著者

岡田 慧

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.30, no.9, pp.830-835, 2012 (Released:2012-12-15)

参考文献数

9

被引用文献数

1 6

著者

小島 邦生 唐澤 達史 上月 豊隆 黒岩 英則 柚木崎 創 岩石 智志 石川 達矢 小山 遼 野田 晋太朗 植田 亮平 菅井 文仁 野沢 峻一 垣内 洋平 岡田 慧 稲葉 雅幸

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.34, no.7, pp.458-467, 2016 (Released:2016-10-01)

参考文献数

37

被引用文献数

2 2

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This paper presents the development of high-speed and high-power humanoid robot research platform JAXON. Researchers have studied humanoid robots widely and people expect humanoid robots to help various tasks such as housework, entertainment, and disaster-relief. Therefore it is important to develop humanoid research platform available in various fields. We considered the following as design requirements necessary to utilize humanoids for various uses. 1) Robots have humanlike body proportion to work in infrastructure matched to human body structure. 2) Robots have the same degree of physical performance as humans. 3) Robots have energy sources such as batteries and act without tethers. 4) Robots walk with two legs or four limbs and continue to work without fatal damage in unexpected rollover. JAXON satisfied these requirements. Then we demonstrates the performance of JAXON through the experiment of getting out of a vehicle, stepping over walls, squatting with heavy barbels, walking with four limbs, and operating on batteries. Further more, we assesses the performance of the strong armor and the shock absorbing structure through a backward over-turning accident.

著者

浦田 順一 中西 雄飛 岡田 慧 稲葉 雅幸

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.28, no.7, pp.865-871, 2010 (Released:2012-01-25)

参考文献数

9

被引用文献数

2 3

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In this paper, we show a high power prototype biped robot for application of nursing or running or jumping motions. Light and powerful actuators are required to realize the high-power performance. We propose a method to bring out maximum performance of electric motors aggressively. The technique of motor core temperature estimation and control improves the motor power performance dramatically but safely without motor burnout. High power acctuator system and robust interbody network are depeloped for high power robot. Fundamental demonstrations of high power motion are shown.

著者

伊藤 秀朗 室岡 雅樹 矢野倉 伊織 野沢 峻一 岡田 慧 稲葉 雅幸

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 2018 (ISSN:24243124)

巻号頁・発行日

pp.2A2-G12, 2018 (Released:2018-12-25)

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In daily lives, it is necessary for robots to execute cooperative tasks with humans. Unlike tasks in factories, household chores don't have regular orders between each chore. The difficulty in such works is that the robot is expected to take adequate actions according to the human needs. In this paper, we proposed a system for executing cooperative tasks where robot motions are decided by imitating human motions, and the robot activates those motions according to the human aural instructions.

著者

稲葉 雅幸 水内 郁夫 岡田 慧 吉海 智晃 花井 亮 山崎 公俊 稲邑 哲也 五十棲 隆勝

出版者

東京大学

雑誌

基盤研究(S)

巻号頁・発行日

2004

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本研究は, 等身大ヒューマノイドプラットフォームに対して, 視聴覚・全身触覚・動的全身反応行動などの高位の情報処理技術を搭載した知能ロボットカーネルを統合し, 人からの多様な働きかけに対して対応するための行動を実現するために必要な機能とシステム構成を明らかにした.

著者

浅野 悠紀 溝口 弘悟 上月 豊隆 茂木 陽太郎 白井 拓磨 浦田 順一 中西 雄飛 岡田 慧 稲葉 雅幸

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.10, pp.887-894, 2014 (Released:2015-01-15)

参考文献数

14

被引用文献数

1 1

---

Human knee joint has a yaw-axis rotational DOF and a locking mechanism called screw-home mechanism(SHM). We focus on this mechanism and implement it to a musculoskeletal humanoid through hardware design. In this paper, we first explained human knee characteristic of SHM and joint range of motion. Next, we explained hardware design and implementation method of the mechanism. As an evaluation of our developed knee joint, we checked the function of SHM from viewpoint of moment arm of the yaw rotational axis and the yaw angle displacement during squat motion. Lastly, as unique and integrated motions that involve the use of yaw DOF derived from SHM, we made several motion achievement including humanlike twisting squat, heel move motion and switch pedals, under a condition of contacting environment. This result demonstrates human mimetic rotational DOF of knee contributes motion achievement.

