著者

武田 賢成 橘 完太

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.40, no.6, pp.519-527, 2022 (Released:2022-07-20)

参考文献数

20

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Currently, autonomous driving on sailing vehicles attracting attentions. In our previous study, a set of control rules was proposed to reach the windward target point using the position information obtained at intervals of several seconds for a sailing vehicle on the water, which is more difficult to stop and steer than on land and is more likely to sway leeward. In this study, in addition to this previous study, we conduct and analyze actual experiments using two methods that apply an obstacle avoidance method proposed previously on land to sailing vehicle on the water. Method 1 aims at the middle direction between the avoidance direction and the target point direction, and Method 2 steers in the direction opposite to the obstacle. We conducted actual experiments of obstacle avoidance using a sailing robot. We confirmed that obstacle avoidance was possible with either of the two proposed methods, and we clarified the characteristics of the methods by analysis. In the experiments, the wind blew almost orthogonal to the two-point reciprocating course with the midpoint as the obstacle, so the obstacle and the target point were located upwind from the direction of travel in all three times of meet with the obstacle. In this situation, Method 1 steered upwind to soften the Leeway effect and prevent the path from bulging downwind. In Method 2, the time to avoid obstacles was shortened by turning the rudder in the leeward direction.

著者

川崎 宏治 趙 漠居 岡田 慧 稲葉 雅幸

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.4, pp.285-291, 2015 (Released:2015-06-15)

参考文献数

12

被引用文献数

1

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In our research, we focus on the information collection in multi-field by aerial vehicle. We develop hardware mechanism generating more efficient lift power to achieve the ability to tilt with continuous and infinite rotation and keep arbitrary tile angle while flying. In this work, we propose a new mechanism for aerial robot including four propellers separated to two mutually connected bi-copter modules. We call this new aerial robot Bi2Copter. With the proposed mechanism, we are able to realize take-off, landing and flight under vertical orientation of body, leading to the feasibility of image capture with full 360° spherical coverage as well as exploration and measurement parallel to the target surface of which curvature changes continuously. This paper presents the motivation to this new aerial robot, the design of proposed mechanism and flight control accompanied with experiment results.

著者

本橋 優俊 久保田 孝

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.5, pp.441-444, 2022 (Released:2022-06-18)

参考文献数

11

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This paper presents a method to select behavior modes autonomously for a planetary rover. In the conventional methods, the behavior modes of a rover are selected by operators. Once the environment changes, however, it takes a long time to drive to the destination, because the intervention by operators is needed. Therefore, autonomous behavior mode selection is required to improve the exploration efficiency. The key idea of the proposed method is to understand the environmental map by deep learning so that a rover can select appropriate behavior mode according to the environment. The simulation study has been conducted to show the validity of the proposed method. The proposed method successfully demonstrates the capability to select behavior modes and to improve the traverse efficiency.

著者

妻木 俊道 玉田 守

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.486-493, 2017 (Released:2017-08-15)

参考文献数

14

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We introduce the stable walking system for the large 6 legged walking machine. The machine was developed to realize a solid and reliable walking vehicle for practical uses in forestry steep terrain with spread mechanical elements those are used in usual construction machines. It weighs about 4,000[kg] including the working machine. Owing to a mounted diesel engine and hydraulic drive system, it can walk around on the soft soil terrain and climb the steep slope of inclination up to about 30 degrees, and walk along contour line of lateral inclination up to about 41 degrees. Finally it walked well, despite it was tested on severe steep terrain where a lot of shrubs and stumps exist. We tested and evaluated the machine mainly about its significant walking method, hydraulic motion control system for walking and real-time inclination correcting system.

著者

岸波 華彦 糸山 克寿 西田 健次 中臺 一博

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.4, pp.351-354, 2022 (Released:2022-05-20)

参考文献数

12

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This paper addresses reconstruction of visual scenes based on echolocation, aiming to develop auditory scene understanding for robots and systems. Although scene understanding technology with a camera and a LIDAR has been studied well, it is prone to changes in lighting conditions and has difficulty in detecting invisible materials. Ultrasonic sensors are widely used, but their use is limited to distance estimation. There is an unavoidable risk of ultrasonic exposure since most ultrasonic power exists in inaudible frequency ranges. To solve these problems, we propose a framework for echolocation-based scene reconstruction (ELSR). ELSR can reconstruct a visual scene using the transmitted/received audible sound, and it exploits a Generative Adversarial Network (GAN) to learn translation from input sound to a visual scene. As GAN is originally designed for image input, we carefully considered the difference between image and sound input and propose introducing cross-correlation and trigonometric function-based features to input audio features. The proposed framework is implemented based on pix2pix, a kind of conditional GAN, and a dataset for ELSR consisting of 10,800 pairs of input sound and depth images recorded at 28 indoor locations was newly created. Experimental results using the dataset showed the effectiveness of the proposed framework ELSR and audio features.

