著者

鈴木 良次

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.5, pp.484-485, 1989-10-15 (Released:2010-08-10)

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.11, no.3, pp.348-353, 1993-04-15 (Released:2010-08-25)

参考文献数

21

被引用文献数

8 15

著者

金岡 克弥 川村 貞夫

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.22, no.6, pp.732-737, 2004-09-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

3

著者

川畑 章司 田中 一男 大竹 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.21, no.8, pp.916-922, 2003-11-15 (Released:2010-08-25)

参考文献数

13

---

This paper presents analysis and design of a flapping robot with membrane wings. We develop an analysis method of aerodynamic forces for flapping movements for the robot. The optimal aspect ratio for a flapping robot with the membrane wings is designed through the numerical simulation that considers not only the analysis method of aerodynamic forces but also the load of a motor and the mechanical structure between the motor and the membrane wings. The simulation results show that the flapping efficiency for membrane wings is better than that for rigid wings. The experimental results agree well with the simulation results based on the proposed analysis method of aerodynamic forces.

著者

金出 武雄

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.376-383, 1987-10-15 (Released:2010-08-25)

参考文献数

21

被引用文献数

3 3

著者

若松 栄史 妻屋 彰 荒井 栄司 平井 慎一

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.4, pp.523-532, 2006-05-15

被引用文献数

3 3

---

A planning method for knotting and tightening of deformable linear objects is proposed. Firstly, we briefly explain crossing state description and basic operations corresponding to crossing state transitions. Possible sequences of crossing state transitions, that is, possible manipulation processes can be generated once the initial and the objective states are given. Secondly, a method to determine grasping points and their moving direction is proposed in order to realize derived manipulation processes. Then, it is theoretically found that any knotting manipulation of a linear object placed on a table can be realized by an one-armed robot with three translational DOF and one rotational DOF. Thirdly, a planning method for tying tightly is established to complete a knot because the knot fulfills its fixing function after it is tightened. Finally, it is demonstrated that an one-armed robot system can plan and execute tying and tightening a slipknot.

著者

鈴木 昭二

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.8, no.6, pp.778-779, 1990-12-15 (Released:2010-08-25)

著者

黄 捷 大西 昇 杉江 昇

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.1, pp.29-38, 1991-02-15 (Released:2010-08-25)

参考文献数

10

被引用文献数

3 4

---

A method for multiple sound source localization is presented. It is based on the properties of the onsets of sound as the primary cue: (1) most of the onsets will be contributed by only one source. (2) the onsets will be contributed only by the direct sound. Histograms of temporal disparities for several frequency components and its integrated one are calculated to determine the correct temporal disparities. Experiments were carried out in an anechoic chamber and an echoic chamber. The recorded speeches were used as two sound sources. We could localize the two concurrent sound sourcess with reasonable accuracy.

著者

若松 栄史 和田 隆広

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.2, pp.145-148, 1998-03-15 (Released:2010-08-25)

参考文献数

8

被引用文献数

1 3

著者

山口 仁一 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.581-586, 1993-05-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

8 28

---

We have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking, robot which has a trunk. In this paper, we introduce a control method of dynamic biped walking stabilized by trunk motion compensating for the three-axis moment on an arbitrary planned ZMP. We developed a biped walking robot WL-12 RV (Waseda Leg-12 Refined V) and perfomed a walking experiment with WL-12 RV using the control method. As a result, we realized fast dynamic biped walking (walking speed 0.54 s/step and step length 0.3 m) on a flat floor. This walking speed is about 50 percent faster than that with WL-12 (Waseda Leg-12) which compensates for only the two-axis (pitch-axis and roll-axis) moment by trunk motion.

著者

中村 仁彦 永井 清 吉川 恒夫

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.4, no.5, pp.489-498, 1986-10-15 (Released:2010-08-25)

参考文献数

20

被引用文献数

4 10

---

本論文では, 複数のロボットマニピュレータまたは多指ロボットハンドによる協調的あやつりの力学が議論される.協調的あやつりの問題は2つの局面に分けられる.1つは複数のロボット機構による合力を決定することであり, もう1つはそれらの間の内力を決定することである.合力は外力や環境拘束を受ける物体のあやつりに用いられる.内力は最大静止摩擦係数の不確さや変動に適応するために用いられる.合力の決定に対して動的協調制御方式が提案される.また, 最大静止摩擦の拘束の下で対象物に任意な加速度を発生する能力である協調的あやつり可能性を確認するための1方法が提案される.最後に, 最適内力を最大静止摩擦の拘束を満たすために必要な最小ノルムの内力と定義し, 最適解を求めるために非線形計画法が適用される.最適解は, それが存在する限り, 最大〓組の代数方程式を解くことによって必ず求められる.

