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清野 大樹, 多羅尾 進
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セッションID: 1A2-E09
発行日: 2013/05/22
公開日: 2017/06/19
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Nowadays desktop interaction which intends to construct an effective human computer interface is becoming promising technology. Force display is an important element to set up a user-friendly man-machine interaction system (e. g. haptic interface system). A haptic device with force feedback consists of an adequate motion base to generate force/torque corresponding to expected tactile sense. To display force easily and conveniently by means of a simple mechanism, we focus attention on the static characteristics of an omnidirectional mobile robot and prototype a spacial 6-DOF motion base. The overall structure of the 6-DOF mechanism consists of combination of a 3-DOF additional mechanism and a planar 3-DOF omnidirectional mechanism. This paper presents the mechanism of the prototype of the spacial 6-DOF motion base, the kinematics and the statics analysis of the mechanism, and the preliminary experiment to estimate performance of the force display.
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大熊 克明, 岩倉 大輔, 野波 健蔵, 藤原 大悟
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セッションID: 1A2-F01
発行日: 2013/05/22
公開日: 2017/06/19
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This paper proposed novel design of hexarotor helicopters named Nonplanar Hexarotor. The common way to design hexarotor helicopters is to place every rotor on same plane. However, by dividing six rotors into three pairs and placing each pairs on three orthogonal planes, it is possible to decouple force and torque generation. Fully independent control of both position and orientation will be enabled by this configuration. We explain a design planning, required machine elements, mathematical analysis and concrete applications.
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重國 高志, 滝本 隆
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セッションID: 1A2-F02
発行日: 2013/05/22
公開日: 2017/06/19
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Recently, there is a growing demand for aerial photography of buildings at low altitude below 15 meters. In the previous research, we have developed aerial photography systems using helicopters, balloons, and a pole. However helicopters and balloons are unsuitable to a low altitude flight in airflow around buildings. A pole needs some time to get ready for aerial photography. This paper proposes an aerial photography system for environmental monitoring at low altitude below 15 meters. Then, we can throw this system and take pictures automatically or manually at the top. This system is safe and low in cost, and saves energy. Moreover, we show the effectiveness of this system from experiment.
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大滝 拓郎, 岩倉 大輔, 野波 健蔵
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セッションID: 1A2-F03
発行日: 2013/05/22
公開日: 2017/06/19
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In recent years, UAVs play various roles through the progress of the flight control technologies. And missions such as information-gathering and aerial photography can be performed by UAVs, instead of manned aircrafts. And UAVs have advantages of the low risk of losing lives by crashes and the low maintenance cost because of no crew aboard. For the missions described above, the flight control technologies are essential for UAVs, but many flight control technologies rely on GPS. And small UAVs are suitable for operation in urban areas and mountainous areas, indoors, but GPS cannot be used in those environments. So in this study, the flight control techniques by using the optical flow sensor in GPS-denied environments are introduced. And in this paper, first, we derive a correction formula and determine a proportional coefficient of the formula experimentally by using the manipulator hand. secondly, we test the correction formula experimentally by using Motion capture system to verify the usefulness of the correction equation. Finally, the conclusion and the future works is described.
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岩倉 大輔, 宋 〓澤, 北澤 一磨, 大熊 克明, 野波 健蔵
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セッションID: 1A2-F04
発行日: 2013/05/22
公開日: 2017/06/19
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In this study, we developed a simulator system to learn operation procedures and train manual operation competence for a multirotor-based UAV. This system simulates flight behavior similar to actual UAV by using experimentally-obtained model and actually implemented source-codes on UAV pilot system. This paper describes a simulation result of flight behavior in case that a rotor is damaged. In addition, we describes a result of a operation training in this failure.
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Yuze SONG, Daisuke IWAKURA, Wei WANG, Kenzo NONAMI
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セッションID: 1A2-F05
発行日: 2013/05/22
公開日: 2017/06/19
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UAVs can be used for many applications such as the investigation of inhospitable cm environments, regions contaminated by nuclear radiation or hazardous material and other inaccessible areas. We designed a 12-Rotor type UAV. In this paper, we present the coaxial-rotating system which is essential for the construction of 12-Rotor type UAV and autonomous controller design technique.
