著者

本橋 優俊 久保田 孝

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.5, pp.441-444, 2022 (Released:2022-06-18)

参考文献数

11

---

This paper presents a method to select behavior modes autonomously for a planetary rover. In the conventional methods, the behavior modes of a rover are selected by operators. Once the environment changes, however, it takes a long time to drive to the destination, because the intervention by operators is needed. Therefore, autonomous behavior mode selection is required to improve the exploration efficiency. The key idea of the proposed method is to understand the environmental map by deep learning so that a rover can select appropriate behavior mode according to the environment. The simulation study has been conducted to show the validity of the proposed method. The proposed method successfully demonstrates the capability to select behavior modes and to improve the traverse efficiency.

著者

妻木 俊道 玉田 守

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.6, pp.486-493, 2017 (Released:2017-08-15)

参考文献数

14

---

We introduce the stable walking system for the large 6 legged walking machine. The machine was developed to realize a solid and reliable walking vehicle for practical uses in forestry steep terrain with spread mechanical elements those are used in usual construction machines. It weighs about 4,000[kg] including the working machine. Owing to a mounted diesel engine and hydraulic drive system, it can walk around on the soft soil terrain and climb the steep slope of inclination up to about 30 degrees, and walk along contour line of lateral inclination up to about 41 degrees. Finally it walked well, despite it was tested on severe steep terrain where a lot of shrubs and stumps exist. We tested and evaluated the machine mainly about its significant walking method, hydraulic motion control system for walking and real-time inclination correcting system.

著者

村上 俊之 中村 亮 郁 方銘 大西 公平

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.11, no.5, pp.765-768, 1993-07-15 (Released:2010-08-25)

参考文献数

6

被引用文献数

21 68

---

The paper describes a force sensorless control in multi-degrees-of-fredom robot. In the active com-pliant control, force sensor is attached to the robot to detect the reaction force. However it makes a structure of the robot system complicated. To improve this problem, we propose the force sensorless control strategy based on disturbance observer.First, a basic structure of the dusturbance observer is shown. Then the calculation process of the reaction force is also introduced. Second, the force sensorless compliant controller is constructed. The experimental results are also shown to confirm the validity of the proposed method.

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.40, no.4, pp.351-354, 2022 (Released:2022-05-20)

参考文献数

12

---

This paper addresses reconstruction of visual scenes based on echolocation, aiming to develop auditory scene understanding for robots and systems. Although scene understanding technology with a camera and a LIDAR has been studied well, it is prone to changes in lighting conditions and has difficulty in detecting invisible materials. Ultrasonic sensors are widely used, but their use is limited to distance estimation. There is an unavoidable risk of ultrasonic exposure since most ultrasonic power exists in inaudible frequency ranges. To solve these problems, we propose a framework for echolocation-based scene reconstruction (ELSR). ELSR can reconstruct a visual scene using the transmitted/received audible sound, and it exploits a Generative Adversarial Network (GAN) to learn translation from input sound to a visual scene. As GAN is originally designed for image input, we carefully considered the difference between image and sound input and propose introducing cross-correlation and trigonometric function-based features to input audio features. The proposed framework is implemented based on pix2pix, a kind of conditional GAN, and a dataset for ELSR consisting of 10,800 pairs of input sound and depth images recorded at 28 indoor locations was newly created. Experimental results using the dataset showed the effectiveness of the proposed framework ELSR and audio features.

著者

森岡 一幸 李 周浩 橋本 秀紀

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.1, pp.103-111, 2004-01-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

5 5

---

In the environment that human and robots coexist, mobile robots have to approach human as much as possible in order to provide human with physical services. For friendly interaction with human, the robots should be able to afford human-affinitive movement. In this paper, human following, as one of human-affinitive movements, of robot is achieved. The human following robot requires several techniques; the recognition of the target human, the recognition of the environment around the robot, and the control strategy for stable human following. In this research, Intelligent Space, where many sensors and intelligent devices are distributed, is used for the recognition of the target human and the environment around the robot. The control law based on the virtual spring model is proposed to mitigate the difference of movement between the human and the mobile robot. The proposed control law is applied to Intelligent Space and its performance is verified by computer simulation and experiment.

