著者

南 澤槿 美多 勉 Pantelidis Ioannis 山北 昌毅

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.1, pp.85-88, 2002-01-15

被引用文献数

5 13

---

We described a technique for the swingup control of a 2 link acrobat robot using backstepping and discussed singular problems.

著者

三ツ矢 英司

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.14, no.1, pp.34-37, 1996-01-15

被引用文献数

9

著者

太田 順 武衛 康彦 新井 民夫 大隅 久 陶山 毅一

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.14, no.2, pp.263-270, 1996-03-15

被引用文献数

24 24

---

A coordinated control method for two mobile robots without explicit communication is presented in this paper. Concretely, transferring control by cooperation of two robots is realized from the viewpoints of mechanical design and of control system design. In the mechanical design, compliance mechanism with 3 degrees of freedom is added on one of the robots in order to avoid extreme inner forces between the robots. In the control system design, leader-follower method is adopted. "Virtual Impedance Method" is used for controlling the follower robot. A deadlock problem, where a robot stops at some other positions from a target position of the robot, is solved by transforming lateral virtual forces to virtual moments. Effectiveness of the proposed method is verified by experimental results. The proposed method is applicable to multiple mobile robot system by increasing the number of followers.

著者

中井 博之 星野 由紀子 稲葉 雅幸 井上 博允

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.6, pp.625-630, 2002-09-15 (Released:2010-08-25)

参考文献数

13

被引用文献数

2 9 3

---

This paper describes the design and development of softening deformable structure which enables robots to have high shape adaptability. This structure is made of a low-melting-point alloy and can be made soft and deformable through a phase change induced by heating. In the soft deformable state, it can be changed their shape by pressing themselves against objects and by using their own weight. On the other hand, in the hard state, it is enough stiff to be a part of a robot. Using this structure, we have developed two types of legged robots which have softening deformable legs. The first robot can reconstruct its original shape through reheating. The second robot has higher deformation ability and realize grasping objects, walking on a pillar and going up a ladder, which are difficult to do with its original shape, by deforming the shapes of the legs.

著者

梅谷 陽二

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.11, no.1, pp.2-6, 1993-01-15

被引用文献数

6

著者

金出 武雄 蚊野 浩 木村 茂 川村 英二 吉田 收志 織田 和夫

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.15, no.2, pp.261-267, 1997-03-15

被引用文献数

15 5

---

A video-rate stereo machine has been developed at Carnegie Mellon University with the capability of generating a dense range map, aligned with an intensity image, at the video rate. The target performance of the CMU videorate stereo machine is: 1) multi image input of 6 cameras; 2) high throughput of 30 million point×disparity measurment per second; 3) high frame rate of 30 [frame/sec] ; 4) a dense depth map of 240×256; 5) disparity search range of up to 60 [pixel] ; 6) high precision of up to 8 [bits] (with interpolation) ; 7) uncertainty estimation available for each pixel. The stereo machine is based on a multi-baseline stereo method. The basic theory requires some extensions to allow for parallel, low-cost, high-speed machine implementation. The three major ones are: 1) the use of small integers for image data representation: 2) the use of absolute values instead of squares in the SSD computation (SAD instead of SSD) ; and 3) camera geometry compensation capability for precise camera alignment. The stereo machine successfully generates disparity map of 200×200 with 23 steps of disparity search range in the video rate.

著者

杉山 栄

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.5, pp.638-643, 1991-10-15 (Released:2010-08-25)

参考文献数

5

被引用文献数

1

著者

藤江 正克

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.11, no.3, pp.366-371, 1993-04-15 (Released:2010-08-25)

参考文献数

21

著者

新井 史人 橋野 賢

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.14, no.3, pp.334-334, 1996-04-15 (Released:2010-08-25)

著者

三浦 宏文

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.14, no.4, pp.472-473, 1996-05-15 (Released:2010-08-25)

著者

池田 英俊 勝俣 嘉一 庄司 道彦 高橋 隆行 中野 栄二

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.26, no.2, pp.200-209, 2008-03-15 (Released:2010-08-25)

参考文献数

25

被引用文献数

5 10

---

This paper describes a method of cooperative strategy which enables a wheelchair and a wheeled robot to climb a step by a simple link mechanism which connects between them. We perform a numerical calculation to clarify the combination of two supporting positions of the connecting link that connects the two vehicles which enable them to climb a step and is stable at the same time. We conclude from the result of the simulation that it is necessary to change the link positions to climb a step safely. We ascertain the effectiveness of this method by means of experiments.

著者

根岸 善朗 三浦 純 白井 良明

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.21, no.6, pp.690-696, 2003-09-15 (Released:2010-08-25)

参考文献数

15

被引用文献数

5 11

---

This paper describes a map generation method using an omnidirectional stereo and a laser range finder. Omnidirectional stereo has an advantage of 3D range acquisition, while it may suffer from a low reliability and accuracy in range data. Laser range finders have advantage of reliable acquisition of data, while they usually obtain only 2D range information. By integrating these two sensors, a reliable map can be generated. Since the two sensors may detect different parts of an object, a separate probabilistic grid map is first generated by temporal integration of data from each sensor. The resultant two maps are then integrated using a logical integration rule. An ego-motion estimation method is also described, which is necessary for integration of sensor data obtained at different positions. Experimental results on autonomous navigation in unknown environments show the feasibility of the method.

