著者

山内 仁 福田 忠生 小枝 正直 太田 俊介

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.57, no.1, pp.11-18, 2021 (Released:2021-01-21)

参考文献数

11

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In the Rescue Robot Contest (ResCon), rescue dummies, which is called as ‘Damiyan’, are employed for competition evaluation. Rescue teams are required to rescue Damiyan gently and quickly. In addition, it is also required to identify the signs that are presented, and these are the evaluation items. Therefore, Damiyan needs various sensors to quantify “neck bending”, “pressure on body”, “posture” and “impact” as evaluation indicators of gentleness. In addition, the functions of “presenting color”, “uttering sound” and “presenting two-dimensional code” are implemented as the presentation of signs to be identified. To achieve this, we have developed a new Damiyan that incorporates the microprocessor BlueNinja as a core system for sensing, communication, and overall system control. In addition, an airtight body was manufactured to measure the grip strength, which measures the pressure on the body. The body is molded using a 3D printer and flexible filaments, and the surface is coated with a solvent to ensure airtightness. By using this new Damiyan, we achieved stable operation and reduction of management operations. In this report, details of the concept, the policy and the process of developing this newer Damiyan are described.

著者

友永 聖樹 太田 俊介 神代 充 笹木 亮 池本 有助

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 2014 (ISSN:24243124)

巻号頁・発行日

pp._2A1-G05_1-_2A1-G05_2, 2014-05-24 (Released:2017-06-19)

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Robots are expected to play an important role in social welfare and service for older citizens. These robots are required to generate embodied interactions for greetings in order to be able to smoothly coexist and cooperate with humans. A hug motion is one of the important embodied interactions. Therefore, in this study, we develop a hug motion generation model based on analyses of human hug motions. In this model, a hug motion of a robot is generated by using a bell-shaped and a wave-shaped velocity pattern in which accelerations and velocities have smooth changes. As a result, this model can generate a hug motion similar to motions of humans.