著者

神田 睦月 徳田 献一 入部 正継 森田 成昭 齊藤 安貴子 八上 修一 小堀 亮

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.1A1-C02, 2017 (Released:2017-11-25)

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In recent years, aging of agricultural workers has progressed, attention is paid to ICT conversion of agriculture and Functional food with health maintenance effect. Raspberry contains a large amount of compounds that have a high health maintenance effect, which takes time and labor for cultivation. The purpose of this research is to construct an image processing system that recognizes color and position information in order to check whether harvesting of raspberries is possible under an indoor environment. As research contents, RGB values of colors of berries at various stages were calculated from spectral analysis results of berries and compared with actual fruit photos. We also classified colors in the image using machine learning and verified its accuracy.

著者

ジェレミー ジョン 本田 康裕 菅原 雄介 菊地 聡 小濱 泰昭

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.1P1-G06, 2017 (Released:2017-11-25)

被引用文献数

1

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In the previous paper, taking the non-linear Wing-In-Ground effect into consideration, the longitudinal dynamic model of Aero-Train after expanding it with a horizontal tail was developed for the purpose to clarify the relationship between the body frame design and its stability. This paper describes the development of the longitudinal dynamic model after expanding it with the lateral dynamic model.

著者

日浅 崇馬 佐藤 隆紀 風間 英気 明 愛国 下条 誠

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.2P1-K06, 2017 (Released:2017-11-25)

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Within limbs of typical animals, there are bi-articular muscle-tendon complex crossing two joints. In particular, it is known that the bi-articular muscle-tendon complex between hip joint and knee joint contributes to the dynamic motion such as high jumping and fast running. This realizes transfer of the torque between the two joints and storage and reuse of the elastic energy. In this paper, we introduce the muscle-tendon complex between hip joint and knee joint to the hind legs of the quadruped robot. In the vertical jump simulation, we confirmed that the mechanism enabled the leg to transfer the torque between the two joints and the leg with the mechanism realized higher jump than the one without it. A prototype of the mechanism has been fabricated also.

著者

富永 萌子 武村 泰範 石井 和男

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.2P1-K07, 2017 (Released:2017-11-25)

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In the soccer games, the behavior selection of each player changes depend on the positional relationship of the ball and the every player’s position on the field. The player closest to the ball near the opponent team’s goal aims at a shot, and the farthest player waits at a position where he can return at any time to his own goal to protect. Currently most of RoboCup soccer teams keep the same strategy during the game so that the result of game depends on the ability of each player like speed of robot, quality of localization, obstacle avoidance and ball handling. Next issue for the robot intelligence is collaborated team behavior and strategy. The autonomous soccer robots are required to behave cooperatively and make decision using environment and game situation. In this research, the team strategy is analyzed based on the positions of human player using Self-Organizing Map (SOM).

著者

小松 洋音 藤田 政宏 髙根 英里 野村 陽人 多田隈 理一郎 多田隈 建二郎 昆陽 雅司 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 2017 (ISSN:24243124)

巻号頁・発行日

pp.2A1-A08, 2017 (Released:2017-11-25)

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In this paper, basic principle of active driving mechanism for omnidirectional wheel mechanism with a dual-rings is proposed. Active driving mechanism is composed of one outer helical gear and two dual-rings with internal helical gear. Proposed active driving mechanism is confirmed by developing basic prototype model.

著者

槇田 諭 前田 貴信

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.2A1-L10, 2017 (Released:2017-11-25)

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This paper investigates motion characteristics of the wheeled inverted pendulum robot, which is a commercial product for tele-communication and has a built-in stabilizer. We are motivated to utilize this type of telepresence robot for scientific communication with children. For safe activities, accidents caused by the robot, for example, collisions and overturning, must be avoided. In this paper, we examine behaviors of the wheeled inverted pendulum under several conditions: changing floors, transmission speed for control, and frequency of input of remote control. In our experiments, we did not encounter overturning of the robot during the robot moved under these experimental conditions. Of course, the robot turns over when someone pushes or pulls the robot with excessive external forces that breaks the stability of the inverted pendulum.

