Journal of Graphic Science of Japan

Online ISSN : 1884-6106
Print ISSN : 0387-5512
ISSN-L : 0387-5512

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Volume 39, Issue Supplement2

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2005 Volume 39 Issue Supplement2 Pages 1-6
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_1

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2005 Volume 39 Issue Supplement2 Pages 7-9
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_7

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2005 Volume 39 Issue Supplement2 Pages 11-16
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_11

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2005 Volume 39 Issue Supplement2 Pages 17-22
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_17

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2005 Volume 39 Issue Supplement2 Pages 23-26
Published: 2005
Released on J-STAGE: September 07, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_23

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2005 Volume 39 Issue Supplement2 Pages 27-30
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_27

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2005 Volume 39 Issue Supplement2 Pages 31-36
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_31

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2005 Volume 39 Issue Supplement2 Pages 37
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_37

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2005 Volume 39 Issue Supplement2 Pages 39-42
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_39

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2005 Volume 39 Issue Supplement2 Pages 43-48
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_43

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2005 Volume 39 Issue Supplement2 Pages 49-52
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_49

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2005 Volume 39 Issue Supplement2 Pages 53-54
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_53

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2005 Volume 39 Issue Supplement2 Pages 55-58
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_55

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2005 Volume 39 Issue Supplement2 Pages 59-62
Published: 2005
Released on J-STAGE: September 07, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_59

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2005 Volume 39 Issue Supplement2 Pages 63-68
Published: 2005
Released on J-STAGE: September 07, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_63

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Visualization of The Relationship between Sole Configuration and Performance of Humanoid Robots Based on Stability

Haruyuki YOSHIDA, Masaya YOSHIMURA

2005 Volume 39 Issue Supplement2 Pages 69-74
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_69

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The aim of this study is to develop a control method of mobile manipulation for humanoid robots, mobile manipulation means the integrated motion centered on arm's manipulation. The main objective of mobile manipulation is to obtain versatile and stable manipulation by arm. So the legs are required to assist arm's manipulation. In this paper, based on the viewpoint of our concept, we analyzed sole shapes and sole configuration of a humanoid robot for generating large force at its hands. We focused on the shape of the convex of supporting area which consists of the sole plates of the robot in double support state. According to the simulation results, we have visualized their performances and have verified that utilizing the stroke between both legs and the orientation of the sole is effective for improving performance of the robot.

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2005 Volume 39 Issue Supplement2 Pages 75-76
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_75

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2005 Volume 39 Issue Supplement2 Pages 77-80
Published: 2005
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.5989/jsgs.39.Supplement2_77

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