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(1)Graduate School of Creative Science and Engineering, Waseda University. 博士論文概要 Doctor Thesis Synopsis 論. 文. 題. 目. Thesis Theme. Towards Semantic Robot Manipulation For Human Living Support 人間生活支援のためのセマンティックなロボット操縦に関する研究. 申請者 (Applicant Name). Wei. WANG. 汪. 偉. 総合機械工学専攻. 知能機械学研究. 2012 年 12 月.

(2) In modern society, the dream of “to develop a robot that could help or work for human beings” has motivated the successful employment of industrial robots in factories for the applications like welding and painting, and also encouraged the many attempts of advanced robots that work in more complicated application domain such as human living support or emergency rescue sectors. However, despite the fruitful research and engineering achievements in the field of robotics towards the dream, it is important to notice that the robot that we really expected to help or work for us, should be the one that could successfully accomplish various tasks under various environment conditions. In other words, two important issues have to be emphasized in the research effort: the robot designed should be able to flexibly adapt to various environment conditions, denoted as “environment uncertainty”, and flexibly adapt to various task specifications, denoted as “task diversity”. The resolve of the issue “environment uncertainty” has been recognized as a primary and also difficult research topic in the robotics community recently, and inspired an extensive research and engineering effect related to environments understanding, environment construction, sensors and recognition technologies. On the contrary, the resolve of the issue “task diversity” did not received much research concerning, nevertheless how to successfully execute a specified task has been well investigated in the very beginning age of robotics research. On the other hand, the issue “task diversity” has revealed its increasing importance, because of its potential usage in producing more flexible and cost-efficient robot automation for industrial applications, and also for its substantial importance arising from the increasing application field of service and assistive robots, where the robots have to accomplish a large variety of tasks with different specification for the purpose of human living support. It is obvious that only various tasks could be programmed and executed in an intuitive and effective manner, the service and assistive robots could step out of the laboratory and provide a practical use for human living support. However, considering current state-of-the-art, the service and assistive robots are difficult to adapt to different task specification arising from the human living support domain. Currently there are mainly three development paradigms to tackle the huge variety of tasks in real-world everyday living: (1)robot is designed to be operated manually, by which the user can perform different tasks, but also bring in heavy physical burden and expensive time consumption; (2)robot is designed only for specified tasks executions, it is always expensive and only supply limited living support; (3)robot is programmed to perform specified repetitive tasks, in this way researchers have to create models, algorithms and programs for their specified tasks whereas the effect is repeated when the task or the environment changes, this is due to the insufficient scene understanding for the environment, the huge variety of task specification, sensor configuration and robot designs, which makes the human command difficult to be grounded in the robot’s perception, as well as the unsolved problems in motion control within geometry constrained environment. In this dissertation, the research interest is mainly about making use of an assistive wheelchair mounted robotic arm to achieve human living support. The research objective is focused on the investigation and design No.1.

(3) of a manipulation framework for the assistive robotic arm, which could flexibly adapt to different tasks specification encountered within human living support domain. It is expected that under the proposed manipulation framework, the robot system could be programmed and operated in an intuitive and efficient manner, making it easier to adapt to the various tasks that might encounter in every daily living. Towards the thesis goal, several research and engineering effects have been made: a detailed study of several clinic surveys were conducted firstly in an attempt to achieve a thoroughly understanding about the various tasks specifications within human living support, the result of clinic survey study then inspired the basic idea of our concept that is “introduce semantic information within the environment for task description and execution”. The underlying concept of “semantic robot manipulation” works in the manner like that: a high-level motion description named “semantic motion script” is utilized to represent different task, based on the awareness that most of tasks can be decomposed into semantic motion description of operated objects and the end-effecter, the “semantic motion script” on behalf of specified task is then commanded to the robot to tell “what to do”, whereas the corresponding robot motion is generated by the computation system of the robot itself to solve “how to do”. There are several technical issues that have been recognized and have to be tackled for the implementation of the underlying concept of “semantic robot manipulation”. Firstly, an assistive robotic arm named “WIM” has been developed, which employed gravity compensation in the mechanical design to realize a light-weight feature, a compact design also enabled the robotic arm can easily be mounted on a electric wheelchair. Secondly, the modeling of a world consists of the robot, operated objects and environment with the incorporation and exploitation of its semantic knowledge should be resolved, the world model should become a resource for the interpretation of semantic motion to inform where the object is, how the object is constraint and other related information. A software platform named “Open Virtual Robot” is developed, which maintains the kinematic chains of a virtual world and the control interfaces of robots in the world. The world model in OpenVR could be constructed using the source of CAD files or point cloud data generated by the robot sensory, and provide environment information in different levels for further computation of planning and control. Thirdly, general purposed, fast and robust computation algorithms for the purpose of automated generation of robot motion should be resolved, we developed new computation methods based on optimization solving, which could modeling the computation problem with respect to different task specifications in a generalized way, and deliver solutions with good time-efficiency to generate smooth motions. Lastly, a robot-human interfacing device is also developed to utilize and test the functionality of the proposed manipulation system. It is designed to be operated by the user’s mouth and can generate control commands with seven degree of freedoms. ;The main contribution of this dissertation includes: (1) to solve the diversity of task specifications in human living support, we proposed the underlying concept of “semantic robot manipulation”, which utilized semantic motion description to represent tasks, whereas the computation system takes the responsibility to automatically generate the corresponding motion for task execution; (2) a wheelchair mounted robotic arm named “WIM” is developed, which made great effects in realizing a light-weight and compact manipulator that is suitable to be mounted on the wheelchair and works in human environment; (3) a software platform named No.2.