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岩田 拡也, 松本 治
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セッションID: 1A2-F06
発行日: 2013/05/22
公開日: 2017/06/19
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ICAO (International Civil Aviation Organization) which 192 nations join determines to approve a flight robot (unmanned aerial vehicle) as an airplane from 2018, and to enable operation of general airspace like a manned airplane, Draft creation of international standards is performed by UASSG (unmanned aerial vehicle system study group) from 2012. In Japan where automotive manufacturing industry progressed, production technology has global competitiveness in the air cargo robot (Cargo-UAV) because it just same production size as automobile. However, in Japan, even if it produces an air cargo robot, it is in a problem without the road to run now. A virtual air transport network (robot highway) like a mobile phone electric wave network is considered.
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關 靖史, 河合 大志, 倉持 信行, 田中 基康, 大竹 博, 田中 一男
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セッションID: 1A2-F07
発行日: 2013/05/22
公開日: 2017/06/19
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This paper presents development of a HILS (Hardware in the Loop Simulation) system for flying robot (a powered paraglider (PPG)) control and its application to control system design. The HILS system consists of three dimensional six degree of freedom model, aerodynamic model, sensor/actuator model, etc., of the PPG in the computer and the control unit including sensors, i.e., a global positioning system (GPS), a three-axis gyroscope, a geomagnetism sensor and a CCD camera. Controllers for altitude and direction are designed and tested on the HILS environment. The HILS result demonstrates the viability of the altitude and direction control.
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楊 溢, 岩倉 大輔, 宋 〓澤, 野波 健蔵
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セッションID: 1A2-F08
発行日: 2013/05/22
公開日: 2017/06/19
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With the multi-rotor UAV growing fast in our daily life, the safety and reliability of the systems of UAV is more and more important. This work is to minimize the risks of the Mini-Surveryor(MS-06) which is exploited by NONAMI Lab. Motor and rotor failures are considered as the highest risk of the multirotor helicopter. In my work. First, I will introduce the way how to monitor the motor and rotor failures by using the PWM-I model and the way to find this model. Second, a new arrangement of the rotors of MS-06 is presented ,by this way the fault-tolerant of MS-06 became higher.
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葉山 清輝, 入江 博樹
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セッションID: 1A2-F09
発行日: 2013/05/22
公開日: 2017/06/19
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The trial production of new concept rotorcraft was carried for the aiming at a weather survey. The three blades with movable wing vane and driving force are connected fixed pitch angle. The direction of flight is controllable using at least one movable wing vane which is synchronizing with rotation of the aircraft by monitoring the direction with a geomagnetism sensor. The deflection angle of the direction of flight and control direction for the prototype was around 100 degree, due to the gyroscopic precession, delay time of the monitoring R/C receiver and mechanical response of the servo motor. The flight posture should be controlled based on the deflection angle to avoid the precession of the aircraft.
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植村 慎司, 今村 彰隆, 三輪 昌史
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セッションID: 1A2-F10
発行日: 2013/05/22
公開日: 2017/06/19
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Recently, the unmanned aerial vehicle (UAV) is developed for aerial work. This study focused on unmanned helicopter that is one of UAVs. With the popularization of unmanned helicopter, some collision accidents between human body and its rotor blade happened. Now, we developed a new multi rotor helicopter which has 4 ducted-fans instead of non-covered rotors. We call this Quad Ducted-fan Helicopter. Ducted-fan's rotor blade is protected by duct, so it clears up the risk of non-covered rotors.
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山下 剛史, 重松 佑紀, 三輪 昌史
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セッションID: 1A2-G01
発行日: 2013/05/22
公開日: 2017/06/19
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Recently, UAV is used in fields of aerial photography and aerial investigation. But their propellers and rotor blades are not covered, and the thrust is generated by high rotational speed. Thus UAV has a high risk of damage. To clear up the risk of rotor blade, we present a new flying object that uses ducted fans instead of rotor blades.
