All issues
Volume 51, Issue 5
Displaying 1-11 of 11 articles from this issue
- |<
- <
- 1
- >
- >|
Special Issue on The19th Robotics Symposia I
-
[in Japanese], [in Japanese], [in Japanese], [in Japanese], [in Japane ...2015 Volume 51 Issue 5 Pages 281
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESSDownload PDF (120K)
Paper
-
Tetsuhide GO, Tatsuya OSAWA, Teruyoshi OGAWA, Taro NAKAMURA2015 Volume 51 Issue 5 Pages 282-289
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESSWe have developed the traveling wave type omni-directional mobile robot that imitates the snail locomotion mechanism. An advantage of this movement mechanism is that it enables stable motion because of a large contact area. We think that this stable motion is applicable to wall climbing. In this paper, we developed magnetic adhesion mechanism that can be switched adhesion and installed it in the robot. Furthermore, we confirmed the performance of this robot through experiments.View full abstractDownload PDF (2474K) -
—Application to a Large Intestine of Dead Swine—Takaichi YANAGIDA, Teppei KAMAGATA, Taro NAKAMURA2015 Volume 51 Issue 5 Pages 290-296
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESSThis paper describes a development of an colonoscopic device that veering-out a latex tube with jamming by granular materials and an application to a large intestine of dead swine. Recently, colorectal cancer is increasing. However, the cancer can be cured completely if it is discovered and treated early with a large intestine endoscope. A conventional endoscope can screen and heal the inside of the intestine, but such surgery is difficult for doctors. In this study, in order an attempt to solve these problems, we propose an endoscopic device that veering-out a latex tube with jamming by granular materials. This device can pass through the sigmoid colon of dead swine that is set like a human without difficult operation. Unlike other endoscopic robots, our device can support the endoscope. Thus we can easily perform various functions of the conventional endoscope. Here we explain our device using rice as jamming material. Next, we describe our experiment confirming the efficacy in large intestine model. We also confirm the availability of the endoscopic support device for use in the large intestine of a dead swine.View full abstractDownload PDF (1801K) -
Naotaka HATAO, Ippei SAMEJIMA, Satoshi KAGAMI2015 Volume 51 Issue 5 Pages 297-308
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESSThis paper describes a method for tracking of moving objects in multiple categories with a LRF (laser range finder). The proposed method can track multiple moving objects robustly using a framework based on SJPDAF (sample-based joint probabilistic data association filter). It can continue tracking correctly if moving objects get close to other moving objects, and can track moving objects in different categories at the same time. We implemented the proposed method and obtained experimental results demonstrating its effectiveness.View full abstractDownload PDF (947K) -
Takayuki NAKAMURA, Shohei WAKITA2015 Volume 51 Issue 5 Pages 309-318
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESSThis paper proposes a new global scan matching algorithm using the CIF descriptors and a geometric constraint between keypoints. The CIF descriptor was proposed in our previous work. It is a feature decriptor that is invariant against a congruence transformation. In our previous work, our method was able to perform robust local scan matching using CIF decriptors, but was apt to fail global scan mathching where a large map is used as the reference scan. In this paper, in order to resolve this problem, we propose to use a geometric constraint between keypoints in addtion to the CIF decriptors for the global scan mathching task. Our method can perform global scan matching in a cluttered environment without using an initial alignment. Through experiment in real environment, we confirm the validity of our method by comparing the performance of our method and that of our previous method.View full abstractDownload PDF (2014K) -
Takaaki NISHIDA, Yoshitaka HARA, Takashi TSUBOUCHI2015 Volume 51 Issue 5 Pages 319-328
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESSIt is important for a robot to have an ability to classify the objects in the environment. In the people living environment such as offices, for the purpose of obstacle avoidance or object operation, it is desirable for a robot to recognize objects that have potentials to move. In this paper, an algorithm is proposed to classify the objects into the movable ones to omni-direction such as chairs with casters, moved ones usually by people such as chairs without any casters, the ones with wheels restricted moving direction such as platform trucks, the ones simply with wheels, and other objects. We use a depth camera that provides point clouds of the object: 1) We extract objects from input point cloud. 2) We segment the object into part elements by comparing horizontal sectional shapes at each height. 3) We distinguish the objects whether it has wheels or not by extracting circular shape. 4) We classify shape distribution of each part elements by principal component analysis. 5) We merge part elements which is same shape distribution, to decompose objects into parts. 6) Finally we classify the objects by shape features of the parts of objects. Furthermore, we have experiments of the classification of objects in consideration of movability in the indoor environment by a robot. The robot was able to classify correctly almost all movable objects in the room. As the experimental result, the robot was able to recognize almost all movable objects in the room.View full abstractDownload PDF (3173K) -
