3 0 0 0 OA 制御系に埋め込まれた陰的制御則が適応機能の鍵を握る!?
- 著者
- 大須賀 公一 石黒 章夫 鄭 心知 杉本 靖博 大脇 大
- 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.28, no.4, pp.491-502, 2010 (Released:2012-01-25)
- 参考文献数
- 24
- 被引用文献数
- 7 11
In this note, we consider a control system that underlies in a biological system. We point out the existence of the Problem of Inseparability in the control system. To understand the principle of mobile adaptability embedded in the control system, we have to solve the Problem of Indivisibility. To solve the problem, we propose a concept of Implicit control law. Finally, we show the Implicit control law plays an important role for constructing the adaptive function of living thing and robot.
1 0 0 0 摩擦表面を有する仮想対象物の動的操作感提示
- 著者
- 吉川 恒夫 鄭 心知 森口 知規
- 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.60, no.578, pp.3335-3342, 1994-10-25
- 被引用文献数
- 3
A system for displaying feel information while manipulating dynamic virtual objects is presented. A unified description of the dynamics of virtual objects based on the Lagrangian formulation is derived. The detection of the grasp states and the friction effects at the grasp points on a virtual object surface, which are important to help us recognize the object and handle it more dexterously, are treated explicitly. Display algorithms which create and present the dynamic operating feel of an object as well as the fricton feel on the object surface to the operator are proposed. Experimental verification of the proposed approches is performed and the results are outlined.