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藤井 祥太, 井上 健司, 田窪 朋仁, 前 泰志, 新井 健生
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セッションID: 1A1-E07
発行日: 2008/06/06
公開日: 2017/06/19
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A ladder climbing method for limb mechanism robot "ASTERISK" is proposed. This robot has six legs and 24 DOF: 4DOF for each leg. The upper three legs hold on the upper rung by creating a triangular supporting space. The lower three legs hold on the lower rung in the same way. Hence the legs can support the force in all directions, and the robot can climb the ladder stably. When the robot moves its body, the robot selects supporting legs and distributes its weight to these legs based on their force margins.
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山口 俊也, 池田 貴幸
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セッションID: 1A1-E08
発行日: 2008/06/06
公開日: 2017/06/19
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The purpose of this research is to develop dinosaur type biped robot, to realize walking and running motion. If the size of the robot becomes small, it is necessary to shorten the sampling time. In this research the robot is controlled by using FPGA that operates more high-speed than CPU.
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寺嶋 延浩, 尾形 勝, 廣瀬 茂男
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セッションID: 1A1-E09
発行日: 2008/06/06
公開日: 2017/06/19
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When quadruped robots walk on unknown and uneven terrain, it needs sole which can detect terrain and transform along terrain. Therefore we developed the active-deformable sole for terrain-adaptive quadruped walking robot which has active ankle, whisker sensors, and terrain adapting sole. We developed 2 types whisker sensor. One is digital type, which detect terrain by electrodes contacting, and another is analog type, which detect terrain by photointerrupter. Also we experimented 2 types whisker sensor and confirm their detecting. Terrain adapting sole has rubber balls and pressure sensors, and it has 3 function, terrain adapting, shock-absorbing, and contact pressure measuring. We confirmed it can accurately measure COP and load.
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山口 仁一
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セッションID: 1A1-E10
発行日: 2008/06/06
公開日: 2017/06/19
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The author has been engaged in studies of biped walking robots and bipedal humanoid robots for 15 years. The author was a technical adviser of the Sony Dream Robot Project from 1997 to 1999, and a technical consultant of the project from 1997 to 2004. The project developed bipedal humanoid robot SDRs and QRIOs. The author is a joint inventor of SDRs and QRIOs. In 2004, the author became an intellectual property right common holder of QRIO Motion Dynamics Technologies. In this paper, the author introduces self-diagnosing patent technologies of a legged walking robot made right by Sony Corporation and Jinichi Yamaguchi.
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柳原 裕也, 田窪 朋仁, 前 泰志, 新井 健生
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セッションID: 1A1-E11
発行日: 2008/06/06
公開日: 2017/06/19
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A method for walking on a grid wall for limb mechanism robot "ASTERISK" is proposed. In this method, grid structure is implemented to wall for the locomotion field of robot. The robot hangs on the grid structure by hooks attached on each tip of leg. The condition hanging on the grid structure changes according to the inclination of the grid wall. To achieve climbing motion on the grid wall, we implement the distributed force control with the supporting legs. The proposed method is confirmed by experimental results.
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山田 翔希, 鍋島 広昭, 渡邉 慎, 堤 一義
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セッションID: 1A1-E12
発行日: 2008/06/06
公開日: 2017/06/19
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Although legged locomotive robots are expected to be widely applicable to various environments, most legged robots have poor continuously dynamical movement since they do not have a spring element in their leg that corresponds to animal tendons. Thus, we developed a one-legged hopping robot explicitly with a spring element and investigated the relation of mechatronic elements to the generated motion. Through our experimental results, we show that critical timing in motor actuation during jumping and landing greatly but complicatedly influences the robot's hopping height.
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森 陽平, 有松 伸也, 福井 貴哉, 小林 真吾, 渋谷 恒司, 岩本 太郎, 堤 一義
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セッションID: 1A1-E13
発行日: 2008/06/06
公開日: 2017/06/19
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This paper discusses influences of walking parameters, such as neck shaking angle, stride length and walking cycle, on gaits of a quadruped robot with a neck joint. First, we investigated the ranges of waling parameters in which the robot can walk and trot, and measured speed and body posture of the robot without shaking neck joint. As a result, we found that the influence of walking cycle on them is stronger than that of the stride length. Also, the influence can be observed more clearly in trot gait than in walk gait. Then, we examined effects of shaking the neck joint. Although clear tendency cannot be observed, the body posture seems to be stabilized when the neck shaking angle is ±10deg.
