著者
柴田 昌明 恩田 寿和 田村 公良
出版者
The Institute of Electrical Engineers of Japan
雑誌
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)
巻号頁・発行日
vol.119, no.2, pp.151-158, 1999-02

The paper descries a novel method to extract line segments and circular arcs from the image taken by CCD camera for object recognition. Model based matching is one of the widely used techniques of the object recognition in computer vision, and the position and orientation of the objects are decided with referring the extracted line segments and circular arcs. For the precise and stable decisions of the position and orientation, the accurate extractions of characters are required. These characters are. fast and accurately extracted in the proposed method, while its validity is confirmed in some experiments.
著者
鈴木 和樹 田崎 剛 柴田 昌明
出版者
一般社団法人 電気学会
雑誌
電気学会論文誌D(産業応用部門誌) (ISSN:09136339)
巻号頁・発行日
vol.124, no.10, pp.1017-1022, 2004 (Released:2005-01-01)
参考文献数
12
被引用文献数
2 2

In this paper, we propose a novel approach for stepping forward action of biped robot with minimum kicking force. In walking or starting to walk, the general biped robot kicks the ground with its own hind leg as well as human being does. The condition of the ground often restricts the gait because of stiffness, slipperiness and so on. In order to surmount the difficulty on stepping forward action, we introduce the redundant legged biped robot, which has 4 degree-of-freedoms on each leg. Our robot enables to move its tip position and its center of mass (COM) position independently. Controlling COM acceleration without moving its tip position realizes the stepping forward action with little kicking force. The physical experimental results show the significant validity of the proposed approach.
著者
市川 麻理子 元木 聡 柴田 昌明
出版者
The Institute of Electrical Engineers of Japan
雑誌
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)
巻号頁・発行日
vol.126, no.6, pp.726-731, 2006-06-01
参考文献数
8
被引用文献数
1 3

This paper proposes a visual servo control method for exploring motion of eye-in-hand robot to recognize a three-dimensional object. The CCD camera attached at the manipulator tip captures the images of the target object, and then the robot varies its own posture with referring the position transitions in the images of the feature points on the object. Our approach for optimal motion is based on the strategy in which the position estimation precision of the feature points in the captured images gets improved when the feature points move widely, and the optimal robot motion provides the widest transitions of the feature points per unit robot motion, so that the robot should be controlled to purse such motion. In the proposed method, the primary feature point is made located at the center of the image, while the other points are moved for achieving the optimal transition in the image. In addition, this paper describes the way to reduce calculation effort for the proposed method. The numerical and physical experiments have been executed with use of 3-DOF planar manipulator. The validity of our approach is confirmed in the several experimental results.
著者
市川 麻理子 柴田 昌明
出版者
The Institute of Electrical Engineers of Japan
雑誌
電気学会論文誌D(産業応用部門誌) (ISSN:09136339)
巻号頁・発行日
vol.127, no.6, pp.651-652, 2007

This paper proposes a visual servo control method for exploring motion of eye-in-hand robot to recognize a three-dimensional object. Optimal motion is based on the strategy in which the position estimation precision of the feature points gets improved when the feature points move widely, and the optimal robot motion provides the widest transitions of the feature points per unit robot motion, so that the robot should be controlled to purse such motion. In addition, this paper describes the way to reduce a large number of calculation efforts. The validity of our approach is confirmed in the several experimental results.