2 0 0 0 OA ウェアラブル・ロボットのアクチュエータとシステム
2 0 0 0 OA 人間の痛覚耐性値の評価
2 0 0 0 OA 人工知能におけるロボットの役割
2 0 0 0 OA 「知能ロボット特集」について
- 著者
- 横山 修一
- 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.9, no.1, pp.65-65, 1991-02-15 (Released:2010-08-25)
2 0 0 0 OA 情報化世代とSFの夢
- 著者
- 鹿野 司
- 出版者
- 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.12, no.3, pp.409-414, 1994-04-15 (Released:2010-08-25)
2 0 0 0 OA 機械知能を設計するための基本技術としてのブール多値論理の小数符号化
- 著者
- 鈴木 寿 齋藤 亮 島田 道雄
- 出版者
- 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.22, no.2, pp.215-222, 2004-03-15 (Released:2010-08-25)
- 参考文献数
- 13
Multivalued logic is important as a fundamental technique in designing machine intelligence. Particularly Boolean multivalued logic such that the whole set of logic formulas forms a Boolean algebra inherits those theorems, laws, etc. which are obtained in traditional Boolean binary logic. In this article, only logic such that logic formulas take more-than-two truth values is called multivalued logic, and any logic such that weights or costs are added to logic formulas of Boolean binary logic is not classified into multivalued logic. This article defines Boolean multivalued logic by coding binary fractions being greater than or equal to 0 and less than 1 directly as truth values. To handle readily Bayesian theory rationalizing collection of knowledges via observation, this article also introduces an arithmetic operation called “conditioning” in addition to usual logic operations. A key to advancing machine intelligence built in a certain kind of robots required an ability of thinking is extracting causality between objects by introducing such a robust logic that can process inferences consistently. This article shows with some instances the way of optimizing truth values of atoms when what truth values some logic formulas should take are given as knowledges, and the way of calculating the truth values of unknown logic formulas as inferences. It also mentions possibility of introducing natural language for realization of phonic conversation between users and machine intelligence.
2 0 0 0 OA 機能性とデザイン性を考慮した軽量・低コストの対向3指義手
- 著者
- 吉川 雅博 田口 裕也 阪本 真 山中 俊治 松本 吉央 小笠原 司 河島 則天
- 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.32, no.5, pp.456-463, 2014 (Released:2014-07-15)
- 参考文献数
- 14
- 被引用文献数
- 1 2
At present, there are body-powered hooks and myoelectric prosthetic hands that trans-radial amputees can use for work. Though the body-powered hook has good workability in detailed works, the design of the hook spoils its appearance and the harness impairs the feelings of wearing. The myoelectric prosthetic hand has a natural appearance similar to the human hand and intuitive operability with a myoelectric control system. However, it is high cost and heavyweight. Because of these problems, many amputees use cosmetic prostheses especially in Japan. In this paper, we report a low-cost and lightweight electric prosthesis with three opposed fingers considering functionality and design. A simple mechanism to control fingers by a linear actuator contributes to satisfactory workability, lightweight, and low cost. A control system using an inexpensive distance sensor allows intuitive operability as the myoelectric sensor at low cost. A socket is easily removable so that users can wear properly as the situation demands. It has a sophisticated appearance as a tool and can be produced by a 3D printer. The total weight of the hand and socket is 300[g]. Evaluation tests utilizing Southampton Hand Assessment Procedure (SHAP) demonstrated that developed prosthesis was effective to operate light objects for daily use.
