著者

梶田 秀司

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.9, pp.830-832, 2013 (Released:2013-12-15)

参考文献数

11

著者

梶田 秀司

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.36, no.2, pp.140-143, 2018 (Released:2018-04-15)

参考文献数

16

著者

梶田 秀司 杉原 知道

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.26, no.7, pp.761-762, 2008-10-15 (Released:2010-08-25)

参考文献数

4

被引用文献数

1

著者

梶田 秀司 森澤 光晴 中岡 慎一郎 シスネロス ラファエル 阪口 健 金子 健二 金広 文男

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.6, pp.360-365, 2016 (Released:2016-08-15)

参考文献数

12

被引用文献数

1 2

著者

梶田 秀司

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.27, no.4, pp.392-395, 2009 (Released:2011-11-15)

参考文献数

13

被引用文献数

5 6

著者

梶田 秀司

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.20, no.3, pp.229-232, 2002-04-15

参考文献数

18

被引用文献数

18 24

著者

梶田 秀司 谷 和男

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.31, no.10, pp.1705-1714, 1995-10-31 (Released:2009-03-27)

参考文献数

17

被引用文献数

7 15

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An experimental study of a biped robot is presented. A new scheme named “Linear Inverted Pendulum Mode” is utilized for controlling biped walking on rugged terrain. We developed a 6 d. o. f. biped robot “Meltran II” which has light weight legs and walks in a two dimensional vertical plane. After discussing the control systems for the support leg and the swing leg, we applied these control laws to the real robot and obtained following results.1. Support phase dynamics of the biped robot under the proposed control law can be well represented by a linear model with a viscous term.2. An adequate vertical speed at touchdown and a short duration of two-leg support after touchdown help smooth support leg exchange with a small loss of momentum.Based on these results, a whole biped control system was implemented. In our experiment, biped walking with a half step period of 0.5-1.0s and a half stride of 10-14cm was realized on a flat floor. The maximum walking speed was 24cm/s. Our robot also walked over a box of 3.5cm height at a speed of 20cm/s.

著者

中岡 慎一郎 服部 静子 金広 文男 梶田 秀司 比留川 博久

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 2007 (ISSN:24243124)

巻号頁・発行日

pp._1A1-A08_1-_1A1-A08_4, 2007-05-11 (Released:2017-06-19)

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This paper describes a LCP-based method for calculating contact forces in dynamics simulation of humanoid robots. The method is based on the algorithm proposed by Kokkevis, and we propose additional procedures that make the algorithm more practical in the reality and numerical stability. The simulation system is verified by experiments using humanoid robot HRP-2, and the result shows the efficiency and validity of the method.

著者

梶田 秀司

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.20, no.3, pp.229-232, 2002-04-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

23 24 19

著者

藤原 清司 金広 文男 梶田 秀司 横井 一仁 齋藤 元 原田 研介 比留川 博久 五十棲 隆勝

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.23, no.4, pp.427-434, 2005-05-15 (Released:2010-08-25)

参考文献数

13

被引用文献数

2 3

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This paper investigates a method through which a human-size humanoid robot can fall over backwards safely. Squatting-extending motion of legs reduce impact of falling and shock-absorbing parts of the robot keep the force at a permissible range. The robot could stand up itself again after falling.

著者

梶田 秀

出版者

日本政治学会

雑誌

年報政治学 (ISSN:05494192)

巻号頁・発行日

vol.60, no.1, pp.1_183-1_207, 2009 (Released:2013-02-07)

参考文献数

37

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Parliamentary reform between 1945 and 1947 was one of the key policies implemented in Japan during the Allied occupation. It brought a fundamental change to the institutional arrangement of the Japanese legislature. This article finds that it was truly a by-product of the U.S. congressional reform around that time. The newly established National Diet of Japan bore a significant resemblance to the U.S. Congress reorganized by the Legislative Reorganization Act of 1946. Some novel institutions proposed by congressional reformers were struck down at home but survived on the opposite side of the world. Although the main content of the reform was not optimal for Japan, it was the best choice from the subjective view of GHQ/SCAP in Tokyo. The author also contends that GHQ/SCAP expected the House of Councillors to be an obstacle to the democratization of Japan. Thus it was rational for GHQ/SCAP to provide the House of Representatives with veto power that would infringe the autonomy of the upper chamber.

著者

中野 倫靖 後藤 真孝 梶田 秀司 松坂 要佐 中岡 慎一郎 横井 一仁

雑誌

情報処理学会論文誌 (ISSN:18827764)