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入江 博樹, 葉山 清輝
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セッションID: 1A2-G02
発行日: 2013/05/22
公開日: 2017/06/19
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The trial production of the coaxial helicopter with fail-safe function by the rotational control was carried out for the aiming at a weather survey. The aircraft is controlled by movable wing vane which is synchronizing with aspect of the aircraft, monitoring the direction by a geomagnetism sensor. Therefore, the direction of flight of the aircraft is controlled based on the compass, and is unrelated the aspect of the aircraft by the proposed rotation control. The rotational flight control is also useful for fail-safe function when the aircraft becomes uncontrollable by the trouble of one of the coaxial motor. The aircraft can record meteorological data measuring by carried sensors automatically, and the data can be read out with PC.
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藤澤 陽平, 鈴木 智, 中村 幹男, 石井 崇大, 岡田 伸也, 飯塚 浩二郎, 河村 隆
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セッションID: 1A2-G03
発行日: 2013/05/22
公開日: 2017/06/19
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In this paper, we propose the intermeshing quadrotor helicopter which has feature of the tandem rotor helicopter and the intermeshing helicopter. Kinematic and aerodynamic characteristics of this helicopter have not yet been well known because such a helicopter does not exist so far. Therefore, we aim at conducting motion analysis of the helicopter. First, equation of motion of the helicopter is derived using multi-body dynamics. Next, we construct the system which enables that the helicopter fly manually. Finally, flight experiment was carried out to collect flight data needed for parameter identification of the model.
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石井 崇大, 鈴木 智, 藤澤 陽平, 岡田 伸也, 飯塚 浩二郎, 河村 隆
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セッションID: 1A2-G04
発行日: 2013/05/22
公開日: 2017/06/19
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In this study, we aim at realizing autonomous simultaneous flight of multiple small helicopters. In that situation, collision of helicopters is serious problem, and it should be considered in guidance control of each helicopter. In this paper, we construct a guidance control system for a small helicopter with collision avoidance. Then, a collision avoidance problem is regarded as a control problem with state constraints, and the theory of Model Predictive Control (MPC) is applied to the guidance control. Finally, the effectiveness of the control system designed in this study is verified by the simulation and the flight experiment.
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池田 将晃, 渡辺 桂吾, 中村 吉一
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セッションID: 1A2-G05
発行日: 2013/05/22
公開日: 2017/06/19
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Although most of existing airships employ a control method by combining propellers and rudders, such a control approach has the problem that the maneuverability is deteriorated if their traveling speed is slow. In this research, "X4-Blimp" controlled by only four propellers is proposed. Since the X4-Blimp can control its position and attitude by regulating the output of four propellers, it can realize high maneuverability, irrespective of its traveling speed. However, it is not easy to control the X4-Blimp, because it is an underactuated system. This paper proposes a method for controlling the X4-Blimp by switching two controllers, one of which is constructed by combining models that include nonlinear terms and models that only include linear terms, where those are separated from the derived dynamic model. The effectiveness of the proposed method is verified by some simulations.
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小泉 卓也, 古井 達也, 大瀬戸 篤司, 安孫子 聡子, 近野 敦, 内山 勝
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セッションID: 1A2-G06
発行日: 2013/05/22
公開日: 2017/06/19
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In this study, we develop a small VTOL aerial robot with a side thruster. The side thruster is a device for generating a lateral force independently. A tail-sitter UAV is the simplest aircraft which has a strong potential to serve search and rescue in the disaster area. However, when the tail-sitter UAV is translating in hovering, the height becomes unstable due to the tilt of the aircraft. By using the side thruster, the tail-sitter UAV can translate while holding the stable height during the hovering. This paper describes the evaluation of the performance of the side thruster, and fundamental experiment of hovering flight with the developed UAV using the side thruster.
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今村 彰隆, 三輪 昌史, 日野 順一
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セッションID: 1A2-G07
発行日: 2013/05/22
公開日: 2017/06/19
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We propose 3D measurement system for the quad rotor helicopter. In this system, 3D measurement of the structure in the surrounding becomes possible by installing the laser range finder on the airframe, and controlling maneuver automatically. Best maneuver and the control techniques are examined. The proposal method is proven by RC simulator and experiment on the desk.
