著者

荻野 貴司 秋元 俊成 友納 正裕 松元 明弘

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._2P2-C05_1-_2P2-C05_3, 2008

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For the future cohabitation of humans and robots, we are making research on home use robots, where positions of robot, human and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the performance of the map building by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We implemented the motion extraction algorithm for the human following application.

著者

宮内 雄志 荻野 貴司 秋元 俊成 松元 明弘

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.2009, pp._1A1-E15_1-_1A1-E15_3, 2009

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We are involved in the research into navigation of mobile robots for indoor and outdoor use. In order to localize the position of a mobile robot, 3D map rather than 2D map is preferred especially for outdoor application. In order to build 3D map of an unknown environment, we combined two laser scanners for different orientation, and obtained 3D environmental information .We applied 2D scan matching method for the horizontal scan information, and the other scan information is incorporated for 3D map building. We evaluated the performance of scan matching method for the translation and rotation motion of our mobile robot, and then conducted 3D map building experiments in the university campus and confirmed that 3D map was obtained in a quite enough resolution.

著者

荻野 貴司 秋元 俊成 友納 正裕 松元 明弘

出版者

一般社団法人 日本機械学会

雑誌

IIP情報・知能・精密機器部門講演会講演論文集

巻号頁・発行日

vol.2008, pp.88-89, 2008

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For the future cohabitation of humans and robots, we are making research on home use robots, where human motion and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the map building capability by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We confirmed the adaptability of scan matching algorithm to the human motion recognition which is the key to the human following by robots.

著者

秋元 俊成 寺田 信幸 松元 明弘

出版者

社団法人日本生体医工学会

雑誌

生体医工学 : 日本エム・イー学会誌 (ISSN:1347443X)

巻号頁・発行日

vol.46, no.1, pp.58-63, 2008-02-10

被引用文献数

1

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We're developing walking robot with the object of bringing the walking of robot close to that of human utilizing pendular motion of legs. First, human gait analysis has been conducted in the study. In particular, we measured joint angle variation and myoelectric signal at a normal walking pace, focusing on the ankle mobility. From the result of the measurement, we realized that ankle mobility of supporting leg not only provides energy in the direction of travel by kicking back but also leads idling leg to swing forward. Then, we conducted modeling of ankle-driven walking and reproduced the motion using highly simplified model. As the result, walking driven only by ankle was realized in simulation. Therefore, it is expected that the system could not only be used for walking robot but also be applied to walking aids or artificial legs, because it reproduces a walking utilizing pendular motion of legs effectively due to the hip of free joint, and it is possible to reduce the number of actuators.

著者

秋元 俊成 松元 明弘

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.73, no.733, pp.2537-2542, 2007-09-25

被引用文献数

4

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In this paper, we introduce a new mechanism of quasi-passive-dynamic-walking machine which uses actuators just only at ankle joints. First, we analyzed about basic mechanisms of passive dynamic walking. So, we made and modeled the passive dynamic walking machine that walks down the slope. Experiment of the walking was compared with the numerical analysis, which showed the validity of the model. And, these were analyzed from the energy point of view. Second, we proposed a new control method of quasi-passive-dynamic-walking based on the result of analysis of passive dynamic walking. The new method was confirmed by the numerical analysis on a horizontal plane. Finally, ankle-driven type of quasi-passive dynamic walking machine was designed and developed. Experiment of the walking on the horizontal plane was done. That result shows the validity of the idea.