著者

町田 和雄 三上 龍男 秋田 健三

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.17, no.4, pp.577-586, 1999-05-15 (Released:2010-08-25)

参考文献数

10

---

Space robots performing precise servicing tasks in unmanned facilities will be indispensable in space activity of the 21st century. This paper presents the development of a precise telerobotic system which is the world's first precise extravehicular robot aboard the satellite, ETS-VII. The robot has the features of skill and autonomy for handling various parts in space through a three-finger multisensory hand. Firstly, we discuss the requirements for in-orbit precise servicing by a robot and system constraints to integrate into the satellite, and present the total system design for space telerobotic experiment. Secondly, we describe the design of robot mechatronics adapt to space use. The launch lock mechanisms and reconfiguring method of the robot in orbit are also described. Thirdly, an architecture and design of the onboard control computer system to manage various tasks flexibly and safely are presented. Finally, the multisensory based control for precise task execution and development result of the flight model are presented. The system was launched, and initial checkout reveals the system works well in-orbit.

著者

城倉 信也 福島 理恵 吉田 和夫

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.21, no.2, pp.172-177, 2003-03-15

参考文献数

13

被引用文献数

3 2

---

This paper addresses the development and the experimental results of an aerial ski robot, which can perform a somersault coupled with twist motion in the air. The robot is composed of three rigid links and two rotational joints driven by DC motors and contains control devices so that complicated motion can be performed in the air. To plan the motion of the robot, Fourier Basis Algorithm (FBA) is applied, which approximates the optimal joint trajectories by the finite terms of the Fourier basis. The joint trajectories to perform a twisting somersault from FBA were inputted to the robot, and the flight experiment was carried out. As the result, the robot achieved one backward somersault with half twist. From this, the validity of the analytical model and the motion planning method was shown.

著者

高木 健 小俣 透

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.2, pp.238-244, 2005-03-15 (Released:2010-08-25)

参考文献数

13

被引用文献数

6 7

---

This paper presents a load-sensitive continuously variable transmission (CVT) for finger joints. Fingers of robot hands require force when grasping an object and speed when opening and closing. Therefore a CVT is ideal to improve the power transmission of a finger joint. Existing friction CVTs are too big and heavy to be installed in a finger joint. By focusing on the fact that finger joints do not necessarily rotate 360 degrees, this paper presents a remarkably simple and small load-sensitive CVT consisting of a five-bar linkage and a torsion coiled spring. Experimental results show that the CVT can increase its reduction ratio from 0.5 to 3.3 in response to a load. We have developed a two-finger gripper with the CVTs, which can grasp an object powerfully and manipulate quickly. These motions would be impossible without the CVT.

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.35, no.9, pp.640-643, 2017 (Released:2017-12-15)

参考文献数

6

著者

高西 淳夫

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.1, no.3, pp.196-203, 1983-10-30 (Released:2010-08-25)

参考文献数

10

被引用文献数

3 5

著者

大島 純 三宅 なほみ

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.10, pp.875-878, 2011 (Released:2012-01-15)

参考文献数

19

著者

菊池 武士

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.5, pp.469-472, 2013 (Released:2013-07-15)

参考文献数

22

被引用文献数

2

著者

有田 輝 米田 将允 鈴木 陽介 下条 誠 明 愛国

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.9, pp.669-680, 2017 (Released:2017-12-15)

参考文献数

22

被引用文献数

1

---

For bipedal robots walking on uneven terrain, lack of information about a terrain may cause serious reduction of the stability. To solve the problem, the purpose of this paper is to develop a sensor which can be mounted on robot's soles and propose methods which can increase the stability of bipedal walk with the sensor. The sensor should detect information including relative posture and relative distance between the sole of the swing leg and the floor, when the robot execute the walk by ZMP-based control. In this paper, the sensor has been designed based on Net-Structure Proximity Sensor (NSPS) and a prototype has been developed. The developed sensor is with thin structure, light weight, less wirings (four wires only) and fast response (<1[ms]). Experimental results show that the sensor can output necessary relative posture and positon between the sole and the floor for walk control. Besides, the sensor has been mounted to the soles of a hobby robot and its feasibility is shown by controlling robot so that its sole can land on a tilted floor with maximum contacting area to improve the stability.

著者

岡崎 安直 山本 正樹 小松 真弓 津坂 優子 足達 勇治

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.28, no.3, pp.302-310, 2010 (Released:2012-01-25)

参考文献数

12

被引用文献数

10 15

---

Robotic systems intended for domestic housekeeping or elderly care tasks will have interaction with humans and therefore demand an intrinsically safe design. Conventional robotic systems are driven by heavy, high power and high stiffness electric motors, making them unsafe for human coexistence. To overcome this problem, we have developed a robotic arm system using pneumatic muscle actuators, which is intrinsically safe given its low weight and pliant structure. In this paper we present the design of the robot arm and associated control system, showing that the robot has positioning and force control accuracy sufficient for daily domestic tasks.

