著者

川内 陽志生 稲葉 忠 福田 敏男

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.12, no.1, pp.116-132, 1994-01-15

参考文献数

39

被引用文献数

6 7

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This paper deals with a robotic system which is required to exhibit adaptability and have the capability of self-organization, and self-evolution. One such robotic system to realize this type of configuration has been studied by the authors. It is called a cellular robotic system (hereinafter call CEBOT) . CEBOT consists of many kinds of functional units. Each unit is called a “cell”, which possesses at least one function, and its own intelligence. The fundamental concept of CEBOT is based on biological systems which are adaptable and capable of self-organization, and self-evolution. Like the biological system, many cells can organize a structure to integrate the tiny functions of single cell. Therefore, the whole structure can execute complicated tasks which can not be carried out by a cell. This paper covers essential issues to develop a type of multi-agent robotic system as follows : the fundamental concept of CEBOT and the definition of the “cell”, the control law for cells to realize the “function amplification” which is a newly proposed concept, the hardware and the software configuration, and the optimizing method of the structure for both the hardware and the software of CEBOT.

著者

川畑 章司 田中 一男 大竹 博

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.21, no.8, pp.916-922, 2003-11-15 (Released:2010-08-25)

参考文献数

13

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This paper presents analysis and design of a flapping robot with membrane wings. We develop an analysis method of aerodynamic forces for flapping movements for the robot. The optimal aspect ratio for a flapping robot with the membrane wings is designed through the numerical simulation that considers not only the analysis method of aerodynamic forces but also the load of a motor and the mechanical structure between the motor and the membrane wings. The simulation results show that the flapping efficiency for membrane wings is better than that for rigid wings. The experimental results agree well with the simulation results based on the proposed analysis method of aerodynamic forces.

著者

金出 武雄

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.5, no.5, pp.376-383, 1987-10-15 (Released:2010-08-25)

参考文献数

21

被引用文献数

3 3

著者

佐藤 知正 細谷 克己

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.3, pp.203-207, 2019 (Released:2019-04-18)

参考文献数

4

著者

若松 栄史 妻屋 彰 荒井 栄司 平井 慎一

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 = Journal of Robotics Society of Japan (ISSN:02891824)

巻号頁・発行日

vol.24, no.4, pp.523-532, 2006-05-15

被引用文献数

3 3

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A planning method for knotting and tightening of deformable linear objects is proposed. Firstly, we briefly explain crossing state description and basic operations corresponding to crossing state transitions. Possible sequences of crossing state transitions, that is, possible manipulation processes can be generated once the initial and the objective states are given. Secondly, a method to determine grasping points and their moving direction is proposed in order to realize derived manipulation processes. Then, it is theoretically found that any knotting manipulation of a linear object placed on a table can be realized by an one-armed robot with three translational DOF and one rotational DOF. Thirdly, a planning method for tying tightly is established to complete a knot because the knot fulfills its fixing function after it is tightened. Finally, it is demonstrated that an one-armed robot system can plan and execute tying and tightening a slipknot.

著者

鈴木 昭二

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.8, no.6, pp.778-779, 1990-12-15 (Released:2010-08-25)

著者

妹尾 敏弘 三木 一浩 阪本 実雄

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.3, pp.214-217, 2014 (Released:2014-05-15)

参考文献数

7

著者

藤吉 弘亘 橋本 学

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.35, no.1, pp.22-27, 2017 (Released:2017-02-15)

参考文献数

16

被引用文献数

1 1

著者

油田 信一

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.8, no.3, pp.320-323, 1990-06-15 (Released:2010-08-25)

著者

黄 捷 大西 昇 杉江 昇

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.9, no.1, pp.29-38, 1991-02-15 (Released:2010-08-25)

参考文献数

10

被引用文献数

3 4

---

A method for multiple sound source localization is presented. It is based on the properties of the onsets of sound as the primary cue: (1) most of the onsets will be contributed by only one source. (2) the onsets will be contributed only by the direct sound. Histograms of temporal disparities for several frequency components and its integrated one are calculated to determine the correct temporal disparities. Experiments were carried out in an anechoic chamber and an echoic chamber. The recorded speeches were used as two sound sources. We could localize the two concurrent sound sourcess with reasonable accuracy.

著者

三木 晴子 阿部 香澄 堀井 隆斗 長井 隆行

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.2, pp.185-188, 2021 (Released:2021-03-24)

参考文献数

5

---

This paper proposed a developmental support system of toddlers' language skills by using a telepresence childcare robot. The childcare robot can attract toddlers' attention during interaction based on its actions. This ability is a significant advantage that differs from static devices (i.e., tablet). Our system and robot played language quizzes with toddlers to collect developmental information about toddlers' language skills. They made reports for a childcare worker to help their assessment in the visiting support program. Experimental results showed that our system has the potentials to evaluate toddlers' language development quantitatively and support childcare workers in the visiting program.

