著者

大西 献 時岡 淳 大西 典子 弘津 健二 大道 武生 白須 勲

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.1, pp.55-56, 2000-01-15 (Released:2010-08-25)

参考文献数

15

被引用文献数

2 1

著者

谷 淳

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.14, no.4, pp.474-477, 1996-05-15 (Released:2010-08-25)

参考文献数

10

被引用文献数

1

著者

米澤 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.3, pp.272-273, 2009 (Released:2011-11-15)

参考文献数

4

被引用文献数

2 2

著者

西山 裕之 大林 真人 大和田 勇人 溝口 文雄

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.19, no.5, pp.620-631, 2001-07-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

1 2

---

This paper describes a concurrent logic programming language MRL for use in developing programs to cooper-atively control multiple robots. MRL describes actions of each robot and sensor as sets of logical formula. MRL enable us to easily implement complex tasks such as concurrency control, cooperation and negotiation between pro-cesses, and emergent event handling for multiple robots. We conducted an experiment on program development for paper delivery task by cooperation with mobile robots, manipulators and cameras to demonstrate the advantages of MRL programming framework. The results indicated that the MRL programs were more abstract and natural than conventional procedure-oriented programs, resulting in realization of flexible cooperation. Since MRL programs are compiled into C programs with little overhead, NIRL is useful as a multiple robot programming language efficient in both program execution and development.

著者

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.5, no.4, pp.312-316, 1987-08-15 (Released:2010-08-25)

参考文献数

30

著者

中村 仁彦 山根 克 永嶋 史朗

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.16, no.8, pp.1152-1159, 1998-11-15

被引用文献数

24 1

---

This paper discusses the dynamics computation of structure-varying kinematic chains which imply mechanical link systems whose structure may change from open kinematic chain to closed one and vice versa. The proposed algorithm can handle and compute dynamics and motions of any rigid link systems in a seamless manner without switching among algorithms. The computation is developed on the foundation of the dynamics computation algorithms developed in robotics, which is inherently superior in efficiency due to explicit use of the generalized coordinates to those used in the general purpose motion analysis software. The structure varying kinematic chains are commonly found in computing human and animal motions. The established computation will provide the general algorithmic foundation of the computation of motion and control of humanoid robots and CG human figures.

著者

川妻 伸二 淺間 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.34, no.8, pp.552-557, 2016 (Released:2016-11-15)

参考文献数

10

被引用文献数

1 1

---

There was not a guideline available for researchers, developers or users for robots or heavy construction machines on the evaluation of radiation tolerance and management method of robots and heavy construction machines using semiconductors, like as CPUs on the shelf, under radiation condition, when Fukushima daiichi NPPs accidents occurred on March 11th, 2011. The evaluation and the management method became necessary, in order to deploy robots like as QUINCE developing for big city accidents or unmanned heavy construction machines for landside disaster. According to “radiation tolerance data base on parts or materials” developed in 1980's to 1990's by Japan Atomic Energy Agency (JAEA), a guideline, for robots and unmanned heavy construction machines, was tentatively developed.

著者

石井 啓範

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.582-584, 2012 (Released:2012-08-15)

参考文献数

5

被引用文献数

2 3

著者

尾形 邦裕 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.31, no.4, pp.390-400, 2013 (Released:2013-06-15)

参考文献数

27

---

Humanoid robots should be able to handle independently human bodies. In previous studies, robots manipulated human bodies using brute force, but this does not accurately reflect a human's action. Yoshinori Kouno, who has studied several skills related to physical exertion, including martial arts and nursing-care motions possesses, as the subject, we studied these motions and analyzed the techniques that were superior to other body dynamics. In this study, we focused on the pushing action of human, and aimed to understand the body's dynamics. The zero moment point (ZMP) trajectories of the actor varied around the center of gravity (COG), and the actor used the falling momentum to push the recipient's body. Kouno reported that the position of the fingers enabled him to control his arm movements. Hence we analyzed the electromyogram signals of the whole body. Analysis of the recipient's resistance based on the ZMP and COG, suggests that the recipient can predict the attack by the actor of the action and braces him/herself for the impact. Thus, the actor needs to confound the recipient's prediction to realize human pushing motions with less effort. The falling momentum strategy and change in the arm's force play an important role to in confusing the prediction. We confirm the effectiveness of these body dynamics using numerical simulation. Finally, we conclude that the “knack” of the pushing motion is due to a special pose of fingers.

著者

尾形 邦裕 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.33, no.6, pp.470-480, 2015 (Released:2015-08-15)

参考文献数

34

---

It is so difficult for many people to handle other's body. Japan's aging population, the skill of lift-up motion and transfer motion is needed in the nursing care field. Utilizing self body dynamics and understanding other's movement are important to these nursing-care motions. Yoshinori Kouno, who has studied several skills related to physical, including martial arts and nursing-care motions, as the participant, we studied these motions and analyzed the techniques that were superior to other motion skills. From measurement result of pulling-up motion, we find acceleration of center of mass increases sharply by discontinuous change of zero moment point, Kouno pulled other's body up using the instantaneous. To pull the standing other's body, Kouno uses strategy of ``falling momentum,'' and Kouno constrains the movement of his arms. Therefore, we conclude that knacks of pulling-up motion are the changing ZMP by the stepping motion and constraining the arm joints. Based on these analysis result, we construct the dynamics model and control strategies, confirmed by numerical analysis and dynamic simulation. Then, to confirm the effectiveness of these skills, we perform the validation experiments on general participants instructed with these knacks.

