著者
竹内 栄二朗 山崎 将史 田中 一志 大野 和則 田所 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.30, no.3, pp.296-304, 2012 (Released:2012-04-29)
参考文献数
19
被引用文献数
4 1 2

This paper proposes multi-sensor localization framework for an autonomous mobile robot using multiple sensor. To realize robust localization in outdoor environments, many external sensors are needed. The propoesd localization framework in the paper is to divide the localization system into modules that contains retro-active localization function for particle filter to solve computation delay of to calculate measurement models. In this paper, solutions for multi-sensor localization are illustrated and localization experimental results in outdoor environments are described.
著者
田所 諭 相川 誠 市道 和廣
出版者
Japan Ergonomics Society
雑誌
人間工学 (ISSN:05494974)
巻号頁・発行日
vol.26, no.1, pp.41-47, 1990-02-15 (Released:2010-03-11)
参考文献数
25

人間の腕は機構的冗長性をもつため, 手の位置・方向だけでは一意に姿勢が定まらない. ところが, 人間は日常生活においてある程度決まった上肢姿勢をとっている. このことは人間が無意識下に姿勢を決定する基準を有していると解釈できる. 著者らは, 5名の被験者の9種類の上肢動作を計測・解析し, 手首位置と肩のある回転角との間に成立する関係式を見いだすことができた. この関係は, 任意の手首位置に対する腕姿勢は一意に決まることを意味しており, 人間の上肢姿勢がもつ法則性を定式化したものであるといえる. この関係式は動作の種類や被験者が変わった場合でも成立し, 人間らしい腕姿勢の生成を可能とする.
著者
服部 元史 中坊 保則 田所 諭 高森 年 山田 和人
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. C編 (ISSN:03875024)
巻号頁・発行日
vol.66, no.644, pp.1243-1249, 2000-04-25
参考文献数
4
被引用文献数
2

In order to establish method to design humanoid robots' motions with fertile emotions, the authors are analysing the Bunraku puppet's motions which are generated by the experts of puppet's manupulation. The many puppet's motions with some functions and with some emotions are observed. To simplify the observed puppet's motions, each puppet's motions are divided into the motion of the puppet's axes(the main part of the motion)and the relative motion(accompaniment). In this paper, the motions of the puppet's axes are analysed. The graphs of the motions of the puppet's axes consist of same factors if the motions have the same functions even though they have the different emotions. The graphs of the same factors have similar forms, but their time length and amplitudes differ, if they have the different emotions. The above factors are computed from the data of the motions of the axes based on the wavelet coefficients of the data which express the local forms of the graphs. The authors analyse how the time length and the amplitude of the factor changes as its emotion changes. This knowledge is applied to generate humanoid robots' motions with fertile emotions from their motions with no emotion.
著者
宮崎 友裕 瀬戸 文美 昆陽 雅司 田所 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
巻号頁・発行日
vol.2014, pp."3P1-P05(1)"-"3P1-P05(4)", 2014-05-24

In this research, we focus on the impedance adjustment function of human to evaluate his/her mobility function in a quantitative way. We consider that pedaling exercise is suitable for measuring lower limb kinematic impedance parameters, and aim at the establishment of the method which measure lower limb kinematic impedance parameters during pedaling exercise. In this paper, we propose the method of estimating lower limb kinematic impedance parameters during pedaling exercise using a multiple joint link model to take into consideration movement of each body segment which was not taken into consideration in a previous study. As a result, it becomes possible to take into consideration the inuence of the gravity of each body segment, and it is thought that estimated accuracy improved.
著者
高野 一輝 大野 和則 鈴木 高宏 田所 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 2015 (ISSN:24243124)
巻号頁・発行日
pp._1A1-I09_1-_1A1-I09_3, 2015-05-17 (Released:2017-06-19)

We had developed the 3D shape measurement method using the robot technology to measure underground pipes.And we got the rough shapes of pipe. Our new aim is the accuracy improvement of the 3D shape measurement.Gyroscope on the robot is used to estimate robot position.Hence the specification of gyroscope is greatly related to accuracy of measurement.In this paper, to improve the accuracy of measurement, we propose a method to choose a gyroscope which can satisfy the target accuracy. We evaluated the measurement error caused by specification of gyroscope by simulation, and we found the index of specification of gyroscope.
著者
古森 雄一 大野 和則 竹内 栄二朗 田所 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
巻号頁・発行日
vol.2014, pp._1P2-I06_1-_1P2-I06_4, 2014

