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内田 真裕, 渡辺 哲陽, 丸山 量志
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セッションID: 1A1-J03
発行日: 2013/05/22
公開日: 2017/06/19
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The aim of this paper is grasping very fragile objects. This paper presents grasping strategy for fragile and brittle objects and for fragile and ductile objects, with gripper whose fingertips are constructed from a rubber bag filled with gel, an incompressible fluid. The validities of the approaches were shown by experiments.
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馬場 恒星, 辻 徳生, 河村 晃宏, 表 允晰, 田原 健二, 原田 研介, 長谷川 勉, 倉爪 亮
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セッションID: 1A1-J04
発行日: 2013/05/22
公開日: 2017/06/19
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This research aims to realize a service robot for grasping various objects in daily life. Therefore, this paper presents a grasping method based on joint angle control for a multi-fingered hand with soft fingertips. This method is robust to the fingertip position error and the object position/posture error. Since the soft fingertip deforms elastically when it contacts with an object, the force of the fingertip is estimated by its deformation amount. We calculate the fingertip positions which satisfy force/moment equilibrium. In addition, we develop an indicator of grasping based on the contact condition between each fingertip and the object. We demonstrate the performance of proposed method by simulations and experiments.
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田中 信伍, 前田 雄介
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セッションID: 1A1-J05
発行日: 2013/05/22
公開日: 2017/06/19
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Caging is a method to make an object inescapable from a cage composed of a robot bodies. Although caging has merits, it is seldomly used in factories. This is partly because we do not understand the form of robot hands suitable for caging. In this paper, we consider hand designs for 3D caging. We examined the usability of several hand designs by executing caging tasks with hands we built. Then we proposed hands for 3D caging based on the usability experiments.
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小林 太, 長谷川 洸, 北林 慧一, 中本 裕之, 小島 史男
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セッションID: 1A1-J06
発行日: 2013/05/22
公開日: 2017/06/19
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The multi-fingered robot hand has much attention in various fields. Many Robot hands have been proposed so far. A teleoperation system for the hand/arm robot allows intuitive manipulation of the hand/arm robot. Therefore, this paper deals with a motion capture system for controlling the hand/arm robot remotely. Here, we use inertial measurement units in order to detect the joint angle of an operator's hand and arm.
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小林 太, 丸野 由貴, 小島 史男
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セッションID: 1A1-J07
発行日: 2013/05/22
公開日: 2017/06/19
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This paper deals with a handover motion for the hand/arm robot. Handing over objects to humans is an important motion for service robots. The robot has to change a trajectory for handover without disturbing human's works. Therefore, we propose a handover motion control for the hand/arm robot according to the hand posture of humans. The robot estimates the hand posture with a motion sensing input device Kinect and moves upward from the palm of human's hand.
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石井 宏紀, 相山 康道
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セッションID: 1A1-J08
発行日: 2013/05/22
公開日: 2017/06/19
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In this study, our purpose is to give human dexterousness to robot system and we take up Jenga game as concrete work target. This paper describes new approach for dexterous manipulation of Jenga blocks. At first, we suggest wrench motion approach which human use and wrench motion model. Then, we confirm effectiveness of wrench motion, removing Jenga blocks actually. Finally, we implement wrench motion to remove Jenga blocks system. We make robot remove Jenga blocks, and compare its result with other study.
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石川 淳一, 岩政 恒史, 平井 慎一
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セッションID: 1A1-K01
発行日: 2013/05/22
公開日: 2017/06/19
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This article focuses on the three dimensional posture control of the grasped object by robotic hand with soft fingertips driven by translational joints. This hand can grasp an object with appropriate grasping force and regulate two degrees of freedom a grasped object orientation. We have applied a 3-axis acceleration sensor to measure the orientation of a grasped object. We control the orientation of a grasped object by driving translational joints 2 fingers. We experimentally show that this hand can tilt the grasped object at least 20 degrees toward any direction. We also experimentally show that this hand can tilt a grasped object up to 35 degrees.
