著者

奥井 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.37, no.1, pp.57-60, 2019 (Released:2019-01-15)

参考文献数

9

著者

山田 宏尚

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.33, no.6, pp.400-403, 2015 (Released:2015-08-15)

参考文献数

10

被引用文献数

6 4

著者

皆川 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.38, no.3, pp.249-252, 2020 (Released:2020-05-02)

参考文献数

17

著者

荒井 祐介 若林 憲一 吉川 雅英 奥 寛雅 石川 正俊

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.10, pp.1028-1035, 2013 (Released:2014-01-15)

参考文献数

16

被引用文献数

1 1

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Recently, flagella and cilia have gathered attension since their important role in mammal cells and relation to genetic diseases of human were revealed. Chlamydomonas is one of the model organism of flagella and phototaxis research. The purpose of our research is to track a freely swimming individual Chlamydomonas cell to observe its flagella and whole body movement with dark field microscopy to investigate the phototactic reaction of Chlamydomonas. In this paper, a method for three-dimensional tracking of Chlamydomonas using high-speed visual feedback in dark field microscopy is proposed. The method was implemented to an existing microscope tracking system. It demonstrated successful three-dimensional tracking of a swimimng Chlamydomonas for several tens of seconds. The precisions of the 3D position measurement were estimated as ±1[μm] (XY) and ±10[μm] (Z).

著者

多田隈 理一郎

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.4, pp.358-362, 2014 (Released:2014-06-15)

参考文献数

6

著者

八木 秀明 星野 智史

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.3, pp.275-278, 2021 (Released:2021-04-28)

参考文献数

7

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For autonomous mobile robot navigation, localization is a fundamental technique. For this purpose, environmental maps are usually given beforehand by using SLAM. In stead of SLAM, we use an existing geographical map. Since road and building information are already included in the map, we focus on the scan data of the actual road surface and buildings in the environment obtained from a 3D LiDAR. In the map, MCL technique enables a robot to estimate the position. In the experiments, we show that the robot is able to autonomously move more stably through the localization with not only the scan data of the road surface, but also the ones of the buildings.

著者

高西 淳夫

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.11, no.3, pp.348-353, 1993-04-15 (Released:2010-08-25)

参考文献数

21

被引用文献数

8 15

著者

赤間 一太 谷口 友美 玄 相昊

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.375-378, 2021 (Released:2021-05-25)

参考文献数

12

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Water-hydraulic system is environmentally friendly technology, and its application to robot manipulators is eagerly awaited. However, they are still expensive compared to oil-hydraulic systems because of the technical problems related to fast sliding motions between the solid materials contacting each other with the very small gap in the pumps or valves. To avoid these difficulties, we proposed an alternative solution, which lead to a pump-less hydraulic system called AHSB. The system utilizes an air-hydraulic booster to control the low-to-middle range water pressure by pneumatic servo valves. In this paper, we analyze the water-hydraulic dynamics and develop a robust pressure-based joint torque controller using Sliding Mode Control. The controller is implemented on a single-axis robot arm for the remote torque control application, which is crucially important for future tele-operated field robots. The experiments under quasi-static condition demonstrates the first successful torque control results on the water-driven robot with 10 kg payload, which is connected with 20 meter-long hydraulic hoses.

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 (Released:2015-02-15)

参考文献数

13

著者

金岡 克弥 川村 貞夫

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.22, no.6, pp.732-737, 2004-09-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

3

著者

川内 陽志生 稲葉 忠 福田 敏男

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.12, no.1, pp.116-132, 1994-01-15

参考文献数

39

被引用文献数

6 7

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This paper deals with a robotic system which is required to exhibit adaptability and have the capability of self-organization, and self-evolution. One such robotic system to realize this type of configuration has been studied by the authors. It is called a cellular robotic system (hereinafter call CEBOT) . CEBOT consists of many kinds of functional units. Each unit is called a “cell”, which possesses at least one function, and its own intelligence. The fundamental concept of CEBOT is based on biological systems which are adaptable and capable of self-organization, and self-evolution. Like the biological system, many cells can organize a structure to integrate the tiny functions of single cell. Therefore, the whole structure can execute complicated tasks which can not be carried out by a cell. This paper covers essential issues to develop a type of multi-agent robotic system as follows : the fundamental concept of CEBOT and the definition of the “cell”, the control law for cells to realize the “function amplification” which is a newly proposed concept, the hardware and the software configuration, and the optimizing method of the structure for both the hardware and the software of CEBOT.

著者

川畑 章司 田中 一男 大竹 博

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.21, no.8, pp.916-922, 2003-11-15 (Released:2010-08-25)

参考文献数

13

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This paper presents analysis and design of a flapping robot with membrane wings. We develop an analysis method of aerodynamic forces for flapping movements for the robot. The optimal aspect ratio for a flapping robot with the membrane wings is designed through the numerical simulation that considers not only the analysis method of aerodynamic forces but also the load of a motor and the mechanical structure between the motor and the membrane wings. The simulation results show that the flapping efficiency for membrane wings is better than that for rigid wings. The experimental results agree well with the simulation results based on the proposed analysis method of aerodynamic forces.

著者

金出 武雄

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.376-383, 1987-10-15 (Released:2010-08-25)

参考文献数

21

被引用文献数

3 3

著者

佐藤 知正 細谷 克己

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.3, pp.203-207, 2019 (Released:2019-04-18)

参考文献数

4

著者

鈴木 昭二

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.778-779, 1990-12-15 (Released:2010-08-25)

著者

妹尾 敏弘 三木 一浩 阪本 実雄

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.3, pp.214-217, 2014 (Released:2014-05-15)

参考文献数

7

著者

藤吉 弘亘 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.35, no.1, pp.22-27, 2017 (Released:2017-02-15)

参考文献数

16

被引用文献数

1 1

著者

油田 信一

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.8, no.3, pp.320-323, 1990-06-15 (Released:2010-08-25)

著者

黄 捷 大西 昇 杉江 昇

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.9, no.1, pp.29-38, 1991-02-15 (Released:2010-08-25)

参考文献数

10

被引用文献数

3 4

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A method for multiple sound source localization is presented. It is based on the properties of the onsets of sound as the primary cue: (1) most of the onsets will be contributed by only one source. (2) the onsets will be contributed only by the direct sound. Histograms of temporal disparities for several frequency components and its integrated one are calculated to determine the correct temporal disparities. Experiments were carried out in an anechoic chamber and an echoic chamber. The recorded speeches were used as two sound sources. We could localize the two concurrent sound sourcess with reasonable accuracy.

著者

三木 晴子 阿部 香澄 堀井 隆斗 長井 隆行

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.2, pp.185-188, 2021 (Released:2021-03-24)

参考文献数

5

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This paper proposed a developmental support system of toddlers' language skills by using a telepresence childcare robot. The childcare robot can attract toddlers' attention during interaction based on its actions. This ability is a significant advantage that differs from static devices (i.e., tablet). Our system and robot played language quizzes with toddlers to collect developmental information about toddlers' language skills. They made reports for a childcare worker to help their assessment in the visiting support program. Experimental results showed that our system has the potentials to evaluate toddlers' language development quantitatively and support childcare workers in the visiting program.