著者

永瀬 純也 重本 佳孝

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.33, no.1, pp.55-62, 2015 (Released:2015-02-15)

参考文献数

21

被引用文献数

2

---

There are many pipes such as a water pipe and a gas pipe in a chemical plant, a factory and house. It is possible to prevent accident ensure safety by these investigating. However, many pipes are very narrow and it is difficult for people to inspect directly. In this study, a cylindrical crawler robot based on Amoeba locomotion, which has a simple mechanism and does not need large space to move, is proposed. When moving the inside of a pipe, this crawler robot uses the elastic force of a crawler belt to hold the robot in pipe. Additionally the robot uses elastic deformation of a crawler belt to pass of a step between pipes with different diameters. Therefore, the robot can move the pipes of different diameters and the perpendicular pipe by using only on actuator. This paper reports the structure, drive mechanism, design, and prototype evaluation.

著者

佐藤 俊之 永瀬 純也 嵯峨 宣彦 齋藤 直樹

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.853, pp.17-00142, 2017 (Released:2017-09-25)

参考文献数

24

---

This paper proposes a two-degree-of-freedom control systems design using a preview feedforward controller called zero phase error tracking controller (ZPETC) to improvethe tracking performanceof the disturbance observer-basedPredictive Functional Control (PFC) systems. To this end, we derive a pulse transfer function representation of the PFC controller, which is used for the design of ZPETC, and show some properties of the PFC controller. Then a disturbance observer-based PFC system combined with ZPETC is designed. Several experiments using a single axis table drive system are conducted to validate the effectiveness of the proposed control method. The experimental results show that the tracking error is dramatically reduced compared to the previously-developeddisturbance observer-based PFC.

著者

嵯峨 宣彦 手銭 聡 佐藤 俊之 永瀬 純也 遠藤 匠

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.84, no.861, pp.17-00548-17-00548, 2018 (Released:2018-05-25)

参考文献数

28

被引用文献数

3

---

In disaster areas, rescue work by humans is extremely difficult and dangerous. Therefore, rescue work using rescue robots in place of humans is attracting attention. This study specifically examines peristaltic crawling, the movement technique used by earthworms, because it can enable movement through narrow spaces and because it can provide stable movement even in various difficult environments. Moreover, we designed each part of the robot based on required specifications and developed a real robot. We present results of motion experiments conducted with robot movement on level ground.

著者

楠 仁宏 嵯峨 宣彦 永瀬 純也 佐藤 俊之

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 2014 (ISSN:24243124)

巻号頁・発行日

pp._2A1-K03_1-_2A1-K03_3, 2014-05-24 (Released:2017-06-19)

---

In recent years, in consideration for danger of secondary disaster at disaster areas, development of rescue robots has been expected. We have paid attention to the mechanism of the peristalsis performed by earthworms and developed a robot using the mechanism. In this research, we developed a robot which recreates the motion of the muscles of earthworms using two kinds of actuators. The feature of this mechanism is that the robot is always able to move a fixed distance even if the space is narrow. In this paper, we propose the mechanism of the robot and consider the three moving patterns of the robot.

著者

佐藤 俊之 阿部 梨恵 齋藤 直樹 永瀬 純也 嵯峨 宣彦

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.81, no.827, pp.15-00084-15-00084, 2015 (Released:2015-07-25)

参考文献数

13

被引用文献数

2 3

---

This paper addresses position and path-tracking problems of robot manipulators subject to constraints on both the magnitude and difference of the control input. Along with the model predictive control (MPC), the disturbance observer (DOB) is used to compensate for disturbances and nominalize the plant dynamics. To constrain the total control input, which is the sum of the MPC output and DOB output, we adopt time-varying input constraints and construct a useful structure of the combined DOB-MPC system. The effectiveness of the proposed control scheme is validated through a few experiments using a real two-link manipulator.

著者

永瀬 純也

出版者

龍谷大学

雑誌

若手研究(B)

巻号頁・発行日

2011

---

人間と共存する環境におけるロボットハンドにおいては対人環境に対する安全性や親和性が要求される.また,日常生活の支援動作を行う場合は,それらに加えて,器用な操り動作や,柔軟な対象物の把持,および摩擦を利用した動作など,様々なタスクが求められる.そこで本研究では空気圧剛性可変フィンガを有する腱駆動ロボットハンドの開発を行った.本フィンガは,タスクに応じて空気圧を調整することにより表面剛性や摩擦係数を自在に変化可能であり,また,力制御に予測機能制御系を適用することにより,風船のような柔軟物においても,容易に力制御可能なことが実証された.