======ASIAN TECHNOLOGY INFORMATION PROGRAM (ATIP)

REPORT: ATIP05.037: Robots at Aichi World Expo 2005 To: Distribution From: [email protected] This is file name "atip05.037" Date: 28 July 2005 ATIP05.037: Robots at Aichi World Expo 2005

======START OF REPORT ATIP05.037======

0 Robots at Aichi World Expo 2005

ATIP/Japan

Copyright (c) 2005 by the Asian Technology Information Program (ATIP) This material may not be published, modified or otherwise redistributed in whole or part, in any form, without prior approval by ATIP, which reserves all rights.

ABSTRACT: This report is a summary of the various types of robots that were presented and are being used at the Aichi World Exposition 2005, an event taking place from March 25 to September 25, 2005 in Japan.

KEYWORDS: Government Policy on Science and Technology, Regional Overview of Science and Technology, Robotics.

COUNTRY: Japan

DATE: 28 July 2005

REPORT CONTENTS 1. INTRODUCTION EXECUTIVE SUMMARY 2. PAST NEDO PROJECTS 3. WORKING ROBOTS 4. PROTOTYPE ROBOTS 4.1 TELEsarPHONE 4.2 EMIEW 4.3 Repliee Q1expo 4.4 UMRS-NBCT 4.5 MOIRA snake robot 4.6 IMR-Type 1 4.7 Applications of the HRP-2 4.8 WIND 4.9 Robovie Family 4.10 Nagara-3

1 4.11 Robot Suit HAL 4.12 Muscle Suit 5. CONCLUSION 6. CONTACTS & WEBLINKS 7. APPENDIX 1: PAST NEDO ROBOT PROJECTS 7.1 Robots for Hazardous Environments 7.2 HRP: Humanoid Robot Project 7.3 Creating Infrastructure Software to Serve as a Basis for Robot Development Work 8. APPENDIX 2: ROBOT PROJECTS ON DISPLAY AT AICHI 8.1 Working Robots 8.2 Prototype Robots

1. INTRODUCTION

The Aichi Expo 2005, officially named the 2005 World Exposition, is taking place from March 25 to September 25, 2005 in the Aichi area (central Japan), 20 km east of central Nagoya (see Figure 1). The objective of the Aichi Expo 2005 is the “pursuit [of] a sustainable and harmonious co- existence for all life on earth.” The Aichi Expo has a large variety of activities, such as presentations of pavilions from various countries, regions, and companies, exhibitions of diverse technologies, as well as family entertainment.

Reflecting Japan’s increasing interest in Robotic Technologies (RT) that interact with humans, as opposed to industrial robotics, a variety of robots are being presented at the Aichi Expo. The majority are still prototypes with projected commercialization by 2020 but a few are labeled “working robots” because they are actually being used at the Aichi Expo (i.e., for cleaning, security, or guidance purposes). These activities are being promoted by the Ministry of Economy, Trade, and Industry (METI) and the New Energy and Industrial Technology Development Organization (NEDO), as well as being sponsored by the Aichi Expo Association. Figure 1. Aichi EXPO Location With more than ten million visitors by the middle of

2 July, the Aichi Expo represents a good opportunity to further extend the idea of a robotic society to the public.

The present report provides an overview of these working robots, as well as several of the prototypes that were exhibited during the June 9-19 period of the exposition.

ATIP offers a full range of information services including reports, assessments, briefings, visits, sample procurements, workshops, cultural/business sensitivity training, and liaison activities, all performed by our on-the-ground multilingual experts. Japan Office: U.S. Office: Asian Technology Information Program Asian Technology Information Program Harks Roppongi Building 1F PO Box 4510 6-15-21 Roppongi, Minato-ku Albuquerque, New Mexico 87196-4510, U.S. Tokyo 106-0032, JAPAN Tel: (505) 842-9020 Tel: +81 3 5411-6670 Fax: (505) 766-5166 Fax: +81 3 5411-6671 Email: [email protected] Website: http://www.atip.org

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END OF REPORT ATIP05.037a [The remaining sections of this report are available to ATIP subscribers]

3 ATIP05.037 (continued): Robots at Aichi World Expo

2005

Copyright (c) 2005 by the Asian Technology Information Program (ATIP) This material may not be published, modified o r otherwise redistributed in whole or part, in any form, without prior approval by ATIP, which reserves all rights.