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荒井 裕彦, 阿部 裕幸, 菊島 義弘
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セッションID: 1A1-K02
発行日: 2013/05/22
公開日: 2017/06/19
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We propose a trajectory planning method for a robot hand which is composed of non-contact suction devises using a fluid-dynamics phenomenon. As the hand cannot constrain the object in the tangential direction, sideslip occurs due to the inertial force when the object is transferred horizontally. The hand trajectory is planned so that the hand is inclined to suppress the sideslip by balancing the inertial force with the gravity. Experimental results using a linear slider that emulates a 1-dof object show that the proposed method can reduce the sideslip.
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菊池 智史, 高橋 智一, 鈴木 昌人, 青柳 誠司
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セッションID: 1A1-K03
発行日: 2013/05/22
公開日: 2017/06/19
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This paper proposed the robotic hand for gripping the various shaped and postured objects. This vacuum gripper has the membrane type suction cups which can be controlled an adsorption force by the pressure of gripper inside. This gripper can hold an object with steps, since the gripper has membrane type suction cups. Moreover, the adsorption force is stable, because the dust is not jammed in the exhaust flow channels. Using Polydimethylsiloxan for the structure, the gripper can hold a curved object. The maximum adsorption force of the gripper was 20 N (2.1 kgf). The gripper lifted up the bottle (mass: 0.5 kg, curvature radius: 38 mm), which was leans at 30 degrees before gripping.
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阿部 裕幸, 菊島 義弘, 荒井 裕彦
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セッションID: 1A1-K04
発行日: 2013/05/22
公開日: 2017/06/19
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This paper describes the experimental study of the characteristics of a non-contact type suction device. The present study has been carried out for handling technology in various environments. We propose a new non-contact type suction device. The jet of nozzle ring flows along surface of device by coanda effect. Eject effect caused by the coanda effect decreases pressure in inside area of nozzle ring. The pressure brings strong suction force. This time, we introduce characteristics of the device and some objects.
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金 大輔, 齋藤 直樹, 佐藤 俊之
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セッションID: 1A1-K05
発行日: 2013/05/22
公開日: 2017/06/19
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We developed the wire antagonistic type robot finger using nonlinear torque joint mechanism. This robot finger has extension wire and flexion wire. The posture of the finger is decided uniquely by the relation between extension torque which is generated by the nonlinear torque joint mechanism, flexing torque which is generated by tension given to a flexion wire, and additional extension torque which is generated by tension given to a extension wire. This robot finger can be switched adaptive grasp movement and pinching movement by adjusted the tension of the extension wire. In this paper, we derived the conditional expression of the torque balance for designing the robot finger. The validity of this expression and be able to switch the two behaviors were confirmed experimentally.
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山口 賢悟, 平田 泰久, 小菅 一弘
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セッションID: 1A1-K06
発行日: 2013/05/22
公開日: 2017/06/19
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This paper analyzes grasp stability for a robot hand which has a vacuum cup at each fingertip. Combination of a grasp mechanism and an adhesion system allows the robot hand to grasp an object robustly. In order to evaluate the robustness of the grasp, we propose a contact model that considers adhesion forces at the contact point. We call this model as "point contact with friction and adhesion". This contact model can be applied to existing analysis methods. We conduct an experiment to ascertain the validity of the proposed model. Resistible external forces are measured, and then theoretical values of the resistible external force are compared.
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小山 佳祐, 鈴木 陽介, 明 愛国, 下条 誠
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セッションID: 1A1-K07
発行日: 2013/05/22
公開日: 2017/06/19
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Various sensor can be introduced into the robot hand such as proximity sensor; detecting an object position in non-contact using reflection of an electric field or light. Introducing tactile and proximity sensor into robot hand, it can obtain great sensory ability compared with human. On the bases of this concept, we developed "Slip and Proximity Integrated Fingertip Sensor" which has Net-Structure Proximity Sensor and Slip Sensor. In this paper, we focus on Net-Structure Proximity Sensor output in a contact state. We discuss a possibility that object stiffness can be distinguished by Proximity Sensor output in a contact state.