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福井 貴哉, 小林 真吾, 有松 伸也, 森 陽平, 渋谷 恒司, 岩本 太郎, 堤 一義
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セッションID: 1A1-E14
発行日: 2008/06/06
公開日: 2017/06/19
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In this paper we report a new 4-legged robot with a neck joint, which has similar link length ratios to a horse. We investigated ratios of leg lengths of horses. Based on the ratios, we built a robot with 11 joints driven by D.C. motors and conducted some experiments. First, we judged walking parameters, such as step length and period, in which the robot can walk and trot. We found that the range of the parameters in trot gait is lager than that in walk gait. Then, we measured inclinations of the body in the both gaits. We investigated effects of the walking parameters on body posture and concluded that the body posture in trot gait is more stable than that in walk gait.
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青山 忠義, 関山 浩介, 長谷川 泰久, 福田 敏男
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セッションID: 1A1-E15
発行日: 2008/06/06
公開日: 2017/06/19
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This paper derives an optimum structure of a quadruped robot in order to reduce sum of joint toques of the robot on each angle of a slope. Animal has own ratio of its forefoot length to its hind leg length so that its morphology could adapt to its living environment. A robot should be also designed to exert its potential effectively with the optimum structure in its working space. The optimum ratio of the leg length is obtained by numerical simulations, and then the simulation results are verified by some experiments using a multi-locomotion robot.
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竹森 史暁, 富田 尚樹, 櫛田 大輔, 北村 章
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セッションID: 1A1-E16
発行日: 2008/06/06
公開日: 2017/06/19
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In this paper, a legged mobile robot carrying the human is developed considering the adaptiveness for inaccessible environment at existing infrastructure. Also, as a method for avoiding the obstacles, the virtual impedance control method is proposed. This method can avoid an obstacle without contacting by receiving virtual force from virtual spring and damper installed in virtual surface region. Finally, the mobility of the legged robot by non-contacting impedance control is presented through some experiments.
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桑野 真史, 田口 幹
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セッションID: 1A1-E17
発行日: 2008/06/06
公開日: 2017/06/19
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We study on biped skating robot. The robot has two-degree-of-freedom and each foot has passive wheels. The robot oscillate by hip movement and stand alternately on each foot. Using oscillation, the robot skate efficiently. In the past, several study of biped skating robot has reported but there is no dissection of skating motion. We research on characteristics of skating motion and formulate foundational theory of skating motion of biped skating robot.
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新井 秀一, 田口 幹
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セッションID: 1A1-E18
発行日: 2008/06/06
公開日: 2017/06/19
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We study of the biped skating robot "BSR"(Biped Skating Robot) which performs skating action using the passive rollers which attached the sole of it's each foot. In this paper, experiment machine BSR-2 is designed and produced newly and it reports on achievement of both feet slide operation steady by the use of it and the analysis.
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森田 和郎, 石原 秀則
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セッションID: 1A1-E19
発行日: 2008/06/06
公開日: 2017/06/19
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This paper discusses the possibility to realize both of walking and running by a single robot, which is made by the combination mechanism of linkages and actuators. This linkage mechanism have actuators below the number of joint, therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. This paper firstly shows feature of prototype II that was designed last year. Next, we shows design of control system that was able to changing locomotion while moving.
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中村 正行, 柳澤 岳志, 須田 芳子, 佐野 祐太
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セッションID: 1A1-E20
発行日: 2008/06/06
公開日: 2017/06/19
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This paper proposes optimum stepping points for quadruped robot in obstacle environment. Four legged walking robot is assumed and the leg is composed by two links with joint motors at the hip and the knee. Step planning in obstacle environment has an effect on energy consumption and moving time. Energy consumption decreases depending on the stride and the height of the hip. On the other hand, moving time for reaching the goal increases depending on them. It means that there exists optimum stepping point and moving posture based on energy consumption.
