著者

赤井 直紀 Sam Ann Rahok 片寄 浩平 島田 遼 井上 一道 尾崎 功一

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.32, no.4, pp.395-402, 2014 (Released:2014-06-15)

参考文献数

11

被引用文献数

2 5

---

In practical use of automatic guided vehicles, magnetic markers are widely used. However, an approach of which pattern of magnetic intensity in usual environment is defined as landmarks is not investigated. This reason is that it is difficult to be known environmental magnetic field since magnetic intensity is invisible. This paper shows investigation of environmental magnetic field in actual environment and describes implementation of the magnetic based navigation, magnetic navigation method. As the magnetic investigation, magnetic intensity of the mounted devices in a mobile robot was measured, and condition of efficient layout of the devices was obtained. By the measurement of environmental magnetic field in mentioned condition, pattern of magnetic intensity that is suitable as a landmark is shown in this paper. The mobile robot records magnetic intensity on its travel path as magnetic map, and achieves stable navigation based on the magnetic map. In this paper, performance of the magnetic navigation method is shown by an experiment.

著者

小林 宏 原 文雄 内田 豪 大野 宗久

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.1, pp.155-163, 1994-01-15 (Released:2010-08-25)

参考文献数

22

被引用文献数

16 43

---

In order to develop “Active Human Interface (AHI) ” that realizes heart-to-heart communication between intelligent machine and human being, we've been undertaking the investigation of the method for improving the sensitivity or “KANSEI” communication between intelligent machine and human being. This paper deals with the mechanical aspects of “Face Robot” that produces facial expressions in order to express the artificial emotions as similar as human being. As actuators move the face skin of the face robot, we select the flexible microactuator (FMA) driven by air pressure for the sake of moving the control points of the face robot corresponding to Action Unit (AU) s, and we design the aluminium frame of the Face Robot for disposing the FMA and then we make the skull frame onto the aluminium frame. The skin of the face robot made by silicon rubber covers up the skull frame. Then we undertake psychological recognition test by showing the face images of 6 basic facial expressions expressed on the Face Robot, and the results show us that the correct recognition ratio accomplishes 83.3% for 6 basic facial expressions. This high ratio shows the possibility of Face Robot as a “KANSEI” communication medium between intelligent machine and human being.

著者

金子 真 阿部 稔 舘 〓

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.2, no.2, pp.142-150, 1984

被引用文献数

5 6

---

動的なバランス制御を必要としない多足歩行機械は, 機能的にいくつかのレベルに分類されうる.筆者らは歩行機械の最低限の歩行機能として, (i) 二次元的歩行, (ii) 不整地における本体の水平保持, (iii) 本体の絶対高さの一定保持を定義している.<BR>ところで, 上記の機能を実現するのに必要かつ十分な能動自由度はいくつになるだろうか.自由度に関する考察は, 歩行機械を開発する際の基本のように思われるが, この問題についてはまだ十分に研究されていない.<BR>このような観点から, 本論文では静的安定でかつ最少の足数を有する4足歩行機械を使って能動自由度について調べている.その結果, 上記機能を実現する必要かつ十分な能動自由度は"6"であることを示している.

著者

山縣 広和 森田 寿郎

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.33, no.3, pp.181-188, 2015 (Released:2015-05-15)

参考文献数

12

被引用文献数

2 4

---

This paper proposes underwater robots suitable for teaching materials for learning basic mechanics. Recently various robots for teaching materials have been used to educate future engineers. However, the ground based robots are limited due to the size of the contest rules, mechanics are left behind at the workshop. Thus, robots for teaching materials which mechanics have significant influence on solution to the target problem are desired. The authors have focused on underwater robot, because water causes large effect in terms of equilibrium between forces, even to small robots. We developed new teaching materials of underwater robot “Mark1” for junior high school students and held a workshop on a trial basis. We send out questionnaires and evaluated their answers by checklists. As a result, this workshop obtained a large training effect for education of basic mechanics. Then, underwater robot “Mark3” was developed for more advanced students. Mark3 had extensibility and was able to satisfy the needs of students. From the above, It was confirmed that the proposed underwater robots were useful for learning basic mechanics.

著者

岩村 吉晃

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.2, no.5, pp.438-444, 1984-10-30 (Released:2010-12-09)

参考文献数

18

被引用文献数

8 13

著者

工藤 俊亮

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.6, pp.471-476, 2019 (Released:2019-07-15)

参考文献数

5

被引用文献数

1

著者

玄 相昊 上條 敏 美多 勉

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.20, no.4, pp.453-462, 2002-05-15

参考文献数

31

被引用文献数

10 11

---

As many biomechanists indicate, tendon plays important role for running or jumping motion. It stores the kinetic energy as a potential energy during stance and also absorbs the impulse at touch down. Inspired by such biomechanical studies, we propose a new simple mechanical model for hindlimb of a dog to realize a robot which imitates dog running, and the hardware design of one-legged running robot, "Kenken" The robot has an articulated leg and uses two hydraulic actuators as muscles and a tensile spring as a tendon. Using an empirical controller based on the characteristic dynamics of the model, the robot has succeeded in planar one-legged running. Although the problem related to the stability at the higher running speed remains, the experimental results demonstrate that the proposed leg mechanism is effective for robotic running.

