著者

小林 賢司 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

巻号頁・発行日

vol.2002, 2002

---

本研究は, トランペットを人間と同様に演奏することのできる自動演奏ロボットを開発しようとするものである。これまでに開発した演奏ロボットでは, ピッチの安定した制御が困難, 音域が広く出来ない, などの問題があった。今回の報告では, ピッチを安定に制御するための機構として, 開閉ボールねじに取り付けた一対のローラーで, 人工唇を押さえながらローラーの間隔を変えることにより, 唇の緊張度を変化させる機構を採用した。この機構の有効性を実験により検証した。

著者

小澤 隆太 平井 宏明 藤ヶ谷 博規 後藤 智 畠中 泰彦 川村 貞夫

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

巻号頁・発行日

vol.2005, 2005-06-09

著者

佐藤 志保理 山口 明彦 竹村 憲太郎 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

巻号頁・発行日

vol.2011, pp."1A1-O11(1)"-"1A1-O11(4)", 2011-05-26

---

In this paper, we study a method to translate the style of an input motion which is obtained by a motion capture system. For this aim, we model the difference of motions coming from the actor's attribute, such as gender and age. Especially, we focus on the difference coming from the gender, and model the difference of poses (joint angles) between males and females by using a Gaussian process regression. In training the model, we utilize Multifactor Gaussian Process Model to align the training set of motions in cyclic phase. In the experiments, we train the filter with walking motions of males and females, then we apply the filter to walking, running, and jumping motions of males. The results demonstrate that the filter successfully translates the motion into a womanish one.

著者

山本 悠理 竹村 研治郎

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

巻号頁・発行日

vol.2010, pp."1A2-E08(1)"-"1A2-E08(4)", 2010

---

An interface that presents variable sense is paid attentions from virtual reality researches. This paper presents an ungrounded force feedback device using the gyroscopic effect. An ungrounded force feedback device includes the Control Moment Gyro (CMG) that generates the torque due to the gyroscopic effect, resulting in making the system produce the sense of force to an operator. Four CMGs are arranged in pyramid form (4-CMG system), so that the plural CMGs are simultaneously driven to synthesize the torque. We experimentally verify the performance of the developed device. Concretely, we measured the stimulus threshold and evaluate the perception characteristic of an ungrounded force feedback device.

著者

有馬 誠一 上加 裕子 神村 泰地 仁科 弘重 羽藤 堅治 高山 弘太郎

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

巻号頁・発行日

vol.2011, pp."1A1-A02(1)"-"1A1-A02(2)", 2011-05-26

---

The autonomous driving unit using the regression reflective type laser sensor and the laser range sensor has been developed aiming at automation and robotization of various work in the intelligent greenhouse (harvesting and pest control) and plant diagnosis information measurement. Some study cases of on-board equipped system of harvesting, pest control and plant diagnosis information measurement are reported.

著者

山田 嘉昭

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

巻号頁・発行日

vol.2011, pp."1P1-A03(1)"-"1P1-A03(2)", 2011-05-26

---

Okayama University established an actuator research center as research and development about the actuator and a foothold of high specialized personnel training in November, 2008. The activity purpose of the center establishes 「The field crossing type engineering system」 across the fields border of mechanical engineering, electrical engineering, materials engineering, and it is to perform the research and development of an epoch-making actuator and practical education research activities.

著者

福島 E.文彦 中本 秀一 駄本 理一郎 広瀬 茂男

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

巻号頁・発行日

vol.2001, 2001-06-08

著者

広瀬 茂男 福島 E. 文彦 駄本 理一郎 中本 秀一

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

巻号頁・発行日

vol.2001, 2001

著者

徳安 達士 大庭 恵一 松本 慎平 平木場 浩二

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

巻号頁・発行日

vol.2010, pp."1P1-C01(1)"-"1P1-C01(2)", 2010

---

Road racer that is used for bicycle competition on road has been getting more popular all over the world year after year. This type of bicycle has to be set the position for rider's physical properties in order to make it possible to ride powerfully and conformably. There are lots of degrees of freedoms for setting the bicycle position. Though each of them have effects for rider's performance, the setting of a seat height significantly affects user's performance during competition and/or training. Before now, any effective setting method for bicycle seat height associated with rider's physical properties had not been reported. Then we aims to propose a new setting method for bicycle position based on rider's physical properties. We focused on the lower electromyography during cycling exercise in order to define a new evaluate standard for bicycle position. This study had constructed an automatic seat height control system and defined a new evaluation standard for bicycle position in our previous work. In this paper, we introduce a control method by using Fuzzy inference and discuss about the experimental results.

著者

大内 久和 西田 佳史 本村 陽一 溝口 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

巻号頁・発行日

vol.2009, pp."2A1-B14(1)"-"2A1-B14(4)", 2009-05-25

---

Designing age-appropriate and safe playground equipment requires scientific data. However, data is scarce. To collect data useful in playground equipment design, a playground equipment, 'Noboreon,' was created. Noboreon equipped sensors by which children's behaviors were recorded while they were playing on it. The paper describes data recording and collecting procedures using Noboreon and modeling process with data collected.

著者

川合 政人 三上 貞芳 切明 隆司

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

巻号頁・発行日

vol.2006, pp."2A1-E22(1)"-"2A1-E22(3)", 2006

---

Recently, the demand of exhaust gas purification to a car is increasing. A diesel particulate filter (DPF) is promising as a solution for exhaust gas from a diesel engine of an in-use vehicle. However, under a condition of low load such as running in a city area, DPF cannot demonstrate an original performance. In order to demonstrate an original performance, it is required for a vehicle to exhaust gas which temperature should be more than fixed. Therefore, we try to raise exhaust gas temperature by restricting the flux of a valve where air inhales and gas exhausts. We use the reinforcement learning as our target is an in-use vehicle with an individual difference. And, we apply tile coding (TC) for controlling the valve in order to have the reinforcement learning cope with the extensive search space.

