著者

津村 賢宏

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.5, pp.457-458, 2023 (Released:2023-06-22)

参考文献数

8

著者

安達 弘典 岡田 聡 松崎 謙司

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.36, no.6, pp.395-398, 2018 (Released:2018-08-15)

参考文献数

5

被引用文献数

1 2

著者

小谷内 範穂 安達 弘典 中村 達也 中野 栄二

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.11, no.6, pp.918-928, 1993-09-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

3 6

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A self-contained type hexapod walking robot was developed in Mechanical Engineering Laboratory. It is called MELCRAB-2. This hexapod has specific features both in the mechanical design and in the control way. This paper provides a few significant guideline to design the self-contained hexapod walking robot from the point of view about the stair climbability, turning mobility, efficient foot force delivering based on the two decoupled actuation ways, GDA (Gravitationally Decoupled Actuation) and MDA (Motion Decoupled Actuation) . An approximately straight line linkage is used in the leg mechanism of the MELCRAB-2 to satisfy both of GDA and MDA. The inverse kinematics of the approximately straight line linkage was solved for position control. Tactile sensors and proximity sensors are installed on the front side and back side of each foot to detect obstacles and walking environments. Control algorithm with many motion procedures to negotiate the stairs and walking environments was developed. MELCRAB-2 could climb up the experimental stairs with the same dimensions as the real buildings by using that algorithm. MELCRAB-2 is the real self-contained hexapod robot actuated by electric motors, and it can walk with the fast speed owing to GAD and MDA. compared with the past developed walking machines.

著者

浅野 悠紀 溝口 弘悟 上月 豊隆 茂木 陽太郎 白井 拓磨 浦田 順一 中西 雄飛 岡田 慧 稲葉 雅幸

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.10, pp.887-894, 2014 (Released:2015-01-15)

参考文献数

14

被引用文献数

1 1

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Human knee joint has a yaw-axis rotational DOF and a locking mechanism called screw-home mechanism(SHM). We focus on this mechanism and implement it to a musculoskeletal humanoid through hardware design. In this paper, we first explained human knee characteristic of SHM and joint range of motion. Next, we explained hardware design and implementation method of the mechanism. As an evaluation of our developed knee joint, we checked the function of SHM from viewpoint of moment arm of the yaw rotational axis and the yaw angle displacement during squat motion. Lastly, as unique and integrated motions that involve the use of yaw DOF derived from SHM, we made several motion achievement including humanlike twisting squat, heel move motion and switch pedals, under a condition of contacting environment. This result demonstrates human mimetic rotational DOF of knee contributes motion achievement.

著者

田中 一男 長谷 拓也 江丸 貴紀

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.22, no.7, pp.920-923, 2004-10-15 (Released:2010-08-25)

参考文献数

6

被引用文献数

1 1

---

We develop a cyclogyro-based flying robot with a new variable attack angle mechanism. Cyclogyro is a flying machine which is supported in the air by power-driven rotors, which rotate about a horizontal axis, like the paddlewheels of a steamboat. Machines of this type have been designed by some companies, but there is no record of any successful flights. The proposed new variable attack angle mechanism has an eccentric point that is different from a rotational point. The main feature of the mechanism is to be able to change attack of angles according to the rotational angles of the cyclogyro without actuators. The lift and drag forces of the robot are calculated and measured through simulations and experiments. The simulation and experimental results show that the new mechanism generates positive lift forces at any rotational angles of the cyclogyro.

著者

山本 純也 東 和樹 小山 佳祐 清川 拓哉 万 偉偉 原田 研介

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.569-572, 2023 (Released:2023-07-27)

参考文献数

14

---

To extend the paralyzed fingers of a stroke victim with hemiplegia, we have proposed a low-dimensional control system for a robotic finger which can grasp an object between the robotic finger and the paralyzed human fingers. In this study, we newly propose an extra finger that can face multiple fingers with low-dimensional control. This can be realized by adding a rotational joint for moving the base of the robotic finger where it is controlled by the common low-dimensional synergy controller. Experimental results showed that the proposed extra finger could realize 33 grasping postures and 4 peg manipulation patterns.

著者

熊谷 正朗

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.26, no.2, pp.126-129, 2008-03-15 (Released:2010-08-25)

参考文献数

4

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.

