著者

森 政弘

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.1, pp.2-5, 1997-01-15 (Released:2010-08-10)

参考文献数

4

被引用文献数

9 11

著者

金広 文男 吉見 隆 梶田 秀司 森澤 光晴 金子 健二 比留川 博久 富田 文明

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.25, no.4, pp.589-597, 2007-05-15 (Released:2010-08-25)

参考文献数

28

被引用文献数

1 4

---

This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot's waist height, an upper body posture and so on according to the size of the movable space.

著者

平井 成興

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.5, pp.601, 1991-10-15 (Released:2010-08-25)

被引用文献数

2 1

著者

鈴木 健司

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.33, no.1, pp.25-29, 2015 (Released:2015-02-15)

参考文献数

14

著者

内山 勝 ドシェ ピエール

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.7, no.1, pp.19-30, 1989

被引用文献数

17 2

---

ロボットが両手でひとつの対象物を操作する作業について, 静力学および運動学的観点より理論解析し, 協調動作を記述するための作業座標, およびその座標系における一般化力, 速度, 位置を首尾一貫した形で導く.そして, この結果に基づき, 左右の手にマスタ, スレーブの区別をつけない位置と力のハイブリッド協調制御系の構成を示す.理論解析では, 両手の運動を対象物中心で考えるために, 仮想ステッキという概念を新たに導入し, さらに一般化逆行列の理論を用いることにより, 両手の運動を対象物の絶対運動と内部運動に分解する.この分解された作業空間において, 協調動作を記述するための一般化力, 速度, 位置を導く.こうして導かれた一般化力, 速度, 位置は, 左右の手の関第力, 速度, 位置の対称な関数となっている.したがって, この座標を作業座標として構成されるハイブリッド制御系は, 左右の手にマスタ, スレーブの区別をつけることなく, 対象物の絶対運動および内部運動に対応した位置と力をそれぞれ独立に制御することが可能である.これより, 両手で対象物を保持して運ぶ作業が, 非マスタスレーブ方式により実現される.

著者

武居 直行 野畑 茂広 藤本 英雄

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.26, no.6, pp.635-642, 2008-09-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

5 7

---

This paper is concerned with the human-robot system such as power assist system based on the position-controlbased impedance control (admittance control) . The system has two force inputs from the operator and the environment, which may cause the vibratory behavior when the robot comes in contact with the environment. It is because the operational force and the contact force do not balance due to the noise, error, delay and so on. This paper proposes the admittance control with two inputs that achieves steady contact with an environment by modifying the contact force information. The effectiveness of the proposed method is demonstrated through several experiments.

著者

米田 完

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.2, pp.124-132, 2015 (Released:2015-04-15)

参考文献数

7

被引用文献数

1

---

This paper discusses a configuration of six legged robot, considering a relationship between number of actuators and number of locomotion functions. Mechanical configurations are classified by number of body, relative moving DOF of bodies, moving DOF of legs against the body. As for the function, DOF counting method by five independent functions is proposed. The functions are locomotion, terrain adaptability, relative horizontal positioning of swing legs, mobility of body independent to the leg position, horizontal inner force distribution of supporting legs. Introducing nine various style practical examples, the equality of mechanical actuation DOF and functional DOF count is verified.

著者

金子 真

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.5, pp.617-619, 1998-07-15 (Released:2010-08-25)

参考文献数

6

被引用文献数

1 2

著者

余 永 石塚 喬 辻尾 昇三

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.5, pp.528-536, 2002-07-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

1 4

---

For dexterously performing object grasping and manipulation with multifingered hand of robot, sensing the finger joint torque is required. In general, the size of finger joint is quite small so that it is hard to realize the torque sensing. This paper proposes a novel mechanism calledStrain-Deformation Expansion Mechanismto sense the joint torque, which is small enough and fitted in the finger joint. By the torque-sensing mechanism, the small joint strain deformation used for torque sensing can be expanded without reducing the joint stiffness. In this paper, the torque-sensing principle is addressed by analyzing the deformation of the sensing mechanism and the torques acting on the joint axis theoretically. Then, the sensitivity of the sensing mechanism and its expansion rate of sensitivity are defined, and a method for realizing the sensing mechanism with high sensitivity is discussed. Lastly, some experiments with robot finger are performed to show the basic characteristcs and the effectiveness of the proposed torque-sensing mechanism.

