著者

吉田 優太郎 林 亮 舛屋 賢 高木 賢太郎 有田 輝 田原 健二

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.41, no.6, pp.573-576, 2023 (Released:2023-07-27)

参考文献数

8

---

A Straight Twisted Polymeric Fiber Actuator (STPFA) has attracted attention as a new rotational actuator because it is soft, lightweight, silent, and inexpensive. It can rotate when heating, and be back when cooling. However, it is difficult to improve the response, especially in the cooling phase when using natural cooling. In order to improve the response in natural cooling, antagonistical actuation is one of the effective methods. However, the diactivated-side actuator generates a disturbance-like torque when the other-side actuator is activated due to its passive torsional spring-like characteristics. In order to realize the antagonistical actuating module using a pair of rotational-type STPFA, in this paper, the models are constructed that can estimate the torque generated at both ends of an antagonistically arranged rotational STPFA from the change in heater resistance. A sensorless output torque control method is proposed for the total torque obtained as the difference between the torques at the two ends using the proposed STPFA models. The effectiveness of the proposed method is demonstrated through fundamental experiments using a prototype module.

著者

中野 吏 吉川 雄一郎 浅田 稔 石黒 浩

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.7, pp.814-822, 2011 (Released:2011-11-15)

参考文献数

26

---

In this paper, we propose a method for simultaneous learning of multi-modules for joint attention: gaze-driven attention and word-driven attention. Inspired from child language acquisition, mutually exclusivity bias is utilized for mutual facilitative learning both in an intra- and inter-module manner by extending a modified Hebbian learning rule. Experiments on a human-robot interaction and on the computer simulations, we analyzed that the proposed method enabled mutually facilitative learning of a mapping for gaze-following and a label-to-object mapping by which the learner performs multimodal joint attention with its caregiver. Finally, through a computer simulation resembling mother-infant interaction, we argued a possibility of the proposed learning mechanism as a constructivist model for infant's cognitive development.

著者

伊澤 栄一

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.40, no.1, pp.7-9, 2022 (Released:2022-01-17)

参考文献数

4

著者

山本 佳男

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.7, no.5, pp.524, 1989-10-15 (Released:2010-08-10)

参考文献数

2

著者

長 隆之 佐藤 雅也 森木 和也 杉山 聡 杉田 直彦 中尾 政之

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.37, no.8, pp.718-725, 2019 (Released:2019-10-18)

参考文献数

21

---

Motion planning for robotics manipulation is an essential component for automating various tasks. In this study we discuss optimization-based motion planning methods for robotic manipulation. The optimization-based method can compute smooth and collision-free trajectories with relatively short computational cost. Although existing methods are often designed to output a single solution, the objective function is often multimodal and there exist multiple solutions to achieve a given task. On such a task, obtaining multiple solutions gives a user an opportunity to choose one of the solutions based on factors which are not encoded in the objective function. To address this issue, we propose a motion planning framework that finds multiple solutions. The proposed method is validated in simulated environments with a four-link manipulator in 2D space and a 6 DoFs manipualtor in 3D space.

著者

金子 智弥 坂上 肇 中村 允哉

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.4, pp.318-321, 2021 (Released:2021-05-25)

参考文献数

3

著者

福原 洸

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.41, no.3, pp.247-252, 2023 (Released:2023-05-03)

参考文献数

36

著者

國吉 康夫

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.28, no.4, pp.370-374, 2010 (Released:2012-01-25)

参考文献数

19

被引用文献数

3 4

著者

大西 弘之 鈴木 寿 有本 卓

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.16, no.2, pp.232-240, 1998-03-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

3 6

---

This paper discusses on a method of computing the scale of magnification, the angle of rotation, and the quantity of parallel translation that is based on a Hough transform and a Fourier transform. This method applies a Radon transform to images in all directions, differentiates the Radon transformed planes, divides the differentiated planes into positive and negative areas, computes the power spectra of period 2π by applying one-dimensional Fourier transforms to positive and negative differentiated planes, applies a Mellin transform, and gets the scale of magnification and the angle of rotation. Known methods by using 2D Fourier transforms are unable to compute uniquely the angle of rotation from power spectra since they are π-periodic. The proposed method can compute uniquely the angle of rotation from power spectra since they are 2π-periodic. Moreover, to reduce the computational cost, a Radon transform is replaced by a Hough transform by taking account of edges. Experiments were applied to actual images of industrial parts.

