著者

若松 栄史 和田 隆広

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.145-148, 1998-03-15 (Released:2010-08-25)

参考文献数

8

被引用文献数

1 3

著者

上野 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.32, no.5, pp.431-434, 2014 (Released:2014-07-15)

参考文献数

5

被引用文献数

3 4

著者

平野 克彦 黒澤 孝一

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.36, no.6, pp.408-411, 2018 (Released:2018-08-15)

参考文献数

3

被引用文献数

1

著者

山口 仁一 高西 淳夫 加藤 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.11, no.4, pp.581-586, 1993-05-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

8 28

---

We have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking, robot which has a trunk. In this paper, we introduce a control method of dynamic biped walking stabilized by trunk motion compensating for the three-axis moment on an arbitrary planned ZMP. We developed a biped walking robot WL-12 RV (Waseda Leg-12 Refined V) and perfomed a walking experiment with WL-12 RV using the control method. As a result, we realized fast dynamic biped walking (walking speed 0.54 s/step and step length 0.3 m) on a flat floor. This walking speed is about 50 percent faster than that with WL-12 (Waseda Leg-12) which compensates for only the two-axis (pitch-axis and roll-axis) moment by trunk motion.

著者

中村 仁彦 永井 清 吉川 恒夫

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.4, no.5, pp.489-498, 1986-10-15 (Released:2010-08-25)

参考文献数

20

被引用文献数

4 10

---

本論文では, 複数のロボットマニピュレータまたは多指ロボットハンドによる協調的あやつりの力学が議論される.協調的あやつりの問題は2つの局面に分けられる.1つは複数のロボット機構による合力を決定することであり, もう1つはそれらの間の内力を決定することである.合力は外力や環境拘束を受ける物体のあやつりに用いられる.内力は最大静止摩擦係数の不確さや変動に適応するために用いられる.合力の決定に対して動的協調制御方式が提案される.また, 最大静止摩擦の拘束の下で対象物に任意な加速度を発生する能力である協調的あやつり可能性を確認するための1方法が提案される.最後に, 最適内力を最大静止摩擦の拘束を満たすために必要な最小ノルムの内力と定義し, 最適解を求めるために非線形計画法が適用される.最適解は, それが存在する限り, 最大〓組の代数方程式を解くことによって必ず求められる.

著者

神野 誠 尾崎 文夫 吉見 卓 辰野 恭市 神田 眞三 玉田 保彦 永滝 真太郎 小熊 勇 高橋 幹男

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.16, no.1, pp.50-51, 1998-01-15

参考文献数

2

被引用文献数

1 1

著者

内藤 理 佐藤 啓宏 工藤 俊亮 池内 克史

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.30, no.6, pp.629-638, 2012 (Released:2012-08-15)

参考文献数

19

被引用文献数

1

---

In recent years, the social network has attracted attention as the system which causes the innovation, and various studies for researchers' networks have been carried out. This paper conducts social network analysis for a researchers' social network based on co-authorship in papers in the journal of RSJ. We investigate the 1,912 papers published from 1983 to 2010, which include 2,736 authors (nodes of the network) and 6,531 co-authorship (edges of the network). The network turns out to have general features as a complex network, such as scale-free structure, small-world structure, and cluster structure. We extract 710 core members from the network and analyze various centrality among them to show that some researchers demonstrate more importance in the network than their degrees. We also apply cluster analysis to the network to find 27 clusters in which researchers have close relationship, and give a coarse-grained representation of the clusters to clarify the adjacency among them.

著者

町田 和雄 戸田 義継 森谷 正義 津田 直純 秋田 健三

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.18, no.3, pp.444-452, 2000-04-15

参考文献数

11

被引用文献数

5

---

This paper presents the space test of the ARH (Advanced Robotic Hand System), which is the world's first precise extravehicular robot aboard the satellite“Hikoboshi”. The telerobotic system has features of dexterity, autonomy and flexible operability, using a three-finger multisensory hand at a work site in space and a computer-graphics-based desktop interface at an operation site on the ground. The concept of sensor-fused telerobotics utilizing multisensory information is introduced, and the system is implemented to perform high precision tasks under the barrier of inter-satellite space communication. The robot system was launched into low earth orbit, and the capability of sensor-fused telerobotics was successfully demonstrated in precise in-orbit servicing.

著者

岡田 浩之 山川 宏 大森 隆司

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.19, no.2, pp.244-251, 2001-03-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

1 1

---

The trade-off of exploration and exploitation is present for a learnig method based on the trial and error such as reinforcement learning. We have proposed a reinforcement learning algorism using reward and punishment as repulsive evaluation (2D-RL) . In the algorithm, an appropriate balance between exploration and exploitation can be attained by using interest and utility. In this paper, we applied the 2D-RL to a navigation learning task of mobile robot, and the robot found a better path in real world by 2D-RL than by traditional actor-critic model.

著者

倉爪 亮 米田 完 田中 俊太郎 玉木 達也 太田 祐介 長谷川 勉

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.7, pp.811-818, 2003-10-15

参考文献数

26

被引用文献数

4 1

---

From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed "the sway compensation trajectory". This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point (ZMP) on a diagonal line between support legs. In this paper, we develop the sway compensation trajectory for a biped robot, and show that dynamically stable walking is realized. This method makes it quite easy to design stable ZMP and COG (center of gravity) trajectories, which have been regarded as a very complicated and delicate problem. The effectiveness of the proposed method is verified through computer simulations and walking experiments by a humanoid robot HOAP-1, and YANBO-3.

