巻号一覧
48 巻, 7 号
選択された号の論文の11件中1～11を表示しています
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<特集 第16回ロボティクスシンポジア>
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余 永, 渡邊 睦, 竹囲 年延2012 年 48 巻 7 号 p. 363
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーPDF形式でダウンロード (128K)
論文
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原田 研介, 辻 徳生, 永田 和之, 山野辺 夏樹, 丸山 健一, 中村 晃, 河井 良浩2012 年 48 巻 7 号 p. 364-372
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーThis paper proposes a method for planning a grasping posture for a parallel gripper attached at the tip of a robot manipulator. In order to robustly grasp several objects with various shapes, we consider a gripper having flexible sheets attached at the finger surface. We show that, by constructing a set of triangular mesh of the grasped object's polygon model, we can plan the grasping posture taking the flexibility of the grasping surface into consideration. We also show that we can define several parameters used when planning the grasping posture for each set. The effectiveness of the proposed method is verified by numerical examples and experimental results.抄録全体を表示PDF形式でダウンロード (1830K) -
米澤 直晃, 柏崎 耕志, 小菅 一弘, 平田 泰久, 菅原 雄介, 遠藤 央, 神林 隆, 鈴木 公基, 村上 和則, 中村 健一, 中西 ...2012 年 48 巻 7 号 p. 373-382
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーIn this article, a new car transportation system which consists of two MRWheels (a Mobile Robot for a Wheel) is proposed. The system grasps only two front wheels of a front-wheel-drive vehicle and positions it. Therefore, it is possible that the system make smaller than the previous car transportation systems using multiple robots. However, the system has nonholonomic constraints because rear wheels of the vehicle are not lifted by the system. And it is necessary to transport vehicles that the system lifting front wheels knows their rear wheels' position. Therefore, to transport the vehicle, a motion control algorithm for the system and a vehicle's wheelbase estimate algorithm by mechanical interaction are proposed. First, a motion control algorithm based on the chained system is illustrated. Next, the system is applied Impedance Control to achieve the passive motion along its nonholonomic constraints when it doesn't know the vehicle's size. After that, the wheelbase estimate algorithm based on Impedance Control and its convergence are described. Finally, through preliminary experiments, the concept of the system is illustrated and the effectiveness of proposed algorithm is confirmed.抄録全体を表示PDF形式でダウンロード (2378K) -
福島 洋介, 三田 信2012 年 48 巻 7 号 p. 383-388
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーIn this paper, the authors propose a concept of an onboard management mechanism to handle mission planning, scheduling, executing, and system monitoring, that is commonly necessary for many fields of autonomous remote systems. The main emphasis is placed on the onboard script-engine to implement the algorithm of re-planning of on-going mission so that the paper introduces a new type of command, “logic command”. The logic command is a kind of a sub-routine that can be sent in the same way as usual commands, but it makes onboard software behavior change to respond in any situation. In addition, an experimental implementation of the proposal onto an AUV is also shown.抄録全体を表示PDF形式でダウンロード (1039K) -
柏崎 耕志, 米澤 直晃, 小菅 一弘, 菅原 雄介, 平田 泰久, 遠藤 央, 神林 隆, 篠塚 博之, 鈴木 公基, 小野 右季2012 年 48 巻 7 号 p. 389-398
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーThe authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.抄録全体を表示PDF形式でダウンロード (2704K) -
鈴木 太郎, 北村 光教, 天野 嘉春, 橋詰 匠2012 年 48 巻 7 号 p. 399-405
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーThis paper describes a GNSS (Global Navigation Satellite System) precise point positioning (PPP) technique that can be applied to mobile robots in urban environments. The multipath signals, which from invisible satellites in urban area, cause serious effect on the GNSS positioning. Our proposed technique mitigates GNSS multipath signals by means of an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites by using IR images. With an IR camera, the sky appears distinctively dark. This facilitates the detection of the borderline between the sky and the surrounding buildings, which are captured in white, because of the difference in the atmospheric transmittance rates between visible light and IR rays. Positioning evaluation was carried out only with visible satellites that have less multipath errors. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.抄録全体を表示PDF形式でダウンロード (3048K) -
奥野 敬丞, 稲邑 哲也2012 年 48 巻 7 号 p. 406-412
