文献一覧: 日本ロボット学会誌 (雑誌)

2 0 0 0 OA ステレオビジョンを用いた移動ロボットの人物追従制御

著者: 佐竹純二三浦純
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.28, no.9, pp.1091-1099, 2010 (Released:2012-01-25)
参考文献数: 21
被引用文献数: 10 9

This paper describes a stereo-based person detection and tracking method for a mobile robot that can follow a specific person in dynamic environments. Many previous works on person detection use laser range finders which can provide very accurate range measurements. Stereo-based systems have also been popular, but most of them have not been used for controlling a real robot. We propose a detection method using depth templates of person shape applied to a dense depth image. We also develop an SVM-based verifier for eliminating false positive. For person tracking by a mobile platform, we formulate the tracking problem using the Extended Kalman filter. The robot continuously estimates the position and the velocity of persons in the robot local coordinates, which are then used for appropriately controlling the robot motion. Although our approach is relatively simple, our robot can robustly follow a specific person while recognizing the target and other persons with occasional occlusions.

2022-01-23 14:15:18
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2 0 0 0 OA 挟持グリッパをベースとした混載商品を識別するピッキングロボットの開発

著者: 堂前幸康川西亮輔白土浩司原口林太郎藤田正弘山内悠嗣山下隆義藤吉弘亘秋月秀一橋本学
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.38, no.1, pp.95-103, 2020 (Released:2020-01-16)
参考文献数: 16

We proposed a picking robot system which is apllicable to various mixed items in shelves. The robot has a two-finger gripper which can change the open width of the finger. To determine the position, the pose and the open width when the gripper pick items, we proposed efficient determination algorithm which is based on a RGBD sensor data. In our experiments, 25 items of Amazon Picking Challenge 2015 can be picked well by our proposed system. In this paper, we describe the system, the algorithms and the experimental results.

2022-01-07 23:29:43
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2 0 0 0 OA 原発内作業・調査ミッション用ロボットの開発と改良

著者: 古田貴之吉田智章西村健志大和秀彰
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.32, no.2, pp.92-97, 2014 (Released:2014-04-15)
参考文献数: 4
被引用文献数: 10 10

2021-12-01 13:58:24
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2 0 0 0 OA 複数台の産業ロボット間における接近速度に基づく干渉チェック方式開発

著者: 白土浩司
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.31, no.7, pp.697-702, 2013 (Released:2013-10-01)
参考文献数: 14
被引用文献数: 2 2

In FA industry, recently, it has been getting more and more difficult for system integrators to check all collision cases among robots and peripherals before the operation. It is because that robotic production system gets more complex and intelligent, therefore, robots sometimes move on the defferent trajectories and timing in each bin picking motion or recovery sequence from irregular state. A new on-line collision check method for robots is proposed by using each approach speed among the collision check models. We show the algorithm of this method and confirm the effect of it by simulation.

2021-11-27 19:24:13
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2 0 0 0 OA ナメクジウオロボットの筋骨格と運動制御—進化史に学ぶロボティクス—

著者: 辻俊明
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.28, no.6, pp.695-698, 2010 (Released:2012-01-25)
参考文献数: 6

2021-11-18 17:34:18
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2 0 0 0 センサ・フュージョンを利用した視覚障害者のための文字認識訓練器

著者: 井出英人内田雅文横山修一
出版者: The Robotics Society of Japan
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.12, no.5, pp.28-32, 1994-07-15
被引用文献数: 6 1

In this investigation, we studied the utilty of electric or mechanical stimuli as visual substitutes. We used mechanical and electric stimuli to present characters and colors respectively. For the reduction of learning time and the increase of recognition rate, we devised an apparatus which is connected to a microcomputer and can present Japanese sentences, including Chinese characters, with a 10 × 10 array of 100 vibrators.Color recognition is achieved by using electrical stimuli. Electric stimuli were given with two Ag-AgCl electrodes attached to the root of middle finger. Long pulse (feels warm) stands for red, short pulse (feels cold) stands for blue and a sequence of 10 pulses per second (feels like twitter) stands for green. The current value was 200 μA.<BR>In this investigation, we examined 25 subjects. The recognition rate was 100% for most three color (red, blue and green) .

2021-11-10 17:45:05
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2 0 0 0 OA 動的安定把持を実現する電動義手のための二層弾性構造グローブの開発

著者: 小畑承経熊谷あやね矢吹佳子東郷俊太姜銀来横井浩史
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.39, no.8, pp.744-750, 2021 (Released:2021-10-23)
参考文献数: 21

This study demonstrates that a bio-inspired fingertip structure improves the grasping performance of a prosthetic hand. A prosthetic hand attached to a human user requires a higher degree of grasping stability with minimal components compared to a typical robotic hand. Precision grasping tends to be less stable than power grasping; however, the former is used more frequently in daily life. To improve the stability of precision grasping, in this study, we focused on a two-layered elastic structure consisting of epidermis and subcutaneous tissue found in the finger. The efficiency of the two-layered structure, with respect to grasping stability, was evaluated by comparing one-layered and two-layered artificial fingertips. Finally, a two-layered elastic glove was designed based on the stability of the grasping. The stability of the precision grasping was evaluated using the pendulum experiment. The developed glove showed higher stability than the conventional prosthetic hand system.