著者

若松 栄史 和田 隆広

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.145-148, 1998-03-15 (Released:2010-08-25)

参考文献数

8

被引用文献数

1 3

著者

上野 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.32, no.5, pp.431-434, 2014 (Released:2014-07-15)

参考文献数

5

被引用文献数

3 4

著者

平野 克彦 黒澤 孝一

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.36, no.6, pp.408-411, 2018 (Released:2018-08-15)

参考文献数

3

被引用文献数

1

著者

山口 仁一 高西 淳夫 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.11, no.4, pp.581-586, 1993-05-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

8 28

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We have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking, robot which has a trunk. In this paper, we introduce a control method of dynamic biped walking stabilized by trunk motion compensating for the three-axis moment on an arbitrary planned ZMP. We developed a biped walking robot WL-12 RV (Waseda Leg-12 Refined V) and perfomed a walking experiment with WL-12 RV using the control method. As a result, we realized fast dynamic biped walking (walking speed 0.54 s/step and step length 0.3 m) on a flat floor. This walking speed is about 50 percent faster than that with WL-12 (Waseda Leg-12) which compensates for only the two-axis (pitch-axis and roll-axis) moment by trunk motion.

著者

中村 仁彦 永井 清 吉川 恒夫

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.4, no.5, pp.489-498, 1986-10-15 (Released:2010-08-25)

参考文献数

20

被引用文献数

4 10

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本論文では, 複数のロボットマニピュレータまたは多指ロボットハンドによる協調的あやつりの力学が議論される.協調的あやつりの問題は2つの局面に分けられる.1つは複数のロボット機構による合力を決定することであり, もう1つはそれらの間の内力を決定することである.合力は外力や環境拘束を受ける物体のあやつりに用いられる.内力は最大静止摩擦係数の不確さや変動に適応するために用いられる.合力の決定に対して動的協調制御方式が提案される.また, 最大静止摩擦の拘束の下で対象物に任意な加速度を発生する能力である協調的あやつり可能性を確認するための1方法が提案される.最後に, 最適内力を最大静止摩擦の拘束を満たすために必要な最小ノルムの内力と定義し, 最適解を求めるために非線形計画法が適用される.最適解は, それが存在する限り, 最大〓組の代数方程式を解くことによって必ず求められる.

著者

神野 誠 尾崎 文夫 吉見 卓 辰野 恭市 神田 眞三 玉田 保彦 永滝 真太郎 小熊 勇 高橋 幹男

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.16, no.1, pp.50-51, 1998-01-15

参考文献数

2

被引用文献数

1 1

著者

内藤 理 佐藤 啓宏 工藤 俊亮 池内 克史

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.30, no.6, pp.629-638, 2012 (Released:2012-08-15)

参考文献数

19

被引用文献数

1

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In recent years, the social network has attracted attention as the system which causes the innovation, and various studies for researchers' networks have been carried out. This paper conducts social network analysis for a researchers' social network based on co-authorship in papers in the journal of RSJ. We investigate the 1,912 papers published from 1983 to 2010, which include 2,736 authors (nodes of the network) and 6,531 co-authorship (edges of the network). The network turns out to have general features as a complex network, such as scale-free structure, small-world structure, and cluster structure. We extract 710 core members from the network and analyze various centrality among them to show that some researchers demonstrate more importance in the network than their degrees. We also apply cluster analysis to the network to find 27 clusters in which researchers have close relationship, and give a coarse-grained representation of the clusters to clarify the adjacency among them.

著者

町田 和雄 戸田 義継 森谷 正義 津田 直純 秋田 健三

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.18, no.3, pp.444-452, 2000-04-15

参考文献数

11

被引用文献数

5

---

This paper presents the space test of the ARH (Advanced Robotic Hand System), which is the world's first precise extravehicular robot aboard the satellite“Hikoboshi”. The telerobotic system has features of dexterity, autonomy and flexible operability, using a three-finger multisensory hand at a work site in space and a computer-graphics-based desktop interface at an operation site on the ground. The concept of sensor-fused telerobotics utilizing multisensory information is introduced, and the system is implemented to perform high precision tasks under the barrier of inter-satellite space communication. The robot system was launched into low earth orbit, and the capability of sensor-fused telerobotics was successfully demonstrated in precise in-orbit servicing.

著者

岡田 浩之 山川 宏 大森 隆司

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.19, no.2, pp.244-251, 2001-03-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

1 1

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The trade-off of exploration and exploitation is present for a learnig method based on the trial and error such as reinforcement learning. We have proposed a reinforcement learning algorism using reward and punishment as repulsive evaluation (2D-RL) . In the algorithm, an appropriate balance between exploration and exploitation can be attained by using interest and utility. In this paper, we applied the 2D-RL to a navigation learning task of mobile robot, and the robot found a better path in real world by 2D-RL than by traditional actor-critic model.