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーA robotic coaching system can improve humans' learning performance of motions by intelligent usage of emphatic motions and adverbial expressions according to user reactions. In robotics, however, method to control both the motions and the expressions and how to bind them had not been adequately discussed from an engineering point of view. In this paper, we propose a method for controlling and binding emphatic motions and adverbial expressions by using two scalar parameters in a phase space. In the phase space, variety of motion patterns and verbal expressions are connected and can be expressed as static points. We show the feasibility of the proposing method through experiments of actual sport coaching tasks for beginners. From the results of participants' improvements in motion learning, we confirmed the feasibility of the methods to control and bind emphatic motions and adverbial expressions, as well as confirmed contribution of the emphatic motions and positive correlation of adverbial expressions for participants' improvements in motion learning. Based on the results, we introduce a hypothesis that individually optimized method for binding adverbial expression is required.抄録全体を表示PDF形式でダウンロード (903K) -
余 永, 岩下 説志, 川平 和美, 林 良太2012 年 48 巻 7 号 p. 413-422
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーThis paper develops a functional recovery training device to perform repetition facilitating exercise for hemiplegic finger rehabilitation. On the facilitation exercise, automatic finger expansion can be realized and facilitated by stretch reflex, where a stimulation forces is applied instantaneously on flexion finger for making strech reflex and resistance forces are applied for maintaining the strech reflex. In this paper, novel parallel mechanisms, force sensing system with high sensitivity and resistance accompanying cooperation control method are proposed for sensing, controlling and realizing the stimulation force, resistance forces, strech reflex and repetition facilitating exercise. The effectivities and performances of the device are shown by some experiments.抄録全体を表示PDF形式でダウンロード (3065K)
論文
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藤本 理唯宇, 坂本 登2012 年 48 巻 7 号 p. 423-430
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーIn this paper, the problem of swing up and stabilization of an inverted pendulum by a single feedback control law is considered. The problem is formulated as an optimal control problem including input saturation and is solved via the stable manifold approach which is recently proposed for solving the Hamilton-Jacobi equation. In this approach, the problem is turned into the enhancement problem of the domain of validity to include the pending position. After a finite number of iterations, an optimal feedback control law is obtained and its effectiveness is verified by experiments. It is shown that the stable manifold approach can be applied for systems including practical nonlinearities such as saturation by directly deriving a controller satisfying the input limitation of the experimental setup. It is also reported that this system is an example in which non-unique solutions for the Hamilton-Jacobi equation exist.抄録全体を表示PDF形式でダウンロード (1535K) -
坂東 麻衣, 大須賀 公一, 藤井 隆雄, 山川 宏2012 年 48 巻 7 号 p. 431-440
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーIf two bodies move in circular orbits about their common centre of mass and the mass of the third body is too small to affect the motion of the other two bodies, the problem of the motion of the third body is called circular restricted three-body problem (CR3BP). This system has five equilibrium points which is known as Lagrangian points. Among five equilibrium points, L4 and L5 Lagrangian points are stable while L1, L2 and L3 are unstable. In this paper, we consider the motion in the vicinity of the L4,5 Lagrangian points where the implicit control structure provides an insight into the control structure underlying the problem.抄録全体を表示PDF形式でダウンロード (883K) -
織田 知仁, 加嶋 健司, 井村 順一, 宮崎 修司, 森田 洋2012 年 48 巻 7 号 p. 441-449
発行日: 2012年
公開日: 2012/08/16
ジャーナル フリーIn this paper, stationary iterative methods for large-scale Toeplitz-type systems are investigated from a control theoretic point of view. We utilize spatially invariant structure of Toeplitz matrices, to avoid the curse of dimensionality arising in analysis and design of the convergence properties. Nonlinearities in the system are theoretically handled within the small gain and stability analysis for Lur'e systems. This theory enables us to achieve the desired global convergence of the proposed numerical scheme. We also evaluate the efficacy of the proposed method through an application to magnetic field analysis.抄録全体を表示PDF形式でダウンロード (1512K)
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