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瀬戸川 将夫, 小山 佳祐, 鈴木 陽介, 明 愛国, 下条 誠
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セッションID: 1A1-K08
発行日: 2013/05/22
公開日: 2017/06/19
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We have developed a sensor to detect position and posture of an object in a short-range, called a "proximity sensor". The proximity sensors are mounted on fingertips of a robot hand, and it is realized that the fingertip surface and an object surface face each other before contact in grasping process by the robot. We call such postural adjustment "preshaping". When grasping an object by a robot hand system with the combination of the proximity sensor and a visual sensor, the visual sensor has only to guide the robot hand so that the proximity sensor detects the object and pre-shaping is performed appropriately. In this paper, we investigate the information which the visual sensor should acquire to perform pre-shaping appropriately.
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盧 俊榮, 衣川 潤, 小菅 一弘
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セッションID: 1A1-L01
発行日: 2013/05/22
公開日: 2017/06/19
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The final goal of this research is to fabricate a human like robot hand with integrated functions. In this paper a concept model of a novel "Integrated Origami Hand" is fabricated via Shape Deposition Manufacturing (SDM). The structure of the Integrated Origami Hand is inspired by the Origami Art. A robot hand with a three dimensional shape can be easily fabricated using the structure. Experimental results show how Integrated Origami Hand could grasp an object.
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大中 翔嗣, 高橋 智一, 長戸 浩太郎, 鈴木 昌人, 青柳 誠司
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セッションID: 1A1-L02
発行日: 2013/05/22
公開日: 2017/06/19
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A flexible vacuum gripper with an autonomous switchable valve is proposed. These valves are normally close and opened when contacted with the object. Since the gripper is made of flexible polymer such as Polydimethylsiloxan (PDMS), this gripper can hold a free-form surface. As the valves become small, the gripper can hold object with high step and curvature. The gripper with 64 valves was fabricated using Micro Electro Mechanical Systems (MEMS) technology. The gripper size was 100 mm^2 and absorption area is 11 mm^2. The experimental average vacuum absorption force was 0.42 N (43 gf) when the gage pressure was -80 kPa.
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横澤 秀一, 小柳 翔平, 並木 明夫
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セッションID: 1A1-L03
発行日: 2013/05/22
公開日: 2017/06/19
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Recently, the usefulness of multi-fingered robot hands to perform fine manipulation and grasping tasks is widely recognized. In this study, we focus on dexterous manipulation in particular, and we have developed a new robot hand to improve dexterous manipulability. The robot hand has two fingers and each finger has seven degrees of freedom. It is enough to control the position and orientation of the fingertip, and one redundant DOF is left. Each finger has 6-axis force/torque sensor and it is used for compliance control. In this paper, we describe the design concept, kinematics, and a control method of the new hand. Finally we show a demonstration of folding a sheet of paper.
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小林 紀穂, 竹村 研治郎, 横田 眞一, 枝村 一弥
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セッションID: 1A1-L04
発行日: 2013/05/22
公開日: 2017/06/19
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Electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. The ECF jet can be a driving force which is suitable for miniaturization and weight reduction, because it only requires tiny electrodes to generate the ECF jet. This study introduces the ECF jet to develop a small and light-weight robot finger. First, we propose a concept of the robot finger driven by the ECF jet. The robot finger consists of three dactylopodites, each of which includes a rubber joint and an ECF jet generator. Second, we characterize the dactylopodite. Finally, we investigate the characteristics of the robot finger. The length, the width and the mass of the robot finger are 88.0 mm, 10.0 mm, and 11.0g, respectively.
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柴田 亨, 衣川 潤, 小菅 一弘
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セッションID: 1A1-L05
発行日: 2013/05/22
公開日: 2017/06/19
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We have proposed a method to grasp unknown objects of arbitrary shape. In this method, the environment of an object is reproduced in a grasping simulator and approach directions for the robot manipulator to grasp the object are generated in the simulator based on a rule. Then, the manipulator is controlled along each of the generated directions in the grasping simulator to check whether the grasping from the direction is possible or not. Each feasible grasp is evaluated by a criteria function and the best grasp is selected. In this article, we tested this method with 12 unknown objects in real environment.
