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[in Japanese]
2002 Volume 20 Issue 2 Pages
123
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Makoto Kaneko
2002 Volume 20 Issue 2 Pages
124-125
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Koh Hosoda
2002 Volume 20 Issue 2 Pages
126-127
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Toru Omata
2002 Volume 20 Issue 2 Pages
128-129
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Yoshihiko Nakamura
2002 Volume 20 Issue 2 Pages
130-131
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Masaru Uchiyama
2002 Volume 20 Issue 2 Pages
132-133
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Tsuneo Yoshikawa
2002 Volume 20 Issue 2 Pages
134-135
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Nobuharu Mimura
2002 Volume 20 Issue 2 Pages
136-137
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Fumihito Arai
2002 Volume 20 Issue 2 Pages
138-139
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Tatsuo Arai
2002 Volume 20 Issue 2 Pages
140-142
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Kiyoyuki Chinzei
2002 Volume 20 Issue 2 Pages
143-144
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Mamoru Mitsuishi
2002 Volume 20 Issue 2 Pages
145-146
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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—for Assisting Medical Doctors More than Their Direct Operations—
Masakatsu Fujie
2002 Volume 20 Issue 2 Pages
147-148
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Akio Namiki
2002 Volume 20 Issue 2 Pages
149-150
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Koichi Osuka
2002 Volume 20 Issue 2 Pages
151-152
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Sadao Kawamura
2002 Volume 20 Issue 2 Pages
153-154
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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[in Japanese], [in Japanese]
2002 Volume 20 Issue 2 Pages
155
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Masaaki Kumagai, Takashi Emura
2002 Volume 20 Issue 2 Pages
157-163
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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There are many robots which are controlled with PCs (Personal Computers) . Their typical OS (Operating System) was MS-DOS, but MS-DOS is not suitable for high level control. Therefore, RTLinux was developed as realtime OS. However, the authors tried to control mechatronic system by using common Linux and found that it has enough ability to control robots. In this paper, it is described why the common Linux can be used as OS for PCs that control robots. Some experimental results that indicate performance of common Linux as robot controlling OS are also provided. Then the control system developed for human type biped robot as an example that utilize this method is shown.
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Kensuke Harada, Taiga Kawashima, Makoto Kaneko
2002 Volume 20 Issue 2 Pages
164-172
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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This paper discusses the manipulation of an object under equilibrium where the object makes rolling contact with the plate attached at the tip of the arm. We assume that the object satisfies the neighborhood equilibrium [1], where an object with rolling contact can automatically find another equilibrium state close to the original one even when the current one is broken due to the change of input. For always guaranteeing the neighborhood equilibrium, we newly define the contact stable region on the object surface. By utilizing the contact stable region, we propose a control scheme for manipulating an object from one to the desired position on a plate whose posture is controllable. Numerical example is also shown to explain our idea.
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Nobuyuki Ishikawa, Yoshio Furukawa, Katsuo Suzuki
2002 Volume 20 Issue 2 Pages
173-179
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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We have developed a new type of mobile robot system, in which robot executes a task under human assistance, aiming to improve reliability and rapidity of task performance. This robot system incorporates the human assistance for solving the unexpected problem arose during the task execution. The basic idea of the system is that in normal situation robot takes an autonomous action derected by the program, while in abnormal situation which means that some unexpected problem arose, human assists to help the robot action. As a system component, we have developed navigation command interpreter with intervention function to realize human assisted navigation conveniently. In this system, human assistance is also effectively utilized in the image information extraction for positioning error correction. We have demonstrated the feasibility of the system under the mock-up environment.
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Toshio Tsuji, Tomoyuki Shimazaki, Makoto Kaneko
2002 Volume 20 Issue 2 Pages
180-186
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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In this paper, human perception ability for robot impedance is analyzed. First, a human-robot system is con-structed using impedance control, where a subject can move the robot freely by his end-point, and two kinds of experiments are performed: single impedance perception and single impedance discrimination. Then, from the experimental results, the accuracy and the differential limen are discussed. Also, it is shown that the human perception ability decreases dramatically under some situations such as multiple impeadace perception and large robot viscosity. The results of the present paper could be effective as basic data in presenting the robot impedance to human operators in the rehabilitation system and human-robot systems.
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Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi
2002 Volume 20 Issue 2 Pages
187-195
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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Recently, omnidirectional mobile robots with holonomic property have been studied actively. We have already developed a holonomic and omnidirectional mobile robot which consists of two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. In this paper, we further derive a dynamic model for the mobile robot by using the forces acting on the steering axis and construct a resolved acceleration control system based on the model to realize a dynamic control for the mobile robot. An experiment using a prototype robot is performed to prove the validity of the model and the effectiveness of the control system.
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Tamio Tanikawa, Tatsuo Arai
2002 Volume 20 Issue 2 Pages
196-205
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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A 3 degree-of-freedom micro finger, that has pure translational motion, is proposed. The finger will be applied in the two finger micro manipulation in order to manipulate micrometer size objects dexterously. The possible configurations are considered based on the group theory. Then, the optimal configuration is proposed by taking simple machining of joint structures into account. A kinematics analysis is made in order to describe the relation between end effector and actuator displacements. The design parameters are examined by evaluating the force capability of the actuator and the work space volume. Basic experiments are made by a prototype finger module that show excellent micro motion capability. A smaller hand mechanism is preferable in order to keep high accuracy, even through temperature and humidity change. Then a small-sized finger module is designed based on the prototype. A photo forming system is used for fabrication of the small-sized finger module. High accuracy is confirmed in the new finger module.
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Yoshifumi Murakami, Yoshinori Kuno, Nobutaka Shimada, Yoshiaki Shirai
2002 Volume 20 Issue 2 Pages
206-213
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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With the increase in the number of senior citizens, there is a growing demand for human-friendly wheelchairs as mobility aids. One of the main issues in the robotic wheelchair research is autonomous obstacle avoidance for safety. However, this is difficult because most of moving obstacles in the real world are human beings. They sometimes change their motion abruptly. This paper presents an intelligent wheelchair that can avoid collision with such human pedestrians safely and comfortably for each other. We assume that the information whether or not a pedestrian has noticed the wheelchair and which direction he/she wants to go can appear in the face direction. Thus our intelligent wheelchair is continuously observing the pedestrian's face in its front area, realizing smooth passing by changing its collision avoidance strategy based on the face information and the range data from the ultrasonic sensors. Experimental results show the effectiveness and comfortableness of the proposed method.
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—Basic Design and Computer Simulation—
Keisuke Arikawa, Tsutomu Mita
2002 Volume 20 Issue 2 Pages
214-222
Published: March 15, 2002
Released on J-STAGE: August 25, 2010
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We are researching design and control of jumping robots (e.g. normal jump, somersault, jump on a stair) composed of a multi degrees of freedom link. We call such robots“Multi-DOF Jumping Robot”. In this paper, we deal with 5 link 4 joint serial link as an example of Multi-DOF Jumping Robot, and discuss about the way of determination of design parameters under realistic conditions. The design parameters mean not only mechanical parameters but also motion planning parameters. At first, we show the type of jumping motion that we deal with in this paper, and derive conditions to achieve that. Then, we propose a motion planning method for jumping motions on the basis of boundary state between ground and aerial phase. Next, we deliberate limit characteristic of DC motors that are suitable for Multi-DOF Jumping Robot design, and derive equations that express the limit characteristic. At last, we present one set of practical design parameters, and show simulation results of normal jump and somersault.
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