著者

辻 敏夫 島 圭介 村上 洋介

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.5, pp.606-613, 2010-06-15

被引用文献数

4 9

---

This paper proposes a novel pattern classification method of user's motions to use as input signals for human-machine interfaces from electromyograms (EMGs) based on a muscle synergy theory. This method can represent combined motions (e.g. wrist flexion during hand grasping), which are not trained by a recurrent neural network in advance, by combinations of synergy patterns of EMG signals preprocessed by the network. With this method, since the combined motions (i.e. unlearned motions) can be classified through learning of single motions (such as hand grasping and wrist flexion) only, the number of motions could be increased without increasing of the number of learning samples and the learning times for controlling of the machines such as a prosthetic hand. Effectiveness of the proposed method is shown by the motion classification experiments and prosthetic hand control experiments. The results showed that 18 motions, which are 12 combined and 6 single ones, can be classified sufficiently through learning of 6 single motions only (average rate: 89.2 ± 6.33%), and the amputee could control of a prosthetic hand using single and combined motions at will.

著者

宮下 善太 神田 崇行 塩見 昌裕 石黒 浩 萩田 紀博

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.26, no.7, pp.821-832, 2008-10-15 (Released:2010-08-25)

参考文献数

24

被引用文献数

3 11

---

This paper describes the development of a guide robot for a shopping center, which attempts to build rapport with customers while providing route guidance and other shopping information. A field trial was conducted at a shopping mall for 25 days to study the possible role of a robot in a shopping center. Since a shopping center is a place where local people repeatedly visit, it is important for the robot to interact with people multiple times. Using passive RFID tags to identify customers, and using the WOZ method to overcome difficulties in speech recognition, the robot built rapport with customers through a series of interactions based on a set of four design principles. During each day of the field trial, the robot interacted with approximately 200 customers, and the robot was able to sustain customers' interest throughout multiple interactions. The robot also provided shopping information through natural conversation with the customers, and the experimental results revealed that 63 out of 235 people in fact went shopping based on advice from the robot. These results seem to demonstrate a promising potential for guide robots designed to build rapport with customers in a shopping mall.

著者

松野 文俊

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.28, no.2, pp.138-141, 2010 (Released:2012-01-25)

参考文献数

3

著者

杉本 和英 富田 文明

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.15, no.3, pp.431-438, 1997-04-15 (Released:2010-08-25)

参考文献数

10

被引用文献数

1 1

---

We propose a method to incrementally make a geometric model of objects/environments by stereo vision. The problems to solve here are not only how to extract 3D geometric data of a scene which a stereo vision system observes but also how to integrate partial and incomplete geometric data which are obtained from different views into a geometric model. We use a b-rep (boundary representation) for geometric models.

著者

鈴木 寿 大西 弘之 有本 卓

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.5, no.6, pp.431-441, 1987-12-15 (Released:2010-08-25)

参考文献数

20

被引用文献数

1

---

連想データベースを自己組織化する簡単で効率の良い方法を提案すると共に, 自律移動知能ロボットへ応用する.システムは, 予め規定された処理部と, 初期状態では空白な記憶部とから成る.現時点の入力信号に対し, 処理部はこれに似ている過去の入力信号を記憶部から検索し, その関連情報を呼び出す.もし現入力信号の随伴情報がこの関連情報と一致しなければ, 新たな情報が記憶部のデータベースに付加され, その影響は次回の処理に反映される.このように記憶状態と入力信号の双方に依存して, データベースは自己組織化的に成長してゆく.データベース組織化の履歴は入力系列に依存するので, 個々のデータベースは固有な構造を獲得する.もし十分な長さの入力系列が与えられると, 入力信号と関連情報の対応関係は, 入力系列のそれに一致するようになる.脳における直観的情報処理の概念的ではあるが本質的なモデルを与えているという点で, また実用的立場からは, 要求された応答をユニパーサルに学習する学習機構へ応用できるという点で, 本システムは意義深い.この学習機構を利用した廊下用のカメラ方式自律移動ロボットを紹介する.ロボットの頭脳は, プロセッサーi80286を搭載したマイクロ計算機によって構成され, ロボットの行動は, C言語に追加設計した小規模のロボット言語を用いて制御される.良好な実験結果が示される.

著者

横小路 泰義

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.405-409, 2009 (Released:2011-11-15)

参考文献数

20

被引用文献数

1 2

著者

広瀬 茂男 塚越 秀行 米田 完

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.1076-1082, 1998-11-15

被引用文献数

10 23

---

We discuss some suitable stability margin concepts for walking robots which are expected to walk around on irregular terrains. Several stability margin ideas have been proposed before, but those can be roughly divided into three kinds.We came to the conclusion that a stability margin concept based on energy considerations is the most practical to adopt and that its validity could be recognized through simple experiments. But the existing energy stability margin is inadequate for practical use because this margin varies with the weight of the robot which can't affect its resistance to tumbling caused by slipping from steps or the sudden stop. Therefore, we'll propose an improved one here, called the normalized energy stability margin, the NE stability margin for short. Considering this margin, we'll introduce a novel tool called the SNE contour which connects the points on the slope which have the same NE stability margin, so as to derive a stable gait for walking robots. In the final part of this paper, we focus on the features of the SNE contour which shed new light on the solution for the stable posture.

著者

乾 敏郎

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.28, no.4, pp.383-385, 2010 (Released:2012-01-25)

被引用文献数

1 1