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福田 靖, 船場 信宏, 玉邑 篤史, 古賀 健郎, 広瀬 茂男
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セッションID: 1A1-E21
発行日: 2008/06/06
公開日: 2017/06/19
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This paper describes the formulation of the Normalized Energy Stability Margin which is used to evaluate the stability of the walking robot on the slop. We add the reverse-trapezoid shaped leg movement and the forward and backward movement of the center of gravity to the crawl gait and the intermittent crawl gait of the quadruped robot to increase the stability on the slopes. We show the simulation results of the slop walk of the quadruped walking robot.
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中村 祐輔, 山口 智浩, 渡辺 良男
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セッションID: 1A1-E22
発行日: 2008/06/06
公開日: 2017/06/19
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There are a lot of visual defect people who want to go away. But visually impaired people cannot go away themselves without other help. Due to the high cost to bring up a dog, it is difficult to supply a guide dog to all visually impaired people. A bus is the most important transportation tool for the impaired people. Therefore, a guide robot, which can be available instead of a guide dog, is requested. In this case, movement mechanism that can ride a bus step is important factor for the guide dog robot. This research develops six legged type movement mechanisms that can get over the bus step.
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菅谷 侑司, 岡田 昌史
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セッションID: 1A1-E23
発行日: 2008/06/06
公開日: 2017/06/19
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For designing a safe robot, to introduce soft mechanisms on joint or elastic members is an effective way. However, softness caused by elasticity also brings some disadvantages, i.e. oscillation of the end effector and low power transmission for task execution. So far, a torsional spring mechanism with nonlinear stiffness has been developed. The stiffness of this mechanism changes from zero to extremely high based on mechanical singularity. In this paper, we develop a quadruped robot with this mechanism on knee joints and evaluate the impact absorption and high power transmission, which means the simultaneous realization of softness and stiffness.
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町田 保, 五十嵐 洋
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セッションID: 1A1-E24
発行日: 2008/06/06
公開日: 2017/06/19
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This paper describes a quadruped robot's gait in the irregular terrain. On irregular terrain, a periodic gait is not effective because of constraints of foot position. In this paper, a free gait is designed and posture stabilization is proposed. It can be expected that the flexible move capability in the irregular terrain can be acquired by this.
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加藤 達也, 前山 祥一
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セッションID: 1A1-F03
発行日: 2008/06/06
公開日: 2017/06/19
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This paper describes the IET(Imaginary Equilateral Triangle) algorithm which can allocate each robot on the desired position in the swarm without global coordinate. The IET algorithm forms the swarm by making the equilateral triangles with the neighbors specified by vector. Through some simulation experiments, the convergence to the formation by the IET algorithm is confirmed and the convergence time is also evaluated. Furthermore, we tested the parallel and rotational movement of the formation.
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野畑 慎伍, 石井 和男
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セッションID: 1A1-F04
発行日: 2008/06/06
公開日: 2017/06/19
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Self-localization of mobile robots for swarm intelligence is one of the most important research topics. Particularly, "Cooperative Positioning System: CPS" is valid method for a self-localization system using a number of mobile robots. However, the previous researches have been not evaluated in an environment with obstacles. Therefore, we develop a uniquely landmark for mobile robots. And, we propose the method of self-localization which can distinguish between landmark and obstacle in environment.
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門脇 明日香, 吉海 智晃, 岡田 慧, 稲葉 雅幸
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セッションID: 1A1-F05
発行日: 2008/06/06
公開日: 2017/06/19
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ZigBee is the close-range wireless communication standard which use 2.4 Ghz band frequency. ZigBee^<TM> Alliance announced that final spec of ZigBee is confirmed at the December of 2004. With the announcement, some ZigBee-compatible chip was released. It is low-speed that maximum data transfer rate is 250 kbs, and short that maximum transmission distance is about 30 meters. But there is the merit that ZigBee is low consumption and low in cost. And it can hook up with between up to the 255 devices per one network. In this paper, it was made Multi-robot system with the ZigBee module which is such enhancement, and provide further insights into availabirity of ZigBee module.
