著者

古澤 美典 小豆澤 成治 鉢峰 拓海 槇田 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 2020 (ISSN:24243124)

巻号頁・発行日

pp.2A1-R07, 2020 (Released:2020-11-25)

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RoboMaster Robotics Competition is an international robotics competition, which is held in Shenzhen every year. Engineers studying all over the world design their robots and compete in the game field with each other. This competition is also famous for entertainment. In this paper, we compare cultures between RoboMaster and robocon, a traditional robotics competition. In addition, we describe several technical aspects on our robots and the meaning that engineering students join in this competition.

著者

依田 大輝 臼田 稔宏 重松 直哉 白鳥 智大 渡邉 孝信

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 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A2-18a1, 2016 (Released:2017-06-19)

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We have developed a flapping aerial robot equipped with a mechanism of movable gravity center, aiming at controlling the air attitude. We performed a series of flight experiment to investigate how the position of the center of gravity affects air attitude of the flying robot, which was analyzed by using high-speed camera. The pitch angle is successfully controlled by changing the position of the center of gravity. It is demonstrated that a dynamic change in the center of gravity during the flight caused a sudden stop. The results suggest a possibility to realize a seamless change in the fright modes between straight and hovering frights by the movable center of gravity mechanism.

著者

横溝 将晴 宮元 克弥 青木 岳史

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.1A1-S08, 2019 (Released:2019-12-25)

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In agriculture work, weeding work in paddy field has been physical burden and taken a lot of working time. As a solution of this problem, stopping the growth of weed by stirring the soil is affective. An example is "Duck farming" that ducks stir the mad by swimming in paddy fields. In this paper, we propose new robot that imitate snakes to stir the soil. A body segment of this robot is composed of three bending modules and two wire driving mechanisms, we approximate the serpenoid curve by curves without using straight lines.

著者

Ankit A. Ravankar Abhijeet Ravankar Takanori Emaru Yukinori Kobayashi

出版者

The Japan Society of Mechanical Engineers

雑誌

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

巻号頁・発行日

pp.1P1-D16, 2020 (Released:2020-11-25)

被引用文献数

1 1

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In this paper, we present a path planning approach for mobile robots using semantic maps. Semantic mapping is qualitative description of the robot’s surroundings, that aims to augment the navigation capabilities and task planning for robots operating in human-robot scenarios. It presents a knowledge layer over an existing map representation such that the knowledge information can be used by robots to learn tasks in a human friendly way. We present a planning scheme using such semantic maps, in order to improve the goal reaching capabilities of the robot in a task-planning scenario. Our method can integrates existing path planners into the topological graph planner that produces faster goal searches.

著者

樫原 輝 山口 友之

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.2A2-N08, 2019 (Released:2019-12-25)

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Subjective palatability is related to human’s mental condition. According to Ministry of Health, Labour and Welfare JAPAN, unusual feeling palatability is one of depression signs. Additionally psychogenic taste disorder is occurred by stress. Subjective palatability sensing is expected to make human realize own mental health condition at objectively. However, it is difficult for us to measure subjective palatability because it has differences among individuals and many factors. We try to elucidate the relation between subjective palatability and facial biological information in order to consider subjective palatability sensing method. We found 2 relation from our experiment by using taste stimulations for 4 subjects. 1st is between vertical EOG variance and intensity of subjective palatability. 2nd is iEMG(integrated electromyogram) and tasteless or tasty. We implement subjective palatability calculation program from them. The result of it using measurement data in this study experiment shows the possibility of subjective palatability sensing.

著者

小林 義光 浦崎 新八郎 三谷 祐一朗

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.2P2-J11, 2017 (Released:2017-11-25)

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This paper describes miniaturization of electromagnetic levitation equipment with a PLC (Programmable Logic Controller). In order to learn advanced control theory with PLC, we constructed electromagnetic levitation equipment with a PLC. However it is necessary to use a small electromagnet and measure a position of a floating object without a position sensor in order to realize electromagnetic levitation conveyance system as small educational tool. Therefore we tried to find a condition of miniaturization of the equipment. The feedback controller model is designed by the linear control theory and implemented into PLC. As results, we confirmed that it is possible realize stable levitation by using a small electromagnet of low resistance value and a hall element instead of the position sensor.

著者

浅見 優之介 伊藤 弘大 堀江 亮太 多田 充徳

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.2P1-L01, 2021 (Released:2021-12-25)

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In this study, we developed an EEG-based MR game based on the hypothesis that games can be made more interesting by reflecting the psychological state read from the EEG. The genre of the game was shooting. We designed the game in such a way that the size of the aim in the game is linked to the EEG feature value, and that focusing increases the EEG feature value and shrinking the aim increases the hit rate. The β/α ratio was used as the EEG feature, and we sought an effective way to introduce the β/α ratio into the game. By setting a threshold value using the average value of the β/α ratio of the subjects, and by performing a moving average process that divided the values above and below the threshold value, we were able to manipulate the size of the aim as desired with a probability of about 80%.

