著者

林 里奈 加藤 昇平

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 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A1-15a7, 2016 (Released:2017-06-19)

被引用文献数

1

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In recent years, the number of elderly people living alone has a tendency to increase due to the advancement of an aging society. Therefore, monitoring and support systems are necessary. In this paper, we developed the therapy robot having monitoring and support function under the consideration to make it not to be a surveillance system. And we evaluated whether it is a suitable size and weight for elderly people. As a result, the answer that size and weight are just right accounted for the majority.

著者

青木 祐 池田 憲亮 伊藤 友孝

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 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A1-08a4, 2016 (Released:2017-06-19)

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The maintenance and management of mountain forest needs special knowledge and skill, and contains various dangerous tasks. Thus, the shortage of workers causes the problem of increasing unmanaged forests. In this research, we are developing “Teleoperated mountain forest maintenance robot system”, which assist human work semiautonomously. In this paper, we will discuss and propose a performance improvement method in recognizing process of the surrounding objects in the mountain forest environment. The experimental results illustrate the validity of the proposed method.

著者

依田 大輝 臼田 稔宏 重松 直哉 白鳥 智大 渡邉 孝信

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 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A2-18a1, 2016 (Released:2017-06-19)

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We have developed a flapping aerial robot equipped with a mechanism of movable gravity center, aiming at controlling the air attitude. We performed a series of flight experiment to investigate how the position of the center of gravity affects air attitude of the flying robot, which was analyzed by using high-speed camera. The pitch angle is successfully controlled by changing the position of the center of gravity. It is demonstrated that a dynamic change in the center of gravity during the flight caused a sudden stop. The results suggest a possibility to realize a seamless change in the fright modes between straight and hovering frights by the movable center of gravity mechanism.

著者

陳 俊百 倉鋪 圭太 大塚 真生 吉灘 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 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A1-08a6, 2016 (Released:2017-06-19)

被引用文献数

1 1

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Autonomous mobile robots have been an active research recently. Although laser range finder based navigation is known to work well in limited environment, expanding 3D geometric maps used in those methods to worldwide requires great effort. The same is true of maintaining them up-to-date. For this reason, we develop a visual navigation method using a topological map to reduce prior information and enhance scalability of the map. Topological maps only contain information about impressive places (i.e. intersections) and their linkage with roads. In the topological approach, the robot conducts three primal tasks: 1) road following between impressive places, 2) recognizing impressive places, and 3) taking action at impressive places (e. g., road selection). This paper proposes a visual place recognition method based on GIST descriptor and Support Vector Machine. The proposed method is evaluated at 13 point in outdoor walkways under several situations. As the result, the proposed method could identify all of 13 recognition points.

著者

江連 悠貴 井上 碩 牧野 泰才 篠田 裕之

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 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A2-12a5, 2016 (Released:2017-06-19)

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Recently, there is an increasing demand for the method of 3D rendering which achieves both reducing the processing load and keeping the quality of generated image. One of the solutions to this trade-off is ”foveated rendering”, in which rendering is simplified as far as human cannot perceive. In the most of the previous researches, they adopted foveated rendering using a heuristic and discrete evaluation which causes generated image to be unnatural for the human perception. Then we suggest the method of foveated rendering which continuously simplifies rendering based on spatial frequency response of human vision system. We experimentally show that proposed method enables to render images approximately three times as fast as maximum-resolution rendering.

著者

加藤 皓健 野村 健太 竹村 裕 曽我 公平 横田 秀夫 伊藤 雅昭 後藤 直人 西澤 祐吏

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 2016 (ISSN:24243124)

巻号頁・発行日

pp.1A1-02a3, 2016 (Released:2017-06-19)

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This paper presents a needle shooting device at high-speed for the puncture treatment. Problems of the puncture treatment are a curving of needles and a moving of organs because doctors puncture a needle at low speed. We assumed that puncturing a needle at high-speed can solve these problems. The needle with thread is used for inserting treatment instruments into the body. Coil-gun and Railgun were used for the small needle acceleration. We measured relations between the voltage and the velocity on Coil-gun and Railgun. In the case of Coil-gun, the velocity do not monotonous increases as the value of voltage increases. In the case of Railgun, the velocity monotonous increase as the value of voltage increases. The experimental results show that a needle with thread can be accelerated by Coil-gun and Railgun.

著者

又吉 均哉 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 2016 (ISSN:24243124)

巻号頁・発行日

pp.2A1-09b1, 2016 (Released:2017-06-19)

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Harvesting is a hard work among farm works. Although one of means to reduce time and effort is automation, there are very little examples of automation for crops which are harvested carefully and politely. In case of harvesting such crops, moving obstacles such as leaves out of the way or holding a branch is required. We propose a dual-arm harvesting robot which can do such tasks. Moreover, we focus on a cherry. Holding a branch is required while pulling a cherry's pedicels to harvest a cherry. This paper describes a dual-arm robot which can hold a cherry tree's branch while harvesting cherries.