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毛利 哲也, 今田 葉子, 川崎 晴久, 石榑 康彦
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セッションID: 1A1-L06
発行日: 2013/05/22
公開日: 2017/06/19
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We propose a system that can precisely quantify breast stiffness as an estimate of engorgement. The table-top system uses a multi-fingered robotic hand that can simultaneously measure fingertip force and position with high precision at multiple points. The system includes a robot hand, a support base, power supply, and software for control, data entry and data analysis. The manipulation of the robotic hand is accomplished automatically. We tested the system with a breast exam simulator and found that the stiffness data obtained by the system can be used to objectively estimate breast engorgement.
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二井見 博文
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セッションID: 1A1-L07
発行日: 2013/05/22
公開日: 2017/06/19
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We designed a robot hand based on the skeleton. The Human hand was discussed and we focused that the joint of human was not pin joint. The finger was designed based on the skeleton and the joints were made by sliding cylindrical surface as bone of finger contacted and slide to another bone. Robot hand was developed and the motion was tested.
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丸山 貴之, 鈴木 大介, 大高 頌平, 中内 靖
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セッションID: 1A1-M01
発行日: 2013/05/22
公開日: 2017/06/19
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In this paper we propose alcohol spraying assistance system for reducing food-poisoning cases. The proposed system recognizes progress of cooking by using sensor devices attached on cooking tools. Weight measuring device consists of three force sensors recognizes chopping board's laid on it and cutting actions of ingredients by measuring the additional weight changes. Switching device installed in electric spray activation button recognizes if appropriate alcohol spraying is conducted or not. Water current measuring device installed under the sink of kitchen recognizes if kitchen tools are washed or not. By using this information, the proposed system judges if the appropriate disinfection is conducted. If not, the system warms a user via voice.
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雲丹亀 達哉, 梅谷 智弘, 田村 祐一
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セッションID: 1A1-M02
発行日: 2013/05/22
公開日: 2017/06/19
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This paper describe a method for construction of an object shape model and estimation of the three dimensional pose (position and orientation) of the object using the shape model based on a combination of visual ID tags and three-dimensional natural feature points. We construct a feature points-based shape model by capturing visual ID tags and feature points of the image with a monocular camera. To estimate the object pose, the method assigns the 3D feature points to the capture image using SIFT features. In this paper, we focus on update of the object model using the pose-estimation results and pose estimation of a marker-less object. Experimental results show feasibility of the proposed method.
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大平 杏奈, Ngo TRUNG LAM, 水川 真, 安藤 吉伸, 吉見 卓
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セッションID: 1A1-M03
発行日: 2013/05/22
公開日: 2017/06/19
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In this research, we develop user-oriented RT service proposal system in Kukanchi. By carrying out data mining of user information, service history, sensor data, and object data, this system finds out those relationships and gives weight to each of them. As a result, this system comes to be able to propose "Tsuide Service" (Additional RT service) that each user expects. From now on, we need to develop the system of the proposal of the "Main Services" (Main RT service) by application of the algorithm of this research. Furthermore, we are required as aiming at improvement in the proposal accuracy of service by using furthermore much information.
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前田 佳男, 水川 真, 安藤 吉伸, 吉見 卓
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セッションID: 1A1-M04
発行日: 2013/05/22
公開日: 2017/06/19
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This paper proposes the bring object service system in Kukanchi to decompose service request from a user into detailed robotic task plans. User's request should be simple, such as "Bring me the letter". However robotic task plan is complicated and needs to be dynamically generated depending on actual environment and system status. We propose a robot profile with capabilities to select robot based on the task requirement, and a task generate system to abstract an environment in the room for generating a command for robot task. We developed the task planning method to generate task plan for each robot to realize service execution. And, we constructed Kukanchi middleware to archive Kukanchi concept. It provides access to database and supports common interface between application, robots and sensor. Our task manager system includes in Kukanchi middleware. Experiment shows that our system is able to realize bring service based on simple command from the user.
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廣井 翔, 新妻 実保子
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セッションID: 1A1-M05
発行日: 2013/05/22
公開日: 2017/06/19
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We present a method for building a map that represents both static and moving objects, intended for mobile robot navigation in a living environment. We use grid maps for representing maps. To express moving objects in a map, the degree of movement of moving objects is calculated and a weight value is added at each cell on the gird map. This paper proposes an update method of the degree of movement at each cell to build a map continuously.
