著者

小松原 剛志 塩見 昌裕 神田 崇行 石黒 浩 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.33, no.10, pp.789-799, 2015 (Released:2016-01-15)

参考文献数

21

被引用文献数

2 3

---

This paper reports a robot which interacts with children semi-autonomously in a science room of an elementary school to help children's understanding of science classes. The robot asked children questions related to their science classes during breaks between science classes; children could freely interact with it during experiment periods. We implemented a personal identification function to the robot by using a face recognition system with robot's camera and a human tracking system with environmental sensors. Still, speech recognition is difficult in noisy elementary school environment; therefore we decided to take over speech recognition function by the operator. In this study our result did not show significant effects of the robot existence for helping children's understanding, but we found that children who joined to the robot's quiz more than a certain time increased understanding toward a specific unit.

著者

田川 聖治 小西 健太 井上 克已

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.7, pp.892-900, 2004-10-15 (Released:2010-08-25)

参考文献数

41

---

From the viewpoint of the Affordance Theory advocated by J. J. Gibson, an ecological approach for realizing artificial skills is presented in contrast to the conventional paradigm of behavior-based robots known as “sense, think and act”.A perception-driven robot demonstrates the usefulness of the ecological approach through the assembly task of mating several parts on a plane. Instead of action-rules based on sensory information, the proposed robot employs a kind of oscillator, Action Pattern Generator (APG), for taking active action before perception. The limitations of the simple robot, the actions of which are dominated by APG, are also discussed. Then, in order to compensate APG for lack of the rationality in choosing actions, two types of memories, namely Working Memory (WM) and Episodic Memory (EM), are introduced into the robot's brain. Consequently, the perception-driven robot has the abilities to distinguish the shapes of various parts, mount them in right places, and stop its motion automatically.

著者

北川 秀夫 大野 貴 三好 孝典 寺嶋 一彦

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.343-349, 2009 (Released:2011-11-15)

参考文献数

14

被引用文献数

2 2

---

Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded place, and omnidirectional robot equipped with normal tires is desired for difference excess, vibration suppression and riding comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidiredctional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Two kinds of Differential-Drive Steering System (DDSS) are proposed to improve the operation ratio of motors. One is using bevel pair gear and the other is using planetary gear to generate driving and steering torque effectively from two motors. Simulation results show the proposed system is effective for holonomic omnidirectional mobile robots.

著者

小川 宏人

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.10, pp.685-689, 2016 (Released:2017-01-15)

参考文献数

32

被引用文献数

1

著者

妹尾 拓 高野 光浩 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.3, pp.301-309, 2013 (Released:2013-05-15)

参考文献数

16

---

In this paper, dynamic biped locomotion is considered with the goal of achieving fast and dexterous leg motion. We propose a new movement principle for legged robots, which produces propulsive force using frictional asymmetry. The dynamic locomotion consists of sliding motion based on the kinematic constraint and jumping motion which enables to keep the maximum horizontal velocity. The dynamics of the 2-DOF biped robot is analyzed to obtain motion characteristics for developing a motion strategy. Experimental results are also shown in which a 2-DOF biped robot takes fast short steps repetitively with compensation of the landing time by high-speed vision.

著者

大西 公平

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.11, no.4, pp.6-13, 1993-05-15

参考文献数

19

被引用文献数

153 218

著者

森 政弘

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.1, pp.2-5, 1997-01-15 (Released:2010-08-10)

参考文献数

4

被引用文献数

9 11

著者

金広 文男 吉見 隆 梶田 秀司 森澤 光晴 金子 健二 比留川 博久 富田 文明

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.4, pp.589-597, 2007-05-15 (Released:2010-08-25)

参考文献数

28

被引用文献数

1 4

---

This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot's waist height, an upper body posture and so on according to the size of the movable space.

著者

平井 成興

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.5, pp.601, 1991-10-15 (Released:2010-08-25)

被引用文献数

2 1

著者

鈴木 健司

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.33, no.1, pp.25-29, 2015 (Released:2015-02-15)

