著者

森 裕紀 國吉 康夫

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.28, no.8, pp.1014-1024, 2010-10-15

被引用文献数

3 2

---

Recent progresses of ultrasound imaging technology have induced observations of fetal intrauterine behavior and perspective intrauterine learning. Understanding fetal behavior in uterus is important for medical cares for prenatal infants, because the intervention like "nesting" in NICU (Neonatal Intensive Care Unit) is based on a perspective of intrauterine learning. However, fetal behavior is not explained sufficiently by the perspective. In this study, we have proposed a hypothesis in which two of fetal behavior, Isolated leg/arm movements and hand/face contact, emerge from exploration by neural oscillator in spinal cord and self-organization of nervous system through tactile information in uterus. We have conducted computer experiments with a simple musculoskeleta model and a whole body fetal musculoskeletal model with tactile in uterus for the hypothesis. We confirmed that tactile information induce reflexive behaviors by the experiments of the simple model, and the fetal model with human like tactile distribution have behaved with the two behavior similar to the correspond real fetal behaviors. Our experiments indicated that fetal intrauterine learning is possibly core concept for the fetal motor development.

著者

三浦 宏文

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.4, no.6, pp.659-660, 1986

著者

升谷 保博 田所 諭 大須賀 公一

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.21, no.2, pp.145-146, 2003-03-15

著者

下笹 洋一 若林 潔 森口 拓雄 杉浦 正則 藤瀬 弘樹 小谷 健太郎

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.24, no.2, pp.156-158, 2006-03-15

被引用文献数

6 3

著者

松野 文俊 神澤 貴雄

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.15, no.5, pp.789-794, 1997-07-15

被引用文献数

1

---

In this paper, stability analysis and robust control of a force-controlled arm having a rigid tip body, of which the mass centerr lies on the central axis of the arm. We consider link flexibility as uncertainty and derive dynamic equations of the force-controlled arm. As the obtained boundary condition is nonhomogeneous, we introduce a change of variables to derive homogeneous boundary conditions. On the basis of a finite-dimensional modal model of distributed-parameter systems, stability of the force feedback is analyzed by using the root locus technique, and an optimal controller with low-pass property as a robust controller is constructed. Simulations have been carried out.

著者

唐 立新 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.21, no.8, pp.883-892, 2003-11-15

被引用文献数

7 2

---

This paper presents a method of mobile robot's autonomous navigation in indoor environments by a teaching and playing-back scheme using memories of an ounri-directional image sequence and robot's motion. The robot memorizes a sequence of environmental images and robot's poses during a teaching stage. And in the course of a playing-back stage. itt calculates the robot's position difference from the memorized and currently taken images, and then decides a trajectory to track the taught route, so that it can navigate autonomously to follow the given path to the destination. An omni-directional image sensor is used, and vertical edges arc extracted as feature lines in the environment for calculation of robot's position difference. The experimental results show the effectiveness of this method in corridors of bulidings.

著者

甕川 敏暢

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.19, no.6, pp.696-700, 2001-09-15

著者

小松 左京

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.4, no.3, pp.312-316, 1986

著者

稲葉 雅幸 星野 由紀子 井上 博允

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.80-86, 1998-01-15

被引用文献数

17 7

---

We present design and implementation of a tactile sensor system, sensor suit, that covers the entire body of a robot. The sensor suit is designed to be soft and flexible and to have a large number of sensing regions by using electrically conductive fabric and string. The whole signals from the sensor suit are superimposed on a visual image of the robot. The construction of sensor suit with 160 sensing elements for a full-body humanoid and the experimental results to evaluate electrically conductive fabric and the tactile sensing unit are described.

著者

鳥居 修晃

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.8, no.6, pp.772-774, 1990

著者

福島 宏明 新村 諭 松野 文俊

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.6, pp.554-561, 2011-07-15

---

This paper presents a shape transformation control method of a mobile robot with wheel-arms. The proposed method aims at transformation from a four-wheeled mode for high speed mobility to an inverted pendulum mode, which has advantages of high viewing position and small turning radius. The transformation starts with lifting up the wheel-arms to raise the center of gravity of the whole body. From such initial states, the body is lifted up and controlled to the target angle by partial linearization, while returning the arms to the initial angle. Then, the wheels are slowed down by properly changing the target pitch angle of the body. Stability analysis is carried out by taking into account the transient response of the body angle to the target value, which is neglected in existing work. The effectiveness of the proposed method is demonstrated by experiments.

著者

馬 書根 ネンチェフ D.

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.13, no.5, pp.704-710, 1995-07-15

被引用文献数

6 3

---

This paper presents an efficient control approach for redundant manipulators using a torque-based formulation. First, the manipulator with redundant degrees of freedom is decomposed into several non-redundant subsystems. Then, each of these subsystems is analyzed for the conditioning of the respective Jacobian matrix, considering the dynamic performance. Thus a set of possible solutions is constructed. Further on, the formulation of the proposed redundancy resolution control is realized using the relation between the joint torque and the given end-effector acceleration (<i>torque-based formulation</i>). The approach is suitable for parallel processing, and real-time dynamic redundancy control of redundant manipulators is possible. Numerical simulations have been performed to show the effectiveness.