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永井 伊作, 渡辺 桂吾
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セッションID: 1A2-H01
発行日: 2013/05/22
公開日: 2017/06/19
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This paper describes a localization method for a mobile robot that automatically corrects the accumulated positioning errors by using ground images recorded in the first run. The error correction is carried out in a laptop PC with low-memory consumption by using a quadtree space partitioning in the robot which is equipped with only a single camera for the positioning. The experimental results show that the trajectory estimated by tracking ground images was successfully corrected by the absolute search using the recorded images. The proposed method is available for achieving a mobile robot based on teaching and playback.
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齊藤 隆仁, 黒田 洋司
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セッションID: 1A2-H02
発行日: 2013/05/22
公開日: 2017/06/19
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Mobile robots have to recognize own current position. In general, Global Positioning System(GPS) have been used to know its position, but many kinds of surroundings usually give rise to significant positioning error. Therefore we have been proposed place recognitions method using images instead of GPS. However feature-based image retrieval system could not recognize where feature could not be extracted. In this research, we propose a place recognition method using Bag of Regions. Images, which are taken from reference course, are divided into segmentations by Simple Linear Iterative Clustering (SLIC). These segmented regions are described by intrinsic parameters such as color space histogram and represented as "regions" by Bag of Regions. Regions make possible image matching even in an environment where it is difficult to take interest points such as Harris corner, Fast Hessian and so on. To calculate matching probability between current obtained image and reference images, we employ Fast Appearance Based MAP(FAB-MAP) scheme. Image matching can be more robust to disturbances by taking into account the probability of co-occurrence of those words. To verify the validity of proposed method, our experiment is conducted course include indoor and outdoor environments.
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Peshala G. Jayasekara, Takashi Kubota
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セッションID: 1A2-H03
発行日: 2013/05/22
公開日: 2017/06/19
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For high scientific return, planetary rovers need to navigate longer distances autonomously and be less dependent on Earth station. Collaboration between rovers can substantially increase the localization accuracy for all the rovers and therefore, opens up opportunity for future exploration missions. This study aims at introducing a decentralized cooperative SLAM technique for two rovers based on EKF-SLAM and FastSLAM algorithms. Several data fusion methods and motion strategies are formulated. Furthermore, a novel SLAM technique called, cooperative positioning SLAM is proposed. The results show that by fusing information, better localization accuracies can be achieved. To validate algorithms a 3D simulation environment has been developed using opensource tools.
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永倉 翔吾, 倉爪 亮, 岩下 友美, 長谷川 勉
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セッションID: 1A2-H04
発行日: 2013/05/22
公開日: 2017/06/19
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This paper presents an automatic 3D modeling system for a large-scale environment by cooperative multiple robots. We have developed the 3D modeling system by multiple robots equipped with laser range finders. In this system, the robots move and scan the environment while identifying their positions by Cooperative Positioning System (CPS) with high accuracy. However, this system needs an operator to plan an observation strategy and control the robot motion. In order to reduce the burden on the operator, this paper gives the method to plan the robots' paths for the measurements automatically.
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佐々木 裕也, 石井 雅樹
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セッションID: 1A2-H05
発行日: 2013/05/22
公開日: 2017/06/19
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We have been investigating the construction of an environmental map using a laser range finder for autonomous mobile robot. However, mobile robot localization using the environmental map failed in monotonous environments. This study tries to solve the problem using image information which consists of a substantial amount of visual information. Specifically, we are using image information obtained from an omnidirectional camera, which is a camera with a 360-degree field of view. A robot learns omnidirectional images using self-organizing maps (SOM), and it generates a localization classifier. Thus, we verified effectiveness of the localization classifier for localization.
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伊藤 友太, 大川 一也, 加藤 秀雄, 樋口 静一
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セッションID: 1A2-H06
発行日: 2013/05/22
公開日: 2017/06/19
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This paper proposes generating method of a three-dimensional grid map with probability information. In a real environment, sensor data that include data of moving objects may adversely affect position estimation. Therefore, it is a necessary to generate the map with probability information. In order to generate the map with probability information, the sensor data must be superimposed to the same position closely. However, it is difficult to match them, because the sensor data includes some measuring errors. Therefore, at first, the matching method was proposed. Next, a method for calculating the probabilities by Bayes estimation was proposed. Moreover, the effectiveness of the proposed method was confirmed by simulations based on data acquired in the real environment.