著者

小林 義光 浦崎 新八郎 三谷 祐一朗

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.2P2-J11, 2017 (Released:2017-11-25)

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This paper describes miniaturization of electromagnetic levitation equipment with a PLC (Programmable Logic Controller). In order to learn advanced control theory with PLC, we constructed electromagnetic levitation equipment with a PLC. However it is necessary to use a small electromagnet and measure a position of a floating object without a position sensor in order to realize electromagnetic levitation conveyance system as small educational tool. Therefore we tried to find a condition of miniaturization of the equipment. The feedback controller model is designed by the linear control theory and implemented into PLC. As results, we confirmed that it is possible realize stable levitation by using a small electromagnet of low resistance value and a hall element instead of the position sensor.

著者

アハマドアティフ モハマドファウジ 鈴森 康一 大賀 淳一郎 後藤 達彦

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.2P1-L06, 2017 (Released:2017-11-25)

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This paper presents the intrinsic muscles of a Human-like Robotic Hand (HR-Hand), with a focus on dorsal interossei and palmar interossei muscles. Three links of palmar and four links of dorsal interossei muscles were fabricated according to human hand anatomy using 1.3 mm thin McKibben actuators. The experimental result using single index finger shows that the robotic hand could achieve palmar adduction and dorsal abduction and assist in flexion of fingers that imitate the actual function in the human hand.

著者

岩﨑 はるな 岩瀬 英治

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.1A1-K10, 2017 (Released:2017-11-25)

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We proposed switchable and holdable adhesive mechanism using a suction cup and a chamber with a check valve for skin-attaching device. For long-term use of skin-attaching electronic device, both high adhesion during wearing and low adhesion for peeling are required. The chamber induces suction pressure of the suction cup attached to skin. The check valve achieves to switchable and holdable adhesion without vacuuming during wearing by preventing backward flow. In this paper, we evaluated the adhesion force of the device using switchable adhesive mechanism and confirmed that the switchable adhesive mechanism has low and high adhesion.

著者

辻田 哲平 アルタンゲレル オドプレブ 堀合 泰生 安孫子 聡子 近野 敦

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.1A1-P12, 2017 (Released:2017-11-25)

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Although how to perform tasks at disaster sites has been actively discussed, there is little debate on important issues such as how to deliver robots to disaster sites. We propose to drop a humanoid robot with a parachute from an airplane as one of the methods of delivering robots. In this research, we aim to establish a method to absorb the shock at the time of landing by whole body motion for preventing the damage to the robot. As an early stage of this research, drop tests using a small one-legged robot were conducted. From the viewpoint obtained by these experiments, we designed a parachute landing motion for the small robot heuristically and succeeded in reducing the impact force to 40%.

著者

松島 脩平 原田 宏幸

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.1P2-H12, 2017 (Released:2017-11-25)

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3D printers are becoming popular and using in many scenes. They enable to make products simply and rapidly according to the design models. However, they can make only a single bulk parts at a time in general. If we can make a whole robot structure at once by 3d printer, it became possible to manufacture a desired robot on the spot in a minute. In this report, we propose a method for making a robot structure including joints at one time by a Fused Deposition Modeling (FDM) type 3D printer. It is unnecessary to assemble after printing. Further, we produced a wire-driven quadruped walking robot as an example of the proposed method.

著者

河原崎 徳之 阿妻 峻 吉留 忠史

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.2A2-M01, 2017 (Released:2017-11-25)

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This paper provides a supernumerary robot arm which is attached to the person's waist. This robot arm what we call the third arm. The robot arm is composed of four parts which are an upper-arm, fore-arm, hand and an attachment. The size of the arm is same as the person of it. The robot arm has six degrees of freedom of motion and each joints moves by the servo motor. We conducted several experiments in order to clarify the effectiveness of our robot arm.

著者

内田 康之 石田 直也 杉本 実夏 青木 岳史

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.1P2-O02, 2017 (Released:2017-11-25)

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When terrorism occurred at tunnel of the subway, the police and Japan Self Defense Forces have to scout in the tunnel while confirming the safety in the tunnel. It’s said that they need the robot which does such dangerous work for the unit. So we have developed the information gathering robot which can travel on the railroad track of the subway. This robot can pass easily a gap and a curve of a rail by a bogie mechanism. In this report, we describe the driving performance of this robot.