著者

日浅 崇馬 佐藤 隆紀 風間 英気 明 愛国 下条 誠

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)

巻号頁・発行日

pp.2P1-K06, 2017 (Released:2017-11-25)

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Within limbs of typical animals, there are bi-articular muscle-tendon complex crossing two joints. In particular, it is known that the bi-articular muscle-tendon complex between hip joint and knee joint contributes to the dynamic motion such as high jumping and fast running. This realizes transfer of the torque between the two joints and storage and reuse of the elastic energy. In this paper, we introduce the muscle-tendon complex between hip joint and knee joint to the hind legs of the quadruped robot. In the vertical jump simulation, we confirmed that the mechanism enabled the leg to transfer the torque between the two joints and the leg with the mechanism realized higher jump than the one without it. A prototype of the mechanism has been fabricated also.

著者

下条 誠

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.41, no.10, pp.723-727, 2002-10-10 (Released:2009-11-26)

参考文献数

27

被引用文献数

4

著者

多田隈 建二郎 多田隈 理一郎 勅使河原 誠一 溝口 善智 長谷川 浩章 寺田 一貴 高山 俊男 小俣 透 明 愛国 下条 誠

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2009, pp."2A2-B02(1)"-"2A2-B02(2)", 2009-05-25

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This paper describes the morphing omnidirectional gripper which is able to grasp various objects with low melting point alloy. The deformable part of the gripper changes its shape by covering all directionof objects and makes the contacting area higher. In order to keep the high grasping force, proposed gripper does not need any additional energy thanks to the solid state of the deformable part including low melting point alloy. The design of the actual prototype model with cooling mechanism is shown and built. In addition, the usage of functional fluids for the morphing part is proposed. The basic performance of the blended material of low melting point alloy and magnetic fluid has been observed.

著者

寺田 一貴 多田隈 建二郎 多田隈 理一郎 明 愛国 下条 誠

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2009, pp."2P1-E05(1)"-"2P1-E05(4)", 2009-05-25

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This paper describes linear load-sensitive continuously variable transmission with the spherical driving unit. This CVT mechanism consists of spherical drive, drive axis, motor housing, fixed bracket and linear sliding plate. It changes the reduction ratio continuously by inclination angle of active rotational axis. Additionally, this linear mechanism has a load-sensitive function by changing inclination of active rotational axis in response to the load. We have developed a linear load-sensitive continuously variable transmission and confirmed the effectiveness of the proposed mechanism.

著者

大石 千種 多田隈 建二郎 多田隈 理一郎 永谷 圭司 吉田 和哉 明 愛国 下条 誠

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2009, pp."1A2-G18(1)"-"1A2-G18(4)", 2009-05-25

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This paper describes the connected two unit crawlers to realize various configurations. By changing the configuration of two connected vehicle units in relative positions, the robot with this mechanism can automatically adapt to the surface obstacles in the field, including such complicated structures like debris after disasters. In addition we analyzed the effect of the each axis arrangement in order to realized switching function to compose the four basic configurations more easily, and developed an actual prototype model.

著者

石川 正俊 下条 誠

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.24, no.7, pp.662-669, 1988-07-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

3 13

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An imaging tactile sensor for the measurement of pressure distributions and a real-time tactile image processing system using the sensor are described.The sensor has a 64×64 array of sensitive sites using pressure-conductive rubber and electrodes on PC board. The scanning circuit of the sensor realizes precise and high speed scanning, 16.7ms per one frame, using a FET at every site for switching. As the output of this sensor is a video signal, pressure distributions can be visualized by a monitor TV and can be recorded by a video tape recorder.By connecting the sensor with a high speed image processor, tactile image processing has been realized. In this paper, showing some examples such as smoothing, contour, trace, and adaptation of tactile images, features of tactile image processing are definitely shown by comparing with visual image processing. This system is used as a developing system of tactile processing algorisms as well as for the measurement of pressure distributions of human body with beds or chairs in the field of human engineering.In this paper, the structure of the sensor and the architacture of the system are described and experimantal results are shown.

著者

下条 誠 牧野 了太 小川 博教 鈴木 隆文 並木 明夫 斎藤 敬 石川 正俊 満渕 邦彦

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2002, 2002

被引用文献数

3

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神経系を介して生体系と機械系を一体化しようとする試みは, 医用生体工学の中でも最も注目を浴びている領域の一つである。しかしながら, いまだ世界において実際に遠隔地にある外部機器と生体の感覚神経を接続し, 人工感覚を生成するシステムを作成した報告は全く見あたらない。本研究では, 遠隔地にあるロボットハンドを被験者がネットワーク経由で操作を行い, ハンドと対象物との接触情報を, 再度ネットワーク経由で被験者の触感覚神経を刺激することで, ハンドに加えられた感覚刺激を自分の手に感覚が加えられたものとして感じる事を可能とするシステムを開発し, 実験に成功した。本報告ではこの実験システムに関して報告する

著者

丸山 共存 明 愛国 下条 誠 梶谷 誠

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2003, 2003

被引用文献数

1

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本研究では, 干渉駆動を用いた高速動作を実現するゴルフスイングロボットを開発し, その機構と制御法の有効性を実証してきた。本報では手首関節にストッパ無しの場合フルスイング実験を行い, その結果を報告する。

著者

下条 誠

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌E(センサ・マイクロマシン部門誌) (ISSN:13418939)

巻号頁・発行日

vol.116, no.1, pp.20-23, 1996-01-20 (Released:2009-04-01)

参考文献数

7

被引用文献数

4 3

著者

有田 輝 米田 将允 鈴木 陽介 下条 誠 明 愛国

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.35, no.9, pp.669-680, 2017 (Released:2017-12-15)

参考文献数

22

被引用文献数

1

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For bipedal robots walking on uneven terrain, lack of information about a terrain may cause serious reduction of the stability. To solve the problem, the purpose of this paper is to develop a sensor which can be mounted on robot's soles and propose methods which can increase the stability of bipedal walk with the sensor. The sensor should detect information including relative posture and relative distance between the sole of the swing leg and the floor, when the robot execute the walk by ZMP-based control. In this paper, the sensor has been designed based on Net-Structure Proximity Sensor (NSPS) and a prototype has been developed. The developed sensor is with thin structure, light weight, less wirings (four wires only) and fast response (<1[ms]). Experimental results show that the sensor can output necessary relative posture and positon between the sole and the floor for walk control. Besides, the sensor has been mounted to the soles of a hobby robot and its feasibility is shown by controlling robot so that its sole can land on a tilted floor with maximum contacting area to improve the stability.