著者

神田 睦月 徳田 献一 入部 正継 森田 成昭 齊藤 安貴子 八上 修一 小堀 亮

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)

巻号頁・発行日

pp.1A1-C02, 2017 (Released:2017-11-25)

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In recent years, aging of agricultural workers has progressed, attention is paid to ICT conversion of agriculture and Functional food with health maintenance effect. Raspberry contains a large amount of compounds that have a high health maintenance effect, which takes time and labor for cultivation. The purpose of this research is to construct an image processing system that recognizes color and position information in order to check whether harvesting of raspberries is possible under an indoor environment. As research contents, RGB values of colors of berries at various stages were calculated from spectral analysis results of berries and compared with actual fruit photos. We also classified colors in the image using machine learning and verified its accuracy.

著者

中岡 慎一郎 服部 静子 金広 文男 梶田 秀司 比留川 博久

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2007 (ISSN:24243124)

巻号頁・発行日

pp._1A1-A08_1-_1A1-A08_4, 2007-05-11 (Released:2017-06-19)

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This paper describes a LCP-based method for calculating contact forces in dynamics simulation of humanoid robots. The method is based on the algorithm proposed by Kokkevis, and we propose additional procedures that make the algorithm more practical in the reality and numerical stability. The simulation system is verified by experiments using humanoid robot HRP-2, and the result shows the efficiency and validity of the method.

著者

吉本 公則 佐藤 諒 石原 佑彌 山口 明彦 吉川 雅博 池田 篤俊 高松 淳 小笠原 司

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2014 (ISSN:24243124)

巻号頁・発行日

pp._3P1-S03_1-_3P1-S03_4, 2014-05-24 (Released:2017-06-19)

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It is important to realize the robot handling soft objects. In this paper, we treat a string as an example of soft objects. Humans can create various figures with a string; we aim to develop a robot system that can do such a thing. We employ the string figures as the task. We propose a framework with which a robot can play string figures with a human. Concretely, we develop a description method that can represent a variety of procedures of string figures to be played by a robot and a human pair. In order to implement this framework on a dual-arm robot, we also develop a method to decide centers of loops to be picked up using camera images. This paper demonstrates the experimental results with a dual-arm robot Hiro-NX.

著者

ジェレミー ジョン 本田 康裕 菅原 雄介 菊地 聡 小濱 泰昭

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)

巻号頁・発行日

pp.1P1-G06, 2017 (Released:2017-11-25)

被引用文献数

1

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In the previous paper, taking the non-linear Wing-In-Ground effect into consideration, the longitudinal dynamic model of Aero-Train after expanding it with a horizontal tail was developed for the purpose to clarify the relationship between the body frame design and its stability. This paper describes the development of the longitudinal dynamic model after expanding it with the lateral dynamic model.

著者

日浅 崇馬 佐藤 隆紀 風間 英気 明 愛国 下条 誠

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)

巻号頁・発行日

pp.2P1-K06, 2017 (Released:2017-11-25)

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Within limbs of typical animals, there are bi-articular muscle-tendon complex crossing two joints. In particular, it is known that the bi-articular muscle-tendon complex between hip joint and knee joint contributes to the dynamic motion such as high jumping and fast running. This realizes transfer of the torque between the two joints and storage and reuse of the elastic energy. In this paper, we introduce the muscle-tendon complex between hip joint and knee joint to the hind legs of the quadruped robot. In the vertical jump simulation, we confirmed that the mechanism enabled the leg to transfer the torque between the two joints and the leg with the mechanism realized higher jump than the one without it. A prototype of the mechanism has been fabricated also.

著者

齋藤 款文 重藤 文彬 高島 俊

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2014 (ISSN:24243124)

巻号頁・発行日

pp._1A1-D07_1-_1A1-D07_4, 2014-05-24 (Released:2017-06-19)

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As one field of sports, there is a game of bike trial. Riders operate mountain bicycles with various advanced techniques. The purpose of this research is to create a bike trial robot that can operate a mountain bicycle and perform various maneuvers such as jumping, bike wheelie and etc. The bike-trial robot is able to clear level differences and ditches which other wheeled type robots cannot clear such obstacles and also cannot intrude into narrow spaces. Therefore, it is possible to use the bike-trial robot in the means of mobility at disaster sites. In this paper, in order to control the robot, it is studied how to generate the joint trajectories for maneuvers, for example, Daniel or Wheelie. The prototype physical model of bike-trial robot for experiments is designed and constructed on a scale of two to five.

