著者

金広 文男 吉見 隆 梶田 秀司 森澤 光晴 金子 健二 比留川 博久 富田 文明

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.25, no.4, pp.589-597, 2007-05-15 (Released:2010-08-25)

参考文献数

28

被引用文献数

1 4

---

This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot's waist height, an upper body posture and so on according to the size of the movable space.

著者

内山 勝 ドシェ ピエール

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.7, no.1, pp.19-30, 1989

被引用文献数

17 2

---

ロボットが両手でひとつの対象物を操作する作業について, 静力学および運動学的観点より理論解析し, 協調動作を記述するための作業座標, およびその座標系における一般化力, 速度, 位置を首尾一貫した形で導く.そして, この結果に基づき, 左右の手にマスタ, スレーブの区別をつけない位置と力のハイブリッド協調制御系の構成を示す.理論解析では, 両手の運動を対象物中心で考えるために, 仮想ステッキという概念を新たに導入し, さらに一般化逆行列の理論を用いることにより, 両手の運動を対象物の絶対運動と内部運動に分解する.この分解された作業空間において, 協調動作を記述するための一般化力, 速度, 位置を導く.こうして導かれた一般化力, 速度, 位置は, 左右の手の関第力, 速度, 位置の対称な関数となっている.したがって, この座標を作業座標として構成されるハイブリッド制御系は, 左右の手にマスタ, スレーブの区別をつけることなく, 対象物の絶対運動および内部運動に対応した位置と力をそれぞれ独立に制御することが可能である.これより, 両手で対象物を保持して運ぶ作業が, 非マスタスレーブ方式により実現される.

著者

武居 直行 野畑 茂広 藤本 英雄

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.26, no.6, pp.635-642, 2008-09-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

5 7

---

This paper is concerned with the human-robot system such as power assist system based on the position-controlbased impedance control (admittance control) . The system has two force inputs from the operator and the environment, which may cause the vibratory behavior when the robot comes in contact with the environment. It is because the operational force and the contact force do not balance due to the noise, error, delay and so on. This paper proposes the admittance control with two inputs that achieves steady contact with an environment by modifying the contact force information. The effectiveness of the proposed method is demonstrated through several experiments.

著者

金子 真

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.5, pp.617-619, 1998-07-15 (Released:2010-08-25)

参考文献数

6

被引用文献数

1 2

著者

余 永 石塚 喬 辻尾 昇三

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.5, pp.528-536, 2002-07-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

1 4

---

For dexterously performing object grasping and manipulation with multifingered hand of robot, sensing the finger joint torque is required. In general, the size of finger joint is quite small so that it is hard to realize the torque sensing. This paper proposes a novel mechanism calledStrain-Deformation Expansion Mechanismto sense the joint torque, which is small enough and fitted in the finger joint. By the torque-sensing mechanism, the small joint strain deformation used for torque sensing can be expanded without reducing the joint stiffness. In this paper, the torque-sensing principle is addressed by analyzing the deformation of the sensing mechanism and the torques acting on the joint axis theoretically. Then, the sensitivity of the sensing mechanism and its expansion rate of sensitivity are defined, and a method for realizing the sensing mechanism with high sensitivity is discussed. Lastly, some experiments with robot finger are performed to show the basic characteristcs and the effectiveness of the proposed torque-sensing mechanism.

著者

工藤 俊亮 小川原 光一 ルチャヌラック ミティ 高松 淳 池内 克史

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.26, no.6, pp.612-619, 2008-09-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

1

---

This paper describes a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system.

著者

蘭 香代子

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.37-38, 1998-01-15

著者

金子 真 和田 充雄 前川 仁 谷江 和雄

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.9, no.4, pp.437-444, 1991-08-15 (Released:2010-08-25)

参考文献数

14

被引用文献数

1

---

This paper discusses transmission characteristics of tendon-sheath driving system typically used to actuate robotic finger joints, and also their effects on force control system. For a simple tendonsheath model, we first formulate the transmission characteristics with the newly introduced two physical parameters apparent tendon-stiffness and equivalent backlash. An interesting aspect is that apparent tendon-stiffness changes when the tendon is pulled or loosened, while tendon-stiffness itself keeps constant. This unexpected behavior is confirmed by simulations as well as experiments. We also consider the effect of apparent tendon-stiffness on force control precisely and show that the direction-dependent behavior ofapparent tendon-stiffness eventually brings about a direction-dependent response in the force control system.

