著者

山下 淳 淺間 一 新井 民夫 太田 順 金子 透

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.21, no.3, pp.282-292, 2003-04-15 (Released:2010-08-25)

参考文献数

98

被引用文献数

6 22

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The wheeled robot's ability is one of the most important factors which is influential with efficiency of achieving tasks by robots. Demands for mobile robots change where environment and purpose does, therefore various mechanisms of mobile robots are proposed. However, there is no standard or general guideline of designing moving mechanisms. In this paper, we classify and denote characteristics of moving mechanisms systematically, and indicate the guideline when we design them. Especially we describe omnidirectional robots and irregular terrain robots.

著者

上田 隆一 新井 民夫

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.1, pp.103-112, 2007-01-15 (Released:2010-08-25)

参考文献数

25

被引用文献数

2 1

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We propose the real-time Q-MDP value method for decision making of a robot under uncertain state recognition. When the computation result of a control problem is known on the assumption that recognition is certain, the original Q-MDP value method decides an appropriate action based on uncertain recognition. The method is not suitable for real-time decision making due to the complexity of probability calculation. In the real-time Q-MDP value method, a particle filter that is utilized for state estimation is directly used for the probability calculation. The proposed method can make it possible to execute the Q-MDP value method in real-time. The proposed method is applied to total behavior of a goalkeeper for robot soccer competition. Experiments and actual games have suggested that this method can decide actions effectively according as uncertain result of state estimation.

著者

原 辰徳 新井 民夫 下村 芳樹

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.48, no.5, pp.423-428, 2009-05-10 (Released:2022-05-27)

参考文献数

18

被引用文献数

1

著者

山口 博明 新井 民夫

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.70, no.691, pp.774-781, 2004-03-25 (Released:2011-03-04)

参考文献数

6

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This paper presents a novel path planning methodology using Bezier curves for a cooperative transportation system with two car-like mobile robots. We first transform the kinematical equation of this transportation system into two-chain, single-generator chained form in a coordinate system where a path is a curved line axis and a straight line perpendicular to the tangent of the path is another axis. The carrier of the transportation system can follow any path as long as its curvature is two times differentiable. The orientation of the carrier is uniquely determined according to the orientation of the tangent of the path. We secondly set the path to be a Bezier curve and we arrange the controlling points of the Bezier curve based on the working environment of the transportation system, e. g., in order for it to avoid collisions wit obstacles. The validity of this path planning methodology is supported by computer simulations.

著者

二階堂 諒 杉 正夫 太田 順 田村 雄介 新井 民夫 佐藤 洋一 高増 潔 鈴木 宏正

出版者

公益社団法人 精密工学会

雑誌

精密工学会学術講演会講演論文集 2005年度精密工学会春季大会

巻号頁・発行日

pp.165, 2005-03-10 (Released:2005-10-06)

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著者らのグループは,セル生産システムを知能化,機械化して人間作業者を情報面,物理面の両面から支援するシステム“Attentive Workbench”を提案している.AWBの構成要素である自走式トレイ群は,物品の搬送を担当するが,搬送対象物の大きさや形によっては複数のトレイが集まって大きな形態を生成し,協調搬送を行う.この形態生成を効率良く行うヒューリスティクスを提案し,その有効性を検証する.

著者

上田 隆一 新井 民夫 浅沼 和範 梅田 和昇 大隅 久

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.23, no.4, pp.466-473, 2005-05-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

4 8

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Though Monte Carlo localization is a popular method for mobile robot localization, it requires a method for recovery of large estimation error in itself. In this paper, a recovery method, which is named an expansion resetting method, is newly proposed. The combination of the expansion resetting method and the sensor resetting method, which is a typical resetting method, is also proposed. We then compared our methods and others in a simulated RoboCup environment. Typical accidents for mobile robots were produced in the simulator during trials. We could verify that the expansion resetting method was effective for recovery from small irregular changes of a robot's pose, and that the combination method could deal with both large and small irregular changes.

著者

三浦 渉尊 嶋田 敏 緒方 大樹 太田 順 新井 民夫 原 辰徳

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.80, no.819, pp.DSM0336-DSM0336, 2014 (Released:2014-11-25)

参考文献数

18

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Since service is an artifact as well as physical product, we can observe both function design and activity design of service in a conceptual design phase. Activity design requires designers to deploy all designed functions into activities in service delivery process. However, it is difficult for non-experienced designers to model complicated service delivery processes such as conditional branches and exception handlings while assuring the relationship to functions. To solve this problem, the authors propose a design support of constructing service delivery processes using a collection of structure patterns of processes called Workflow Patterns. In this paper, we make the Workflow Patterns hierarchized by the ISM method so that designers can easily choose a pattern among them according to purpose. The proposed method was implemented on a CAD system for service, and its effectiveness was verified through an evaluation experiment. As a result, it was revealed that the proposed method is especially effective in the case of constructing processes including conditional branches.

著者

太田 順 武衛 康彦 新井 民夫 大隅 久 陶山 毅一

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.263-270, 1996-03-15

被引用文献数

24 24

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A coordinated control method for two mobile robots without explicit communication is presented in this paper. Concretely, transferring control by cooperation of two robots is realized from the viewpoints of mechanical design and of control system design. In the mechanical design, compliance mechanism with 3 degrees of freedom is added on one of the robots in order to avoid extreme inner forces between the robots. In the control system design, leader-follower method is adopted. "Virtual Impedance Method" is used for controlling the follower robot. A deadlock problem, where a robot stops at some other positions from a target position of the robot, is solved by transforming lateral virtual forces to virtual moments. Effectiveness of the proposed method is verified by experimental results. The proposed method is applicable to multiple mobile robot system by increasing the number of followers.

著者

実川 達明 菊地 敏文 上田 隆一 新井 民夫 梅田 和昇

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, 2005-06-09