著者

横溝 将晴 宮元 克弥 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 2019 (ISSN:24243124)

巻号頁・発行日

pp.1A1-S08, 2019 (Released:2019-12-25)

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In agriculture work, weeding work in paddy field has been physical burden and taken a lot of working time. As a solution of this problem, stopping the growth of weed by stirring the soil is affective. An example is "Duck farming" that ducks stir the mad by swimming in paddy fields. In this paper, we propose new robot that imitate snakes to stir the soil. A body segment of this robot is composed of three bending modules and two wire driving mechanisms, we approximate the serpenoid curve by curves without using straight lines.

著者

樫原 輝 山口 友之

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 2019 (ISSN:24243124)

巻号頁・発行日

pp.2A2-N08, 2019 (Released:2019-12-25)

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Subjective palatability is related to human’s mental condition. According to Ministry of Health, Labour and Welfare JAPAN, unusual feeling palatability is one of depression signs. Additionally psychogenic taste disorder is occurred by stress. Subjective palatability sensing is expected to make human realize own mental health condition at objectively. However, it is difficult for us to measure subjective palatability because it has differences among individuals and many factors. We try to elucidate the relation between subjective palatability and facial biological information in order to consider subjective palatability sensing method. We found 2 relation from our experiment by using taste stimulations for 4 subjects. 1st is between vertical EOG variance and intensity of subjective palatability. 2nd is iEMG(integrated electromyogram) and tasteless or tasty. We implement subjective palatability calculation program from them. The result of it using measurement data in this study experiment shows the possibility of subjective palatability sensing.

著者

佐藤 光暁 福原 洸 佐藤 たまき William Sellers 石黒 章夫

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 2019 (ISSN:24243124)

巻号頁・発行日

pp.2P2-G04, 2019 (Released:2019-12-25)

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The Plesiosauria are a group of aquatic reptiles lived from the Late Triassic to the latest Cretaceous. Their four limbs were modified into flippers, and there are no significant differences in the size and shape of fore and hind limbs. Due to this unique body structure, it has been assumed that plesiosaurs may have performed a unique swimming style. However, the adaptive locomotor patterns of plesiosaurs is still unclear. To reveal their locomotion, we introduce a perspective of control principle underlying adaptive animals’ behaviors. This is because producing adaptive behaviors that respond to surrounding environments and morphology could be indispensable for animals of any era to survive. In this approach, we develop extinct-animal-like robots and establish a control mechanism which can create physically rational locomotor patterns for unique morphologies of extinct animals through robot experiments. In this paper, we have constructed a platform as the first step to investigate coordination mechanism between flippers in plesiosaur locomotion.