日本ロボット学会誌

「ロボット音楽」特集について

嘉納秀明

1996 年 14 巻 2 号 p. 155
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.155

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音楽ロボット

梶谷誠

1996 年 14 巻 2 号 p. 156-159
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.156

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科学の中の音楽

神津善行

1996 年 14 巻 2 号 p. 160-163
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.160

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若手研究者による音楽ロボットの将来の夢

林英治

1996 年 14 巻 2 号 p. 164-167
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.164

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弦楽器の自動演奏とロボット

梶谷誠

1996 年 14 巻 2 号 p. 168-171
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.168

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サンシン演奏ロボットについて

伊波善清, 山城毅

1996 年 14 巻 2 号 p. 172-175
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.172

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自動演奏ピアノの歴史的概観

高澤嘉光

1996 年 14 巻 2 号 p. 176-179
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.176

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ピアノの自動演奏について

ハードウェアからのアプローチ

林英治, 山根雅巳

1996 年 14 巻 2 号 p. 180-183
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.180

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位置サーボ制御教材としての木琴自動演奏器の製作

川崎直哉, 野村弘

1996 年 14 巻 2 号 p. 184-187
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.184

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人間形フルート演奏ロボットの開発

高西淳夫

1996 年 14 巻 2 号 p. 188-191
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.188

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フルートの自動演奏

川中洋一, 花田桂一

1996 年 14 巻 2 号 p. 192-195
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.192

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サキソフォンとトランペットの自動演奏ロボットについて

高島俊

1996 年 14 巻 2 号 p. 196-199
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.196

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ダンシングロボット

池浦良淳, 猪岡光

1996 年 14 巻 2 号 p. 200-203
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.200

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ジェスチャーによる音楽制御

橋本周司

1996 年 14 巻 2 号 p. 204-207
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.204

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バーチャルパフォーマー

片寄晴弘, 井口征士

1996 年 14 巻 2 号 p. 208-211
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.208

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2輪独立駆動型移動ロボット車の軌道追従制御

トルク算出制御とファジィ制御の比較実験

湯軍, 渡辺桂吾, 中村政俊

1996 年 14 巻 2 号 p. 217-224
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.217

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Tracking controls for the speed and azimuth of a mobile robot driven by two independent drive wheels are experimentally attained by using a computed torque control and a fuzzy control. The computed torque controller can be easily derived by using the physical parameters for the mobile robot. However, the computed torque controller for the speed of the mobile robot can have only the P-servo controller. In order to improve the performance of such a controller, we introduce a computed torque controller having the D-servo compensator with respect to the speed error. A fuzzy controller is also applied to the present problem, in which the conclusion consists of a function of mean-values on each membership function in the antecedent. The effectiveness of two control methods is illustrated by some experiments and compared with the conventional PID control method.

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オープンシステムアーキテクチャに基づく知能ロボット化のためのハードウェア設計法

大道武生, 井辺智吉, 川内直人, 浜名通夫, 磯崎芳史

1996 年 14 巻 2 号 p. 225-233
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.225

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There are many research approaches to develop intelligent robot. However most of them could not be applied to real tasks. We think it is important to develop a new hardware design concept which includes moduled robot elements and system interfacing flexibility through verious robot developments. Through this concept moduled robot elements which have new open interfaces to be useful for many kind of users were developed. These elements have hierarchical 5 level hardware modules; Mechanism, Servo, I/O, Network, Computer interface. By using this result, we could develop some robot systems, e. g. 7-Axis Manipulator, Under Water Maintenance Robot with Double Arms and Oil-Tank Bottom-Plate Blast Robot, and require some evidences in order to develop robots rapidly. We think our Open System causes many Intelligent Robots to be applied. Because most of intelligent robot researcher can work in own field without robot hardware developments which require much research part.

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保安カメラ装置の自動カスタマイズを木の自己組織化法により実現する可能性の検討

鈴木寿, 有本卓

1996 年 14 巻 2 号 p. 234-237
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.234

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A security camera system in this article means such a system as observes movement of a man with a video camera and that gives a warning if the movement is suspicious. By using a method of self-organizing a binary tree, this article constructs an associative memory system that accepts, as inputs, dynamic patterns including a time axis. This article also studies on a possibility of realizing automatic customization of the security camera system based on this associative memory system. An experimental evaluation on computation times is shown.