Search and rescue (SAR) dogs show the typical motions when they find victims. The authors aimed to develop the measurement methods of the SAR dog's motions which suggest the victim locations. It can be used for making investigation maps with victim locations. The authors focused on barking and tail's wagging, and digging as the motion. We used IMU for measurement. The sensors were put on the vest for dogs, and We use no additional clothes by preference. We evaluated their locations and whether it is possible to detect the motions. For example, we can detect wagging motion by IMU directly on the tail.
著者
菅野 隆 田所 諭 服部 元史 高森 年 小黒 啓介
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 C編 (ISSN:03875024)
巻号頁・発行日
vol.62, no.598, pp.2299-2305, 1996-06-25 (Released:2008-02-26)
参考文献数
4
被引用文献数
5 6

An ionic conducting polymer gel film (ICPF) atuator is a composite of a perfluoro-sulfonic acid membrane sandwiched between platinum layers. Bending motion is induced by applying voltage between the surfaces in water or in wet conditions. This phenomenon was discovered in 1992. After reaching the maximum displacement toward the anode immediately, the actuator bent back to the cathode side, and approached the initial position gradually when a step voltage was applied. Current through the actuator decreased exponentially. The maximum displacement was proportional to the magnitude of the step voltage. Motion induced by a step current was almost the same as that induced by a step voltage but was slower. Voltage induced by the current increased gradually and reached a certain value, then increased once more to a steady voltage. The motion did not depend on the direction on the surface. The bending occured in all directions. Larger displacement was observed near the electrode. Dynamics of the actuator was expressed in terms of a 4th-degree transfer function by black-box linear modeling. Simulation results were in good agrrement with the experimental results.
著者
西城 直人 渡辺 将広 信時 正嗣 鈴木 信太郎 多田隈 建二郎 昆陽 雅司 田所 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.1A1-I08, 2020 (Released:2020-11-25)

Various researches are conducted to reduce the influence of winds and waves for safer work environment on offshore operations and to negate the tilt due to acceleration of vehicle for improved comfortableness. Conventional researches have adopted active mechanism like six-degree-of-freedom parallel mechanism that absorbs the sway by constantly keeping its motion base horizontal to suppress such influences. However, current swing machines require vast areas to be installed since their swing mechanisms are large and their bottom structures are thick. Here, we propose a new swing mechanism “Omni-Swing” which is relatively thin and can be applied to curved surfaces. The mechanism is embodied to a real machine and experiments are conducted to verify its basic characteristic in this paper.
著者
加美 聡哲 原田 勇希 山口 智香 岡田 佳都 大野 和則 田所 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.37, no.8, pp.735-743, 2019 (Released:2019-10-18)
参考文献数
19

In our study, we developed AED Gripping System for AED transport UAV in order to deliver quickly to remote places. This system is structured by grippers and a gripping determination system. We introduced Permanent Electromagnets as gripper. The gripping determination system is necessary to confirm that the AED is delivered at the destination, because AED transport UAV flies to remote places which the pilot cannot see the UAV. We developed a new gripping determination system which use the difference of convergence time of counter-electromotive force between gripping or not. We conducted flight experiments and confirmed that the AED Gripping System do not drop the AED accidentally and can confirm gripping status during flight.
著者
田所 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.28, no.2, pp.134-137, 2010 (Released:2012-01-25)
参考文献数
2
被引用文献数
3 10
著者
奥乃 博 中臺 一博 公文 誠 糸山 克寿 吉井 和佳 佐々木 洋子 昆陽 雅司 合原 一究 鈴木 麗璽 加賀美 聡 田所 諭
出版者
早稲田大学
雑誌
基盤研究(S)
巻号頁・発行日
2012-05-31