著者

高木 健 山崎 透 石井 抱

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 2011 (ISSN:24243124)

巻号頁・発行日

pp._1A1-J04_1-_1A1-J04_4, 2011-05-26 (Released:2017-06-19)

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This paper describes an oblique feed screw which can be used as load-sensitive continuously variable transmission (CVT). This CVT consists of a screw, spring, and bearing, and is remarkably simple and compact. Its reduction ratio change automatically in response to the load. We have developed the CVT of 13.8 [g]. We have experimentally verified that it can exert a very strong force of more than 100 [N], and the CVT can increase its reduction ratio form 20 to 45.

著者

斎藤 諒 三浦 純

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.1P2-G03, 2021 (Released:2021-12-25)

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Recently, many public facilities have been promoted to be barrier-free. In such a situation, an accessibility map that indicates areas that are drivable and areas that are not drivable, such as steps and slopes is very effective for wheelchairs and strollers. This research focuses on viewpoint planning for autonomous 3D measurement by a mobile robot in order to create an accessibility map. For efficient 3D measurements, the viewpoint planning should be done to reduce the size of unknown regions. We plan viewpoints based on the frontier, which is the boundary between the known and the unknown regions. We verify the effectiveness of the proposed method in simulation and by a real robot environment.

著者

楠 仁宏 嵯峨 宣彦 永瀬 純也 佐藤 俊之

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-K03_1-_2A1-K03_3, 2014-05-24 (Released:2017-06-19)

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In recent years, in consideration for danger of secondary disaster at disaster areas, development of rescue robots has been expected. We have paid attention to the mechanism of the peristalsis performed by earthworms and developed a robot using the mechanism. In this research, we developed a robot which recreates the motion of the muscles of earthworms using two kinds of actuators. The feature of this mechanism is that the robot is always able to move a fixed distance even if the space is narrow. In this paper, we propose the mechanism of the robot and consider the three moving patterns of the robot.

著者

梅谷 智弘 的場 瞳 榎本 佐知子 陸 鳴宇 北村 達也

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.1P1-Q01, 2022 (Released:2022-12-25)

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This paper describes a rapid development of a support robot system for a librarian service desk using a tabletop communication robot. It is important issues that the remote operation of the librarian service desk for the convenience of the visitors and the efficiency of the librarians. We developed a robot system that interacts with high accuracy and low latency in a short period of time using a cloud service for speech recognition and synthesis functions. We conducted participant experiments for tasks for the librarian service desk to evaluate the developed robot system. Experimental results showed the feasibility of the developed systems.

著者

清弘 智昭 渡邊 伸悟 幸田 道友

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 2000 (ISSN:24243124)

巻号頁・発行日

pp.64, 2000 (Released:2017-06-19)

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鞠やリング, 升などを回転する傘の上で回す傘回しは日本の伝統芸能の1つである。この傘回しをおこなうロボットの制御はすでにPID制御で実現可能となったがその理論的な解析は行われていなかった。ここでは鞠の空間的な位置によるポテンシャルエネルギーと鞠の回転による運動エネルギに着目して数学モデルを作成した。さらに, このモデルに基づき現代制御理論による制御のシミュレーション, 及び実機による実験を行った。

著者

神原 早紀 Liliana Villamar Gómez 三浦 純

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.1A1-T04, 2022 (Released:2022-12-25)

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Knowledge and contextual reasoning are essential to provide more efficient service robots that take into account diverse and continuously changing environments. In addition, since robots come into contact with humans, they need to have skills such as interactivity and language skills. In this paper, we propose a system for service robots that combines ontological knowledge reasoning and human-robot interaction to interpret natural language commands and successfully perform household tasks such as finding and delivering objects. We also apply this system to a real robot and verify its operation with commands that receive missing or unclear information, and clarify problems that occur in the real world.

著者

アハマドアティフ モハマドファウジ 鈴森 康一 大賀 淳一郎 後藤 達彦

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-L06, 2017 (Released:2017-11-25)

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This paper presents the intrinsic muscles of a Human-like Robotic Hand (HR-Hand), with a focus on dorsal interossei and palmar interossei muscles. Three links of palmar and four links of dorsal interossei muscles were fabricated according to human hand anatomy using 1.3 mm thin McKibben actuators. The experimental result using single index finger shows that the robotic hand could achieve palmar adduction and dorsal abduction and assist in flexion of fingers that imitate the actual function in the human hand.

