著者

矢口 裕明 長谷川 貴巨 長濱 虎太郎 稲葉 雅幸

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.10, pp.693-702, 2018 (Released:2019-01-15)

参考文献数

17

被引用文献数

4

---

In this paper we propse a construction method of autonomous tomato harvesting robot. For tomato harvesting we focus to harvesting device and visual recognition method. We propose 2 types of harvesting method; cutting scissor and rotational plucking gripper. For recognition, we compare different 3 types of 3D camera, then we construct tomato fruit recognition method using color detection and sphere shape fitting, and also propose tomato pedicel detection method by robust estimation using direction from center of fruit to pedicel and gradient orientation of pedicel edge. Combining these elements, we construct some autonomous harvesting systems and evaluate harvesting of real tomatoes in the tomato robot competition and the real farming veniel house. According to evaluation results, both cutting and plucking has different advantage and disadvantage, it is important to select appropriate one for breed or individual. Also for recognition, pedicel recognition, which must be broken, increases reliability harvesting.

著者

鄭 龍振 倉爪 亮 岩下 友美 長谷川 勉

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.896-906, 2013 (Released:2013-12-15)

参考文献数

31

被引用文献数

1 3

---

We proposed a global positioning technique in 3D environment using 3D geometrical map and a RGB-D camera based on a ND (Normal Distributions) voxel matching. Firstly, a 3D geometrical map represented by point-cloud is converted to ND voxels, and eigen ellipses are extracted. Meanwhile, ND voxels are also created from a range image captured by a RGB-D camera, and eigen ellipses and seven representative points are calculated in each ND voxel. For global localization, point-plane and plane-plane correspondences are tested and an optimum global position is determined using a particle filter. Experimental results show that the proposed technique is robust for the similarity in a 3D map and converges more stably than a standard maximum likelihood method using a beam model.

著者

淺間 一 佐藤 雅俊 後藤 伸之 嘉悦 早人 松元 明弘 遠藤 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.15, no.7, pp.1043-1049, 1997-10-15 (Released:2010-08-25)

参考文献数

16

被引用文献数

5 6

---

A new type of cooperation called mutual handling is introduced in this paper, which enables a multi-robot system to achieve an advanced functionality that cannot be realized by a single robot, and as an application of mutual handling, a method of cooperative transportation for two autonomous mobile robots to climb over a large step by operating each forklifts cooperatively is proposed, which cannot be overcome by a single robot. Then, a forklift mechanism for mutual handling is designed, and two autonomous mobile robots equipped with the forklifts are developed. Finally, a cooperative transportation method in which two autonomous mobile robots are controlled based on communication is presented, and the step-climbing motion by cooperative transportation is proved feasible by showing the experimental results using the developed omni-directional mobile robots.

著者

秋下 貞夫

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.9, no.2, pp.203, 1991-04-15 (Released:2010-08-25)

著者

小谷内 範穗 皿田 滋 菅原 一宏

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.514-521, 2008-09-15 (Released:2010-08-25)

参考文献数

8

被引用文献数

4 4

---

Authors have been conducting the research on the unmanned pile loading operation by an automated wheel loader, “Yamazumi-4.”The system is a fully self-contained autonomous system. The unmanned wheel loader has various sensors to measure the self-position, the position of pile, and the position of the dump truck to be loaded. After path planning according to the positions of the pile, the truck, and loader itself, the path following control guarantees the total task completion consists of targeting the pile, scooping the pile, carrying a bucket of pile to the truck, loading the pile to the truck, and re-going to the pile. For the accurate positioning control, RTK GPS and Moving Base GPS systems are combined to the dead reckoning based on the virtual dual wheel vehicle model. The dead reckoning calculated by the wheel velocity and steering angles can not avoid accumulating the positioning errors. Although lower rate Moving Base RTK GPS system supplies more accurate global position and heading direction data, they contain time delay. Authors developed the algorithm to detect the time delay of the GPS data by comparing to the recent dead reckoning data and to re-calculate the current position and direction from GPS data. The path following feedback system is developed to follow the line part and the curve part in the planned path. The planned curve part consists of a pair of the symmetric psuedo clothoid curves. For the sure loading task, the path following control is switched to the bucket tip position control helped by the laser range finders. In the scooping task, bucket control is switched by the reaction force measured by the hydraulic pressure sensor. Totally the whole tasks were well controlled and completed.