巻号頁・発行日

vol.55, no.3, pp.1222-1235, 2014-03-15

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本論文では,ユーザ歌唱における顔表情を真似てヒューマノイドロボットの顔動作を生成するVocaWatcherについて述べる.ここで,我々が以前開発したVocaListenerを用い,ユーザ歌唱の歌い方(音高と音量)を真似て歌声合成も行う.従来,歌唱ロボットに関する研究はあったが,手作業による動作制御が主で,その自然さに限界があった.それに対して本研究では,単一のビデオカメラで収録した人間の歌唱動画を画像解析し,口,目,首の動作を真似て制御することで,自然な歌唱動作を生成した.ここで口の制御には,VocaListenerから得られる歌詞のタイミング情報を用いて,歌声に同期した動作を生成できる.さらに,ロボットによるより自然な歌唱を実現するために,我々が以前開発したブレス音の検出技術とVocaListenerを組み合わせ,ブレス音を真似て合成できるように拡張した.In this paper, we describe VocaWatcher that is a facial-motion generator for a singing robot by imitating user's singing. It can synthesize singing voices by using our previous VocaListener to imitate pitch (F0) and dynamics (power) of user's singing. Although singing humanoid robots have been developed with synthesized singing voices, such robots do not appear to be natural because of limitations of manual control. To generate natural singing expressions, VocaWatcher imitates a human singer by analyzing a video clip of human singing recorded by a single video camera. VocaWatcher can control mouth, eye, and neck motions by imitating the corresponding human movements. To control the mouth motion, VocaWatcher uses lyrics with precise timing information provided by VocaListener. Moreover, we extended VocaListener by combining our previous method of breath sound detection to imitate breathing sounds that make the robot singing more realistic.

著者

金子 健二 金広 文男 森澤 光晴 三浦 郁奈子 中岡 慎一郎 原田 研介 梶田 秀司

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.853-864, 2010 (Released:2012-01-25)

参考文献数

42

被引用文献数

7 6

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The development of cybernetic human HRP-4C is presented in this paper. The word “Cybernetic Human” is a coinage for us to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform-4 (Cybernetic human). Standing 158[cm] tall and weighing 43[kg] (including batteries), with the joints and dimensions set to average values for young Japanese females, HRP-4C looks very human-like. This paper introduces the project overview, the design process, mechanical features, and electrical features with specifications of HRP-4C.

著者

梅本 宗宏 森田 武 梶田 秀幸 平島 岳夫

出版者

公益社団法人 日本コンクリート工学会

雑誌

コンクリート工学 (ISSN:03871061)

巻号頁・発行日

vol.55, no.10, pp.869-873, 2017 (Released:2018-10-01)

参考文献数

2

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日本建築学会では,各種構造材料の火災時を想定した高温性状に関する情報を体系的に整理・取りまとめた「構造材料の耐火性ガイドブック 2017」(第3版)を2017年2月に刊行した。本ガイドブックでは,建築で用いられる構造材料を,コンクリート材料・鋼材・木質系材料・アルミニウム合金および新材料(FRP,ガラス,膜材料等)の5つに大分類し,火災時および火災後を想定した材料の高温性状に関する文献調査ならびに系統的な整理を行っている。本稿は,本ガイドブックの概要を報告する。

著者

南 浩輔 太田 健司 舟橋 政司 梶田 秀幸

出版者

公益社団法人 日本コンクリート工学会

雑誌

コンクリート工学 (ISSN:03871061)

巻号頁・発行日

vol.57, no.1, pp.91-93, 2019 (Released:2020-01-01)

参考文献数

11

被引用文献数

1

著者

梶田 秀司 金子 健二 阪口 健 三平 満司 伊吹 竜也

出版者

国立研究開発法人産業技術総合研究所

雑誌

基盤研究(B)

巻号頁・発行日

2020-04-01

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人間型ロボットがさまざまなドアを人と同程度の速度と信頼性を持って通過するための制御理論を研究しこれを実現する。ドア通過では、ロボットが手先や体の一部を環境に接触させ、力を及ぼしつつ歩行を継続しなくてはならない。これは従来の歩行制御理論では困難な課題であった。本研究では、提案者らが近年考案した「空間量子化ダイナミクス」と呼ぶ新しいモデル化手法、および近年注目をあびるリーマン計量に基づいた軌道生成・制御技術を融合することによりこの問題をスマートに解決する。さらに研究の過程で得られた知見を一般化することにより、ヒューマノイド以外の一般的なロボットで利用できる形への理論の拡張と整備を行う。

著者

梶田 秀司

雑誌

日本ロボット学会誌 = Journal of Robotics Society of Japan (ISSN:02891824)

巻号頁・発行日

vol.26, no.1, pp.36-37, 2007-12-30

参考文献数

3

著者

中田 善久 斉藤 丈士 梶田 秀幸 大塚 秀三 春山 信人

出版者

日本建築学会

雑誌

日本建築学会構造系論文集 (ISSN:13404202)

巻号頁・発行日

vol.82, no.738, pp.1145-1154, 2017 (Released:2017-08-30)

