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Volume 24, Issue 2
Displaying 1-21 of 21 articles from this issue
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[in Japanese], [in Japanese]2006 Volume 24 Issue 2 Pages 147
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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Hirochika Inoue2006 Volume 24 Issue 2 Pages 148-150
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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—Project for Promoting the Establishment of Systems for Practical Applications—Tetsuya Yamamoto2006 Volume 24 Issue 2 Pages 151-152
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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Hajime Aoyama2006 Volume 24 Issue 2 Pages 153-155
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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Yoichi Shimosasa, Kiyoshi Wakabayashi, Takuo Moriguchi, Masanori Sugiu ...2006 Volume 24 Issue 2 Pages 156-158
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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Masami Nakamura, Tatsuo Matsuzaki2006 Volume 24 Issue 2 Pages 159-161
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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Yoshihiro Fujita2006 Volume 24 Issue 2 Pages 162-163
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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Tsutomu Hatase, Koji Toda, Osamu Matsumoto2006 Volume 24 Issue 2 Pages 164-166
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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Noboru Sugimoto2006 Volume 24 Issue 2 Pages 167-168
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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—Project for Supporting the Development of Prototypes—Tetsuya Yamamoto2006 Volume 24 Issue 2 Pages 169-170
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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2006 Volume 24 Issue 2 Pages 171-204
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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Kenji Kaneko2006 Volume 24 Issue 2 Pages 205-207
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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Soya Takagi2006 Volume 24 Issue 2 Pages 208-210
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
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Masahiro Kondo, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara2006 Volume 24 Issue 2 Pages 213-221
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSA direct teaching method is effective for multifingerd robot hand designed similar to human's hand structure. To achieve an instinctive teaching, it is necessary to recognize manipulation patterns by observing a human hand. In this paper, a recognition system of object manipulation is developed as a part of direct teaching system for multifingered robot hand. Conventional recognition systems have difficulties in recognizing complex manipulations obtained by dextrous finger actions due to the low accuracy of the data glove. This paper proposes an operation measurement system using an object that is specially designed for teaching. This object consists of a six-degree-of-freedom position/orientation sensor and a tactile sensor sheet. This paper also proposes a method of spotting recognition by observing a change of the contact state of the palm surface. The effectiveness of this method is confirmed by experiments.View full abstractDownload PDF (15938K) -
Tomomichi Sugihara, Yoshihiko Nakamura2006 Volume 24 Issue 2 Pages 222-231
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSReaction force manipulation is one of the key issues on the motor control of legged systems, which moves with a number of joints cooperated on the unactuated floating baselink under the discontinuously varying contact status. This paper presents two solutions to this problem both in strict and approximate forms. A mass-concentrated model which the latter is based on represents the core dynamics of the legged system by a relationship between the center of gravity (COG) and the zero moment point (ZMP) . The desired reaction force under the dynamical constraint is equivalently converted to COG acceleration, and COG Jacobian which implicitly involves unactuated coordinates maps the desired acceleration to the movement of the whole actuated joints. Although it is a pragmatic approach, requirement of less computational cost encourages a realtime implementation. A highly-precise ZMP manipulation by the acceleration offset with an estimation of the effect of neglected moment around COG is also proposed.View full abstractDownload PDF (6449K) -
Yuji Hosokawa, Hisakazu Nakamura, Hirokazu Nishitani, Yuh Yamashita2006 Volume 24 Issue 2 Pages 232-239
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThis paper focuses on the problem of postural stability of a biped robot. We consider a compass-like biped model and analyze its postural stability based on the energy dissipation when the idling leg collides against the ground surface. We calculate the amount of energy dissipation by using rigid dynamics. We propose a novel criterion PSC (Postural Stability Criterion) that judges postural stability of the robot. Finally the effectiveness of the proposed criterion with two other indexes is demonstrated by computer simulation.View full abstractDownload PDF (2811K) -
