著者

鶴 清 広瀬 茂男

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.6, pp.639-647, 2012 (Released:2012-08-15)

参考文献数

12

被引用文献数

2 3

---

Wall-climbing robots having holonomic and omni-directional mobility would enhance the manipulation performance of the mounted arm and enable it to execute various tasks on the surface of large structures. This study focuses on the wall-climbing robots having permanent magnet attractive units to stick to the surface of iron structure such as atomic reactors and discuss the development of a specific holonomic and omni-directional wall-climbing mechanisms. Basic driving mechanism of the wall-climbing robot is based on our former invention named Omni Disk which consists of multiple rollers attached to one side of a rotating disk and having a mechanism to direct the rollers to the same direction. We firstly discuss about the mechanical improvements of the Omni Disk to make it lightweight and low cost. We next discusses about four types of methods to attach permanent magnets to the wall-climbing robot and generates attractive force on the iron wall and select the best type based on the motion experiments about the constructed models. As the result of these considerations, we developed a holonomic and omni-directional wall-climbing robot named Vmax III which consists of three Omni Disks having permanent magnet at their center having the function to change the magnetic attractive force. By using the Vmax III, we studied about the relation among the magnetic attractive force of three Omni Disks, posture of the Vmax III and inclination angle of the iron wall and clarified the optimized distribution of the magnetic attractive force of the Omni Disks in different inclination of the iron wall.

著者

妻木 勇一

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.30, no.6, pp.561-561, 2012 (Released:2012-08-15)

被引用文献数

1

著者

上川 健司 新井 健生 前 泰志 田窪 朋仁 井上 健司

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.28, no.2, pp.231-240, 2010 (Released:2012-01-25)

参考文献数

16

被引用文献数

1 3

---

This paper proposes a new locomotion algorithm of narrow scaffold. We have developed a limb-mechanism robot. The limb can move on a large working area, it can be used as an arm and a leg. ASTERISK Robot system has six limbs that radiate out in six directions. This robot system has the rotational symmetry, therefore, the posture is equivalent even if the robot body rotates. By using this feature, we propose a new movement algorithm “rotational gait” that the robot rotates like a wheel. The rotational gait can be applied to the robot that hanging on a cable, moving on narrow shelf of a cliff, and walking in a narrow space by the same algorithm. The operation and effectiveness of these algorithms were verified by the experiment. The movement algorithm is easy pattern operation that keeps stable state at all periods. And the robot can move without doing a high-speed real-time processing.

著者

小川 一水

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.10, pp.969-970, 2013 (Released:2014-01-15)

著者

八杉 将司

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.31, no.10, pp.971-980, 2013 (Released:2014-01-15)

著者

岡田 昌史 茂木 祐一 山本 江

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.32, no.1, pp.45-54, 2014 (Released:2014-02-15)

参考文献数

13

---

In this paper, we develop a model of the behavior of visitors in an exhibition space, and design an amenity space to reduce congestion. Because the flow of visitors depends on the space layout, it is possible to reduce the congestion by changing the layout of exhibits. To deal with the congestion, a macro model of visitors is required. The flow of visitors is modeled by two-dimensional vector field and the individual behavior is represented by the dynamic model including collision avoidance of individuals. To model walking and stopping behaviors, we introduce an extended dimensional space where the extra coordinate represents the viewing time of each exhibition. The parameters in the proposed model are identified from the measured data of human flow line. To reduce the congestion, the layout of exhibits is optimized based on the proposed model by minimizing the collision avoidance vector. The proposed method is verified by simulations and experiments using swarm robots, which consist of autonomous mobile robots and radio controlled robots.

著者

山崎 将史 竹内 栄二朗 大野 和則 田所 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.29, no.8, pp.702-709, 2011 (Released:2011-11-15)

参考文献数

13

被引用文献数

5 4

---

This paper describes method to improve the accuracy of localization of mobile robot using GPS with particle filter. This method improves the accuracy of localization by removing multipath of GPS measurement data with 3D-Map. This approach analyzes area that cannot receive direct wave from GPS satellite with 3D-Map about each satellite. The particles in that area are assumed to be receiving GPS data including the multipath error. And particle's likelihood is calculated considering the multipath error. This method is useful for localization and navigation of mobile robot between buildings.

著者

福井 類 勝代 雅行 森下 広 森 武俊 佐藤 知正

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.7, pp.841-852, 2010 (Released:2012-01-25)

参考文献数

32

被引用文献数

1 1

---

This paper proposes a system configuration method to realize a robot system which can perform daily-use object storage and management service in a living space. In the method, compliant mechanisms are utilized proactively to overcome position/posture errors and deviations in measurement or control phases. To validate the proposed system configuration method, we developed a home-use container transfer robot that is installed with (1) robust container handling mechanisms implemented by crank shafts and (2) passive compliant mechanisms for horizontal and inclination misalignment. The robot was integrated with a container position measurement system to perform experiments. Experiments confirmed that a robust container transfer motion can be realized without complex feedback measurement and control processes. Several key design points are also described to leverage mechanical compliance.

