arXiv subjects

Yuki Origane

Publications and source records attributed to Yuki Origane.

3 recordsLinked to original sources

arXiv2025

Soft Fluidic Sheet Transistor for Soft Robotic System Enabling Fluid Logic Operations

Aiming to achieve both high functionality and flexibility in soft robot system, this paper presents a soft urethane sheet-like valve with an amplifier that can perform logical operations using only pneumatic signals. When the control chamber in the valve is pressurized, the main path is compressed along its central axis, buckling and being pressed,resulting in blockage. This allows control by a pressure signal smaller than that within the main channel. Furthermore, similar to transistors in electrical circuits, when combined, the proposed valve can perform a variety of logical operations. The basic type operates as a NOT logic element, which is named the fluidic sheet transistor (FST). By integrating multiple FSTs, logical operations such as positive logic, NAND, and NOR can be performed on a single sheet. This paper describes the operating principle, fabrication method, and characteristics of the FST,followed by a method for configuring logical operations.Moreover, we demonstrate the construction of a latch circuit(self-holding logic circuit) using FST, introducing a prototype of a fluid robot system that combines a tactile tube as a fluidic detector and fluid actuators. This demonstrates that it is possible to generate behavior that actively changes posture when hitting an obstacle using only air pressure from a single pipe, which verifies the effectiveness of the proposed methods.

cs.RO↗

arXiv2025

Risk-Aware Trajectory Optimization and Control for an Underwater Suspended Robotic System

This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the significant uncertainty in drag and weight parameters introduced by the collected litter. We propose a dynamical model for the coupled UUV-USV system in the primary plane of motion and a risk-aware optimization approach incorporating parameter uncertainty and noise to ensure safe interactions with the environment. A stochastic optimization problem is solved using a conditional value-at-risk framework. Simulations demonstrate that our approach reduces collision risks and energy consumption, highlighting its reliability compared to existing control methods.

eess.SY↗

arXiv2023

Asymmetric Design of Control Barrier Function for Multiagent Autonomous Robotic Systems

In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed autonomous mobile robots, is expected to effectively perform cooperative tasks such as searching in a certain area. Therefore, collision avoidance must be considered when implementing MARS in the real world. The CBF is effective for solving collision-avoidance problems. However, in extreme conditions where many robots congregate at one location, the CBF constraints that ensure a safe distance between robots may be violated. We theoretically demonstrate that this problem can occur in certain situations, and introduce an asymmetric design for the inequality constraints of CBF. We asymmetrically decentralized inequality constraints with weight functions using the absolute speed of the robot so that other robots can take over the constraints of the robot in severe condition. We demonstrate the effectiveness of the proposed method in a two-dimensional situation wherein multiple robots congregate at one location. We implement the proposed method on real robots and the confirmed the effectiveness of this theory.

cs.RO↗