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Advanced Robotics Volume 34, 2020 - Issue 7-8: Special Issue on Industrial Robot Technology - Selected Papers from WRS 2018
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Task-board task for assembling a belt drive unit

Mizuho Shibata Department of Robotics, Faculty of Engineering, Kindai University, Higashi-Hiroshima, JapanCorrespondenceshibata@hiro.kindai.ac.jp
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, Hiroki Dobashi Faculty of Systems Engineering, Mechatronics Major, Wakayama University, Wakayama, Japan
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, Wataru Uemura Faculty of Science and Technology, Department of Electronics and Informatics, Ryukoku University, Otsu, Japan
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, Shinya Kotosaka Graduate School of Science and Engineering, Saitama University, Saitama, Japan
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, Yasumichi Aiyama Faculty of Engineering, Information and Systems, University of Tsukuba, Tsukuba, Japan
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, Takeshi Sakaguchi Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan
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, Yoshihiro Kawai Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan
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, Akio Noda Faculty of Robotics and Design, Department of Robotics, Osaka Institute of Technology, Osaka, Japan
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, Kazuhito Yokoi National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan
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 & Yasuyoshi Yokokohji Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan
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Pages 454-476
Received 07 Jul 2019
Accepted 26 Dec 2019
Published online: 26 Jan 2020
 
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ABSTRACT

ABSTRACT

A task board is a board for assembling parts, developed to test the abilities of a robot system to perform assembly operations associated with a manufacturing process. This study describes a task board that can serve as a basis for developing program modules for assembling a specific product. A properly designed task board can serve as a preliminary template for a specific assembly and can promote robotic assembly. This study analyzes the design of a Task-board task performed at the World Robot Summit 2018 (WRS 2018). The main competitive task at the WRS 2018 was the assembly of a belt drive unit. Analyses showed that the directions of assembly, especially the horizontal direction, were common difficulties in both Task-board and Assembly task competitions. Development of a task board for a specific assembly product requires an increase of its relevance to the assembly product, such as using the same workpieces or using similar assembly orientations.

GRAPHICAL ABSTRACT

Graphical abstract

Acknowledgments

The authors would like to express their thanks to everyone involved in the design and operation of the Assembly Challenge in the Industrial Robotics Category, WRS 2018, especially those who greatly contributed to the competition as referees and health and safety inspectors.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This paper is based on results obtained from a project commissioned by the New Energy and Industrial Technology Development Organization (NEDO).

Notes on contributors

Mizuho Shibata

Mizuho Shibata received his PhD degree in Mechanical Engineering from Ritsumeikan University in 2006. He is currently an associate professor at the Department of Robotics, Faculty of Engineering, Kindai University, Japan. His current research interests are the development of applications in soft robotics. He is a member of the Industrial Robotics Competition Committee, the World Robot Summit.

Hiroki Dobashi

Hiroki Dobashi received the BS, MS, and PhD degrees in Mechanical Engineering from Kyoto University in 2007, 2009, and 2012, respectively. From 2012 to 2013, he was a contract assistant at Kwansei Gakuin University. From 2013 to 2017, he was an assistant professor in the Department of Robotics, Faculty of Science and Engineering, Ritsumeikan University. Since 2017, he has been a lecturer in the Department of Systems Engineering, Faculty of Systems Engineering, Wakayama University. His current research interests are robotic manipulation for manufacturing and logistics. He is a member of the Robotics Society of Japan (RSJ), the Society of Instrument and Control Engineers (SICE, Japan), the Institute of Systems, Control and Information Engineers (ISCIE, Japan), the Japan Society of Mechanical Engineers (JSME), and the IEEE. He is a member of the Industrial Robotics Competition Committee, the World Robot Summit.

Wataru Uemura

Wataru Uemura was born in 1977, and received BE, ME, and DE degrees from Osaka City University, in 2000, 2002, and 2005. He is an associate professor of the Department of Electronics and Informatics, Faculty of Engineering Science, Ryukoku University in Shiga, Japan. He is a member of IEEE, RoboCup and others.

Shinya Kotosaka

Shinya Kotosaka received PhD degree from Saitama University Graduate School of Science and Engineering in 1996. Then, after Encouragement Researcher at RIKEN, Resident researcher at ATR Human Information Communication Research Institute Inc., Researcher at Kawato Dynamics Brain Project by Japan Science and Technology Agency, Currently, Associate Professor of Saitama University. Currently engaged in research on robot safety, adaptive robot motion trajectory generation, industrial robots, and robot human resource development. Member of The Japan Society of Mechanical Engineers, The Society of Measurement Automatic Control, The Robotics Society of Japan (Fellow member). He is a member of the Industrial Robotics Competition Committee, the World Robot Summit, Japan.

Yasumichi Aiyama

Yasumichi Aiyama received the BS in Precision Machinary Engineering in 1990 and the MS and PhD in Information Engineering in 1992 and 1995 respectively from the University of Tokyo. From 1995 to 1999, he was a research associate in Department of Precision Machinary Engineering, the University of Tokyo. From 1999 to 2004, he was a lecturer and from 2004 to 2015, he was an associate professor in University of Tsukuba. He has been a professor in Department of Intelligent Interaction Technologies, Faculty of Engineering, Information and Systems, University of Tsukuba. He is a member of the Robotics Society of Japan (RSJ), the Japan Society of Mechanical Engineers (JSME), the Society of Instrument and Control Engineers (SICE, Japan), the Japan Society for Precision Engineering (JSPE), Japan Association for Automation Advancement (JAAA), Japan Robot Association (JARA) and the IEEE. He is a member of the Industrial Robotics Competition Committee, the World Robot Summit.