著者

友納 正裕 吉田 智章 入江 清 小柳 栄次

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.3, pp.262-270, 2012 (Released:2012-04-29)

参考文献数

23

被引用文献数

5 4

---

The Tsukuba Challenge is a proving ground for mobile robots, the task of which is autonomous navigatoin along a predefined path of 1km in outdoor environments. We joined the Tsukuba Challenge and achieved the tasks in 2009 and 2010. This paper focuses on the problem analysis and basic design of our navigation system, and presents the design policy and lessons learned in the experiments. Our system consists of gyro-assisted odometry, a roundly-swinging 3D laser scanner, a fish-eye camera, and a localization method using map matching and a particle filter. The integration of these technologies made our system highly reliable to achieve the task.

著者

三橋 寛治

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.14, no.6, pp.760-763, 1996-09-15 (Released:2010-08-25)

参考文献数

3

著者

小松 督 植之原 道宏 飯倉 省一 三浦 宏文 下山 勲

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.712-720, 1990-12-15 (Released:2010-08-25)

参考文献数

20

被引用文献数

1 3

---

We developed a two dimensional operation testbed for an autonomous free-flying space robot such as an orbital maneuvering vehicle. This system is named ASROT (Autonomous space robot operation testbed) . Basically, ASROT consists of a satellite robot, a target, a host computer and a planar base. A host computer is only used for observation and data gathering of the system. A satellite robot is a satellite which can establish various tasks with a manipulator. A satellite is 620mm (W) ×805mm (H) ×620mm (L) . Its weight is 120 kg. This system is floating on a planar base using air bearings, and is able to fly around using thrusters for position control and a control moment gyro for attitude control. A manipulator is a flexible arm and 1.4m long. This paper proposes an operating system which is needed for real time autonomous control. A satellite robot installs hardware systems such as vision systems, board computers, image processing units, and software systems such as algorithms for path planning.

著者

吉河 章二 山田 克彦

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.242-248, 1995-03-15 (Released:2010-08-25)

参考文献数

5

被引用文献数

1 2

---

Capturing a target by a space robot in space inevitably causes impact forces on the contact points. This paper focuses on such a short contact period and proposes a new approach to model the contact dynamics. It derives equations to estimate the impulse of the contact forces considering the effects of the joint stiffness represented by the joint servo. Using the derived equations, it is shown that the impulse of the contact forces increases with the joint stiffness regardless of its posture. Numerical simulations and hardware experiments are given to validate the proposed approach.

著者

杉本 靖博 吉岡 秀隆 大須賀 公一

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.28, no.8, pp.961-969, 2010-10-15

参考文献数

15

被引用文献数

2 3

---

A passive dynamic walking robot can walk down a gentle slope naturally without any actuator or controller, only by potential energy. Therefore, it is thought that the principle of walking exists in this phenomenon. By current researches, the passive dynamic walking has been confirmed for two and four. However, it seems that it is also important to study passive dynamic walking for more than 6 legs because there are many creatures that have more than 6 legs. In this research, a passive dynamic walking robot with more than six legs was analyzed by a simulator. As a result, it was confirmed that passive dynamic walking even for 20 legs could be achieved. Furthermore, its gait could be changed by changing the body structure. In addition, the differences of stability depend on the number of legs resulted, and this differences disappeared by changing the position of the pitch spin parts. Moreover, its stability was very high, so it could walk on the contoured ground.

著者

三浦 純

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.4, pp.322-325, 2008-05-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

2

著者

山田 萌 芝軒 太郎

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.37, no.4, pp.284-285, 2019 (Released:2019-05-23)

著者

浅田 稔

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.7-12, 2020 (Released:2020-01-16)

参考文献数

35

被引用文献数

1 1

著者

朴 〓圭 則次 俊郎

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.15, no.4, pp.634-641, 1997-05-15

参考文献数

10

被引用文献数

1

---

In this paper, an impedance control system which uses together the inner torque control system with the disturbance observer is proposed for the pneumatic robot manipulator. It is assumed that the generated torque by a pneumatic actuator can be estimated from the pressure signals and the discharge volume. And we define that the disturbance torque includes the friction torque, load change and modeling error. At first in order to improve the control characteristics of pneumatic actuator driven by meter out method, we construct the inner torque control system by feeding back the generated torque. Secondly, to reduce the influence of the defined disturbance torque, we compose the impedance control systems with the disturbance observer which can estimate the defined disturbance torque based on the generated torque, the angular velocity and the reaction torque. In order to realize the robust impedance to the defined disturbance torque, we construct the torque based impedance control system which uses together the inner torque control system with the disturbance observer. The real command to the torque control system is generated from the impedance model and the positioning error. From some experiments, it is verified that the proposed impedance control system is effective to adjust the impedance of pneumatic robot manipulator.

著者

岩谷 正義 菊植 亮 山本 元司

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.32, no.5, pp.445-455, 2014 (Released:2014-07-15)

参考文献数

23

被引用文献数

2 6

---

This paper proposes a friction model for friction compensation of harmonic drive gearings. The model is composed of parallel viscoelasto-plastic elements and rate-dependent viscosity. Comparative experiments between the proposed model and the Generalized Maxwell slip (GMS) model have shown that the proposed model is advantageous especially in the region of presliding displacement. This paper also presents parameter identification method for the model.