2 0 0 0 OA ヴァーチャル
- 著者
- 山口 優
- 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.10, pp.950-955, 2013 (Released:2014-01-15)
- 著者
- Gabe Nelson Aaron Saunders Neil Neville Ben Swilling Joe Bondaryk Devin Billings Chris Lee Robert Playter Marc Raibert
- 出版者
- 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.30, no.4, pp.372-377, 2012 (Released:2012-06-15)
- 参考文献数
- 5
- 被引用文献数
- 11 119 47
2 0 0 0 書籍「ロボットのおへそ」ができるまで
- 著者
- 稲邑 哲也
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.29, no.2, pp.130-131, 2011-02-20
2 0 0 0 OA Yarpによるアプリケーション連携
- 著者
- 渡辺 哲陽
- 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.30, no.9, pp.849-852, 2012 (Released:2012-12-15)
- 参考文献数
- 4
2 0 0 0 OA 大衆工学としてのロボット
2 0 0 0 OA 形状記憶合金のロボット制御への応用
2 0 0 0 OA 実用的4足歩行機械の開発に向けて
2 0 0 0 OA 光学式変位センサと力センサ
2 0 0 0 2足歩行ロボットWL‐10RDによる動歩行の実現
- 著者
- 高西 淳夫 石田 昌巳 山崎 芳昭 加藤 一郎
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.3, no.4, pp.325-336, 1985
- 被引用文献数
- 40 163
本研究は, 外乱の無い平担路において2足歩行ロボットWL-10RDによる動歩行を実現することを目的とする.一般に, 1歩行周期は単脚支持相と立脚切換相という2つの相に分けられる.この両相において動力学的動作が行われているものが動歩行であると考えられる.<BR>本論文では動歩行の制御方式として次のような方式を提案する.すなわち, 単脚支持相においては設定歩行パターンを用いたプログラム制御を行い, 立脚切換相においては切換状況に応じて足首部のトルクと機械インピーダンスを可変とするシーケンス制御を行う.<BR>実際には, 単脚支持相においては, 3次元動力学解析により, ZMP (Zero Moment Point) が支持脚の足底面内にあるように, 設定歩行パターンを作成する.立脚切換相においては, これをさらに4つの相に分割し, 脚接地時の衝撃を緩和しながら重心が後脚から前脚側に切換わるように, 足首部トルクと機械インピーダンスを適切に定める.<BR>このようにしてWL-10RDによる動・完全歩行が実現した.歩行実験の結果, 歩行時間は歩幅40 [cm] で1歩1.5 [sec] が達成された.
2 0 0 0 OA 全方向駆動歯車機構の研究
- 著者
- 多田隈 建二郎 多田隈 理一郎 井岡 恭平 妻木 勇一
- 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.30, no.6, pp.611-620, 2012 (Released:2012-08-15)
- 参考文献数
- 25
- 被引用文献数
- 3
As ordinary dual-axis driving mechanisms in X–Y directions, for example, commercially available X–Y stages with ball screws are familiar. However, such driving mechanisms have two stages, namely both upper and lower linear actuators, the latter of which must generate sufficient thrust to carry large weights, including that of the upper actuator mechanism, which has hampered efforts to achieve suitably fast and smooth driving motion due to the inertial force effect. It is also difficult to achieve a small and slimline driving mechanism with such overlapping two-stage structure. In these ordinary two-stage driving mechanisms, the motion of the X–Y stage can be disturbed by the cords of the upper actuator. In this research, we have considered the abovementioned problems, and propose a new omnidirectional driving gear mechanism that enhances its driving area from the normal X–Y plane to convex and concave curved surfaces respectively, and even various combinations of both. The smoothness of basic omnidirectional motion and effectiveness of the driving method of this proposed omnidirectional driving gear mechanism have been confirmed with several experiments involving our setups.
2 0 0 0 OA 先端ロボット開発を核とした創造技術の革新
2 0 0 0 視覚に基づく強化学習によるロボットの行動獲得
- 著者
- 浅田 稔 野田 彰一 俵積田 健 細田 耕
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.13, no.1, pp.68-74, 1995-01-15
- 被引用文献数
- 49 18
We propose a method which acquires a purposive behavior for a mobile robot to shoot a ball into the goal by using the Q-learning, one of the reinforcement learning methods. A mobile robot (an agent) does not need to know any parameters of the 3-D environment or its kinematics/dynamics. Information about the changes of the environment is only the image captured from a single TV camera mounted on the robot. Image positions of the ball and the goal are used as a state variable which shows the effect of an action taken by the robot during the learning process. After the learning process, the robot tries to carry a ball near the goal and to shoot it. Computer simulation is used not only to check the validity of the method but also to save the learning time on the real robot. The real robot succeeded in shooting a ball into the goal using the learned policy transferred to it.