Takeshi Sakaguchi

Takeshi Sakaguchi received the BS, MS, and PhD degrees in Mechanical Engineering in 1987, 1989, and 1993, respectively, all from Osaka University, Osaka, Japan. In 1993, he joined the Mechanical Engineering Laboratory, MITI, Tsukuba, Japan. From 2001, he was a senior researcher of Intelligent Systems Research Institute (ISRI), the National Institute of Advanced Industrial Science and Technology (AIST). His current research interests are robotics including humanoids, ambient intelligence, and manipulation. He is a fellow of the Society of Instrument and Control Engineers (SICE, Japan) and a member of the Robotics Society of Japan (RSJ), the Japan Society of Mechanical Engineers (JSME), and the IEEE. He is a member of the Industrial Robotics Competition Committee, the World Robot Summit.

Yoshihiro Kawai

Yoshihiro Kawai recieved the BE, ME, and PhD degrees in Information Science from Nagoya University, Japan, in 1987. 1989, and 2014, respectively. In 1989, he joined the Electrotechnical Laboratory (ETL), AIST, METI, Japan. He is currently the Director of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan. He is also a Guest Professor at the Tokyo Institute of Technology. His research interests include computer vision and its application, e.g. factory automation systems, humanoid robot systems, assistive systems for the visually disabled person, etc. He has received the best video awards of ICRA'03. He is a member of the Robotics Society of Japan (RSJ), the Information Processing Society of Japan (IPSJ), and the Institute of Electronics, Information, and Communication Engineers (IEICE). He is a vice-chairperson of the Industrial Robotics Competition Committee, the World Robot Summit.

Akio Noda

Akio Noda received his BS and MS degrees in Mechanical Engineering from Osaka University, in 1985 and 1987, respectively and his degree of Doctor of Engineering from Nara Institute of Science and Technology in 2016. From 1987 to 2016, he mainly worked as a Researcher at R&D Sections of Mitsubishi Electric Corporation. Since 2017, he has been a Professor in the Department of Robotics of the Faculty of Robotics and Design at Osaka Institute of Technology. His current research interests are robotics including industrial robot, automated systems and autonomous systems.
He received the JRM Best Paper Award 2012, the R&D 100 Award 2014, the FA Fundation Paper Award 2014 and 2017, the CIE45 Second Award 2015 (Paper Award), the iSCIe Paper Award 2015, the RSJ Paper Award 2016, the iSCIe Industrial Technology Award 2017 (Paper Award), the RSJ Distinguished Service Award 2018, the SICE Paper Award 2018, and others. He is a fellow of the Robotics Society of Japan (RSJ), a member of the Institute of Systems, Control and Information Engineers (iSCIe, Japan), the Society of Instrument and Control Engineers (SICE, Japan), the Japan Society of Mechanical Engineers (JSME), Japan Robot Association (JARA), and the IEEE. He is a chair of the Robotics Section of the Institute of Global Safety Promotion. He successively serves as a committee member of Ministries and their agencies. He is a member of the Industrial Robotics Competition Committee, the World Robot Summit.

Kazuhito Yokoi

Kazuhito Yokoi received the ME and PhD degrees in Mechanical Engineering Science from the Tokyo Institute of Technology in 1986 and 1994, respectively. In 1986, he joined the Mechanical Engineering Laboratory, Ministry of International Trade and Industry, Japan. He is currently the Deputy Director General of Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan. He is also a Guest Professor of Faculty of Science and Engineering at Waseda University. From April 2005 to July 2015, he was an Adjunctive Professor of the Cooperative Graduate School at the University of Tsukuba. From August 2013 to March 2015, he was a General Manager of the International Research Institute for Nuclear Decommissioning. From November 1994 to October 1995, he was a Visiting Scholar at the Robotics Laboratory, Computer Science Department, Stanford University. He has received the best video awards of ICRA'03 and ICRA'04, the best paper awards of Society of Instrument and Control Engineers (SICE), Robotics Society of Japan (RSJ), and Japan Society of Mechanical Engineers (JSME). He is a Fellow of RSJ and JSME and an AdCom member (2013–2015) of the IEEE Robotics and Automation Society.

Yasuyoshi Yokokohji

Yasuyoshi Yokokohji received the BS and MS degrees in Precision Engineering in 1984 and 1986, respectively, and PhD degree in Mechanical Engineering in 1991, all from Kyoto University. From 1988 to 1989, he was a research associate in the Automation Research Laboratory, Kyoto University. From 1989 to 1992, he was a research associate in the Division of Applied Systems Science, Faculty of Engineering, Kyoto University. From 1992 to 2005, he was an associate professor in the Department of Mechanical Engineering, Kyoto University. From 2005 to 2009, he was an associate professor in the Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University. From 1994 to 1996, he was a visiting research scholar at the Robotics Institute, Carnegie Mellon University. Since 2009, he has been a professor in the Department of Mechanical Engineering, Graduate School of Engineering, Kobe University. His current research interests are robotics and virtual reality including teleoperation systems, robot hands, and haptic interfaces. He is a fellow of the Robotics Society of Japan, the Japan Society of Mechanical Engineers, and the Society of Instrument and Control Engineers (Japan), and a member of the Institute of Systems, Control and Information Engineers (Japan), the Virtual Reality Society of Japan, and the IEEE (Senior Member). He is a chairperson of the Industrial Robotics Competition Committee, the World Robot Summit.

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