5 0 0 0 OA ヒューマノイド・ロボティクス2016夏の学校開催の経緯
3 0 0 0 OA 人の操作モデルと拡張カルマンフィルタによる状態推定を用いた掘削の半自律制御
- 著者
- 岡田 昌史 岡本 裕 舛屋 賢
- 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 (ISSN:21879761)
- 巻号頁・発行日
- vol.86, no.884, pp.19-00320, 2020 (Released:2020-04-25)
- 参考文献数
- 14
- 被引用文献数
- 2
For robotic teleoperation, semi-autonomous control, i.e. autonomous control allowing human interposition will be an effective way overcoming delay of electrical communication and emergency operation. We have proposed semi-autonomous control method focusing on excavation in teleoperation environments. In the method, a model of human operation is designed and human internal state is estimated by Extended Kalman Filter. In this paper, experimental evaluations are conducted and reported about ”Digging” process. A human skill of excavation is modeled by an attractor-based dynamics embedding shallow and deep digging trajectories for soft and hard soil, respectively. An index parameter is changed based on the load of the bucket, and a seamless motion transition is realized satisfying the restriction by setting a threshold. Moreover, by adding a human operation to the autonomy, the proposed method will cope with the emergency, which is experimentally evaluated.
2 0 0 0 OA 人型ロボットの状態推定
- 著者
- 舛屋 賢
- 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.2, pp.116-121, 2018 (Released:2018-04-15)
- 参考文献数
- 33
1 0 0 0 OA 回転型釣糸人工筋肉アクチュエータの拮抗型合トルク制御
- 著者
- 吉田 優太郎 林 亮 舛屋 賢 高木 賢太郎 有田 輝 田原 健二
- 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.41, no.6, pp.573-576, 2023 (Released:2023-07-27)
- 参考文献数
- 8
A Straight Twisted Polymeric Fiber Actuator (STPFA) has attracted attention as a new rotational actuator because it is soft, lightweight, silent, and inexpensive. It can rotate when heating, and be back when cooling. However, it is difficult to improve the response, especially in the cooling phase when using natural cooling. In order to improve the response in natural cooling, antagonistical actuation is one of the effective methods. However, the diactivated-side actuator generates a disturbance-like torque when the other-side actuator is activated due to its passive torsional spring-like characteristics. In order to realize the antagonistical actuating module using a pair of rotational-type STPFA, in this paper, the models are constructed that can estimate the torque generated at both ends of an antagonistically arranged rotational STPFA from the change in heater resistance. A sensorless output torque control method is proposed for the total torque obtained as the difference between the torques at the two ends using the proposed STPFA models. The effectiveness of the proposed method is demonstrated through fundamental experiments using a prototype module.
1 0 0 0 OA 三次元高精度姿勢推定のための慣性センサの線形・非線形特性分離に基づいた相補フィルタ
- 著者
- 杉原 知道 舛屋 賢 山本 元司
- 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.31, no.3, pp.251-262, 2013 (Released:2013-05-15)
- 参考文献数
- 15
- 被引用文献数
- 3 5
A high-fidelity attitude estimation technique is proposed for mobile robots which move irregularly in wide space, where heterogeneous inertial sensors are combined in a complementary way in the frequency domain. While the working frequency ranges of each sensor are not necessarily complementary, inverse models of them compensate the sensor dynamics and enlarge their effective working ranges. The problems to be addressed are that the sensor dynamics displays a highly nonlinear property in the case of 3D rotation, and, even if it is approximated by a linear system, the inverse models of them tend to be non-proper and unstable. An idea is to decouple it into the dynamics compensation part approximated by a linear transfer function and the strictly nonlinear coordinate transformation part. By inserting the designed filter before the coordinate transformation, the total transfer function is guaranteed to become proper and stable. Particularly, the differential operator of a high-pass filter cancels the integral operator included in the dynamics compensation of the rate gyroscope, which causes instability.