著者

白井 達也 金子 真 辻 敏夫

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.17, no.4, pp.567-576, 1999-05-15 (Released:2010-08-25)

参考文献数

29

被引用文献数

2

---

This paper discusses the scale-dependent grasp. Suppose that an object is initially placed on a table without touching by human hand and, then he (or she) finally achieves an enveloping grasp after an appropriate approach phase. Under such initial and final conditions, human unconsciously changes the grasp strategy according to the size of object, even though they have similar geometry. We call the grasp planning the scale-dependent grasp. Focusing on column objects, we first classified the grasp patterns into a couple of grasps and extracted the essential motions so that we can apply the scale-dependent grasp to multi-fingered robot hands. We found that the grasp patterns should be also changed according to the surface friction and the geometry of cross section of object in addition to the scale. The basic strategies were verified by experiments. Finally, we considered how each strategy should be switched from one to another.

著者

菅原 憲明

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.13, no.2, pp.180-184, 1995-03-15 (Released:2010-08-25)

参考文献数

15

著者

津川 定之

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.13, no.7, pp.946-949, 1995-10-15 (Released:2010-08-10)

参考文献数

10

著者

藤田 眞一

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.31, no.5, pp.530-539, 2013-06-15

参考文献数

45

---

The purpose of this study is to develop teaching materials for "Roboelecom education" in the technology education of the junior high school. The authors developed the educational compact computer, the sensor robot, the sensor light and the textbook. Then we organized the experiment. As a result, we confirmed that "the students learn quite easily to create simple programs". Therefore we judged that "the programming learning using the educational compact computer is possible". Moreover we confirmed that "these teaching materials support "Roboelecom education".

著者

市川 芳明

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.10, no.2, pp.266-272, 1992-04-15 (Released:2010-08-25)

参考文献数

9

被引用文献数

2 2

---

The self-reproduction capability of machines can enhance manufacturing efficiency and contribute to reliability since it enables the machines to fabricate themselves in geometric progression while testing their functionality through the reproduction process. In addition, a part of the process can be utilized as a self-repair process. This paper discusses the method of its realization on the basis of machines composed of identical autonomus cells. The proposed concept includes the specialization of cells according to their positions, growing in size by capturing new cells, transferring genetic data to the new cell, and splitting into two independent halves after grown up. Experiments have demonstrated the self-reproduction of mobile machines each of which is composed of multiple cells connected one another in a row, one-dimensionally.

著者

田窪 朋仁 西井 一敏 井上 健司 新井 健生

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.25, no.3, pp.457-465, 2007-04-15

参考文献数

27

被引用文献数

1 3

---

Marionette system provides an intuitive teleoperation system for the difficulty controlling whole-body motion of a multi-joint robot and the complicated observation of its condition. This system employs a small robot which has similar form to a control target as an operating/displaying device, so that the device provides an operational feeling like manipulating a doll, so it is named Marionette Device. Since the characteristics of the Marionette device and the target robot are synchronized bilaterally in the system, the operation of Marionette device is reflected intuitively in the target, and the robot motion is also displayed simultaneously by the Marionette device. In this paper, we develop a humanoid type device as Marionette device in order to operate a humanoid robot HRP-2 and implement a whole-body teleoperation method. The remote walking and manipulation experiments in an unknown environment are introduced. In this experiment, the operator should guess the remote environment using a head camera view and control legs and arms by the Marionette device. We propose a new operation method for controlling foot position and leg joints with the Marionette device. It makes possible to walk by pointing a foot stamp step by step in a stable place. To show the effectiveness of the proposed system, we compare another teleoperating system which employs a joystick and a 3DCG display for control and understanding the state of remote robot. The experimental result shows effectiveness of the Marionette system and it has potential of teleoperating humanoid robots with other devices for complementing each other.

著者

加藤 裕基 渡邊 恵佑 妻木 俊道 柳瀬 恵一 本田 瑛彦

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.34, no.5, pp.321-330, 2016

被引用文献数

2

---

<I>Jumping Scouter</I> is a rocket-powered robot for planetary exploration. The light-weighted robot traverses long distance, independent of terrain conditions. For example, it theoretically jumps 43[km] with only 290[g] of vehicle mass and 98[g] of black powder. It also acquires landscape imagery of wide areas during and after traversal jumps. This paper describes the robot's concept, system configuration and primary evaluation tests for jumping functionary.