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屋内環境を自律的にナビゲーションする平行二輪倒立振子型自立移動ロボットの機能分散アーキテクチャによる実現

河潤秀, 油田信一

1996 年 14 巻 2 号 p. 238-248
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.238

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The purpose of this work is to develop a wheeled inverse pendulum type mobile robot which can autonomously navigate in a two dimensional plane while keeping its own balance. In this paper, we report the construction and control algorithm of the wheeled inverse pendulum type self-contained mobile robot “Yamabico Kurara”. Yamabico Kurara has a functionally distributed architecture. The navigation program is located in the behavior control level and is implemented on the master module which takes the part of total control. Posture and trajectory tracking control are realized on the locomotion module which is one of the functional modules at the system level. The results of locomotion control experiments and navigation in the indoor environment of the robot are also shown. Discussion on the system integration and feasibility of the application is also included.

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3自由度独立駆動型全方向移動ロボットの開発

淺間一, 佐藤雅俊, 嘉悦早人, 尾崎功一, 松元明弘, 遠藤勲

1996 年 14 巻 2 号 p. 249-254
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.249

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A new driving mechanism for holonomic omni-directional mobile robots is designed, which enables 3 DoF (degrees of freedom) motion control in two dimensional space by three correspondent actuators in a decoupled manner without redundancy. The kinematics of the omni-directional mobile robot is also analyzed to prove that driving motion by the actuators is decoupled by the developed mechanism into 3 DoF motion of the robot. A prototype of the omni-directional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. Finally, the performance of the prototype robot is shown through experimental results, by which the working of the designed mechanism is verified.

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押し付け力制御マニピュレータの遠隔操作手法

松丸隆文, 松日楽信人

1996 年 14 巻 2 号 p. 255-262
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.255

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This paper describes a control method for manipulators which work by pressing the end-effector to the workpiece under constant force (e.g. grinding and cleaning) and also positioning the end-tip to everywhere on the workpiece using the operation device. Based on ergonomics, “the operator coordinate system” is introduced which is determined from the glance line to the workpiece and the both eyes of the operator. Further, “the corresponding-to-operational-motion type control method” is proposed, on which method the direction of motion of the operation device and the reactive direction of motion of the end-effector are corresponded in the operator coordinate system. Especially for the workpiece with wave shape, “the corresponding-to-objective-shape type control method” is designed, on which method the winding line and the valley line of the wave are recognized during the work and the directions of motion of the operation device are corresponded to these lines. These methods have been applied to the remote control system including the joystick and the lightweight manipulator, so the efficiency of these methods have been confirmed.

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2台の移動ロボットの協調による搬送制御

太田順, 武衛康彦, 新井民夫, 大隅久, 陶山毅一

1996 年 14 巻 2 号 p. 263-270
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.263

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A coordinated control method for two mobile robots without explicit communication is presented in this paper. Concretely, transferring control by cooperation of two robots is realized from the viewpoints of mechanical design and of control system design. In the mechanical design, compliance mechanism with 3 degrees of freedom is added on one of the robots in order to avoid extreme inner forces between the robots. In the control system design, leader-follower method is adopted. “Virtual Impedance Method” is used for controlling the follower robot. A deadlock problem, where a robot stops at some other positions from a target position of the robot, is solved by transforming lateral virtual forces to virtual moments. Effectiveness of the proposed method is verified by experimental results. The proposed method is applicable to multiple mobile robot system by increasing the number of followers.

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カセンシング機能を有する空気圧ベローズによるロボットマニピュレータ用回転駆動機構の開発

早川恭弘, 川村貞夫, 後藤健夫, 永井克明

1996 年 14 巻 2 号 p. 271-278
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.271

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In this paper we describe a new coupled tendon-driven joint mechanism that uses pneumatic bellows actuators. With regard to the mechanism, frames are attached to shafts of the bellows actuators and are connected to one link arm with wire. By making pressure difference between one side chamber of the actuator and the other, the joint revolves. From experimental results we disclose the static and dynamic characteristics of the proposed mechanism. Moreover, it is demonstrated that good positioning performance is realized by using a hierarchical control scheme which was proposed to control pneumatic drive systems. Since the bellows system has force-sensing ability, the proposed mechanism can estimate external forces without additional force sensors. In practice, we confirm the forcesensing ability through some experimental results.