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高橋 淳二, 関山 浩介, 福田 敏男
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セッションID: 1A1-F06
発行日: 2008/06/06
公開日: 2017/06/19
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This paper deals with a multihop teleoperation by mobile robotic sensor network in an unknown environment. A mobile robotic sensor network is composed of distributed collection of mobile robots, each of which has sensing, computation, communication and locomotion capabilities. Such a network is capable of changing the network topology in order to gather distributed information to the sink node in an unknown and dynamic environment. To realize this network, we propose a self-deployment algorithm by which robots can explore to an environment maintaining their communication link. Additionally, a routing algorithm is developed so that observed data from a robot is transferred to the sink. Furthermore, mobile robot system inter-linked with peer-to-peer communication is developed. Finally, the multihop teleoperation system is developed for a multi-robot cooperation platform.
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中村 幸博, 武藤 伸洋, 岩田 義行, 永徳 真一郎, 石原 達也, 阿部 匡伸, 加藤 英紀, 西 孝明, 下倉 健一朗
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セッションID: 1A1-F08
発行日: 2008/06/06
公開日: 2017/06/19
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In this paper, for aiming at the achievement of the system in which the users can enjoy network robot (NWR) services while protecting privacy, the access-control-type NWR service platform is proposed. The platform is composed of RFID tag platform (RFID-Tag-PF) and network robot platform (NWR-PF). The RFID-tag-PF manages user's 'who' information that is privacy information, and it offers user's only behavior and access-controlled information as 'what' information to NWR-PF. NWR-PF acquires user information other than 'who' information from the sensors and RFID-Tag-PF. Utilizing the user information, it controls the robot while changing contents according to the situation of the user one by one changed. The NWR service can be provided for the user and the user's privacy are protected, by the cooperation of both of platforms. The checkup service made by using the platform was embodied, and it was experimented in Ubiquitous Network Symposium 2007. The prospect that this system was able to enjoy serving with the sense of security was obtained from result of the questionnaire.
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古結 義浩, 見持 圭一, 宅原 雅人, 中村 幸博, 武藤 伸洋, 石原 達也, 下倉 健一朗
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セッションID: 1A1-F09
発行日: 2008/06/06
公開日: 2017/06/19
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A network robot system integrating various types of robots via ubiquitous networks is a new concept which introduces an interactive robot living together with people, and will provide desired services at the appropriate time. In this paper, we present a gymnastics system using network robots and show experimental results. The system recognizes the motion of a person in cooperation with a network robot platform and two visible robots encourage the person to exercise effectively according to recognized human motion activity.
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杉山 博史, 古賀 敏之, 山本 大介, 土井 美和子
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セッションID: 1A1-F10
発行日: 2008/06/06
公開日: 2017/06/19
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This research proposes home appliance service that network robots provide. Recently, most of home appliances aren't network-reachable. Our home robot can approach a home appliance and control it. The robot notifies other robots how to control home appliances, so that others can use home appliance service via network. We make Robot Alarm System based on this idea and evaluate it.
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河田 博昭, 高野 陽介, 岩田 義行, 金丸 直義, 阿部 匡伸
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セッションID: 1A1-F11
発行日: 2008/06/06
公開日: 2017/06/19
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We report the functional enhancement of "Merurobo Digital Log system"; a network-based interactive child-watch system for nurseries. This system consists of the "Action Switch platform" which links the PaPeRo(Partner-type Personal Robot) to the cellular phone of the parent and the controller used by the nursery teacher. The enhancement is switching service sets according to the estimated context of the teacher's activities as collected by local sensors. PaPeRo is driven by the current service set. We implement and assess this system in a nursery facility. We report the result of using teacher context estimation along with the teacher's comments, recommendations, and our conclusions.
