著者

小島 邦生 唐澤 達史 上月 豊隆 黒岩 英則 柚木崎 創 岩石 智志 石川 達矢 小山 遼 野田 晋太朗 植田 亮平 菅井 文仁 野沢 峻一 垣内 洋平 岡田 慧 稲葉 雅幸

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.34, no.7, pp.458-467, 2016 (Released:2016-10-01)

参考文献数

37

被引用文献数

2 2

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This paper presents the development of high-speed and high-power humanoid robot research platform JAXON. Researchers have studied humanoid robots widely and people expect humanoid robots to help various tasks such as housework, entertainment, and disaster-relief. Therefore it is important to develop humanoid research platform available in various fields. We considered the following as design requirements necessary to utilize humanoids for various uses. 1) Robots have humanlike body proportion to work in infrastructure matched to human body structure. 2) Robots have the same degree of physical performance as humans. 3) Robots have energy sources such as batteries and act without tethers. 4) Robots walk with two legs or four limbs and continue to work without fatal damage in unexpected rollover. JAXON satisfied these requirements. Then we demonstrates the performance of JAXON through the experiment of getting out of a vehicle, stepping over walls, squatting with heavy barbels, walking with four limbs, and operating on batteries. Further more, we assesses the performance of the strong armor and the shock absorbing structure through a backward over-turning accident.

著者

熊谷 伊織 小林 一也 野沢 峻一 垣内 洋平 吉海 智晃 岡田 慧 稲葉 雅幸

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.31, no.10, pp.985-991, 2013 (Released:2014-01-15)

参考文献数

10

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When a humanoid robot works with a human, it is needed for the robot to pass and receive objects. The robot has to detect that the laden objects are operated by the human on the whole body in object passing tasks. It is important that the robot detects not only push but shear generated by pulling action and twist generated by rotating action for the robot to detect human operations. In this paper, we dispersedly arranged 347 multi-axis soft tactile sensors to a humanoid robot. The multi-axis soft tactile sensors are small muti-axis sensors with urethane structure and they can be placed densely on body of a humanoid. We calculate a deformation vector from the deformation of sensor's upper surface using the output of a muti-axis soft tactile sensor. Next, we suggest the method to detect deformation state in contact surface consisting of soft tactile sensors using deformation moment and average of deformation vectors in the contact surface. Finally, we confirmed the usefulness of the fullbody tactile sensor cover and contact state detector by object passing experiment between a human and a robot.

著者

植田 亮平 垣内 洋平 野沢 峻一 岡田 慧 稲葉 雅幸

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.2011, pp._2P2-J04_1-_2P2-J04_4, 2011

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In this paper, integration of local error recovery by visual-feedback and task-level error recovery system is described. In order to build an integrated robot system which utilizes first-order logic representation at the top-level, implementing error recovery in task-level and motion-level is important. In this paper, we focus on motion-level error recovery. Motion-level error is resolved by visual-feedback and motion planner module. In proposed system, top-level task executive does not know about it. Key features of the system are: (1) local error recovery by portable visual-feedback. (2) to utilize symbol to indicate goals of motion controller rather than to use literal pose representation and background updating of the properties of symbols (3) object tracking based-on color-range sensor using particle filter method.