参考文献数

14

著者

内山 勝 ドシェ ピエール

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.7, no.1, pp.19-30, 1989

被引用文献数

17 2

---

ロボットが両手でひとつの対象物を操作する作業について, 静力学および運動学的観点より理論解析し, 協調動作を記述するための作業座標, およびその座標系における一般化力, 速度, 位置を首尾一貫した形で導く.そして, この結果に基づき, 左右の手にマスタ, スレーブの区別をつけない位置と力のハイブリッド協調制御系の構成を示す.理論解析では, 両手の運動を対象物中心で考えるために, 仮想ステッキという概念を新たに導入し, さらに一般化逆行列の理論を用いることにより, 両手の運動を対象物の絶対運動と内部運動に分解する.この分解された作業空間において, 協調動作を記述するための一般化力, 速度, 位置を導く.こうして導かれた一般化力, 速度, 位置は, 左右の手の関第力, 速度, 位置の対称な関数となっている.したがって, この座標を作業座標として構成されるハイブリッド制御系は, 左右の手にマスタ, スレーブの区別をつけることなく, 対象物の絶対運動および内部運動に対応した位置と力をそれぞれ独立に制御することが可能である.これより, 両手で対象物を保持して運ぶ作業が, 非マスタスレーブ方式により実現される.

著者

武居 直行 野畑 茂広 藤本 英雄

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.26, no.6, pp.635-642, 2008-09-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

5 7

---

This paper is concerned with the human-robot system such as power assist system based on the position-controlbased impedance control (admittance control) . The system has two force inputs from the operator and the environment, which may cause the vibratory behavior when the robot comes in contact with the environment. It is because the operational force and the contact force do not balance due to the noise, error, delay and so on. This paper proposes the admittance control with two inputs that achieves steady contact with an environment by modifying the contact force information. The effectiveness of the proposed method is demonstrated through several experiments.

著者

米田 完

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.2, pp.124-132, 2015 (Released:2015-04-15)

参考文献数

7

被引用文献数

1

---

This paper discusses a configuration of six legged robot, considering a relationship between number of actuators and number of locomotion functions. Mechanical configurations are classified by number of body, relative moving DOF of bodies, moving DOF of legs against the body. As for the function, DOF counting method by five independent functions is proposed. The functions are locomotion, terrain adaptability, relative horizontal positioning of swing legs, mobility of body independent to the leg position, horizontal inner force distribution of supporting legs. Introducing nine various style practical examples, the equality of mechanical actuation DOF and functional DOF count is verified.

著者

金子 真

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.5, pp.617-619, 1998-07-15 (Released:2010-08-25)

参考文献数

6

被引用文献数

1 2

著者

余 永 石塚 喬 辻尾 昇三

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.20, no.5, pp.528-536, 2002-07-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

1 4

---

For dexterously performing object grasping and manipulation with multifingered hand of robot, sensing the finger joint torque is required. In general, the size of finger joint is quite small so that it is hard to realize the torque sensing. This paper proposes a novel mechanism calledStrain-Deformation Expansion Mechanismto sense the joint torque, which is small enough and fitted in the finger joint. By the torque-sensing mechanism, the small joint strain deformation used for torque sensing can be expanded without reducing the joint stiffness. In this paper, the torque-sensing principle is addressed by analyzing the deformation of the sensing mechanism and the torques acting on the joint axis theoretically. Then, the sensitivity of the sensing mechanism and its expansion rate of sensitivity are defined, and a method for realizing the sensing mechanism with high sensitivity is discussed. Lastly, some experiments with robot finger are performed to show the basic characteristcs and the effectiveness of the proposed torque-sensing mechanism.

著者

工藤 俊亮 小川原 光一 ルチャヌラック ミティ 高松 淳 池内 克史

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.612-619, 2008-09-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

1

---

This paper describes a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system.

著者

坪内 孝司

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.27, no.4, pp.388-391, 2009 (Released:2011-11-15)

参考文献数

12

被引用文献数

1 1

著者

蘭 香代子

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.37-38, 1998-01-15

著者

山川 雄司

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.35, no.8, pp.596-599, 2017 (Released:2017-11-15)

参考文献数

14

被引用文献数

2

著者

金子 真 和田 充雄 前川 仁 谷江 和雄

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.9, no.4, pp.437-444, 1991-08-15 (Released:2010-08-25)

参考文献数

14

被引用文献数

1

---

This paper discusses transmission characteristics of tendon-sheath driving system typically used to actuate robotic finger joints, and also their effects on force control system. For a simple tendonsheath model, we first formulate the transmission characteristics with the newly introduced two physical parameters apparent tendon-stiffness and equivalent backlash. An interesting aspect is that apparent tendon-stiffness changes when the tendon is pulled or loosened, while tendon-stiffness itself keeps constant. This unexpected behavior is confirmed by simulations as well as experiments. We also consider the effect of apparent tendon-stiffness on force control precisely and show that the direction-dependent behavior ofapparent tendon-stiffness eventually brings about a direction-dependent response in the force control system.