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岡本 宏美, 西尾 修一, 馬場口 登, 萩田 紀博, 森井 藤樹
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セッションID: 1A1-F12
発行日: 2008/06/06
公開日: 2017/06/19
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In this report, we propose a method for anomality detection by classifying people behavior patterns based on situation. In public spaces, people in most cases behave quite typically based on some regular patterns. The proposed method learns these patterns from the observed trajectories by composing Hidden Markov Model for each separate situations such as train arrival and departure. The anomalous behaviors are detected by thresholding the output probability. Over 2,500 trajectories observed in an actual station were used for evaluation, which resulted in a fine performance with the overall classification rate of 94.2%.
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永徳 真一郎, 茂木 学, 武藤 伸洋, 町野 保, 中村 幸博, 阿部 匡伸
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セッションID: 1A1-F13
発行日: 2008/06/06
公開日: 2017/06/19
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For realizing the services offered by network robot, we classify the robots making up network robot into three groups; visible robots, inconspicuous robots and virtual robots. In terms of durability and maintenance of virtual robot, virtual robot is considered as the easiest robot to put into practical use. In this paper, since it is widely prevalent and its network environment is properly-maintained, we chose cellular phone as the appliance virtual robot work in. And, in order to improve the reusability of the motion of virtual robot and work in real time, we developed virtual robot system working in cellular phones. It creates the motion of virtual robot by the three-dimensional polygon parts downloaded preliminarily into cellular phone and the command similar to the one for visible robot. Also, we focused on the fact that e-mail is the common way for pushing the information to users, developed the system using e-mail for sending the command by e-mail.
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鐘 鋭, 大柳 佑介, 巨 東英
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セッションID: 1A1-F14
発行日: 2008/06/06
公開日: 2017/06/19
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This article describes the design and development of the biped-walking robot teleoperation system and remote monitor system that uses the principle of intellect control and computer network programming technology based on mobile phone of DOCOMO.
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澤井 圭, 河野 仁, 川端 邦明, 羽田 靖史, 鈴木 剛
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セッションID: 1A1-F15
発行日: 2008/06/06
公開日: 2017/06/19
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In this paper, we discussed the position estimation method of sensor node by utilizing linearity of laser pointer in robot sensor networks for monitoring environmental information in disaster area. The position estimation of a sensor node is the one of the important issue in sensor networks. Especially, the position of sensor node is affected by the abnormal change in disaster area. So mobile robot estimate the position of sensor node by using laser pointer mounted in sensor node. In proposed method, the mobile robot estimates position of sensor node by using the coordinate data of two irradiated points and the posture of sensor node. Then, the mobile robot calculates the line of between a irradiate point and sensor node. And, the shortest distance in space between two lines shows the position of sensor node. In experimental result, we obtained the accuracy of this position estimation method was relatively high that compare to the localization of the radio field intensity of sensor node.
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羽田 靖史, 滝澤 修, 河野 敬, 中舘 正顯, 川端 邦明, 嘉悦 早人, 淺間 一
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セッションID: 1A1-F16
発行日: 2008/06/06
公開日: 2017/06/19
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We are developing a rescue system that can get information of victims in disaster area. The system consists of intelligent sensor nodes preset in each house, and of an autonomous blimp which gathers the information from the sky. In this paper we describe the outdoor experimental result of our system using 14m unmanned blimp and intelligent sensor node "Rescue-Communicator".
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佐藤 秀夫, 川端 邦明, 嘉悦 早人, 鈴木 剛, 羽田 靖史, 焼山 康礼, 戸辺 義人
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セッションID: 1A1-F17
発行日: 2008/06/06
公開日: 2017/06/19
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The paper reports the improvement prototype of sensor node for gathering disaster information and some experimental results for setting-up and organizing sensor network. New prototype of sensor node equips an advanced passive pendulum mechanism than the former model for setting the direction of built-in camera uniformly. The main improvement of the mechanism was achieved by the design variation of the mechanism that supported center of gravity. Moreover, the information gathering function was improved by dealing with moving image. The experiment confirmed the functional advancement of the mechanism and the information gathering performance.