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横山 和成, 石井 雅樹
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セッションID: 1A2-H07
発行日: 2013/05/22
公開日: 2017/06/19
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In late years, the field where robot is used has extended. It becomes active to the development of a robot to use human life space. A map is necessary for the robot move autonomy. However, it is difficult to make various maps such as human life space. In this study, we describe the flow about three kinds of online SLAM. We made the map using the acquired data and compared accuracy. As a result, ICP Scan Matching showed the best result. But it is distorted by the sensor error and modeling error. So, we examined correction method. And we evaluated effective by the experiment.
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高橋 悠太, 前山 祥一, 渡辺 桂吾
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セッションID: 1A2-H08
発行日: 2013/05/22
公開日: 2017/06/19
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Accurate localization is required for autonomous robots to navigate in cluttered environments safely. Therefore, Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF), which incorporate probabilistic concepts as localization methods, have been researched up to now. It should be noted, however, that the errors of kinematic parameters such as wheel diameter, tread, and mounting sensor position are not considered in the previous works. The present research proposes an Augmented UKF (AUKF), which is an extension of the UKF and can estimate the kinematic parameters together with the localization. The UKF and the AUKF are compared through some simulations to show that the proposed AUKF is much more accurate than the UKF. Additionally, localization experiments with only odometry are conducted using a real robot. It is shown from the experimental results that the localization using kinematic parameters estimated by the AUKF is more accurate than that using values measured by hand in advance.
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清水 尚吾, 黒田 洋司
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発行日: 2013/05/22
公開日: 2017/06/19
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If you want to explore the unknown environment using an autonomous mobile robot, it is necessary to estimate the position and orientation of the robot relative to the environment to be searched. We also require a high-resolution three-dimensional map of the environment exploration. When we use the 2DLaserSLAM that depends on odometry, it must be considered that exploration environment is assumed to be two-dimensional plane. But such an environment is limited. Because it requires the odometry, an expensive gyro sensor, an acceleration sensor or the like is required in the mobile does not have wheels. In this study, we propose a 3DLaserSLAM using 3DLRF only as an external sensor. We show that without choosing the mobile environment, exploration, the road surface by the proposed method, the construction of the three-dimensional map high-definition can be run on a single sensor, and pose estimation self-position in 3D space.
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田下 裕一, 中村 恭之
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セッションID: 1A2-H10
発行日: 2013/05/22
公開日: 2017/06/19
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This paper proposes a new invariant feature for a robust global scan matching. The proposed feature is called "CIF", that is a feature which remains unchanged when a congruence transformation is applied to it. We can perform global scan matching in a clattered environments by matching match an input scan with a reference scan based on CIF. without using an initial alignment. Through experiment in real environment, we confirm the validity of our method.
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志村 佳紀, 犀川 裕一, 森岡 一幸
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セッションID: 1A2-I01
発行日: 2013/05/22
公開日: 2017/06/19
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In order to achieve autonomous mobile robots, the robots need to estimate current positions. Generally, mobile robots obtain sensor data from external sensors such as laser range sensors or cameras, and estimate positions based on matching with maps prepared beforehand. Global position estimation based on GPS can be also performed. However, sensor data with low reliability is often obtained depending on situations or positions. Such sensor data will make position estimation accuracy worse. In this study, dynamic sensor selection is proposed and implemented to an autonomous mobile robot. Reliability of sensor data is dynamically evaluated and suitable sensor is adopted for estimation. In this paper, simulations and experiments with an actual robot based on the proposed method are shown.
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伊藤 太一, 森岡 一幸
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発行日: 2013/05/22
公開日: 2017/06/19
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In this paper, we develop a navigation system of mobile robots without a global occupancy grid map. The mobile robots globally run based on path planning built by graph SLAM. While the robots are following the path, localization and obstacle avoidance are performed using the local occupancy grid maps. The robots run to destinations by integrating two kinds of maps. An actual robot system using this method is developed and navigation results are shown.