EXECUTIVE SUMMARY

• The Aichi World Expo is an event that has already attracted more than 10 million visitors by mid July. • NEDO, the largest public R&D management organization in Japan, is organizing an exhibition of both prototype robots expected to be commercialized by the year 2020 and working robots. • Japan's robotics technology sets the standard for the world and is expected to grow into one of the key industries of the nation. Years of research and development have already yielded numerous robots that are in practical use today. The market is estimated to reach 1.8 trillion yen (approx. US$16 Bil.) by 2010. • A popular application for robots that would expand the market for interactive robots has not yet been found. Thus, the potential positive impact on the public of the prominent display of robots at the Aichi Expo needs to be considered. • There is a trend towards academic institutions being associated with small companies in the development of their robots and systems. On the other hand, large companies such as Mitsubishi and NEC are developing robots on their own.

IMPACT & ASSESSMENT Robotic Technology is a key field that is being promoted by both the central government and several local governments in Japan. However, distinct from industrial robots, efforts are being devoted to develop robots that deal with humans. Further development requires human contact to discover issues and problems that arise from human/robot interaction. Therefore, the Aichi Expo 2005 represents a good opportunity for researchers to take robots outside of the laboratory and for the public to become familiar with the kind of research that institutes and companies are conducting in Japan.

2. PAST NEDO PROJECTS

As reported in a previous report (ATIP03.041: Humanoid Robotics Project), NEDO, Japan's largest public R&D management organization for promoting the development of advanced industrial, environmental, new energy, and energy conservation technologies, has been supporting several robot projects. Among them are the following:

4 • Robots for Hazardous Environments. At a cost of 15.5 billion Yen (approx. US$150Mil.), the project lasted from 1983 to 1990. As the name states, the project’s objective was to develop mobile versatile robots to work in various situations and fields, such as nuclear power plants, marine environments, and disaster prevention. • HRP: Humanoid Robot Project. This was discussed in previous reports (including ATIP05.028: Advanced IT in Kansai). The project cost 4.57 billion Yen (approx. US$40Mil.) and lasted from 1998 to 2002. The objective was to create a standard robot platform (see Figure 2) so that it could be used by other groups in joint research. This robot and its simulation systems are now being used by some groups. However, they are not as widely used as was expected. The leader of the project was Dr. Hirochika INOUE. • Creating Infrastructure Software to Serve as a Basis for Robot Development Work. In 2004, this project cost 80 million Yen (approx. US$750,000) and began in 2002. The objective of the project was to build middleware to support the modularization of robotic elements, including standard specifications.

Figure 2. HRP2 in Action

3. WORKING ROBOTS

During the Aichi Expo Robot Exhibition, several companies presented their robots in operation. The goal is that these robots will be commercially available by 2010. The following were some of the robots presented:

