著者
山根 章生 武信 誠一 井上 大輔 吉田 誠一 小崎 昌義 藤本 洋介 伊与田 健敏 崔 龍雲 久保田 譲 渡辺 一弘
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
巻号頁・発行日
vol.2003, pp.65-66, 2003

汎用超音波トランスデューサは, その周波数特性より中心周波数40kHzより±5kHzで約20dBの減衰が生じる。これらの送受信器特性を考慮し, スペクトル拡散音波の信号伝搬特性を実験より求め, 拡散要素である設定について検討を行う。
著者
土屋 晃佑 妻木 勇一 森 恭一
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
巻号頁・発行日
vol.2017, pp.2A2-P03, 2017

<p>Bio-logging method obtains information by a data logger attached to the body of animals for ecological survey. It has great potential to reveal various mysteries of animals. Some researchers of sperm whales try to get the video data of preying sperm whales through the bio-logging, but no one has succeeded it. They can conventionally put a data logger only on the back of sperm whale. It is difficult to get video data around the sperm whale's mouth because of darkness of deep sea. To tackle this problem, we have introduced a "Whale Rover" which is able to move along the surface of sperm whale, and provide mobility for the data logger. Until now, we developed several prototypes of whale rover. In this paper, we introduce a new prototype which is expected to adopt curved surface.</p>
著者
熊田 大輔 原 祥尭 坪内 孝司 皿田 滋
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
巻号頁・発行日
vol.2015, pp._2A1-V08_1-_2A1-V08_4, 2015
被引用文献数
1

This paper proposes road recognition using a laser scanner. In this study, road attributes are recognized by using a laser scanner is mounted on the robot. Road attributes are recognized using road surface shape and received light intensity that can be obtained by measuring a laser scanner towards the road surface. To recognize several road attributes using the two types of measurement data, feature values are calculated. And each road attribute is modeled by Gaussian distribution using the feature values within a certain range. Recognition the road attributes are based on the Mahalanobis distance between each model and the feature vector calculated from the measurement data. Using this method, We experimented at outdoor.
著者
原 祥尭 坪内 孝司 油田 信一
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
巻号頁・発行日
vol.2012, pp._2A1-L09_1-_2A1-L09_4, 2012

We developed an acquisition method of maps and paths using ROS stacks for autonomous navigation by teaching playback framework. There are many strategies for autonomous navigation. In teaching playback framework, it is not a problem that maps are distorted continuously. However, if the maps are accurate, it is useful for human interfaces and extending the autonomous navigation area. Recently, the ROS platform has been used actively around the world. In ROS stacks, there is slam_gmapping stack that provides Grid-based SLAM using Rao-Blackwellized Particle Filter. Therefore we are trying to use ROS stacks for acquisition of maps and paths, and to evaluate its effectiveness for autonomous navigation.
著者
佐藤 貴英 八重樫 和之 鈴木 翔太 渡辺 裕喜 平井 明礼 加納 剛史 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
巻号頁・発行日
vol.2012, pp."2A1-K03(1)"-"2A1-K03(3)", 2012-05-27

Autonomous decentralized control is a key concept for building robots capable of exhibiting adaptive behavior under unpredictable real world constraints. However, it is still unclear how to generate non-trivial macroscopic functionalities of an entire system using only locally available information. In this study, we focus on the slithering locomotion of snake-like robot as a case study, and show an answer to this problem based on variational principle and reaction-diffution equation.
著者
寺田 耕志 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
巻号頁・発行日
vol.2006, pp."2P1-B26(1)"-"2P1-B26(4)", 2006

This paper proposes a new method for progressively leading the solution of the ZMP equation by exploiting smoothing with the particle filter. The advantages of this method are high connectivity, wide variations of trajectories and nonlinearity. And we show three numerical experiments in order to test proposed method.
著者
多田隈 建二郎 広瀬 茂男
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
巻号頁・発行日
vol.2003, 2003
被引用文献数
1

人が乗れるほどの耐荷重性をもつ薄型の全方向移動車両用に当研究室で開発したOmni-Discを, よりシンプルで, モーメントに耐えやすい構造を持った段差踏破可能型全方向車両用のOmni-Discへと改良した。
著者
清水 昌幸 石綿 陽一 尹 祐根 加賀美 聡
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
巻号頁・発行日
vol.2012, pp."1P1-P05(1)"-"1P1-P05(4)", 2012-05-27

This article discusses how to construct a realtime robot control system on RT-Middleware with ART-Linux, which supports AMP (Asymmetric Multi-Processing). As an example, a force feedback control system is implemented by means of multiple RT-Components that require realtime synchronous execution. There are some different system formations depending on the processor and process on which each component runs. The realtime performance of the system is evaluated based on experimental results for several formations.
著者
小林 宏 所 晃史
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
巻号頁・発行日
vol.2010, pp."1A1-D28(1)"-"1A1-D28(3)", 2010

Astronauts are able to stay long-term in space because of space development. In long-term stay, the collection of excrement is one of main issues due to difficulty of collecting excrement under microgravity, odor in spaceship, and noise of exhaust fan. Therefore, in this paper, we propose Insert-type Toilet that has an openable and closable apparatus and it is used by being inserted to the anus. Advantages of it is collecting excrement without defecating to outside and preventing diffusion of odor. In order to verify its capability, we also develop Defecation Robot that duplicates organs and movements of muscles around the pelvis for mimicking human-like defecation. Furthermore, we verify defecation and collecting capability of Defecation Robot and Insert-type Toilet by conducting the experiment.
著者
ハン ビンイク 水内 郁夫
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
巻号頁・発行日
vol.2014, pp._1A1-O03_1-_1A1-O03_4, 2014

