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)

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
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

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
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

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)

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
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)

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
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)

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)

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)

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)

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
佐藤 光暁 福原 洸 佐藤 たまき William Sellers 石黒 章夫
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 2019 (ISSN:24243124)
巻号頁・発行日
pp.2P2-G04, 2019 (Released:2019-12-25)

The Plesiosauria are a group of aquatic reptiles lived from the Late Triassic to the latest Cretaceous. Their four limbs were modified into flippers, and there are no significant differences in the size and shape of fore and hind limbs. Due to this unique body structure, it has been assumed that plesiosaurs may have performed a unique swimming style. However, the adaptive locomotor patterns of plesiosaurs is still unclear. To reveal their locomotion, we introduce a perspective of control principle underlying adaptive animals’ behaviors. This is because producing adaptive behaviors that respond to surrounding environments and morphology could be indispensable for animals of any era to survive. In this approach, we develop extinct-animal-like robots and establish a control mechanism which can create physically rational locomotor patterns for unique morphologies of extinct animals through robot experiments. In this paper, we have constructed a platform as the first step to investigate coordination mechanism between flippers in plesiosaur locomotion.
著者
辻田 哲平 アルタンゲレル オドプレブ 堀合 泰生 安孫子 聡子 近野 敦
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-P12, 2017 (Released:2017-11-25)

Although how to perform tasks at disaster sites has been actively discussed, there is little debate on important issues such as how to deliver robots to disaster sites. We propose to drop a humanoid robot with a parachute from an airplane as one of the methods of delivering robots. In this research, we aim to establish a method to absorb the shock at the time of landing by whole body motion for preventing the damage to the robot. As an early stage of this research, drop tests using a small one-legged robot were conducted. From the viewpoint obtained by these experiments, we designed a parachute landing motion for the small robot heuristically and succeeded in reducing the impact force to 40%.
著者
庄司 観 秋山 佳丈 鈴木 将登 中村 暢文 大野 弘幸 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 2013 (ISSN:24243124)
巻号頁・発行日
pp._1A2-O04_1-_1A2-O04_4, 2013-05-22 (Released:2017-06-19)

This paper reports the potentiality of a semi-permanent integrated power source mounted on an insect. First, an insect biofuel cell(BFC) based on trehalase and glucose oxidase reactions which oxidize β-glucose obtained by hydrolyzing trehalose found in cockroach hemolymph(CHL) was developed and the maximum power density of 46 μW/cm^2 was obtained. Then, a self-circulation system of CHL powered by the dorsal vessel of a cockroach was developed for self-refueling of an insect-mountable BFC and connected to a cockroach with a flow channel. Finally, the electrochemical reaction of the anode was confirmed to take place when the chamber was mounted onto the cockroach. The results have enough potential to be applied for a micro battery of novel ubiquitous robots such as insect cyborgs in near future.
著者
土井 智晴 生熊 嶺 西山 敦 小林 正志 井口 武 伊能 崇雄
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 2010 (ISSN:24243124)
巻号頁・発行日
pp._1A1-C03_1-_1A1-C03_2, 2010 (Released:2017-06-19)

We develop termite prevention-of-the-breeding and extermination robots system. This robot system is applied technology of rescue robot system. The most important feature of this robot system is in collaboration with a worker to protect house from termites. Therefore, these robots are design according as safety guideline for service robots. The name of the robots system is named "mirubo". This research shows the method of evaluations for the mirubo III. The evaluations include main five examinations as mobility exam, velocity exam, illumination exam, injection exam and step-over-performance exam.
著者
矢羽田 彩乃 北川 雄一 大窪 歩 大久保 喬平 曽我 公平 大島 朋子 竹村 裕
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 2020 (ISSN:24243124)
巻号頁・発行日
pp.2P1-F12, 2020 (Released:2020-11-25)

This study shows the possibility of plaque detection by near-infrared hyper spectrum imaging (NIR-HSI) and machine learning without plaque stain. While the plaque stain shows where the plaque is, the plaque stain leaves color and may cause anaphylaxis. Near-infrared images are obtained from the plaque cultured teeth by NIR-HSI. RGB images of stained teeth are obtained and superimposed on the near-infrared image. The G channel of the RGB image is corrected to label the spectral data plaque or no plaque. Learning and prediction were performed by Artificial Neural Network. The proposed method showed that plaque could be detected without staining about 70% accurate.
著者
小島 友裕 遠藤 信綱 笹本 勇輝 石原 尚 堀井 隆斗 浅田 稔
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._2A1-X06_1-_2A1-X06_4, 2014-05-24 (Released:2017-06-19)

