著者

李 銘義 公文 誠 足立 紀彦

出版者

一般社団法人 人工知能学会

雑誌

人工知能学会論文誌 (ISSN:13460714)

巻号頁・発行日

vol.16, no.1, pp.94-101, 2001 (Released:2002-02-28)

参考文献数

15

被引用文献数

1

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The objective of this article is to provide the basic formulation of the affordance of environment. Study on affordance has been mostly focusing on the significance of perception, behavior and workspace, while leaving the problem of application unaddressed. Using the proposed method, it is possible to apply reinforcement learning algorithm on the robot within a certain environment, making the abstraction of affordance of the environment with interaction between the reinforcement learning agent and the environment available. Conclusion is made in the latter part of the paper that the percipient(robot) should simplify the number of perception in order to get enough valid equivalence relationship which abstracts affordance from environment with in the limit of incomplete perception; and the structure of the environment(workspace) would restrict the robot’s behavior. The prospect of this study, therefore, focuses on the interactive processes between the robot and the workspace from which the robot could set up it’s perception for particular tasks, and on how the robot could continuously manage it’s perception.

著者

深尾 隆則 山脇 明 足立 紀彦

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.37, no.11, pp.1034-1039, 2001-11-30 (Released:2009-03-27)

参考文献数

14

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The control technique which combines H∞ control with adaptive nonlinear control is applied to the active suspension system which is divided into two parts: a main car body part and a hydraulic actuator part. The H∞ control design is used for the body part where the frequency response property is important to improve the ride quality of the automobiles, and the adaptive nonlinear control design is used for the actuator part with the high nonlinearities and the parametric uncertainties which is required to transmit the power to the main body adequately because it gives large effects on the control result. These two design methods are combined by a modified version of backstepping which is a powerful tool for nonlinear control and adaptive control. Finally some simulation results are provided to confirm the usefulness of our method.

著者

杉村 昌彦 飯国 洋二 足立 紀彦

出版者

一般社団法人電子情報通信学会

雑誌

電子情報通信学会論文誌. D-II, 情報・システム, II-情報処理 (ISSN:09151923)

巻号頁・発行日

vol.80, no.1, pp.101-108, 1997-01-25

被引用文献数

11

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イメージマッチングとは, 異なる状況下で得られた2枚の画像間の対応点を探索し, 対応関係を表す写像を見つけることであり, 画像処理における基本的問題の一つである. 本論文では, ツェルニケモーメントを特徴量とする2次元動的計画法を使って, 2次元の変形を含んだ2枚の階調画像の対応点を探索する方法を示す. この動的計画法では, 画像を複数の円形領域で区切り, その円形領域を対応単位とする. そして, 直線上の領域を曲線上の領域に対応させることで, 画像の局所的な平行移動, 伸縮成分を吸収する. また, 各円形領域の特徴量として回転に不変なツェルニケモーメントを用いることで, 画像の局所的な回転成分を吸収する. 計算機実験により画素を対応単位とする従来法に比ベ, 計算量が削減できると共にマッチング精度が向上することを確認した.

著者

彭 志新 足立 紀彦

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.57, no.537, pp.p1625-1630, 1991-05

被引用文献数

2

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In this paper, the position and force control of constrafined motion of robotic manipulators is discussed. First, issues related to decoupling position and force-controlled directions are discussed. The fundamentals of estimation of the contact force without using force or torque sensors are then presented, and a control scheme for position and force control of robotic manipulators without using force sensors is proposed. The extension of this scheme to redundant manipulators is also discussed. Finally, the proposed control scheme is implemented on a 3-DOF planar redundant manipulator, and the experimental results illustrate the validity of the control scheme.