著者

石川 拓実 山崎 洋一 村山 龍太郎

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.1P2-E15, 2020 (Released:2020-11-25)

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Atmosphere estimation system for family-type robot in living space is proposed to realize smart symbiotic space, where a three-dimensional atmosphere (atomosfield) is calculated based on multiple human emotions recognized from webcam video. The system is implemented with OpenCV and Dlib for face and emotion recognition, and tested for webcam arrangement. As a result of the experiment for thee human and two LOVOTs interaction in the living space, the proposed system has shown the highest detection of times of 380 at the level of 0.45[m] from the floor and the front (0 deg) of the users in face recognition. The proposed atmosphere estimation realizes casual and delicate support service for people in smart living environment.

著者

陳 俊百 倉鋪 圭太 大塚 真生 吉灘 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 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A1-08a6, 2016 (Released:2017-06-19)

被引用文献数

1 1

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Autonomous mobile robots have been an active research recently. Although laser range finder based navigation is known to work well in limited environment, expanding 3D geometric maps used in those methods to worldwide requires great effort. The same is true of maintaining them up-to-date. For this reason, we develop a visual navigation method using a topological map to reduce prior information and enhance scalability of the map. Topological maps only contain information about impressive places (i.e. intersections) and their linkage with roads. In the topological approach, the robot conducts three primal tasks: 1) road following between impressive places, 2) recognizing impressive places, and 3) taking action at impressive places (e. g., road selection). This paper proposes a visual place recognition method based on GIST descriptor and Support Vector Machine. The proposed method is evaluated at 13 point in outdoor walkways under several situations. As the result, the proposed method could identify all of 13 recognition points.

著者

荻島 諒也 米倉 将吾 國吉 康夫

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 2018 (ISSN:24243124)

巻号頁・発行日

pp.1A1-F16, 2018 (Released:2018-12-25)

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Free Energy Principle enables agents to understand the generative models of the environment, to have beliefs about their current states by perceptual inference, and to behave adaptively to environmental changes by minimizing their prediction errors. This work combines Free Energy Principle from computational cognitive neuroscience and Deep Learning from computer science, suggesting its potentials to be applied to the understanding of agents' adaptive behaviors in complex environments. As an example, this paper shows that an agent can behave adaptively when it is given an expert's goal-directed belief.

著者

江連 悠貴 井上 碩 牧野 泰才 篠田 裕之

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.1A2-12a5, 2016 (Released:2017-06-19)

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Recently, there is an increasing demand for the method of 3D rendering which achieves both reducing the processing load and keeping the quality of generated image. One of the solutions to this trade-off is ”foveated rendering”, in which rendering is simplified as far as human cannot perceive. In the most of the previous researches, they adopted foveated rendering using a heuristic and discrete evaluation which causes generated image to be unnatural for the human perception. Then we suggest the method of foveated rendering which continuously simplifies rendering based on spatial frequency response of human vision system. We experimentally show that proposed method enables to render images approximately three times as fast as maximum-resolution rendering.

著者

加藤 皓健 野村 健太 竹村 裕 曽我 公平 横田 秀夫 伊藤 雅昭 後藤 直人 西澤 祐吏

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.1A1-02a3, 2016 (Released:2017-06-19)

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This paper presents a needle shooting device at high-speed for the puncture treatment. Problems of the puncture treatment are a curving of needles and a moving of organs because doctors puncture a needle at low speed. We assumed that puncturing a needle at high-speed can solve these problems. The needle with thread is used for inserting treatment instruments into the body. Coil-gun and Railgun were used for the small needle acceleration. We measured relations between the voltage and the velocity on Coil-gun and Railgun. In the case of Coil-gun, the velocity do not monotonous increases as the value of voltage increases. In the case of Railgun, the velocity monotonous increase as the value of voltage increases. The experimental results show that a needle with thread can be accelerated by Coil-gun and Railgun.

著者

岩﨑 はるな 岩瀬 英治

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-K10, 2017 (Released:2017-11-25)

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We proposed switchable and holdable adhesive mechanism using a suction cup and a chamber with a check valve for skin-attaching device. For long-term use of skin-attaching electronic device, both high adhesion during wearing and low adhesion for peeling are required. The chamber induces suction pressure of the suction cup attached to skin. The check valve achieves to switchable and holdable adhesion without vacuuming during wearing by preventing backward flow. In this paper, we evaluated the adhesion force of the device using switchable adhesive mechanism and confirmed that the switchable adhesive mechanism has low and high adhesion.