著者

上田 隆一 新井 民夫 浅沼 和範 梅田 和昇 大隅 久

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.23, no.4, pp.466-473, 2005-05-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

4 8

---

Though Monte Carlo localization is a popular method for mobile robot localization, it requires a method for recovery of large estimation error in itself. In this paper, a recovery method, which is named an expansion resetting method, is newly proposed. The combination of the expansion resetting method and the sensor resetting method, which is a typical resetting method, is also proposed. We then compared our methods and others in a simulated RoboCup environment. Typical accidents for mobile robots were produced in the simulator during trials. We could verify that the expansion resetting method was effective for recovery from small irregular changes of a robot's pose, and that the combination method could deal with both large and small irregular changes.

著者

三木 一生

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.10, no.7, pp.878-884, 1992-11-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

1 2

著者

町田 和雄 三上 龍男 秋田 健三

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.4, pp.577-586, 1999-05-15 (Released:2010-08-25)

参考文献数

10

---

Space robots performing precise servicing tasks in unmanned facilities will be indispensable in space activity of the 21st century. This paper presents the development of a precise telerobotic system which is the world's first precise extravehicular robot aboard the satellite, ETS-VII. The robot has the features of skill and autonomy for handling various parts in space through a three-finger multisensory hand. Firstly, we discuss the requirements for in-orbit precise servicing by a robot and system constraints to integrate into the satellite, and present the total system design for space telerobotic experiment. Secondly, we describe the design of robot mechatronics adapt to space use. The launch lock mechanisms and reconfiguring method of the robot in orbit are also described. Thirdly, an architecture and design of the onboard control computer system to manage various tasks flexibly and safely are presented. Finally, the multisensory based control for precise task execution and development result of the flight model are presented. The system was launched, and initial checkout reveals the system works well in-orbit.

著者

城倉 信也 福島 理恵 吉田 和夫

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.21, no.2, pp.172-177, 2003-03-15

参考文献数

13

被引用文献数

3 2

---

This paper addresses the development and the experimental results of an aerial ski robot, which can perform a somersault coupled with twist motion in the air. The robot is composed of three rigid links and two rotational joints driven by DC motors and contains control devices so that complicated motion can be performed in the air. To plan the motion of the robot, Fourier Basis Algorithm (FBA) is applied, which approximates the optimal joint trajectories by the finite terms of the Fourier basis. The joint trajectories to perform a twisting somersault from FBA were inputted to the robot, and the flight experiment was carried out. As the result, the robot achieved one backward somersault with half twist. From this, the validity of the analytical model and the motion planning method was shown.

著者

高木 健 小俣 透

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.23, no.2, pp.238-244, 2005-03-15 (Released:2010-08-25)

参考文献数

13

被引用文献数

6 7

---

This paper presents a load-sensitive continuously variable transmission (CVT) for finger joints. Fingers of robot hands require force when grasping an object and speed when opening and closing. Therefore a CVT is ideal to improve the power transmission of a finger joint. Existing friction CVTs are too big and heavy to be installed in a finger joint. By focusing on the fact that finger joints do not necessarily rotate 360 degrees, this paper presents a remarkably simple and small load-sensitive CVT consisting of a five-bar linkage and a torsion coiled spring. Experimental results show that the CVT can increase its reduction ratio from 0.5 to 3.3 in response to a load. We have developed a two-finger gripper with the CVTs, which can grasp an object powerfully and manipulate quickly. These motions would be impossible without the CVT.

著者

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.1, no.3, pp.196-203, 1983-10-30 (Released:2010-08-25)

参考文献数

10

被引用文献数

3 5

著者

中村 弘 石黒 章夫 内川 嘉樹 ROLF Pfeifer

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.18, no.7, pp.963-971, 2000-10-15

参考文献数

9

被引用文献数

10 3

---

Conventional artificial intelligence and cognitive science approaches have been arguing the emergence of intelligence by completely separating the cognitive agent from its environment. In this paper, we intensively investigate and analyze the role of the system-environment interaction through the comparison between the information processing and embodied cognitive approaches. By taking account of this interaction, we experimentally show some of the hard classification problems suffering from the large input space and the ambiguities due to the perceptual aliasing problem can be greatly alleviated. To demonstrate this concept, we apply to a garbage-collecting task as a practical example.

