著者

初鹿 デニック 橋本 悠希

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.2017, pp.2A1-J12, 2017

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<p>In this paper, I propose an underwater head mounted display (UHMD) system which can resist water and pressure for training system of scuba diving. This system has two functions. One is high immersion feeling the underwater. The other one is to reproduce buoyancy change according to water depth. For these function, user can learn how to control buoyancy under various situations with high reality. The results showed that water resistant performance of UHMD system is enough for use at a depth of about 4 meters.</p>

著者

西村 聡 竹村 裕 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.2006, pp._2P1-D16_1-_2P1-D16_2, 2006

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This paper introduces a person following shopping cart robot. The developed prototype robot is using a shopping cart as the robot's main body and attaching a driving module. The aim of this study is to develop a porting system for large-sized facilities (i.e. shopping mall, airport, etc.), where the object item is autonomously carried by a person following ("after you") porting robot. We believe such study on porting robots is highly practical and necessary in today's aging society. By using the computer's signal output for autonomous run and the radio control operation function for risk aversion, a compatible control with computer and radio control is realized. The structure and the principle of control system are described.

著者

荒井 亮磨 竹村 裕 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.2010, pp._2A2-D27_1-_2A2-D27_3, 2010

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Recently, robots are coming into our daily life. Many researches for purpose which is coexistence and cooperation of robots and people have been studied. But in our familiar environment, there is no relation of autonomous mobile robots and us in fact. The purpose of this research is the development of the autonomous mobile robot assuming a shopping cart. This robot can return to where it was by itself, after carrying packages to the car. This paper shows the system which a robot can return autonomously. We developed and evaluated self-localization, estimation of the destination, and obstacle avoidance of these functions.

著者

古森 雄一 大野 和則 竹内 栄二朗 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

巻号頁・発行日

vol.2014, pp._1P2-I06_1-_1P2-I06_4, 2014

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Search and rescue (SAR) dogs show the typical motions when they find victims. The authors aimed to develop the measurement methods of the SAR dog's motions which suggest the victim locations. It can be used for making investigation maps with victim locations. The authors focused on barking and tail's wagging, and digging as the motion. We used IMU for measurement. The sensors were put on the vest for dogs, and We use no additional clothes by preference. We evaluated their locations and whether it is possible to detect the motions. For example, we can detect wagging motion by IMU directly on the tail.

著者

小林 厚史 塚越 秀行

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.2019, pp.2A2-R03, 2019

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<p>This paper describes the development of a flexible cable type robot aimed to travel in the sand available for rescue operation or marine resource exploration. To realize it, we have developed a robot made of soft tube material driven by pneumatics, inspired by the garden eel capable of diving in the sand quickly and deeply. In this study, we propose a new structure thinner than the previous one, aiming to dive into 350mm of depth with the reduction of consumed air, enhancement of response, and improvement of insertability. Finally, we verify the validity of the proposed structure through the experiment by the prototype.</p>

著者

荻野 貴司 秋元 俊成 友納 正裕 松元 明弘

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._2P2-C05_1-_2P2-C05_3, 2008

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For the future cohabitation of humans and robots, we are making research on home use robots, where positions of robot, human and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the performance of the map building by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We implemented the motion extraction algorithm for the human following application.

著者

宮下 敬宏 堀川 優紀子 萩田 紀博 K. Narayanan Vishnu 小泉 智史 亀井 剛次

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.2018, pp.1P2-D09, 2018

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<p>Development for safety autonomous mobility navigation system that deal with low speed vehicles, such as wheel chair, guidance robot and transportation robot is introduced. Our R&D policy based on Ethical, Legal, Social and Economic issues for the mobility system is also introduced.</p>

著者

貞弘 晃宜 道辻 洋平 山北 昌毅

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

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本論文で考えるアクロバット・ロボットは平面5リンク4アクチュエーターの人間を模した多自由度・多関節のロボットであり, 一端をアクチュエータを持たない自由回転できる鉄棒に固定することにより, 鉄棒の体操選手をモデル化したものとみなせる.このような非ホロノミックシステムに対して, エネルギーと姿勢を同時に目標状態に安定化する周期エネルギー制御により, 着地を行う為に必要な飛出時の並進速度と角運動量を制御する.

著者

鈴木 義昭 藤井 裕介 淵脇 大海 見崎 大悟 青山 尚之

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

巻号頁・発行日

vol.2004, 2004

著者

大惠 克俊 今村 修人

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

巻号頁・発行日

vol.2020, pp.2P2-E19, 2020

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<p>The patients who undergo the laryngectomy lose their voice. The voice is very important communication method for human, and these patients become to feel inconvenient. One of the speech producton substitutes for the patients is the esophageal speech, this method uses the air from esophagus to generate the primary tone. This method has good characteristics at voice quality and convenience. But learning of it is very difficult.</p><p>In this research, we aim to establish the training method of esophageal speech with bio monitoring. This method uses some muscles for taking in air to the esophagus. Therefore, it is important that the clarification of "when" the "what muscle" is activated in esophageal speech. In this report, we took a survey to esophageal speech users, for clarification of "what muscle" is activated in esophageal speech. Based on these results, the myoelectric signal of the lower jaw and the lowest intercostral were measured. These results are described.</p>

著者

海保 諒 森岡 一幸

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

巻号頁・発行日

vol.2020, pp.2A1-N10, 2020

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<p>The paper introduces a method of automatic map generation used for learning of action policy in mobile robot navigation. Road contours and waypoint candidates are extracted as map components by image processing from an image of existing electronic map such as Google Map. Road contours are extracted using topological structural analysis of the binarized electronic map image. Also, waypoint candidates used as respawn or destination points in learning system are randomly selected from pixels of road areas. The generated map can be applied to learning simulator based on deep reinforce learning system. The paper describes an abstract of navigation system based on reinforcement learning, a proposed map generation method.</p>