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瀧本 敦朗, 新妻 実保子
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セッションID: 1A1-M06
発行日: 2013/05/22
公開日: 2017/06/19
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A smart electric wheelchair used as a personal mobility tool (PMT) has been proposed. To reduce an operational load, the PMT is integrated with autonomous mobile robot navigation and human operation input. It is able to reach a destination autonomously based on a directional input from a user. A destination of the PMT is selected from the user's directional input. Therefore, accuracy of destination selection depends on the user's input. To realize stress-free and efficient movement of the PMT, it is required to select a suitable destination based on inaccurate human input. In this paper, we propose a selection method for a suitable destination using an environment map, which describes not only static obstacles such as wall and furniture but also areas for human activity. To realize this, this paper also proposes an environmental map including areas for human activity. An experiment is conducted to evaluate the proposed method of destination selection based on performance of the PMT operation and mental workload of subjects.
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日下 純也, 大保 武慶, 久保田 直行, 松田 雅弘, 二瓶 篤史
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セッションID: 1A1-M07
発行日: 2013/05/22
公開日: 2017/06/19
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In this research, we suggest a methodology for getting joint angles by Kinect sensor for rehabilitation evaluation support. We measured the motion of the arm of a patient with hemiplegia before and after the rehabilitation, and showed the range of the motion by using genetic algorithm. The range after the rehabilitation was bigger than before the rehabilitation. Based on this result, our methodology is able to evaluate the change of the motion before and after the rehabilitation for patients with hemiplegia.
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田中 昂義, 和田 一義, 菅沼 勇介, 橋本 美芽, 鈴木 敏彦
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セッションID: 1A1-M08
発行日: 2013/05/22
公開日: 2017/06/19
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Recently, public housing are rebuilt for the elderly in the inner city. The main contents of rebuilding are flatting floors, installation of handrails for an anti-tip, and expansion of bathroom and toilet for people using wheelchair. Because giving priority to them, kitchen and dining room are become narrow space. Therefore, kitchen doesn't have enough cooking and storage space. In this study, we propose a robot module that expands the cooking space, stores electric appliances, cooking tools and tableware to solve these problems.
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下山 翔平, 平山 元樹, 吉見 卓, 水川 眞, 安藤 吉伸, 村上 弘記
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セッションID: 1A1-N01
発行日: 2013/05/22
公開日: 2017/06/19
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Recently, many industrial robots are used in factories. However, finishing robot systems are not widely used yet because the use of force control robots is difficult. In this study, we aim to develop finishing robot system using environment and task motion framework technology. This system generates robot motion programs automatically by using information obtained from environments. Therefore we can realize finishing robot system that is easy to use for users. In this paper, we describe the evaluation of implementation of the finish robot system.
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Weerachai Skulkittiyut, Makoto Mizukawa
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セッションID: 1A1-N02
発行日: 2013/05/22
公開日: 2017/06/19
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This paper, we have proposed an appropriate place specification method for tidy-up robotic service based on a time series analysis algorithm. The system is able to suggest an appropriate place which analyzed from an object trajectory information. For example, when we have finished using a cup, the system should suggest a sink for washing and then a shelf for storing. Furthermore, we proposed and built the object information management system to manage the related information. The system also provided a hardware called Robotic Technology Case (RT-Case) to collect object log and trajectory information.
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鯵坂 志門, 久保田 孝, 橋本 秀紀
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セッションID: 1A1-N05
発行日: 2013/05/22
公開日: 2017/06/19
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Today, personal vehicle to expand our mobility called personal vehicle is needed to cope with low carbon society and diversification of individual mobility,. There are several small vehicles, but we need a new thesis of designing and controlling personal vehicles, because there are some difference between general vehicle-used environment and personal vehicle-used environment. In such a new kind of environment, vehicles must have close relationship with drivers. To have close relationship, therefore, personal vehicles must be smaller and lighter. In addition , we have to consider driver's psychological and biological status and control them. The authors define such personal vehicles as Affinitive Personal Vehicle and propose a novel personal vehicle control system using iSpace.
