著者

藤崎 慎吾

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.956-960, 2013 (Released:2014-01-15)

参考文献数

5

著者

山内 元貴 秋山 健 永谷 圭司

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.34, no.3, pp.220-225, 2016 (Released:2016-06-18)

参考文献数

11

被引用文献数

2

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An observation in active volcano areas is very important to work out a strategy for estimation of eruptive activity and evacuation call to residents. However, it is a too dangerous task for human to observe in such areas. Therefore, we developed a tele-operated robotic observation system instead of human. In the system, Unmanned Aerial Vehicle (UAV) carries a small-sized Unmanned Ground Vehicle (UGV) in a target point autonomously, and UGV observes the target area tele-operatively. To confirm our developing system, we performed field experiments in Mt. Asama, Japan. In this paper, we report the results and the lessons learned from the experiments.

著者

冨沢 哲雄 村松 聡 平井 雅尊 佐藤 晶則 工藤 俊亮 末廣 尚士

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.3, pp.280-286, 2012 (Released:2012-04-29)

参考文献数

16

被引用文献数

3 8

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In this paper, we describe a robust and fast self position estimation technique for mobile robot in an environment where many unknown obstacles exist. The free-space observation model is the basis of the proposed technique. Although the free-space observation achieves robust self-position estimation, it has a complicated likelihood evaluation, and particles continue to spread to a direction where are no landmarks. In this research, we solve these problems with two likelihood evaluations based on the area of free space and occupied space. We evaluated the robustness and verify the validity of the proposed method by a simulation and an experiment in a real environment.

著者

森 政弘

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.27, no.9, pp.964-966, 2009 (Released:2011-11-15)

参考文献数

4

被引用文献数

5 5 2

著者

志田 優樹 津村 遼介 渡辺 貴文 藤井 航平 岩田 浩康

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.7, pp.667-674, 2020 (Released:2020-09-05)

参考文献数

23

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The shortage of obstetricians and gynecologist is a serious problem in developed countries. To improve the workflow, we have been developing a robotic platform for supporting the fetal echo sonography, ``Tenang'', which allows for the ultrasound scan following the abdominal surface of pregnant women passively. Meanwhile, the acquired image quality was not constant due to the uncertain contact force between the probe and abdomen. In this paper, we aim to investigate the cause of the decreased image quality through a dynamic model analysis and experiment with a PVC phantom, and to propose the scan method which allows for the stable image acquisition. Thorough the investigation, the relative angle between the probe and body surface caused the contact force and acquired image quality. We hypothesized that the contact force and acquired image quality can be stable by maintaining the relative angle is constantly positive. Then, we proposed a spiral ascending scan that the probe constantly rises on the abdomen spirally. The proposed scan method is verified with an abdominal phantom in the second trimester. The results showed that the variation of the contact force under the spiral ascending scan path was reduced and the image quality was maintained.

著者

山崎 駆 酒井 義史 梶原 拓己 柴田 智広

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.10, pp.881-884, 2023 (Released:2023-12-21)

参考文献数

19

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In Japan, the shortage of caregivers due to the aging of the population is a serious issue and the demand for care robots is increasing. Changing and wiping, which is one of the main care tasks, is still not sufficiently skilled and is often carried out by carers alone. Against this background, we are developing a dressing assistance robot system. However, the task of picking hangers from the hanger rack was a bottleneck in our dressing assistance robot system. Therefore, we developed a hanger recognition method based on active object recognition for implementation in a dressing assistance robot system and improved the recognition accuracy. In this paper, the usefulness of a recognition method using active object recognition in the hanger recognition task is evaluated through experiments and future prospects for integration into a dressing assistance system are described.

著者

四本 裕子

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.1, pp.21-24, 2022 (Released:2022-01-17)

参考文献数

20

著者

勝野 宏史 Daniel White

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.1, pp.40-43, 2023 (Released:2023-01-21)

参考文献数

20

著者

福田 竜也

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.41, no.4, pp.391-394, 2023 (Released:2023-05-20)

参考文献数

16

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More robots are involved with humans, such as cooperative robots. When providing services based on user attributes (name, authority, location information, etc.) or authentication (face, fingerprints, etc.), developers must be careful to protect personal information. Therefore, we developed and released a package called “sros2_oidc”. The app adopts the OIDC (OpenID Connect) as an authentication protocol. It is one of the standard authentication protocols for online services. And combined with SROS2, personal information is sent through a secure route to the end of the robots.

著者

木内 裕介 小島 弘義 橋本 達矢 小野 敬之 小山 貴之 橋本 健二 高西 淳夫

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.4, pp.276-279, 2017 (Released:2017-06-15)

参考文献数

6

被引用文献数

1

著者

鈴木 彼方 伊藤 洋 山田 竜郎 加瀬 敬唯 尾形 哲也

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.40, no.9, pp.772-777, 2022 (Released:2022-11-18)

参考文献数

26

著者

瀬名 秀明

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.1, pp.56-62, 2021 (Released:2021-01-25)

参考文献数

59

著者

浅田 稔

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.8, pp.666-677, 2014 (Released:2014-11-15)

参考文献数

54

被引用文献数

2 1

著者

熊本 水頼

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.6, pp.660-665, 2010 (Released:2012-01-25)

参考文献数

6

被引用文献数

2 3

著者

関口 叡範 武居 直行

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.37, no.8, pp.726-734, 2019 (Released:2019-10-18)

参考文献数

27

被引用文献数

6 4

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Angle-axis vector, which is also called axis-angle representation or rotation vector, can be applied to represent an orientation or orientation error with minimal three parameters. However, it has a problem about singular points. Therefore, this paper shows a method for calculating angle-axis vector at singular points. In addition, this paper proposes an extended angle-axis vector. Conventional angle-axis vector cannot represent an orientation error that is greater than π due to the range of inverse trigonometric function. The extended angle-axis vector can express the orientation that cannot be represented by the conventional method. The results of this study are expected to give a new method for expressing an orientation error which is needed for numerical solution of inverse kinematics or some attitude controls.

著者

竹内 勇剛

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.850-853, 2013 (Released:2013-12-15)

参考文献数

6

著者

雨宮 智浩

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.30, no.5, pp.483-485, 2012 (Released:2012-07-15)

参考文献数

8

著者

久保 信明

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.37, no.7, pp.567-572, 2019 (Released:2019-09-16)

参考文献数

7

被引用文献数

1 1

著者

亀田 達也 森 隆太郎

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.40, no.1, pp.25-28, 2022 (Released:2022-01-17)

参考文献数

8

著者

岡野 昭伍 牧野 達仁 出村 公成

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.1, pp.71-82, 2022 (Released:2022-01-17)

参考文献数

27

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In recent years, many deep learning methods have been proposed, but the annotation process for creating datasets is a time-consuming and labor-intensive task. In this study, we propose a fluorescent texture to generate a 2-3D dataset that can be used in visible light. The fluorescent texture uses fluorescent paint, which is transparent under visible light but can be recognized under UV light. Target object can be made measurable by applying the texture. The fluorescent texture is an extensible method and can change the annotation data depending on the representation of the texture. In this study AR markers and grid textures are given to target objects using fluorescent textures. By applying existing methods such as marker recognition algorithms and stereo vision algorithms to the fluorescent texture, we can automatically annotate 3D information such as object position, orientation, and point cloud, as well as image region for semantic segmentation. Fluorescent textures can be applied to not only general objects but also objects that are difficult to recognize. The accuracies of the point cloud were as follows, general objects 1.7[mm], transparent containers 1.9[mm], and metal plates 1.7[mm].