All issues
Volume 6 (1988)
- Issue 6 Pages 471-
- Issue 5 Pages 367-
- Issue 4 Pages 271-
- Issue 3 Pages 175-
- Issue 2 Pages 91-
- Issue 1 Pages 3-
Volume 6, Issue 5
Displaying 1-18 of 18 articles from this issue
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Hiroshi KIMURA, Isao SHIMOYAMA, Hirofumi MIURA1988 Volume 6 Issue 5 Pages 367-379
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSWalking can be classified into“Static Walking”and“Dynamic Walking”. It is said that Dynamic Walking is superior in both speed and consumed energy. This paper describes how the quadruped robot should walk dynamically to take these advantages. Such consideration is lacking in the past research.
In walking, there are many parameters (for example, gait, speed, period, stride, and height of body, etc) . In this paper, it is proposed that these parameters should be determined by considering“Stability”, “Maximum Speed”and“Consumed Energy”. The relation between these three indices and those parameters are analyzed by means of Dynamics. The conclusions are the following:
(1) The shorter a period is, the quadruped can walk the more stably.
(2) The longer a period is, the quadruped can walk with wider stride and faster.
(3) There is a period which makes the speed a maximum.
(4) There is a period which makes the consumed energy a minimum for a given speed.
(5) When comparing“Trot”gait (in which two diagonal legs swing at the same time) and“Pace”gait (in which two right legs or tow left legs swing at the same time), Trot is superior when considering the consumed energy, and Pace is superior when considering the maximum speed.
Lastly, the validity of above arguments is proved by the experiments using the quadruped robot“Collie-2”.View full abstractDownload PDF (2688K) -
—Controller Design and Experiment—Tsuneo YOSHIKAWA, Toshiharu SUGIE, Masaki TANAKA1988 Volume 6 Issue 5 Pages 380-387
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSAn approach to designing controllers for dynamic hybrid position/force control of robot manipulators is presented and preliminary experimental results are given. Dynamic hybrid control is an extension of the hybrid control approach proposed by Raibert and Craig to the case where the full manipulator dynamics is taken into consideration
This design method consists of two steps. The first step is the linearization of the manipulator dynamics by nonlinear state feedback. The second step is the design of position and force controllers for the linearized model which takes account of both the command response and the robustness of the controllers to modeling errors and disturbances. Preliminary experiments using a SCARA robot show the validity of the approachView full abstractDownload PDF (3384K) -
CHU RIN Go, Isao SHIMOYAMA, Hirofumi MIURA1988 Volume 6 Issue 5 Pages 388-392
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIt is considered that a space manipulator will have a very light and flexible structure. Recently, the research of such flexible manipulators has been widely studied. However, most flexible arms have only one or two joints and are constrained to a plane. Therefore, it is still far from industrial and space applications. From the viewpoint of practicability, the authors propose a new method which makes a flexible manipulator move stably in three dimensional space. Several experiments of a three dimensional flexible manipulator were performed and satisfactory results were obtained.View full abstractDownload PDF (1592K) -
Fujio TAJIMA, Isao SHIMOYAMA, Hirofumi MIURA1988 Volume 6 Issue 5 Pages 393-396
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSHogan proposed an impedance model that represents the interaction between an operator and an object. Applying it to “top spinning”, coefficients of the model are identified by measuring the motion of a skillful operator. By applying the impedance model to the modified trajectories of the operation, feasible reconstructed trajectories of the manipulator are obtained.View full abstractDownload PDF (1927K) -
Nobuhiro IGUCHI, Jun UCHIYAMA, Hiromi KIMURA, Yukio HAMASHIMA1988 Volume 6 Issue 5 Pages 397-404
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSAmong various types of robots there are a kind of robots called“performance robots, ”which, unlike industrial robots which are aimed to do some useful work, just express acts, make gestures or communicates, instead of doing actual work.
