著者

清水 昌幸 角谷 啓 尹 祐根 北垣 高成 小菅 一弘

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.25, no.4, pp.606-617, 2007-05-15 (Released:2010-08-25)

参考文献数

22

被引用文献数

3 1

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This paper addresses the inverse kinematic problem for 7 DOF anthropomorphic manipulators with joint limits. Specifically, the paper analyzes how the joint limits restrict the redundancy to develop practical inverse kinematic resolutions under the joint limits. First, the manipulator model considered in this paper is provided. Second, how to solve the inverse kinematics of the redundant manipulator is described. Third, how joint limits affect the inverse kinematic solutions is investigated. Forth, several suggestions for resolving redundancy under the joint limits are presented. Lastly, the effectiveness of the redundancy resolutions is illustrated by simulation results.

著者

柏崎 耕志 米澤 直晃 小菅 一弘 菅原 雄介 平田 泰久 遠藤 央 神林 隆 篠塚 博之 鈴木 公基 小野 右季

出版者

The Society of Instrument and Control Engineers

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.389-398, 2012 (Released:2012-08-16)

参考文献数

18

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The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

著者

遠藤 央 廣瀬 健治 平田 泰久 小菅 一弘 菅原 雄介 鈴木 公基 篠塚 博之 新井 浩幸 阿久根 圭 神林 隆

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.75, no.755, pp.2028-2035, 2009-07-25 (Released:2017-06-09)

参考文献数

23

被引用文献数

3 3

---

We propose a novel car transportation system termed as iCART (i__-ntelligent c__-ooperative a__-utonomous r__-obot t__-ransporters). This system transports cars using two robots that move in coordination. This car transportation system can transport cars of any size and offers various functions such as parking, valet parking, towing service, and the transportation of cars inside a factory, onto a ferry, and in complicated parking areas. The robots in this car transportation system comprise three modules: the mobile base module, the lifter module, and the connecting module. This paper describes the details of the operation mechanism and the basic algorithm of each module. A leader-follower-type distributed motion control algorithm is applied to the proposed system and is used in an experiment performed to verify the validity of its function.

著者

小菅 一弘 川俣 裕行 福田 敏男 小塚 敏紀 水野 智夫

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.849-855, 1993-09-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

3 6

---

This paper proposes a method to calculate the forward kinematics of a Stewart Plaftorm type of parallel link manipulators. The Stewart Platform consists of a base platform, a moving platform, and linear actuators connecting the both platforms. First we introduce a virtual parallel link mechanism, having the same kinematic structure as the original parallel mechanism. We assume that the moving platform of the virtual mechanism is directly driven by actuators and the limbs connecting both platforms have no actuators. A trajectory tracking control system is designed for this virtual mechanism based on the resolved motion rate control, so that the displacements of limbs are controlled by the actuators driving the moving platform. We calculate the forward kinematics by numerical simulation of the control system ; the position and orientation of the moving platform of the virtual mechanism is a solution for given displacements of limbs, when the tracking error of limbs converges to zero. The method is effective for a time varying displacements of limbs as long as the displacements are differentiable about time. The position and orientation of the moving platform is obtained without error, once the tracking error converges to zero. The simulation results illustrate the method.

著者

平田 泰久 瀬戸 文美 小菅 一弘

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.2015, pp."2A2-J07(1)"-"2A2-J07(2)", 2015-05-17

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In this article, we propose a cycling wheelchair controlled by the servo brake. The cycling wheelchair is a pedal-driven system and support the moving of many patients with impairment of their lower extremities. This wheelchair has a potential as a mobility assistive device to improve the daily activities. However, there are several barriers to use the cycling wheelchair in an outdoor environment. Especially, on downward slopes, patients cannot properly apply the braking torque to the pedal. This inability to slow the wheelchair presents a dangerous situation. On the other hand, the cycling wheelchair is an effective rehabilitation device, so that many patients to use it as an indoor training device. For rehabilitation, the device should have functions to not only apply the load to the patients but also encourage the patients to train. In this study, we propose a new cycling wheelchair for supporting both outdoor moving and indoor training. The cycling wheelchair has servo brake system and interface to connect the personal computer. By controlling the brake system, the velocity control in the outdoor environment is realized. In addition, the braking force can apply the load to the patients for their rehabilitation in the indoor environment, and they can also enjoy the computer game and virtual environment by using the cycling wheelchair as an interface such as key bode and joystick.

