著者
衣笠 一樹 石川 将人 大須賀 公一
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.49, no.8, pp.755-762, 2013 (Released:2013-08-27)
参考文献数
8
被引用文献数
1 2

In this paper, we propose a robotic model of a casterboard, which is a commercial variant of skateboards with twistable footplates and passive inclined caster wheels. We then derive its mathematical model in the form of nonlinear state equation; this system is of much interest from both mechanical and control points of view as a new challenging example of nonholonomic mechanics. Based on an observation in the preceding works concerning locomotion control for nonholonomic systems, we propose a locomotion control method with sinusoidal periodic control to realize forwarding and turning locomotion. The proposed idea is examined by simulations and physical experiments using the prototype robot developed by the authors. Moreover, we also examine influence of the parameters in sinusoidal reference signals on the robot's behavior.
著者
大須賀 公一 石黒 章夫 鄭 心知 杉本 靖博 大脇 大
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.4, pp.491-502, 2010 (Released:2012-01-25)
参考文献数
24
被引用文献数
7 5

In this note, we consider a control system that underlies in a biological system. We point out the existence of the Problem of Inseparability in the control system. To understand the principle of mobile adaptability embedded in the control system, we have to solve the Problem of Indivisibility. To solve the problem, we propose a concept of Implicit control law. Finally, we show the Implicit control law plays an important role for constructing the adaptive function of living thing and robot.
著者
大須賀 公一
出版者
一般社団法人 電気学会
雑誌
電気学会誌 (ISSN:13405551)
巻号頁・発行日
vol.118, no.1, pp.9-12, 1997-12-20 (Released:2008-04-17)
参考文献数
16
著者
角田 祐輔 末岡 裕一郎 和田 光代 大須賀 公一
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.55, no.8, pp.507-515, 2019 (Released:2019-08-10)
参考文献数
18

In this paper, we deal with the control problem to manipulate autonomous multiple agents (a flock of sheep) escaping from an agent (a sheepdog) according to nonlinear interaction. This work was motivated by so-called sheepdog system inspired by sheepdog shepherding: a flock of several thousands of sheep are controlled by only a few sheepdogs in the real world. It is an interesting control system because one or more sheepdogs, who act as a small number of controllers, can control many sheep that cannot be directly controlled, taking advantage of their own maneuverability. For this reason, there have been many studies about this system; however, these studies have been limited to building numerical models or performing simulation analyses. Therefore, we aim to clarify the control principle theoretically. For this purpose, we conduct theoretical analysis for a sheepdog-type navigation system which we design based on a flock control model proposed by Vaughan et.al. in the case that one sheep is controlled by a sheepdog. Moreover, we also demonstrate the results by using simulations to confirm the validity of the analysis.
著者
大須賀 公一 吉田 浩治 小野 敏郎
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.14, no.7, pp.1018-1025, 1996-10-15 (Released:2010-08-25)
参考文献数
9
被引用文献数
2 6

In this paper, we propose a new design concept of manipulator which is called “Torque-Unit Manipulator (TUM) ”. The Torque-Unit Manipulator has an open-loop kinematic chain as the typical traditional manipulators do, however each joint of which has one degree of freedom free joint. An actuator called “torque unit” is mounted on an arbitrary place of the link. The merit of the TUM would be an easy maintenance. In this paper, the dynamic model and the position-controllability of the N degree-of-freedom general TUM are shown in detail. A control system is designed for the TUM and its effectiveness is shown by a simple simulation.
著者
大須賀 公一
出版者
一般社団法人日本機械学会
雑誌
日本機械学會論文集. C編 (ISSN:03875024)
巻号頁・発行日
vol.72, no.716, pp.1015-1020, 2006-04-25
著者
升川 純司 大須賀 公一
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.2007, pp."2P1-J07(1)"-"2P1-J07(4)", 2007-05-11

In this paper, we developed the new operation system of MOIRA2 aiming at raising operativity ability and mobility ability. Although an autonomous operation system is required for MOIRA2, depending on a situation, manual operation system is also required. We thought that the operation system using each strong point was required for rescue robots. The operation system which can change various operation modes easily is made to call it a hybrid operation system. As a new operation system, we developed the master-slave operation system and the semi-autonomous operation system, and we obtained the good experiment result.
著者
杉本 靖博 吉岡 秀隆 大須賀 公一
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.8, pp.961-969, 2010 (Released:2012-01-25)
参考文献数
15
被引用文献数
3 1

A passive dynamic walking robot can walk down a gentle slope naturally without any actuator or controller, only by potential energy. Therefore, it is thought that the principle of walking exists in this phenomenon. By current researches, the passive dynamic walking has been confirmed for two and four. However, it seems that it is also important to study passive dynamic walking for more than 6 legs because there are many creatures that have more than 6 legs. In this research, a passive dynamic walking robot with more than six legs was analyzed by a simulator. As a result, it was confirmed that passive dynamic walking even for 20 legs could be achieved. Furthermore, its gait could be changed by changing the body structure. In addition, the differences of stability depend on the number of legs resulted, and this differences disappeared by changing the position of the pitch spin parts. Moreover, its stability was very high, so it could walk on the contoured ground.
著者
岡田 光貴 末岡 裕一郎 中西 大輔 大須賀 公一
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
pp.19-00151, (Released:2019-12-04)
参考文献数
13