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Simon THOMPSON, Satoshi KAGAMI, Makoto OSHIO, Kenniti HAMAMOTO
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セッションID: 1A2-I03
発行日: 2013/05/22
公開日: 2017/06/19
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This paper presents a fast and accurate method for performing constrained 6DOF localisation within 3D polygon maps for the purpose of autonomous navigation of a golf cart at speeds up to 20km/h. A particle filter is used to estimate the 6DOF state space of the robot. The motion model is constrained by vehicle dynamics. Efficient matching of sensor data and map is achieved through the use of GPU hardware. The system uses only onboard sensors and can function in environments where GPS is not available. The localisation system is described, and experiments with autonomous navigation of a golf cart at speeds up to 20km/h are reported.
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長谷川 忠大, 川村 英史, 岩田 祥平
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セッションID: 1A2-I04
発行日: 2013/05/22
公開日: 2017/06/19
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We report about improved reliability on positioning information obtained by a GPS receiver. The basic strategy to obtain positioning information with high reliability was proposed as following. Every positioning information are calculated using every combination among satellites that GPS receiver can catch. In case which the collective point exists, the point is estimated as the correct positioning information. In case which the collective point does not exist, the positioning information with reliability is not able to be obtained. Experimental results using this method demonstrated that the precision of the coordinate obtained by GPS receiver was improved. This method for GPS is useful for obtaining positioning information with reliability
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中島 閲己, 中後 大輔, 廣瀬 圭, 横田 洋
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セッションID: 1A2-I05
発行日: 2013/05/22
公開日: 2017/06/19
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In our current research, we have developed a novel navigation system for indoor service robots using pictographs. Pictographs are widely used in a general environment with human such as offices, stations and welfare care facilities. Using them as a landmark, our system does not require special markers in the navigation area of the robot. Our robot is only equipped with a low-cost camera and uses SURF (Speeded Up Robust Feature) algorithm for detecting pictographs. In this paper, we propose a novel robot navigation scheme using the result of pictograph detection. Our system integrates the position estimation results by the pictograph detection and the results by odometry, and derives the path to the goal position of the robot. We verify the effectiveness of our scheme by experiment with our prototype.
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瀬戸 太郎, 子安 大士, 前川 仁, 川崎 洋, 小野 晋太郎
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セッションID: 1A2-I06
発行日: 2013/05/22
公開日: 2017/06/19
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Range-based ego-motion estimation method, which is so-called "scan-matching", has an important role in robotics. However, iterative closest points (ICP), which is basic scan-matching method, assumes that the error of obtained range data is constant. This degrades estimation results when the robot uses sensors whose error is not constant, i.e.stereo vision. In this paper, we propose a ICP-based ego-motion estimation method considering range ambiguity of the stereo vision. The key idea is comparing obtained 3D points in not Euclidean space but disparity space. We implement the method to the robot mounting omnidirectional stereo vision. Simulation experiments are conducted to show the effectiveness of our method.
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吉田 修子, 水内 郁夫
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セッションID: 1A2-J01
発行日: 2013/05/22
公開日: 2017/06/19
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Many kinds of robot hands intended to manipulate objects have been developed. But it is difficult for robots to manipulate an object which has unknown frictional state and weight surrounded by many other objects. On the other hand, it is easy for a person to manipulate such an object because we have haptic sense such as force and tactile sense on our body, and we utilize them effectively in manipulating such an object. In this study, to teach sensor-based object manipulation skills to robots, we have developed a wearable operation device as a master device and an end effector as a slave device of a master-slave system that can transfer the haptic information from the robot to the operator.
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菊池 駿音, 平田 清隆, 森田 寿郎
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セッションID: 1A2-J02
発行日: 2013/05/22
公開日: 2017/06/19
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Human does not seems to be conscious of fingers individually. Several basic researches indicate that the contribution by physical structure and the nervous system is occupied in grasping motion. Applying and understanding such a nature, it is expected to lead to the performance enhancement and the development of design index of the human robot hand. Therefore we pay attention to a phenomenon called Enslaving Effect(EE) where it contributes to a solution to the problem of the variety of grasping motion of the human in this paper and analyze how EE occurs by a difference of the size of grasping object. As a result, the flexibility of the multi- fingered hand suggested that it was constant without depending on grip scale as interlocking movement in the each grip pattern that becoming it was possible. But it was revealed that EE has tendency to become small based on the placement of the finger and the size it was easy to catch for human.