著者

森 英雄 小谷 信司 石黒 浩 安富 敏 茅野 之雄

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.5, no.5, pp.361-374, 1987

被引用文献数

14 3

---

下等動物の行動学をヒントにした自律移動ロボットの一戦略SbS (サインパターン定形行動連鎖) に基づいて, 晴信-4号機を開発中である.晴信-4号機は頭部と胸部に2台のカラーTVカメラを有し, 68020VMEシステムを塔載している. (1) 構内道路の移動を2つの定形行動, 即ち, 道路境界や花壇等のサインパターンにする沿目標移動と柱や門, 街路樹等をサインパターンにする向目標移動, で実現する. (2) 出発点から目標地点までの移動はサインパターンと定形行動のリストからなる走行指令書で定義する. (3) 障害物回避や段差乗越しも定形行動で行なう. (4) 超音波センサやバンパーセンサによる衝突防止も定形行動で行なう. (5) 路上の影と障害物の区別は上下2台のTVカメラのステレオ視で行なう.一つの道路シーンの画像処理所要時間は障害物検出を含めて2秒以下である.

著者

岩村 大和 塩見 昌裕 神田 崇行 石黒 浩 萩田 紀博

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.31, no.1, pp.60-70, 2013-01-15

---

The rapid advancement of robotics has enabled the robots to serve physical help for elderly people in everyday life. This paper investigates what types of robot elderly the most willing to go shopping with. We investigate the effect into following two factors: conversation and robot-type. Conversation means the no purpose talking which human often do. For robot-type, we prepare humanoid and cart robot. To investigate the effect of these factors, a field experiment was conducted in a real supermarket where 24 elderly participants shopped with robots. The experimental results revealed that they prefer a conversational humanoid as a shopping assistant partner.

著者

福井 孝太郎 新宅 英滋 下村 彰宏 榊原 菜々 石川 優馬 誉田 雅彰 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.26, no.7, pp.794-800, 2008-10-15

参考文献数

11

---

We have developed a vocal control method based on forward and inverse model, and new vocal cord mechanism, for anthropomorphic talking robot, Waseda Talker No.7, to produce various kinds of voices. The previous artificial vocal cord model could reproduce human-like vibration, however, the control range of the acoustic parameters are very small. We developed new mechanism could adjust the vocal cords tension effectively and control the glottal opening-closing, to broaden the control range. The control parameters of the vocal cords on WT-7 are vocal cord tension, glottal opening and air pressure, and the acoustic parameters are sound pitch, spectrum tilt and sound pressure. The relations between these parameters are complicated, and hard to modeling. The learning process consists of learning of the NN forward model and learning of the inverse model by using the forward model. In addition, the real-time auditory feedback mechanism is used to reduce the error. By this method, the acoustic parameters could be followed well the target.

著者

杉浦 裕太

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.32, no.8, pp.684-687, 2014

著者

岩田 浩康

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.259-260, 2011-04-15

著者

柴田 崇徳

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.2, pp.42-45, 2000-03-15

被引用文献数

16 4

著者

内山 勝 飯村 憲一 多羅尾 進 ピエロ フランソワ 外山 修

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.12, no.3, pp.117-124, 1994-04-15

被引用文献数

16 14

---

The HEXA robot is a very fast 6-DOF parallel robot. It uses a parallel mechanism, called HEXA mechanism, which consists of a kinematic chain with five closed loops and is driven only by actuators at its base. This robot consists of six very simple elementary kinematic chains, each of which has only one active joint driven by a powerful DD motor. The moving parts of this robot is made very light at no expense of its stiffness. Therefore, this robot can move very fast and precisely. In this paper, we present development of a prototype of this robot. We choose a so-called Adept motion as a benchmark to measure its capability of fast motion. Experimental results show that the prototype robot can achieve the Adept motion in 0.465 [s/cycle] and prove that the HEXA robot is suited for very fast motion.

著者

小方 博之

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.2, pp.140-146, 2013-03-15

被引用文献数

1

---

Project based learning (PBL) is an effective method for education to make students put their knowledge into practice or to train solving problem by themselves. PBL is also recognized to be effective and popular in robotics and manufacturing educations. However, it is not guaranteed that traditional scoring methods, like final exam, are proper to assess students' activity in PBL. One of the noteworthy methods that may be suitable to assess their activity there is the peer assessment. The benefit of carrying out peer assessment is that it has effects on building students' motivation, making feedback, and grading reliably. The author conducted peer assessment in a mobile robot development project in his own laboratory, and in a certain class where students are requested to make a paper bridge as light as possible but can support a 300[g] weight. In this paper, the data of peer assessment in those projects are analyzed to verify its effectiveness.