著者

槇田 諭

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.41, no.5, pp.451-456, 2023 (Released:2023-06-22)

参考文献数

11

被引用文献数

1

著者

牧原 昂志 槇田 諭

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.38, no.5, pp.496-501, 2020 (Released:2020-06-17)

参考文献数

12

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This paper presents a novel measurement method for caging quality based on static analysis of robotic grasping and manipulation. Caging is a geometrical constraint of objects in which those captured by surrounding robots are restricted to move in the bounded space. The object constraint with some margin is a promising tool to allow uncertainties appearing in object perception and robot control. Because of limitation of robot configuration, complete caging that the object never escape from is, however, not accomplished sometimes, and the target object is partially caged. As for such partial caging, the quality of geometrical constraint has not been sufficiently evaluated. In this paper, we propose an evaluation index of the quality based on the robustness of grasping and manipulation in order to deal with both caging and mechanical constraint simultaneously. Some numerical results are presented to validate our proposed procedure of evaluation.

著者

槇田 諭 万 偉偉

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.5, pp.316-326, 2018 (Released:2018-07-15)

参考文献数

121

被引用文献数

2 2

著者

槇田 諭 前田 貴信

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.2A1-L10, 2017 (Released:2017-11-25)

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This paper investigates motion characteristics of the wheeled inverted pendulum robot, which is a commercial product for tele-communication and has a built-in stabilizer. We are motivated to utilize this type of telepresence robot for scientific communication with children. For safe activities, accidents caused by the robot, for example, collisions and overturning, must be avoided. In this paper, we examine behaviors of the wheeled inverted pendulum under several conditions: changing floors, transmission speed for control, and frequency of input of remote control. In our experiments, we did not encounter overturning of the robot during the robot moved under these experimental conditions. Of course, the robot turns over when someone pushes or pulls the robot with excessive external forces that breaks the stability of the inverted pendulum.

著者

古澤 美典 小豆澤 成治 鉢峰 拓海 槇田 諭

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 2020 (ISSN:24243124)

巻号頁・発行日

pp.2A1-R07, 2020 (Released:2020-11-25)

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RoboMaster Robotics Competition is an international robotics competition, which is held in Shenzhen every year. Engineers studying all over the world design their robots and compete in the game field with each other. This competition is also famous for entertainment. In this paper, we compare cultures between RoboMaster and robocon, a traditional robotics competition. In addition, we describe several technical aspects on our robots and the meaning that engineering students join in this competition.

著者

槇田 諭 浦川 竜裕

出版者

福岡工業大学総合研究機構

雑誌

福岡工業大学総合研究機構研究所報 (ISSN:24345725)

巻号頁・発行日

vol.4, pp.41-45, 2021-10-31

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This paper summarizes several robot programming approaches and presents a direct teaching method for robot programming of manipulators. A human operator wearing a head-mounted display and hand-held controllers manipulates a spherical marker in the computational space to determine a desired position of the manipulator. A depth camera attached to the manipulator acquires a point cloud of the surroundings of the manipulator to construct the scanned map in the computational space. The desired posture of the manipulator can be found by solving an inverse kinematics problem.

著者

吉川 慧 槇田 諭

出版者

一般社団法人 日本機械学会

雑誌

年次大会 2016 (ISSN:24242667)

巻号頁・発行日

pp.G2300101, 2016 (Released:2017-06-19)

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This study investigates elastic behavior attributed to flexor digitorum tendon, using ultrasonographic images. The tendon is stretched during finger extension both by muscle strength and external forces applied to the fingertip. The elastic force exerted by the stretched tendon can work as torque for flexsion of the finger. Our experimental scheme includes measuring changed MP joint angle and each corresponding exerted fingertip force and displacement of image feature on flexor digitorum in the ultrasonographic image. The measurement results of the relationship among the exerted fingertip force, flexion angle and ultrasonographic images show that extension or displacement of the tendon is proportional to the flexion angle. In addition, a hysteresis of the fingertip force in stretching and shortening cycle can be observed. The hysteresis addressed in the related studies may be caused mainly by behavior of flexor digitorum muscles.