著者
衣笠 一樹 石川 将人 大須賀 公一
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.49, no.8, pp.755-762, 2013 (Released:2013-08-27)
参考文献数
8
被引用文献数
1 2

In this paper, we propose a robotic model of a casterboard, which is a commercial variant of skateboards with twistable footplates and passive inclined caster wheels. We then derive its mathematical model in the form of nonlinear state equation; this system is of much interest from both mechanical and control points of view as a new challenging example of nonholonomic mechanics. Based on an observation in the preceding works concerning locomotion control for nonholonomic systems, we propose a locomotion control method with sinusoidal periodic control to realize forwarding and turning locomotion. The proposed idea is examined by simulations and physical experiments using the prototype robot developed by the authors. Moreover, we also examine influence of the parameters in sinusoidal reference signals on the robot's behavior.
著者
石川 将人 北吉 良平 和田 尭 丸田 一郎 杉江 俊治
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.46, no.4, pp.237-244, 2010 (Released:2011-11-03)
参考文献数
7
被引用文献数
3

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.
著者
興梠 匠 石川 将人 杉江 俊治
出版者
一般社団法人 システム制御情報学会
雑誌
システム制御情報学会 研究発表講演会講演論文集 第50回システム制御情報学会研究発表講演会
巻号頁・発行日
pp.232, 2006 (Released:2006-12-01)

本研究では歩行ロボットの新形態として,三足歩行ロボットとその歩行制御の一方法を提案する.そもそも奇数脚歩行は従来よりほとんど研究されてこなかったが,三足歩行においては二足歩行の機動性・軽量性と四足歩行の安定性を兼備できることが期待される.本研究では120度回転対称かつ少数のアクチュエータを有する軽量な三足機構を提案し,歩行制御問題を歩様設計と各脚制御の二段階に分離することによってアプローチする.
著者
増田 容一 石川 将人
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 2018 (ISSN:24243124)
巻号頁・発行日
pp.1P1-F15, 2018 (Released:2018-12-25)
被引用文献数
1

In this paper, we develop a three-legged robot without a brain. This tripedal walking robot generates gait patterns adaptively and autonomously with no sensor, or controller. The key of this adaptability is to utilize a “weakness” of low-torque motors in each leg. Each motor drives leg joint and adjusts its own phase in response to a reaction force from the ground. As a result of the dynamics of body–motor–environment interaction, the weak motors sync each other.
著者
石川 将人 三平 満司
出版者
一般社団法人 システム制御情報学会
雑誌
システム制御情報学会論文誌 (ISSN:13425668)
巻号頁・発行日
vol.13, no.3, pp.124-133, 2000-03-15 (Released:2011-10-13)
参考文献数
19
被引用文献数
2 1

In this paper, we propose an optical measurement system for a nonholonomic wheeled robot, and develop a state estimation method and a measurement-output feedback controller. Since the kinematic model of such a wheeled mobile robot is expressed as a driftless nonlinear state equation, there arises a difficulty in observer design that the observability depends on control inputs. This matter is settled by transforming the time-scale of the state equation to a new one, which represents the trajectory of the mobile robot. Then we construct a nonlinear observer which achieves local exponential estimation-error convergence and allows us to specify its rate, where the design method is based on “the extended Luenberger observer (Zeitz)”. Finally, we apply a control strategy for a class of driftless systems based on “time-state control form (Sampei et al.)” to the position control problem by combining it with the observer to form an output feedback controller. Some results of numerical simulations are also presented.
著者
末岡 裕一郎 北 卓人 石川 将人 杉本 靖博 大須賀 公一
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:18848354)
巻号頁・発行日
vol.79, no.801, pp.1718-1727, 2013 (Released:2013-05-25)
参考文献数
15
被引用文献数
2 2

In this paper, we discuss some phenomena of obstacle clustering by distributed autonomous robots, in the light of space-discretization (or cellular automata) approach. This work was motivated by Swiss Robots which collect scattered obstacles into some clusters without any global information nor intelligent concentrated controller. Then we define fundamental event rules in this cellular world, and introduce two types of local rules for robot action: one is the Push & Turn rule, which can collect obstacles, the other is Pull & Turn rule, which can scatter obstacles. By defining several indices (ratio of immobile obstacles, ratio of moved obstacles), we investigate the dynamic equilibrium of obstacle clustering by heterogeneous agents. And, this paper also presents a control method of ratio of immobile obstacles from the estimation of each robot's local information even if all the states of obstacles cannot be measured.