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

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

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

今井 健太 北村 光司 西田 佳史 竹村 裕 杉本 裕

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-W02_1-_1A1-W02_4, 2015-05-17 (Released:2017-06-19)

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A large number of injuries were occurred in Japanese school environments. To prevent school injuries, it is important to understand accident situations and prioritize intervention targets. However, it is difficult for a risk manager of each school to do this since each school does not have data enough for statistical analysis. In this study, we developed the system that allows to grasp serious accident situations by integratively utilizing data distributed in multiple schools. The developed system finds serious accident situations that a school risk manager should know as follows. First, the system registers situational feature vectors for accident situations data by using a textmining technology. Second using the database, it searches accidents situations similar to the actually occurred situations. Finally it shows most expensive accidents using medical cost data. The effectiveness of the system was confirmed using 5,817 school injury data.

著者

齋藤 款文 小林 稔彦 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 2015 (ISSN:24243124)

巻号頁・発行日

pp._1A1-M09_1-_1A1-M09_4, 2015-05-17 (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 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 way of means of mobility for disaster sites. In this paper, in order to verify whether the robot can do Wheelie, it is studied that the robot model is created and simulated of wheelie in simulation soft. And, the prototype physical model of bike-trial robot for experiments is designed and constructed on a scale of two to five.

著者

平田 鷹志 山崎 亘 カヤオ クリスチャンデウス 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 2015 (ISSN:24243124)

巻号頁・発行日

pp._2P1-E03_1-_2P1-E03_3, 2015-05-17 (Released:2017-06-19)

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Recently, cleaning robots are becoming widely used. However, even if commercially-available cleaning robots can collect dust and small debris on the floor, they can not pick up trash such as PET bottles, cans, etc. We developed a cleaning robot intended for picking trash while dust collecting. This paper describes the architecture of the cleaning robot consisting of hardware such as an RGB-D sensor, a robot arm and a commercially-available cleaning robot, and also software for trash picking such as searching trash from RGB-D image, picking the trash via the robot arm and controlling the cleaning robot. We used commercially-available hardware and open source software such as Robot Operating System (ROS), Point Cloud Libraly (PCL) and so on.