—Joint D.O.F Alignment Design Applying the Adaptive Function—Daisuke URA, Masatsugu IRIBE, Koichi OSUKA, Tetsuya KINUGASA2015 Volume 51 Issue 5 Pages 329-335
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESSAlmost traditional researches about legged robot's walking apply Zero Moment Point (ZMP) as the reference of motion control to avoid falling. And in order to control the ZMP based legged robots precisely, joints of the robots are generally composed by powerful and precise DC-motors with high reduction ratio, such as industrial robots. However these types of robots have been pointed out as their low-efficient walking motion, so more efficient legged walking robot and its control are needed. In such a background, we have tried to develop Passive Dynamic Walking robot design procedure with the aim of optimized design between the hardware structure and control. In this paper we propose a design procedure which applies the adaptive function embedded in Passive Dynamic Walking, and also investigate its effectiveness. Then we try to extend the legged robot design to limit cycle walking control.View full abstractDownload PDF (1282K) -
—Study of the Usage of ADL Assistance for Myopathy Patients and Neuro-rehabilitation Assistance for Apoplexy Patients—Eiichirou TANAKA, Shozo SAEGUSA, Louis YUGE2015 Volume 51 Issue 5 Pages 336-343
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESSAn assistance apparatus for upper limbs for patients who can control their finger but they cannot lift up their arms themselves, for example myopathy and hemiplegic patients, was developed. This apparatus can support to do ADL (Activities of Daily Living) motions (for instance, eating, writing, putting on making up, wiping his/her face, and so on) themselves. To confirm the effectiveness of assistance ability, we measured muscle activity while using the device, and compared the %MVC data between using the device or not. As a result, the activity decreased up to 80%, and the effectiveness of this device could be confirmed. Finally, the influence of the cerebral activity according to the difference of the operators and input devices for operation was measured. As a result, to apply in Neuro-Rehabilitation, it is effective for a rehabilitant to input the motion with a joy stick or a push switch by him/herself.View full abstractDownload PDF (2963K)
Paper
-
Tomoya IMANISHI, Kanae MATSUI, Hiroaki NISHI2015 Volume 51 Issue 5 Pages 344-351
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESSMany studies dealing with energy saving have been conducted from the viewpoint of mitigating global warming. However, most of them only consider energy saving and ignore total environmental impact toward human life. It is necessary to provide a comfortable workspace using efficient and optimized energy control, because excessive demand control may have a negative impact on a living environment. Excessive demand control also brings impact on efficiency of working and learning. In order to provide a comfortable indoor environment, some environmental indexes are necessary, including not only temperature, humidity, luminance, wind speed, but also CO2 concentration. In this paper, we propose a novel method to allocate power optimally by using learning efficiency, which contains both PMV and CO2 concentration as its index. We constructed experiments at real place with developed BEMS that enables both monitoring environmental indexes and controlling HVAC systems.View full abstractDownload PDF (1248K) -
Yasuaki KUROE, Hitoshi IIMA2015 Volume 51 Issue 5 Pages 352-360
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESSMulti-agent systems appear in a wide variety of fields such as engineering, economics and so on. There have been many studies on the multi-agent reinforcement learning in which each autonomous agent acquires its own action by reinforcement learning. Dilemma problems are typical classes of multi-agent problems. In these problems, the best action for each agent differs from the best action for the group of agents, which makes them difficult to solve. A typical example of dilemma problems is N-persons Iterated Prisoner's Dilemma (NIPD). There have been proposed several learning methods for the dilemma problems, especially for NIPD. In this paper we consider a class of dilemma problems and propose a reinforcement learning method which can learn the cooperative actions in the dilemma situations. Furthermore we apply the proposed method to NIPD and the Tragedy of the Commons and investigate its performance. It is shown through the numerical experiments that the proposed method makes it possible to learn the cooperative actions and possesses superior performance to that of the existing methods.View full abstractDownload PDF (362K) -
Soki KUGA, Yasuyuki SATOH, Hisakazu NAKAMURA, Yuh YAMASHITA2015 Volume 51 Issue 5 Pages 361-370
Published: 2015
Released on J-STAGE: May 23, 2015
JOURNAL FREE ACCESS“Dynamic extension” is commonly used for stabilization of planar vertical takeoff and landing (PVTOL) system. Most of controllers designed by this method suffer from singularities of division-by-zero. We propose a “static” control Lyapunov function (CLF) design method for a PVTOL system by using a CLF obtained by dynamic extension and minimum projection method. Then, we design an inverse optimal controller with the designed static CLF. Moreover, we show that the proposed controller successfully stabilizes a desired operating point even in the neighborhood of the singularity where the conventional dynamic extension can not stabilize.View full abstractDownload PDF (1377K)
- |<
- <
- 1
- >
- >|