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閉ループを持つ機構の効率的な順動力学解法

第1報漸化式形式の順動力学解法

遠山茂樹, 渡部直樹, 田野博

1996 年 14 巻 2 号 p. 279-286
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.279

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This paper presents an efficient algorithm for multibody systems with closed loops. In most simulators for analysis of mechanical systems, a dynamic model is made by constraint equations in Cartesian coordinates. However in this way, such modeling requires many variables and long CPU time. As a solution of this problem, we have developed an efficient recursive formulation of dynamics of multibody systems by relative coordinates and partial velocity. The simulation systems based on this algorithm proceeds computation as follows: Firstly, Graph theory is applied to characterize the topology of mechanical systems and cut some joints to open the closed chain systems. Secondly, the computational sequences for formulation is defined along the branches. Finally, an order n(O(n)) algorithm is introduced to reduce the number of arithmetic operation. This algorithm shows that it can successfully solve the equation of motion much faster than Cartesian coordinates formulation.

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制約論理プログラミングによるロボット構造設計支援システムの構築

佐藤晋一, 相場亮, 荒牧重登

1996 年 14 巻 2 号 p. 287-296
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.287

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In this paper, we show a validity of a new programming paradigm called constraint logic programming by constructing a robot structure design support system. The design process of a robot structure is divided into a fundamental structure design and a internal structure design. A fundamental structure design is a process that determines a framework of the robot such as a degree of freedom, a number of joint etc. We mainly support a fundamental structure design. This design system is constructed by constraint logic programming language. The buchberger algorithm is used to calculate the non linear equation in this language. Our design system generates an analysis program independent of robot structure easily. The result of analysis is also gotten in the form of expression. The constraint can be appended incrementaly. By constructing such a system we can achieve remarkable reduction of desiner's work in design process.

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パラレルロボットHEXAの動的制御実験

内山勝, 佐渡友哲也, 益川和之

1996 年 14 巻 2 号 p. 297-304
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.297

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A 6-DOF parallel robot called HEXA which we have developed recently is suited for very fast motion. In this paper, we apply dynamic control to the HEXA robot to improve the accuracy of its trajectory tracking in the fast motion. First, we present a simple dynamic model for the HEXA robot to decrease the cost of computation and, then, experiment on identification of its parameters. We adopt so-called Adept motion, which is commonly used as a benchmark to measure the ability of fast motion, to evaluate the effect of the dynamic control. The results of the experiment on the dynamic control show that the control improves the trajectory tracking accuracy dramatically.

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非定常環境内の移動ロボット群のための集団行動の学習アーキテクチャ

堀内英一, 谷和男

1996 年 14 巻 2 号 p. 305-312
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.305

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This paper presents a learning architecture with an evolutionary learning algorithm of collective behaviors for a group of mobile robots. The base learning algorithm is a distributable genetic algorithm with a redundant coding (RGA). The application of standard GA to distributed robot systems faces three drawbacks that (1) GAs do not consider non-stationary environments, (2) GAs are centralized algorithms, and (3) GAs require the synchronization for generation replacements. The proposed architecture enables GA to search a wide range of solutions by augmenting the diversity of genetic information so that the optimum solutions varying over time can be followed by GA. The analytic results about the reason why RGA outperformes standard GA in non-stationary environments are presented. RGA is converted into a distributed and asynchronous evolutionary algorithm (DRGA). The simulation results of a problem to learn collective strategies to capture fleeing targets verify the validity of the proposed algorithm and the learned strategies are shown to be reasonable ones.

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構造やパラメータに関する先験的な知識を必要としないフィードフォワード補償器を持つ適応型ビジュアルサーボ系の構成

細田耕, 浅田稔

1996 年 14 巻 2 号 p. 313-319
発行日: 1996/03/15
公開日: 2010/08/10

DOIhttps://doi.org/10.7210/jrsj.14.313

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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.

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