著者
小関 篤史 江村 超 熊谷 正朗
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.2002, 2002
被引用文献数
1

本研究は4脚ロボットの不整地動歩行に関するものである。不整地としては, 踏み越え可能な水平な段差, より高い障害物, 斜面を想定し, ステレオビジョンによって地形情報を得て, 歩容生成を行う。まず, 歩行しながら, ロボット前部に取り付けた2個のカメラにより路面を左右方向に渡って観測し, 視差を検出することで路面の相対的な高低の分布を得る。この分布より回避すべきか否かを, また進行可能である場合, 時間変化より平坦な段差か斜面であるかを判断し, 必要な歩容の生成を行った。12自由度のロボットを用いて, 姿勢センサ等の情報による補正を加えてトロット歩容を行った。
著者
熊谷 正朗 江村 超
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.2000, 2000

現在, 人間の居住環境等における移動手段として2足歩行が着目されているが, 多くの研究では歩行を水平面に限定している。しかしながら, 実用的に使用する場合には, 路面の斜度を把握し, それにあわせて歩容を変更しなければならない。本研究ではステレオビジョンを用いた手法によって斜度を推定し, ロボットの歩容を変更し, 斜度を教示することなく歩行させることに成功した。あわせて他の物体を追尾歩行するための制御について報告する。
著者
江村 超 熊谷 正朗 王 磊 郷古 倫央
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.35, no.1, pp.17-23, 1999
被引用文献数
1

Dynamically walking robots require attitude sensors of high resolution and wide-band frequency response. If these characteristics are not good enough, it is difficult to control the robots stably. Rate gyros are widely used attitude sensors in walking robots, but the rate gyro which has both characteristics of sufficiently high resolution and wide-band frequency response is heavy and expensive. Therefore, the authors tried to get a small, light and low-cost rate gyro which has excellent characteristics both in resolution and response frequency by using multiple sensors and subtraction type of filters.<br>In this paper, first, a method to expand response frequency of rate gyros without reducing their resolution and an idea of subtraction type of filters which are useful for expanding frequency range are presented. The subtraction type of filter means the filter that has a transfer function obtained by subtracting another transfer function from 1 (unity). This filter provides flat response after composing two signals whose response frequency ranges are different each other. In this case, one is a signal obtained from a rate gyro whose resolution is high enough but response frequency is low, and the other is a signal obtained from a rate gyro whose resolution is low but response frequency is high enough.<br>If we use an inclinometer together with rate gyros, we can sufficiently decrease zero-drift of gyros, because the inclinometer senses angular displacement by referencing gravity direction and its zero stability is high enough. However, the inclinometer is influenced by horizontal acceleration. This means that we have to use a low-pass filter whose cutoff frequency is extremely low to eliminate signal component induced by horizontal acceleration. Attitude sensor using two rate gyros mentioned above and one inclinometer showed good characteristics concerning zero stability, resolution and response frequency range.
著者
熊谷 正朗 江村 超
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.2, pp.35-41, 2002-03-15
参考文献数
14
被引用文献数
3 3

There are many robots which are controlled with PCs (Personal Computers) . Their typical OS (Operating System) was MS-DOS, but MS-DOS is not suitable for high level control. Therefore, RTLinux was developed as realtime OS. However, the authors tried to control mechatronic system by using common Linux and found that it has enough ability to control robots. In this paper, it is described why the common Linux can be used as OS for PCs that control robots. Some experimental results that indicate performance of common Linux as robot controlling OS are also provided. Then the control system developed for human type biped robot as an example that utilize this method is shown.
著者
河野 秀行 江村 超 熊谷 正朗
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.2002, 2002
被引用文献数
1

本研究は水平な段差面のある不整地を, ステレオビジョンで観測して踏破する手法に関するものである。不整地において2脚動歩行を行うためには, 特に着地点の状況の正確な情報を必要とし, それに忘じた歩容の生成が必要である。そこで, 広角と望遠の2系統のビジョンをロボットに装備し, 広角系によって着地可能な位置を検出して足の運びを決定し, 望遠系によって着地位置の高低のより精度の高い計測を行った。これにより, ロボットの障害回避を含む進行方向, 歩幅および足上げ量などを決定し, 歩容生成を行った。
著者
江村 超 熊谷 正朗 王 磊 郷古 倫央
出版者
The Society of Instrument and Control Engineers
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.35, no.1, pp.17-23, 1999-01-31 (Released:2009-03-27)
参考文献数
7
被引用文献数
4 1

Dynamically walking robots require attitude sensors of high resolution and wide-band frequency response. If these characteristics are not good enough, it is difficult to control the robots stably. Rate gyros are widely used attitude sensors in walking robots, but the rate gyro which has both characteristics of sufficiently high resolution and wide-band frequency response is heavy and expensive. Therefore, the authors tried to get a small, light and low-cost rate gyro which has excellent characteristics both in resolution and response frequency by using multiple sensors and subtraction type of filters.In this paper, first, a method to expand response frequency of rate gyros without reducing their resolution and an idea of subtraction type of filters which are useful for expanding frequency range are presented. The subtraction type of filter means the filter that has a transfer function obtained by subtracting another transfer function from 1 (unity). This filter provides flat response after composing two signals whose response frequency ranges are different each other. In this case, one is a signal obtained from a rate gyro whose resolution is high enough but response frequency is low, and the other is a signal obtained from a rate gyro whose resolution is low but response frequency is high enough.If we use an inclinometer together with rate gyros, we can sufficiently decrease zero-drift of gyros, because the inclinometer senses angular displacement by referencing gravity direction and its zero stability is high enough. However, the inclinometer is influenced by horizontal acceleration. This means that we have to use a low-pass filter whose cutoff frequency is extremely low to eliminate signal component induced by horizontal acceleration. Attitude sensor using two rate gyros mentioned above and one inclinometer showed good characteristics concerning zero stability, resolution and response frequency range.
著者
江村 超
出版者
一般社団法人日本機械学会
雑誌
日本機械学會誌 (ISSN:00214728)
巻号頁・発行日
vol.88, no.799, pp.603-608, 1985-06-05