5 • SuiPPi by Matsushita Electric Works Ltd. A successor to the Hospi robot that was reported in an A-Tip (HOSPI Robotic Porters - March 25, 2005), this robot is an autonomous sweeping robot. • Subaru Robohiter RS1/T1 by Fuji Heavy Industries Ltd. The promotional material for this robot is intriguing. It describes the robot as a technology that ‘almost does a better cleaning job than human cleaners’. ‘Almost’ would indicate that the level of technology is not where it would be desired. o The RS1 is resistant to rain and dust and built to work in all weather conditions. It uses global positioning system (GPS) technology for self-positioning (besides a laser triangulation sector, a reflector, and a gyro sensor, among others). This type of robot is now being used to clean the Aichi Expo grounds at night. Fuji Heavy Industries claims that the RS1 uses a coordination system among a group of three, but the coordination algorithm is unspecified. The development of this robot began in 1989. In 1999, the first prototypes were sold but in 2005, the number of units only reached 35. Examples of these robots can be found in the Roppongi Hills Mori Building (an office building in central Tokyo), Narita International Airport, and the new Chubu International Airport (opened in 2005). o The T1 model is built for replacing outdoor trash cans. The company has developed these robots as the logical consequence of their trash collection vehicles that they began manufacturing in 1962. The two-robot coordination system works when one of the robots collects the trash and the other places an empty trash can in the empty slot. This project is led by Hajime AOYAMA, Project General Manager. • ALSOK Guard Robo i by Sogoh Security Services Co. Ltd (see Figure 3). Resembling a Japanese comic book character, this robot is built as a half security robot, half guide robot. The motto of the publicity campaign is “by night, a security robot, by day, a source of entertainment”. As part of its security program, it can shoot paint balls as warnings. It also has a fire sensor and a human detection sensor. The ALSOK Guard robot is based on the GuardRobo C4 marketed by Sohgo in 2002. In ATIP’s opinion, this robot needs a great deal of improvement before it can be used for its claimed purposes, including an increase in its velocity that is now too slow. • Mujiro Ligurio by tmsuk,Co,jo (see Figure 3). Designed in the shape of a Japanese wandering warrior, this robot is also designed for security purposes. It has retractable arms that only appear in emergency mode. With its GPS positioning system, it can localize itself with a claimed centimeter precision. The robot can also be controlled by the personal handyphone system (PHS) of mobile phones. The company claims to own the patent for this kind of control but there are similar efforts in laboratories in other parts of Japan. Tmsuk informed ATIP that its technology of PHS phone tele-operation has drawn the attention of a branch of the US Army. This small company uses the strategy of offering its robots to academia whenever they learn of a leader of an interesting and relevant field of research, in order to initiate joint projects. • wakamaru by Mitsubishi Heavy industries Ltd (see Figure 3). Developed after a three and a half year effort, this well known robot is designed as a human companion and communication robot although it will act as a receptionist in the Aichi Expo with the capability of understanding orders in four languages: English, Japanese, Korean, and Mandarin due to its association with Asahi Kasei Corporation, a leader in speech recognition systems. The designers have also put considerable effort in non-verbal body language. Mitsubishi Heavy Industries plans to launch the commercial production of Wakamaru in five years (2010).

6 • Actroid by Kokoro Company Ltd and Advanced Media Inc. This is an Android Receptionist Robot with facial expressions and human speech recognition. Its sensors are not only located on the body of the android but are also in the booth it occupies. Again here, a small company joined a world leader in speech recognition (Advance Media Inc.) in the development of its robot. • TAO Aicle by Aishin Seiki Co. Ltd, Fujitsu Ltd and the National Institute of Advanced Industrial Science and Technology (AIST), a government research laboratory. This is an electric robotic wheelchair with GPS and laser sensors. For operation, however, the chair requires the installation of several sensors in the environment, which limits the robot’s use to previously prepared areas. • PaPeRo by NEC Corporation (see Figure 3). This is a Childcare robot that has been gaining a great deal of popularity lately in Japan. It features the capability of communicating with parents via mobile phone. It has a basic mechanism for recognizing people (up to 10 people). The project is led by Yoshihiro FUJITA from the Personal Robot Research Center-NEC.

Counter-Clockwise from Top Right

(1) Mujiro Ligurio (2) ALSOK Guard Robo i (3) PaPeRo (4) wakamaru

Figure 3. Robots at the Aichi Expo

7 4. PROTOTYPE ROBOTS

From June 9 to June 19, several research institutes and companies presented prototype robots that are expected to be the foundation for practical robots for the year 2020 according to the concept “A 2020 City: Living with Robots.” This section highlights the most relevant prototypes.

4.1 TELEsarPHONE TELEsarPHONE is an interesting type of robot based on “tele-existence” (ATIP published a report on tele-existence: ATIP05.010: Telepresence & Remote Operations in Asia, although this particular robot was not mentioned in that report). The system consists of two elements: a humanoid and an operating cockpit (see Figure 4) situated in different locations connected through high-speed links to transmit audio, visual, and tactile information.

Control Cockpit Humanoid

Figure 4. TELEsarPHONE

This robot has a particularly interesting feature: in the black parts seen in the Humanoid body (see the right portion of Figure 4) are screens in which one can see some parts of the operator’s body in order to help people surrounding the robot feel that it is an alter-ego of the operator.

8 4.2 EMIEW EMIEW developed by Hitachi is a self-balancing two-wheeled robot whose goal is to be a human companion and therefore has the same velocity as a human. The company envisions applications, such as guide, security robot, waiter, mail, and parcel helper, etc.