This paper is concerned with the demonstration of scallop-like swimming with the aid of robot toy; using jet propulsion by clapping the shells quickly. Previous works from biological approach have indicated what structures contributes to generate the jet propulsion. This paper tries to perform quick underwater locomotion by mimicking the structures of scallop based on constructive approach: development of scallop-like robot with autonomous generation of jet propulsion. After designing the structure and actuation mechanism by mimicking the scallop, we focus on the effect of the mantle property on swimming. Firstly we confirm that developed robot can perform scallop-like swimming. Secondly we also compare the swimming speed by changing the property of designed mantles.
著者
大須賀 公一
出版者
横断型基幹科学技術研究団体連合(横幹連合)
雑誌
横幹連合コンファレンス予稿集 第8回横幹連合コンファレンス
巻号頁・発行日
pp.D-2-1, 2017 (Released:2018-02-18)

Adaptive behaviors that living things show are thought to be generated from brain / body / environmental interactions. However, in order to understand this essence, it is necessary to pay attention to a minimalistic set of interactions of the brain, the body, and the environment, and to extract the underlying control structure there. Therefore, in this research, we propose a novel methodology to observe behavior by stepwise inhibiting (zombizing) the upper brain functions of living things.
著者
和田 啓雅 杉本 靖博 青沼 仁志 浪花 啓右 大須賀 公一
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.2P1-D12, 2018

<p>The trap-jaw ant genus <i>Odontomachus</i> closes her mandible to catch prey quite quickly. The purpose of this study is to examine the mechanism how such a fast movement is realized. Since the velocity of closing exceeds the contraction velocity of a muscle, it is considered that there will be a mechanism to store energy and release it at once for realization of high-speed motion in the exoskeleton. We prepare a scale model of Odontomachus with micro CT scanning their exoskeleton data and 3D printer. Using model, we find three regions of contact points of the temporomandibular joint and the exoskeletal part meshes with each other at one of the regions. This structure is considered to be related to a lock mechanism for fast movement of Odontomachus.</p>
著者
杉本 靖博 吉岡 秀隆 大須賀 公一
出版者
The Japan Joint Automatic Control Conference
雑誌
自動制御連合講演会講演論文集
巻号頁・発行日
vol.53, pp.129-129, 2010

これまでの受動的動歩行の研究では,二脚のロボットが対象とされてきたが,四脚以上の脚を持つ生物は非常に多く存在しており,それら生物の歩容と受動的動歩行との関連性を明らかにすることは非常に興味深いと考えられる.そこで本研究では,多脚(4脚あるいはそれ以上の脚)を持つ受動的動歩行を対象に,その実現可能性や多脚受動的動歩行ロボットが示す様々な歩容についての考察を行う.
著者
杉本 靖博 吉岡 秀隆 大須賀 公一
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.28, no.8, pp.961-969, 2010-10-15
参考文献数
15
被引用文献数
2 1

A passive dynamic walking robot can walk down a gentle slope naturally without any actuator or controller, only by potential energy. Therefore, it is thought that the principle of walking exists in this phenomenon. By current researches, the passive dynamic walking has been confirmed for two and four. However, it seems that it is also important to study passive dynamic walking for more than 6 legs because there are many creatures that have more than 6 legs. In this research, a passive dynamic walking robot with more than six legs was analyzed by a simulator. As a result, it was confirmed that passive dynamic walking even for 20 legs could be achieved. Furthermore, its gait could be changed by changing the body structure. In addition, the differences of stability depend on the number of legs resulted, and this differences disappeared by changing the position of the pitch spin parts. Moreover, its stability was very high, so it could walk on the contoured ground.
著者
坂東 麻衣 大須賀 公一 藤井 隆雄 山川 宏
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.48, no.7, pp.431-440, 2012 (Released:2012-08-16)
参考文献数
16
被引用文献数
1

If two bodies move in circular orbits about their common centre of mass and the mass of the third body is too small to affect the motion of the other two bodies, the problem of the motion of the third body is called circular restricted three-body problem (CR3BP). This system has five equilibrium points which is known as Lagrangian points. Among five equilibrium points, L4 and L5 Lagrangian points are stable while L1, L2 and L3 are unstable. In this paper, we consider the motion in the vicinity of the L4,5 Lagrangian points where the implicit control structure provides an insight into the control structure underlying the problem.
著者
淺間 一 太田 順 土屋 和雄 伊藤 宏司 矢野 雅文 青沼 仁志 大須賀 公一 高草木 薫 太田 順
出版者
東京大学
雑誌
特定領域研究
巻号頁・発行日
2005

計画班および公募班が,本領域の特徴とする生工連携がスムーズにかつ効果的に行えるように,班間の連携を促進した.また,国際シンポジウム,ワークショップの開催,非公開シンポジウムの開催,内部評価の実施,国際会議・国内学会講演会などでのオーガナイズドセッションの企画,移動知教科書シリーズ出版企画,若手の会の支援,ホームページの更新,研究成果・活動記録に関するデータベースの作成などの広報,報告書の作成などを行った.