著者

溜井 美帆 山田 雅宏 渡辺 義浩 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.7, pp.712-719, 2013 (Released:2013-10-01)

参考文献数

16

被引用文献数

3 1

---

In recent years, there has been an increasing demand to digitize a huge number of books. A promising new approach for meeting this demand, called Book Flipping Scanning, has been proposed. This is a new style of scanning in which all pages of a book are captured while a user continuously flips through the pages without stopping at each page. Although this new technology has had a tremendous impact in the field of book digitization, page turning is still done manually, which acts as a bottleneck in the development of high-speed book digitization. Against this background, this paper proposes a newly designed high-speed, high-precision book page turner machine. Our machine turns the pages in a contactless manner by utilizing the elastic force of the paper and an air blast. This design enables high-speed performance that is ten times faster than conventional approaches and, in addition, causes no obstruction in the digitization process. This paper reports the evaluation of the proposed machine using various types of paper with different qualities. Our machine achieved high success rate when turning pages at around 300 pages/min, showing that it is a promising technology for turning pages at high-speed and with high precision.

著者

大西 献 時岡 淳 大西 典子 弘津 健二 大道 武生 白須 勲

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.1, pp.55-56, 2000-01-15 (Released:2010-08-25)

参考文献数

15

被引用文献数

2 1

著者

谷 淳

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.4, pp.474-477, 1996-05-15 (Released:2010-08-25)

参考文献数

10

被引用文献数

1

著者

米澤 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.3, pp.272-273, 2009 (Released:2011-11-15)

参考文献数

4

被引用文献数

2 2

著者

西山 裕之 大林 真人 大和田 勇人 溝口 文雄

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.19, no.5, pp.620-631, 2001-07-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

1 2

---

This paper describes a concurrent logic programming language MRL for use in developing programs to cooper-atively control multiple robots. MRL describes actions of each robot and sensor as sets of logical formula. MRL enable us to easily implement complex tasks such as concurrency control, cooperation and negotiation between pro-cesses, and emergent event handling for multiple robots. We conducted an experiment on program development for paper delivery task by cooperation with mobile robots, manipulators and cameras to demonstrate the advantages of MRL programming framework. The results indicated that the MRL programs were more abstract and natural than conventional procedure-oriented programs, resulting in realization of flexible cooperation. Since MRL programs are compiled into C programs with little overhead, NIRL is useful as a multiple robot programming language efficient in both program execution and development.

著者

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.5, no.4, pp.312-316, 1987-08-15 (Released:2010-08-25)

参考文献数

30

著者

中村 仁彦 山根 克 永嶋 史朗

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.1152-1159, 1998-11-15

被引用文献数

24 1

---

This paper discusses the dynamics computation of structure-varying kinematic chains which imply mechanical link systems whose structure may change from open kinematic chain to closed one and vice versa. The proposed algorithm can handle and compute dynamics and motions of any rigid link systems in a seamless manner without switching among algorithms. The computation is developed on the foundation of the dynamics computation algorithms developed in robotics, which is inherently superior in efficiency due to explicit use of the generalized coordinates to those used in the general purpose motion analysis software. The structure varying kinematic chains are commonly found in computing human and animal motions. The established computation will provide the general algorithmic foundation of the computation of motion and control of humanoid robots and CG human figures.

著者

川妻 伸二 淺間 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.34, no.8, pp.552-557, 2016 (Released:2016-11-15)

参考文献数

10

被引用文献数

1 1

---

There was not a guideline available for researchers, developers or users for robots or heavy construction machines on the evaluation of radiation tolerance and management method of robots and heavy construction machines using semiconductors, like as CPUs on the shelf, under radiation condition, when Fukushima daiichi NPPs accidents occurred on March 11th, 2011. The evaluation and the management method became necessary, in order to deploy robots like as QUINCE developing for big city accidents or unmanned heavy construction machines for landside disaster. According to “radiation tolerance data base on parts or materials” developed in 1980's to 1990's by Japan Atomic Energy Agency (JAEA), a guideline, for robots and unmanned heavy construction machines, was tentatively developed.