著者

五百井 清 村上 綾伸

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.1, pp.142-148, 2001-01-15 (Released:2010-08-10)

参考文献数

13

被引用文献数

1 1

---

This paper deals with the turning motion mechanism of a brush-type micro robot using cyclic centrifugal forces. Many wheeled type robots may turn usually along the tangential velocity generated by the rolling wheels. However, the micro robot proposed here has different turning property from the usual mobile robots. First, we derive a two dimensional rolling model of the brush-type robot accompanied with cyclic centrifugal forces, and indicate the existence of the lateral force toward the robot by the computer simulations and the simple mathematical analysis. Next, to confirm the turning motion mechanism caused by the lateral force, we have experiments of the turning motion using some kinds of prototype, and then acquire some experimental data concerned with circle trajectories. Finally, we conclude the validity of the turning motion mechanism caused by the lateral forces which the cyclic centrifugal force generates.

著者

松野 文俊

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.6, pp.428-431, 2017

被引用文献数

6

著者

上野 泰平 小田 光茂

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.3, pp.349-359, 2010

被引用文献数

8

---

International Space Station and other building project in the lower orbit rises the demand of EVA(extra vehicular activity), and due to this, the robots that helps EVA is highly expected. In this paper, we clear the development and designing requests of EVA Supporting Robot and its dexterous hand. The dexterous hand used in the EVA must be small enough to use EVA tools, able to output high grasping power and modularized so that the hand can be exchanged depending on the mission. Following to the requests, we designed a test model of dexterous hand. In this paper, new index robot finger for our dexterous hand is introduced. The finger consists of 1 actuator and 1 passive joint. The architecture and features of this finger are shown in the last half of this paper.

著者

大西 典子 大西 献

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.7, pp.59-64, 1994-11-15

参考文献数

4

被引用文献数

9

著者

山内 悠嗣 藤吉 弘亘 大日方 五郎

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.4, pp.299-302, 2017 (Released:2017-06-15)

参考文献数

3

被引用文献数

1

著者

石山 敏規 高橋 隆行 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.17, no.4, pp.526-533, 1999-05-15 (Released:2010-08-25)

参考文献数

10

被引用文献数

4 9

---

The main purpose of this research is to study and develop a robust sonar system for mobile robots. In this way, some researchers have made sonar systems which calculate the cross-correlation between the transmitted signal and the received one. However, as the number of patterns of transmitted signals are practically limited, there would be possible erroneous measurements by sonar sensors, especially when the number of the sensors is increased.In this paper, we theoretically estimate the probability of erroneous measurement by the sonar sensors, which depends on the number of the sensors and the form of the transmitted signal. Then, we designed the shape of the emitted signals so that the probability of having an erroneous measurement is in a defined range.

著者

岩本 太郎 板井 雄大 白山 幸治 永野 顕法

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.10, pp.1154-1159, 2009 (Released:2011-11-15)

参考文献数

16

被引用文献数

1 1

---

A conceptional idea of the pseudo mechanism is proposed. This concept means that a different mechanical feature from the natural one appears on the mechanism by means of control method. For example, a worm gear behaves like an one-way clutch. Generally, worm gears cannot be driven by load torque because of its mechanical stop feature. But the worm gear of this concept can be driven by load in specified direction, and the rotation to the other direction is prohibited. This asymmetrical motion is achieved by a switching operation of a force feedback control. The applied load torque is detected and fed back positively to a position servo control system in order to achieve power assist control. The worm gear seems to be driven by the load torque and it resembles to a spring motion. If the force feedback line is cut off, the drive system cannot be driven by a load. The switching operation of the force feedback line causes to a selection of back drivable feature or mechanical stop feature. The switching condition is set by a direction and threshold value according to the required mechanical feature. The pseudo mechanical worm gear also pretends as a torque limiter or a ratchet.

著者

矢口 裕明 長谷川 貴巨 長濱 虎太郎 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.36, no.10, pp.693-702, 2018 (Released:2019-01-15)

参考文献数

17

被引用文献数

4

---

In this paper we propse a construction method of autonomous tomato harvesting robot. For tomato harvesting we focus to harvesting device and visual recognition method. We propose 2 types of harvesting method; cutting scissor and rotational plucking gripper. For recognition, we compare different 3 types of 3D camera, then we construct tomato fruit recognition method using color detection and sphere shape fitting, and also propose tomato pedicel detection method by robust estimation using direction from center of fruit to pedicel and gradient orientation of pedicel edge. Combining these elements, we construct some autonomous harvesting systems and evaluate harvesting of real tomatoes in the tomato robot competition and the real farming veniel house. According to evaluation results, both cutting and plucking has different advantage and disadvantage, it is important to select appropriate one for breed or individual. Also for recognition, pedicel recognition, which must be broken, increases reliability harvesting.

