著者

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.23, no.4, pp.422-425, 2005-05-15 (Released:2010-08-25)

参考文献数

17

著者

梅谷 陽二

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.23, no.4, pp.392-395, 2005-05-15 (Released:2010-08-25)

参考文献数

9

著者

梅谷 陽二

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.8, pp.752-755, 2011 (Released:2011-11-15)

参考文献数

1

著者

牧野 洋 加藤 顕剛 山崎 保範

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.23, no.2, pp.148-154, 2005-03-15 (Released:2010-08-25)

参考文献数

1

著者

仇 時雨 牧野 洋 須田 大春 横山 恭男

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.8, no.6, pp.680-687, 1990-12-15 (Released:2010-08-25)

参考文献数

9

被引用文献数

2 3

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This paper describes the study on free curve interpolation using Clothoidal curve, which gives a new tool for high-speed continuous path control. Control schemes are proposed for the manipulator to pass the given series of points smoothly at a constant-speed. In the problem formulated a criterion of limiting curvature during the entire path of motion. The Clothoid or Cornu spiral is a planar curve which is used in high-way design. Its curvature is proportional to the length of the curve measured from the origin of the spiral. Using Clothoid segments, the point series interpolation method is established and by applying this method to the welding, painting, sealing and bonding robots, it is expected to obtain the faster continuous path motion. Theoretical analysis is given and some calculated results are shown.

著者

今瀬 憲司

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.23, no.2, pp.165-167, 2005-03-15 (Released:2010-08-25)

参考文献数

4

著者

稲葉 肇 小島 利夫

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.16, no.4, pp.444-446, 1998-05-15 (Released:2010-08-25)

著者

鳩 康彦 佐竹 聡 神田 崇行 今井 倫太 萩田 紀博 安西 祐一郎

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.29, no.6, pp.532-543, 2011 (Released:2011-08-15)

参考文献数

44

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In daily conversation, we sometimes observe a deictic interaction scene that refers to a region in a space, such as saying “please put it over there” with pointing. How can such an interaction be possible with a robot? Is it enough to simulate people's behaviors, such as utterance and pointing? Instead, we highlight the importance of simulating human cognition. In the first part of our study, we empirically demonstrate the importance of simulating human cognition of regions when a robot engages in a deictic interaction by referring to a region in a space. The experiments indicate that a robot with simulated cognition of regions improves efficiency of its deictic interaction. In the second part, we present a method for a robot to computationally simulate cognition of regions. Finally, our model is implemented as region referring system in the communication robot Robovie and the system's effectiveness is confirmed.

著者

小方 博之

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.2, pp.140-146, 2013-03-15

被引用文献数

1

---

Project based learning (PBL) is an effective method for education to make students put their knowledge into practice or to train solving problem by themselves. PBL is also recognized to be effective and popular in robotics and manufacturing educations. However, it is not guaranteed that traditional scoring methods, like final exam, are proper to assess students' activity in PBL. One of the noteworthy methods that may be suitable to assess their activity there is the peer assessment. The benefit of carrying out peer assessment is that it has effects on building students' motivation, making feedback, and grading reliably. The author conducted peer assessment in a mobile robot development project in his own laboratory, and in a certain class where students are requested to make a paper bridge as light as possible but can support a 300[g] weight. In this paper, the data of peer assessment in those projects are analyzed to verify its effectiveness.

著者

吉田 尚水 中臺 一博 奥乃 博

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.970-977, 2010

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Noise-robust Automatic Speech Recognition (ASR) is essential for robots which are expected to communicate with human in a daily environment. In such an environment, Voice Activity Detection (VAD) performance becomes poor, and ASR performance deteriorates due to noises and VAD failures. To cope with these problems, it is said that humans improve speech recognition performance by using visual information like lip reading. Thus, we propose two-layered audio-visual integration framework for VAD and ASR. The two-layered AV integration framework includes three crucial methods. The first is Audio-Visual Voice Activity Detection (AV-VAD) based on Bayesian network. The second is a new lip-related visual feature which is robust for visual noises. The last one is microphone array processing to improve Signal-to-Noise Ratio (SNR) of input signal. We implemented prototype audio-visual speech recognition system based on our proposed framework using HARK which is our robot audition system. Through voice activity detection and speech recognition experiments, we showed the effectiveness of Audio-Visual integration, microphone array processing, and their combination for VAD and ASR. Preliminary results show that our system improves 20 and 9.7 points of ASR results with/without microphone array processing, respectively, and also improves robustness against several auditory/visual noise conditions.

著者

吉田 尚水 中臺 一博 奥乃 博

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.28, no.8, pp.970-977, 2010-10-15

参考文献数

24

著者

阿部 香澄 岩崎 安希子 中村 友昭 長井 隆行 横山 絢美 下斗米 貴之 岡田 浩之 大森 隆司

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.31, no.3, pp.263-274, 2013 (Released:2013-05-15)

参考文献数

29

被引用文献数

4

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There has been many problems in situations surrounding children such as child neglect, deterioration in the quality of play, etc. We believe that robotic playmates would greatly help to solve these problems. In this paper we propose a playmate robot system that can play with a child. Unlike many therapeutic service robots, our proposed playmate system is implemented as a functionality of the domestic service robot with a high degree-of-freedom. This means that the robot can play with children at a high level, i.e., beyond a therapeutic effect, using its physical features. To sustain the player's interest in the system, we also propose an action selection strategy based on a transition model of the child's mental state. The robot can estimate the child's state and select an appropriate action in the course of play. Part of the proposed algorithms was implemented on a real robot platform, and experiments were carried out to design and evaluate the proposed system.