著者

村上 陽一郎

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.1, pp.6-7, 1998-01-15 (Released:2010-08-25)

被引用文献数

2

著者

市川 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.13, no.2, pp.213-218, 1995-03-15 (Released:2010-08-25)

参考文献数

6

著者

鄭 育昌

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.3, pp.191-194, 2022 (Released:2022-04-22)

参考文献数

10

著者

田中 宏和

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.7, pp.500-505, 2017 (Released:2017-10-01)

参考文献数

17

著者

木本 充彦 飯尾 尊優 塩見 昌裕 タネヴ イヴァン 下原 勝憲 萩田 紀博

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.35, no.9, pp.681-692, 2017 (Released:2017-12-15)

参考文献数

24

被引用文献数

2 1

---

This paper proposes a multimodal interactive approach to improving recognition performance of objects a person indicates to a robot. We considered two phenomena in human-human and human-robot interaction to design the approach: alignment and alignment inhibition. Alignment is a phenomenon that people tend to use the same words or gestures as their interlocutor uses; alignment inhibition is an opposite phenomenon, which people tend to decrease the amount of information in their words and gestures when their interlocutor uses excess information. Based on the phenomena, we designed robotic behavior policies that a robot should use enough information without being excessive to identify objects so that people would use similar information with the robot to refer to those objects, which would contribute to improve recognition performance. To verify our design, we developed a robotic system to recognize the objects to which people referred and conducted an experiment in which we manipulated the redundancy of information used in the confirmation behavior. The results showed that proposed approach improved recognition performance of objects to which referred by people.

著者

星 義克 三平 満司 古賀 雅伸

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.8, pp.1133-1140, 2000-11-15 (Released:2010-08-25)

参考文献数

13

被引用文献数

5 4

---

In this paper, we discuss an autonomous locomotion control of a snake-like robot which is modeled by some links with passive wheels. When the robot locomotes windingly, it should always keep the high locomotable shape, because its locomotability depends on its own shape. Then, we utilized a notion of manipulability to evaluate the locomotability, and proposed a controller to make it autonomously locomote in a desired direction without decreasing the manipulability. In this method, the robot spontaneously generates its gait, so we don't need to design any gaits. Moreover, by some simulations, it was proved that the method realizes the autonomous locomotion without taking singular postures.

著者

西村 陽樹

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.2, pp.117-120, 2022 (Released:2022-03-17)

参考文献数

12

著者

玉本 拓巳 佐山 和宏 小金澤 鋼一

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.33, no.9, pp.689-695, 2015 (Released:2015-12-15)

参考文献数

9

---

This paper proposes a multi-joint-gripper that achieves envelope grasping for unknown shape objects. The proposed mechanism is based on a chain of Differential Gear Systems (DGS) controlled by only one motor. It also equips a Variable Stiffness Mechanism (VSM) that controls joint stiffness to relieve interferences suffered from external environment and to achieve a dexterous grasping. The experiments elucidated that the developed gripper achieves envelop grasping; the posture of the gripper automatically fits the shape of the object with no sensory feedback. And they also showed that the VSM effectively works to relieve external interferences. This paper shows the mechanism and experimental results of the second test machine that was developed inheriting the idea of DGS used in the first test machine but has a completely altered VSM.

著者

石塚 康孝 小金澤 鋼一

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.26, no.6, pp.699-710, 2008-09-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

6 5

---

This paper presents a new mechanism for artificial fingers. It enables adduction/abduction of the MP joint in addition to the synergetic flexion/extension of the DIP, PIP and MP joints. The key mechanism is the newly invented double planetary gear system (DPGS) that allows three DOF motions of the finger in a compact placement of all actuators in a palm. The DPGS receives two input torques; one is an active torque coming from DC-motors, which drives solar gears, the other is a passive torque around the carrier of the planetary gears generated by a spring. This active/passive hybrid actuation enables to grip unknown shape objects with no sensory feedback. This paper describes the kinematics and the kinetics of the newly developed mechanism followed by the kinetics of pinching the object by two-fingers. It also shows the results of a couple of experiments. Additionally, we show a new mechanical design aiming for constructing a multi-fingered hand.

著者

中島 求

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.1, pp.2-6, 2015

著者

中山 英樹

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.34, no.6, pp.382-385, 2016

著者

杉原 知道

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.36, no.2, pp.95-102, 2018 (Released:2018-04-15)

参考文献数

26

被引用文献数

1 1

著者

和田 正義

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.25, no.7, pp.1100-1107, 2007-10-15 (Released:2010-08-25)

参考文献数

14

被引用文献数

6 9

---

This paper presents modeling and control of omnidirectional mobile robots propelled by active-casters (poweredcasters) . This type of mobile robot is redundantly actuated since it is controlled by more than four motors while its configuration is represented by three DOF on the ground. The modeling method is generalized down to n-wheeled mobile robots and a unified modeling procedure is presented for flexible designs with variety of wheel layout. The kinematic model derived by proposed method enables continuous linear full state feedback control with no consideration for singular configurations of robots. Performances of three- and fourwheeled robots with full state feedback controllers and proposed kinematic models are tested by computer simulations. Furthermore, a three-wheeled robot prototype is design, built and tested for the verification of the proposed modeling and control method for omnidirectional mobile robots in the real world.

著者

高橋 英之 石原 尚

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.9, pp.840-843, 2013 (Released:2013-12-15)

参考文献数

11

著者

西尾 修一 アリマルダニ マリヤム 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.31, no.9, pp.854-857, 2013

被引用文献数

1