著者

大瀬戸 篤司 近野 敦 増子 弘二 小泉 卓也 内山 勝

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2012 (ISSN:24243124)

巻号頁・発行日

pp._2A1-H10_1-_2A1-H10_4, 2012-05-27 (Released:2017-06-19)

被引用文献数

1 1

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Quad rotor helicopters has simple mechanism and high stability. However, it is not easy for a quad rotor helicopter to fly long time and long distance, because most of the thrust is consumed to lift the body, and hence horizontal component of the thrust is small. In this paper, we present the experimental results of a quad rotor tail-sitter UAV (Unmanned Aerial Vehicle) which is composed of a quad rotors and fixed wing. Developed UAV can hover like a quad rotor helicopter, and can fly long distance like a fixed wing airplane. We designe attitude and altitude control system of the UAV for hovering. In order to verify the designed control systems, we conducted hovering control flight experiment. Additionally, we identified both the impact of propeller slipstream on yaw control and the solutions.

著者

富永 萌子 武村 泰範 石井 和男

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)

巻号頁・発行日

pp.2P1-K07, 2017 (Released:2017-11-25)

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In the soccer games, the behavior selection of each player changes depend on the positional relationship of the ball and the every player’s position on the field. The player closest to the ball near the opponent team’s goal aims at a shot, and the farthest player waits at a position where he can return at any time to his own goal to protect. Currently most of RoboCup soccer teams keep the same strategy during the game so that the result of game depends on the ability of each player like speed of robot, quality of localization, obstacle avoidance and ball handling. Next issue for the robot intelligence is collaborated team behavior and strategy. The autonomous soccer robots are required to behave cooperatively and make decision using environment and game situation. In this research, the team strategy is analyzed based on the positions of human player using Self-Organizing Map (SOM).

著者

小松 洋音 藤田 政宏 髙根 英里 野村 陽人 多田隈 理一郎 多田隈 建二郎 昆陽 雅司 田所 諭

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)

巻号頁・発行日

pp.2A1-A08, 2017 (Released:2017-11-25)

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In this paper, basic principle of active driving mechanism for omnidirectional wheel mechanism with a dual-rings is proposed. Active driving mechanism is composed of one outer helical gear and two dual-rings with internal helical gear. Proposed active driving mechanism is confirmed by developing basic prototype model.

著者

林 里奈 加藤 昇平

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A1-15a7, 2016 (Released:2017-06-19)

被引用文献数

1

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In recent years, the number of elderly people living alone has a tendency to increase due to the advancement of an aging society. Therefore, monitoring and support systems are necessary. In this paper, we developed the therapy robot having monitoring and support function under the consideration to make it not to be a surveillance system. And we evaluated whether it is a suitable size and weight for elderly people. As a result, the answer that size and weight are just right accounted for the majority.

著者

山田 泰之 風間 祐人

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2021 (ISSN:24243124)

巻号頁・発行日

pp.2A1-D08, 2021 (Released:2021-12-25)

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During overhead work, workers need to keep raising up upper limb weights. In that working posture, it is necessary to keep the arm with its own weight of approximately 2 to 4 kg. It is considered to be a cause of fatigue of arms and back. Therefore, in this research, we attempted to reduce the fatigue of the upward work by the weight compensation mechanism that balances the elastic force of the spring and their arms weight. It can compensate for their arms weight by the force of the spring in various postures of the arm at the time of work by using lightweight and highly accurate weight compensation mechanism authors developed. Furthermore, a horizontal multi-linkage mechanism that follows the movement of the shoulder and arm of a human is used. In this way, it is completely pure mechanical and simple structure without a motor and battery, and it can be expected effective in all upward works. The mechanism of self-weight compensation and the degree of freedom and parameters of the link mechanism were studied. For practical use, we discussed how to achieve both a simple structure, work movement followability, and mass productivity.

著者

重藤 文彬 松岡 美樹 高島 俊

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2013 (ISSN:24243124)

巻号頁・発行日

pp._2P1-Q08_1-_2P1-Q08_4, 2013-05-22 (Released:2017-06-19)

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As one field of sports, there is a game of bike trial. Riders operate mountain bicycles with various advanced techniques. The purpose of this research is to create a bike trial robot that can operate a mountain bicycle and perform various maneuvers such as jumping, bike wheelie and etc. In this paper, a mechanical analysis concerning individual techniques including bike wheelie and Daniel is presented. The analyzing method and the results of computer simulations are also presented.

著者

熊谷 正朗 玉田 薫

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2007 (ISSN:24243124)

巻号頁・発行日

pp._2A1-J02_1-_2A1-J02_4, 2007-05-11 (Released:2017-06-19)

被引用文献数

1

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The Roller-Walk is one of methods for locomotion of walking robots. It requires only passive wheel(s) on each of legs, and periodic motions of legs generates driving force. Successful results were shown in quadruped robot, and some trials had also been carried out on biped robot. The biped roller-walk had a problem in following trajectories because its 'skate' tends to go straight while trajectory curves. This paper proposed one of successful method for biped roller-walk. The robot use a special type of trucks whose curvature can be changed only by inclining the body of the truck. The experiments showed effectiveness of our mechanism in roller-walk on straight, right turn, and left turn trajectories.

