日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
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34 巻 , 7 号
選択された号の論文の9件中1~9を表示しています
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論文
  • 妻木 俊道, 本田 瑛彦, 加藤 裕基, 藤岡 紘
    34 巻 (2016) 7 号 p. 422-431
    公開日: 2016/10/01
    ジャーナル フリー
    On the moon, planets and volcanic area, it is difficult for the robots with wheels, crawlers, legs individually equipped to cross over the large rocks, high step and so on. For acquiring high cross-country ability, to pass the terrain with its body and the shape of its moving mechanisms transforming according to the shape of terrain, is effective. We have been researching and developing such a high performance cross-country robot. Here we introduce the concept and overview of the robot and the results of the test of the intermediate pilot model with 4 crawlers on mainly about the cross-country ability based on terramechanics.
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  • 福澤 修一朗, 笠井 秀男
    34 巻 (2016) 7 号 p. 432-440
    公開日: 2016/10/01
    ジャーナル フリー
    In this paper, a penstock inspection vehicle which is equipped with an unique movement mechanism and a wireless LAN system is proposed. The vehicle has three technical features. The first is the application of omni-directional wheels which follow automatically the bottom of penstocks. The second is the introduction of two-directional clutch mechanisms which can achieve both to idling of shafts and to driving of wheels. The third is the use of a special antenna system which mounts microwave absorbers in order to reduce the communication failure in multi-path environment. As the experimental results of the penstock of “A” hydroelectric power station, it is verified that the special antenna system enables the wireless LAN communication over the transmission distance 760 meters. In addition to this, basic effectiveness of the movement mechanism is confirmed. On the other hand, it revealed that there are some technical issues both on movement over expansion joint and on stitching equipment images.
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  • 藤川 達夫, 西本 哲也, 浅野 陽一, 神保 浩之
    34 巻 (2016) 7 号 p. 441-447
    公開日: 2016/10/01
    ジャーナル フリー
    Human foot injury due to being run over by a robot is a hazardous event caused by robot motion and should be considered in risk assessments prior to designing robots. This study aims to provide information on the human foot injury tolerance for risk assessments. A method to predict the human metatarsal fracture tolerance by scaling the fracture forces of alternate specimens (bear metatarsals) to those of human metatarsals is proposed. A scaling parameter based on the assumption that a metatarsal is represented by an elastically supported beam is discussed. The validity of the method is examined by fracture tests and size measurements of bear metatarsals.
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  • 室岡 雅樹, 小椎尾 侑多, 野沢 峻一, 垣内 洋平, 岡田 慧, 稲葉 雅幸
    34 巻 (2016) 7 号 p. 448-457
    公開日: 2016/10/01
    ジャーナル フリー
    Humanoid robot has high degree-of-freedom around the whole-body and is expected to achieve the various types of manipulation. Pushing manipulation contacting with whole-body region tends to be effective in terms of whole-body joint torque. In this paper, we propose the whole-body posture generation method and the balancing control method in order to achieve whole-body pushing manipulation. The whole-body contact posture is generated by applying the geometric collision detection and the balancing modification to the random-based posture. The walking motion is stabilized by the footstep modification based on capture point. The effectiveness of the proposed methods are verified by the experiment, in which the life-sized humanoid robot carries the object by pushing with whole-body region in the real and simulation environment.
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  • 小島 邦生, 唐澤 達史, 上月 豊隆, 黒岩 英則, 柚木崎 創, 岩石 智志, 石川 達矢, 小山 遼, 野田 晋太朗, 植田 亮平, ...
    34 巻 (2016) 7 号 p. 458-467
    公開日: 2016/10/01
    ジャーナル フリー
    This paper presents the development of high-speed and high-power humanoid robot research platform JAXON. Researchers have studied humanoid robots widely and people expect humanoid robots to help various tasks such as housework, entertainment, and disaster-relief. Therefore it is important to develop humanoid research platform available in various fields. We considered the following as design requirements necessary to utilize humanoids for various uses. 1) Robots have humanlike body proportion to work in infrastructure matched to human body structure. 2) Robots have the same degree of physical performance as humans. 3) Robots have energy sources such as batteries and act without tethers. 4) Robots walk with two legs or four limbs and continue to work without fatal damage in unexpected rollover. JAXON satisfied these requirements. Then we demonstrates the performance of JAXON through the experiment of getting out of a vehicle, stepping over walls, squatting with heavy barbels, walking with four limbs, and operating on batteries. Further more, we assesses the performance of the strong armor and the shock absorbing structure through a backward over-turning accident.
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  • 木村 航平, 野沢 峻一, 垣内 洋平, 岡田 慧, 稲葉 雅幸
    34 巻 (2016) 7 号 p. 468-477
    公開日: 2016/10/01
    ジャーナル フリー
    Humanoid robot has the potential to manipulate wide range of tools at daily life. Arms and legs of humanoid robot contribute this ability. Above all, manipulation tasks for vehicles which are the same size as a life-sized humanoid or larger size than it require the motion by both arms and legs of humanoid robot. In addition to the cooperative motion generator by arms and legs, it is also important for humanoid robot to stabilize self posture during driving vehicle. In this research, we focus on the arms-legs-integrated manipulation task for tricycle controlled by humanoid robot. We discuss and consider not only the control strategy for tricycle manipulation (handling and pedaling) but also the self stabilizing manipulation strategy by humanoid. This paper contributes active and passive switching control system for closed-loop dual-manipulators as common strategy. We show the experimental results for this proposed control system and demonstrate the tricycle manipulation skill by life-sized humanoid robot.
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  • 浅野 滋, 和田 将典, 佐藤 知正, 保坂 寛
    34 巻 (2016) 7 号 p. 478-483
    公開日: 2016/10/01
    ジャーナル フリー
    This paper studies evaluation method of newly developed Refugee Assistance Robots such as Walk Assistance Robot through social experiments. It is getting important to develop new technology thorough social experiments which are called co-creative social experiments. However there is no standard process or evaluation method regarding co-creative social experiments. In this paper, the data accumulated in social experiments are analyzed to judge the social acceptability of products.
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  • 石川 和敏, 柳原 正明, 河野 敬
    34 巻 (2016) 7 号 p. 484-488
    公開日: 2016/10/01
    ジャーナル フリー
    The Japan Aerospace Exploration Agency (JAXA) is using Unmanned Aircraft Systems (UAS) for the flight demonstration experiments which had aviation technology proof for its object, but also becomes to research and development technologies aiming at practical use of UASs. In order to put such demonstration experiments into effect safely and use, JAXA has settled a UAS Safety Technology Standard and has been licensing safety reviews to all UAS research and development projects of JAXA. This paper reports the outline of the JAXA's UAS Safe Technical Standard and results of safety ensuring in demonstration experiments based on the standard.
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