著者

中野 吏 吉川 雄一郎 浅田 稔 石黒 浩

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.27, no.7, pp.814-822, 2011 (Released:2011-11-15)

参考文献数

26

---

In this paper, we propose a method for simultaneous learning of multi-modules for joint attention: gaze-driven attention and word-driven attention. Inspired from child language acquisition, mutually exclusivity bias is utilized for mutual facilitative learning both in an intra- and inter-module manner by extending a modified Hebbian learning rule. Experiments on a human-robot interaction and on the computer simulations, we analyzed that the proposed method enabled mutually facilitative learning of a mapping for gaze-following and a label-to-object mapping by which the learner performs multimodal joint attention with its caregiver. Finally, through a computer simulation resembling mother-infant interaction, we argued a possibility of the proposed learning mechanism as a constructivist model for infant's cognitive development.

著者

伊澤 栄一

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.40, no.1, pp.7-9, 2022 (Released:2022-01-17)

参考文献数

4

著者

山本 佳男

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.7, no.5, pp.524, 1989-10-15 (Released:2010-08-10)

参考文献数

2

著者

長 隆之 佐藤 雅也 森木 和也 杉山 聡 杉田 直彦 中尾 政之

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.37, no.8, pp.718-725, 2019 (Released:2019-10-18)

参考文献数

21

---

Motion planning for robotics manipulation is an essential component for automating various tasks. In this study we discuss optimization-based motion planning methods for robotic manipulation. The optimization-based method can compute smooth and collision-free trajectories with relatively short computational cost. Although existing methods are often designed to output a single solution, the objective function is often multimodal and there exist multiple solutions to achieve a given task. On such a task, obtaining multiple solutions gives a user an opportunity to choose one of the solutions based on factors which are not encoded in the objective function. To address this issue, we propose a motion planning framework that finds multiple solutions. The proposed method is validated in simulated environments with a four-link manipulator in 2D space and a 6 DoFs manipualtor in 3D space.

著者

金子 智弥 坂上 肇 中村 允哉

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.39, no.4, pp.318-321, 2021 (Released:2021-05-25)

参考文献数

3

著者

福原 洸

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.3, pp.247-252, 2023 (Released:2023-05-03)

参考文献数

36

著者

國吉 康夫

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.370-374, 2010 (Released:2012-01-25)

参考文献数

19

被引用文献数

3 4

著者

大西 弘之 鈴木 寿 有本 卓

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.16, no.2, pp.232-240, 1998-03-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

3 6

---

This paper discusses on a method of computing the scale of magnification, the angle of rotation, and the quantity of parallel translation that is based on a Hough transform and a Fourier transform. This method applies a Radon transform to images in all directions, differentiates the Radon transformed planes, divides the differentiated planes into positive and negative areas, computes the power spectra of period 2π by applying one-dimensional Fourier transforms to positive and negative differentiated planes, applies a Mellin transform, and gets the scale of magnification and the angle of rotation. Known methods by using 2D Fourier transforms are unable to compute uniquely the angle of rotation from power spectra since they are π-periodic. The proposed method can compute uniquely the angle of rotation from power spectra since they are 2π-periodic. Moreover, to reduce the computational cost, a Radon transform is replaced by a Hough transform by taking account of edges. Experiments were applied to actual images of industrial parts.

著者

菅野 重樹 原 文雄 佐藤 知正 大熊 道雄 佐野 明人 中谷 和夫 広瀬 茂男 加藤 一郎 吉田 和哉

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.12, no.3, pp.401-408, 1994-04-15 (Released:2010-08-25)

著者

内山 勝 飯村 憲一 多羅尾 進 ピエロ フランソワ 外山 修

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.12, no.3, pp.451-458, 1994-04-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

10 14

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The HEXA robot is a very fast 6-DOF parallel robot. It uses a parallel mechanism, called HEXA mechanism, which consists of a kinematic chain with five closed loops and is driven only by actuators at its base. This robot consists of six very simple elementary kinematic chains, each of which has only one active joint driven by a powerful DD motor. The moving parts of this robot is made very light at no expense of its stiffness. Therefore, this robot can move very fast and precisely. In this paper, we present development of a prototype of this robot. We choose a so-called Adept motion as a benchmark to measure its capability of fast motion. Experimental results show that the prototype robot can achieve the Adept motion in 0.465 [s/cycle] and prove that the HEXA robot is suited for very fast motion.

著者

小柳 栄次 吉田 智章 西村 健志

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.1, pp.47-48, 2013 (Released:2013-02-17)

被引用文献数

6 5

著者

橋爪 誠

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.22, no.4, pp.423-425, 2004-05-15 (Released:2010-08-25)

参考文献数

4

被引用文献数

9 6