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[in Japanese]
2008 Volume 26 Issue 8 Pages
859
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Shigeki Sugano
2008 Volume 26 Issue 8 Pages
860-863
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Masayoshi Shibata
2008 Volume 26 Issue 8 Pages
864-865
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Jun Oheki
2008 Volume 26 Issue 8 Pages
866-867
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Satoru Suto, Etsuko Harada
2008 Volume 26 Issue 8 Pages
868-869
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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—Summary and output of Basic Technology Development for Practical Application of Human Support Robots—
Masakatu Fujie
2008 Volume 26 Issue 8 Pages
870-871
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Hiroshi Ishii, Kuninao Iesaka, Makoto Hashizume, Shin-ichiro Takasugi
2008 Volume 26 Issue 8 Pages
872-873
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Yasuo Otsuki, Shoji Morimoto, Akio Nakagawa
2008 Volume 26 Issue 8 Pages
874-875
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Haruhisa Kawasaki, Yasuhiko Ishigure
2008 Volume 26 Issue 8 Pages
876-877
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Yoshihiro Muraoka, Eiichi Saitoh
2008 Volume 26 Issue 8 Pages
878-880
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Sumio Ishii, Yoshikazu Shinoda
2008 Volume 26 Issue 8 Pages
881-882
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Yoji Yamada, Osamu Matsumoto, Keiko Homma, Eiichi Ono, Lee Suwoong, Mi ...
2008 Volume 26 Issue 8 Pages
883-884
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Masaaki Yamaoka
2008 Volume 26 Issue 8 Pages
885-886
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Akihiro Nishimura
2008 Volume 26 Issue 8 Pages
887-888
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Yoshihiko Murakawa
2008 Volume 26 Issue 8 Pages
889-890
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Shigeaki Ino
2008 Volume 26 Issue 8 Pages
891-892
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Daisuke Yamamoto, Nobuto Matsuhira, Miwako Doi
2008 Volume 26 Issue 8 Pages
893-894
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Ryota Hayashi, Shinji Ushirozako, Yong Yu, Showzow Tsujio
2008 Volume 26 Issue 8 Pages
897-904
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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In this research, we propose a scheme to design the control system of a small unmanned rotorcraft flying in ground effect. Several
H∞ controllers can be designed to stabilize the rotorcraft at desired altitudes respectively. However, one of these controllers can stabilize the rotorcraft only in the corresponding region limited small. We introduce several domains of attraction in the state space of the control system concerning the
H∞ controllers. In order to perform the altitude control of the rotorcraft flying in various altitudes near ground, we present a switching control law with these
H∞ controllers and domains of attraction. The feasibility of the presented scheme is verified through several experiments.
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Ryosuke Mori, Kenichi Hirata, Takeshi Tamaki, Naoaki Yonezawa
2008 Volume 26 Issue 8 Pages
905-912
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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This paper describes vision-based guidance control of a small-scale unmanned helicopter. In previous research, helicopters were usually controlled by sensors such as GPSs and gyros. However, it is difficult to mount those sensors on small-scale helicopters that have little payload. Accordingly, small lightweight cameras were used to control the helicopter in this research. The applications of the cameras are for observation of the environment and the measurement of the position and attitude of the helicopter. The system of mounted cameras on the helicopter is useful for an indoor surveillance system using the helicopter as a mobile camera. The efficacy of the constructed system was verified through experimentations of automatic hovering control and guidance control.
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Yuichi Sagawa, Masamichi Shimosaka, Taketoshi Mori, Tomomasa Sato
2008 Volume 26 Issue 8 Pages
913-924
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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In this paper, a novel approach is proposed to recover human body pose from 3D voxel data. The use of voxel data leads to viewpoint-free estimation, which benefits in that reconstruction of a training model is needless in different multi-camera arrangements. The chief advantage of our approach is speed, which enables real-time processing when capturing 8 VGA size images in 30 [fps] . Our approach is mainly based on an example-based approach. Human posture candidates are constructed beforehand, and the most appropriate posture candidate is selected per frame by comparing the similarity between 3D voxel data and posture candidates. Derivation of similarity is formulated by introducing a histogram-based feature vector that represents the 3D context of human body. In addition, a fast near-neighbor search metric is installed prior to the evaluation process, to reduce the computational cost and ensure real-time processing. Estimation stability is also improved by a motion graph, which adds a smoothing effect to the motion sequence. We demonstrate the effectiveness of our approach with experiments on both synthetic and real image sequences.