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山川 雄司, 中農 士誠, 妹尾 拓, 石川 正俊
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セッションID: 1A2-J03
発行日: 2013/05/22
公開日: 2017/06/19
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A dynamic manipulation of flexible object is needed for food industry. In this paper, we propose a new entirely strategy of rotational holding of discotic flexible object, and verify the proposed strategy by simulations. In this strategy, one finger holds a center of gravity of the object, and another finger holds an angular velocity at constant. Simulations show that we need at most two control points in order to hold a rotational steady state of the discotic flexible object.
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掃部 雅幸, 高山 裕規, 蓮沼 仁志, 村上 潤一
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セッションID: 1A2-J04
発行日: 2013/05/22
公開日: 2017/06/19
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We have developed the robot hand for Cell-Culture robot operation system. The robot system will be used for the regenerative medicine. The developed hand has a sealed mechanism for the clean operation environment and can not only handle targets, but also operate some tools.
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園田 拓真, 多田隈 建二郎, 多田隈 理一郎, 東森 充, 金子 真
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セッションID: 1A2-J05
発行日: 2013/05/22
公開日: 2017/06/19
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Various robot hands are studied by many researchers. Complex robot hand like a human hand can grasp awkward shape objects but need very complex control. On the other hand, simple robot hands are also developed. For example, Omni-Gripper that used torus tube. In this research, we add outer shell to Omni-Gripper and fingers to the outer shell in order to solve the problem that buckling of the gripper and use the gripper for the palm of robot hand. The shell is not simple thin cylindrical shell but that has rollers on the both ends. Through the grasping experiment, we confirmed the effectivity of outer shell and Omni-Gripper on the palm.
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宮田 なつき, 中村 大輝, 前田 雄介
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セッションID: 1A2-K01
発行日: 2013/05/22
公開日: 2017/06/19
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This paper proposes a method to reproduce human hand surface shape precisely by combining statistical adjustment with skeletal subspace deformation (SSD). Plaster molds of the hand in variable postures were fabricated for one subject and their 3D shapes were obtained by computer tomography scan. A SSD model was prepared to compute adjustment vector. Feature points were manually selected from each plaster mold and SSD model. Difference of each feature point on a SSD model and corresponding one on a plaster model was collected from all the plasters and analyzed with postures to estimate adjustment vector for the feature point on SSD model in arbitrary posture. The rest of the points were adjusted using adjustment vectors of nearest three feature points.
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北村 哲, 北村 光司, 西田 佳史, 栄 健一郎, 保田 淳子, 溝口 博
原稿種別: 本文
セッションID: 1A2-K02
発行日: 2013/05/22
公開日: 2017/06/19
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Social participation is essential for health promotion, but it requires that participation is designed considering each individual's health status, capabilities, and desires, which vary greatly. In particular, a person with a disability may require a detailed individualized plan. In this study, we present a system for supporting the rehabilitation of patients through promoting their community participation. The system has a function for using a smartphone to create a community map in consideration of a life function, based on the codes designed by the World Health Organization International Classification of Functioning, Disability, and Health (ICF). It also has a function that recommends walking routes that take into consideration the patients' physical function and how they wish to participate in their communities. This study describes our practice at Nagata, Kobe, Japan and assesses the effectiveness of this system.
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平田 晃久, 北村 光司, 西田 佳史, 本村 陽一, 溝口 博
原稿種別: 本文
セッションID: 1A2-K03
発行日: 2013/05/22
公開日: 2017/06/19
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To design safety products, it is needed to predict usage pattern and risk scientifically based on actual data. One of the approaches is to use actual accidents data in the past but it is difficult to retrieve and analyze them because accidents data are described with free description. In this paper, the authors proposed a method which enables to understand summaries of accidental situations under specified conditions and its similar accidental situations by describing accidental situation with structuralized description. We reported about a system developed for realizing the proposed method and its application to actual burn and scald accident data.
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明瀬 英行, 小泉 喜典, 高野 太刀雄, 西田 佳史, 北村 光司, 溝口 博
原稿種別: 本文
セッションID: 1A2-K04
発行日: 2013/05/22
公開日: 2017/06/19
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Laceration frequently occurs in daily environment. However laceration generating mechanism is still unclear. In this paper, we describe a system for analyzing dynamic characteristics of biological materials. The system consists of two high-speed cameras and a drop tester. This paper reports experimental results for revealing fracture property of laceration.