4.3 Repliee Q1expo Repliee Q1expo (see Figure 5), an android developed at the Ishiguro Laboratory at Osaka University is a new version of an android that has been designed to imitate humans to a point of even reproducing involuntary movements of the human body, such as pulmonary respiration. ATIP has seen the previous version of this android and believes that it was still not well developed in the sense that the android looked like a robot. The new version, however, has more realistic facial features, probably because it is a reproduction of a real person. However, the android does not have any sensor in its body other than skin sensors. The

Figure 5. Repliee Q1expo Android

9 other sensors used are located outside its body: cameras from different angles (see Figure 5), several microphones, and a floor touch sensor to track human movements.

4.4 UMRS-NBCT The UMRS-NBCT is a robot developed by the NPO International Rescue System Institute, an organization that is part of the Japanese effort to develop the field of rescue robotics (see Figure 6). UMRS-NBCT is short for “Utility Mobile Robot for Search against Nuclear Biological and Chemical Terrorism”. This robot is therefore a probe robot that, once unleashed in a targeted area, is claimed to perform the following tasks: • Activate its camera to closely monitor the situation • Sample the residues at a contaminated area to identify any toxic substance • Gather information required by the rescue team

Figure 6. Rescue Robot anti-NBC Terrorism

10 The robot also includes: • Sensors to locate survivors • Video cameras and interactive voice system for communication with victims • Wireless communication system • A manipulator to handle dangerous substances • 3D map navigation system

The robot is also dust, water, and bacteria-resistant. The project is directed by Dr. Toshi TAKAMORI, Professor Emeritus of Kobe University.

4.5 MOIRA Snake Robot The MOIRA Snake Robot is a robot developed at Osaka University in cooperation with the International Rescue System Institute. It is manually operated and designed for disaster rescue missions.

4.6 IMR-Type 1 The IMR-Type 1’s main characteristic is its use of leg and wheels-type of locomotion (see Figure 7). The main driving force in the development of this technology is to create a robot that can move in any kind of terrain (flat, stairs, etc). Its mobility can be classified into three types: wheel drive, walking on floors, and walking on stairs. It is still in an experimental stage of development. The robot is developed by Ishikawajima- Figure 7. IMR-Type 1 Harima Heavy Industries Co. Ltd.

4.7 Applications of the HRP-2 The HRP humanoid was one of NEDO’s past projects (see Section 2 above). Nevertheless, two models of a next generation HRP-2 were presented at Aichi EXPO 2005. The first one is named HRP-2 No. 10, a robot that is specialized in searching objects. The second one (just HRP-2) is used for conducting research on communication with humans (see Figure 8). The project staff believes that while a great deal of effort is put on research focusing on walking and mobility, research on communication with humans is even more important. Therefore, this robot can hold a conversation using verbal dialogue and eye contact. The robot can also determine where a person is looking at and fetch items that are pointed to by the user. This robot is developed by the Autonomous Behavior Control Research Group and the Humanoids Robotic Group from AIST and other institutions, such as the Nara Institute of Science and Technology and Wakayama University. The Department of Aeronautics and Space Engineering from Tohoku University has been developing a new software for the HRP-2 (proprietary technology) that enables the humanoid to use its entire body for “impact motions” (i.e., motions that unlike walking or

11 getting up, require the robot to deal with impact forces). As an example, at the Aichi Expo were demonstrations of drumming and martial arts.

Figure 8. HRP-2 models (interaction and searching)

4.8 WIND J-Sip Corporation and the Future Robotics Technology Center from Chiba University have developed a small chip called WIND, which attached to several parts of a person’s body, can wirelessly control a humanoid robot, which is another example of tele-presence.

4.9 Robovie Family Using two of its already existing humanoids, ATR (see the report ATIP05.028: Advanced IT in Kansai) Intelligent Robots and Communications Laboratories have developed the concept of “Robovie Family” (see Figure 9). Robovie is the name of several robots developed by ATR and commercialized by its spinoff company ATR-Robotics. The concept is defined as having two robots of different shapes and sizes collaborating in completing their tasks. In the case of the two Robovies, one (Robovie-M) is a very small humanoid with little computing power, or limited sensor and actuator capability, a disadvantage that is corrected by the existence of its partner (Robovie-R) that, due to its size, can direct and supervise the small humanoid actions. At the same time, the small humanoid can reach places that the tall one cannot.

