日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
37 巻 , 4 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
  • 矢口 裕明, 溝花 弘登, 堀 慎太郎, 笹渕 一宏, 長濱 虎太郎, 齋木 拓也, 椎木 靖人, 稲葉 雅幸
    2019 年 37 巻 4 号 p. 319-329
    発行日: 2019年
    公開日: 2019/05/23
    ジャーナル フリー

    In this paper we describe a continuous development and evaluation of multi purpose platform robot AERO via robot competitions. We participated to 4 robot competitions requiring different task with human size semi humanoid robot AERO, has same basic structure. For many types of competition tasks, the robot was designed as simple, robust, small and lightweight, furthermore it can be change parts for another situation of task. The versatility of the robot platform was increased from continuation of task analyisis, consideration of requirements, and implementation. In this paper we describe a continuous integration of robot design, cycle of task analysis, implemetation and integration, via robot competition.

  • 井坂 惠太, 只見 侃朗, 藤原 杏実, 渡邊 友貴, 菅澤 誠, 山田 泰之, 吉田 弘, 中村 太郎
    2019 年 37 巻 4 号 p. 330-340
    発行日: 2019年
    公開日: 2019/05/23
    ジャーナル フリー

    Seabed mineral resources were found on the bottom of the ocean. To utilize these resources, it is necessary to collect and analyze samples. Therefore, we intend to develop a seafloor robotic explorer that can excavate and sample the seafloor soil. In a previous study, we developed a drilling robot and experimentally demonstrated the ability of this robot to produce curved boreholes with a turning radius of 1,670[mm], and a depth of 613[mm] in land environment. However, an underwater excavation has not been successful. It is necessary to improve the gripping torque and to reduce the drilling resistance for underwater excavation. In this paper, we present a propulsion unit with the setae that imitates an earthworm's setae. As a result, the drilling robot succeeded in drilling into the ground while underwater. In addition, we aim to reduce the drilling resistance. We adjusted the penetration speed and the rotational speed of the drilling robot based on the drilling properties of underwater ground. We also consider the shape of the earth auger to reduce the drilling resistance. As a result, we succeeded in reducing the drilling resistance, which both lowered the excavation energy by 39.2% and reduced the completion time.

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