著者

本田 雅文 牛見 宣博

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2018 (ISSN:24243124)

巻号頁・発行日

pp.2P1-A13, 2018 (Released:2018-12-25)

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For home robots, functions such as support, dialogue, guidance, and hospitality with human beings are expected while safely moving in coexistence environments of the human being, such as home environments or the like. However, there arise problems concerning hugging on the home robot and falling down of the home robot accompanying it. This paper develops a standing up mechanism during falling down as a wheeled home robot function capable of smooth service.

著者

伊藤 秀朗 室岡 雅樹 矢野倉 伊織 野沢 峻一 岡田 慧 稲葉 雅幸

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2018 (ISSN:24243124)

巻号頁・発行日

pp.2A2-G12, 2018 (Released:2018-12-25)

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In daily lives, it is necessary for robots to execute cooperative tasks with humans. Unlike tasks in factories, household chores don't have regular orders between each chore. The difficulty in such works is that the robot is expected to take adequate actions according to the human needs. In this paper, we proposed a system for executing cooperative tasks where robot motions are decided by imitating human motions, and the robot activates those motions according to the human aural instructions.

著者

槇田 諭 前田 貴信

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)

巻号頁・発行日

pp.2A1-L10, 2017 (Released:2017-11-25)

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This paper investigates motion characteristics of the wheeled inverted pendulum robot, which is a commercial product for tele-communication and has a built-in stabilizer. We are motivated to utilize this type of telepresence robot for scientific communication with children. For safe activities, accidents caused by the robot, for example, collisions and overturning, must be avoided. In this paper, we examine behaviors of the wheeled inverted pendulum under several conditions: changing floors, transmission speed for control, and frequency of input of remote control. In our experiments, we did not encounter overturning of the robot during the robot moved under these experimental conditions. Of course, the robot turns over when someone pushes or pulls the robot with excessive external forces that breaks the stability of the inverted pendulum.

著者

青木 祐 池田 憲亮 伊藤 友孝

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A1-08a4, 2016 (Released:2017-06-19)

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The maintenance and management of mountain forest needs special knowledge and skill, and contains various dangerous tasks. Thus, the shortage of workers causes the problem of increasing unmanaged forests. In this research, we are developing “Teleoperated mountain forest maintenance robot system”, which assist human work semiautonomously. In this paper, we will discuss and propose a performance improvement method in recognizing process of the surrounding objects in the mountain forest environment. The experimental results illustrate the validity of the proposed method.

著者

上杉 薫 秋山 佳丈 浅野 豪文 秋山 義勝 大和 雅之 岡野 光夫 森島 圭祐

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2014 (ISSN:24243124)

巻号頁・発行日

pp._3A1-I02_1-_3A1-I02_3, 2014-05-24 (Released:2017-06-19)

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In this study, we measured mechanical properties of cell sheet by using uniaxial tensile test system which we developed. We applied kelvin model (viscoelastic model) which applied single cells for deriving mechanical properties such as elastic modulus and viscous modulus. Mechanical properties of Fibroblast (NIH-3T3) cell sheet and myoblast (C2C12) cell sheet were derived by fitting equation which related kelvin model to measured stress-strain curves of cell sheet. Furthermore, for confirming drag response on cell sheet mechanical properties. By deriving mechanical properties of cell sheet, we confirmed mechanical properties of cell sheet which are different from that of single cells.

著者

石井 啓範 冨田 邦嗣

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2006 (ISSN:24243124)

巻号頁・発行日

pp._2A1-B07_1-_2A1-B07_2, 2006 (Released:2017-06-19)

被引用文献数

1 1

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A lot of work machines based on hydraulic excavators were developed for various complex work fields like dismantlement, industrial waste disposal, etc. And such kinds of work machines also play important parts in disaster recovery such as earthquakes, typhoon, and flood. We think that an adaptation to more complex works will be requested in the future. To achieve more complex handling work function, we developed a new type of work machine called "ASTACO". ASTACO features at including two fronts and is based on 7-ton class hydraulic excavator. A new operation system can let the operator to handle the two fronts with his two hands freely and intuitively at the same time. In this paper we report summery and key function of ASTACO.

著者

美馬 一博

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2022 (ISSN:24243124)

巻号頁・発行日

pp.2P2-R05, 2022 (Released:2022-12-25)

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We are teaching "Fundamental Experiment on Mechatronics". In this experiment, we tried to have students prepare for the experiment by watching a short lecture video, which explains the principle of the experiment, before the day of the experiment together with reading the instruction manual. As a result, we found that while some students were able to gain sufficient understanding, others either did not watch the videos or skipped them, and thus did not fully understand the experiments. In this study, we made a video explaining the principle of the experiment using the “Yukkuri Kaisetsu” slow commentary technique often used on YouTube, etc. The students were asked to watch the video voluntarily, and the results of a questionnaire survey on the ease of understanding were reported.