1 0 0 0 OA 福島第一原子力発電所の格納容器内部調査向けに開発したロボット
- 著者
- 安達 弘典 岡田 聡 松崎 謙司
- 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.36, no.6, pp.395-398, 2018 (Released:2018-08-15)
- 参考文献数
- 5
- 被引用文献数
- 1 2
1 0 0 0 OA 階段登降のための自立形6脚走行ロボットの設計と制御
- 著者
- 小谷内 範穂 安達 弘典 中村 達也 中野 栄二
- 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.11, no.6, pp.918-928, 1993-09-15 (Released:2010-08-25)
- 参考文献数
- 17
- 被引用文献数
- 3 6
A self-contained type hexapod walking robot was developed in Mechanical Engineering Laboratory. It is called MELCRAB-2. This hexapod has specific features both in the mechanical design and in the control way. This paper provides a few significant guideline to design the self-contained hexapod walking robot from the point of view about the stair climbability, turning mobility, efficient foot force delivering based on the two decoupled actuation ways, GDA (Gravitationally Decoupled Actuation) and MDA (Motion Decoupled Actuation) . An approximately straight line linkage is used in the leg mechanism of the MELCRAB-2 to satisfy both of GDA and MDA. The inverse kinematics of the approximately straight line linkage was solved for position control. Tactile sensors and proximity sensors are installed on the front side and back side of each foot to detect obstacles and walking environments. Control algorithm with many motion procedures to negotiate the stairs and walking environments was developed. MELCRAB-2 could climb up the experimental stairs with the same dimensions as the real buildings by using that algorithm. MELCRAB-2 is the real self-contained hexapod robot actuated by electric motors, and it can walk with the fast speed owing to GAD and MDA. compared with the past developed walking machines.
1 0 0 0 OA 脚・腕統合リムメカニズム
- 著者
- 小谷内 範穗 安達 弘典 新井 健生
- 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.14, no.7, pp.968-976, 1996-10-15 (Released:2010-08-25)
- 参考文献数
- 18
- 被引用文献数
- 5 7
Human works like handling objects, carrying loads, assembling parts, and cutting parts, are completed by the combination of both leg locomotion and hand manipulation, in the various fields of construction, agricultural fields, factory, and home. The authors propose a new concept for the integration of locomotion and manipulation, “the Integrated Limb Mechanism.” The concept covers the technical fields both of the control integration and of the mechanism integration necessary for the practical working robot.Here, a six-bar linkage mechanism with four degrees of freedom is introduced as an example of integrated limb mechanism with both advantages in leg and in arm with consideration for mechanical design. Computer simulation with the dynamic model is performed to verify the transformability from leg posture into arm posture of the mechanism. The kinematic analysis by the manipulatability ellipsoid is done to evaluate the different motion rates between the leg posture and the arm posture. Some useful tasks are considered suitable to the mechanism.
1 0 0 0 授業実践 「わらわし隊」戦場に行く
- 著者
- 安達 弘章
- 出版者
- 社団法人日本産科婦人科学会
- 雑誌
- 日本産科婦人科學會雜誌 (ISSN:03009165)
- 巻号頁・発行日
- vol.16, no.3, pp.155-164, 1964-03-01
近年, 種々ステロイドが合成され, 臨床的に広範囲に使用されているが, 私は2, 3の合成皮質ステロイド及び蛋白同化ステロイドが副腎皮質に及ぼす影響を尿中17-OHCS排泄値(Porter-Silber chromogens)の測定によつて検して見た. 合成皮質ステロイド, paramethasone及びbetamethasoneの常用量9日間漸減投与により, 尿中17-OHCS値の減少を来たし薬剤の漸減と共に増加したもの, 増加傾向のなかつたもの, 又一方薬剤投与により却つて増加したもの等が見られた. 投与終了後のACTH-Z負荷試験では一般に低調, 遷延傾向となつた. 蛋白同化ステロイド, 4-chlorotestosterone acetate及び4-chlorotestosterone capronate 1回投与により健康人(第1群)ではむしろ増加傾向を示し, 術後回復期等のもの(第2群)では著明に減少した. 又4-chlorotestosterone acetate 3日間連続投与は健康人に尿中17-OHCS値の増加傾向を来たさしめ, その後のACTH responseぱ遷延, 上昇傾向を示した.