著者

工藤 俊亮 小川原 光一 ルチャヌラック ミティ 高松 淳 池内 克史

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.612-619, 2008-09-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

1

---

This paper describes a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system.

著者

坪内 孝司

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.27, no.4, pp.388-391, 2009 (Released:2011-11-15)

参考文献数

12

被引用文献数

1 1

著者

蘭 香代子

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.1, pp.37-38, 1998-01-15

著者

山川 雄司

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.35, no.8, pp.596-599, 2017 (Released:2017-11-15)

参考文献数

14

被引用文献数

2

著者

金子 真 和田 充雄 前川 仁 谷江 和雄

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.9, no.4, pp.437-444, 1991-08-15 (Released:2010-08-25)

参考文献数

14

被引用文献数

1

---

This paper discusses transmission characteristics of tendon-sheath driving system typically used to actuate robotic finger joints, and also their effects on force control system. For a simple tendonsheath model, we first formulate the transmission characteristics with the newly introduced two physical parameters apparent tendon-stiffness and equivalent backlash. An interesting aspect is that apparent tendon-stiffness changes when the tendon is pulled or loosened, while tendon-stiffness itself keeps constant. This unexpected behavior is confirmed by simulations as well as experiments. We also consider the effect of apparent tendon-stiffness on force control precisely and show that the direction-dependent behavior ofapparent tendon-stiffness eventually brings about a direction-dependent response in the force control system.

著者

上田 隆一 新井 民夫 浅沼 和範 梅田 和昇 大隅 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.23, no.4, pp.466-473, 2005-05-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

4 8

---

Though Monte Carlo localization is a popular method for mobile robot localization, it requires a method for recovery of large estimation error in itself. In this paper, a recovery method, which is named an expansion resetting method, is newly proposed. The combination of the expansion resetting method and the sensor resetting method, which is a typical resetting method, is also proposed. We then compared our methods and others in a simulated RoboCup environment. Typical accidents for mobile robots were produced in the simulator during trials. We could verify that the expansion resetting method was effective for recovery from small irregular changes of a robot's pose, and that the combination method could deal with both large and small irregular changes.

著者

奥 寛雅 末石 智大

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.8, pp.605-609, 2017 (Released:2017-11-15)

参考文献数

12

著者

柴田 雅聡 生形 徹 寺林 賢司 モロ アレサンドロ 梅田 和昇

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.6, pp.558-565, 2014 (Released:2014-08-15)

参考文献数

24

---

In this paper, a human detection method that combines information of segmented range image and human detectors based on image local feature is proposed. The method uses a stereo vision system called Subtraction Stereo, which extracts foreground information and range image. Range image is segmented for every object by Mean Shift Clustering. The proposed method reduces processing time and false detection by limiting the search range to the object. Joint HOG feature is used for human detection and reduces undetected human by integration of detection windows in consideration of occulusion. The proposed method is evaluated by experiments comparing with the method using the conventional Joint HOG feature.

著者

三木 一生

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.10, no.7, pp.878-884, 1992-11-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

1 2

著者

日下 聖 田中 孝之 梶原 秀一

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.2, pp.198-206, 2014 (Released:2014-04-15)

参考文献数

21

被引用文献数

3

---

This paper describes a method of skill assist efficiency control by using semi-active assist mechanisms based on phase difference limitation method. The skill assist in this study means the motion correction effect in periodical motions. The semi-active assist mechanisms can make the assist force with the phase difference, because the mechanism uses elastic materials as the source of the assist force. This force is controlled by adjusting the fixed point of the elastic materials by using the connected actuator as a series-elastic actuator. We confirmed the motion correction effect of our skill assist based on the phase difference control in previous study. Our proposed method in this study can control the skill assist efficiency to arbitrary value by limitation of the phase difference. Moreover, we confirmed that the proposed method can control its effect through experiments with several value of the efficiency. As a result of this study, we confirmed the fundamental ability of our developed method to control the motion correction ratio depending on types of task or personal differences in periodical motions.

著者

銅谷 賢治

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.357-357, 1990-06-15 (Released:2010-08-25)

参考文献数

1