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 6
著者
栗田 雄一 祖父江 厚志 池田 篤俊 小笠原 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.29, no.4, pp.361-368, 2011 (Released:2011-06-15)
参考文献数
20
被引用文献数
1

In this paper, we present a water volume estimation method in various cups using the glass harp acoustics. When a rigid probe flicks a glass, sounds arise. Since the sounds alter depending on the water volume in the glass, we can utilize the sound information to estimate the water volume. In order to model the acoustics characteristics of various glasses, we propose the relational expression between the water volume and the vibration frequency that improves Oku's expression. By using the proposed relational expressions and a flicking motion by a robotic finger with a microphone, we confirm the proposed method can estimate the water volume with the accuracy of 1–3%.
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.34, no.3, pp.167-173, 2016 (Released:2016-06-18)
参考文献数
45
被引用文献数
5 4
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
2 4

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
高瀬 英希 細合 晋太郎 福田 竜也 高田 光隆 久保秋 真 森 崇
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.4, pp.399-402, 2023 (Released:2023-05-20)
参考文献数
12

We are conducting research and development of Hakoniwa, a virtual simulation environment in the age of IoT and cloud robotics. This research aims to deploy the core functionality of Hakoniwa for simulation of ROS 2 applications. The proposed method mainly consists of Docker and Unity, and allows engineers to easily try out robot development as many times as they wish on multiple platforms independent of OS environment.