12 Figure 9. Robovie-M and Robovie-R

4.10 Nagara-3 As part of a regional effort, the authorities of Gifu prefecture are focusing on the development of robotic-related industries (Gifu Robot Project 21-GRP21). However, one problem is that the original intent of the HRP team of creating a unified platform is not fulfilled when other researchers independently create humanoids with the same goal—to serve as standard platforms. In this case, the Gifu Robot Project has developed a cute little humanoid with the goal of interacting with children in physical activities and sports (see Figure 10).

Figure 10. Nagara-3

13 4.11 Robot Suit HAL This Robot Suit HAL is one of the exoskeleton projects presented at the Aichi Expo. Developed by Prof. SANKAI at the University of Tsukuba, this 15kg (33lb) robot suit (see Figure 11) has been gaining a great deal of attention from inside and outside Japan (see the ATIP Scoop: Hybrid Assistive Limb (HAL) Development at Tsukuba). The novelty of this robot lies in its ability to use the human subject body’s electric potential signal to control the suit. Prof. SANKAI explains that it is not that the subject controls the robot but the robot itself moves as the human wishes, as a part of the human’s body. This function is achieved by detecting and treating the body’s electric potential signal on the skin. The suit also has a self control structure to control some movements autonomously.

4.12 Muscle Suit Prof. Hiroshi KOBAYASHI’s group at the Tokyo University of Science developed a robot suit (see Figure 11) that uses McKibben muscles as actuators; further, only the joints are metallic. This robot suit is thus very light (2kg, 4.4lb) and silent. As Prof. KOBAYASHI points out, these characteristics are the result of the design process whereby researchers took into account the perspective of the person in need of care rather than the perspective of the caregiver.

Robot Suit HAL Muscle Suit

Figure 11. Two examples of robot suits at Aichi Expo 2005

5 CONCLUSION

In total, 65 prototype robots of different types and shapes were featured at the Aichi Expo, but with the common characteristic of being designed for easy use by their human users.

14 A previous ATIP report (ATIP05.028: Advanced IT in Kansai) described efforts of local governments of the Kansai region, particularly Osaka, to promote intelligent robotics in their area. The present report summarizes the prototype robots that were recently presented at Aichi World Expo 2005, an event organized by the government of the Aichi region in central Japan. This report also reviews the working robots that are being used at this exposition for several purposes. Given the large number of people that have attended the Aichi Expo, over ten million by the middle of July, it is important to know what kind of robotic technology is being presented to Japanese and foreign audiences and what ideas are being developed for the next fifteen years. As a side comment, during ATIP’s interviews with Japanese researchers, it was frequently mentioned that these scientists’ motivation for entering the field of robotics was driven by an earlier event similar to the Aichi World Expo, such as the 1970 Osaka Expo in which they were exposed to robots as children.

6. CONTACTS & WEBLINKS

For additional questions regarding the present report, please contact:

David Aliaga Fuentes Technology Analyst Asian Technology Information Program (ATIP) Harks Roppongi Bldg. 1F, 6-15-21 Roppongi Minato-ku, Tokyo, 106-0032 Japan Email: [email protected] Tel: +81 3 5411-6670 Fax: +81 3 5411-6671

Japan Association for the 2005 World Exposition Headquarters/Nagakute Area: 1533-1 Ibaragabasama Nagakute-cho, Aichi 480-1101 Japan

Seto Area: 2-171-1, Uenoyamacho, Seto, Aichi

Nagoya Office: Nagoya Daiya II Bldg 4F, 3-15-1 Meieki Nakamura-ku, Nagoya, Aichi 450-0002 Japan

The EXPO 2005 AICHI, JAPAN Call Center Tel: +81 52-955-2005

7. APPENDIX 1: PAST NEDO ROBOT PROJECTS

7.1 Robots for Hazardous Environments In the three sectors of nuclear power, marine (offshore), and disaster prevention, NEDO is developing mobile, versatile robots to work in situations where humans cannot easily

15 survive. These include high radiation, high water pressure, and high temperature locations. In these situations, the nuclear zone work robots (see Figure 12 below), marine robots, and disaster prevention robots undertake diverse, complex on-site work, such as inspections, repairs, and rescue activities. They work rapidly and reliably based on preprogrammed commands or commands given remotely. NEDO also undertakes R&D on fundamental technology common to all three sectors above mentioned.