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今西 淳一, 鰺坂 志門, 橋本 秀紀
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セッションID: 1A1-N06
発行日: 2013/05/22
公開日: 2017/06/19
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Recent years, the two wheels vehicles spread on our life. And these vehicles will become close to us. When we research or development the two wheel vehicles, we have to consideration human's characteristic. This paper submitted the system for measurement the movement of a two wheels vehicle and human.
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井 恵佑, 望月 典樹, 中村 壮亮, 橋本 秀紀
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セッションID: 1A1-N07
発行日: 2013/05/22
公開日: 2017/06/19
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In modern society, insomnia which is the lack of sleep is becoming a serious problem. In this paper, sleep-promoting robot is proposed as an aid to sleep-onset insomnia which is one of the most typical insomnia. The basic concept of the robot is to shorten the sleep-onset time by giving the personal adapted stimulation effective in relaxing. Now, as one of the fundamental researches, we inspected the availability of personal adaption in sleep experiment. As a result, it was uncertain whether subjects were sleep-promoted. One of the main reason was that the target condition differed drastically. Therefore an appropriate evaluation with fixed target condition should be regained in the future work.
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橋川 史崇, 森岡 一幸
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セッションID: 1A1-N08
発行日: 2013/05/22
公開日: 2017/06/19
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In order to build intelligent spaces, it is required to know sensor positions in world coordinate system. However, when many sensors are distributed in large environments, it takes much time to calibrate positions of all sensors. In this study, a system to build the intelligent space easily is introduced. The system is based on map sharing between a mobile robot and distributed sensors. This paper focuses on system configuration based on RT components and distributed sensors with small embedded computers for building intelligent spaces easily.
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浦野 羅馬, 佐々木 毅
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セッションID: 1A1-O01
発行日: 2013/05/22
公開日: 2017/06/19
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Advertisement design is usually based on subjective assessment. But it would be necessary to evaluate it in an objective way. In this research, we propose a system which estimates our interest in posters and for it we use the name "Intelligent Poster". The system observes people who see a poster using a camera and estimates the eye gaze. We hereby get an objective rating of the poster design and knowledge for making good posters. This paper focuses on eye gaze estimation with single camera and aims to develop a method which meets some requirements and has enough accuracy and robustness for the system..
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渕脇 大海, 大井 章生
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セッションID: 1A1-O04
発行日: 2013/05/22
公開日: 2017/06/19
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In this paper, we have reported that design and dynamic analysis of a 3 DOF mobile mechanism which moves on a table made by non-magnetic materials. Previous mechanism has a pair of Y-shaped electromagnets and six piezoelectric actuators. This mechanism runs on working table which is made by special ferromagnetic alloy, such as 3% silicon steel. In the mechanism, two horseshoe-shaped electromagnets and the table make a closed magnetic circuit to fix the ferromagnetic surface. However, we need high processing cost to polish the table. In this paper, we have developed the mechanism with solenoid actuators to make mechanism move on a table made by non-magnetic material. Design procedure, dynamic analysis, and chip mounting application are also discussed to cultivate the flexible, low-inertia, compact, and omnidirectional precise positioning.
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嶋田 直矢, 浅野 剛次, 池内 真志, 生田 幸士
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セッションID: 1A1-O05
発行日: 2013/05/22
公開日: 2017/06/19
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We have been developed "Optically Driven Micro-robot" as a novel tool for manipulating a cell and for measuring cellular mechanical properties. In this work, we constructed an innovative system that can measure three dimensional reactive forces from cell and sense posture of the micro-robot with a single normal CCD attached to microscope. The system is realized by installing tapered cylindrical marker triplets to the micro-robot. Compared with conventional 3D imaging system with optical micro-scope, this system has advantages in that it can image and mechanically analyze in 3D from a single plane image acquired from a normal CCD camera. This simple system contributes to the micro analysis useful for cellular biology in where many demands to the micro bio physical measurement.
