著者

増田 殊大 杉松 治美 小島 淳一 西田 祐也 巻 俊宏

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.1A1-B03, 2021 (Released:2021-12-25)

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Most of the conventional hydrophones (underwater microphones) use PZT ceramic as the material, and there are problems such as variation in sensitivity, the necessity of high-magnitude amplification and high cost.We developed and evaluated a low-cost, easy-to-use MEMS hydrophone that is waterproof and pressure-resistant while maintaining the bandwidth of a commercially available MEMS microphone.

著者

田島 貴一 矢木 啓介 森 善一

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.2P3-I01, 2021 (Released:2021-12-25)

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We have developed an impulsive motion generator mimicking Alpheus brevicristatus. Alpheus brevicristatus can close their claw at the speed that generates plasma shock waves in water. We employ their unique joint structure called the cocking slip joint and design an artificial actuation mechanism with a passive elastic element to induce the impulsive motion through storing and releasing the elastic energy; rather than adopting their musculoskeletal structure as it is. Our design approach allows the developed device to generate the impulsive motion repeatedly by a single actuator with a small actuation force compared with the stored elastic energy, which is verified through experiments.

著者

飛田 和輝 金森 哉吏 大久保 祐人 小川 博教 杉田 澄雄

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 2011 (ISSN:24243124)

巻号頁・発行日

pp._1P1-E08_1-_1P1-E08_4, 2011-05-26 (Released:2017-06-19)

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We have proposed a new three dimensional environment recognition method using conical scanning distance measurement for 3-D mobile robot that can walk up and down the stairs. This report describes the method to recognize the stair by applying the conical scanning method. The procedures are as follows. 1) Recognizing the positions and postures of multiple regions on 3D-TOF-camera. 2) Linking neighboring regions by using image processing. 3) Extracting the step based on height information. 4) Calculating the position, direction and width of the stair. We devised the algorithm, implemented, and experiments were carried out.

著者

槙 俊明 野沢 峻一 神崎 秀 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 2008 (ISSN:24243124)

巻号頁・発行日

pp._2A1-D18_1-_2A1-D18_3, 2008-06-06 (Released:2017-06-19)

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Humanoids are expected to expand their playing field outside the laboratory. To widen their appeal, environment contaction works such as door opening, object transport are something that must be done. Researches on environment contaction motion s that have been done are often premised physical parameters about unknonw objects. However, to manipulate unknonw objects in the unknown environment, acquisition of target's physical model by humanoids will be needed. In this paper, we firstly categorize model estimations required for unknonw object operation. Then, we estimate physical model of a door offline. And using this model, we realize door opening motion by HRP2-JSK.

著者

赤井 直紀 尾崎 功一

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._2A2-M05_1-_2A2-M05_4, 2015-05-17 (Released:2017-06-19)

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A SLAM (Simultaneous Localization and Mapping) problem is major in mobile robotics field about past two decades. In order to solve the problem, a camera and a LIDAR (Light Detection and Ranging) are generally used. In contrast, this paper proposes a new solution for the problem using a magnetic sensor. Our method is simple since an observation model in RBPF (Rao-Blackwellized Particle Filter)-SLAM is replaced by that of a magnetic sensor. However, magnetic sensor-based SLAM has a problem that is so narrow measurement range of the sensor. To deal with the problem, we use a heuristic method to determine surround magnetic field. We conducted experiments in actual outdoor environments including loops and verified its accuracy by using a LIDAR. Through the experiments, it was shwon that our method can close loops and build consistent maps; magnetic and geometric.

著者

高原 駿 望山 洋

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._1P1-F07_1-_1P1-F07_4, 2013-05-22 (Released:2017-06-19)

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In this paper, we propose a swimming robot driven by a water jet pump with an active exible nozzle for steering. The proposed robot is of 220[mm] in length and consists of a slim body for entering a narrow space. Experimental results using a prototype of the proposed swimming robot show that the robot not only can swim forward at the average velocity of 0.44[m/s] corresponding about 2[BL/s](body length per second), but also can turn underwater at the average angular velocity of 156[deg/s] with a small turning radius of 160[mm].