著者

鈴木 寿 大西 弘之 有本 卓

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.6, pp.431-441, 1987

被引用文献数

4 1

---

連想データベースを自己組織化する簡単で効率の良い方法を提案すると共に, 自律移動知能ロボットへ応用する.システムは, 予め規定された処理部と, 初期状態では空白な記憶部とから成る.現時点の入力信号に対し, 処理部はこれに似ている過去の入力信号を記憶部から検索し, その関連情報を呼び出す.もし現入力信号の随伴情報がこの関連情報と一致しなければ, 新たな情報が記憶部のデータベースに付加され, その影響は次回の処理に反映される.このように記憶状態と入力信号の双方に依存して, データベースは自己組織化的に成長してゆく.データベース組織化の履歴は入力系列に依存するので, 個々のデータベースは固有な構造を獲得する.もし十分な長さの入力系列が与えられると, 入力信号と関連情報の対応関係は, 入力系列のそれに一致するようになる.脳における直観的情報処理の概念的ではあるが本質的なモデルを与えているという点で, また実用的立場からは, 要求された応答をユニパーサルに学習する学習機構へ応用できるという点で, 本システムは意義深い.この学習機構を利用した廊下用のカメラ方式自律移動ロボットを紹介する.ロボットの頭脳は, プロセッサーi80286を搭載したマイクロ計算機によって構成され, ロボットの行動は, C言語に追加設計した小規模のロボット言語を用いて制御される.良好な実験結果が示される.

著者

米田 完 太田 裕介 広瀬 茂男

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.1188-1193, 1997-11-15

参考文献数

6

被引用文献数

4 12

---

It is desirable to have a mobile robot which can move and perform various tasks on irregular terrain, but current systems are not reliable or adaptable enough for practical use. A traditional method for climbing stairs is to use knobbed tires or tracks which can grip the edge of the stairs. But with this method usually only one knob on each side of the vehicle grips the stairs because the spacing between the knobs does not necessarily coincide with the distance between steps. In this thesis, a new idea crawler is developed for the stair-climbing. Blocks are attached to the face of the crawler-belt and can change shape to match the edge of the steps. Therefore, a large friction force is obtained by the soft deformation of the blocks at every point along the belt. After experimenting with various types of substances, blocks filled with powder were chosen for their desirable deformation characteristics. The results of this stair-climbing experiment prove that this crawler has better reliability than other crawlers when ascending and descending stairs. Also, this crawler can change its posture when climbing stairs or obstacles and this is also used to increase the turning efficiency of the crawler.

著者

藤田 眞一

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.31, no.5, pp.530-539, 2013-06-15

参考文献数

45

---

The purpose of this study is to develop teaching materials for "Roboelecom education" in the technology education of the junior high school. The authors developed the educational compact computer, the sensor robot, the sensor light and the textbook. Then we organized the experiment. As a result, we confirmed that "the students learn quite easily to create simple programs". Therefore we judged that "the programming learning using the educational compact computer is possible". Moreover we confirmed that "these teaching materials support "Roboelecom education".

著者

田窪 朋仁 西井 一敏 井上 健司 新井 健生

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.3, pp.457-465, 2007-04-15

参考文献数

27

被引用文献数

1 3

---

Marionette system provides an intuitive teleoperation system for the difficulty controlling whole-body motion of a multi-joint robot and the complicated observation of its condition. This system employs a small robot which has similar form to a control target as an operating/displaying device, so that the device provides an operational feeling like manipulating a doll, so it is named Marionette Device. Since the characteristics of the Marionette device and the target robot are synchronized bilaterally in the system, the operation of Marionette device is reflected intuitively in the target, and the robot motion is also displayed simultaneously by the Marionette device. In this paper, we develop a humanoid type device as Marionette device in order to operate a humanoid robot HRP-2 and implement a whole-body teleoperation method. The remote walking and manipulation experiments in an unknown environment are introduced. In this experiment, the operator should guess the remote environment using a head camera view and control legs and arms by the Marionette device. We propose a new operation method for controlling foot position and leg joints with the Marionette device. It makes possible to walk by pointing a foot stamp step by step in a stable place. To show the effectiveness of the proposed system, we compare another teleoperating system which employs a joystick and a 3DCG display for control and understanding the state of remote robot. The experimental result shows effectiveness of the Marionette system and it has potential of teleoperating humanoid robots with other devices for complementing each other.

著者

加納 政芳 清水 太郎

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.29, no.3, pp.298-305, 2011-04-15

被引用文献数

16

---

We developed the robot Babyloid for the purpose that psychological distresses in elderly people and the people requiring a nursing care are decreased by taking care of Babyloid. Babyloid is not all-arounder and cannot do anything, except expressions of physiological and psychological states for the self-sufficiency such as whimpering, becoming grumpy and so on. Through interaction with expressions of self-sufficiency, we considered that mental condition of elderly people is improved by building up trusting relationships between the people and Babyloid. In this paper, we explain concept, design, and specifics of Babyloid.