著者

出村 公成 浅野 泰樹 服部 陽一

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.22, no.5, pp.587-592, 2004-07-15 (Released:2010-08-25)

参考文献数

14

被引用文献数

1

著者

昆陽 雅司 岡本 正吾

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.5, pp.475-477, 2012 (Released:2012-07-15)

参考文献数

17

被引用文献数

2 5

著者

鶴 清 広瀬 茂男

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.30, no.6, pp.639-647, 2012 (Released:2012-08-15)

参考文献数

12

被引用文献数

2 3

---

Wall-climbing robots having holonomic and omni-directional mobility would enhance the manipulation performance of the mounted arm and enable it to execute various tasks on the surface of large structures. This study focuses on the wall-climbing robots having permanent magnet attractive units to stick to the surface of iron structure such as atomic reactors and discuss the development of a specific holonomic and omni-directional wall-climbing mechanisms. Basic driving mechanism of the wall-climbing robot is based on our former invention named Omni Disk which consists of multiple rollers attached to one side of a rotating disk and having a mechanism to direct the rollers to the same direction. We firstly discuss about the mechanical improvements of the Omni Disk to make it lightweight and low cost. We next discusses about four types of methods to attach permanent magnets to the wall-climbing robot and generates attractive force on the iron wall and select the best type based on the motion experiments about the constructed models. As the result of these considerations, we developed a holonomic and omni-directional wall-climbing robot named Vmax III which consists of three Omni Disks having permanent magnet at their center having the function to change the magnetic attractive force. By using the Vmax III, we studied about the relation among the magnetic attractive force of three Omni Disks, posture of the Vmax III and inclination angle of the iron wall and clarified the optimized distribution of the magnetic attractive force of the Omni Disks in different inclination of the iron wall.

著者

妻木 俊道 阿部 誠一郎 千葉 健吉

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.24, no.7, pp.851-860, 2006-10-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

4 5

---

A 6 legged walking vehicle composed of a pair of leg units each of which has three expandable soles and has an ability to make rotational and traversable motion among the leg units is made. It is developed to realize a solid and reliable walking vehicle for practical uses in the near future with spread mechanical elements used in usual hydraulic construction machines. It weighs about 80 [kg] with all aluminum (including honeycomb frame) structure. Owing to mounted 24 [V] /12 [Ah] battery unit and wireless control system, it has no umbilical cord for power supply, control and communication. It is shown by the experiments that the vehicle can walk continuously over 1 hour, crossing many obstacles those maximum height is about 0.9 [m], and many irregular soil terrain.

著者

加納 政芳 清水 太郎

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.29, no.3, pp.298-305, 2011-04-15

被引用文献数

16

---

We developed the robot Babyloid for the purpose that psychological distresses in elderly people and the people requiring a nursing care are decreased by taking care of Babyloid. Babyloid is not all-arounder and cannot do anything, except expressions of physiological and psychological states for the self-sufficiency such as whimpering, becoming grumpy and so on. Through interaction with expressions of self-sufficiency, we considered that mental condition of elderly people is improved by building up trusting relationships between the people and Babyloid. In this paper, we explain concept, design, and specifics of Babyloid.

著者

岡村 弘之 井上 博允

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.8, pp.1056-1060, 2000-11-15 (Released:2010-08-25)

被引用文献数

1 3

著者

森 裕紀 國吉 康夫

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.28, no.8, pp.1014-1024, 2010-10-15

被引用文献数

3 2

---

Recent progresses of ultrasound imaging technology have induced observations of fetal intrauterine behavior and perspective intrauterine learning. Understanding fetal behavior in uterus is important for medical cares for prenatal infants, because the intervention like "nesting" in NICU (Neonatal Intensive Care Unit) is based on a perspective of intrauterine learning. However, fetal behavior is not explained sufficiently by the perspective. In this study, we have proposed a hypothesis in which two of fetal behavior, Isolated leg/arm movements and hand/face contact, emerge from exploration by neural oscillator in spinal cord and self-organization of nervous system through tactile information in uterus. We have conducted computer experiments with a simple musculoskeleta model and a whole body fetal musculoskeletal model with tactile in uterus for the hypothesis. We confirmed that tactile information induce reflexive behaviors by the experiments of the simple model, and the fetal model with human like tactile distribution have behaved with the two behavior similar to the correspond real fetal behaviors. Our experiments indicated that fetal intrauterine learning is possibly core concept for the fetal motor development.

著者

三浦 宏文

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.6, pp.659-660, 1986

著者

山本 元司 岩村 誠人 毛利 彰

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.8, pp.1123-1130, 1998-11-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

1

---

This paper proposes a planning method for time-optimal trajectories of mobile robots. A dynamical model for two independently driven wheels type mobile robots is derived. Using an idea of path parameter, optimal trajectory for specified path of mobile robot is easily obtained considering dynamical constraints such as driving torques and velocities. An efficient collision-free near-time-optimal trajectory planning method is proposed using a local optimization method and a global search method of initial paths. The B-spline parameter optimization method is used as a local optimization. Some numerical examples show an effectiveness of the proposed planning method.

著者

妻木 勇一

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.30, no.6, pp.561-561, 2012 (Released:2012-08-15)

被引用文献数

1

著者

廣瀬 通孝

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.20, no.8, pp.812-815, 2002-11-15 (Released:2010-08-25)

参考文献数

4

被引用文献数

1

著者

升谷 保博 田所 諭 大須賀 公一

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.145-146, 2003-03-15

著者

高瀬 國克

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.12, no.3, pp.338-340, 1994-04-15 (Released:2010-08-25)