著者
岡田 慧
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.830-835, 2012 (Released:2012-12-15)
参考文献数
9
被引用文献数
1 2
著者
杉原 知道
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.269-277, 2011 (Released:2011-05-15)
参考文献数
43
被引用文献数
1 3

A robust numerical solution to the inverse kinematics is proposed based on Levenberg-Marquardt method, where the squared norm of the residual with a small bias is used for the damping factor. A rather simple idea remarkably improves numerical stability and convergence performance even in unsolvable cases. The discussion is done through an investigation of the condition number of coefficient matrix. Comparison tests with the conventional methods show that only the proposed method succeeds in all cases. It frees operators from being careful about the target position-orientation assignment of effectors, so that it facilitates easy robot motion designs and remote operations.
著者
牧原 昂志 槇田 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.38, no.5, pp.496-501, 2020 (Released:2020-06-17)
参考文献数
12

This paper presents a novel measurement method for caging quality based on static analysis of robotic grasping and manipulation. Caging is a geometrical constraint of objects in which those captured by surrounding robots are restricted to move in the bounded space. The object constraint with some margin is a promising tool to allow uncertainties appearing in object perception and robot control. Because of limitation of robot configuration, complete caging that the object never escape from is, however, not accomplished sometimes, and the target object is partially caged. As for such partial caging, the quality of geometrical constraint has not been sufficiently evaluated. In this paper, we propose an evaluation index of the quality based on the robustness of grasping and manipulation in order to deal with both caging and mechanical constraint simultaneously. Some numerical results are presented to validate our proposed procedure of evaluation.
著者
志和 敏之 神田 崇行 今井 倫太 石黒 浩 萩田 紀博 安西 祐一郎
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.27, no.1, pp.87-95, 2009 (Released:2011-11-15)
参考文献数
17
被引用文献数
1 2

This paper reports a study about system response time (SRT) in communication robots that utilize human-like social features, such as anthropomorphic appearance and conversation in natural language. Our research purpose established a design guideline for SRT in communication robots. The first experiment observed user preferences toward different SRTs in interaction with a robot. In other existing user interfaces, faster response is usually preferred. In contrast, our experimental result indicated that user preference for SRT in a communication robot is highest at one second, and user preference ratings level off at two seconds. However, a robot cannot always respond in such a short time as one or two seconds. Thus, the important question is “What should a robot do if it cannot respond quickly enough?” The second experiment tested the effectiveness of a conversational filler: behavior to notify listeners that the robot is going to respond. We used the same strategy in a communication robot to shadow system response time. Our results indicated that using a conversational filler by the robot moderated the user's impression toward a long SRT. Put it all together, we obtained a) users'; impressions toward the robot are unchanged until one second SRT, b) the robot should react within two seconds SRT, and c) use of conversational fillers are effective to let the users to wait from these two experiments.
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.27, no.4, pp.392-395, 2009 (Released:2011-11-15)
参考文献数
13
被引用文献数
5 4
著者
岡谷 貴之
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.92-96, 2015 (Released:2015-04-15)
参考文献数
9
被引用文献数
2