著者

北島 一輝 飯塚 浩二郎 藤原 伸也 河村 隆 鈴木 智

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-U04_1-_1A1-U04_2, 2015-05-17 (Released:2017-06-19)

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Recently, volcano activation is increasing. Accordingly, various disasters occur. Among them, a debris avalanche has heavy effect for people who are living around volcano. Therefore, the observation method to surveillant volcano surface is necessary. In this study, we focus on to surveillant amount of volcano ash using excavator. Light and small observation tool is better than heavy tool in case of volcano surface. Because of we would like to move the observation tool to upper position of volcano surface. If the observation tool is light and small, the autonomous carrier like multi copter can move it. Our group develops light small excavator by slider mechanism and rotary drilling.

著者

高野 一輝 大野 和則 鈴木 高宏 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 2015 (ISSN:24243124)

巻号頁・発行日

pp._1A1-I09_1-_1A1-I09_3, 2015-05-17 (Released:2017-06-19)

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We had developed the 3D shape measurement method using the robot technology to measure underground pipes.And we got the rough shapes of pipe. Our new aim is the accuracy improvement of the 3D shape measurement.Gyroscope on the robot is used to estimate robot position.Hence the specification of gyroscope is greatly related to accuracy of measurement.In this paper, to improve the accuracy of measurement, we propose a method to choose a gyroscope which can satisfy the target accuracy. We evaluated the measurement error caused by specification of gyroscope by simulation, and we found the index of specification of gyroscope.

著者

島野 諒 戸森 央貴 宮永 隆史 中村 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 2014 (ISSN:24243124)

巻号頁・発行日

pp._2A1-X01_1-_2A1-X01_4, 2014-05-24 (Released:2017-06-19)

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Recently, the development of mobile robots is actively pursued. These robots are expected to have high mobility, allowing them to work in various scenarios such as rescue and exploration. Therefore, we focused on the hexapod robot for stable operation in an irregular terrain. We developed a leg using the parallel linkage mechanism and pneumatic rubber artificial muscles, and constructed a model of the legs. The model reproduced the experimental result. Then, we developed improved hexapod robot which can support its weight mechanically using these legs. Furthermore, the robot is assembled all system for walking. Also, we demonstrated that the robot could walk with high load of 300[N].

著者

安藤 真吾 戸森 央貴

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.1P2-H10, 2018 (Released:2018-12-25)

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Pneumatic rubber Artificial muscle (PAM) has high back drivability and high output. However, PAM's Repetitive durability is low and not less well understood. Observing broken PAM which was made of carbon and latex rubber, there were breakage of fiber in it. Thus, we focused Aramid fiber that has high maximum shearing stress and abrasion resistance. Then, we compared load characteristics and repetitive durability between PAMs using carbon fiber and aramid fiber. Experimental result showed that load characteristic of PAM using aramid fiber is equal to PAM using carbon fiber. Furthermore, repetitive durability of PAM using Aramid fiber is 6times better than one using carbon fiber.On the other hand, we tried to develop reparable PAM using thermoplastic elastomer (TPE). And load characteristic experiment and repetitive durability experiment were conducted. As a result, load characteristic of PAM using TPE was equal to previous PAMs. For future works, we are planning to simulate PAM from the viewpoint of material mechanics. Meanwhile, we are planning to improve repetitive durability of PAM using TPE.

著者

勝 玄毅 奥川 雅之

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._2A2-U02_1-_2A2-U02_3, 2014-05-24 (Released:2017-06-19)

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This paper describes results of the accuracy of the environmental mapping by Hector SLAM that only using the distance data measuring by laser range finder. Generally, the laser range finder and the Inertial Measurement Unit will be used at the technic of Simultaneous Localization and Mapping (SLAM). It is said that realization is possible only with a laser range finder as for the SLAM. The results of experimentation was evaluated the accuracy of the environmental mapping.

著者

桑原 宏介 中島 求

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-J05_1-_3A1-J05_4, 2014-05-24 (Released:2017-06-19)

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The objective of this study was to measure thrust for crawl stroke by using a humanoid robot. The swimming humanoid robot had 20 servo motors for the whole body and could perform basic human swimming motion except for the breaststroke. A driving mechanism to move the humanoid robot in pitching, heaving and rolling motions was installed. Force sensors and a circulation tank which could make water flow was used for the measurement system. The thrust was measured when the robot performed standard crawl stroke motion at 9.0 s cycles. The positive thrust could be measured while the arm was paddling the water. It was also confirmed that insufficient recovery stroke generated the negative thrust.

