Although power assisting devices were already considered promising for helping elderly and disabled person, we aim at expanding the application, such as muscle rehabilitation and sports training. The main focus of this research is to control the load of selected muscles using a power-assisting device, thus enabling pinpointed motion support, rehabilitation, and training. We also consider the device which has less DOF than number of joints. Although the simulation results verify the effectiveness of the proposed framework, we verify the effectiveness through the actual experiments.

抄録全体を表示

A system must have a model of human behaviors to work considering them. Therefore, we have proposed a modeling method of human behaviors based on the relationship between the change of human behaviors and the situation around a person. As an example, human driving behaviors are modeled by the proposed modeling method, and a driving support system to present a next action and its timing to a driver is constructed in this research. In order to realize the support system, we propose an estimation method of a human next action and its timing based on the proposed model. The usefulness of the human behavior support is examined.

抄録全体を表示

In human-robot coexisting environment, both humans and robots are required to estimate each other's intention and act based on the estimation. In such an environment, it is not efficient to passively estimate the human intention. The objective of this study is to develop a robot that implicitly guides a human movement by its movement. We apply the social force model to prediction of human movements. Based on the prediction, the robot selects the appropriate motion to realize a desired movement of human.

抄録全体を表示

We introduce a passive mobile robot called C-PRP (Caster type Passive Robot Porter). This mobile robot consists of multiple casters with servo brakes and a controller. C-PRP has passive dynamics with respect to the force applied by a human and controls its appropriate motion with the servo brakes. In this paper, we derive and analyze a feasible braking force/moment applied to the robot on the basis of the characteristics of the servo brakes. In addition, we propose a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment. This algorithm has a feature that it is independent of the number of casters. The proposed algorithm applies to 4-wheeled C-PRP actually, and experimental results illustrate the validity of the proposed algorithm.

抄録全体を表示

This paper presents a rapid learning method of behavior policy for mobile robots teleoperated by an operator. Rapid policy adaptation cannot be achieved when data from every process cycle is used for learning because significant data, which have a major effect on learning, are not differentiated with insignificant data. We propose a method to solve the problem by selecting significant data for the learning based on change in degree of confidence for each sensor element. A small change in the degree of confidence can be regarded as reflecting insignificant data for learning, so that data can be discarded. Accordingly the system can avoid having to store too much experience data and the robot can adapt rapidly to changes in the user's policy. In this paper we discuss the experimental result of an experiment in which significance evaluation is carried out on each proposition of each sensor. And in the experiment user policy changes between 'avoid' and 'approach' on a mobile robot.

抄録全体を表示

This paper presents a novel method for real-time pedestrian detection and following by a mobile robot. In this method motion areas are segmented from real-time image frames captured by a monocular camera. From the segmented and filtered motion areas, contour is detected using a proposed scan conversion algorithm. The normalized contour is then compared with predefined pedestrian's shape contour templates. When satisfactory match is found the pedestrian is localized and bounded using a rectangular box. After localized the pedestrian, if the user instruct the robots to follow the pedestrian the mobile robot will follow. The effectiveness of the system is evaluated using a mobile robot-PeopleBot, where the robot follows the pedestrian movements.

抄録全体を表示

In this study, a development plan of an active training wheel for bicycle exercises was proposed. In the previous study, the authors developed a basic mechanism of the active training wheel and a monitoring system of the condition of the bycycle riding. In this study, first, the active training wheel system was made improvements of motor torque, moving speed comfortability of the wheel by changing motor to high power coreless motor, reduction ratio down to 1/60 and wheel to the wheel for inline skates. After the bicycle exercise experiment using this improved wheel system, it was found that the motor power is still less than restoring the position of the testee and the bicycle to the vertical position. Therefore a restoring force from the training wheel was made a trial by introducing inner toe angle to the training wheel. After the examination, it was found that the toe angle of 5 deg. is the best for the recovering force and less resistance to the straight run. The training scheme was decided as follows, (1) Stable running with both training wheels are on the ground. (2) Balance practice by hopping up the both training wheels to the position that the training wheel is on the ground if the slant angle of the bicycle is 10 deg. (3) After grounding the either training wheel, the bicycle's slant angle was recovered to the vertical position by using active training weds and go back to the first state. A 6-year old testee finally accuired the bicycle riding skill by using this training system.