著者

岡田 浩之 山川 宏 大森 隆司

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.2, pp.244-251, 2001-03-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

1 1

---

The trade-off of exploration and exploitation is present for a learnig method based on the trial and error such as reinforcement learning. We have proposed a reinforcement learning algorism using reward and punishment as repulsive evaluation (2D-RL) . In the algorithm, an appropriate balance between exploration and exploitation can be attained by using interest and utility. In this paper, we applied the 2D-RL to a navigation learning task of mobile robot, and the robot found a better path in real world by 2D-RL than by traditional actor-critic model.

著者

倉爪 亮 米田 完 田中 俊太郎 玉木 達也 太田 祐介 長谷川 勉

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.7, pp.811-818, 2003-10-15

参考文献数

26

被引用文献数

4 1

---

From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed "the sway compensation trajectory". This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point (ZMP) on a diagonal line between support legs. In this paper, we develop the sway compensation trajectory for a biped robot, and show that dynamically stable walking is realized. This method makes it quite easy to design stable ZMP and COG (center of gravity) trajectories, which have been regarded as a very complicated and delicate problem. The effectiveness of the proposed method is verified through computer simulations and walking experiments by a humanoid robot HOAP-1, and YANBO-3.

著者

三橋 寛治

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.6, pp.760-763, 1996-09-15 (Released:2010-08-25)

参考文献数

3

著者

小松 督 植之原 道宏 飯倉 省一 三浦 宏文 下山 勲

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.712-720, 1990-12-15 (Released:2010-08-25)

参考文献数

20

被引用文献数

1 3

---

We developed a two dimensional operation testbed for an autonomous free-flying space robot such as an orbital maneuvering vehicle. This system is named ASROT (Autonomous space robot operation testbed) . Basically, ASROT consists of a satellite robot, a target, a host computer and a planar base. A host computer is only used for observation and data gathering of the system. A satellite robot is a satellite which can establish various tasks with a manipulator. A satellite is 620mm (W) ×805mm (H) ×620mm (L) . Its weight is 120 kg. This system is floating on a planar base using air bearings, and is able to fly around using thrusters for position control and a control moment gyro for attitude control. A manipulator is a flexible arm and 1.4m long. This paper proposes an operating system which is needed for real time autonomous control. A satellite robot installs hardware systems such as vision systems, board computers, image processing units, and software systems such as algorithms for path planning.

著者

吉河 章二 山田 克彦

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.2, pp.242-248, 1995-03-15 (Released:2010-08-25)

参考文献数

5

被引用文献数

1 2

---

Capturing a target by a space robot in space inevitably causes impact forces on the contact points. This paper focuses on such a short contact period and proposes a new approach to model the contact dynamics. It derives equations to estimate the impulse of the contact forces considering the effects of the joint stiffness represented by the joint servo. Using the derived equations, it is shown that the impulse of the contact forces increases with the joint stiffness regardless of its posture. Numerical simulations and hardware experiments are given to validate the proposed approach.

著者

杉本 靖博 吉岡 秀隆 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.28, no.8, pp.961-969, 2010-10-15

参考文献数

15

被引用文献数

2 3

---

A passive dynamic walking robot can walk down a gentle slope naturally without any actuator or controller, only by potential energy. Therefore, it is thought that the principle of walking exists in this phenomenon. By current researches, the passive dynamic walking has been confirmed for two and four. However, it seems that it is also important to study passive dynamic walking for more than 6 legs because there are many creatures that have more than 6 legs. In this research, a passive dynamic walking robot with more than six legs was analyzed by a simulator. As a result, it was confirmed that passive dynamic walking even for 20 legs could be achieved. Furthermore, its gait could be changed by changing the body structure. In addition, the differences of stability depend on the number of legs resulted, and this differences disappeared by changing the position of the pitch spin parts. Moreover, its stability was very high, so it could walk on the contoured ground.

著者

三浦 純

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.4, pp.322-325, 2008-05-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

2

著者

浅香 俊一 石川 繁樹

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.4, pp.77-83, 1994-05-15

被引用文献数

5 14

---

We report a developed autonomous mobile robot (AMR) in dynamically changing environment. The AMR's behavior controller is based upon a state-transition scheme, which suits for realizing the AMR behavior control according to sensory information. The network of state-transition, however, becomes very large as behaviors become complicated. We divide the network among multiple tasks in order to suppress increase of complexity in single network. The tasks consists of a supervisor task and functional tasks. A supervisor task watches overall statuses and events, and controls functional tasks. Each functional task controls a specified part of the AMR's behavior. We constructed a real AMR system, on which the behavior control method is applied and it demonstrated in a showroom as a greeter robot.

著者

三上 貞芳

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.1118-1121, 1997-11-15 (Released:2010-08-25)

参考文献数

21