著者

菅野 重樹 原 文雄 佐藤 知正 大熊 道雄 佐野 明人 中谷 和夫 広瀬 茂男 加藤 一郎 吉田 和哉

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.3, pp.401-408, 1994-04-15 (Released:2010-08-25)

著者

内山 勝 飯村 憲一 多羅尾 進 ピエロ フランソワ 外山 修

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.3, pp.451-458, 1994-04-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

10 14

---

The HEXA robot is a very fast 6-DOF parallel robot. It uses a parallel mechanism, called HEXA mechanism, which consists of a kinematic chain with five closed loops and is driven only by actuators at its base. This robot consists of six very simple elementary kinematic chains, each of which has only one active joint driven by a powerful DD motor. The moving parts of this robot is made very light at no expense of its stiffness. Therefore, this robot can move very fast and precisely. In this paper, we present development of a prototype of this robot. We choose a so-called Adept motion as a benchmark to measure its capability of fast motion. Experimental results show that the prototype robot can achieve the Adept motion in 0.465 [s/cycle] and prove that the HEXA robot is suited for very fast motion.

著者

小柳 栄次 吉田 智章 西村 健志

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.1, pp.47-48, 2013 (Released:2013-02-17)

被引用文献数

6 5

著者

橋爪 誠

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.22, no.4, pp.423-425, 2004-05-15 (Released:2010-08-25)

参考文献数

4

被引用文献数

9 6

著者

鵜沼 秀行

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.17, no.7, pp.937-942, 1999-10-15 (Released:2010-08-25)

参考文献数

13

著者

松浦 和也

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.41, no.1, pp.23-26, 2023 (Released:2023-01-21)

参考文献数

22

著者

木村 浩 秋山 征一 桜間 一彰

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.16, no.8, pp.1138-1145, 1998-11-15 (Released:2010-08-25)

参考文献数

23

被引用文献数

13 12

---

In the present study we attempt to induce a quadruped robot to walk dynamically on irregular terrain and run on flat terrain by using a neural system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscillator network, a stretch reflex and a flexor reflex. Stable dynamic walking when obstructions to swinging legs are present is made possible by the flexor reflex and the crossed stretch reflex. A modification of the single driving input to the neural oscillator network makes it possible for the robot to walk up a step. For running on flat terrain, we combine a spring mechanism and the neural oscillator network. It became clear in this study that the matching of two oscillations by springs and the neural oscillator network is important in enabling the robot to hopping. The present study also shows that entrainment between neural oscillators causes the running gait to change from hopping to bouncing. This finding renders running fairly easy to attain in a bounce gait. It must be noticed that the flexible and robust dynamic walking on irregular terrain and the transition of the running gait are realized by the modification of a few parameters in the neural oscillator network. This finding, obtained through experiments using the quadruped called Patrush, shows the potential ability of a neural oscillator network to facilitate adaptation in dynamic walking and running.

著者

新保 史生

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.41, no.1, pp.18-22, 2023 (Released:2023-01-21)

参考文献数

9

著者

春日 智惠

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.6, pp.857-862, 1994-09-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

3 4

---

This paper proposes a new identification method of self-positioning of an autonomous mobile robot. A CCD camera reads a code of pixels on the mark pattern drawn on a ceiling. The proposed method dose not require complicated calculation compared with other methods such as conventional triangular surveying ones. The most benefit point is that it can do identification of selfpositioning on real time by only reading the pattern. This real time is necessary requirement for mobile robots. Validity of the method is confirmed by experiments of self-positioning on real time by reading the pattern.

著者

松本 勉 油田 信一

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.5, no.5, pp.351-360, 1987-10-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

2 5

---

人が目的地まで移動するときには, 手や頭に持った地図から目的地までの経路を探したり, 経路上での現在位置を常に確認しながら移動を行っていると言ってよい.これは人間が持っている地理に関する知能 (地理感覚) の一つである.同様にロボットに移動を行わせる時にはロボットに適した地理感覚が必要となる.本論文は, 移動ロボットの移動における地理感覚の実現に関するものである.そこでは, ロボットが移動を行う時にその現在位置から目的地迄の経路とその回りの環境情報を持った経路地図 (ルートマップ) を持ち, 次に経路地図を解釈して実行するという方式を提案し, 目的地までの経路を表しその道筋の状況を持った経路地図 (ルートマップ) の表現法と与えられた経路地図を解釈して目的地までロボットを走行させる時に必要なアルゴリズムについて述べている.また本論文で提案したルートマップやルートランナのアルゴリズムの具体的実現の一例として山彦9号上にインプリメントした知的移動システムのソフトウエア構成についても述べる.

著者

吉田 智章 大矢 晃久 油田 信一

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.22, no.4, pp.469-477, 2004-05-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

3 4

---

A mobile robot can use the walls or the pillars to localize itself when it navigates in indoor environment. However, in open space or outdoor environment there are few easy detectable and stable objects that the robot can use. In this paper, we propose a method for the detection of braille blocks, which are originally used for visually handicapped people, for autonomous mobile robot navigation. To recognize the Braille block, a CCD camera and a laser fan beam projector are used as sensor to detect uneven surface of the blocks. This paper also present the experimental results of simple navigation using the sensor system.