著者

横小路 泰義

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.562-564, 2012 (Released:2012-08-15)

参考文献数

7

著者

村田 智

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.10, pp.1149-1149, 2010 (Released:2012-01-25)

著者

藤田 雅博 景山 浩二 佐部 浩太郎 尾山 一文

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.21, no.6, pp.596-601, 2003-09-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

1 4

著者

藤木 大介 上田 博唯 近間 正樹

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.26, no.5, pp.445-452, 2008-07-15 (Released:2010-08-25)

参考文献数

29

---

Home service robots must have implements like conversation interfaces so it can be easily accepted by the users. To get basic data to develop such a robot, we investigated the robot's impressions of when it responded to the instructions of operating a TV or when it planning the cooking recipes. Thirty men and thirty women of different age groups rated the impression on using the robot. The results indicated that we should find a better way to inform to the user when a word was not in the robot's database. Moreover, we should reconsider what kind of the robot's gesture the users need. In addition, the embodiment of the robot made the impressions better. In addition, women judged the robot positively probably because the robot had a cute appearance.

著者

中村 弘 石黒 章夫 内川 嘉樹 ROLF Pfeifer

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.18, no.7, pp.963-971, 2000-10-15

参考文献数

9

被引用文献数

10 3

---

Conventional artificial intelligence and cognitive science approaches have been arguing the emergence of intelligence by completely separating the cognitive agent from its environment. In this paper, we intensively investigate and analyze the role of the system-environment interaction through the comparison between the information processing and embodied cognitive approaches. By taking account of this interaction, we experimentally show some of the hard classification problems suffering from the large input space and the ambiguities due to the perceptual aliasing problem can be greatly alleviated. To demonstrate this concept, we apply to a garbage-collecting task as a practical example.

著者

安川 裕介

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.18, no.2, pp.190-191, 2000-03-15 (Released:2010-08-25)

参考文献数

6

著者

鈴木 寿 大西 弘之 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.5, no.6, pp.431-441, 1987

被引用文献数

4 1

---

連想データベースを自己組織化する簡単で効率の良い方法を提案すると共に, 自律移動知能ロボットへ応用する.システムは, 予め規定された処理部と, 初期状態では空白な記憶部とから成る.現時点の入力信号に対し, 処理部はこれに似ている過去の入力信号を記憶部から検索し, その関連情報を呼び出す.もし現入力信号の随伴情報がこの関連情報と一致しなければ, 新たな情報が記憶部のデータベースに付加され, その影響は次回の処理に反映される.このように記憶状態と入力信号の双方に依存して, データベースは自己組織化的に成長してゆく.データベース組織化の履歴は入力系列に依存するので, 個々のデータベースは固有な構造を獲得する.もし十分な長さの入力系列が与えられると, 入力信号と関連情報の対応関係は, 入力系列のそれに一致するようになる.脳における直観的情報処理の概念的ではあるが本質的なモデルを与えているという点で, また実用的立場からは, 要求された応答をユニパーサルに学習する学習機構へ応用できるという点で, 本システムは意義深い.この学習機構を利用した廊下用のカメラ方式自律移動ロボットを紹介する.ロボットの頭脳は, プロセッサーi80286を搭載したマイクロ計算機によって構成され, ロボットの行動は, C言語に追加設計した小規模のロボット言語を用いて制御される.良好な実験結果が示される.

著者

白井 裕子 菅野 重樹

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.1, pp.43-48, 2010 (Released:2012-01-25)

参考文献数

16

被引用文献数

1 2

著者

米田 完 太田 裕介 広瀬 茂男

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.8, pp.1188-1193, 1997-11-15

参考文献数

6

被引用文献数

4 12

---

It is desirable to have a mobile robot which can move and perform various tasks on irregular terrain, but current systems are not reliable or adaptable enough for practical use. A traditional method for climbing stairs is to use knobbed tires or tracks which can grip the edge of the stairs. But with this method usually only one knob on each side of the vehicle grips the stairs because the spacing between the knobs does not necessarily coincide with the distance between steps. In this thesis, a new idea crawler is developed for the stair-climbing. Blocks are attached to the face of the crawler-belt and can change shape to match the edge of the steps. Therefore, a large friction force is obtained by the soft deformation of the blocks at every point along the belt. After experimenting with various types of substances, blocks filled with powder were chosen for their desirable deformation characteristics. The results of this stair-climbing experiment prove that this crawler has better reliability than other crawlers when ascending and descending stairs. Also, this crawler can change its posture when climbing stairs or obstacles and this is also used to increase the turning efficiency of the crawler.

著者

奥富 正敏

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.16, no.6, pp.773-777, 1998-09-15 (Released:2010-08-25)

参考文献数

14

被引用文献数

2 7

著者

三輪 祥太郎 渡邉 信太郎 平位 隆史 松本 崇

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.218-221, 2014 (Released:2014-05-15)

参考文献数

1

被引用文献数

1