抄録全体を表示

In this paper, we propose a work support robot for cleaning windows in a high-rise building with a robot arm. A cleanup worker is in a room and the robot is in an outside of the building. That is, the cleanup worker can work safely because the cleanup worker can instruct to the robot through the window by using an instruction wiper for giving the command to the robot. The instruction wiper has two marks. The robot can recognize the positions of the marks by using a camera on the robot arm through the window. Therefore, the robot can move by following to the instruction wiper in real time. And the robot can also recognize the surface of the window by using a force sensor in the robot arm. As a result, the robot can clean the windows as the cleanup worker instructs it.

抄録全体を表示

Hokkaido has various good potentials such as wonderful natures, distinctive creatures, high quality wood materials, delicious foods, and unique cultures. However, we have not made use of these potentials sufficiently now. To improve them, we need to develop highly independent products based on regional originality in Hokkaido. In this study, we developed a prototype of robot toy, which is focused on an animal and wood material as the Hokkaido originalities. We applied "ezomatsu (picea jezoensis)" for a material of robot body, which has good features such as light weight, robustness against temperature and vapor, easily fabricated, and good appearance because of straight wood grain. In addition, we incorporated a traditional wooden toy 'tsumiki (building blocks)' in a design concept of the developing robot toy. The robot toy consists of several parts which have switch function by assembled with defined rules. We applied a blakiston's fish owl for the appearance, which is called 'Kotan Kor Kamui: meaning that household god in Aynu' living only in eastern part of Hokkaido. We showed a developed body mockup and an actual prototype in this paper.

抄録全体を表示

The purpose of this research is to develop a robot hand that can do card magic performances. Card magic is a dexterous artistic entertainment that cannot be performed without the skills and the techniques of well trained magicians. Magicians uses their hands very dexterously and delicately to accomplish a series of complete card magic. Card magic requires very high level dexterously for moving fingers. During the magic, fingers must be moved smoothly and continuously without stopping. Robot hands for card magic performance have to be designed to carry out the smooth and continuous movements by emulating human finger-movements almost perfectly. In this paper, an idea of the structural mechanism of the robot finger card magic performance is proposed.

抄録全体を表示

The goal of this research is to develop robot fingers with multi-DOF that can be manipulated freely in 3D Space. The movement of human fingers can not be emulated perfectly in 2D Space. The 3D representation is inevitably needed in order to emulate human finger movements. Therefore, a 1-DOF finger and a 2-DOF finger have been designed and developed by using 2D-CAD and 3D-CAD respectively. In the design of fingers, one of the simplest structures was selected and the optimal arrangement of the finger mechanism and the actuators was considered. The applicative examples of the developed fingers are shown. They are used for automatic performance robot of the flute.

抄録全体を表示

カーリング投球ロボットを開発した.このマシンを使って氷上の正常を評価できないかと考えている.マシンの構造および氷面の測定結果について報告する.

抄録全体を表示

This paper proposes the method to analyze the musical intervals from recorded musical data by using FFT. We aim to build a system that teaches songs to a robot. Our method was able to reproduce a recorded monotonous song by Beep sound as a result to transform the song into frequency every 50msec. As a result of the experimentation of frequency analysis with the monotonous music and the song of voice synthesis, the small error was measured to sounds of more than 145[Hz].

抄録全体を表示

This paper introduces development of a left hand for a violin-playing robot, which is capable of fingering. The left hand consists of three fingers and each finger has two degrees of freedom driven by D.C. motors and a rack and pinion mechanism. By this mechanism, we realized motions of changing the string, and motions of pushing and releasing. Therefore, by using this hand, the robot can play simple scales or simple music. At present, fingerings of "Mary Had a Little Lam," and "A Twinkle, Twinkle, Little Star" are performed with bowing by human arm. The later have to use two different stings (G and D).

抄録全体を表示

There have been many attempts to make mechanical systems play music like music box or orchestrion. In the past, the main purpose of such mechanism was that they should give easy means to hear music nearby. But music will give us two kinds of benefits, those are, "listening music" and "playing music". The authors have been developing some music performance robots, for example, Saxophone Playing Robot and Trumpet Playing Robot. In this study, we are going to develop a play assist robot for a dystonia patient of a professional sax player. This system uses an artificial mouth device that can be controlled through the external controller by the player and the saxophone should not be remodeled. The player will use pressing down motion of his foot to control the artificial lip pressure on the reed and twisting motion of his leg to control the point of action of the reed pressing force.

