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)

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
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)

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)

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.