著者
米田 完 飯山 浩幸 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.14, no.6, pp.881-886, 1996-09-15 (Released:2010-08-25)
参考文献数
14
被引用文献数
11 11

This paper discusses an algorithm to make quadruped machine walk dynamically and omnidirectionally following a real-time command. To produce a smooth body motion in a high speed walk, we introduce a new gait named “Intermittent trot gait, ” in which four-leg-supporting phase and two-diagonal-leg-supporting phase appear in orders. In this gait, pitching and rolling motion of the body is able to be suppressed to smaller level than that of the other gaits such as pace, bounce, and expanded trot gait, which is an intermediate gait of the crawl and the trot. Because, dynamic effects of the swinging legs are almost canceled each other. To realize the “Intermittent trot gait, ” new algorithms to decide a landing point and to plan a motion of the body are discussed. A landing point is decided by considering an operator command and also a conversion to the standard leg formation. On the other hand, a motion of the body is planned to produce a dynamic stability, and to follow a speed and direction command. By using these algorithms, a mechanical vehicle TITAN VI could walk omnidirectionally, smoothly following a real-time operator command.
著者
藤原 清司 金広 文男 梶田 秀司 横井 一仁 齋藤 元 原田 研介 比留川 博久 五十棲 隆勝
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.427-434, 2005-05-15 (Released:2010-08-25)
参考文献数
13
被引用文献数
2 3

This paper investigates a method through which a human-size humanoid robot can fall over backwards safely. Squatting-extending motion of legs reduce impact of falling and shock-absorbing parts of the robot keep the force at a permissible range. The robot could stand up itself again after falling.
著者
比留川 博久
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.1, pp.6-9, 2004-01-15 (Released:2010-08-25)
参考文献数
2
被引用文献数
5
著者
伊藤 宏司
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.11, no.3, pp.320-325, 1993-04-15 (Released:2010-08-25)
参考文献数
30
被引用文献数
4 5
著者
大西 献 大西 典子 藤田 淳 原 浩二 橋本 達矢
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.9, pp.816-824, 2014 (Released:2014-12-15)
参考文献数
23
被引用文献数
4

In Fukushima Daiichi nuclear power plant in which the accident occurred by the East Japan Earthquake in 2011, in order to avoid radioactive exposure of workers, many robots are used. However, it seems that the nuclear peculiarity and the singularity of Fukushima obstruct ordinary robot technicians' entry. In order to make these barriers low, we explain how the nuclear power plant company is designing the robot, and argue also about the difficulty of mechatronics.
著者
小水内 俊介 小貫 督仁 呉 孟鴻 辻田 哲平 近野 敦
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.7, pp.548-556, 2017 (Released:2017-10-01)
参考文献数
30
被引用文献数
1 3

This paper presents a walking control system for biped robots on loose soil. The proposed method realizes long time continuous walking and stable stopping on sand. Characteristics of the proposed system is landing position (modification) control. In this control, as a balance index, amount of CoM position modification is utilized. Considering past modification history, amount of current landing position modification is decided. In oder to evaluate the proposed control system, the small humanoid robot performed walking, stepping and turning on sand.
著者
淺間 一 佐藤 雅俊 嘉悦 早人 尾崎 功一 松元 明弘 遠藤 勲
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.249-254, 1996-03-15 (Released:2010-08-10)
参考文献数
9
被引用文献数
11 33

A new driving mechanism for holonomic omni-directional mobile robots is designed, which enables 3 DoF (degrees of freedom) motion control in two dimensional space by three correspondent actuators in a decoupled manner without redundancy. The kinematics of the omni-directional mobile robot is also analyzed to prove that driving motion by the actuators is decoupled by the developed mechanism into 3 DoF motion of the robot. A prototype of the omni-directional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. Finally, the performance of the prototype robot is shown through experimental results, by which the working of the designed mechanism is verified.
著者
森 政弘
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.1001-1004, 2009 (Released:2011-11-15)
参考文献数
2
被引用文献数
1
著者
國吉 康夫 寒川 新司 塚原 祐樹 鈴木 真介 森 裕紀
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.4, pp.415-434, 2010 (Released:2012-01-25)
参考文献数
82
被引用文献数
4 4

Early human motor development has the nature of spontaneous exploration and boot-strap learning, leading to open-ended acquisition of versatile flexible motor skills. Since dexterous motor skills often exploit body-environment dynamics, we formulate the developmental principle as the spontaneous exploration of consistent dynamical patterns of the neural-body-environment system. We propose that partially ordered dynamical patterns emergent from chaotic oscillators coupled through embodiment serve as the core driving mechanism of such exploration. A model of neuro-musculo-skeletal system is constructed capturing essential features of biological systems. It consists of a skeleton, muscles, spindles, tendon organs, spinal circuits, medullar circuits, and a basic cortical model. Models of self-organizing cortical areas for primary somatosensory and motor areas are introduced. A human infant model is constructed and put through preliminary experiments. Some meaningful motor behavior emerged including rolling over and crawling-like motion. The results show the possibility that a rich variety of meaningful behavior can be discovered and acquired by the neural-body dynamics without pre-defined coordinated control circuits.
著者
広瀬 茂男 福田 靖 菊池 秀和
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.3, no.4, pp.304-324, 1985-08-15 (Released:2010-08-25)
参考文献数
17
被引用文献数
9 14

歩行機械は, その高い自由度を生かすことにより, 高度の運動性能と, 対地適応性を発揮してゆくものと期待される.これまで歩行機械の歩容制御については, いくつかの基本的考察がなされている.しかし, 制御システム全体の構造とその中の主要なサブシステムの機能を有機的に連携づけ総合的に論ずることは, まだほとんど行なわれていない.本研究は, 筆者らが開発を進めている4星歩行機械を対象にして, その制御システムを論ずるため, まず問題の設定と基本となる概念の設定を行なう.ついでレベルA, B, Cと名付けた3つの階層からなる制御系の全体構造を明らかにすると共に, 特にレベルBに属する3つのサブシステム, つまりxy座標での歩容決定, z座標での歩容決定, 振り上げ振り降しも考慮した遊脚の軌道生成についての詳細な検討を行う.さらに基本的運動調整系を行うレベルCについて, その具体的構成法も論ずる.最後に, それらの有効性は計算機シミュレーションで確認するとともに, 試作した歩行機械TITAN IIIのジョイステックコントロールによる全方向移動, 凹凸面での適応側行歩行などの歩行制御実験により検証する.
著者
矢口 裕明 溝花 弘登 堀 慎太郎 笹渕 一宏 長濱 虎太郎 齋木 拓也 椎木 靖人 稲葉 雅幸
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.37, no.4, pp.319-329, 2019 (Released:2019-05-23)
参考文献数
40
被引用文献数
1

In this paper we describe a continuous development and evaluation of multi purpose platform robot AERO via robot competitions. We participated to 4 robot competitions requiring different task with human size semi humanoid robot AERO, has same basic structure. For many types of competition tasks, the robot was designed as simple, robust, small and lightweight, furthermore it can be change parts for another situation of task. The versatility of the robot platform was increased from continuation of task analyisis, consideration of requirements, and implementation. In this paper we describe a continuous integration of robot design, cycle of task analysis, implemetation and integration, via robot competition.