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芦高 直哉, 原 正之, 黄 健, 藪田 哲郎
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セッションID: 1A1-F18
発行日: 2008/06/06
公開日: 2017/06/19
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There are many methodology of telecommunication, for example cellar phone, e-mail, and video chat, etc. And the configuration has changed dramatically with the advancement of multimedia technology. The current configuration features audio and visual display technology. In addition, it is expected that a force display would further expand application fields of multimedia services and ground the configuration of telecommunication more in reality. This paper proposes a hybrid Master/Slave system and compliance control system for interactive force telecommunication between Human beings. And we consider questions about difference between hybrid system and compliance control from viewpoint of human feelings. Furthermore this study tries to consider about relationship between human recognition and force feelings.
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若生 大輔, 鏡 慎吾, 橋本 浩一
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セッションID: 1A1-F19
発行日: 2008/06/06
公開日: 2017/06/19
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An easy-to-implement configuration for real-time communication over the standard Ethernet and TCP/IP technologies is presented.We introduce a dedicated network processing unit that handles all of the UDP/IP and Ethernet processing, which can communicate with a host computer through a shared memory, and use off-the-shelf Gigabit Ethernet switches. Experimental results show that the end-to-end delay through three Ethernet switches is below 180μs with 20-μs jitters.
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黒田 洋司, 三瓶 元寛
原稿種別: 本文
セッションID: 1A1-F20
発行日: 2008/06/06
公開日: 2017/06/19
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This paper proposes a methodology of development for autonomous mobile robot. In recent year, more advanced capability is expected to the robot. For instance, a receptionist and guidance, cleaning of house, care and so on. They need a more advanced interaction with man. However, in order to realize it, in addition to control technology, we have to combine various and advanced technology, such as AI and an interface with man. Therefore, in future robot development, you have to attain the much more rationalization and the much more increase in efficiency. In this paper, the new robot development methodology using a developer's community, an open source, network technology, etc. is proposed.
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藤田 匠, 林 民通, 伊藤 祐一, 松丸 隆文
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セッションID: 1A1-F21
発行日: 2008/06/06
公開日: 2017/06/19
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This paper presents the methods to indicate an unknown environment as environmental map for operator of remote operation system of mobile robot in order to improve the maneuverability. The Line&Hollow method and the Cell&Hollow method are examined. Those are based on the data from range sensor. The result of three kinds of experiments, the recognition of aisle, the understanding of changing environment, and the passing with person, shows the feature and effectiveness of those methods.
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林 民通, 藤田 匠, 伊藤 祐一, 松丸 隆文
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セッションID: 1A1-F22
発行日: 2008/06/06
公開日: 2017/06/19
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This paper discusses the touch screen as user interface for teleoperation system of mobile robot in order to improve the maneuverability. Button function, joystick function, and route designation are developed with Line&Hollow method as environmental map. Features and efficiency are confirmed on the experiments in which the mobile robot is remotely operated using the touchscreen interface with the developed functions to pass through a passage with orthogonal cranks.
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田近 太一, 宮下 敬宏, 石黒 浩, 萩田 紀博
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セッションID: 1A1-F23
発行日: 2008/06/06
公開日: 2017/06/19
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Robots that work in our daily life have been developed in recent years. For this kind of robots, sensitive tactile sensors are necessary to achieve haptic interactions. However, noises on tactile sensors caused by its own motions sometimes become larger than the signal to be detected. This paper proposes a method for reducing such noises. It is realized by estimating and subtracting the noises from tactile sensor outputs. The noises on tactile sensors are estimated by using the sequence of joint angles of the robot. Our method builds a partially linear model to estimate noises on a tactile sensor. The robot's posture space represented by its joint angles is divided into several subspaces to fit to a linear model. We conducted an experiment with a robot covered with tactile sensors to verify the validity of our method. This paper shows that the robot is able to estimate noises on a tactile sensor in high accuracy by the model.
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前田 将宏, 矢野 賢一
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セッションID: 1A1-G02
発行日: 2008/06/06
公開日: 2017/06/19
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In this study, a fast shake mixing control system that allows control of the quantity of air entrainment, involving low mechanical stress and fluid bubbling by means of the suppression the sloshing of a fluid's surface, is developed. Mixing by means of horizontal shaking in a circular motion is addressed, with a CFD simulator being used for analysis of the liquid's behavior, and the quantity of air entrainment during mixing evaluated. To design a fast mixing control system, the hybrid shape approach was applied. In addition, a 6DOF robot manipulator was used to achieve an arbitrary mixing trajectory and velocity. As a result, air entrainment caused by the sloshing of the liquid's surface is elucidated. The effectiveness of the mixing control technique employing sloshing suppression is shown by simulations and experiments.