Figure 12. Nuclear Zone Work Robots

R&D Costs Period of Research Participating Organizations Mechanical Engineering Laboratory and 15.5 billion yen FY 1983 – FY 1990 Electrotechnical Laboratory of the Agency of Industrial (~US$138.2 Science and Technology million) Advanced Robot Technology Research Association (ARTRA)

NOTE: This association was formed by 18 private sector companies and 2 organizations under the Research Association for Mining and Manufacturing Technology Law.

7.2 HRP: Humanoid Robot Project A robot platform—a basic type of robot for use as a foundation for joint research—was developed to create robotic systems that work in coordination with human beings and coexist with them, featuring high levels of safety and reliability. The use of robot platform will allow robots to carry out complex work operations in people’s work and living environments. R&D was carried out on application technology utilizing this platform, which led to the completion of a new type of platform HRP-2.

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17 R&D Costs Period of Research Project Leader 4.57 billion yen (~US$40.8 FY 1998 – FY 2002 Prof. Hirochika INOUE (University of Tokyo) million)

First Stage Second Stage Participating Manufacturing Science and Organizations Technology Center Manufacturing Science and Technology Center Mitsubishi Heavy Industries Ltd. Tokyu Construction Co. Ltd. Contractors Fujitsu Ltd. Sohgo Security Services Co. Ltd. Yasukawa Electric Corporation Kawada Industries Inc. Shimizu Corporation Honda Motor Co. Ltd. Tohoku University FANUC Ltd. Tsukuba University Matsushita Electric Works Ltd. Tokyo Institute of Technology Sub Kawasaki Heavy Industries Ltd. University of Tokyo contractors Fujitsu Ltd. Kyoto University Hitachi Ltd. Osaka University University of Tokyo Hiroshima City University Mechanical Engineering National Institute of Advanced Industrial Laboratory and Electrotechnical Science and Technology (AIST) Joint Research Laboratory of the Agency of Entities Industrial Science and Technology

7.3 Creating Infrastructure Software to Serve as a Basis for Robot Development Work This NEDO project was designed to ensure that open robot system architecture is readily available as a measure to promote the revitalization of Japan’s industrial sector. To reach this goal, NEDO engaged in R&D work on robot middleware to support the efficient development of robot systems. In addition to formulating standard specification proposals for robot middleware to expedite modularization, as well as developing robot middleware based on this specification data, the project also demonstrated archetypal examples of how to create robot systems, and in this way, verified the effectiveness of middleware technology. NEDO is committed to standardizing this architecture and to further vitalize the industrial sector. . Project financing costs in FY 2004: 80 million yen (~US$713.5 million) . Period of Research: FY 2002 ~ FY 2004

18

19 Project Leader Participating Organizations National Institute of Advanced Industrial Science Kazuo TANIE, Chief Evaluator, Evaluation and Technology Department, National Institute of Advanced Japan Robot Association Industrial Science and Technology Matsushita Electric Works, Ltd.

8 APPENDIX 2: ROBOT PROJECTS ON DISPLAY AT AICHI

8.1 Working Robots Name of Robot Creator(s)

Advanced Media Inc.

Actroid Kokoro Company Limited

Sohgo Security Services ALSOK Guard Robo i Co. Ltd.

Mujiro Ligurio tmsuk Co. Ltd.

20 PaPeRo NEC Corporation

Subaru Robohiter RS1 / Fuji Heavy Industries T1 Ltd.

Matsushita Electric SuiPPi Works Ltd.

Aisin Seiki Co. Ltd

Fujitsu Ltd.

TAO Aicle National Institute of Advanced Industrial Science and Technology (AIST)

Mitsubishi Heavy wakamaru Industries Ltd.