著者

鄭 育昌

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.3, pp.191-194, 2022 (Released:2022-04-22)

参考文献数

10

著者

田中 宏和

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.7, pp.500-505, 2017 (Released:2017-10-01)

参考文献数

17

著者

木本 充彦 飯尾 尊優 塩見 昌裕 タネヴ イヴァン 下原 勝憲 萩田 紀博

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.9, pp.681-692, 2017 (Released:2017-12-15)

参考文献数

24

被引用文献数

2 1

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This paper proposes a multimodal interactive approach to improving recognition performance of objects a person indicates to a robot. We considered two phenomena in human-human and human-robot interaction to design the approach: alignment and alignment inhibition. Alignment is a phenomenon that people tend to use the same words or gestures as their interlocutor uses; alignment inhibition is an opposite phenomenon, which people tend to decrease the amount of information in their words and gestures when their interlocutor uses excess information. Based on the phenomena, we designed robotic behavior policies that a robot should use enough information without being excessive to identify objects so that people would use similar information with the robot to refer to those objects, which would contribute to improve recognition performance. To verify our design, we developed a robotic system to recognize the objects to which people referred and conducted an experiment in which we manipulated the redundancy of information used in the confirmation behavior. The results showed that proposed approach improved recognition performance of objects to which referred by people.

著者

西村 陽樹

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.2, pp.117-120, 2022 (Released:2022-03-17)

参考文献数

12

著者

玉本 拓巳 佐山 和宏 小金澤 鋼一

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.9, pp.689-695, 2015 (Released:2015-12-15)

参考文献数

9

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This paper proposes a multi-joint-gripper that achieves envelope grasping for unknown shape objects. The proposed mechanism is based on a chain of Differential Gear Systems (DGS) controlled by only one motor. It also equips a Variable Stiffness Mechanism (VSM) that controls joint stiffness to relieve interferences suffered from external environment and to achieve a dexterous grasping. The experiments elucidated that the developed gripper achieves envelop grasping; the posture of the gripper automatically fits the shape of the object with no sensory feedback. And they also showed that the VSM effectively works to relieve external interferences. This paper shows the mechanism and experimental results of the second test machine that was developed inheriting the idea of DGS used in the first test machine but has a completely altered VSM.

著者

中島 求

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.2-6, 2015

著者

中山 英樹

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.6, pp.382-385, 2016

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.36, no.2, pp.95-102, 2018 (Released:2018-04-15)

参考文献数

26

被引用文献数

1 1

著者

高橋 英之 石原 尚

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.9, pp.840-843, 2013 (Released:2013-12-15)

参考文献数

11

著者

工藤 俊亮 中岡 慎一郎 白鳥 貴亮

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 = Journal of Robotics Society of Japan (ISSN:02891824)

巻号頁・発行日

vol.25, no.5, pp.665-670, 2007-07-15

参考文献数

10

著者

西尾 修一 アリマルダニ マリヤム 石黒 浩

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.9, pp.854-857, 2013

被引用文献数

1

著者

舘 知宏

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.184-191, 2016 (Released:2016-06-18)

参考文献数

29

被引用文献数

3 5

著者

武村 健矢 畑中 拓 岡田 純弥 目黒 淳一

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.39, no.9, pp.854-857, 2021 (Released:2021-11-17)

参考文献数

10

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Virtual reality technology has become widespread and motion platforms have been developed. However, the relationship between motion and sensation in MP has not been fully evaluated. Therefore, in this study, we confirmed that front and back motion and continuous rotation synchronized to the video could affect the human sensation of rotation. Then, we experimentally estimated the threshold of rotational sensation that humans can perceive, and tested the relationship between MP motion and sensation. The experimental results confirmed that 75% of people could not perceive continuous rotation up to 25 [deg/s] and that it may not affect the physical sensation.

著者

矢野 史朗 近藤 敏之 前田 貴記

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.7, pp.512-517, 2017 (Released:2017-10-01)

参考文献数

46

被引用文献数

1

著者

坂根 茂幸 石井 優 柿倉 正義

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.4, no.4, pp.382-392, 1986

被引用文献数

10 3

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知能ロボットの構成には, センサシステムを装備することがまず第一に必要である.ハンドアイシステムの要求の増加に伴い, ハンドアイシステムをいかに効果的に設計, 構成そして活用するかという課題の解決の重要性が認識されつつある.例えば, ハンドアイシステムの作業教示には, マニピュレータと共に視覚センサのオフラインプログラミングが必要となる.マニピュレータのオフラインプログラミングを支援するためのロボットシミュレータが, 最近, 注目を浴びているが, これに対してロボットセンサのシミュレータに関する研究はまだ殆ど行われていない.<BR>筆者らは, 現在, HEAVENシステムと呼ぶハンドアイ行動シミュレータの開発を行っている.HEAVENシステムは, ハンドアイシステムにおける作業環境の視覚認識と監視を支援する.本論文は, カメラがオクルージョンを回避して適切な画像データを得るように支援するHEAVENシステムの一機能について述べたものである.カメラから最適な視点を選択する問題は, 対象物体モデルの周りに生成する測地ドーム上で視点を評価する問題として設定される.オクルージョン回避空間は, 奥行バッファアルゴリズムにより測地ドーム上の領域として求められる.次に, 測地ドーム上の距離変換によりオクルージョン回避の最適な候補視点が得られる.ハンド装着型カメラを用いたシステムによる実験結果は, HEAVENシステムがオクルージョン回避プラニングに有効であることを示している.