著者

平田 泰久 小菅 一弘 MONACELLI Eric

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.2013, pp._2P1-B14_1-_2P1-B14_2, 2013

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In this study, we propose a steering control method for a cycling wheelchair. The commercially available cycling wheelchair is a pedal-driven system like a bicycle and the paraplegia and hemiplegia patients can move the wheelchair based on the pedaling force, if they can move their legs slightly by themselves. The user can also change the motion direction of the cycling wheelchair by using the steering handle. However, the right and left turnings are perceived differently while operating the steering handle and the steering operation is required a large torque because of the hardware problems of the cycling wheelchair. To overcome these problems, we propose a new hardware of the cycling wheelchair and its steering motion control method by using servo brakes. The proposed method is applied to the developed new cycling wheelchair and the experimental results illustrate the validity of the system.

著者

菅原 雄介 米澤 直晃 小菅 一弘

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.29, no.7, pp.599-608, 2011 (Released:2011-10-01)

参考文献数

27

被引用文献数

3 6

---

This paper proposes the concept of a novel multi-wheel stair-climbing wheelchair. The necessity for mobility aid technology for elderly and handicapped people that has ``minimal invasiveness for use in an historical environment'' are described. With this goal in mind, a prototype of a novel wheelchair having a stair-climbing function resulting from transformable wheeled four-bar linkages is proposed, and the principle of operation, mechanism design, kinematics, statics and basic performance confirmed through a experiment are illustrated in this paper.

著者

竹田 貴博 小菅 一弘 平田 泰久

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.2005, 2005

著者

大石 康広 小菅 一弘 平田 泰久

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.2005, 2005

著者

小池 良典 平田 泰久 小菅 一弘

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.2009, pp._1A2-D18_1-_1A2-D18_2, 2009

被引用文献数

1

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In this research, we develop a Passive Dance partner Robot (PDR) for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. In this paper, we propose a motion control algorithm of the PDR for realizing the ballroom dance with a male dancer based on the estimation of the next dance step intended by him.

著者

上出 寛子 小菅 一弘 高橋 英之 笠木 雅史 新井 健生 山邉 茂之

出版者

名古屋大学

雑誌

基盤研究(B)

巻号頁・発行日

2016-04-01

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ドライビングシミュレータ環境が、実車実験とどの程度類似しているかどうかを、手動・半自動での運転モードと、マインドワンダリングの発生との関連から検討するため、実車実験と同様の被験者5名に対して、ドライビングシミュレータを用いた実験を行った。実車実験のドライブレコーダ記録から、追い越された車の種類、台数、また、道路環境(工事等による片側車線規制など)を確認し、これらの要因に関して平均的な運転状況をドライビングシミュレータ上に再現した。また、実車の際には安全性を考慮して実施できなかった、アイカメラを用いた視線測定も行った。実車の場合と同様に、ランダムなタイミングで、音声により運転に集中しているかどうかを訪ね、マインドワンダリングの発生を計測した。同じ被験者に対して、自動運転、半自動運転の両方のモードを行った。その結果、同じ被験者である一方で、シミュレータと実車では、運転モードとの関連でマインドワンダリングの発生について類似した結果は得られなかった。アイカメラの測定の結果、マインドワンダリングを行っている際には、視線が真正面に集中せず、周囲に分散することが確認された。また、全ての被験者が半自動運転の際に、マンドワンダリングしやすいという訳ではなく、運転に自信のある傾向の人は、手動運転の方が、半自動運転よりもマンドワンダリングしやすく、慎重な運転をする傾向の人は、半自動運転の方が、マインドワンダリングしやすいという結果も得られた。また、運転の楽しみについても、これまでの成果で、半自動運転の昨日のついた車のドライバーの方が、手動運転の車のドライバーよりも、運転の楽しみを高く感じていることが明らかになっている。

著者

小菅 一弘 奥田 実 福田 敏男

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.59, no.563, pp.2162-2168, 1993-07-25

被引用文献数

2

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This paper discusses design issues of a manipulator/vehicle system floating on water, which consists of a vehicle controlled by thrusters and a manipulator mounted on it. The design of the system is very important for the control of such a system, because the controllability of the system is largely affected by the design of the system. In this paper, we propose a method to design the location of thrusters based on the concept of Translatability and Rotatability of the vehicle by actuators. The translatability (rotatability) of the vehicle represents the relationship between the output forces of thrusters and the equivalent force (moment) evaluated at the centroid of the vehicle. We first derive the relationship and then reveal that the equivalent force (moment) forms an ellipsoid. The method is natural in the sense that the force and the moment, which have dfferent dimensions, are dealt with independently. Examples illustrate the effectiveness of the proposed method.