This article is a report on the writer's studies on this kind of robots. It analyzes the significance of performance robots, and on this bases discusses the image, idea and sketches of performance robots, from the standpoint that esthetic design or styling is more important than functional design in designing such robots. Then, the writer proceeds to design hardware and presents the specifications and performance of a test-manufactured robot.
The test-manufactured robot operates with shape-memory alloy actuators, the use of which makes it possible to achieve soft movements. Furthermore, the writer analyzes the significance of the robots that do not work, and also studies the development of their application areas.View full abstractDownload PDF (10727K) -
Taro IWAMOTO, Hiroshi YAMAMOTO, Yoshihiro SAKAKIBARA1988 Volume 6 Issue 5 Pages 405-414
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSA compositive sensing method for autonomous indoor locomotion has been tested and was verified to be effective.
Many sensing data are required if mobile robot is to autonomously climb stairways and vertical steps. Since payload, space and electric power of a mobile robot are strictly limited, sensory hardware must be minimized. If sensors are used in a compositive manner, more information can be obtained than could be from the sensors considered individually, and some of this information cannot be obtained from individual sensors. This compositive sensing method has been applied to the locomotion control of the transformable crawler. First, the appropriate sensors for detecting indoor environments are selected, and sensing methods are discussed. Next, these methods are tested under specified environmental conditions. Lastly, this vehicle was tested by autonomously touring an indoor model passage including stairways and vertical steps. This method was shown to be effective. For this experiment, 6 different kinds and a total of 26 sensors were used, and 27 different kinds and a total of 42 information data were used for locomotion control.View full abstractDownload PDF (4421K) -
[in Japanese]1988 Volume 6 Issue 5 Pages 415
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
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Zhao Hui JIANG, Masaru UCHIYAMA1988 Volume 6 Issue 5 Pages 416-423
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIt is important to clarify the characteristics of robot arm task performability. This problem is being studied systematically for the rigid link robot arms. Little study, however, has been done for the flexible link robot arms since the problem becomes very complex because of the link flexibility. The end-effector position is influenced not only by the joint displacements but also by the link flexural displacements. In this paper, by analyzing the mapping relation from the joint displacements and the link flexural displacements to the end-effector positions, we give a systematic analysis to understand the characteristics of the flexible robot arm task performability. Initially, we analyze the possibility to compensate the end-effector position errors due to the link flexural displacements by the joint displacements, formulate a new concept of the compensability, and derive theorems and lemmas to judge the compensability. Next, we propose an index, called the compensability measure, in oder to evaluate the degree of compensability. Lastly, we discuss the manipulability of flexible robot arms by using the compensability concept, and clarify the fact that the structural flexibility deteriorates the manipulability of the robot arms because the end-effector position errors due to it needs to be compensated.View full abstractDownload PDF (2431K) -
Toshio FUKUDA1988 Volume 6 Issue 5 Pages 424-429
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
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Hideaki KANOH1988 Volume 6 Issue 5 Pages 430-435
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
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Isao SHIMOYAMA, Hirofumi MIURA1988 Volume 6 Issue 5 Pages 436-442
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
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Hideki HASHIMOTO, Fumio HARASHIMA1988 Volume 6 Issue 5 Pages 443-447
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
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[in Japanese], [in Japanese]1988 Volume 6 Issue 5 Pages 448-454
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (934K) -
Takashi KIDA1988 Volume 6 Issue 5 Pages 449-462
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
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Masaru UCHIYAMA1988 Volume 6 Issue 5 Pages 455-458
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
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Kazuo HONMA, Kichio NAKAJIMA, Minoru HIROSHIMA, Hiroshi INAMITSU1988 Volume 6 Issue 5 Pages 463-466
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
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[in Japanese]1988 Volume 6 Issue 5 Pages 467
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (143K) -
[in Japanese]1988 Volume 6 Issue 5 Pages 468
Published: October 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (134K)
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