著者

山本 元司 岩村 誠人 毛利 彰

出版者

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.8, pp.1123-1130, 1998-11-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

1

---

This paper proposes a planning method for time-optimal trajectories of mobile robots. A dynamical model for two independently driven wheels type mobile robots is derived. Using an idea of path parameter, optimal trajectory for specified path of mobile robot is easily obtained considering dynamical constraints such as driving torques and velocities. An efficient collision-free near-time-optimal trajectory planning method is proposed using a local optimization method and a global search method of initial paths. The B-spline parameter optimization method is used as a local optimization. Some numerical examples show an effectiveness of the proposed planning method.

著者

妻木 勇一

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.30, no.6, pp.561-561, 2012 (Released:2012-08-15)

被引用文献数

1

著者

廣瀬 通孝

出版者

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.20, no.8, pp.812-815, 2002-11-15 (Released:2010-08-25)

参考文献数

4

被引用文献数

1

著者

升谷 保博 田所 諭 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.21, no.2, pp.145-146, 2003-03-15

著者

高瀬 國克

出版者

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.3, pp.338-340, 1994-04-15 (Released:2010-08-25)

著者

松野 文俊 神澤 貴雄

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.15, no.5, pp.789-794, 1997-07-15

被引用文献数

1

---

In this paper, stability analysis and robust control of a force-controlled arm having a rigid tip body, of which the mass centerr lies on the central axis of the arm. We consider link flexibility as uncertainty and derive dynamic equations of the force-controlled arm. As the obtained boundary condition is nonhomogeneous, we introduce a change of variables to derive homogeneous boundary conditions. On the basis of a finite-dimensional modal model of distributed-parameter systems, stability of the force feedback is analyzed by using the root locus technique, and an optimal controller with low-pass property as a robust controller is constructed. Simulations have been carried out.

著者

金子 伸郎

出版者

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.4, no.3, pp.301-305, 1986-06-15 (Released:2010-08-25)

参考文献数

31

著者

唐 立新 油田 信一

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.21, no.8, pp.883-892, 2003-11-15

被引用文献数

7 2

---

This paper presents a method of mobile robot's autonomous navigation in indoor environments by a teaching and playing-back scheme using memories of an ounri-directional image sequence and robot's motion. The robot memorizes a sequence of environmental images and robot's poses during a teaching stage. And in the course of a playing-back stage. itt calculates the robot's position difference from the memorized and currently taken images, and then decides a trajectory to track the taught route, so that it can navigate autonomously to follow the given path to the destination. An omni-directional image sensor is used, and vertical edges arc extracted as feature lines in the environment for calculation of robot's position difference. The experimental results show the effectiveness of this method in corridors of bulidings.

著者

甕川 敏暢

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.6, pp.696-700, 2001-09-15

著者

小松 左京

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.3, pp.312-316, 1986

著者

上川 健司 新井 健生 前 泰志 田窪 朋仁 井上 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.28, no.2, pp.231-240, 2010 (Released:2012-01-25)

参考文献数

16

被引用文献数

1 3

---

This paper proposes a new locomotion algorithm of narrow scaffold. We have developed a limb-mechanism robot. The limb can move on a large working area, it can be used as an arm and a leg. ASTERISK Robot system has six limbs that radiate out in six directions. This robot system has the rotational symmetry, therefore, the posture is equivalent even if the robot body rotates. By using this feature, we propose a new movement algorithm “rotational gait” that the robot rotates like a wheel. The rotational gait can be applied to the robot that hanging on a cable, moving on narrow shelf of a cliff, and walking in a narrow space by the same algorithm. The operation and effectiveness of these algorithms were verified by the experiment. The movement algorithm is easy pattern operation that keeps stable state at all periods. And the robot can move without doing a high-speed real-time processing.

著者

中島 秀之 吉見 隆

出版者

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.4, no.3, pp.273-277, 1986-06-15 (Released:2010-08-25)

著者

小川 一水

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.969-970, 2013 (Released:2014-01-15)

著者

八杉 将司

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.31, no.10, pp.971-980, 2013 (Released:2014-01-15)

著者

稲垣 克彦 小林 尚登

出版者

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.13, no.8, pp.1122-1129, 1995-11-15 (Released:2010-08-10)

参考文献数

9

---

Autonomous walking machines are generally required in dangerous situation in which humankind cannot step. Thus, walking machines have to return to the base position by themselves, even if a leg is injured by some accidents. In such a case, hexapod walking machine has advantages, because it can keep walking by remained five legs. This paper proposes a new gait rule named injury-adaptive wave gait. The new gait is available for not only normal hexapod walking, but also injured hexapod walking. Additionally, to apply the new gait rule smoothly, we propose a new control strategy for leg motion control. The strategy uses a notion of distributed control to realize synchronized motion among six legs. By combination of the gait rule and the control strategy, walking machine can realize suitable gait for its walking condition.

著者

岡田 昌史 茂木 祐一 山本 江

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.1, pp.45-54, 2014 (Released:2014-02-15)

参考文献数

13

---

In this paper, we develop a model of the behavior of visitors in an exhibition space, and design an amenity space to reduce congestion. Because the flow of visitors depends on the space layout, it is possible to reduce the congestion by changing the layout of exhibits. To deal with the congestion, a macro model of visitors is required. The flow of visitors is modeled by two-dimensional vector field and the individual behavior is represented by the dynamic model including collision avoidance of individuals. To model walking and stopping behaviors, we introduce an extended dimensional space where the extra coordinate represents the viewing time of each exhibition. The parameters in the proposed model are identified from the measured data of human flow line. To reduce the congestion, the layout of exhibits is optimized based on the proposed model by minimizing the collision avoidance vector. The proposed method is verified by simulations and experiments using swarm robots, which consist of autonomous mobile robots and radio controlled robots.

著者

山崎 将史 竹内 栄二朗 大野 和則 田所 諭

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.8, pp.702-709, 2011 (Released:2011-11-15)

参考文献数

13

被引用文献数

5 4

---

This paper describes method to improve the accuracy of localization of mobile robot using GPS with particle filter. This method improves the accuracy of localization by removing multipath of GPS measurement data with 3D-Map. This approach analyzes area that cannot receive direct wave from GPS satellite with 3D-Map about each satellite. The particles in that area are assumed to be receiving GPS data including the multipath error. And particle's likelihood is calculated considering the multipath error. This method is useful for localization and navigation of mobile robot between buildings.

著者

工藤 卓 田口 隆久

出版者

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.25, no.2, pp.214-214, 2007-03-15 (Released:2010-08-25)

参考文献数

3

著者

吉川 弘之

出版者

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.19, no.8, pp.922-923, 2001-11-15 (Released:2010-08-25)

著者

中村 庸郎 川嶋 稔夫 青木 由直

出版者

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.2, pp.152-159, 1990-04-15 (Released:2010-08-25)

参考文献数

15

被引用文献数

2

---

To realize intelligent robot, it is necessary to establish an effective method for visual and tactile recognition. Much of the existing work on tactile recognition has assumed that tactile sensors derive only data on object surfaces so as to generalize recognition algorithm. With tactile sensors which provide local features of contact areas, e. g, vertex, edge, etc., it is possible to prune inconsistent interpretations more effectively than existing methods.This paper proposes a method for object identification using local feature sensors. In the method, interpretations at each step of identification process are represented as a set of subsets of 3-D space where a sensor to be located. With the progress of identification process, the set will be narrower. Consequently local constraints become strict and inconsistent interpretations will be efficiently pruned. In the pruning, local constraints are compared considering the error bounds of measurement in sensor data.