biorobotics symposium - bibliotheca alexandrina · 2010-12-16 · biorobotics symposium alexandria,...

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WASEDA UNIVERSITY WABOT-HOUSE LABORATORY

Proposition of New Concept of

Plant Type Robots and Development

Biorobotics

Symposium

Alexandria, 2010.12Hiroshi Yamakawa

（（（（School of Creative Science &Engineering)

Leaf

Branch

PLANT TYPE ROBOTSPLANT TYPE ROBOTSPLANT TYPE ROBOTSPLANT TYPE ROBOTS

Stem

Flower

Fruit

Root

WABOT-HOUSE Laboratoty of Waseda University

WABOT-HOUSE Laboratory

� The Waseda University has introduced the humanoid robot WABOT-1 in 1973, and it was the very first in the world. Afterwards, we have kept our leading position in robotics research. Not only in the robotics research but also in the field of architecture we have introduced different kinds of novel designs and innovative building methods. In the field of the telecommunication, which is a backbone of different kinds of modern and postmodern technologies,Waseda University has assured big success both in research and in education. As a good contribution in this field we can name the Global Information and Telecommunication Institute, which is conducted through theWaseda University. Not only robotics engineers, architects or IT

researchers but also fine artists take part in the WABOT-HOUSE project, and they try to design an optimal shape from robotic and architectural points of view. They are researching to realize the substantial symbiosis between humankind and robots.

WABOT-HOUSE Laboratory

Director： Prof.SuganoEstablished: 2001.12

Place: Gifu Prefecture in JapanFunded: Gifu Pref. & Japanese govementStaff: 18 (Mechanical Eng.

Architecture, Art, Physics

Electric & Communication

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Robot, House, City Research Areas of Yamakawa LaboratoryNatural FrequencyModal AnalysisPassive ControlActive ControlFeedback ControlFeed-forward ControlPredictive Control

Vibration

Nonlinear Mechanics

ChaosFractalBifurcation Theory

Design

Optimum DesignSatisficing DesignCollaborative DesignRobust Design

Mechanics

Statics/Dynamics

Mechanics of Materials

Stress AnalysisBuckling AnalysisElasto-plastic Analysis

Structural Dynamics

FEMBEMTruss StructureLahmen StructureShell Structure

AI

Fuzzy ApproachAgent ApproachNeural Networks

GAAdaptive StrategyImmune SystemLife CycleRedundancies

Bio

Topics of interest

• Optimization and Optimum Design (Dynamic and Static Problems)

• Multidisciplinary optimization

• Simultaneous optimization

• Optimization by applying the Artificial Intelligence ( Multi-Agents)

• Optimization by applying Neural Network and Genetic Algorithm and other emerging computation

• Design, Control of Space Structures

・ Analysis of Organs

(New!)

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１． Objectives・To add functions which plants have.・ To add functions which plants do not have.

・Sensing environment・Entertainment・To make people comfortable and good

・・・・・・・・・・・・・

Development of System by modules

①Practical Application of the modules

② Practical Application of the System


２. Leaf and Branch Modules

葉

・Solar panel・Shelter ・Absorption of CO2・・・・・・・・・・・・・

枝


Leaf

Leaf

Branch

Branch

2.1 Design of Leaf & Branch Modules

(1)Design of Leaf & Branch Modules

（a）Deployment by Umbrella Type of Structures

Solar Panel

Stem

Length(cm) LengthLength(cm)

Storage 35 8Deploy 85 27

Total mass 0.41kg

1st Layer

2nd Layer

3rd LayerLeaf

2.1 Design of Leaf & Stem Modules（b）Deployment and

Storage phase Deployed

展開時（受光時）During deploymentin receiving light

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Switching by Photo sensor

on/off with light Switch for extention

明明明明

縮み限界縮み限界縮み限界縮み限界

明明明明

伸び（受光）伸び（受光）伸び（受光）伸び（受光）

明明明明

伸び限界伸び限界伸び限界伸び限界

Cut

暗暗暗暗

伸び限界伸び限界伸び限界伸び限界縮み（遮光）縮み（遮光）縮み（遮光）縮み（遮光）

暗暗暗暗

Length Limit

Dark

Cut

（（（（d））））Phote Sensor for deployment and Storage

Circuit of deploying leaf

Storage→Light→Extention→Length limit

Deployment→Shield→Shurinkage→Length limit

（d）ムービー

３. Stem Module

幹

・Adaptive Control againstExternal Load

・To expand functionsby Changing Shapes

・・・・・・・・・・・・


Stem

Stem

2.1 Design of Leaf & Stem Modules

*Adaptive Truss Structureto change shape*Development of New Joints* Linear actuators

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４. Root Module

根

・Autonomous Anchor（Slope, ）・Boring（Lubrication、Side roots）

・Sensor under ground (Temperature,Humidity, PH, Earthquake etc)

・・・・・・・・・


Root

Root

In 2004 In 2005

4.1 Root Module

220 mm

2004年 2005年

220 mm

4.1 Root Module 4.2 Developed Root Module

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５. Fruit Module

実

・ＬＥＤ・Battery、Transportation・Power Supply for Robots・Data bank、・・・・・・・・・・・・


Fruit

Fruit

６. Flower Module

花

・Fragment・Sensor for Temperature・Sensor for sound・Antena・・・・・・・・・


Flower

Flower

6.1 Design of Flower Modules

Dokudami Hibiscus Tulip

Collaboration with Industry in Gifu Pref.Production

6.2 Control of Flower Modules

1. Linear Type

Shape Memory Alloy

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6.2 Control of Flower Modules

＋

－

電流ＯＮ電流ＯＮ電流ＯＮ電流ＯＮ

←形状記憶合金形状記憶合金形状記憶合金形状記憶合金

Shape Memory Alloy

2. Ring Type

Hibiscus

Dokudami (Slow) Dokudami (Fast)

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6.3 Control of Flower Module

① Deployment and Storage

→ Gear

② Bloom and Shrink

→ Shape Memory

Alloy

Motion Control

Motion of Flower

Initial Extention of Stemby motor

Bllom by Shape Memory Alloy

Bloom

Shrink

6.3 Motion Control of Flower Module

Micro computer

（１）Control by phote sensor

（２）Breaking control

（３）Bloom speed control

by Shape memory alloy

（４）Control of Stem Motion

AKI-H8 3048F

Language C

6.4 Control Circuit

MOS FET

SMA

Motor Driver ＩＣ

Motor

５[V] ５[V]

Vout

GND

GND

５[V]

GND

Phote sensor Motor rotation Shape memory Alloy

Motor Driver IC MOS FET

Bloom

A

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6.4 Control Circuit

Phote sensorMotorRotation

Shape memory alloy

Motor driver IC MOS FET

MOS FET

SMA

Motor Driver ＩＣ

Motor

５[V] ５[V]

Vout

GND

GND

５[V]

GND

Phote sensorMotor

Inverse rotation

Bloom

Shrink

6.5 Developed Module

Thank you !

Prof. Hiroshi YAMAKAWA(Waseda University)

biorobotics symposium - bibliotheca alexandrina · 2010-12-16 · biorobotics symposium alexandria,...

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