著者

矢崎 由梨香 井上 淳 花崎 泉

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-P03_1-_3A1-P03_2, 2014-05-24 (Released:2017-06-19)

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Currently, the number of patients with low back pain continues to increase due to the aging society. My purpose is that find a motion to reduce the load to waist from the difference in the movement of the body between lumbar pain patients and healthy subjects, in the operation of squat. I get the coordinate data of the body, to shoot in motion capture the movement of the body when you are doing an operation subject squat. Since the result of performing the analysis using the principal component analysis, the difference comes into the angle of the ankle and upper arm, I will examine the load to waist and this difference.

著者

池上 怜士 田邊 頌平 釜道 紀浩

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._1P2-O03_1-_1P2-O03_4, 2014-05-24 (Released:2017-06-19)

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This paper describes a motion control method for a capsule-type robot which consists of an outside capsule and a movable inner mass. To realize efficient motions, we propose a motion algorithm utilizing friction characteristics and collision phenomena. Proposed methods are investigated by theoretical analysis and numerical simulations.

著者

古賀 俊介 吉留 忠史 河原崎 徳之

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 2010 (ISSN:24243124)

巻号頁・発行日

pp._2A1-D28_1-_2A1-D28_4, 2010 (Released:2017-06-19)

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This paper proposes the method to analyze the musical intervals from recorded musical data by using FFT. We aim to build a system that teaches songs to a robot. Our method was able to reproduce a recorded monotonous song by Beep sound as a result to transform the song into frequency every 50msec. As a result of the experimentation of frequency analysis with the monotonous music and the song of voice synthesis, the small error was measured to sounds of more than 145[Hz].

著者

熊本 光 白倉 尚貴 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 2020 (ISSN:24243124)

巻号頁・発行日

pp.1A1-B11, 2020 (Released:2020-11-25)

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Marine debris causes deleterious effects on the environment and economy. It is still a difficult task to efficiently collect marine debris floating on the sea surface. We previously proposed a semi-automatic collection system of marine debris using an underwater robot. However, the success rate is low due to the complicated operations required to collect marine debris. In this research, we propose to use a suction mechanism to simplify the operation of collecting marine debris that enables the underwater robot to collect just by approaching it. The experiments verify the effectiveness of the proposed system with respect to the success rate and time of collection.

著者

西城 直人 渡辺 将広 信時 正嗣 鈴木 信太郎 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 2020 (ISSN:24243124)

巻号頁・発行日

pp.1A1-I08, 2020 (Released:2020-11-25)

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Various researches are conducted to reduce the influence of winds and waves for safer work environment on offshore operations and to negate the tilt due to acceleration of vehicle for improved comfortableness. Conventional researches have adopted active mechanism like six-degree-of-freedom parallel mechanism that absorbs the sway by constantly keeping its motion base horizontal to suppress such influences. However, current swing machines require vast areas to be installed since their swing mechanisms are large and their bottom structures are thick. Here, we propose a new swing mechanism “Omni-Swing” which is relatively thin and can be applied to curved surfaces. The mechanism is embodied to a real machine and experiments are conducted to verify its basic characteristic in this paper.

著者

近藤 修平 Luis CANETE 高橋 隆行

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._1P2-G03_1-_1P2-G03_4, 2015-05-17 (Released:2017-06-19)

被引用文献数

1 1

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In this paper, a control method for controlling the dual arm manipulator of the inverted pendulum type assistant robot while performing object hand over is presented. To reduce the complexity and increase the robustness, a partitioned control that separates the body and arm control while treating the other as a disturbance is proposed. To estimate the disturbances, the ESO is implemented on both subsystems. The development of the control and results of actual tests are presented.

著者

近藤 真阿久 竹村 裕 築地原 里樹 下田 晋寛 曽我 公平 須賀 一博 頼 威任 キム スンミン 簡野 瑞誠 宇尾 基弘

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-D09, 2020 (Released:2020-11-25)

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In recent years, the demand for orthodontic treatment has been increasing, but the change in the moment due to the movement of the teeth during orthodontic treatment has not been measured and has not been quantitatively evaluated. The purpose of this study is to develop a three-tooth device with a built-in 6-axis force sensor and to evaluate orthodontic treatment quantitatively. We have developed a device that can change the angle of the central tooth using a stepping motor to reproduce the movement of the teeth during orthodontic treatment. We verified whether wires needed to be reattached during orthodontic treatment using this device. As a result, it turned out that a larger moment can be applied to the teeth by reattaching the wire during orthodontic treatment

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)

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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.