著者

金沢 直晃 河原塚 健人 大日方 慶樹 岡田 慧 稲葉 雅幸

雑誌

2023年度 人工知能学会全国大会(第37回)

巻号頁・発行日

2023-04-06

著者

河原塚 健人 大日方 慶樹 金沢 直晃 岡田 慧 稲葉 雅幸

雑誌

2023年度 人工知能学会全国大会(第37回)

巻号頁・発行日

2023-04-06

著者

川崎 宏治 趙 漠居 岡田 慧 稲葉 雅幸

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.33, no.4, pp.285-291, 2015 (Released:2015-06-15)

参考文献数

12

被引用文献数

1

---

In our research, we focus on the information collection in multi-field by aerial vehicle. We develop hardware mechanism generating more efficient lift power to achieve the ability to tilt with continuous and infinite rotation and keep arbitrary tile angle while flying. In this work, we propose a new mechanism for aerial robot including four propellers separated to two mutually connected bi-copter modules. We call this new aerial robot Bi2Copter. With the proposed mechanism, we are able to realize take-off, landing and flight under vertical orientation of body, leading to the feasibility of image capture with full 360° spherical coverage as well as exploration and measurement parallel to the target surface of which curvature changes continuously. This paper presents the motivation to this new aerial robot, the design of proposed mechanism and flight control accompanied with experiment results.

著者

槙 俊明 野沢 峻一 神崎 秀 岡田 慧 稲葉 雅幸

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 2008 (ISSN:24243124)

巻号頁・発行日

pp._2A1-D18_1-_2A1-D18_3, 2008-06-06 (Released:2017-06-19)

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Humanoids are expected to expand their playing field outside the laboratory. To widen their appeal, environment contaction works such as door opening, object transport are something that must be done. Researches on environment contaction motion s that have been done are often premised physical parameters about unknonw objects. However, to manipulate unknonw objects in the unknown environment, acquisition of target's physical model by humanoids will be needed. In this paper, we firstly categorize model estimations required for unknonw object operation. Then, we estimate physical model of a door offline. And using this model, we realize door opening motion by HRP2-JSK.

著者

種本 雅 長谷川 峻 岡田 慧 稲葉 雅幸

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.58, no.6, pp.290-303, 2022 (Released:2022-06-21)

参考文献数

25

---

Housekeeping robot must grow as it lives with the user. To build a system that can serve as a foundation for this purpose, we need to discover what we need to research further through the realization of a housework support task by a robot, and need to solve these problems. In this paper, we tackle the task of bento-serving as a household chore support task, and describe new problems that we discovered through the implementation of it. As for the bento-serving, it has been assumed that the robot performs the task in a factory. In this paper, we reconsider the bento-serving task by a robot as a part of our household support and propose a system to make it happen. When a housework assistance robot does the bento-serving, he needs to recognize the prepared foods and environment, interact with the owner, and manipulate foods without destroying them. Through the realization of the bento-serving task, we found that the housekeeping robot has to deal with objects of the same type but with different shapes, plan movements with user preferences in mind, and perform the entire sequence of actions by himself. To achieve these goals, we propose a system consisting of five processes, recognition of the environment and food, acquisition of information through dialogue, storage of the information, devising a goal using the acquired information, and manipulation of the objects using tools.

著者

稲葉 雅幸 岡田 慧 水内 郁夫 稲邑 哲也

出版者

一般社団法人日本ソフトウェア科学会

雑誌

コンピュータソフトウェア (ISSN:02896540)

巻号頁・発行日

vol.23, no.2, pp.45-61, 2006-04-26

被引用文献数

4

---

ロボットは身体ハードウェアが決まればその身体にとっての認識と行動のソフトウェアをプログラミングする対象である.近年のロボットは人間のような姿形に近づいたヒューマノイドロボットの研究が進んでいる.本稿では,幾何モデルを搭載したオブジェクト指向言語Euslispにより,人間型のロボットを対象に小型から等身大,筋駆動型ヒューマノイドのロボットプログラミング環境を実装している研究をとりあげ,身体ハードウェアが進化してもソフトウェアの継承を行いながら発展させてきている環境を紹介する.

著者

熊谷 伊織 小林 一也 野沢 峻一 垣内 洋平 吉海 智晃 岡田 慧 稲葉 雅幸

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.31, no.10, pp.985-991, 2013 (Released:2014-01-15)

参考文献数

10

---

When a humanoid robot works with a human, it is needed for the robot to pass and receive objects. The robot has to detect that the laden objects are operated by the human on the whole body in object passing tasks. It is important that the robot detects not only push but shear generated by pulling action and twist generated by rotating action for the robot to detect human operations. In this paper, we dispersedly arranged 347 multi-axis soft tactile sensors to a humanoid robot. The multi-axis soft tactile sensors are small muti-axis sensors with urethane structure and they can be placed densely on body of a humanoid. We calculate a deformation vector from the deformation of sensor's upper surface using the output of a muti-axis soft tactile sensor. Next, we suggest the method to detect deformation state in contact surface consisting of soft tactile sensors using deformation moment and average of deformation vectors in the contact surface. Finally, we confirmed the usefulness of the fullbody tactile sensor cover and contact state detector by object passing experiment between a human and a robot.