著者

坪内 孝司 金山 裕 油田 信一

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.4, no.3, pp.220-230, 1986-06-15 (Released:2010-08-25)

参考文献数

8

被引用文献数

1

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建物内部のような人工的環境では, ロボットの視覚の対象となるシーンはほとんど直線からなると考えられる.本論文では, ロボットの視覚のための, 濃淡画像から線分を抽出する新しいアルゴリズムを提案する.このアルゴリズムでは, 原画像における対象物の直線状の境界線上でその濃度勾配がほぼ等しいことに着目し, まず, 原画像中の画素のうち, 以下の性質をもつ画素を連結し, 小領域を生成する.(1) その画素の濃度勾配の大きさが与えられたしきい値より大きい.(2) その画素の濃度勾配の方向が与えられた範囲内におさまる.(3) 画素同志が互いに隣接しあう.この小領域は原画像上の対象物の境界線上に細長く生成される.このような小領域に最小二乗法を適用して線分をあてはめることにより線分を抽出することができる.本手法の特徴は以下のとおりである.(1) 原画像に対するただ1回の走査ですべての小領域を生成することができるため, 短時間で画像処理をするのに適当である.(2) 得られた小領域に対して線分をあてはめる際に統計的な計算を用いるため局所的な雑音に強い.(3) 生成された小領域の慣性等価だ円のだ円率によって, その小領域の細長さ, すなわち線分らしさが評価できる.本論文では, 提案した手法により画像を処理した実験例も示し, 本手法が有効であることを実証する.

著者

木村 浩 秋山 征一 桜間 一彰

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.1138-1145, 1998-11-15

参考文献数

23

被引用文献数

31 12

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In the present study we attempt to induce a quadruped robot to walk dynamically on irregular terrain and run on flat terrain by using a neural system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscillator network, a stretch reflex and a flexor reflex. Stable dynamic walking when obstructions to swinging legs are present is made possible by the flexor reflex and the crossed stretch reflex. A modification of the single driving input to the neural oscillator network makes it possible for the robot to walk up a step. For running on flat terrain, we combine a spring mechanism and the neural oscillator network. It became clear in this study that the matching of two oscillations by springs and the neural oscillator network is important in enabling the robot to hopping. The present study also shows that entrainment between neural oscillators causes the running gait to change from hopping to bouncing. This finding renders running fairly easy to attain in a bounce gait. It must be noticed that the flexible and robust dynamic walking on irregular terrain and the transition of the running gait are realized by the modification of a few parameters in the neural oscillator network. This finding, obtained through experiments using the quadruped called Patrush, shows the potential ability of a neural oscillator network to facilitate adaptation in dynamic walking and running.

著者

先川原 正浩

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.9, pp.987-988, 2009-11-15

著者

Robin R. Murphy

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.28, no.2, pp.142-146, 2010 (Released:2012-01-25)

参考文献数

11

被引用文献数

2 15

著者

星野 由紀子 河本 献太 野田 邦昭 佐部 浩太郎

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.29, no.1, pp.77-88, 2011 (Released:2011-02-25)

参考文献数

21

被引用文献数

1

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Continual and autonomous learning are key features for a developmental agent in open-ended environments. This paper presents a mechanism of self-regulated learning to realize them. Considering the fact that learning progresses only when the learner is exposed to appropriate level of uncertainty, we propose that an agent's learning process be guided by the following two metacognitive strategies throughout its development: (a) Switch of behavioral strategies to regulate the level of expected uncertainty, and (b) Switch of learning strategies in accordance with the current subjective uncertainty. With this mechanism, we demonstrate efficient and stable online learning of a maze where only local perception is provided: the agent autonomously explores an environment of significant-scale, and self-develops an internal model that properly describes the hidden structure behind its experience.

著者

南 澤槿 美多 勉 Pantelidis Ioannis 山北 昌毅

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.1, pp.85-88, 2002-01-15

被引用文献数

5 13

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We described a technique for the swingup control of a 2 link acrobat robot using backstepping and discussed singular problems.

著者

三ツ矢 英司

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.1, pp.34-37, 1996-01-15

被引用文献数

9

著者

太田 順 武衛 康彦 新井 民夫 大隅 久 陶山 毅一

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.14, no.2, pp.263-270, 1996-03-15

被引用文献数

24 24

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A coordinated control method for two mobile robots without explicit communication is presented in this paper. Concretely, transferring control by cooperation of two robots is realized from the viewpoints of mechanical design and of control system design. In the mechanical design, compliance mechanism with 3 degrees of freedom is added on one of the robots in order to avoid extreme inner forces between the robots. In the control system design, leader-follower method is adopted. "Virtual Impedance Method" is used for controlling the follower robot. A deadlock problem, where a robot stops at some other positions from a target position of the robot, is solved by transforming lateral virtual forces to virtual moments. Effectiveness of the proposed method is verified by experimental results. The proposed method is applicable to multiple mobile robot system by increasing the number of followers.