(4) “OpenVR” is developed, which enables the modeling of a world with incorporation and exploitation of its semantic knowledge for the implementation of semantic robot manipulation, and also provide the researcher a virtual robot and environment that can be used for the verification of robot design and application scenario, development of manipulation algorithms, and training for the users; (4) new computation methods are proposed, to enable general purposed computation for automated generation of robot motion, which is necessary to handle different task specifications. The dissertation is organized as follows: Chapter 1 gives a brief introduction of the research, includes the background, motivation, goal, and approaches. Chapter 2 is responsible to clarify the underlying concept of the research. The background of human living support is firstly stated. The study about several clinical surveys for human living support is then stated with the analysis results. Based on the analysis results, the idea of “semantic robot manipulation” is given to solve the diversity of task specifications with a detailed description of its concept. Technical issues for the implementation of the concept are discussed lastly, the solution of which are depicted in the following chapters respectively. Chapter 3 is responsible for the description of our robot platform “WIM”. A technical survey is first given to investigate the existing wheelchair mounted robotic arms all over the world. A detailed statement of the design story of the wheelchair mounted robotic arm system “WIM”, which is developed as the robot platform of the research, is also given. Chapter 4 discuss about the software platform “Open Virtual Robot”, which is the proposed solution to resolve the first technical issue: the modeling of a world consists of the robot, operated objects and environment with the incorporation and exploitation of its semantic knowledge. The motivation is explained; mathematic basics for the necessary computation are then given; the construction of world model is also discussed, in addition with the explanation of data structures, computational organizations, and basic algorithms; software architecture, with the explanation of implementation issues are given lastly. Chapter 5 discuss about the computational algorithms, which is responsible for the technical challenges to generate automated robot motion in a generalized way, given its task description. A brief introduction of related work is given firstly; problem formulation is then achieved, with the algorithm details; the comparison of between the proposed algorithm and other algorithms are conducted; the application of the algorithm is stated lastly. Chapter 6 is responsible for the technical challenge: the design of a input device. I have proposed the design of a new device named oral interface, which can be used by the user with the only mouth usage. Chapter 7 is responsible for the whole system integration and experiments. No.3.