抄録全体を表示

This paper deals with sensor arrangement for activity classification of the people, who lives alone, with pyroelectric sensors, so that the classification system acquires as high performance with as small sensor numbers as possible. We suggest some heuristic algorithms for approximate optimization of sensor combination, and some machine learning algorithms for exact optimization of feature selection which corresponds to that of sensor selection. For some examinations, we confirmed the significance of automatic arrangement system by comparing the quasi-optimized sensor arrangement acquired by above algorithms with the arrangement by human judge.

抄録全体を表示

The goal of this study is to develop the technology of high-speed human interactive robot in which the robot reads the opponent's intention and moves in response to the opponent's motion and human purpose expectation. To achieve this, we develop an air hockey system using a high speed manipulator, high speed image processing method and real-time control system. The manipulator can play the air hockey game based on a recursive trajectory generation using continuous images from high-speed vision. First, the position of the puck is measured by removing noise from the image sequences. Secondly, the motion of the puck is estimated by using recursive least square estimation. Thirdly, the trajectory of the arm is generated so as to defend the goal. Then, we show the data of experiments and verify the effectiveness of the system.

抄録全体を表示

This study discusses an assist control method for human-machine-cooperative system. The assist control method should be designed so as to increase both maneuverability and opeating feel. This paper presents an assist control method for flexible parts conveyance using master slave manipulators. The maneuverability and the operating feel are evaluated quantitatively on the basis of task achievement time and maximum differential value of operational force respectively. Its effectiveness was verified experimentally by six beginner trials.

抄録全体を表示

In flexible parts conveyance using master-slave manipulators, assist control is necessary to increase the working efficiency. The assist control has been proposed by introducing notch filter to motion control of master-slave manipulators. Vibration excitation is reduced by eliminating vibration frequency from the operating force. However operator feels the delay at the acceleration and deceleration periods. To solve this problem, an assist control method using input shaping technique is proposed. The comparative studies between the notch filter and the input shapper are performed from the standpoints of maneuverability and operation feel.

抄録全体を表示

This paper presents a personalized driver assisting system that makes use of the driver's behavior model. The Probability-weighted ARX (PrARX) model which is a type of hybrid dynamical system models is introduced as a model of driving behavior. A PrARX model that describes the driver's vehicle-following skill on expressways is identified using a simple gradient descent algorithm from actual driving data collected on a driving simulator. The obtained PrARX model describes the driver's logical decision making as well as continuous maneuver in a uniform manner. Finally, the optimization of the braking assist is formulated as a mixed-integer linear programming (MILP) problem using the identified driver model, and computed online in the model predictive control framework.

抄録全体を表示

For realizing a robot always moving at home and immediately being able to react to people's needs, a high speed charging system is needed which can have the robot immediately start working despite the rest of battery power. In this paper, for decreasing the waiting time until starting work, we developed an autonomously moving robot with super high speed charging capacitor battery which can charge about 90% after a charge of 30 seconds.

抄録全体を表示

In this paper, a semi-autonomous bipedal vehicle based on passive dynamic walking (PDW) principles is proposed. PDW is known as a mechanical system, which is designed to walk down on a shallow slope without active control. To date, some bipedal walking robots have been developed to carry a person on uneven terrains. However, they don't utilize a PDW mechanism; nor they don't use the balancing ability of a human as like a bicycle or motorbike. This paper describes the basic structure of the PDW based human balancing bipedal vehicle, shows the simulation for confirming the feasibility, and reports the test ride of the prototype machine.

抄録全体を表示

This paper presents a new model to predict an operator's intention in man-machine system based on the multi-mode particle filter wherein a Gaussian mixture model (GMM) is embedded as the observation model. In the proposed model, each prediction model in the particle filter corresponds to each primitive motion generated by the operator. The operator's intention can be predicted by calculating the likelihood of each model in real-time. In addition, the advantage of using GMM is to be able to represent a nonlinear and/or nonstationary relationship between the state of the particle filter and the observation signal measured from the sensor. This advantage is more emphasized when the model is applied to the prediction of human complex behavior and when the observation order is less than that of dynamical state. The usefulness of the proposed model is demonstrated by applying to a manipulating behavior for the carrier machine.

抄録全体を表示

In this paper, a new prototype of a helical distortion mobile robot for in-pipe inspection is presented. A helical distortion is a motion of a helical body which revolves on its body axis. This motion avoids damage to the inside wall of a pipe. The robot is flexible and has a simple structure. This paper presents the principle of this motion and the structure of the new prototype. To downsize the robot, SMA (shape memory alloy) actuators are employed for the new prototype. The experimental result shows that a helical distortion is effective in moving inside of a pipe.