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中西 直哉, 中島 正博, 田島 寛隆, 久本 直毅, 本間 道夫, 福田 敏男
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セッションID: 1A1-O06
発行日: 2013/05/22
公開日: 2017/06/19
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This paper presents a local nano-injection method by fluorescence micro-gel-bead and micro-pipette tool based on nano-manipulation under optical micro scope(OM) and electrom micro scope(E-SEM). Micro-gel-bead is made of PEG-DA. It can contain liquid its inside and leak it outside. The top of micro-pipette tool is cut obliquely to fix the micro-gel-bead and it can attract bead by changing air pressure with syringe driver. It is fabricated by focused ion beam(FIB) process. The Caenorhabditis elegans(C.elegans) is important model organism for nerve analysis. The local-nano-injection technique is needed to help nerve regeneration analysis. The proposed system is considered to be important as future nano-sugery system for life innovation.
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丸山 央峰, 益田 泰輔, 新井 史人
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セッションID: 1A1-O07
発行日: 2013/05/22
公開日: 2017/06/19
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We developed selective injection of a single particle sensor using optically-regulated cell adhesion and injection for intracellular temperature measurement. Fluorescence sensor encapsulated in liposome is fabricated by spontaneous transfer method. The liposome is consists of neural lipids and spiropyran (SP). SP is a photochromic material and used for optical surface potential control of the liposome. The liposome adheres to the cell membrane by coulomb's force under UV illumination. The sensor can contain various fluorescence indicators such as Rhodmaine B as temperature sensor. The liposome encapsulating the sensor is contacted to the cell membrane using optical tweezers. We evaluated encapsulation efficiency of the sensor into the liposome and adhesion efficiency to cell membrane. We demonstrated the optically-controlled adhesion of the sensor to MDCK cell and observed the injected sensor by laser confocal fluorescence method. As results, we succeeded in injection of particle sensor into the cell cytoplasm and nucleus.
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早川 健, 深田 翔太, 新井 史人
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セッションID: 1A1-O08
発行日: 2013/05/22
公開日: 2017/06/19
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In this paper, we proposed a 3D hybrid nanorobot for a single cell surgery including functional nanomaterials. We succeeded in fabricating the 3D hybrid nanorobot with a carbon nanotube (CNT) by using femtosecond laser exposure. CNT has high-efficient photothermal characteristics and it can be used for a cell puncture. As a feasibility study of the proposed single cell puncture, we performed the single cell puncture with this nanorobot by irradiating an IR laser on the CNT. The target cell was partially punctured with the size of approximately 10μm. We can realize the arbitrary local cell puncture with this hybrid nanorobot.
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岩田 雅史, 中村 亮介, 大隅 久, 田村 雄介
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セッションID: 1A1-P01
発行日: 2013/05/22
公開日: 2017/06/19
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Time optimal control method for quadruped walking robots has been developed and installed into a practical robot system. Support legs are modeled as five-link manipulators and swinging legs are modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, the path of swing legs was designed as a horizontal line for simplicity, so the tips of the swing legs were dragged and robot could not walk at theoretical velocity. A new trajectory of the leg tips is designed to avoid the dragging.
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藤岡 徹, 大隅 久, 中村 亮介, 田村 雄介
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セッションID: 1A1-P02
発行日: 2013/05/22
公開日: 2017/06/19
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A time optimal control method for quadruped walking robots is developed and installed into a practical robot system. The fastest straight walking has already been obtained by our previous study. Though that is only straight walking, moving range is restricted. Therefore, the purpose of this study is theory construction of curved walking for quadruped robots because of increasing moving range and earlier arriving at target. By means of deriving curved path stroke of robot body, placing position of legs, and dynamic equation of robot body, we obtain it.
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Evgeny LAZARENKO, Satoshi KITANO, Shigeo HIROSE, Gen ENDO
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セッションID: 1A1-P03
発行日: 2013/05/22
公開日: 2017/06/19
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In this paper, two new concepts are suggested: Non-Tumbling (NT) Gait, and the extension of the concept of Directional Normalized Energy Stability Margin, an approach to estimation of the relationship between direction of the destabilizing force (e.g. strong sidewind, or any other kind of impact) influencing the robot, and stability margin. The proposition of NT Gait is, in turn, based upon the notion of DNESM.
