著者

金子 克哉 伊藤 公一 安部 祐一

出版者

特定非営利活動法人日本火山学会

雑誌

火山 (ISSN:04534360)

巻号頁・発行日

vol.55, no.2, pp.109-118, 2010-04-30

参考文献数

10

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Monitoring of volcanic phenomena close to active volcanic vents and inside active craters is needed to predict change of volcanic activities and to understand dynamics of volcanic eruptions. In order to carry out safe volcanic monitoring, we have developed a prototype of a mobile sensor for volcanic observation "HOMURA" which is a new robotic system that has been designed to observe volcanic phenomena inside active volcanic craters. HOMURA is a small unmanned ground vehicle (approx. 780×560×300mm in dimension and 10kg in weight) with six wheels driven by electric motors and it is operated by wireless remote control at a distance of more than 1km. Data measured by some sensors in HOMURA are sent to the base station in real time. Materials of the vehicle body and wheels are aluminum with 2mm thick and plywood with 9mm thick, respectively. HOMURA can climb up and down a rough surface with slope angle of 30 degree. In addition, HOMURA does not readily become undrivable even in overturning during climbing because it has a unique body shape with a horizontal symmetry plane. HOMURA can be made and transported to mission fields at small costs. These allow us to make a new vehicle even if HOMURA should be lost by accident during missions and promptly to explore a sudden volcanic event by HOMURA. In test campaigns at Aso volcano and Izu-Oshima volcano, we confirmed that HOMURA has planned abilities on moving on rough surfaces and wireless communication.

著者

金子 克哉 伊藤 公一 安部 祐一

出版者

特定非営利活動法人日本火山学会

雑誌

日本火山学会講演予稿集

巻号頁・発行日

vol.2009, 2009-10-10

著者

安部 祐一 青井 伸也 土屋 和雄 松野 文俊

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.52, no.11, pp.639-652, 2016 (Released:2016-11-23)

参考文献数

26

被引用文献数

1

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Multi-legged animals show several types of ipsilateral interlimb coordination. Millipedes show the direct wave gait in which the swing leg movements propagate from posterior to anterior. On the other hand, some centipedes show the retrograde wave gait in which the swing leg movements propagate from anterior to posterior. Interestingly, when some millipede walks in a specific way, it is reported that both direct and retrograde waves of the leg movements can coexist with a source part of the waves (we call it as source wave gaits). However, the mechanism behind the gait generation is still unclear because of the complex nature of the interaction between neural control and body dynamic systems. In this paper, we propose a simple model to gain a better understanding of the mechanism, especially how a local sensory feedback affects multi-legged locomotion. We design a planar multi-legged model and its locomotion control system based on biologically-inspired oscillators with a local sensory feedback, phase resetting. Each oscillator controls each leg, and there are no direct interactions among oscillators. Our simulation results reveal three types of gaits, which have different ipsilateral phase relationships (Direct, retrograde and source wave gaits like animals). These gaits are neither predesigned or predetermined, but emerge through the interaction between the neural control and body dynamic systems through phase resetting. These results suggest that the local sensory feedback is important to form proper interlimb coordination and thereby effectively generates multi-legged gaits. In addition, our mathematical analysis with the simple model successfully extracts the essential feature of these gaits, and suggests that these types of locomotion can exist regardless of the number of legs in our system.

著者

金子 克哉 伊藤 公一 安部 祐一 岩堀 功大

出版者

特定非営利活動法人日本火山学会

雑誌

日本火山学会講演予稿集

巻号頁・発行日

vol.2010, 2010-10-09