抄録全体を表示

A new configuration of inner pipe inspection robot is proposed, by which the robot can go through the elbow pipe, and can select a direction at the T-shape intersection. The concept is that omni-directional wheels equipped side by side produces a propulsion of forward/backward, heading moment to left/right, and axial turning. A trial manufactured robot with 4-omni-wheels demonstrates a good performance in a 200mm diameter pipe.

抄録全体を表示

This paper proposes a new technique that can keep a vacuum sucker to the wall without any pump, even on a slightly leaky wall condition. By pushing and pulling cyclically, an elastic sucker can be kept attached to the wall. When the sucker is pushed, air inside is exhausted, and in every time of pulling phase, the sucker keeps its vacuum in a short time. The important character is that the impulse (product of force and time) of pulling phase can be larger than that of pushing. This means multi sucker alternate push-pull system can be realized for wall climbing. This paper also demonstrate it can make a locomotion driven by adjacent wheels with keeping suckers attached to the wall.

抄録全体を表示

Inside half collapsed buildings after disasters, the walls and ceilings are tidier than the floor. Therefore, if rescue robots can climb on the wall and ceiling in rescue operations, effective information gathering is possible. For such cases, the Authors proposed wall climbing robots, Peta-peta-I, and Peta-peta-II, which uses adhesion for climbing on the wall. They can climb on the rugged wall and ceiling, but they had no mechanisms to enable steering. In this paper, we propose a steering method for a new robot. The moving method of the robot is the same as Peta-peta-I and the steering method is based on pivot turning with a steering mode. The developed robot confirmed its capability of the performance on the wall and ceiling through experiments.

抄録全体を表示

This paper proposes a new jumping robot that using chemical energy. Previous jumping robots have difficulties to realize both lightweight and high power at the same time. In regard to this, chemical energy of black powder was adopted. Using explosives allows jumping robots get high energy instantaneously. First, acceleration and velocity characteristics of the cylinder were clarified by experimental cylinder. The approximation of the pressure changing in the cylinder was derived based on the characteristics. Second, expressions of jumping theory were lead and simulated relationship between some parameters and jumping height. The significance of the simulation was shown by the jumping height of 2000mm by the experiment. Finally, four-legged robot dummy with jumping unit that change direction, control of height and isolated ignition were available, is developed. Jumping height of 720mm with cylinder angle of 10 degree was achieved with developed unit.

抄録全体を表示

This paper describes link mechanism design for ladder climbing device. Ladders are used in various locations like manholes, tunnels, warehouses and so on. And several ladder climbing devices which carry a load were developed. However, they do not take diversity of ladders into consideration. So, we design link mechanism that adapted oneself to diverse ladders which have different interval, width and angle. First, diversity of ladders is quantified. Next, conditions to climbing ladders are determined and link mechanism for the device is designed. Finally, a prototype model and a ladder climbing device are made and they can climb diverse ladders.

抄録全体を表示

Recently, service robots that help indoors and substituted the work of the human being are to be acknowledged as a useful commodity in a general society. Most service robots have something as a movement mechanism. There are three main kinds of migratory mechanisms. However, the Direct Motor Car (DMC) has the movement mechanism without using the tire that the motor shafts touch the ground directly. Neither the deceleration machine, the tire nor the crawler that is usual movement mechanism does not exist. The practical use of DMC which have a quite different movement mechanism from past movement mechanisms. Designing, and produced DMC that has changes in number of motors and the method of arranging the motor, we quantified straight advancement. We clarified the principle of operation of DMC by deeply researching the improvement of straight advancement.

抄録全体を表示

This paper describes a new hand expanding existing gripper type of hands for manipulating various types of dishes. As the thumb can move to the side of the palm, the hand can grasp various types of dishes according to the shape of dishes and can drag a plate so as to insert the finger under it.

抄録全体を表示

This paper describes a new manipulation method hauling up a plate for dissociating it from the environment. The way to realize the manipulation using the hand whose thumb can turn to the side of its palm and the analysis for flexibility are described. The way to place plates carefully by sliding it on the finger is also described.

抄録全体を表示

Forces between position controlled manipulator and environment is indeterminant. In this paper, based on the minimum work principle, we have proposed motion esitimation model with linear programming problem.