著者

北川 晋吾 岡田 慧 稲葉 雅幸

出版者

人工知能学会

雑誌

2019年度 人工知能学会全国大会(第33回)

巻号頁・発行日

2019-04-08

---

近年ロボットは倉庫や工場などの社会導入が推められており人のような双腕マニピュレーション動作を行うことが期待されている。本研究では複雑環境でのターゲットピッキングを対象とし、必要に応じて単腕・双腕を使い分けるピッキングシステムを構成することを目的とし、双腕ロボットによる自律学習型のターゲットピッキングシステムを提案する。まずロボットは自動生成したデータセットを用いて把持点と物体インスタンスの可視・遮蔽領域認識を学習し、その後実世界での把持試行を通して再学習を行う。最後に単腕・双腕を選択的に実行するターゲットピッキングシステムを構成し、実世界の複雑環境での検証実験を行う。

著者

植田 亮平 ZAOPUTRA Nikolaus 西野 環 矢口 裕明 山崎 公俊 花井 亮 岡田 慧 稲葉 雅幸

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.2008, pp._2P1-G11_1-_2P1-G11_4, 2008

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In this paper, we present a method to obtain the depth of the building using a satellite image of Google Earth and GPS receiver. Maps with 3D information are useful for robot navigation. This method is based on "3D Street View", which is a 3D model of the building automatically created with laser range finder and fish eye lens camera.

著者

植田 亮平 垣内 洋平 野沢 峻一 岡田 慧 稲葉 雅幸

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.2011, pp._2P2-J04_1-_2P2-J04_4, 2011

---

In this paper, integration of local error recovery by visual-feedback and task-level error recovery system is described. In order to build an integrated robot system which utilizes first-order logic representation at the top-level, implementing error recovery in task-level and motion-level is important. In this paper, we focus on motion-level error recovery. Motion-level error is resolved by visual-feedback and motion planner module. In proposed system, top-level task executive does not know about it. Key features of the system are: (1) local error recovery by portable visual-feedback. (2) to utilize symbol to indicate goals of motion controller rather than to use literal pose representation and background updating of the properties of symbols (3) object tracking based-on color-range sensor using particle filter method.

著者

水内 郁夫 藤本 純也 袖山 慶直 山本 邦彦 岡田 慧 稲葉 雅幸

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.30, no.9, pp.889-898, 2012 (Released:2012-12-15)

参考文献数

18

被引用文献数

7

---

We have developed a kitchen in which a robot arm with a hand is incorporated. The robot was made for assisting with our work in kitchen. Manipulation of a variety of dishes is the main problem for the purpose. For realizing the manipulation, we developed a one-DOF hand equipped with multiple sensors. In this paper, we present the robot system estimating aproximate position and shape of dishes using these sensors based on sensor-based tracing. We also present a method of manipulating dishes grasplessly to deal with difficult setting of dishes. In the following experiment, we demonstrate the robot clears away basic three types of dishes by picking them off a tray and placing them into a dish washer.

著者

梯 百合子 伊沢 多聞 白井 琢磨 中西 雄飛 岡田 慧 稲葉 雅幸

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.2011, pp."2P2-Q10(1)"-"2P2-Q10(4)", 2011-05-26

---

Many types of humanoid robots have been developed, but it is hard to find one with supple spine structure. To act in a proper manner with natural, human-like motions, we believe that humanoid robots should have and use their spines effectively. To find out how to use the spine flexibly and elegantly, we focused on dancing, the art of beautiful movements. Dancing demands you to develop flexible and well coordinated movements of the torso, so we decided to pick up a movement of the sort and realize it by a robot, in order to understand the basics of dancing. This paper describes a way of realizing hula hooping by an exclusive hula-hooping robot as the first step toward dancing humanoids.

著者

大久保 康基 岡田 慧 森下 武志 稲葉 雅幸 井上 博允

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.2004, 2004-06-18

著者

石坂 唯 林 摩梨花 神埼 秀 岡田 慧 水内 郁夫 稲邑 哲也 稲葉 雅幸

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.2006, pp."1P1-E05(1)"-"1P1-E05(4)", 2006

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In the future, demand for robots which can comfort or relax human would increase. But there is no certain approach to develop such robots now. We propose a friendly robot system as a platform to repeat the process of trial and error. In this paper, we describe several sensory and soft-textured suits like animal skins for covering the robot system and software system having mapping function for reforming interaction modality easily. Finally we report our interaction test at an event site.