4 0 0 0 OA 汎用ロボットプラットフォームAEROの競技会を通じた継続的開発評価
- 著者
- 矢口 裕明 溝花 弘登 堀 慎太郎 笹渕 一宏 長濱 虎太郎 齋木 拓也 椎木 靖人 稲葉 雅幸
- 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.4, pp.319-329, 2019 (Released:2019-05-23)
- 参考文献数
- 40
- 被引用文献数
- 1
In this paper we describe a continuous development and evaluation of multi purpose platform robot AERO via robot competitions. We participated to 4 robot competitions requiring different task with human size semi humanoid robot AERO, has same basic structure. For many types of competition tasks, the robot was designed as simple, robust, small and lightweight, furthermore it can be change parts for another situation of task. The versatility of the robot platform was increased from continuation of task analyisis, consideration of requirements, and implementation. In this paper we describe a continuous integration of robot design, cycle of task analysis, implemetation and integration, via robot competition.
1 0 0 0 トマト収穫ロボットのための三次元カメラを用いた果実・果柄認識手法
- 著者
- 矢口 裕明 長谷川 貴巨 稲葉 雅幸
- 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.2017, pp.1A1-C01, 2017
<p>In this paper, we propose the method of tomato fruit and pedicel recognition method using 3D camera for tomato harvesting robot. Recognition method is constructed by 2 parts; tomato fruits detection and tomato pedicel detection. To avoid detecting stem and pedicel of neighbor fruit, we propose a robust estimation method in pedicel direction calculation. We evaluated the proposed method in the greenhouse with real tomato trees, experimental result shows its robustness.</p>
1 0 0 0 OA 収穫装置と視覚認識に着目したトマト自動収穫ロボットの構成法
- 著者
- 矢口 裕明 長谷川 貴巨 長濱 虎太郎 稲葉 雅幸
- 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.10, pp.693-702, 2018 (Released:2019-01-15)
- 参考文献数
- 17
- 被引用文献数
- 4
In this paper we propse a construction method of autonomous tomato harvesting robot. For tomato harvesting we focus to harvesting device and visual recognition method. We propose 2 types of harvesting method; cutting scissor and rotational plucking gripper. For recognition, we compare different 3 types of 3D camera, then we construct tomato fruit recognition method using color detection and sphere shape fitting, and also propose tomato pedicel detection method by robust estimation using direction from center of fruit to pedicel and gradient orientation of pedicel edge. Combining these elements, we construct some autonomous harvesting systems and evaluate harvesting of real tomatoes in the tomato robot competition and the real farming veniel house. According to evaluation results, both cutting and plucking has different advantage and disadvantage, it is important to select appropriate one for breed or individual. Also for recognition, pedicel recognition, which must be broken, increases reliability harvesting.
- 著者
- 植田 亮平 ZAOPUTRA Nikolaus 西野 環 矢口 裕明 山崎 公俊 花井 亮 岡田 慧 稲葉 雅幸
- 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.2008, pp._2P1-G11_1-_2P1-G11_4, 2008
In this paper, we present a method to obtain the depth of the building using a satellite image of Google Earth and GPS receiver. Maps with 3D information are useful for robot navigation. This method is based on "3D Street View", which is a 3D model of the building automatically created with laser range finder and fish eye lens camera.
1 0 0 0 OA 生活支援ロボットHSRのための家庭環境におけるLINE-MODの適用とロバスト性向上
- 著者
- 花井 亮 山崎 公俊 矢口 裕明 稲葉 雅幸
- 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.2010, pp."2A2-B19(1)"-"2A2-B19(4)", 2010
ROS has been becoming popular as a distributed platform for robot applications. We present how we developed a tidying-up demonstration task including recognition of objects, grasping, handling of a tray and navigation in two-weeks stay at Willow Garage Inc. This paper focuses on the development using ROS framework, tools and packages.