著者

小林 俊一

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.33, no.1, pp.21-24, 2015 (Released:2015-02-15)

参考文献数

10

著者

谷 淳

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.522-531, 2010 (Released:2012-01-25)

参考文献数

32

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The current paper reviews neuro-robotics studies by the author's group by which possible neuro-phenomenological accounts are explored for “symbolic” processes assumed in various aspects in human cognition. The reviews on the series of studies elucidate that many of “symbolic” computation scheme can be alternated by neuro-dynamic systems approach utilizing self-organization. It is concluded that “symbols” can be obtained just as an immanent property in the consequences of self-organization when natural interactions between the top-down intention and the bottom-up sensory-motor processes are allowed in embodied neuronal systems.

著者

増田 容一

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.38, no.10, pp.920-925, 2020 (Released:2021-01-14)

参考文献数

22

著者

山崎 公俊 渡辺 哲陽 原田 研介 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.39, no.2, pp.132-136, 2021 (Released:2021-03-24)

参考文献数

12

著者

川妻 伸二

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.7, pp.472-477, 2018 (Released:2018-10-01)

参考文献数

41

被引用文献数

3 5

著者

塩谷 昌行 石川 真也

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.39, no.7, pp.653-656, 2021 (Released:2021-09-02)

参考文献数

7

被引用文献数

1

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In this study, we have developed a prototype of a status indicator (light) suitable for ``Foodly,'' which is a collaborative robot that works alongside people in the process of serving lunches in a food factory. In order for the robot to work with people, it must have a non-fearful, non-intimidating appearance and a display that can provide safety and operational information appropriately. We built several prototypes and compared their appearance. We determined if the information provided could be properly understood. We classified the safety information into four categories, which can be easily recognized by users from safety and operational perspectives.

著者

鍋嶌 厚太

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.5, pp.434-438, 2020 (Released:2020-06-17)

参考文献数

10

被引用文献数

1

著者

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.16, no.4, pp.431-435, 1998-05-15 (Released:2010-08-25)

被引用文献数

1

著者

三澤 正志 吉田 智章 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.25, no.8, pp.1199-1206, 2007-11-15 (Released:2010-08-25)

参考文献数

9

被引用文献数

1 6

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We developed a smart handcart with autonomous returning function. In the conventional handcarts to carry baggage, a user pushes a handcart with baggages on the way to destination, and then, he also should carry it back without load. The developed handcart is equipped with odometry function and a laser range scanner. It records its trajectory and surrounding environment while going to destination, and it can autonomously return back to the station by retracing the recorded trajectory and environmental information. As feature of the environment to compensate the accumulating error in odometry, the cart uses flat wall and edge of pillar which is extracted by its laser range scanner. Experimental results shows the effectiveness and reliability of the system.

著者

築島 隆尋 高野 政晴 佐々木 健 井上 健司

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.8, no.6, pp.699-711, 1990-12-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

4 9

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This paper proposes a general theory for kinematics and dynamics of wheeled mobile robots (WMRs) . This study has two features: 1) The proposed method can deal with various WMR system ranging from typical three or four-wheeled mobile robot to multi-WMR systems where multiple WMRs are connected by joints. A WMR is regarded as a planar linkage mechanism with several ends: wheels correspond to the ends. Generally, a WMR system has active joints such as steering axis, passive joints such as casters and couplers, and driven/non-driven wheels. A model of WMR system called tree structure link covering these configurations is proposed. 2) This theory deals with kinematics and dynamics of WMR including slip of wheels. WMR dynamics is derived regarding frictional force between wheels and the ground as an external force which is a function of the slip speed. When no slip is assumed in wheels, WMR's motion is expressed by kinematics. In this manner, the proposed method is applied systematically on the kinematics when slip can be neglected and the dynamics when slip exists. Furthermore, velocity input dynamics is proposed which gives the motion of WMR when the velocity commands are inputs to active joints and wheels under the condition that wheels slip.

