- 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)
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
- 吉村 友彦 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 2008 (ISSN:24243124)
- 巻号頁・発行日
- pp._2P1-I21_1-_2P1-I21_3, 2008-06-06 (Released:2017-06-19)
Recently, it becomes very important to make the environment of handicapped people in the daily life more comfortable and there are many rising movements and activities to fulfill the subject. As a result, the occasion and the field where handicapped people can exercise their ability are increasing. But it is very difficult for them to play such as the wind instruments freely, because such performance needs very skillful and delicate movements of their body parts. In this research, we assume that a professional sax player became unable to use his lips to make good embouchure because of the lack of the lip muscle force and unable to play the saxophone properly. The research object is that we should develop an easily controllable device to make artificial embouchure and the device should enable the player to play the saxophone as before.
- 著者
- 山崎 哲也 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 2008 (ISSN:24243124)
- 巻号頁・発行日
- pp._2P1-I20_1-_2P1-I20_4, 2008-06-06 (Released:2017-06-19)
Magic is a performance unique to humans that makes use of hand's skills to its maximum extent. It needs enormous efforts to acquire the skills of magic for a skillful man. In this study, a robot hand that can handle a small object in the palm and perform coin magic making full use of its palm and fingers. It is said that the coin magic is one of the most difficult kinds of magic. Therefore, we expect that a robot that can do coin magic may be able to do any magic successfully. In this paper, a mechanism of the robot hand is studied and the control methods of handling coins for the magic is discussed. The robot is assumed to use a Japanese 500 yen coin during the performance and it is assumed that the robot controls the hand by using only the information from the palm sensors. It is the problem how to design the skilful hand, how to construct a control algorithm, and what sensors should be used to sense the state variables of the coin.