Kouji Murakami, Tsutomu Hasegawa2006 Volume 24 Issue 2 Pages 240-247
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSWe propose a new method of tactile sensing for a fingertip of robotic hand. Using a simple fingertip with soft surface cover and a six-axis force/moment sensor, developed is a new function of measuring direction of edge when the fingertip contacts with an edge of the object. The developed function is useful not only to plan strategies for stable grasp and dexterous manipulation but also to recognize a geometrical shape of an object. Two necessary components, a six-axis force/moment sensor and the soft skin, are commercially available. They will neither restrict design of a robotic fingertip nor badly affect essential functions of stable grasping and manipulation.View full abstractDownload PDF (9906K) -
Jumpei Ochi, Koichi Suzumori, Takefumi Kanda2006 Volume 24 Issue 2 Pages 248-254
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThe goal of this research is development of Active Link Mechanisms for Physical man-machine interaction. Active link mechanisms allow to present three dimensional deformation of a virtual model. In order to realize active link mechanisms, we fabricated an intelligent cylinder, which equips inner sensor to detect the piston position. Active icosahedron consists of newly developed intelligent cylinders. A virtual model as interaction target is configured with Mass-Spring-Damper model. The virtual model behavior is obtained by solving differential equation of mass spring damper models. In the interaction experiment between a virtual model and an operator, the active link mechanisms showed their potential as a practical haptic interface.View full abstractDownload PDF (11489K) -
Kiyoshi Ioi, Shinya Miyoshi, Yasushi Sato, Toshio Kaneda2006 Volume 24 Issue 2 Pages 255-262
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThis paper presents a new mechanical pointing device for positional data acquisition. Since human-friendly welfare systems are seriously desired around the world, we have developed a device to aid physically handicapped persons. Our device can be used anywhere and anytime because it is rarely affected by such environmental conditions as light and noise. First, we describe the mechanism of our proposed pointing device, and explain its basic principle of coordinate acquisition. Next, we propose a concrete pointing procedure that indicates a desired object and a calibration method to obtain the accurate coordinates from points pointed at. Then, we show the experimental results of the pointing device and confirm that it can accurately acquire the coordinates of a desired object. Finally, we conclude with the usefulness of the pointing device and indicate future work.View full abstractDownload PDF (4196K) -
Takeshi Takaki, Toru Omata2006 Volume 24 Issue 2 Pages 263-269
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThis paper shows a 99 [g] finger joint that can exert a very strong fingertip force of more than 100 [N] . We have proposed a simple and small load-sensitive continuously variable transmission (CVT), which consists of five links and a torsion-coiled spring. The maximum fingertip force of our previous finger was limited by the mechanical strength of its links and bearings, not by the power of its DC motor. If the machine strength can be improved, a much greater fingertip force can be expected. To design a lightweight CVT with sufficient mechanical strength, we analyze the internal force of the CVT and select light plain bearings. We also analyze the stress by using the finite element method and select the materials of its links. Experimental results verify that the maximum fingertip force is more than 100 [N] near the singular configuration of the CVT and the maximum angular velocity is more than 550 [deg/s] . These motions are impossible without the CVT. We also developed a very light shape memory alloy brake of 0.56 [g] . The CVT with the brake can hold a fingertip force of more than 100 [N] not only near the singular configuration. The electric energy consumed by the brake is much less than that by the DC motor.View full abstractDownload PDF (8078K) -
Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge2006 Volume 24 Issue 2 Pages 270-276
Published: March 15, 2006
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIn this paper, we propose a concept of Passive Robotics which is one of the approaches for supporting humans physically. Based on the passive robotics, we develop a new intelligent walker referred to as RT Walker for supporting elderly people, blind people, or handicapped people who have difficulties in walking. RT Walker consists of a support frame, wheels, servo brakes, and controllers. RT Walker has a passive dynamics with respect to a force/moment applied to it and a simple structure, because it does not have some servo motors. However, several functions for RT Walker could be realized by controlling the brake torque of each servo brake appropriately based on Robot Technologies (RT) . In this paper, especially, we propose motion control algorithms of RT Walker for changing its apparent dynamics to adapt to difficulties of the user, and for moving based on the information of an environment. The proposed control algorithms are implemented in RT Walker actually, and the experimental results illustrate the validity of RT Walker and its motion control algorithms.View full abstractDownload PDF (4608K)
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