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塚原 潔, 田中 頼彦, 赫 英新, 堀 亮輔, 真野 国弘, 日比野 旭弘, 樽 義和, 宮本 稔久, 中野 雅仁, 辰野 恭市
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セッションID: 1A1-G03
発行日: 2008/06/06
公開日: 2017/06/19
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We developed an experimental robot system for power distribution line maintenance which performs the task by task level instruction. The robot system performed the bolt insertion task using the visual feedback and force control.
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藤原 康宣, 伊邉 力也, 佐藤 清忠, 島地 重幸
原稿種別: 本文
セッションID: 1A1-G04
発行日: 2008/06/06
公開日: 2017/06/19
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In this paper, it proposes the method of generating the motion of the robot from human's skill as a method of achieving the multi-DOF operation with the robot. Because it should not be a complex analysis in this method, the multi-DOF operation can be achieved with comparative ease. We especially focus on "Cup and ball" as one multi-DOF operation example, applied this method, and experimented.
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相良 慎一, 下沢 智啓, 矢藤 孝, 井野 重秋
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セッションID: 1A1-G05
発行日: 2008/06/06
公開日: 2017/06/19
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"Ligurio" is a security robot producted by tmsuk Co. Ltd. that works in both indoors and outdoors. For improving operaton performance, we are developing the systems of master-slave remote control, attitude measurement, and position measurement for Ligurio. Here, these developing systems are reported.
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林 俊寛, 曽根原 光治, 井之上 智洋, 島 幸弘, 河野 幸弘
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セッションID: 1A1-G06
発行日: 2008/06/06
公開日: 2017/06/19
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For automation using various industrial robots, recognition of object attitude and position is very important. Two-dimensional image processing with the CCD camera has entered use for simple shape objects or objects which are arranged in a plane or regularly. To extend the application area, recognition of three-dimensional shapes is necessary. Therefore, we have developed a bin picking system which recognizes the position and attitude of the individual object from disorderly piled objects, through three-dimensional object recognition technology approaches using the geometric matching method between the measurement result of the range sensor and the 3D-CAD model. This paper describes the above development.
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森 慶聡, Akitoshi ITOH, 杉山 由樹, 万本 信三
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セッションID: 1A1-G07
発行日: 2008/06/06
公開日: 2017/06/19
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Recent innovation of the robot deboning technology is remarkable. Now in Japan, 70% of deboned chicken leg meat in the market is processed by the deboning robot, "Toridas". The robot deboning of pork or beef, however, is still difficult because of their complexness and strong combination of meat and bone. A half-automatic deborning robot for pork shoulder was developed using the same method as "Toridas". This robot, however, could not be accepted in the market because this robot deboning needs human pre-deboning process. Therefore, this study invesitgates how to automatize the pre-deboning process. We have developed an intelligent cutter that can be cut the tendons, ligaments and periostea on the bone by scratching the bone safely. In this study we attached the meat shaping device that can play a role of the left hand of the butcher. The experimental results showed that a humerus hidden in the meat can be separated and Jigged out from the meat.
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中川 大輔, 天野 新吾, 井田 尚良, 孟 祥瓊, 野波 健蔵
原稿種別: 本文
セッションID: 1A1-G08
発行日: 2008/06/06
公開日: 2017/06/19
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In this paper, we propose Master-slave control of Dual-Arm Robot. The purpose of the study is developing a autonomous dual-arm assembler robot. The first of goal as assembly work is tightening up nut to bolt. In order to do the work, we work out a design of the end effector. The end effector is a robot hand having three fingers. The control system of the three-fingered robot hand is designed LQI control (linear quadratic integral control system). In addition, we operate Dual-Arm Robot which we use a master-slave system for. By using the master-slave system, we are able to operate Dual-Arm Robot even if we do not create complicated trajectory program. It is presented the master-slave system is effective for operability and following capability. The control system of the Dual-Arm Robot is designed PID control.
