著者
藤田 雅博
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.17, no.7, pp.947-951, 1999-10-15
被引用文献数
11 18
著者
森 政弘
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.16, no.1, pp.33-36, 1998-01-15 (Released:2010-08-25)
参考文献数
3
被引用文献数
1
著者
李 清華 高西 淳夫 加藤 一郎
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.11, no.4, pp.557-563, 1993-05-15 (Released:2010-08-25)
参考文献数
12
被引用文献数
2

The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot that has a trunk. In this paper, the authors propose a learning control algorithm of the compensative trunk motion that makes the actual ZMP get closer to the desired ZMP. The convergency of the algorithm is confirmed by computer simulation. By the learning experiments with the biped robot, the reappearance of the measured ZMP is shown and the convergency of the algorithm is confirmed. The change of the convergence rate with the change of the weight coefficient multiplied to the errors between the measured ZMP and the disired ZMP is confirmed by the simulation and the experiments. And also the reasons are discussed.
著者
Takashi Maeno
出版者
The Robotics Society of Japan
雑誌
Journal of the Robotics Society of Japan (ISSN:02891824)
巻号頁・発行日
vol.23, no.1, pp.51-62, 2005-01-15 (Released:2010-08-25)
参考文献数
32
被引用文献数
3 7 13

A fundamental idea for constructing a conscious robot is presented. First, hypotheses of the human mind are presented. The following ideas are shown: (1) The unconscious system is a recurrent network system made of various distributed subsystems. (2) Information of the mind such as intellect, feelings and willpower, is presumably processed in the unconscious system instead of the conscious system. (3) The conscious system just monitors, experiences afterward, models and memorizes the results of the unconscious system. (4) Realistic experiences of quality that the conscious system feels by itself are just illusions that are defined in the brain. Then an algorithm of a robot mind is constructed based on the hypotheses mentioned above. It is shown that a conscious mind of robots can be made using the proposed algorithm. Finally, purposes and issues of the robots with a mind are also discussed.
著者
広瀬 茂男 今里 峰久 工藤 良昭 梅谷 陽二
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.3, no.1, pp.10-19, 1985-02-15 (Released:2010-08-25)
参考文献数
5
被引用文献数
4 5

建物や大型構造物の壁や天井面を動きまわるようなロボットを構成するためには, まず初めにそれを可能にするだけの強力な吸着力を生成し得る信頼性の高い吸着装置を実現しなければならない.本論文は原子炉や船舶などの鋼板上を動くロボットのための磁気吸着ユニットに関するものである.まず初めに従来からある磁気吸着ユニットの比較検討を行い, ついでIBマグネットと呼ぶ磁気吸着ユニットを提案する.これは永久磁石による強力な吸着力を生ずると同時に, 内部力をバネユニットで打ち消す構造を持たせることにより, 容易に脱離を可能にする装置である.本IBマグネットを構成する上で必要となる磁気吸着ユニットの設計手法, さらにそれとバランスする非線形バネユニットの設計手法を論ずる.最後に, 人間がこのIBマグネット装置4台を両手両足に装着し, 鋼板壁面と天井面を歩行する実験を行うことにより, 本装置が移動ロボットの吸着ユニットとして応用可能であることを示した.
著者
油田 信一
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.16, no.4, pp.431-435, 1998-05-15 (Released:2010-08-25)
被引用文献数
1
著者
加藤 一郎 小金沢 鋼一 高西 淳夫
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.5, no.2, pp.102-108, 1987-04-15 (Released:2010-08-25)
参考文献数
7

乳ガン自動触診ロボット: WAPRO-4が製作された.WAPRO-4は手による触診を自動化する目的で構築され, 乳ガンの早期発見に資することを目的としている.WAPRO-4は測定装置, 移動装置, マイクロコンピュータ・システムの3つの部分より構成される.測定装置には4本の触子があり自重により, それぞれ独立して乳房を押す.その際の押し込み距離を差動トランスにより測定する.工業用汎用ロボット (Pana Robo A6256C, 松下電器産業株式会社) が移動装置として導入され, 測定装置を測定点に移動する.マイクロコンピュータシステム (PC-9801 E, 日本電気株式会社) が移動装置を制御し, 自動触診中, 測定装置よりデータを採取し, 診断処理をおこなう.呼吸や胸壁の影響を受けず腫瘍のみが識別できるソフトウェアアルゴリズムを構築した.医師の立ち会いのもとに臨床試験をおこなった.16名中15名の患者の腫瘍が識別された.1名の患者については腫瘍の大きさが小さいために明瞭な識別ができなかった.これらの結果は明らかにWAPRO-4システムの有効性を示しており, 自動触診システムによる乳ガンの集団検診の可能性を示している.しかしながら, より小さな腫瘍の識別を可能とするシステムの開発をおこなう必要がある.
著者
平井 慎一 野口 英昭
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.15, no.8, pp.1172-1179, 1997-11-15
被引用文献数
6 2

