著者
熊谷 正朗 玉田 薫
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._2A1-J02_1-_2A1-J02_4, 2007-05-11 (Released:2017-06-19)
被引用文献数
1

The Roller-Walk is one of methods for locomotion of walking robots. It requires only passive wheel(s) on each of legs, and periodic motions of legs generates driving force. Successful results were shown in quadruped robot, and some trials had also been carried out on biped robot. The biped roller-walk had a problem in following trajectories because its 'skate' tends to go straight while trajectory curves. This paper proposed one of successful method for biped roller-walk. The robot use a special type of trucks whose curvature can be changed only by inclining the body of the truck. The experiments showed effectiveness of our mechanism in roller-walk on straight, right turn, and left turn trajectories.
著者
熊谷 正朗
出版者
日本プラントメンテナンス協会
雑誌
プラントエンジニア (ISSN:02890178)
巻号頁・発行日
vol.45, no.8, pp.60-61, 2013-08
著者
熊谷 正朗
出版者
東北学院大学
雑誌
若手研究(B)
巻号頁・発行日
2011

従来の球面モータに比べて出力が大きい、3自由度に角度制限なく回転する球面誘導モータを開発した。トルクは最大 5Nm、球面での推力換算で 40N を出力でき、かつ指令から力出力の安定まで 10ms 未満という応答性を持つなど、移動ロボットの車輪などに使用可能な性能を実現した。また、光学式マウスセンサによる球体の運動計測を併用して、角速度制御、角度制御を実現し、トルク出力と合わせて応答特性を測定し、性能を明示した。
著者
熊谷 正朗 江村 超
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.37, no.11, pp.1040-1047, 2001-11-30 (Released:2009-03-27)
参考文献数
11
被引用文献数
3 4

The bipedal walk is a useful method for moving in human live environment. However, there are few research works on biped robots on uneven ground though adaptability to those environments is necessary for them. In this paper, the slope-walk of a biped robot based on stereo vision is described. First, a method to estimate inclination with vision is proposed. This method is based on triangulation. The robot observes the ground in front of it at a certain angle below horizon and measures distance to there with stereo vision. This distance becomes smaller on uphill slope and larger on downhill way. The vision is also used for target detection for followed-walk. The robot detects distance and direction of a target. We propose direct utilization of parallax as distant information and direct conversion from parallax to inclination. These methods provide enough accuracy for walking robot and reduce cost of calculations and calibrations. Secondly, a sensor based walk is proposed. The sequence of walk consists of two parts. One is stabilization phase that absorbs attitude-disturbances of robot caused by environment or alteration of gait. This stabilization uses attitude sensors mounted on the body. The other is stepping phase. We designed simple gaits so that it can be altered easily for slope-walk and curve-walk. The experiments using a biped robot with legs of human type degree of freedoms and a stage that provides various slopes were carried out. The accuracy of slope estimation was about ±1[deg] and the walk through undulating ground of 5[deg] downhill to 5[deg] uphill way was achieved. The results showed that our method gains adaptability of biped robots to slopes.
著者
熊谷 正朗
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.26, no.2, pp.126-129, 2008-03-15 (Released:2010-08-25)
参考文献数
4
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
熊谷 正朗
雑誌
プラントエンジニア (ISSN:02890178)
巻号頁・発行日
vol.47, no.10, pp.68-69, 2015-10