著者
藤原 清司 金広 文男 梶田 秀司 横井 一仁 齋藤 元 原田 研介 比留川 博久 五十棲 隆勝
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.23, no.4, pp.427-434, 2005-05-15 (Released:2010-08-25)
参考文献数
13
被引用文献数
2 3

This paper investigates a method through which a human-size humanoid robot can fall over backwards safely. Squatting-extending motion of legs reduce impact of falling and shock-absorbing parts of the robot keep the force at a permissible range. The robot could stand up itself again after falling.
著者
原田 研介
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.32, no.6, pp.508-511, 2014 (Released:2014-08-15)
参考文献数
21
被引用文献数
1 7
著者
佐藤 優也 原田 研介 酒田 信親 万 偉偉 ラミレス イクシェル
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.84, no.861, pp.17-00546-17-00546, 2018 (Released:2018-05-25)
参考文献数
19
被引用文献数
1

In this paper, we propose a novel two-stage approach on picking an object from randomly stacked pile. We especially consider a situation where it is difficult for a 3D depth sensor to identify the pose of objects such as shinny ones and black ones. For such objects, our method first roughly grasps some of the objects from the pile without using the visual information and roughly place them onto a working table. After some of the objects are placed on a working table, a robot picks one of them by detecting the 2D position of objects placed on a working table by using the 2D RGB image. We performed experiments for several objects with different shape and weight. Through experimental study, we confirmed that a robot can identify the position of one of the objects after the objects are placed on a working table and that one of the objects can be successfully picked up by a robot.
著者
白井 達也 金子 真 原田 研介 辻 敏夫
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.20, no.1, pp.57-64, 2002-01-15 (Released:2010-08-25)
参考文献数
21
被引用文献数
1

Through grasp experiments by human achieving an enveloping grasp for a small cylindrical object placed on a table, we found an interesting grasping motion, where human changes the finger posture from upright to curved ones after each finger makes contact with the object. During this motion, the object is automatically lifted up through either rolling or sliding motion between the finger tip and the object. A series of this motion is called as Detaching Assist Motion (DAM) . An advantage of DAM is that most of grasping motions can be done on the table instead of in the air. Therefore, we can avoid the worst scenario where the object falls down to the table. We first discuss the basic mechanism of DAM by human experiments. We then apply the DAM to a grasping motion by a multi-fingered robot hand. We show that the DAM can be explained by using Self-Posture Changing Motion. We also show some simulation and experimental results to confirm that a small object can be grasped easily by applying the DAM.
著者
金子 健二 金広 文男 森澤 光晴 三浦 郁奈子 中岡 慎一郎 原田 研介 梶田 秀司
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.7, pp.853-864, 2010 (Released:2012-01-25)
参考文献数
42
被引用文献数
7 6

The development of cybernetic human HRP-4C is presented in this paper. The word “Cybernetic Human” is a coinage for us to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform-4 (Cybernetic human). Standing 158[cm] tall and weighing 43[kg] (including batteries), with the joints and dimensions set to average values for young Japanese females, HRP-4C looks very human-like. This paper introduces the project overview, the design process, mechanical features, and electrical features with specifications of HRP-4C.
著者
山本 純也 東 和樹 小山 佳祐 清川 拓哉 万 偉偉 原田 研介
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.41, no.6, pp.569-572, 2023 (Released:2023-07-27)
参考文献数
14

To extend the paralyzed fingers of a stroke victim with hemiplegia, we have proposed a low-dimensional control system for a robotic finger which can grasp an object between the robotic finger and the paralyzed human fingers. In this study, we newly propose an extra finger that can face multiple fingers with low-dimensional control. This can be realized by adding a rotational joint for moving the base of the robotic finger where it is controlled by the common low-dimensional synergy controller. Experimental results showed that the proposed extra finger could realize 33 grasping postures and 4 peg manipulation patterns.
著者
福田 光佑 ラミレス イクシェル 山野辺 夏樹 プティ ダミアン 原田 研介
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.2018, pp.2A1-F17, 2018

<p>In this work, we propose a recognition system for assembly motions performed by humans, with the aim of generating and re-using robot motions stored in a database. An affordance model for each manipulated object is proposed to efficiently search for matching actions. Based on this model we design motion templates containing a set of basic motions associated to the manipulated objects. Recognition of motion data is done using the proposed motion templates and Hidden Markov Models. We verify the validity of the proposed method using three different assembly tasks.</p>
著者
梶田 秀司 金広 文男 金子 健二 藤原 清司 原田 研介 横井 一仁 比留川 博久
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.22, no.6, pp.772-779, 2004-09-15 (Released:2010-08-25)
参考文献数
23
被引用文献数
1 2

We introduce a method to generate whole body motion of a humanoid robot such that the resulted total linear/angular momenta become specified values. First, we derive a linear equation which gives the total momentum of a robot from its physical parameters, the base link speed and the joint speeds. Constraints between the legs and the environment are also considered. The whole body motion is calculated from a given momentum reference by using a pseudoinverse of the inertia matrix. As examples, we generated kicking and walking motions and tested on an actual humanoid robot HRP-2. This method, the Resolved Momentum Control, gives us a unified framework to generate various maneuver of humanoid robots.