著者

石井 啓範

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.582-584, 2012 (Released:2012-08-15)

参考文献数

5

被引用文献数

2 3

著者

尾形 邦裕 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.31, no.4, pp.390-400, 2013 (Released:2013-06-15)

参考文献数

27

---

Humanoid robots should be able to handle independently human bodies. In previous studies, robots manipulated human bodies using brute force, but this does not accurately reflect a human's action. Yoshinori Kouno, who has studied several skills related to physical exertion, including martial arts and nursing-care motions possesses, as the subject, we studied these motions and analyzed the techniques that were superior to other body dynamics. In this study, we focused on the pushing action of human, and aimed to understand the body's dynamics. The zero moment point (ZMP) trajectories of the actor varied around the center of gravity (COG), and the actor used the falling momentum to push the recipient's body. Kouno reported that the position of the fingers enabled him to control his arm movements. Hence we analyzed the electromyogram signals of the whole body. Analysis of the recipient's resistance based on the ZMP and COG, suggests that the recipient can predict the attack by the actor of the action and braces him/herself for the impact. Thus, the actor needs to confound the recipient's prediction to realize human pushing motions with less effort. The falling momentum strategy and change in the arm's force play an important role to in confusing the prediction. We confirm the effectiveness of these body dynamics using numerical simulation. Finally, we conclude that the “knack” of the pushing motion is due to a special pose of fingers.

著者

尾形 邦裕 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.33, no.6, pp.470-480, 2015 (Released:2015-08-15)

参考文献数

34

---

It is so difficult for many people to handle other's body. Japan's aging population, the skill of lift-up motion and transfer motion is needed in the nursing care field. Utilizing self body dynamics and understanding other's movement are important to these nursing-care motions. Yoshinori Kouno, who has studied several skills related to physical, including martial arts and nursing-care motions, as the participant, we studied these motions and analyzed the techniques that were superior to other motion skills. From measurement result of pulling-up motion, we find acceleration of center of mass increases sharply by discontinuous change of zero moment point, Kouno pulled other's body up using the instantaneous. To pull the standing other's body, Kouno uses strategy of ``falling momentum,'' and Kouno constrains the movement of his arms. Therefore, we conclude that knacks of pulling-up motion are the changing ZMP by the stepping motion and constraining the arm joints. Based on these analysis result, we construct the dynamics model and control strategies, confirmed by numerical analysis and dynamic simulation. Then, to confirm the effectiveness of these skills, we perform the validation experiments on general participants instructed with these knacks.

著者

佐藤 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.34, no.2, pp.113-115, 2016 (Released:2016-04-15)

参考文献数

12

被引用文献数

1 4

著者

奥村 光平 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.29, no.2, pp.201-211, 2011 (Released:2011-04-16)

参考文献数

19

被引用文献数

12 8

---

The purpose of our study is to realize an active vision capable of casting its gaze in any desired direction in ms-order. It is, however, difficult even if a vision sensor itself is controlled directly by high-speed actuators. Therefore, we propose a high-speed gaze control subsystem, called “Saccade Mirror.” Using this system and a high-speed vision, image sequences that each image has different direction of gaze in msorder has been successfully obtained. Measuring the frequency response of the gaze control, this result has exceeded the preceding study. That is to say, the utility of our proposal has been ascertained.

著者

水内 郁夫 藤本 純也 袖山 慶直 山本 邦彦 岡田 慧 稲葉 雅幸

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.889-898, 2012 (Released:2012-12-15)

参考文献数

18

被引用文献数

7

---

We have developed a kitchen in which a robot arm with a hand is incorporated. The robot was made for assisting with our work in kitchen. Manipulation of a variety of dishes is the main problem for the purpose. For realizing the manipulation, we developed a one-DOF hand equipped with multiple sensors. In this paper, we present the robot system estimating aproximate position and shape of dishes using these sensors based on sensor-based tracing. We also present a method of manipulating dishes grasplessly to deal with difficult setting of dishes. In the following experiment, we demonstrate the robot clears away basic three types of dishes by picking them off a tray and placing them into a dish washer.

著者

高橋 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.17, no.2, pp.190-191, 1999-03-15