(5) No.1. 早稲田大学. 博士（工学）. 学位申請. 研究業績書. (List of research achievements for application of doctorate (Dr. of Engineering), Waseda University). 氏名(Wei WANG). 印(. ) （As of December, 2012）. 種類別 (By Type). 題名、発表・発行掲載誌名、発表・発行年月、連名者（申請者含む）(theme, journal name, date & year of publication, name of authors inc. yourself). 論文. ○"Intuitive Operation of A Wheelchair Mounted Robotic Arm for The Upper Limb Disabled: The Mouth-only Approach", in Proceeding of IEEE International Conference on Robotics and Biomimetics (ROBIO'12), December 11-14, 2012, Guangzhou, China. Wei WANG, Zeming ZHANG, Yuki SUGA, Hiroyasu IWATA, Shigeki SUGANO ○"Solve Inverse Kinematics Through A New Quadratic Minimization Technique", in Proceeding of the 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'12), pp.306-313, July 11-14, 2012, Kaohsiung, Taiwan. Wei WANG, Yuki SUGA, Hiroyasu IWATA, Shigeki SUGANO ○"OpenVR: A Software Tool Contributes to Research of Robotics", in Proceeding of 2011 IEEE/SICE International Symposium on System Integration (SI International'11), pp.1043-1048, December 20-22, 2011, Kyoto, Japan. Wei WANG, Yuki SUGA, Hiroyasu IWATA, Shigeki SUGANO ○"Contact Detection and Reaction of a Wheelchair Mounted Robotic Arm Equiped with Mechanical Gravity Canceller", in Proceeding of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10), pp.4378-4383, October 18-22, 2010, Taipei, Taiwan. Wei WANG, Yuki SUGA, Shigeki SUGANO. "Task Execution of a Wheelchair Mounted Robotic Arm Incorporated with Active Compliance Control" in Proceeding of the SICE Annual Conference 2010 (SICE'10), paper no. FA16.13, August 18-21, 2010, Taipei, Taiwan. Wei WANG, Yuuki NISHI, Shigeki SUGANO ○"Task Execution Support of a Wheelchair Mounted Robotic Arm in Activity of Daily Livings", in Proceeding of the 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'10), pp.201-206, July 6-9, 2010, Montreal, Canada. Wei WANG, Yuki SUGA, Shigeki SUGANO. "Human in Loop Integration of an Arm Mounted Wheelchair Robot Based on RT Middleware", in Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics), pp.387-392, June 7-9, 2010, Munich, Germany. Wei WANG, Yuki SUGA, Shigeki SUGANO.

(6) No.2. 早稲田大学. 博士（工学）. 学位申請. 研究業績書. (List of research achievements for application of doctorate (Dr. of Engineering), Waseda University). 種類別 By Type. 題名、発表・発行掲載誌名、発表・発行年月、連名者（申請者含む）(theme, journal name, date & year of publication, name of authors inc. yourself). 講演. "Towards Intuitive Manipulation of an Assistive Robotic Arm for Human Living Support", in Proceeding of the 30th Annual Conference of the Robotics Society of Japan (RSJ'12), paper no. AC2D2-3, September 17-20, 2012, Sapporo, Japan. Wei WANG, Zeming ZHANG, Yuki SUGA, Hiroyasu IWATA, Shigeki SUGANO 「車椅子搭載型ロボットアームを操作するための 6 自由度オーラルインターフェースの開発」，日本機械学会ロボティクス・メカトロニクス講演会講演論文集 (Robomec'12)， paper no. 2A1-V06，浜松，2012 年 5 月. 張哲明, 汪偉, 岩田浩康, 菅野重樹. 「オートグラスピングが可能な車椅子搭載型ロボットハンドの開発」，日本機械学会ロボティクス・メカトロニクス講演会講演論文集 (Robomec'11)，paper no. 2P1-F01，岡山，2011 年 5 月. 松尾雄希，汪偉，菅佑樹，岩田浩康，菅野重樹. "Human in loop Integration of A Wheelchair Mounted Robotic Arm through Brain Machine Interface", in Proceedings of the 2010 JSME Conference on Robotics and Mechatronics (ROBOMEC'10), paper no. 1A2-F09, June 13-16, 2010, Asahikawa, Japan. Wei WANG, Yuki SUGA, Yuuki NISHI, Shigeki SUGANO 「収納機構を備えた軽量・コンパクトな車椅子搭載型ロボットアームの開発」，日本機械学会ロボティクス・メカトロニクス講演会講演論文集 (Robomec'10)，paper no. 1A1-D14, 旭川, 2010 年 6 月. 西佑起，汪偉，菅佑樹，岩田浩康，菅野重樹, 森田寿郎, 千原健司，稲葉昭夫, 中西快夫鳥井勝彦，長縄正裕「RT ミドルウェアを用いた車椅子搭載型ロボットアーム・システムの開発」，日本機械学会ロボティクス・メカトロニクス講演会講演論文集 (Robomec'09), paper no. 2A1-D06，福岡，2009 年 5 月. 菅佑樹, 汪偉, 菅野重樹.

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博 士 論 文 概 要

博士論文概要