Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
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Volume 34, Issue 3
Displaying 1-11 of 11 articles from this issue
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  • Evaluation of Speech Interval Detection and Face Orientation Estimation based on Sound Directions by Multiple Microphone Arrays and Human Positions
    Carlos T. Ishi, Jani Even, Norihiro Hagita
    2016 Volume 34 Issue 3 Pages 199-204
    Published: 2016
    Released on J-STAGE: June 18, 2016
    DOIhttps://doi.org/10.7210/jrsj.34.199
    JOURNAL FREE ACCESS
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    We developed a system for detecting the speech intervals of multiple speakers and estimating the face orientation during the detected speech intervals by combining information of sound directions from multiple microphone arrays and human positions. The developed system was evaluated in three conditions: individual utterances in different positions and orientations, simultaneous dialogues by multiple speakers, and moving sources. Evaluation results revealed that the proposed system could detect speech intervals with more than 90% accuracy, and face orientations with mean absolute errors around 20 degrees, in situations excluding the cases where all arrays are in the opposite direction to the speaker's face orientation.
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  • Snake-like Decentralized-Controlled Robot That Exhibits Versatile Locomotion Patterns
    Daiki Nakashima, Fuyuhiko Satake, Hisashi Date, Takeshi Kano, Akio Ish ...
    2016 Volume 34 Issue 3 Pages 205-210
    Published: 2016
    Released on J-STAGE: June 18, 2016
    DOIhttps://doi.org/10.7210/jrsj.34.205
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    Snakes exhibit greatly versatile and adaptive behavior under unpredictable real-world constraints. Although numerous snake-like robots have been developed thus far, they could not reproduce the innate, versatile behavior of real snakes. To address this issue, we previously proposed an autonomous decentralized control scheme in which three-dimensional effect is added to curvature derivative control. In this study, we developed a robot to investigate the validity of the proposed control scheme. Experimental results showed that multiple behaviors emerge via the change of a small number of parameters.
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  • Realization of Stable Position and Recovery Motion of a Multi-jointed Robotic Arm against Impulsive Load
    —Holding of Shaping Process of Virtual-desired-trajectory and Instant Increase of Differential Gains—
    Takahiro Inoue, Ryuichi Miyata, Katsuki Sato, Takahiro Ueda, Shinichi ...
    2016 Volume 34 Issue 3 Pages 211-219
    Published: 2016
    Released on J-STAGE: June 18, 2016
    DOIhttps://doi.org/10.7210/jrsj.34.211
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    This paper proposes a simple control algorithm to realize stable position of a multi-jointed robotic arm with absorbing impact force exerted on the tip of the redundant robotic arm. Also, recovery motion to a previous orientation maintained prior to the impact is easily realized by a present control algorithm. This control method is based on virtual desired trajectory technique mentioned on our previous research, which is formed by an integral controller that accumulates state-steady error of the tip positions of the robot. The impact force absorption can be realized by temporal stop of the integral controller and instant increase of differential gains utilized at PD controller for the robot motion, resulting in a hold of the virtual desired trajectory of joint angles and in the inhibition of back action against collisional obstacles. This method can be applied to conventional motor-driven mechanism, as a result, we can show that this proposed control algorithm can be applied without any change for the motor-driven structure, as well as an antagonistic wire-driven mechanism. Finally, we verify effectiveness and availability of the impact force absorption method by numerical analysis.
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  • Development of Volcano Observation System That Consists of Unmanned Aerial Vehicle and Tele-operated Unmanned Ground Vehicle
    —Field Experiment of Tele-operated Robots in Mt. Asama in 2014—
    Genki Yamauchi, Ken Akiyama, Keiji Nagatani
    2016 Volume 34 Issue 3 Pages 220-225
    Published: 2016
    Released on J-STAGE: June 18, 2016
    DOIhttps://doi.org/10.7210/jrsj.34.220
    JOURNAL FREE ACCESS
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    An observation in active volcano areas is very important to work out a strategy for estimation of eruptive activity and evacuation call to residents. However, it is a too dangerous task for human to observe in such areas. Therefore, we developed a tele-operated robotic observation system instead of human. In the system, Unmanned Aerial Vehicle (UAV) carries a small-sized Unmanned Ground Vehicle (UGV) in a target point autonomously, and UGV observes the target area tele-operatively. To confirm our developing system, we performed field experiments in Mt. Asama, Japan. In this paper, we report the results and the lessons learned from the experiments.
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