著者

淺間 一 佐藤 雅俊 嘉悦 早人 尾崎 功一 松元 明弘 遠藤 勲

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.2, pp.249-254, 1996-03-15 (Released:2010-08-10)

参考文献数

9

被引用文献数

11 33

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A new driving mechanism for holonomic omni-directional mobile robots is designed, which enables 3 DoF (degrees of freedom) motion control in two dimensional space by three correspondent actuators in a decoupled manner without redundancy. The kinematics of the omni-directional mobile robot is also analyzed to prove that driving motion by the actuators is decoupled by the developed mechanism into 3 DoF motion of the robot. A prototype of the omni-directional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. Finally, the performance of the prototype robot is shown through experimental results, by which the working of the designed mechanism is verified.

著者

井小萩 湧 高橋 庸平 北澤 椋太 鳥山 渓太 小林 稜平 小山内 太郎 ミヤグスク レナート 尾崎 功一

出版者

自動制御連合講演会

雑誌

自動制御連合講演会講演論文集 第65回自動制御連合講演会

巻号頁・発行日

pp.530-532, 2022 (Released:2022-12-15)

著者

赤井 直紀 尾崎 功一

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 2015 (ISSN:24243124)

巻号頁・発行日

pp._2A2-M05_1-_2A2-M05_4, 2015-05-17 (Released:2017-06-19)

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A SLAM (Simultaneous Localization and Mapping) problem is major in mobile robotics field about past two decades. In order to solve the problem, a camera and a LIDAR (Light Detection and Ranging) are generally used. In contrast, this paper proposes a new solution for the problem using a magnetic sensor. Our method is simple since an observation model in RBPF (Rao-Blackwellized Particle Filter)-SLAM is replaced by that of a magnetic sensor. However, magnetic sensor-based SLAM has a problem that is so narrow measurement range of the sensor. To deal with the problem, we use a heuristic method to determine surround magnetic field. We conducted experiments in actual outdoor environments including loops and verified its accuracy by using a LIDAR. Through the experiments, it was shwon that our method can close loops and build consistent maps; magnetic and geometric.

著者

赤井 直紀 Sam Ann Rahok 片寄 浩平 島田 遼 井上 一道 尾崎 功一

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.32, no.4, pp.395-402, 2014 (Released:2014-06-15)

参考文献数

11

被引用文献数

2 5

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In practical use of automatic guided vehicles, magnetic markers are widely used. However, an approach of which pattern of magnetic intensity in usual environment is defined as landmarks is not investigated. This reason is that it is difficult to be known environmental magnetic field since magnetic intensity is invisible. This paper shows investigation of environmental magnetic field in actual environment and describes implementation of the magnetic based navigation, magnetic navigation method. As the magnetic investigation, magnetic intensity of the mounted devices in a mobile robot was measured, and condition of efficient layout of the devices was obtained. By the measurement of environmental magnetic field in mentioned condition, pattern of magnetic intensity that is suitable as a landmark is shown in this paper. The mobile robot records magnetic intensity on its travel path as magnetic map, and achieves stable navigation based on the magnetic map. In this paper, performance of the magnetic navigation method is shown by an experiment.

著者

阿部 有貴 小笠原 亮大 尾崎 功一

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

vol.83, no.853, pp.16-00572-16-00572, 2017 (Released:2017-09-25)

参考文献数

15

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This paper discusses a micro manipulation considering that an approach angle on pickup affects adhesion and mechanical balance on release by using two needle-shaped end-effectors. In micro-scale, adhesion is generated by capillary, van der Waals and electrostatic besides gravity. Accurate and repeatable pick-and-release/place of micro sized objects is a long-standing challenge due to the strong adhesion in micro manipulation. We first introduce a strategy of pickup and release of a micro sphere. The strategy features in that the approach angle on pickup decides release by two conditions: one is geometrical condition between the sphere and a tip of end-effector, and the another is mechanical condition by forces (adhesion, gravity and friction) to the sphere from the tip and a substrate. To confirm the efficacy of the strategy, the micromanipulation tests with different approach angles have been conducted. Finally, we show the experimental results by pickup and release of spherical glass beads and not spherical pollens, for confirming the validity of the proposed strategy as a novel manipulation method.

著者

尾崎 功一 大窪 和也 藤井 透

出版者

強化プラスチック協会

雑誌

強化プラスチックス (ISSN:04529685)

巻号頁・発行日

vol.60, no.12, pp.511-513, 2014-12

著者

越後 潔 菊地 宣史 山田 篤志 横田 和隆 尾崎 功一 山本 純雄

出版者

一般社団法人日本機械学会

雑誌

日本機械学会関東支部ブロック合同講演会講演論文集

巻号頁・発行日

vol.2002, pp.105-106, 2002-08-29

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This paper reports evaluation of gait of the legged robot for uneven terrain. In order for the legged robot to move on the uneven terrain without tumbling down, appropriate walking plan is necessary. The paper proposes a new walk planning method comprising path planning, gait planning, and trajectory planning, and quantitatively evaluates the gait generated by the proposed method.