Several observational studies suggest that the infant vocalization towards language acquisition develops through interactions with caregivers. However, what kind of underlying mechanisms works and how caregiver's behavior affects on this process have not been made clear since it is very difficult to control the infant vocalization. In order to attack this issue, we built an infant-like vocal robot "Lingua" as a controllable vocal platform. Lingua has two features; infant-like voice and high articulation capability. The shape of its vocal tract resembles that of a 6-monthold infant based on the anatomical data, and this may contribute to the former. 7-DOFs for articulation in the tongue is realized by sophisticated design of linkage mechanisms inside miniaturized vocal tract for high capability of its articulation. Preliminary experiments showed that the robot succeeded in vocalizing almost the same fundamental frequency vowel-like utterances similar to that of an infant.
著者
但馬 竜介 伊藤 誠悟
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 2010 (ISSN:24243124)
巻号頁・発行日
pp._1P1-E02_1-_1P1-E02_4, 2010 (Released:2017-06-19)

This paper describes a concept and implementation of cone-shaped scanning LIDAR for mobile robots. It makes laser lines to scan from the top of a mobile robot for covering the whole robot body and measuring the floor shape. This concept enable mobile robots to detect terrain shape with superior and constant density. In addition, it can be used for safety sensor because the laser beams cover the robot to detect upcoming obstacles or human beings. An implementation and evaluation with a cone shaped mirror are shown.
著者
増田 容一 石川 将人
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 2018 (ISSN:24243124)
巻号頁・発行日
pp.1P1-F15, 2018 (Released:2018-12-25)
被引用文献数
1

In this paper, we develop a three-legged robot without a brain. This tripedal walking robot generates gait patterns adaptively and autonomously with no sensor, or controller. The key of this adaptability is to utilize a “weakness” of low-torque motors in each leg. Each motor drives leg joint and adjusts its own phase in response to a reaction force from the ground. As a result of the dynamics of body–motor–environment interaction, the weak motors sync each other.
著者
今井 健太 北村 光司 西田 佳史 竹村 裕 杉本 裕
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 2015 (ISSN:24243124)
巻号頁・発行日
pp._1A1-W02_1-_1A1-W02_4, 2015-05-17 (Released:2017-06-19)

A large number of injuries were occurred in Japanese school environments. To prevent school injuries, it is important to understand accident situations and prioritize intervention targets. However, it is difficult for a risk manager of each school to do this since each school does not have data enough for statistical analysis. In this study, we developed the system that allows to grasp serious accident situations by integratively utilizing data distributed in multiple schools. The developed system finds serious accident situations that a school risk manager should know as follows. First, the system registers situational feature vectors for accident situations data by using a textmining technology. Second using the database, it searches accidents situations similar to the actually occurred situations. Finally it shows most expensive accidents using medical cost data. The effectiveness of the system was confirmed using 5,817 school injury data.
著者
友永 聖樹 太田 俊介 神代 充 笹木 亮 池本 有助
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._2A1-G05_1-_2A1-G05_2, 2014-05-24 (Released:2017-06-19)

Robots are expected to play an important role in social welfare and service for older citizens. These robots are required to generate embodied interactions for greetings in order to be able to smoothly coexist and cooperate with humans. A hug motion is one of the important embodied interactions. Therefore, in this study, we develop a hug motion generation model based on analyses of human hug motions. In this model, a hug motion of a robot is generated by using a bell-shaped and a wave-shaped velocity pattern in which accelerations and velocities have smooth changes. As a result, this model can generate a hug motion similar to motions of humans.
著者
齋藤 款文 小林 稔彦 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 2015 (ISSN:24243124)
巻号頁・発行日
pp._1A1-M09_1-_1A1-M09_4, 2015-05-17 (Released:2017-06-19)

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 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 way of means of mobility for disaster sites. In this paper, in order to verify whether the robot can do Wheelie, it is studied that the robot model is created and simulated of wheelie in simulation soft. And, the prototype physical model of bike-trial robot for experiments is designed and constructed on a scale of two to five.