2021-10-25 16:13:49
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2 0 0 0 OA 視覚, 体性感覚と運動司令を統合する神経回路モデル

著者: 片山正純川人光男
出版者: The Robotics Society of Japan
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.8, no.6, pp.757-765, 1990-12-15 (Released:2010-08-25)
参考文献数: 26
被引用文献数: 5 9

2021-10-19 15:59:59
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2 0 0 0 OA 未知の斜面における4脚歩行ロボットのZMPに基づくトロット歩容

著者: 亀川哲志北郷淳一五福明夫
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.35, no.4, pp.317-326, 2017 (Released:2017-06-15)
参考文献数: 18

We focus on a quadruped robot as a mobile platform which would work at various environment such as disaster sites, offices and factories. In this paper, we assume that terrain consists of slopes and we propose a walking gait for a quadruped robot on unknown slopes. In this method, the robot basically walks in trot gait because trot gait has both high stability and practical walking speed in order to walk stably on steep slopes. At first, robot estimates slant of the slope by using body attitude and foot positions on the slope. Then it generates walking pattern for the robot to walk stably on the slope by using inverted pendulum model and multi-mass model of the robot. The proposed method was verified through experiments with a quadruped robot TITAN-VIII walked on slopes where a step or other slope exist halfway.

2021-09-06 16:06:22
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2 0 0 0 OA 強化学習を用いたヒューマノイドロボットによる転倒回避ステップ動作の学習

著者: 丸山淳一松原崇充 Joshua G. Hale 森本淳
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.27, no.5, pp.527-537, 2009 (Released:2011-11-15)
参考文献数: 25
被引用文献数: 3 3

This paper presents a method to learn stepping motions for fall avoidance by reinforcement learning. In order to overcome the curse of dimensionality associated with the large number of degrees of freedom with a humanoid robot, we consider learning on a reduced dimension state space based on a simplified inverted pendulum model. The proposed method is applied to a humanoid robot in numerical simulations, and simulation results demonstrate the feasibility of the proposed method as a mean to acquire appropriate stepping motions in order to avoid falling due to external perturbations.

2021-08-07 21:41:53
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2 0 0 0 OA マッスルスーツ®

著者: 小林宏
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.38, no.2, pp.143-146, 2020 (Released:2020-03-18)
参考文献数: 7
被引用文献数: 2

2021-06-29 11:07:37
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2 0 0 0 OA 複数のダイナミックモデルに基づく蹴上がり動作スキルの解析

著者: 中脇ダレル周桑完宮崎文夫
出版者: The Robotics Society of Japan
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.18, no.1, pp.59-65, 2000-01-15 (Released:2010-08-25)
参考文献数: 13
被引用文献数: 7 10

The kip is a fundamental gymnastic movement performed on a variety of gymnastic apparatuses at all levels of competition. We analyze the kip with a multi-model approach consisting of a pendulum and 3-link model. Our simulations have shown that a variable length pendulum model is sufficient for modeling the dynamics of an expert gymnast's center-of-mass without considering the complex parameters of the 3-link model. The optimized pendulum model can generate kip pattern variations which yield a midpoint target region of success. We then evaluate these kip patterns based on the center-of-mass and 3-link system's total energy.Experimental data of both success and failure performances show that the novice raises his center-of-mass too high during the forward swing thus resulting in failure. Analysis of midpoint kip pattern variations also indicate that raising the center-of-mass at the end of the forward swing is a cause of failure.

2021-06-28 17:31:33
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2 0 0 0 OA 箸を用いた食事介助ロボットの試作と食べ物の把持制御

著者: 山崎明福嶋政徳増田良介
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.30, no.9, pp.917-923, 2012 (Released:2012-12-15)
参考文献数: 17
被引用文献数: 3 4

Recently, the development of the support robot for daily life has been required under the impact of falling birthrate and the aging population. We have developed a meal assistance robot for disabled or elderly person who cannot take a meal by themselves. In this paper, a system of chopsticks-equipped meal assistance robot trial made is introduced. Chopsticks have a variety of movements for foods handling and are familiar to people in Japan and other Asian countries. The grasp force control of chopsticks for the variety of foods by using the elasticity and maximum force information, is also described.

2021-05-23 23:55:10
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2 0 0 0 OA 自動車の自動運転におけるデジタル地図の活用

著者: 菅沼直樹米陀佳祐
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.33, no.10, pp.760-765, 2015 (Released:2016-01-15)
参考文献数: 12
被引用文献数: 5 4

2 0 0 0 OA 重み付け尤度関数と定在波を用いた可聴音による二次元環境認識

著者: 岸波華彦糸山克寿西田健次中臺一博
出版者: 一般社団法人日本ロボット学会
雑誌: 日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日: vol.39, no.3, pp.271-274, 2021 (Released:2021-04-28)
参考文献数: 11

In recent years, many kinds of sensors have been studied to recognize the environment, and they are used for AR and VR applications and for SLAM. Although ultrasonic signals with high directivity and high resolution are often used, there are problems such as ultrasonic exposure and grating noise at the rising edge. In this paper, we propose a new active sensing method based on audible sounds that is robust to environmental noise by combining weighting likelihood functions and standing waves. Compared to ultrasonic signals, audible sound tends to spread out, which leads to misalignment of distance estimates and loss of map consistency over time. Therefore, we derive the effective azimuth angle based on the directional characteristics of the speaker and calculate the likelihood of the presence or absence of obstacles using the observation model. In addition, we introduce occupancy grid mapping to produce a map that best explains the estimated distances. We performed real-world two-dimensional environment recognition experiments using the proposed method to detect and map surrounding obstacles, and showed the effectiveness of the method.