著者

平塚 祐一

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.28, no.10, pp.1184-1186, 2010 (Released:2012-01-25)

参考文献数

7

著者

熊谷 正朗

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.2, pp.136-139, 2011 (Released:2011-04-16)

参考文献数

7

被引用文献数

1 1

著者

青山 元

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.34-36, 2009 (Released:2011-11-15)

参考文献数

2

著者

森安 竜大 若松 栄史 森永 英二 荒井 栄司 島田 茂樹 眞鍋 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.30, no.8, pp.813-821, 2012 (Released:2012-11-15)

参考文献数

19

被引用文献数

1

---

A modeling method to represent bending/torsional deformation of an electric wire is proposed based on the differential geometry. A twisted wire called a robot cable is used in a prismatic/rotational joint of an industrial robot to transmit signals or electric power. It is composed of a twisted bunch of several strands of many copper wires. The copper wire may be cracked by repeated bending/torsional deformation associated with the movement of a joint and such crack leads to wiring disconnection. To predict the life-cycle of the wires and to prevent such wiring disconnection, it is required to estimate deformation of not only the strands but also the copper wires when the wire is bent/twisted. In this paper, the deformed shape of a wire, which corresponds to a twisted bunch of n strands, is described by 3+2n independent variables and can be derived by minimizing the potential energy of each strand under various constraints. As the relationship between copper wires and their strand is similar with that between strands and their twisted bunch, the deformed shape of each copper wire can be also derived with the same method.

著者

白水 始 中原 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.29, no.10, pp.898-901, 2011 (Released:2012-01-15)

参考文献数

8

被引用文献数

4 1

著者

荒木 天外 竹村 憲太郎 怡土 順一 松本 吉央 高松 淳 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.28, no.1, pp.106-111, 2010 (Released:2012-01-25)

参考文献数

13

被引用文献数

2 2

---

In this research, a Universal map, which can be converted to individual maps for heterogeneous mobile robots, is proposed. A Universal map can be generated using our developed measurement robot, and it is composed of a textured 3D environment model. Therefore, every robot can use a Universal map as a common map, and it is utilized for various localization technologies such as view-based and LRF-based methods. In LRF-based localization, accurate localization is achieved using a specific map, which is generated from a Universal map. In a view-based approach, localization and navigation are achieved using rendered images. The use of a Universal map enables generation of these maps automatically. The effectiveness of this approach is confirmed through experiments.

著者

大野 和則

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.6, pp.571-573, 2012 (Released:2012-08-15)

参考文献数

15

被引用文献数

3

著者

友納 正裕

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.5, pp.423-426, 2011 (Released:2011-07-15)

参考文献数

13

被引用文献数

7 5

著者

仲田 佳弘 石黒 浩 平田 勝弘

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.6, pp.552-555, 2013 (Released:2013-08-15)

参考文献数

16

被引用文献数

1 4

著者

末田 大和 服部 稔 澤田 紘幸 惠木 浩之 大段 秀樹 上田 淳 辻 敏夫 栗田 雄一

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.32, no.6, pp.566-573, 2014 (Released:2014-08-15)

参考文献数

21

---

This paper reports experimental results on a surgical grasping forceps that equips a vibration actuator to enhance a tactile perception ability. A short-time exposure of tactile receptors to sub-sensory white-noise vibration is known to improve perception ability. This phenomenon, called stochastic resonance (SR) in the somatosensory system, is expected to enhance the sense of touch when the weak vibration is applied, and thereby improve associated motor skills. To investigate the effect of the noise intensity, a summing network of FitzHugh-Nagumo model neurons was built. The simulation results showed that appropriate noise intensity improves the coherence between the input stimuli and the network response. To confirm the efficacy of the proposed method on the surgical grasping forceps, passive and active sensory tests have been conducted. A lead zirconate titanate (PZT) actuator was attached on the grip of the forceps to generate the physical noise. The experimental results show that the appropriate noise improves the detection capability of the stimuli.

著者

上田 早夕理 福田 和代 八杉 将司 横小路 泰義 梶田 秀司 前田 太郎 林 譲治 琴坂 信哉

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.10, pp.1041-1047, 2012 (Released:2013-01-25)

著者

浦久保 孝光 門野 守 前川 聡 玉置 久

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.32, no.6, pp.543-549, 2014 (Released:2014-08-15)

参考文献数

18

被引用文献数

1 1

---

This paper deals with the problem of controlling a spherical rolling robot that has a new driving mechanism equipped with a gyro. The translational motion of the robot is caused by transmission of angular momentum from the gyro to a spherical outer shell of the robot. A feedback controller that makes the robot achieve a straight motion is designed based on the equations of motion for the robot. The effectiveness of the controller is demonstrated by experimental results.