21 8.2 Prototype Robots

Name of Robot Creator(s) Ritsumeikan University

µ-TAN UCLA

Hashida Giken Inc. National Institute of Advanced Industrial AAR Science and Technology (AIST) Amphibious snake-like robot ACM-R5 Tokyo Institute of Technology ApriAlpha Apri the sharp ear Toshiba Corporation ASKA Nagoya Institute of Technology ASTERISK Osaka University Batting Robot Hiroshima University Candy-05 Nirvana Technology Inc. Chari-Be Tohoku University CHRIS (Cybernetic Human-Robot Interface Hiroshima University System) Institute of Systems & Information Contents-Driven Robot “Momocchi” Technologies (Kyushu) Yoshikawa Kikai Seisakusho Corporation

COOPER Chukyo University

Tokai EC Co. Ltd. Cyber Assist Meister Robot Saitama University Business Design Laboratories Co. Ltd DAGANE Nagoya University Future University-Hakodate Dress-up Robot NEC Software Hokkaido Ltd. Gifu University Dr. Impact Sekisui Chemical Co. Ltd. Econo Vehicle Meijo University EMIEW Hitachi Ltd. Kyoto University ENRYU T-52 Advance tmsuk Co. Ltd. High-Precision Patient Robot – EVE Nagoya University HIRO Gifu University Nara Institute of Science and Technology

National Institute of Advanced Industrial HRP-2 with interaction ability Science and Technology (AIST)

Wakayama University

22 Humanoid Robot HRP-2 No.10 with Human National Institute of Advanced Industrial Supervision Science and Technology (AIST) Hyper Robot University of Tokyo Impact Motion Humanoid Robot HRP-2 Tohoku University Okayama Prefectural University InterAnimal InterRobot Inc. J2 (Jumping Joe) Kyushu Institute of Technology Kinshachi Robot Ryomei Engineering Co. Ltd. Kitasap2 Kyushu Institute of Technology Ritsumeikan University KOHARO – Crawling and Jumping Soft Robot Toray Engineering Co. Ltd. Kotaro University of Tokyo KOZOH4 Robus Corporation Leg-Wheeled Type Mobile Robot “IMR-Type 1” Ishikawajima-Harima Heavy Industries Co. Ltd. Life Pod Fuji Electric Systems Co. Ltd. Man-Machine Synergy Effector Ritsumeikan University NHK Engineering Services Inc. Micro Surgery Robotic System MM-1 University of Tokyo MOIRA2 Kobe University Muscle Suit Science University of Tokyo Gifu Industries’ Association [Robot Development Team] NAGARA-3 Gifu Prefectural Research Institute of Manufacturing Information Technology Next-Generation Intelligent Wheelchair RoTA Limited Ohta Business Sozo Kyougikai (OBK)

OBK – SkyEye 1&2 University of Tokyo

Chuo University Omni-Directional Wheelchair Robot/Home University of Electro-Communications Messenger Robot NEC System Technologies Ltd. Optical-tongue robot Mie University Tohoku University

PBDR S.N. SEIKI Co. Ltd.

TroisO Co. Ltd. Tokyo University of Science Person Following Robot Toshiba Corporation Physical Agent Robot 04 Revised model Shibaura Institute of Technology PAR04R Picture Robot Gifu Prefectural Ceramics Research Institute

23

Shin-Ei Kiko Co. Ltd Pre-hospital care robot Kyushu University Remote Micro Surgery Robots (Micro Finger & Nagoya University Hyper Finger) Osaka University Repliee Q1expo Kokoro Co. Ltd. Robotherapist Osaka University Robot Suite HAL University of Tsukuba Yoshimoto Kogyo Co. Ltd. Robovie&wakamaru Mitsubishi Heavy Industries Ltd. Advanced Telecommunications Research Robovie Family Institute International SmartPal Yaskawa Electric Corporation Kyushu University Studious Okaya Chamber of Commerce National Institute of Advanced Industrial Self-reconfigurable modular robot: M-TRAN III Science and Technology (AIST) Tekken University of Electro-Communications TELEsarPHONE University of Tokyo UMRS-NBCT NPO International Rescue System Institute UT-µ2: magnum University of Tokyo WABIAN-2 Waseda University Miraikikai Inc. WallWalker Kagawa University J-SiP Corp. WIND Robot System Chiba Institute of Technology WABOT-HOUSE Laboratory WOODY-1 Robot Woodcutter Waseda University Yakko Kite Flying Robot Gifu Industries’ Association Niigata Industrial Creation Organization

Research & Development Inc.

Niigata Institute of Technology Yuki-Taro, Autonomous Snowplow

Yamagata University

Industrial Research Institute of Niigata Prefecture

24 END OF REPORT ATIP05.037r

The research for this report was funded in part by the Office of Naval Research (ONR) grant # N00014-03-1-0690

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