会
    • Place of Presentation
      九州産業大学(福岡県・福岡市)
    • Year and Date
      2014-09-06
    • Related Report
      2014 Research-status Report
  • [Presentation] FPGA-based fast response image analysis for autonomous or semi-autonomous indoor flight2014

    • Author(s)
      Robert Ladig and Kazuhiro Shimonomura
    • Organizer
      10th IEEE Embedded Vision Workshop
    • Place of Presentation
      Columbus (U.S.A.)
    • Year and Date
      2014-06-28
    • Related Report
      2014 Research-status Report
  • [Presentation] 機体上方を作業域とするハンド搭載小型飛行ロボット2014

    • Author(s)
      島原祥平、立石大貴、Robert Ladig、平井慎一、下ノ村和弘
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2014
    • Place of Presentation
      富山市総合体育館(富山県・富山市)
    • Year and Date
      2014-05-27
    • Related Report
      2014 Research-status Report
  • [Presentation] FPGA-based image analysis and control-signal shaping for autonomous indoor flight2014

    • Author(s)
      Robert Ladig and Kazuhiro Shimonomura
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2014
    • Place of Presentation
      富山市総合体育館(富山県・富山市)
    • Year and Date
      2014-05-27
    • Related Report
      2014 Research-status Report

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Published: 2014-04-04   Modified: 2019-03-29  

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