抄録全体を表示

Robot manipulator has normally about 0.03 to 0.1mm repetition positioning error. In this paper, using round shape finger tip, small position error is changed to large angle. 0.005mm measurement is achieved with this method.

抄録全体を表示

Our previous studies proposed an admittance and an impedance control method of a finger-arm robot with a 3DOF finger and 6DOF arm robot to guarantee the finger manipulability under arm compensatory movement, whose results show that satiny movement of the finger-arm robot was realized in constrained space. Although these results were applied for one finger system, it is necessary to extend these methods for a multi-finger system. This paper shows an admittance control method and its results of multi-finger-arm robot to guarantee its finger's manipulability. Both averaging method and mini-max method are examined to evaluate its manipulability of multi-finger. Both results are discussed in the viewpoint of both stiffness and viscosity and finger's manipulability.

抄録全体を表示

We developed a parallel jaw gripper with a force magnification mechanism that can exert a large grip force of 200N. The motion range of the jaw is 100 mm, and its speed is 66 mm/s, and its weight is 2000g. We have proposed a combination mechanism of a high-speed driving and force-magnification mechanism. However the proposed force magnification mechanism can exert a large grasping force only in the closing direction. Moreover it needs to use some non-backdrivable mechanisms, and it has possibility of lock up. The parallel jaw gripper has an improved force magnification mechanism that can magnify the grasping force in both the opening and closing directions, avoiding mechanical lock up. The grasping procedure that can exert a maximum grasping force is also discussed.

抄録全体を表示

In this paper, we develop Finger Stand for attachment/detachment of Transformable Robot Hand that the fingers can be attached/detached. We also execute the automatic attaching/detaching experiments only by the control of the Robot Arm. In addition, considering the influence on the grasping when the number of the finger changes, and we discuss the utility of automatic attachment/detachment.

抄録全体を表示

Direct Motor Car is a motor-shaft direct drive robot that has two small motors attached to the both sides of body in shape of inverted V, and can run without any wheels. It can move forward, backward, turn and rotate by wired controller. But, because the motor-shafts have to contact the ground, it only can move on a complete flat surface. Even so, there are many Pros about DMC, that it should be practically used. In this paper, we analyze the relationships of structural differences and the kinematical differences of the DMC, in order to discover the practical uses of it. In results of making and experimenting 12-motored linear DMC, there are relationship between the number and control of motors, and the maneuverability and movement performance of DMC. The multi-motored DMC which has a body with no D.O.F., can move without any difficulties to ditch and hole if its' center of gravity is above a flat surface and more than half of its' motor contact the ground.

抄録全体を表示

Track mechanism has high movability on irregular terrains. Therefore, it is typically used for locomotion mechanism of all-terrain robots. However, the track mechanism sometimes slips while it traverses on loose slopes. Therefore, we developed a new locomotion mechanism, called "Surface-contact-type locomotion", which has high movability on weak soils. It uses simple leg mechanism that has wide contact area with the ground in order not to corrupt the contact surface. However, it has a disadvantage of low movability on irregular terrains. To solve the above trade-off, we developed "Leg-Track Hybrid Robot" by fusing the both locomotion mechanisms. In this paper, we explain details of the developed locomotion mechanism and report some initial experiments.

抄録全体を表示

This paper proposes a new leg-articulated body hybrid mobile robot. The robot is composed of many segments linked in series, and each segment has three-degree-of-freedom articulated body, two passive wheels and two rotary legs. The robot moves its yaw joints and passive wheels for snake-like motion on plane surface, and moves its pitch and roll joints and active legs to adapt to rough terrain. The active legs attached to the both sizes of the segment are folded when the robot moves forward on plane surface not to prevent the motion. Prototype robot composed of three units was made to examine the effectiveness of the proposed system.

抄録全体を表示

"RT-Mover" can move on continuous rough terrain by using the moving control technique which was proposed in previous paper. There is, however, more rough terrain in a real environment, so, RT-Mover can not move there by using this technique. In this paper, as the first step, we propose the step-up gait for an upward step and analyze a leg trajectory.

抄録全体を表示

In this paper, the design for the running stability of the wall-climbing robot with wheels is proposed and the performance by the prototype model is described. The wall-climbing robots are expected as the mobile platform for the machine operating on the wall. The gravity takes the wheeled mobile robot on the wall away from the desired running trajectory. The installation of the line-tracing on the robots is expected to reduce the error of the running trajectory.

