著者

庄司 道彦 王 志東 高橋 隆行 中野 栄二

出版者

バイオメカニズム学会

雑誌

バイオメカニズム学会誌 (ISSN:02850885)

巻号頁・発行日

vol.25, no.1, pp.36-42, 2001

被引用文献数

1 6

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不整地環境で二脚ロボットに継続的な作業を行わせるためには佇立能力の向上が不可欠である.奉研究では,非平坦面でも静定接地できる足底3点支持構造と,開脚時に支持多角形面積を大きく保つ効果のある,足関節の斜行ロール軸を提案する.

著者

妻木 俊道 小林 洋司 中野 栄二 内山 研史 玉田 守

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.27, no.4, pp.470-480, 2009 (Released:2011-11-15)

参考文献数

18

被引用文献数

2 3

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We introduce a large scaled 6 legged walking machine. It was developed to realize a solid and reliable walking vehicle for practical uses in forestry steep terrain with spread mechanical elements those used in usual construction machines. It weighs about 4,000[kg] with aluminum structure. Owing to a mounted diesel engine of output 11[kW] and hydraulic drive systems, it can walk around on a soft soil terrain and climb the steep slope of inclination up to about 30[deg], and walk along contour line of lateral inclination up to about 40[deg]. Finally it walked and worked well, despite it was tested on severe steep terrain where a lot of shrubs and stumps exist.

著者

中野 栄二

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.85, no.766, pp.1078-1082, 1982-09-05 (Released:2017-06-21)

著者

小谷内 範穂 安達 弘典 中村 達也 中野 栄二

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.11, no.6, pp.918-928, 1993-09-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

3 6

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A self-contained type hexapod walking robot was developed in Mechanical Engineering Laboratory. It is called MELCRAB-2. This hexapod has specific features both in the mechanical design and in the control way. This paper provides a few significant guideline to design the self-contained hexapod walking robot from the point of view about the stair climbability, turning mobility, efficient foot force delivering based on the two decoupled actuation ways, GDA (Gravitationally Decoupled Actuation) and MDA (Motion Decoupled Actuation) . An approximately straight line linkage is used in the leg mechanism of the MELCRAB-2 to satisfy both of GDA and MDA. The inverse kinematics of the approximately straight line linkage was solved for position control. Tactile sensors and proximity sensors are installed on the front side and back side of each foot to detect obstacles and walking environments. Control algorithm with many motion procedures to negotiate the stairs and walking environments was developed. MELCRAB-2 could climb up the experimental stairs with the same dimensions as the real buildings by using that algorithm. MELCRAB-2 is the real self-contained hexapod robot actuated by electric motors, and it can walk with the fast speed owing to GAD and MDA. compared with the past developed walking machines.

著者

石山 敏規 高橋 隆行 中野 栄二

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.17, no.4, pp.526-533, 1999-05-15 (Released:2010-08-25)

参考文献数

10

被引用文献数

4 9

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The main purpose of this research is to study and develop a robust sonar system for mobile robots. In this way, some researchers have made sonar systems which calculate the cross-correlation between the transmitted signal and the received one. However, as the number of patterns of transmitted signals are practically limited, there would be possible erroneous measurements by sonar sensors, especially when the number of the sensors is increased.In this paper, we theoretically estimate the probability of erroneous measurement by the sonar sensors, which depends on the number of the sensors and the form of the transmitted signal. Then, we designed the shape of the emitted signals so that the probability of having an erroneous measurement is in a defined range.

著者

池田 英俊 勝俣 嘉一 庄司 道彦 高橋 隆行 中野 栄二

出版者

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.26, no.2, pp.200-209, 2008-03-15 (Released:2010-08-25)

参考文献数

25

被引用文献数

5 10

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This paper describes a method of cooperative strategy which enables a wheelchair and a wheeled robot to climb a step by a simple link mechanism which connects between them. We perform a numerical calculation to clarify the combination of two supporting positions of the connecting link that connects the two vehicles which enable them to climb a step and is stable at the same time. We conclude from the result of the simulation that it is necessary to change the link positions to climb a step safely. We ascertain the effectiveness of this method by means of experiments.

著者

中野 栄二 庄司 道彦 王 志東 高橋 隆行

出版者

東北大学

雑誌

基盤研究(C)

巻号頁・発行日

2000

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1.実験機の試作操縦型連続移動歩容の検証のために,18自由度をもつ脚車輪ロボットの実験機を製作した.2.オペレータによる操縦に的確に反応する脚相管理歩容の実現オペレータの指示する速度が限度を超えたときに,脚の復帰動作が間に合わずに推進動作が停止する問題が明らかになり,この点の解決に特に重点を置き,集中的に研究を行った.その結果,これまで提案してきた脚相管理歩容ときわめて親和性の高い,かつ効果的な方法の開発に成功した.この方法の主要な部分は以下の通りである.(1)ベースとなる脚相管理歩容とは,脚が可動限界に到達して推進動作が継続不可能になる時刻を予測し,それに基づいて脚の復帰動作開始タイミングを決定する手法である.この手法は,脚の機械的な可動限界到達までの時間と,可動限界からの復帰に要する時間を比較し,継続的な推進動作を実現するものである.(2)しかしながらオペレータの指示速度が過大で,脚の動作タイミングの制御のみでは推進動作の継続性が維持できない場合,速度指令を強制的に小さくすることにより,機体が実現可能な範囲内で最大の速度が出せるようにする.この二つの手法を併用することにより,制御対象である脚車輪型ロボットを不整地上で継続的に動作させることに成功し,また速度指令が一定の場合については,脚の復帰動作を最小限に抑えた効率的な推進動作が実現できることを確認した.3.安定性を考慮に入れた脚相管理歩容の拡張上述の脚相管理歩容を,任意に設定した転倒安定余裕を確保しつつ継続的推進動作が可能なように拡張した.

著者

中嶋 秀朗 中野 栄二

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.72, no.721, pp.2926-2931, 2006-09-25

参考文献数

5

被引用文献数

5

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A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. In this paper, the strategy for the leg-wheel robot moving over large rough terrains is described. First, topographical features are classified for the large rough terrain movement. They are classified into 13 patterns by the combination of terrain surfaces. In order to move over all classified terrains, three gaits are proposed as adaptive gait for large rough terrain. Those three gaits are as follows: 1. Gait for an upward step: the forefoot landing point is higher than contact points with the ground of wheels, and the robot raises the body toward the forefoot landing point. 2. Gait for a downward step: the forefoot landing point is lower than contact points with the ground of wheels, and the robot lowers the body toward the forefoot landing point. 3. Gait for getting over an obstacle: the forefoot landing point is not higher than contact points with the ground of wheels, but the robot raises the body as high as possible.