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孟 祥瓊, 井田 尚良, 天野 新吾, 中川 大輔, 野波 健蔵
原稿種別: 本文
セッションID: 1A1-G09
発行日: 2008/06/06
公開日: 2017/06/19
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In this paper, autonomous control of an assembling Dual-arm robot which is using Three-fingered hand with a microcamera is described. First, the object nut is recognized by the microcamera which is carried with Three-Fingered hand, position of the object nut is detected by image processing. The UDP/IP is used for sending the data of the position to the Target PC. Second, a hybrid control of the position and power is used for the Three-Fingered Hand to fix the nut into the bolt which is to the foundations experiment of assembling work. The validity is verified.
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遠藤 央, 廣瀬 健治, 平田 泰久, 小菅 一弘, 神林 隆, 大本 充一, 阿久根 圭, 新井 浩幸, 篠塚 博之, 鈴木 公基
原稿種別: 本文
セッションID: 1A1-G10
発行日: 2008/06/06
公開日: 2017/06/19
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We propose a new car trasnportation system called iCART(intelligent Cooperative Autonomous Robot Transporters). This system is composed with two robot systems specialized for the car transportation. Robot systems are controlled by using a decentralized control algorithm for transporting the car in coordination. This car trasnportation system can transport any size of car, and is available for any kind of car transportations: parking, ballet parking, tow away service, and the transportation of cars at a factory, ferry, parking area, etc. The robot system of the car transportation system is composed with three modules: Mobile Base module, Lifter module and Connecting module. This paper describes details of mechanism of each module to transport the car. Experimental results illustrate the validity of the car transportation system.
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廣瀬 健治, 遠藤 央, 平田 泰久, 小菅 一弘, 神林 隆, 大本 充一, 阿久根 圭, 新井 浩幸, 篠塚 博之, 鈴木 公基
原稿種別: 本文
セッションID: 1A1-G11
発行日: 2008/06/06
公開日: 2017/06/19
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We propose a new car trasnportation system called iCART(intelligent Cooperative Autonomous Robot Transporters). This system is composed with two robot systems. These two robots lift up a car from left side and right side respectively to transport it in coordination with an endeffector specilized for the transportaion of the car. To lift up the car, these two robots approach the side of the car, one is left side and another is right side. When robots approach the car, they need moving along a path generated from a current position to a desired position without collisions with each other or obstacles. In this paper, we explain the way of the trajectory generation for approaching the car. Experimental results also illustrate the validity of the way of trajectory generation we proposed in this system.
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中野 基輝, 田中 孝之, 金子 俊一, 山野 光一, 小山 秀人, 関 修治, 坂本 直久
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セッションID: 1A1-G12
発行日: 2008/06/06
公開日: 2017/06/19
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This research has been making the powered cock for fire engine. Recently the number of Japanese firemen decreases. They need device with a little load but it is forbidden to automate completely by fire defense law. So this research's purpose is to make the powered cock according to person's intention based on impedance control. First, we have confirmed relation of impedance parameter and cock's opening time period. In addition, we establish the method to predict cock's opening time period by initial value of controlling torque. By this method, evaluation consists of operation torque average and visual tracking error average has improved to the half. Second, we have confirmed to make responsiveness speedier based on friction control.The cock has strong static friction so there is longtime lag from giving the operation torque to opening of the cock. This friction control makes time lag shorter from 0.2sec to 0.03sec.
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竹囲 年延, 小柳 栄次, 吉田 智章, 油田 信一
原稿種別: 本文
セッションID: 1A1-G13
発行日: 2008/06/06
公開日: 2017/06/19
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A Maintenance system for corrosion detection on chemical towers is nedded for decreasing a term and cost for inspection of towers. We assumed a robot maintenance system for a real chemical tower. And we made a full-length manipulator for moveing detection-sensors in the robot system, experimentally. The manipulatoer has stewart platform type paralle link mechanism. In this paper, we report the manipulator.
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