A human-demonstration based approach to the object motion design and the recognition of process state transitions in the insertion of a deformable tube is presented. First, human demonstration during the insertion of a deformable hose into a rigid plug is measured by use of a position sensor and a force sensor. Secondly, the measurements are analyzed with regard to the process states during the insertion. Human motion and recognition laws to detect process state transitions from force sensation are then extracted through the analysis of human demonstration. Finally, human motion during the insertion is transplanted to a mechanical manipulator to examine whether the human recognition laws are useful or not for the insertion performed by a mechanical manipulator.
著者
但馬 竜介 菅 敬介
出版者
The Robotics Society of Japan
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.6, pp.860-866, 2007-09-15
参考文献数
15
被引用文献数
3 2

In the present paper, we introduce a new method by which to generate motions having flight phases such as jumping or running. Such motions are expected to expand the speed and stability of legged robots. Motions with flight phases are examined with respect to jumping, stability and implementation. A novel method of determining the Center of Mass (COM) and foot locations is proposed that is independent of the target robot actuators or assignments of joints. Moreover, the proposed method allows an on-line system to be built easily and is useful for actual robots. A one-legged jumping robot having a toe joint is built in order to demonstrate the feasibility of this method. Using the toe joint of the robot, the proposed method can reduce the angular velocities of the joints remarkably. Experiments are conducted to investigate the control of the direction, velocity and turning of the robot.
著者
細田 耕 浅田 稔
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.14, no.2, pp.313-319, 1996-03-15 (Released:2010-08-10)
参考文献数
12
被引用文献数
3 4

This paper describes an adaptive visual servoing controller consisting of an on-line estimator and a feedback/feedforward controller for uncalibrated camera-manipulator systems. The estimator does not need a priori knowledge on the kinematic structure nor parameters of the camera-manipulator system, such as camera and link parameters. The controller consists of feedforward and feedback terms to make the image features converge to the desired trajectories, by using the estimated results. Some experimental results demonstrate the validity of the proposed estimator and controller.
著者
白井 達也 金子 真 原田 研介 辻 敏夫
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.20, no.1, pp.57-64, 2002-01-15 (Released:2010-08-25)
参考文献数
21
被引用文献数
1

Through grasp experiments by human achieving an enveloping grasp for a small cylindrical object placed on a table, we found an interesting grasping motion, where human changes the finger posture from upright to curved ones after each finger makes contact with the object. During this motion, the object is automatically lifted up through either rolling or sliding motion between the finger tip and the object. A series of this motion is called as Detaching Assist Motion (DAM) . An advantage of DAM is that most of grasping motions can be done on the table instead of in the air. Therefore, we can avoid the worst scenario where the object falls down to the table. We first discuss the basic mechanism of DAM by human experiments. We then apply the DAM to a grasping motion by a multi-fingered robot hand. We show that the DAM can be explained by using Self-Posture Changing Motion. We also show some simulation and experimental results to confirm that a small object can be grasped easily by applying the DAM.
著者
Takashi Katsuragawa Kiyoshi Ioi Nobuyuki Kubota Osamu Noro
出版者
The Robotics Society of Japan
雑誌
Journal of the Robotics Society of Japan (ISSN:02891824)
巻号頁・発行日
vol.12, no.6, pp.893-898, 1994-09-15 (Released:2010-08-25)
参考文献数
9
被引用文献数
3 11

In order to execute various contacting tasks, a robot must be controlled contacting force or contacting resistance. In the former case, a force-control is available, and in the latter case, an impedance-control and a compliance-control are useful.In this paper, we propose a Hybrid Compliance/Force Control (H. C. C.) which is a combination of a Hybrid Position/Force Control and a compliance-control. In this method, a position control, a force-control, and a compliance-control can be switched for any direction of a given task. Moreover we compose typical 2 types of H. C. C. (torque-based and position-based), and both methods are installed in a 6-D. 0. F. industrial robot.This study shows compositions of 2 types of H. C. C. and their experimental results.