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広野 孝祐, 前田 雄介, 宮田 なつき
原稿種別: 本文
セッションID: 1A2-K05
発行日: 2013/05/22
公開日: 2017/06/19
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We propose a novel approach to construct a grasp database used on contact region information. This method is classifying grasping postures by contact regions on human hand's surface when grasping objects. Consequently, the grasping posture is generated by the information of contact regions on the hand and corresponding points on the object. It does not depend on the information of shape or size of the objects. Therefore, it can easily generate the grasping postures for various shaped objects. In this paper, we explain the structure of grasp database and the method of generating grasp postures using the database, and show experimental results of grasp synthesis for various shaped objects.
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春日 照之, 池田 篤俊, 高松 淳, 小笠原 司, 竹村 裕, 小杉 真一, 田中 康仁
原稿種別: 本文
セッションID: 1A2-K06
発行日: 2013/05/22
公開日: 2017/06/19
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In this paper, we propose the three-dimensional analysis method of arches deformation of the foot using geometric approximation. In previous studies, the longitudinal arch of the foot was analyzed by connecting the markers measured by optical motion capture with the straight lines. We analyzed arches deformation of the foot using the ellipse and ellipsoid approximation because the arch of foot is a curve. The change of each axial length of the ellipse and ellipsoid corresponds to the change of the arch length and the arch height before and after the load. Then we compared the analysis results with the previous knowledge.
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幸坂 博史, 吉川 雅博, 田中 秀幸, 松本 吉央, 溝口 博
原稿種別: 本文
セッションID: 1A2-K07
発行日: 2013/05/22
公開日: 2017/06/19
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In order to develop useful assistive devices, it is necessary to analyze and understand the function of human. In this study, the activities of daily living were recorded and the performance of dominant and non-dominant hand was classified according to ICF (International Classification of Functioning, Disability and Health) approved by WHO. As a result, it was revealed that the use of both hands makes a great difference. It will be reasonable to design assistive devices such as prosthetic hands for non-dominant hand to have less function (degree of freedoms, payloads etc.) than assistive devices for dominance hand.
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鮎澤 光, 中村 仁彦
原稿種別: 本文
セッションID: 1A2-K08
発行日: 2013/05/22
公開日: 2017/06/19
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Robotics computation theory has been applied for the analysis of a human musculoskeletal system in recent days. There are some challenges to accelerate the computation for the detailed analysis of long time motion or the real-time applications assisting rehabilitation or training. In this paper, we developed a quadratic programming solver for inverse dynamics computation of musculoskeletal models. The solver is based on the active-set method. The computation of the cost function and its gradient vector can be represented by the kinematics and dynamics computation of multi-body systems. We also combined the algorisms for large-scale optimization in order to accelerate the computation.
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遠藤 維, 多田 充徳, 持丸 正明
原稿種別: 本文
セッションID: 1A2-L01
発行日: 2013/05/22
公開日: 2017/06/19
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We propose a new software system for aiding human centered design for various products. This system, called "DhaibaWorks", realizes virtual ergonomic assessment by integrating our digital human models, called "Dhaiba", with product models. In this paper, we describe the overview of Dhaiba models.
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遠藤 維, 多田 充徳, 持丸 正明
原稿種別: 本文
セッションID: 1A2-L02
発行日: 2013/05/22
公開日: 2017/06/19
会議録・要旨集
フリー
We propose a new software system for aiding human centered design for various products. This system, called "DhaibaWorks", realizes virtual ergonomic assessment by integrating our digital human models, called "Dhaiba", with product models. In this paper, we describe the overview of the various support functions pertaining human centered design by using Dhaiba models.
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遠藤 維, 多田 充徳, 持丸 正明
原稿種別: 本文
セッションID: 1A2-L03
発行日: 2013/05/22
公開日: 2017/06/19
会議録・要旨集
フリー
We propose a new software system for aiding human centered design for various products. This system, called "DhaibaWorks", realizes virtual ergonomic assessment by integrating our digital human models, called "Dhaiba", with product models. In this paper, we describe the functional overview and the system design of DhaibaWorks.
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