著者

梶田 秀司

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.20, no.3, pp.229-232, 2002-04-15

参考文献数

18

被引用文献数

18 24

著者

李 清華 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.557-563, 1993-05-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

2 5

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The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot that has a trunk. In this paper, the authors propose a learning control algorithm of the compensative trunk motion that makes the actual ZMP get closer to the desired ZMP. The convergency of the algorithm is confirmed by computer simulation. By the learning experiments with the biped robot, the reappearance of the measured ZMP is shown and the convergency of the algorithm is confirmed. The change of the convergence rate with the change of the weight coefficient multiplied to the errors between the measured ZMP and the disired ZMP is confirmed by the simulation and the experiments. And also the reasons are discussed.

著者

田宮 幸春 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.17, no.2, pp.268-274, 1999-03-15 (Released:2010-08-10)

参考文献数

12

被引用文献数

2 19

---

We have developed a balance compansating method for dynamic motions of a full-body humanoid standing on one leg. This method could compensate tri-axial moments in any motions, using all joints of body in real-time. In this method, costraint conditions for stable motion were calculated by using physical 3D model of the robot, and the output motion was determined by solving an optimization problem so that the output should be closest to the input under the constraints. The proposed method had high generality because of independence of joints arrangement of robot. This paper describes the algorithm of the method and an experiments applied on the 16D. O. F. humanoid in kick motion.

著者

鳥居 修晃

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.6, pp.772-774, 1990-12-15 (Released:2010-08-25)

参考文献数

14

著者

國吉 康夫 森 裕紀

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.1, pp.14-19, 2012 (Released:2012-02-15)

参考文献数

28

被引用文献数

2 1

著者

高瀬 英希 田中 晴亮 細合 晋太郎

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.41, no.8, pp.724-727, 2023 (Released:2023-10-25)

参考文献数

13

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We are conducting research and development of mROS 2, that is an agent-less and lightweight runtime environment for ROS 2 node onto embedded devices. In this paper, we make the communication protocol stack of mROS 2 compliant with POSIX (Portable Operating System Interface). Since POSIX is a unified interface standard for operating systems, this work enables mROS 2 to operate easily onto Ubuntu OS, that is the default platform for ROS 2. We implemented the proposed method on Ubuntu 20.04 running on Raspberry Pi 4B. Experimental result showed that our research outcome could improve communication performance than the native ROS 2 environment.

著者

舩戸 徹郎 青井 伸也 冨田 望 土屋 和雄

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.8, pp.739-746, 2013 (Released:2013-11-15)

参考文献数

18

被引用文献数

6 5

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Human locomotion is a complex system generated by redundant actuators and its interaction with environment. Human manages the redundant body with dexterity for adapting to various environments. Analytical studies have revealed that multiple joints and muscles move simultaneously as if the motion is constraint in low-dimensional structures. These low-dimensional structures, called synergy, should reflect the human control strategy; however a methodology that can deal with an effect of synergy on neural control has not been well-established. This study, thus, proposes a composite approach of analytical and constructive study: a system model that integrates skeletal system built on dynamical simulation and synergies obtained from walking experiment is proposed and discussed. The constructed system model realized a stable walk on both level and slope conditions, and synergy similar to that obtained in human experiment could be observed. By manipulating the contribution of synergy and posture controls inherent in the system model, the model approach revealed the factors for forming average posture during locomotion and the importance of synergy tuning for adapting to slope conditions.

著者

谷口 忠大 岡田 雅司 前山 功伊 奥村 亮 黄瀬 輝

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.40, no.9, pp.790-795, 2022 (Released:2022-11-18)

参考文献数

47

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.35, no.6, pp.428-431, 2017 (Released:2017-08-15)

参考文献数

24

被引用文献数

5

著者

加納 政芳 清水 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.29, no.3, pp.298-305, 2011 (Released:2011-05-15)

参考文献数

28

被引用文献数

1 16

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We developed the robot Babyloid for the purpose that psychological distresses in elderly people and the people requiring a nursing care are decreased by taking care of Babyloid. Babyloid is not all-arounder and cannot do anything, except expressions of physiological and psychological states for the self-sufficiency such as whimpering, becoming grumpy and so on. Through interaction with expressions of self-sufficiency, we considered that mental condition of elderly people is improved by building up trusting relationships between the people and Babyloid. In this paper, we explain concept, design, and specifics of Babyloid.