著者

鄭 龍振 倉爪 亮 岩下 友美 長谷川 勉

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.9, pp.896-906, 2013 (Released:2013-12-15)

参考文献数

31

被引用文献数

1 3

---

We proposed a global positioning technique in 3D environment using 3D geometrical map and a RGB-D camera based on a ND (Normal Distributions) voxel matching. Firstly, a 3D geometrical map represented by point-cloud is converted to ND voxels, and eigen ellipses are extracted. Meanwhile, ND voxels are also created from a range image captured by a RGB-D camera, and eigen ellipses and seven representative points are calculated in each ND voxel. For global localization, point-plane and plane-plane correspondences are tested and an optimum global position is determined using a particle filter. Experimental results show that the proposed technique is robust for the similarity in a 3D map and converges more stably than a standard maximum likelihood method using a beam model.

著者

淺間 一 佐藤 雅俊 後藤 伸之 嘉悦 早人 松元 明弘 遠藤 勲

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.15, no.7, pp.1043-1049, 1997-10-15 (Released:2010-08-25)

参考文献数

16

被引用文献数

5 6

---

A new type of cooperation called mutual handling is introduced in this paper, which enables a multi-robot system to achieve an advanced functionality that cannot be realized by a single robot, and as an application of mutual handling, a method of cooperative transportation for two autonomous mobile robots to climb over a large step by operating each forklifts cooperatively is proposed, which cannot be overcome by a single robot. Then, a forklift mechanism for mutual handling is designed, and two autonomous mobile robots equipped with the forklifts are developed. Finally, a cooperative transportation method in which two autonomous mobile robots are controlled based on communication is presented, and the step-climbing motion by cooperative transportation is proved feasible by showing the experimental results using the developed omni-directional mobile robots.

著者

秋下 貞夫

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.9, no.2, pp.203, 1991-04-15 (Released:2010-08-25)

著者

小谷内 範穗 皿田 滋 菅原 一宏

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.6, pp.514-521, 2008-09-15 (Released:2010-08-25)

参考文献数

8

被引用文献数

4 4

---

Authors have been conducting the research on the unmanned pile loading operation by an automated wheel loader, “Yamazumi-4.”The system is a fully self-contained autonomous system. The unmanned wheel loader has various sensors to measure the self-position, the position of pile, and the position of the dump truck to be loaded. After path planning according to the positions of the pile, the truck, and loader itself, the path following control guarantees the total task completion consists of targeting the pile, scooping the pile, carrying a bucket of pile to the truck, loading the pile to the truck, and re-going to the pile. For the accurate positioning control, RTK GPS and Moving Base GPS systems are combined to the dead reckoning based on the virtual dual wheel vehicle model. The dead reckoning calculated by the wheel velocity and steering angles can not avoid accumulating the positioning errors. Although lower rate Moving Base RTK GPS system supplies more accurate global position and heading direction data, they contain time delay. Authors developed the algorithm to detect the time delay of the GPS data by comparing to the recent dead reckoning data and to re-calculate the current position and direction from GPS data. The path following feedback system is developed to follow the line part and the curve part in the planned path. The planned curve part consists of a pair of the symmetric psuedo clothoid curves. For the sure loading task, the path following control is switched to the bucket tip position control helped by the laser range finders. In the scooping task, bucket control is switched by the reaction force measured by the hydraulic pressure sensor. Totally the whole tasks were well controlled and completed.

著者

溜井 美帆 山田 雅宏 渡辺 義浩 石川 正俊

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.7, pp.712-719, 2013 (Released:2013-10-01)

参考文献数

16

被引用文献数

3 1

---

In recent years, there has been an increasing demand to digitize a huge number of books. A promising new approach for meeting this demand, called Book Flipping Scanning, has been proposed. This is a new style of scanning in which all pages of a book are captured while a user continuously flips through the pages without stopping at each page. Although this new technology has had a tremendous impact in the field of book digitization, page turning is still done manually, which acts as a bottleneck in the development of high-speed book digitization. Against this background, this paper proposes a newly designed high-speed, high-precision book page turner machine. Our machine turns the pages in a contactless manner by utilizing the elastic force of the paper and an air blast. This design enables high-speed performance that is ten times faster than conventional approaches and, in addition, causes no obstruction in the digitization process. This paper reports the evaluation of the proposed machine using various types of paper with different qualities. Our machine achieved high success rate when turning pages at around 300 pages/min, showing that it is a promising technology for turning pages at high-speed and with high precision.