抄録全体を表示

Snow travel experiments of Variably Configured Segmented Wheels (VCSW) have been achieved successfully. There are Conversion and Hollow VCSWs. The snow travel experiment device for one wheel unit has been developed. The maximum wheel velocity on iced snow road was 264mm/s which was obtained under the condition of Conversion VCSW at 300deg vector angle and CW direction. The maximum wheel velocity on soft snow road was 248mm/s which was obtained under the condition of Hollow VCSW of 330deg vector angle and CCW direction. The theoretical values of wheel velocity match well to the experimental data. The combination of VCSWs for maximum vehicle velocity was tested. The vest combination was HVCSW, CW for front wheel, and CVCSW, CW for rear wheel. The maximum vehicle velocity was 439mm/s.

抄録全体を表示

In this paper, we propose some wheels which can move steps without using electric control. These wheels can move about 91% steps of the wheel diameter using some grousers pushed out by cam mechanisms automatically.

抄録全体を表示

The purpose of this paper is to achieve skillful manipulation by a multi-fingered robot hand with fingertip revolution axes. First, the kinematic relationship between the fingertip revolution and the orientation of a grasped object is proposed. Secondly, based on the kinematics, a new regrasping method of a grasped object is proposed. This control method uses the rolling contacts between the fingertips and the object.

抄録全体を表示

The most intuitive way to create a grasp pattern for multifinger robot hand is by demonstration. However, in reality, it is not straight forward since structure and constraints between human hand and robot hand are very different. For same reason, mapping of grasp patterns between different types of robot hand is also difficult. Furthermore, grasp pattern created only from demonstration is rarely useful because such grasp pattern does not consider grasp force, which is internal static force that cannot be measured from motion capturing. In this paper, we propose method to map grasp patterns between different types of hands; mainly focusing on mapping from human hand to anthropomorphic robot hand. We also propose way to consider grasping force of human using electromyography.

抄録全体を表示

A booster for remotely driven hydraulic robot hand has been manufactured and tested. Usually a human hand can generate stronger force than that of robot hand. This booster amplifies the hydraulic pressure to obtain strong hand force using a small pump. The pressure area of both side of a free piston is different. The boosted pump pressure multiplied by the area ratio of the free piston is applied to the finger piston. The experimental data of pressure amplification was 26, which was very close to the theoretical value 27. The displacement of the free piston should be measured in order to detect the actuator motion. Magnetic and fluid measuring method has been tested successfully. Bellows and plunger type small pumps were also manufactured and tested successfully.

抄録全体を表示

This paper proposes a new two-fingered robotic hand that consists of a 3 degrees-of-freedom link structure for the index finger and a 2 degrees-of-freedom link structure for the thumb. The index finger is designed so that the distal two links move with maintaining their mechanically coupled movement, for which a rubber round belt is placed between two pulleys like a figure-eight structure. This system has four DC motors in each finger, and the two of the motors activate a finger joint antagonistically. By using the proposed robotic finger, we demonstrate that the orientation control of a grasped object can be achieved with using no Jacobian matrices and no grasping forces that had been required in conventional robotic applications.

抄録全体を表示

The purpose of this paper is dynamic manipulation of sheet flexible object. As one example of dynamic manipulations of sheet flexible object, dynamic folding of a cloth with two high-speed multifingered hands mounted on sliders system will be carried out. First, the dynamic folding by a human is analyzed in order to extract the necessary motion for achievement of this task. Second, a model of sheet flexible object will be proposed by extending the linear flexible object model (algebra equation) using high-speed motion. Third, the motion planning of the robot system will be performed by using the proposed model and the simulation result will be shown. Finally, the experiment with the trajectory obtained by the simulation will be executed.

抄録全体を表示

We developed a general Dual Five-Fingered Robotic Hand Arm system and a simple robot task programming system named SAEN preparing for the manpower shortage on the nursing side and the welfare side in the future. SAEN did not have enough abilities for advanced works because it was difficult for SAEN to describe error avoidances and synchronization of plural threads. So, in this research, we introduced an exception handling and the synchronization mechanism as solutions of those problems. And, we developed SAEN simulator by using ODE (Open Dynamics Engine) for debugging of SAEN program. It was shown that both of our new features of SAEN work fine and improve the effectiveness of SAEN programming through of simulation experiments and investigation of SAEN program source codes.

抄録全体を表示