本研究では,ロボット聴覚ソフトHARKの「聞き分ける技術」を基に,自然環境・災害現場でも通用するように,豊富な機能拡充・高性能化と応用に取り組んだ.HARKはWindows版提供により9万件弱のダウンロードがあった.多人数インタラクション,音楽共演ロボットの可能性を示し, iGSVD-MUSICの開発によるUAV用音源定位の頑健化,索状ロボット用に姿勢推定・音声強調の開発により,レスキューロボットへの音利用の可能性を示し,さらに,カエルの合唱の解明,野鳥の鳴交解析のためのHARKBirdの開発と実地検証により音響生態学への可能性を実証し,ロボット聴覚の多面的展開のための基礎技術が確立できた.
著者
松原 仁 田所 諭
出版者
一般社団法人情報処理学会
雑誌
情報処理 (ISSN:04478053)
巻号頁・発行日
vol.43, no.5, pp.531-536, 2002-05-15
参考文献数
5
被引用文献数
3

ロボカップレスキューとは,情報科学,人工知能,ロボット工学などの最先端の技術を用いて,緊急災害救助という問題に貢献しようというプロジェクトである.ここでは焦点をシミュレーションのプロジェクトに絞り,このプロジェクトの特徴として,災害救助という対象をいかにゲーム化するか,自然発生的に集まった研究者によってどのように研究開発が進められているか,について説明する.
著者
松原 仁 田中 久美子 Frank Ian 田所 諭
出版者
The Japanese Society for Artificial Intelligence
雑誌
人工知能学会論文誌 = Transactions of the Japanese Society for Artificial Intelligence : AI (ISSN:13460714)
巻号頁・発行日
vol.17, pp.177-180, 2002-11-01
被引用文献数
4 2

We address the problem of information flow in disaster relief scenarios by presenting an architecture for generating natural language dialogue between large numbers of agents. This architecture is the first step towards real-time support systems for relief workers and their controllers. Our work demonstrates how natural generation techniques from the MIKE commentary system for RoboCup soccer can be carried over to that of RoboCup Rescue. Thanks to this background, the initial product of our research is a system that explains a RoboCup Rescue simulation not to the agents in the domain themselves but to a watching audience. This "commentary" is produced by recreating the actual dialogues most likely be occurring in the domain: walkie-talkie-conversations.
著者
山崎 将史 竹内 栄二朗 大野 和則 田所 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.29, no.8, pp.702-709, 2011 (Released:2011-11-15)
参考文献数
13
被引用文献数
5 4

This paper describes method to improve the accuracy of localization of mobile robot using GPS with particle filter. This method improves the accuracy of localization by removing multipath of GPS measurement data with 3D-Map. This approach analyzes area that cannot receive direct wave from GPS satellite with 3D-Map about each satellite. The particles in that area are assumed to be receiving GPS data including the multipath error. And particle's likelihood is calculated considering the multipath error. This method is useful for localization and navigation of mobile robot between buildings.
著者
吉村 晶子 田所 諭
出版者
地域安全学会
雑誌
地域安全学会梗概集
巻号頁・発行日
no.26, pp.103-106, 2010-06

Establishing a national response system for Urban Search and Rescue (US&R) is now on the way in Japan. This paper reports a survey on Disaster City^<[○!R]>, which is a world-famous comprehensive US&R training facility constructed and build and operated by TEEX (Texas Engineering Extention Service) in Texas, U.S.A. As the result, the key points of facility components, arrangements, layouts are shown with the system to run the facility, and the unique characteristic of US&R training facilities are specified. Discussions are made on the constraints and advantages of introducing such kind of training facility in Japan, and the necessity to consider training resources in a system together with the actual response resources is shown.
著者
河原 豊和 大野 和則 田所 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
巻号頁・発行日
vol.2006, pp."2P1-C30(1)"-"2P1-C30(3)", 2006

Our research objective is localization and mapping for rescue crawler robot in unknown environment. The problem is well known as SLAM problem. For solving the problem, the robot position and environment shape are measured by odometry and LRF respectively. Odometry's error is corrected by matching these shape data. Map is constructed from these shapes and the modified robot position. However, odometry can not be used for measurement of our crawler robot's position because the crawler has crawlers and wheels as locomotion. In this paper, the authors present our approach for measurement of its position and construction of the map. Concretely, the authors measure its position by matching 2D scan data measured at different points. Moreover, we correct the scan's distortion caused by robot movement.