著者

朝岡 忠 永田 和之 水内 郁夫

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.2017, pp.1P2-B10, 2017

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<p>This paper presents the recognition of object categories and object arrangements using You Only Look Once framework. Daily life objects are usually surrounded by other objects. The nearby objects around a target are obstacles to object picking. Therefore, different grasp strategies are needed depending on the object arrangements as well as the object categories. The recognition method of two arrangement categories of books (horizontal stacking and vertical stacking) is discussed in this paper. The recognition results show that the method is useful for recognizing object categories and object arrangements.</p>

著者

朝岡 忠 水内 郁夫

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 (ISSN:21879761)

巻号頁・発行日

vol.83, no.851, pp.16-00483-16-00483, 2017 (Released:2017-07-25)

参考文献数

41

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This paper describes how to exploit the elasticity and the dynamic coupling of a multi-link robot with elastic elements to improve the motion ability without depending on only actuator power. The focus is on swing motion (e.g., throwing or kicking motion) in this paper. The prime purpose of the swing motion is to increase the kinetic energy of an end-link (e.g., hand or foot). This paper proposed a method to generate a swing motion pattern for the increase of the kinetic energy of the end-link. In general, the multi-link robot has high-power actuators in the base side. The high-power actuators can produce a large amount of mechanical energy. Mathematical models were constructed to transfer mechanical energy from the base side toward the end side by exploiting the elasticity and the dynamic coupling. The swing motion pattern was generated on the basis of the models. The results of simulation experiments showed that the kinetic energy of the end-link increased explosively. The reason was that a large amount of energy produced by the actuators in the base side was transferred toward the end side.