This paper focuses on making a table tennis robot cheaper and smaller. Unlike previous studies that used high-speed cameras to predict ball's trajectory, we propose using a depth camera (cheaper than a high-speed camera) to measure ball's velocity and position, and predicting ball's trajectory by using rotating ball's equations of motion that is based on aerodynamics. By using the equations of motion, we can also calculate ball's rotational states through ball's velocity and acceleration. We developed a tabletop type omni-directional mobile robot equipped with an arm and a depth camera, with consideration of cost and size.
著者
ハン ビンイク 水内 郁夫
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
巻号頁・発行日
vol.2013, pp."2P1-Q11(1)"-"2P1-Q11(4)", 2013-05-22

For a robot to hit a flying ping-pong ball which is rotating fast is difficult. A way is to use an ultra high-speed camera with tens of thousand fps. In this paper, we have derived the equation of motion of a rotating ball considering forces to the ball from the air, and predict the trajectory in the three-dimensional space based on the equation of motion.We have recorded several cases of a flying and rotating ping-pong ball in 240fps, tried to predict the trajectory of each case based on the observed rotation speed and flying speed of the ball, and compared the predicted drop point with the actual drop point to evaluate the presented prediction method. This paper also discusses the possibility of using a normal camera for trajectory prediction, based on the prediction of rotating speed from initial several frames using the equation of motion.
著者
多田隈 建二郎 多田隈 理一郎 勅使河原 誠一 溝口 善智 長谷川 浩章 寺田 一貴 高山 俊男 小俣 透 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
巻号頁・発行日
vol.2009, pp."2A2-B02(1)"-"2A2-B02(2)", 2009-05-25

This paper describes the morphing omnidirectional gripper which is able to grasp various objects with low melting point alloy. The deformable part of the gripper changes its shape by covering all directionof objects and makes the contacting area higher. In order to keep the high grasping force, proposed gripper does not need any additional energy thanks to the solid state of the deformable part including low melting point alloy. The design of the actual prototype model with cooling mechanism is shown and built. In addition, the usage of functional fluids for the morphing part is proposed. The basic performance of the blended material of low melting point alloy and magnetic fluid has been observed.
著者
寺田 一貴 多田隈 建二郎 多田隈 理一郎 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
巻号頁・発行日
vol.2009, pp."2P1-E05(1)"-"2P1-E05(4)", 2009-05-25

This paper describes linear load-sensitive continuously variable transmission with the spherical driving unit. This CVT mechanism consists of spherical drive, drive axis, motor housing, fixed bracket and linear sliding plate. It changes the reduction ratio continuously by inclination angle of active rotational axis. Additionally, this linear mechanism has a load-sensitive function by changing inclination of active rotational axis in response to the load. We have developed a linear load-sensitive continuously variable transmission and confirmed the effectiveness of the proposed mechanism.
著者
多田隈 建二郎 多田隈 理一郎 永谷 圭司 吉田 和哉 Iagnemma Karl
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
巻号頁・発行日
vol.2008, pp."2P1-C15(1)"-"2P1-C15(4)", 2008-06-06

In this paper, the tetrahedral mobile robot as a throwable robot for search and rescue mission is presented. Especially, the tetrahedral mobile robot with the central rotational axis as a expanding mechanism has been developed to illustrate the concept. Motion experiments confirm the novel properties and function of this central axis: Motion experiments, with a test model are also presented.
著者
大石 千種 多田隈 建二郎 多田隈 理一郎 永谷 圭司 吉田 和哉 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
巻号頁・発行日
vol.2009, pp."1A2-G18(1)"-"1A2-G18(4)", 2009-05-25

This paper describes the connected two unit crawlers to realize various configurations. By changing the configuration of two connected vehicle units in relative positions, the robot with this mechanism can automatically adapt to the surface obstacles in the field, including such complicated structures like debris after disasters. In addition we analyzed the effect of the each axis arrangement in order to realized switching function to compose the four basic configurations more easily, and developed an actual prototype model.
著者
多田隈 建二郎 多田隈 理一郎 木下 宏晃 永谷 圭司 吉田 和哉 Iagnemma Karl
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
巻号頁・発行日
vol.2008, pp."2P1-C14(1)"-"2P1-C14(4)", 2008-06-06

In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional Crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.
著者
藤田 晃一 山崎 利崇 出村 公成
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
巻号頁・発行日
vol.2002, 2002
被引用文献数
1

我々は, 走運動可能なヒューマノイド賢聖ちやん2号機を開発している。全長は約120cm, 重量は約30kgであり, 片腕2自由度, 片脚5自由度, 全身で合計14自由度を持った構成になっている。上半身に工業用コンピュータ, バッテリ, モータドライバを搭載する自立ロボットである。センサにはCCDカメラ, レーザジャイロ, FSR, トルクセンサ等を搭載する予定である。また, 機構的な特徴としては, 走運動を実現させるためにエネルギー蓄積機構を膝と足首に採用している。
著者
大塚 章正 永田 寅臣 中村 航輔
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
巻号頁・発行日
vol.2014, pp."3P1-L01(1)"-"3P1-L01(3)", 2014-05-24

In full mold casting, polystyrene is used as a master mold that is usually machined by a CNC machine tool. The CNC machine tool costs higher and does not move more flexibly than an articulated industrial robot. We have proposed a trajectory following controller system for a machining robot based on CL (cutter location) data. In this system, the discrete trajectories at each sampling time are generated from position and orientation information in CL data that are made by post processor in CAM system. We applied the controller system to foamed polystyrene machining while changing conditions, such as foaming rate of polystyrene, feed rate of end mill and processing number of times. In this paper, machining results of a simple model are shown and discussed. Finally, we consider the method to reduce the machining time while keeping machining accuracy and products quality.