著者

築島 隆尋 高野 政晴 佐々木 健 井上 健司

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.8, no.6, pp.699-711, 1990-12-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

4 9

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This paper proposes a general theory for kinematics and dynamics of wheeled mobile robots (WMRs) . This study has two features: 1) The proposed method can deal with various WMR system ranging from typical three or four-wheeled mobile robot to multi-WMR systems where multiple WMRs are connected by joints. A WMR is regarded as a planar linkage mechanism with several ends: wheels correspond to the ends. Generally, a WMR system has active joints such as steering axis, passive joints such as casters and couplers, and driven/non-driven wheels. A model of WMR system called tree structure link covering these configurations is proposed. 2) This theory deals with kinematics and dynamics of WMR including slip of wheels. WMR dynamics is derived regarding frictional force between wheels and the ground as an external force which is a function of the slip speed. When no slip is assumed in wheels, WMR's motion is expressed by kinematics. In this manner, the proposed method is applied systematically on the kinematics when slip can be neglected and the dynamics when slip exists. Furthermore, velocity input dynamics is proposed which gives the motion of WMR when the velocity commands are inputs to active joints and wheels under the condition that wheels slip.

著者

西澤 寛人 住吉 正孝 土屋 洋人 韋 靖彦 圓山 雅巳 岡井 巌 丸山 園美 岡崎 真也 井上 健司 藤原 康昌

出版者

公益財団法人 日本心臓財団

雑誌

心臓 (ISSN:05864488)

巻号頁・発行日

vol.41, no.3, pp.S3_93, 2009

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症例は90歳, 女性. 5年前より発作性心房細動のためベプリジル100mg/日内服していた. 心エコーで基礎心疾患なく心機能は正常範囲内であった. 2007年6月ころより下腿浮腫が出現, 近医よりフロセミド20mg/日の投与を受けていた. 2008年7月ころからふらつきが出現したため当院を受診した. 入院時心電図は心拍数65/分の洞調律, QT時間0.44 (QTc 0.46), V2~4に著明なU波を認めた. 入院後, 多形性心室頻拍 (PVT) が繰り返し出現, 硫酸マグネシウムおよびリドカイン静注によりPVTは抑制された. 血液検査でK 3.4mmol/Lと低カリウム血症を認め, ベプリジルを中止しカリウムを補正した後はPVTの再発はない.  ベプリジル投与中のPVT発症には明らかなQT延長を伴わない場合もあり, 血清カリウム濃度には十分に注意する必要がある.

著者

佐藤 悠 井上 健司

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 (ISSN:21879761)

巻号頁・発行日

vol.82, no.843, pp.16-00348, 2016 (Released:2016-11-25)

参考文献数

20

被引用文献数

1

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A method for a six-legged robot of walking on terrain with various undulations by tripod gait is proposed. First the robot detects foot landing using touch sensors, and estimates the inclination angle of the ground from the landing positions; the estimated ground is called “reference ground”. Second the robot measures the inclination angle of its body using acceleration sensor. Then the legs move up and down so that the body may be parallel to and may keep a constant distance from the reference ground. If the robot encounters deep depressions or downward slopes, the robot suspends walking and actively inclines the reference ground. As a result the body inclines, and the swing leg goes further down. When the swing leg reaches the ground, the robot restarts walking. Due to the feedback gain of body orientation control, the robot does not respond to fine change of undulation. Hence the body keeps a constant orientation on short distance undulation or rugged surface, and gradually inclines its body on long distance undulation such as slopes and stairs. The ability of climbing up and down slopes and steps in longitudinal and transverse directions is evaluated by experiments. The maximum angle of climbing up slopes is 30 degree, and that of climbing down slopes is 40 degree. The maximum height of climbing up steps is 150 mm, and that of climbing down steps is 180 mm. The robot can also go through a bump of 125 mm width and 60 mm height.

著者

井上 健司

出版者

東京大学

巻号頁・発行日

1993

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報告番号: 乙11266 ; 学位授与年月日: 1993-05-13 ; 学位の種別: 論文博士 ; 学位の種類: 博士(工学) ; 学位記番号: 第11266号 ; 研究科・専攻: 工学系研究科精密機械工学専攻

著者

井上 健司

出版者

University of Tokyo (東京大学)

巻号頁・発行日

1993-05-13

著者

田窪 朋仁 西井 一敏 井上 健司 新井 健生

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 = Journal of Robotics Society of Japan (ISSN:02891824)

巻号頁・発行日

vol.25, no.3, pp.457-465, 2007-04-15

参考文献数

27

被引用文献数

1 3

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Marionette system provides an intuitive teleoperation system for the difficulty controlling whole-body motion of a multi-joint robot and the complicated observation of its condition. This system employs a small robot which has similar form to a control target as an operating/displaying device, so that the device provides an operational feeling like manipulating a doll, so it is named Marionette Device. Since the characteristics of the Marionette device and the target robot are synchronized bilaterally in the system, the operation of Marionette device is reflected intuitively in the target, and the robot motion is also displayed simultaneously by the Marionette device. In this paper, we develop a humanoid type device as Marionette device in order to operate a humanoid robot HRP-2 and implement a whole-body teleoperation method. The remote walking and manipulation experiments in an unknown environment are introduced. In this experiment, the operator should guess the remote environment using a head camera view and control legs and arms by the Marionette device. We propose a new operation method for controlling foot position and leg joints with the Marionette device. It makes possible to walk by pointing a foot stamp step by step in a stable place. To show the effectiveness of the proposed system, we compare another teleoperating system which employs a joystick and a 3DCG display for control and understanding the state of remote robot. The experimental result shows effectiveness of the Marionette system and it has potential of teleoperating humanoid robots with other devices for complementing each other.

著者

上川 健司 新井 健生 前 泰志 田窪 朋仁 井上 健司

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.28, no.2, pp.231-240, 2010 (Released:2012-01-25)

参考文献数

16

被引用文献数

1 3

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This paper proposes a new locomotion algorithm of narrow scaffold. We have developed a limb-mechanism robot. The limb can move on a large working area, it can be used as an arm and a leg. ASTERISK Robot system has six limbs that radiate out in six directions. This robot system has the rotational symmetry, therefore, the posture is equivalent even if the robot body rotates. By using this feature, we propose a new movement algorithm “rotational gait” that the robot rotates like a wheel. The rotational gait can be applied to the robot that hanging on a cable, moving on narrow shelf of a cliff, and walking in a narrow space by the same algorithm. The operation and effectiveness of these algorithms were verified by the experiment. The movement algorithm is easy pattern operation that keeps stable state at all periods. And the robot can move without doing a high-speed real-time processing.

著者

山本 雅人 井上 健司 前 泰志 新井 健生

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.2004, 2004-06-18