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Marika Hayashi, Yui Ishizaka, Ryohei Ueda, Tomoaki Yoshikai, Masayuki ...
2008 Volume 26 Issue 8 Pages
925-931
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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In this paper, the development of a robot which has a prototype of“sensor flesh”made of soft polyurethane foam and disributed three-axis force/torque sensors is presented. In order for robots to be working around human, it is important to enable them to be touched by humans, and to sense its contact states throughout the body. Several humanoids have“skin”with tactile sensors, but they cannot sense the distribution of force vectors. Their thin“skin”are not sufficiently soft to emurate the contact states as humans. In this paper, we took an approach of thick force vectors sensing exterior, which enables the emulation of contact states involving deformation of thick “flesh”. A comparative discussion about possible materials for the soft cover is described, and problem about movability of joints and thermal design are explored. Then, implementation of tactile sensing system is described. In the last part of this paper, the ability of sensors which react to force vectors and local deformation is shown.
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Fumihiko Asano, Zhi-Wei Luo
2008 Volume 26 Issue 8 Pages
932-943
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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Achieving energy-efficient dynamic walking has become one of the main subjects of research in the area of robotic biped locomotion. It has been clarified that approaches based on passive-dynamic walkers accomplish it. In general, however, passive dynamic walking is realized by only the legs and the effect of an upper body has not been clarified. Based on the observations, this paper deeply investigates what effects an upper body had on the performances and stability of dynamic biped locomotion. We first consider adding an upper body, which is introduced as a simple 1-link torso, by means of a bisecting hip mechanism so as not to destroy natural dynamics of the biped model. In the second, we analyze the robot's driving mechanism and apply underactuated virtual passive dynamic walking as a method for generating efficient dynamic gait. We confirm that highly efficient dynamic walking is realized with a specific resistance of 0.01, and investigate the effects of physical parameters of the upper body through numerical simulations.
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Fumiaki Takagi, Hiroto Sakahara, Tetsu Tabata, Hiroyuki Yamagishi, Tak ...
2008 Volume 26 Issue 8 Pages
944-950
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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This paper interprets an outfielder's action pursuing and catching a fly ball in terms of the behavior of a closed loop system by taking Chapman's hypothesis into the system connecting perceptions and actions. Through the analysis, we make it clear that the hypothetical trajectory Chapman showed was a special dynamic solution of the closed loop system. Moreover, it is shown that the proposed feedback control law makes it possible to generate a pursuing trajectory automatically that a fly ball can be caught at the right place at the right time. It is also shown that the pursuing trajectory gets closer to the one Chapman showed as a feedback gain increases. In addition, we compare the proposed feedback control law with Proportional Navigation (PN) which is the most common navigation technique for tracking moving objects, and show that the proposed method performs favorably over PN.
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Yuichi Tsumaki, Mami Yokohama, Shoma Kudo
2008 Volume 26 Issue 8 Pages
951-956
Published: November 15, 2008
Released on J-STAGE: August 25, 2010
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In general, either a position or a velocity command is utilized during manual teleoperation. However, when teleoperating a free-flying robot in space, it is difficult to ensure the commanded position or velocity because of the specific system dynamics. An acceleration command is much more appropriate. However, it is very difficult to handle the acceleration command for the operator. In this paper, a new predictive display technique named“Predictive Motion Display, PMD”is introduced to overcome the problem. The experimental results show that the proposed method decreases task completion time and enhances safety. In addition, the effectiveness is discussed based on a simple feedback control model.
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