著者

磯田 隆司 陳 鵬 光武 伸一郎 豊田 利夫

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.65, no.636, pp.3282-3289, 1999-08-25 (Released:2008-02-26)

参考文献数

8

被引用文献数

2 2

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This paper presents an Omni Directional Mobile Robot which can run on off road and run over an obstacle. The robot is constructed with four crawler-roller-motor-units and called "roller crawler-type of omni-directional mobile robot". Each crawler-reller-motor-unit can be driven independently and the motion of the robot can be controlled by the speed of motors. We also designed a position and velocity control system for the robot. The robot can be automatically controlled to run in optional direction and to track an orbit. The efficiency of the mechanism and the control method has been verified by many practical running tests and computer simulations.

著者

姜 銀来 李 文揚 陳 鵬 東郷 俊太 横井 浩史

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.38, no.7, pp.657-666, 2020 (Released:2020-09-05)

参考文献数

17

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Humanoid robot arms have attracted more and more attention since it is human-friendly with the same size and movement characteristics of a human arm. A new 7-DoF (Degrees of Freedom) humanoid robot arm is proposed in this paper. To achieve high torques while keeping down the weight, all the motors are coupled with tendons. 2 motor 2-DoF (2M2D) and 3 motor 3-DoF (3M3D) coupled tendon-driven joint modules are proposed as basic components for the robot arm. The 2M2D coupled tendon-driven joint module and the 3M3D coupled tendon driven joint module structures are analyzed and compared. The 7 DoFs of a human arm were divided into a 3-DoF shoulder joint module, a 2-DoF elbow joint module, and a 2-DoF wrist joint module. The developed robot arm weighed 2.2[kg], while being able to lift a 1.5[kg] load. A current consumption experiment was conducted to verify the torque transmission characteristics of the 2M2D and 3M3D joint modules. A path repeatability experiment and an experiment to imitate dexterous manipulations of a human arm with master-slave control were conducted to investigate the performance of the modularized humanoid robot arm. The experimental results showed that the joint modules realized motor reallocation via tendon coupling, and that the humanoid robot arm was capable of performing dexterous manipulations like a human arm.

著者

張 馨 中村 英樹 井料(浅野) 美帆 陳 鵬

出版者

公益社団法人 土木学会

雑誌

土木学会論文集D3(土木計画学) (ISSN:21856540)

巻号頁・発行日

vol.70, no.5, pp.I_1031-I_1040, 2014 (Released:2015-05-18)

参考文献数

7

被引用文献数

5

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信号交差点における横断歩行者の歩行速度特性を知ることは,歩行者の安全性の向上に極めて重要である.そのため,横断歩道の幾何構造および信号現示などによる横断歩行速度の変化を定量的に評価する必要がある.そこで本研究では,様々な横断歩道長や歩行者青時間長の横断歩道における歩行者青(PG)時の横断歩行速度を,横断の前半・後半に分けて分析し,これらを推定するモデルを構築した.その結果,横断歩道長が長くなるほど,また青時間開始から時間が経つほど,横断歩行速度が速くなることがわかった.さらに,これを既存の歩行者青点滅(PF)時間を対象としたモデルと比較し各説明変数の感度分析を行ったところ,青点滅時の方が全体的に横断歩行速度が速く,横断歩道長や横断開始タイミングに対する感度も高い傾向が見られた.