著者

髙岡 勇樹 川上 敬 大江 亮介 三田村 保 木下 正博

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.2017, pp.2P2-F06, 2017

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<p>In the present study aims to build the player model of Hanafuda. Not performed substantially research in Hanafuda, the optimal player model is not clear. So, a player model that prioritizes the "interesting" is a thing to explore what kind of thing. The method evaluates the field using the evaluation value, determines the card cutting based on the evaluation value. Create a player model using this technique, to evaluate by simulation experiments. The results of the experiment, it is a rudimentary but think as a model to create a "interesting" could be created.</p>

著者

平田 泰久 小菅 一弘 MONACELLI Eric

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.2013, pp._2P1-B14_1-_2P1-B14_2, 2013

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In this study, we propose a steering control method for a cycling wheelchair. The commercially available cycling wheelchair is a pedal-driven system like a bicycle and the paraplegia and hemiplegia patients can move the wheelchair based on the pedaling force, if they can move their legs slightly by themselves. The user can also change the motion direction of the cycling wheelchair by using the steering handle. However, the right and left turnings are perceived differently while operating the steering handle and the steering operation is required a large torque because of the hardware problems of the cycling wheelchair. To overcome these problems, we propose a new hardware of the cycling wheelchair and its steering motion control method by using servo brakes. The proposed method is applied to the developed new cycling wheelchair and the experimental results illustrate the validity of the system.

著者

矢口 裕明 長谷川 貴巨 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

巻号頁・発行日

vol.2017, pp.1A1-C01, 2017

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<p>In this paper, we propose the method of tomato fruit and pedicel recognition method using 3D camera for tomato harvesting robot. Recognition method is constructed by 2 parts; tomato fruits detection and tomato pedicel detection. To avoid detecting stem and pedicel of neighbor fruit, we propose a robust estimation method in pedicel direction calculation. We evaluated the proposed method in the greenhouse with real tomato trees, experimental result shows its robustness.</p>

著者

安井 真人 池内 真志 生田 幸士

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.2011, pp._1A2-H09_1-_1A2-H09_4, 2011

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When a magnetic micro-screw moves in water, it is difficult to go up and to control a magnetic microscrew three-dimensionally because of gravity. Therefore, it is important to control density of a microscrew. Therefore, we have developed magnetically photo-curable (MPC) polymer with hollow microcapsules. This polymer enables us to fabricate a three-dimensional magnetic microstructure whose density is controlled. Since we can control density of this resin, buoyancy of microstructure is able to cancel the effect of gravity. To show neutral buoyancy of the magnetic microscrew, we compared vertical swimming velocity of the microscrew with horizontal velocity. This experimental result shows that vertical velocity coincides with horizontal velocity. This result demonstrates that we have succeeded in fabricating a magnetic microscrew and controlling the microscrew three-dimensionally in water.

著者

福田 光佑 ラミレス イクシェル 山野辺 夏樹 プティ ダミアン 原田 研介

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.2018, pp.2A1-F17, 2018

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<p>In this work, we propose a recognition system for assembly motions performed by humans, with the aim of generating and re-using robot motions stored in a database. An affordance model for each manipulated object is proposed to efficiently search for matching actions. Based on this model we design motion templates containing a set of basic motions associated to the manipulated objects. Recognition of motion data is done using the proposed motion templates and Hidden Markov Models. We verify the validity of the proposed method using three different assembly tasks.</p>

著者

青山 絢子 中島 求

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

著者

三上 貞芳 福田 知悠 五十嵐 彩乃 池田 和則 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.2014, pp."1A1-P04(1)"-"1A1-P04(3)", 2014-05-24

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Legged robot is one of the ideal mechanisms for moving around muddy, irregular, and fragile surfaces. However, once it is turned over, it is not easy to recover, or is needed for special mechanisms, which cause the robot unnecessarily complex. To realize powerful yet simple legged machine that is able to self-recover from unexpected rolling, we developed a polyhedral shaped robot that has legs capable of performing tripod gait on every face. In this paper we show that this type of multi-faces tripod gait is realized by a simple gears and links mechanism driven by a single motor.

著者

川端 邦明 石山 博紀 白崎 令人 大野 貴裕 羽成 敏秀 谷藤 祐太

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.2018, pp.1P2-L01, 2018

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<p>This paper describes the development of a prototype of a test field for accessing the primary containment vessel (PCV) in the reactor building of Fukushima Daiichi Nuclear Power Stations (FDNPS). A possible access route to the inside of PCV includes CRD (Control Rod Drive) rail part for maintenance and exchange of CRD. In the practical tasks at reactor building Unit 2, remotely operated robots passed thorough there for the tasks. We designed test field that is a simplified CRD rail part with insertion section for the robot and constructed a prototype. In this paper, we described the design and the characteristics of developed prototype in detail.</p>

著者

田中 崇裕 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.2006, pp._1A1-D28_1-_1A1-D28_4, 2006

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In this paper we explain the design of leg-wheeled hybrid jumping robot. First, we developed a light-weight and compact actuator, piston-wire mechanism. Using this mechanism, we achieved the high-speed movement of the leg. Then, the relationship between the jumping height and the motor position is considerd, and the effective design of leg-wheeled mechanism for jumping emerged. In addition, we developed a transmission mechanism inside of the leg frame. Finally, using the light-weight leg-wheeled mechanism, we experiment in wheel drive jumping.