参考文献数

17

被引用文献数

3 4

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The authors have carried out the experiments to identify the effects on fluidity, resistance to segregation, strength, Young's modulus, dry shrinkage and durability of high-strength concrete when unit water content was varied in high-strength concrete while unit bulk volume of coarse aggregate was fixed, or the volumetric ratios of cement paste and fine aggregate were varied. Three types of cement, ordinary Portland cement, moderate-heat Portland cement and low-heat Portland cement, were used. Limestones were adopted as coarse aggregate. Water-cement ratio was varied with 45, 35 and 25%. Analysis were carried out in concern with properties of fresh concrete, properties of concrete hardening, and properties of hardened concrete where unit water content was varied. When water-cement ratio was 35%, changes in the properties of high-strength concrete with hard sandstones used as coarse aggregate owing to the increase of unit water content were also examined. As a result of the experiments, it was found that increasing of the water content caused no segregation of materials, facilitation of handling, reducing of changes in the retention of slump and slump flow, increasing of flow velocity in L-box tests and increasing of bleeding only slightly. Few effects were observed on the initial properties and on the properties of hardened concrete. Based on the above, it is assumed that slightly increased unit water content in the range between 5 to 10 kg/m3 in high-strength concrete with fixed unit bulk volume of coarse aggregate will improve construction performance without great affection of the quality parameters while the deterioration of the parameters has been afraid when unit water content was increased.

著者

中田 善久 斉藤 丈士 梶田 秀幸 大塚 秀三 春山 信人

出版者

日本建築学会

雑誌

日本建築学会構造系論文集 (ISSN:13404202)

巻号頁・発行日

vol.83, no.748, pp.751-761, 2018 (Released:2018-06-30)

参考文献数

14

被引用文献数

3

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The authors have carried out experiments to identify the effects on fluidity, separation resistance, strength, Young's modulus, drying shrinkage and durability of high-strength concrete when sand-total aggregate ratio was varied. In high-strength concrete while water-cement ratio and cement-paste volume was fixed, that is, volumetric ratios of coarse aggregate and fine aggregate were varied. Three types of cement, normal portland cement, moderate-heat portland cement and low-heat portland cement, were used. Limestones and sandstones were adopted as coarse aggregate. Water-cement ratio was fixed as 35%. Unit water content was fixed as 170kg/m3. Analysis were carried out in concern with properties of fresh concrete, properties of concrete hardening, and tendency of properties of concrete where sand-total aggregate ratio was varied. As a result of the experiments, If sand-total aggregate ratio is smaller than general range, impression of state of fresh concrete tends to be somewhat impaired, but even if sand-total aggregate ratio is somewhat larger than general range, impression of state of fresh concrete is it was not compromised. However, when sand-total aggregate ratio is large as addition rate of high-performance AE water-reducing agent is significantly large, impression of state is impaired due to separation of fresh concrete in addition to increase in bleeding and delay of settling-time. In hardened concrete, influence of sand-total aggregate ratio on compressive strength is small, As sand-total aggregate ratio is larger, tendency of young's modulus to slightly decrease, tendency of length change by drying to slightly increase, tendency of carbonation depth to slightly increase. Based on the above, high-strength concrete may possibly obtain hardened concrete of required quality even if sand-total aggregate ratio is increased somewhat within range where separation resistance is not impaired in consideration properties of fresh concrete.

著者

梶田 秀幸 中田 善久 桝田 佳寛 笹倉 博行

出版者

日本建築学会

雑誌

日本建築学会構造系論文集 (ISSN:13404202)

巻号頁・発行日

vol.84, no.761, pp.905-915, 2019 (Released:2019-07-30)

参考文献数

19

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In this study, with high strength concrete ranging from slump 21 cm up to slump flow 60 cm as the applicable range; in order to shed light on the steady-state flow of fresh concrete in inclined flow test apparatus, we compared and examined the velocity at the tip of the flow determined the vicinity of the gate and the velocity at the tip of the flow of the inclined portion determined from near the end of the test apparatus. Then, based on the relationship between the apparent shear strain rate and the apparent shear stress determined from the velocity at the tip of the flow of near the end of the test apparatus in the inclined portion, we calculated the apparent yield value and the apparent plastic viscosity, and we examined it appropriateness by comparing with the yield value and the plastic viscosity calculated by Terada et al. In addition, we carried out a pumping experiment with an actual pipe length of about 35m, and in addition to confirming the appropriateness of the apparent yield value and the apparent plastic viscosity from the change in the quality of concrete before and after pumping, with regard to evaluation of pumpability of concrete from the relation of pressure loss inside the pipe, we compared and examined with the outcome of the studies conducted by Wami et al. and Terauchi et al. As a result, the following findings were obtained. (1) By measuring the velocity at the tip of the flow of near the end of the test apparatus in the flow portion of the inclined flow test apparatus, we measure the velocity at the tip of the flow where deformation and flow due to the weight of the concrete is close to the steady-state flow, and we could obtain appropriate apparent yield value and apparent plastic viscosity. (2) We proposed the test method of apparent rheological constants determined from the velocity at the tip of the flow of near the end of the test apparatus in the flow part of the inclined flow test apparatus. (3) As a result of investigating the changes in the quality of concrete before and after pumping, values of the apparent yield value and the apparent plastic viscosity obtained from the inclined flow test were appropriate, and the apparent plastic viscosity may evaluate the viscosity of the concrete. (4) As a result of investigating the relationship with pressure loss inside the pipe, it was found that the apparent plastic viscosity obtained from the inclined flow test shows the plastic viscosity of concrete, and it suggested that it may be possible to evaluate the pressure loss inside the pipe from the product of apparent plastic viscosity and actual discharge amount.