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成岡 健一, 稲田 健人, Andre ROSENDO, 細田 耕
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セッションID: 1A1-P04
発行日: 2013/05/22
公開日: 2017/06/19
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In this paper, we describe the design of the quadruped robot "Ken" with the minimalistic and lightweight body design for achieving fast locomotion. We use McKibben pneumatic artificial muscles as actuators, providing high frequency and wide stride motion of limbs, also avoiding problems with overheating. We conducted a preliminary experiment, finding out that the robot can swing its limb over 7.5 Hz without amplitude reduction, nor heat problems. Moreover, the robot realized a several steps of bouncing gait by using a simple open loop controller, indicating that the robot can generate enough torque to kick the ground and limb contraction to avoid stumbling.
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吉田 州平, 小林 幸徳, 江丸 貴紀, 星野 洋平
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セッションID: 1A1-P05
発行日: 2013/05/22
公開日: 2017/06/19
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Recently, legged robots that can move on various and complex environments have developed for tasks of rescue, exploration and so on in the dangerous space. Practical robots must be equipped with environmental cognition and motion transition system in addition to movement maneuver itself. Limb-type robots having redundancy and symmetry are able to work in the various environments. This paper describes movement of a Limb-type robot on a vertical ladder, which is a fundamental example of frame structures like a jungle gym or truss. We focus on environmental cognition by external sensors, motion transition from the floor to the ladder and maneuver for climbing the ladder. Simulation is conducted to design an analytical model of the robot and verify the proposed approach by using "Open Dynamics Engine".
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戸森 央貴, 平田 祐介, 中村 太郎, 大隅 久
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セッションID: 1A1-P06
発行日: 2013/05/22
公開日: 2017/06/19
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Recently, development of mobile robots is actively pursued. These robots are expected to work in various situations such as rescue and exploration. Therefore, we developed a leg using pneumatic rubber artificial muscles and constructed a model of the legs. Then, we developed a hexapod robot which can support its weight mechanically even without power supply using these legs. The robot supported about 4 times as much load as its own weight floating idling legs in experiment. Furthermore, the robot walked with load. And we concluded that the cause of reduction in a walking speed is friction of a transverse direction to a direction of movement of the legs. In the future, we plan to decrease unnecessary friction of the leg, and mount a compressor, a power supply, and a tank in the robot.
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朱 栄麟, 磯部 大吾郎
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セッションID: 1A1-P07
発行日: 2013/05/22
公開日: 2017/06/19
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A use of linear-motion link mechanism can effectively increase the motion range of a robot with a small cost. However, special assumptions should be made for the expansion and contraction of the link mechanism when the robot requires the dynamics compensation. The present report describes the assumption of these features in the inverse dynamics parallel solution scheme and an example of torque calculation for a walking motion.
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原木 俊彦, 大川 一也, 加藤 秀雄, 樋口 静一
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セッションID: 1A1-P08
発行日: 2013/05/22
公開日: 2017/06/19
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This paper proposes a method that a robot modifies its behavior autonomously when it's broken. At first, we'll describe our robot, experimental environment, and description of behavior. Then, explain proposal method of modification of behavior. After that, we'll mention experimental result. Finally, we speak a conclusion.
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浦窪 裕司, 渋谷 恒司
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セッションID: 1A1-P09
発行日: 2013/05/22
公開日: 2017/06/19
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The goal of this study is to develop a robot foot with the arch mechanism of a human foot. Many researchers consider that the arch mechanism has a role of shock absorber and controlling body posture. We believe that the mechanism reduces the complexity of control of biped robots. We previously reported that we developed a biped robot using the Chebyshev link mechanism with only one actuator and a robot foot with an arch mechanism. In this paper, we report the modeling of the robot foot and some analytical results. First of all, we constructed a model of the mechanical foot in order to investigate such foot parameters as stiffness and damping factor. The model is represented as a two DOFs equation of damped oscillating motion. We performed numerical analyses using Runge-Kutta method, and we found that the simulation results were very similar to those of experiments.
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