著者

吉本 公則 佐藤 諒 石原 佑彌 山口 明彦 吉川 雅博 池田 篤俊 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 2014 (ISSN:24243124)

巻号頁・発行日

pp._3P1-S03_1-_3P1-S03_4, 2014-05-24 (Released:2017-06-19)

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It is important to realize the robot handling soft objects. In this paper, we treat a string as an example of soft objects. Humans can create various figures with a string; we aim to develop a robot system that can do such a thing. We employ the string figures as the task. We propose a framework with which a robot can play string figures with a human. Concretely, we develop a description method that can represent a variety of procedures of string figures to be played by a robot and a human pair. In order to implement this framework on a dual-arm robot, we also develop a method to decide centers of loops to be picked up using camera images. This paper demonstrates the experimental results with a dual-arm robot Hiro-NX.

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)

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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

上杉 薫 秋山 佳丈 浅野 豪文 秋山 義勝 大和 雅之 岡野 光夫 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 2014 (ISSN:24243124)

巻号頁・発行日

pp._3A1-I02_1-_3A1-I02_3, 2014-05-24 (Released:2017-06-19)

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In this study, we measured mechanical properties of cell sheet by using uniaxial tensile test system which we developed. We applied kelvin model (viscoelastic model) which applied single cells for deriving mechanical properties such as elastic modulus and viscous modulus. Mechanical properties of Fibroblast (NIH-3T3) cell sheet and myoblast (C2C12) cell sheet were derived by fitting equation which related kelvin model to measured stress-strain curves of cell sheet. Furthermore, for confirming drag response on cell sheet mechanical properties. By deriving mechanical properties of cell sheet, we confirmed mechanical properties of cell sheet which are different from that of single cells.

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

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

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

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)

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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

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)

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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.