著者

佐藤 彰

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.34, no.2, pp.113-115, 2016 (Released:2016-04-15)

参考文献数

12

被引用文献数

1 4

著者

奥村 光平 奥 寛雅 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.29, no.2, pp.201-211, 2011 (Released:2011-04-16)

参考文献数

19

被引用文献数

12 8

---

The purpose of our study is to realize an active vision capable of casting its gaze in any desired direction in ms-order. It is, however, difficult even if a vision sensor itself is controlled directly by high-speed actuators. Therefore, we propose a high-speed gaze control subsystem, called “Saccade Mirror.” Using this system and a high-speed vision, image sequences that each image has different direction of gaze in msorder has been successfully obtained. Measuring the frequency response of the gaze control, this result has exceeded the preceding study. That is to say, the utility of our proposal has been ascertained.

著者

水内 郁夫 藤本 純也 袖山 慶直 山本 邦彦 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.30, no.9, pp.889-898, 2012 (Released:2012-12-15)

参考文献数

18

被引用文献数

7

---

We have developed a kitchen in which a robot arm with a hand is incorporated. The robot was made for assisting with our work in kitchen. Manipulation of a variety of dishes is the main problem for the purpose. For realizing the manipulation, we developed a one-DOF hand equipped with multiple sensors. In this paper, we present the robot system estimating aproximate position and shape of dishes using these sensors based on sensor-based tracing. We also present a method of manipulating dishes grasplessly to deal with difficult setting of dishes. In the following experiment, we demonstrate the robot clears away basic three types of dishes by picking them off a tray and placing them into a dish washer.

著者

高橋 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.17, no.2, pp.190-191, 1999-03-15

著者

小松原 剛志 塩見 昌裕 神田 崇行 石黒 浩 萩田 紀博

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.10, pp.789-799, 2015 (Released:2016-01-15)

参考文献数

21

被引用文献数

2 3

---

This paper reports a robot which interacts with children semi-autonomously in a science room of an elementary school to help children's understanding of science classes. The robot asked children questions related to their science classes during breaks between science classes; children could freely interact with it during experiment periods. We implemented a personal identification function to the robot by using a face recognition system with robot's camera and a human tracking system with environmental sensors. Still, speech recognition is difficult in noisy elementary school environment; therefore we decided to take over speech recognition function by the operator. In this study our result did not show significant effects of the robot existence for helping children's understanding, but we found that children who joined to the robot's quiz more than a certain time increased understanding toward a specific unit.

著者

田川 聖治 小西 健太 井上 克已

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.892-900, 2004-10-15 (Released:2010-08-25)

参考文献数

41

---

From the viewpoint of the Affordance Theory advocated by J. J. Gibson, an ecological approach for realizing artificial skills is presented in contrast to the conventional paradigm of behavior-based robots known as “sense, think and act”.A perception-driven robot demonstrates the usefulness of the ecological approach through the assembly task of mating several parts on a plane. Instead of action-rules based on sensory information, the proposed robot employs a kind of oscillator, Action Pattern Generator (APG), for taking active action before perception. The limitations of the simple robot, the actions of which are dominated by APG, are also discussed. Then, in order to compensate APG for lack of the rationality in choosing actions, two types of memories, namely Working Memory (WM) and Episodic Memory (EM), are introduced into the robot's brain. Consequently, the perception-driven robot has the abilities to distinguish the shapes of various parts, mount them in right places, and stop its motion automatically.

著者

北川 秀夫 大野 貴 三好 孝典 寺嶋 一彦

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.3, pp.343-349, 2009 (Released:2011-11-15)

参考文献数

14

被引用文献数

2 2

---

Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded place, and omnidirectional robot equipped with normal tires is desired for difference excess, vibration suppression and riding comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidiredctional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Two kinds of Differential-Drive Steering System (DDSS) are proposed to improve the operation ratio of motors. One is using bevel pair gear and the other is using planetary gear to generate driving and steering torque effectively from two motors. Simulation results show the proposed system is effective for holonomic omnidirectional mobile robots.

著者

小川 宏人

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.34, no.10, pp.685-689, 2016 (Released:2017-01-15)

参考文献数

32

被引用文献数

1

著者

妹尾 拓 高野 光浩 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.3, pp.301-309, 2013 (Released:2013-05-15)

参考文献数

16

---

In this paper, dynamic biped locomotion is considered with the goal of achieving fast and dexterous leg motion. We propose a new movement principle for legged robots, which produces propulsive force using frictional asymmetry. The dynamic locomotion consists of sliding motion based on the kinematic constraint and jumping motion which enables to keep the maximum horizontal velocity. The dynamics of the 2-DOF biped robot is analyzed to obtain motion characteristics for developing a motion strategy. Experimental results are also shown in which a 2-DOF biped robot takes fast short steps repetitively with compensation of the landing time by high-speed vision.

著者

大西 公平

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.11, no.4, pp.6-13, 1993-05-15

参考文献数

19

被引用文献数

153 220