著者

本田 雅文 牛見 宣博

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 2018 (ISSN:24243124)

巻号頁・発行日

pp.2P1-A13, 2018 (Released:2018-12-25)

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For home robots, functions such as support, dialogue, guidance, and hospitality with human beings are expected while safely moving in coexistence environments of the human being, such as home environments or the like. However, there arise problems concerning hugging on the home robot and falling down of the home robot accompanying it. This paper develops a standing up mechanism during falling down as a wheeled home robot function capable of smooth service.

著者

伊藤 秀朗 室岡 雅樹 矢野倉 伊織 野沢 峻一 岡田 慧 稲葉 雅幸

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 2018 (ISSN:24243124)

巻号頁・発行日

pp.2A2-G12, 2018 (Released:2018-12-25)

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In daily lives, it is necessary for robots to execute cooperative tasks with humans. Unlike tasks in factories, household chores don't have regular orders between each chore. The difficulty in such works is that the robot is expected to take adequate actions according to the human needs. In this paper, we proposed a system for executing cooperative tasks where robot motions are decided by imitating human motions, and the robot activates those motions according to the human aural instructions.

著者

荻島 諒也 米倉 将吾 國吉 康夫

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 2018 (ISSN:24243124)

巻号頁・発行日

pp.1A1-F16, 2018 (Released:2018-12-25)

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Free Energy Principle enables agents to understand the generative models of the environment, to have beliefs about their current states by perceptual inference, and to behave adaptively to environmental changes by minimizing their prediction errors. This work combines Free Energy Principle from computational cognitive neuroscience and Deep Learning from computer science, suggesting its potentials to be applied to the understanding of agents' adaptive behaviors in complex environments. As an example, this paper shows that an agent can behave adaptively when it is given an expert's goal-directed belief.

著者

安藤 真吾 戸森 央貴

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 2018 (ISSN:24243124)

巻号頁・発行日

pp.1P2-H10, 2018 (Released:2018-12-25)

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Pneumatic rubber Artificial muscle (PAM) has high back drivability and high output. However, PAM's Repetitive durability is low and not less well understood. Observing broken PAM which was made of carbon and latex rubber, there were breakage of fiber in it. Thus, we focused Aramid fiber that has high maximum shearing stress and abrasion resistance. Then, we compared load characteristics and repetitive durability between PAMs using carbon fiber and aramid fiber. Experimental result showed that load characteristic of PAM using aramid fiber is equal to PAM using carbon fiber. Furthermore, repetitive durability of PAM using Aramid fiber is 6times better than one using carbon fiber.On the other hand, we tried to develop reparable PAM using thermoplastic elastomer (TPE). And load characteristic experiment and repetitive durability experiment were conducted. As a result, load characteristic of PAM using TPE was equal to previous PAMs. For future works, we are planning to simulate PAM from the viewpoint of material mechanics. Meanwhile, we are planning to improve repetitive durability of PAM using TPE.

著者

増田 容一 石川 将人

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 2018 (ISSN:24243124)

巻号頁・発行日

pp.1P1-F15, 2018 (Released:2018-12-25)

被引用文献数

1

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In this paper, we develop a three-legged robot without a brain. This tripedal walking robot generates gait patterns adaptively and autonomously with no sensor, or controller. The key of this adaptability is to utilize a “weakness” of low-torque motors in each leg. Each motor drives leg joint and adjusts its own phase in response to a reaction force from the ground. As a result of the dynamics of body–motor–environment interaction, the weak motors sync each other.