著者

佐々木 洋子 金吉 雅人 加賀美 聡 溝口 博 榎本 格士

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

巻号頁・発行日

vol.2009, pp."1P1-C13(1)"-"1P1-C13(4)", 2009-05-25

---

This paper proposes a sound identification method for a mobile robot in home and office environment. We propose a simple sound database called Pitch-Cluster-Maps(PCMs) based on Vector Quantization approach. Binarized frequency spectrum is used for PCMs codebook generation. It can describe a variety of sound sources, not only voice, from short term sound input. The proposed PCMs sound identification requires several tens(msec) of sound input, and is suitable for a mobile robot application which condition is dynamically changing. We implemented the proposed method on our mobile robot audition system equipped with a 32ch microphone array. Robot noise reduction using proposed PCMs recognition is applied to each input signal of a microphone array. The performance of daily sound recognition for separated sound sources from robot in motion is evaluated.

著者

脇阪 史帆 久保田 直行

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

巻号頁・発行日

vol.2008, pp."1P1-G04(1)"-"1P1-G04(4)", 2008-06-06

---

Recently, the existence of the robot approaches human's daily life. In such an environment, the robot not only follows the action designed in advance but also should perceive what the situation is, and do an appropriate action. Then, in this paper, it aims to achieve the perceptual system like humans for the partner robot that coexists in the same environment with people, and to acquire an adaptive action in an interaction. So approaching the interaction ability of the robot from the side of feelings and installing the perceptual system that models human's feelings in the robot., it aims at the achievement of the natural, effective interaction that humans is doing.

著者

兵頭 和幸 押村 健史 三上 貞芳 鈴木 昭二

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

巻号頁・発行日

vol.2009, pp."2P1-C15(1)"-"2P1-C15(4)", 2009-05-25

被引用文献数

1

---

This paper verified the stability of the passive dynamic biped walk by not only indoor but also outdoor environments using a foot shape design to enhance stability. In outdoor environments, since the change of loose slope, small bumpy surface and the frictional force on a road surface are not constant, it is a difficult environment for realizing a walking. We propose about the walk stabilized comparatively in outdoor environment by control constraint mechanism.

著者

下村 将基 遠藤 謙 田原 哲雄 奥村 悠 大和 秀彰 清水 正晴 古田 貴之 山中 俊治

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

巻号頁・発行日

vol.2004, 2004-06-18

著者

櫻井 翔一朗 佐藤 英理 山口 亨

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

巻号頁・発行日

vol.2007, pp."2A2-M02(1)"-"2A2-M02(4)", 2007-05-11

---

This paper presents a gestual interaction system between human and robot using pointing movement. To interact at actual rooms, the system that obtained RGB information of a pointed out object was developed. The system recognized a pointing gesture and obtained a feature of pointed out object by a image processing. Two sets of tracking modules comprised of a camera and a PC was prepared in a room. Thus, in this research, we constructed RGB data obtaining module. The module obtained coordinates of indicated point and calculate the coordinates in picture. The system was developed using Robot Technology Middleware (RTM). RT Middleware was developed by AIST (Agency of Industrial Science and Technology, Japan) for easily integrating robot systems by modularized software components. By constructing modules based on RT Middleware, we developed modules, which are functional elements to interact with human as components of easily system integration.

著者

中野 淳志 広瀬 茂男

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

巻号頁・発行日

vol.2009, pp._2P1-E19_1-_2P1-E19_4, 2009

被引用文献数

2

---

Recently, a requirement has emerged for vehicles which aim to search for victims who are trapped under the rubble when an earthquake occurs, or to carry out inspections for maintenance activities under house floors and roofs. To meet these requirements, we propose a multi-wheeled snake like robot with actively movable slime body, which is called "Souryu VII". The body of the robot comprises a series of alternate rigid segments and flexible rubber sponge joints, and bending movement of the body is generated by pulling three wires that go through the body. Eight wheels are attached on alternating sides of each rigid segment. The shape of each wheel is long in the axial direction with a cone-like step, and this feature makes it possible to generate propulsion on a large area of the bottom surface. Finally, the advantageous architecture we proposed was validated with experiments in which Souryu VII overcame various obstacles.

著者

土居 隆宏 程島 竜一 福田 靖 広瀬 茂男 岡本 俊仁 森 純一

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

巻号頁・発行日

vol.2010, pp._1A1-B14_1-_1A1-B14_3, 2010

---

A 1/20 scaled electric-powered test model robot of the quadruped walking construction robot TITAN XI has been developed to conduct experiments and trainings in lower cost and easier. The legs are driven by RC servo motors and have the same D.O.F. configuration and proportion. Suspension tether winded by motor-driven winches are force-controlled by newly developed tension sensors for steep slopes. A robot controller which consists of the same numbers of joysticks and switches was developed for manual control. Test model is controlled by three SH-2 (SH7047) microcomputers and they are communicating via CAN interface. By automatic and manual control, the robot climbed up a steep slope model and step over obstacles.

著者

山本 芳彦 渡辺 寛望 丹沢 勉 小谷 信司

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

巻号頁・発行日

vol.2010, pp."2P1-D21(1)"-"2P1-D21(3)", 2010

---

I research and develop it aiming at the realization of a scooping goldfish robot copied from the method that a human being takes. This paper describes I estimate the position and prediction of goldfish in the water tank based on the information from a camera on a water tank to distinguish a timing to scoop a goldfish.

著者

大久保 康基 岡田 慧 森下 武志 稲葉 雅幸 井上 博允

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

巻号頁・発行日

vol.2004, 2004-06-18