著者

中村 仁彦 永井 清 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.4, no.5, pp.489-498, 1986

被引用文献数

31 10

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本論文では, 複数のロボットマニピュレータまたは多指ロボットハンドによる協調的あやつりの力学が議論される.協調的あやつりの問題は2つの局面に分けられる.1つは複数のロボット機構による合力を決定することであり, もう1つはそれらの間の内力を決定することである.合力は外力や環境拘束を受ける物体のあやつりに用いられる.内力は最大静止摩擦係数の不確さや変動に適応するために用いられる.合力の決定に対して動的協調制御方式が提案される.また, 最大静止摩擦の拘束の下で対象物に任意な加速度を発生する能力である協調的あやつり可能性を確認するための1方法が提案される.最後に, 最適内力を最大静止摩擦の拘束を満たすために必要な最小ノルムの内力と定義し, 最適解を求めるために非線形計画法が適用される.最適解は, それが存在する限り, 最大〓組の代数方程式を解くことによって必ず求められる.

著者

吉田 立

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.10-12, 1997-01-15

被引用文献数

1 1

著者

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.29, no.7, pp.658-659, 2011 (Released:2011-10-01)

参考文献数

7

被引用文献数

5 3

著者

山本 俊一 中臺 一博 辻野 広司 奥乃 博

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.23, no.6, pp.743-751, 2005-09-15

被引用文献数

12

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Robot audition is a critical technology in creating an intelligent robot operating in daily environments. To realize such a robot audition system, we have designed a missing feature theory based interface between sound source separation and automatic speech recognition (ASR) . In this interface, features distorted by speech separation are detected from input speech as missing features. The detected missing features are masked on recognition to avoid severe deterioration of recognition performance. By using the interface, we developed the robot audition system which recognizes multiple simultaneous speech. We also assess its general applicability by implementing it on three different humanoids, i.e., Honda ASIMO, SIG2, and Replie of Kyoto University. By using three simultaneous speeches as benchmarks, its general applicability was confirmed. When triphone is used and a size of vocabulary is 200 words, the average word correct of three simultaneous speech are 79.7%, 78.7%, and 82.7% for ASIMO, SIG2, and Replie, respectively.

著者

湯田 聴夫

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.26, no.1, pp.28-31, 2007-12-30

著者

池上 高志

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.4, pp.435-444, 2010-05-15

被引用文献数

1 2

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Here we will discuss the Self-organization of autonomous embodied motion [5]. Despite being a major characteristic of living systems, Self-movement has never been viewed seriously as a central element of living systems. In fact, most current research focuses on 'structure' rather than 'movement'. The theory of autopoiesis [35] also does not examine biological movement directly. However, Self-movement often appears as a central theme in robotics research, its self-organization has scarcely been studied. Self-organization of Self-motion is important, because We need to understand the natural intelligence of living systems, opposed to artificial intelligence, its diversity and its root in evolution. As a means for approaching these challenges in robotics research, we designed a simple chemical system that synthesizes embodied autonomous motion: a self-moving oil droplet. This chemical system provides a new example of self-movement besides biological systems and mechanical robots.

著者

木室 義彦 荒屋 亮 有田 大作 家永 貴史 村上 剛司 楊 智梅

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.27, no.8, pp.868-876, 2009-10-15

被引用文献数

2 2

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This paper proposes the concept of R-GIS, which is a geographic information system (GIS) for providing robots with environmental information. A GIS is capturing, storing, managing and presenting geographic information, and is used for various applications such as urban planning, agriculture, emergency response. In order to use a GIS for with robots, R-GIS is designed from two viewpoints. The first one is how to manage and present environmental information for robot planning. The second one is how to capture and store environmental information sensed by robots and sensors in the environment. In addition, we briefly show the system configuration of R-GIS, trends around GIS in Japan and an experimental field for R-GIS.

著者

勝又 聡一郎 安藤 規泰 神崎 亮平

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.27, no.7, pp.711-717, 2009-09-15

被引用文献数

1

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We developed an two-wheeled insect-sized robot to evaluate odor source localization algorithms of the male silkmoth (<i>Bombyx mori</i>). For fast and stable acquisition of sensory information, we used atmospheric ions and ion sensors to simulate odorant catch by insect olfactory sensors. The robot has two ion sensors, and a microcomputer for processing the sensor output, motor control and communication with external devices. To minimize its size, we used two modified servomotors as actuators, which enabled the robot to move in the same manner as a walking silkmoth. We used wheel encoders for feedback control of wheel position. The encoder output can also be used as a simulation of optic flow, which is necessary for speed and turn control in insect locomotion. By employing the robot, we evaluated the performance of two odor source localization models: one is based on the fixed programmed behavior of the silkmoth and a second model additionally includes course control dependent on the amplitude difference of ion sensor output on opposite sides of the robot. The results indicate that the robot based on the latter model was superior in ion plume tracking. Further evaluations of algorithms using our insect-sized robot will be an important tool for understanding behavioral mechanisms of orientation and applying them to robotics.

著者

矢野 智昭

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.3, pp.330-333, 1997-04-15

被引用文献数

9 2

著者

森岡 一幸 李 周浩 橋本 秀紀

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.1, pp.103-111, 2004-01-15

被引用文献数

4 5

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In the environment that human and robots coexist, mobile robots have to approach human as much as possible in order to provide human with physical services. For friendly interaction with human, the robots should be able to afford human-affinitive movement. In this paper, human following, as one of human-affinitive movements, of robot is achieved. The human following robot requires several techniques; the recognition of the target human, the recognition of the environment around the robot, and the control strategy for stable human following. In this research, Intelligent Space, where many sensors and intelligent devices are distributed, is used for the recognition of the target human and the environment around the robot. The control law based on the virtual spring model is proposed to mitigate the difference of movement between the human and the mobile robot. The proposed control law is applied to Intelligent Space and its performance is verified by computer simulation and experiment.

著者

橋本 秀紀 新妻 実保子 佐々木 毅

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.23, no.6, pp.674-677, 2005-09-15

被引用文献数

9 6

著者

原田 達也 川野 裕介 大谷 哲史 森 武俊 佐藤 知正

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.24, no.8, pp.933-944, 2006-11-15

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A portable radio device with ad hoc wireless networking function is realized as a platform of various physical and informational support systems based on"Lifelog Contents"that is the records of experiences in the daily life. Lifelog should be created by collecting various information through a wireless network without putting a strain on human and environment. By attaching sensors and actuators to our radio device, they can participate in the wireless network and effectively communicate with each other. We adopted Bluetooth as wireless communication technology that has such good features as low power consumption, sufficient data throughput, high resistance to noise and so on. Since our device has flexible multihop networking functions, it can construct a large scale network. We realized a prototype of Lifelog based electric appliances operational support system with our devices. Utilization of Lifelog reduces the burden for controlling a huge amount of convoluted electric appliances by constructing the probabilistic model of user's operational behavior and predicting user's successive operations. The system gives prediction results to the user and executes operations via the wireless network. Experimental results prove that the operational system is useful and developed device is sufficient performance for Lifelog based support systems.