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Volume 5 (1987)
- Issue 6 Pages 431-
- Issue 5 Pages 335-
- Issue 4 Pages 255-
- Issue 3 Pages 171-
- Issue 2 Pages 87-
- Issue 1 Pages 4-
Volume 5, Issue 5
Displaying 1-14 of 14 articles from this issue
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Shinji NAITO, Chikara SATO, Masaaki FUJII1987 Volume 5 Issue 5 Pages 335-338
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThis paper presents a new magnetic crawler device for wall surface vehicle. The device consists of wheels, a track with permanent magnets, guide rails and suspensions. The guide rail distributes and transmits gravitational load to all the magnets evenly. Thus holding force of the crawler is proportional to track length. The suspensions between the magnets and the track absorb displacements caused by roughness on the wall. A wall surface vehiclewith the magnetic crawler devices (length ; 390 mm, width ; 310 mm, height ; 90 mm, weight ; 7.6 kg) demonstrated stable mobility on the wall at the speed of 10 m/min.View full abstractDownload PDF (4001K) -
Tatsuyuki OCHI1987 Volume 5 Issue 5 Pages 339-342
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThis paper describes a new method to control and position a locomotive robot that moves around wide area.
The system has the particuler laser beacon that radiates two symmetrical rotating laser beam.
Laser beacons on two reference points and senser on the robot shows two-dimentional space co-ordinate data immediately.
The results of experiments by trial system proved that this system can measure accuratly.View full abstractDownload PDF (1949K) -
Kohji KAMEJIMA, Yukiko C. OGAWA, Yoshiyuki NAKANO1987 Volume 5 Issue 5 Pages 343-350
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSA recursive algorithm is presented for visual guidance of mobile robots. A kinetics concept is invoked in the image plane to match predicted and observed patterns through the successive update of the guidance signal, i, e., the steering and acceleration of vehicle mechanisms. The 2 D diffusion equation is solved for evaluating the attractive force between observed and predicted patterns. The gradient vector field of the solution to the 2 D diffusion equation is integrated on the predicted pattern to generate the guidance signal. Through a series of experiments the proposed method is demonstrated to drive the vehicle mechanism at a practical speed.View full abstractDownload PDF (4432K) -
Tsutomu MATSUMOTO, Shin'ichi YUTA1987 Volume 5 Issue 5 Pages 351-360
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSAn autonomous navigation method for intelligent mobile robot was proposed by authours.It uses two levels of map informations, ie. worldmap and route-map. The route-map includes the geometric information of path from start-point to destination, and the surrounding data along the path. The execution system to travel along the route-map using sensor information is named route-runner.
In this paper, the date format of route-map to represent the building environment is defined and the algorithm of route-runner is given.
Route-runner has the functions as;
(1) travelling straight and turning according to the route-map,
(2) adjustment of robot's own position information using map and sensors,
(3) take proper action for obstacles on the route.
For practical experiment, “route-runner” is implemented on the self-contained mobile robot Yamabico 9.View full abstractDownload PDF (2601K) -
(A mobile robot strategy and its application to Harunobu-4)Hideo MORI, Sinji KOTANI, Hiroshi ISHIGURO, Satoshi YASUTOMI, Yukio CH ...1987 Volume 5 Issue 5 Pages 361-374
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSA new strategy of self contained mobile robot called SbS (stereotyped motion by sign pattern) is drawn ethology of lower animal. To apply this strategy, a self-contained mobile robot Harunobu-4 which has two color TV cameras on head and chest and has 68020 VME system, has been developing. (1) He moves the campus road, by two stereo-typed motion ; moving along such sign pattern as road boundary or fence, and moving toward such sign pattern as pillar, gate or street tree. (2) The locomotion from starting point to goal is specified by a locomotion command file which is a list of pairs of sign pattern and stereo-typed motion. (3) For obstacle avoidance and for moving across gutter, stereo-typed motions are devoted. Stereo-typed motion against collision based on ultrasonic sensor and bumper sensor are also devoted. (5) Shadows on the road are distinguished from obstacles by stereo vision by two up and down TV cameras.
The image processing time of one road scene including obstacle detection is less than 2 seconds.View full abstractDownload PDF (13840K) -
[in Japanese]1987 Volume 5 Issue 5 Pages 375
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (152K) -
Takeo KANADE1987 Volume 5 Issue 5 Pages 376-383
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
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Masaharu TAKANO1987 Volume 5 Issue 5 Pages 384-390
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
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Yoshiaki SHIRAI, Yuichi OHTA1987 Volume 5 Issue 5 Pages 391-397
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
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Masayoshi KAKIKURA1987 Volume 5 Issue 5 Pages 398-402
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (4372K) -
Shin'ichi YUTA1987 Volume 5 Issue 5 Pages 403-406
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
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Kanehiro SORIMACHI1987 Volume 5 Issue 5 Pages 407-412
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
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Ryoich NAKAYAMA, Satuhiko SATO1987 Volume 5 Issue 5 Pages 413-418
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
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Koichi SUGIMOTO1987 Volume 5 Issue 5 Pages 419-424
Published: October 15, 1987
Released on J-STAGE: August 25, 2010
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