我々はロボカップサッカー中型ロボットリーグ（以下，MSLとする）での適用を想定し，球体を用いた全方向移動機構の開発を行った．MSLに参加する多くのロボットは，オムニホイールと呼ばれる車輪の円周上に複数個のフリーローラを取り付けた特殊車輪を用いて全方向移動を実現している．オムニホイールは容易に全方向移動を実現できるが，一方で使用環境が限定されることや走行面の段差や摩擦の変化に対して走行安定性を失いやすい等の欠点がある．MSLにおいても走行面を完全にフラットにするために，フィールドカーペットの下に板を敷き詰める等の対策が行われている．我々はこれらの課題克服を目指し，MSLだけでなく実用的な産業応用を視野に入れた移動機構の開発を行った．試作機を用いた外乱に対する走行実験や，積載重量の増加に伴う移動精度の検証を行うことで走行性能の評価を行った．

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In skill discovery of a robot, the number of trials (i.e., evaluations of a score function) is highly limited since each trial takes much time and cost. In this case, memory-based learning, which retains and utilizes the history of trials, is efficient. There are mainly two approaches in studies of memory-based learning. One is an approach to estimate scores by using an approximation model of an original score function despite evaluating the score function. The other is an approach to estimate proper scores in a noisy score function. In this paper, we take another approach to find unpromising search points and skip over the evaluations by characterizing a function class which a score function belongs to. We call this approach thinning-out of search points in contrast to pruning of search trees. The main advantage of thinning-out is to make correct judgments definitely, which means that thinning-out skips over only unpromising search points, as long as the defined function class is proper. We show the properties of thinning-out by addressing the maximization problems of several test functions. In addition, we apply thinning-out to the problem of discovering of physical motions of virtual legged robots and show that the virtual robots can discover sophisticated motions that are much different from the initial motion in a reasonable amount of trials.

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In this paper, we present a real-time decision making method for a quadruped robot whose sensor and locomotion have large errors, considering the observational cost and the optimality. We make a State-Action Map by off-line planning considering the uncertainty of the robot's location with Dynamic Programming. Using this map, the robot can immediately decide optimal action which minimizes the time to reach a target state at any states. The number of observation, swinging its head, is also minimized by taking the time cost of observation into account. We compress this map for implementation with Vector Quantization. The total loss of optimality through compression is minimized by using the differences of the values between the optimal action and the others. In the simulation, the performance of some soccer behaviors were improved in comparison with current methods. The low computation under the restriction of the memory was verified in the experiment.

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ロボットビジョンにおいて,カラー画像から特定の色領域を抽出し,認識をすることは重要である.しかし,カメラから得られる色情報は照明変化などにより,色の分布が変化する.そこで,本論文では既知の色のついた物体を用いることで,色認識のロバスト化を図る.提案する手法の有効性は,実機実験の結果により示す.

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　Purpose: The purpose of this study was to examine the relationships between changes of direction (COD) performance, physique factors and physical strength factors in amputee soccer players.
　Methods: The subjects were 18 male amputee soccer players. Measurement items included height, weight and BMI, as well as grip strength, toe grip strength, standing jump, medicine ball throw (2 kg), 30 m sprint test (20 m sprint speed and maximum speed) and 3 different types of angle COD test (45° zigzag running, 90° zigzag running and 135° zigzag running). COD performance was defined using 2 indicators: “COD speed” (20 m/COD time) and “COD index” (COD speed/20 m sprint speed). Correlation analysis was performed to examine the relationship between COD performance and the other measurement items. Also, t-test was used to compare the COD performance of the remaining lower limb and healthy lower limb. The level of significance was set at P＜0.05.
　Results: 1) With regard to the relationship between each COD performance and sprint performance, the 20-m sprint speed showed a significantly higher positive correlation with all COD speeds (r = 0.707-0.842). 2) With regard to the relationship between each COD performance and physique factors, a significant positive correlation was found between the 135° zigzag speed and both height (r = 0.476) and weight (r = 0.517). Also, a significant positive correlation was found between the 90° zigzag speed and weight (r = 0.498). 3) With regard to the relationship between each COD performance and physical strength factors, the standing long jump was found to have a significant positive correlation with 90° zigzag speed (r = 0.530) and 135° zigzag speed (r = 0.488). In addition, a significant positive correlation was found between the medicine-ball throw and the 45° zigzag index (r = 0.520). 4) With regard to the relationship between each COD performance and the remaining lower limb, only the 45° zigzag performance showed a significant correlation with the healthy lower limb and not the remaining lower limb (p＜0.05).
　Conclusion: While sprint performance was related to the COD performance of amputee soccer players, it was suggested that the influences of physique factors and physical strength factors differed depending on the angle at which the COD test was set. In addition, it was suggested that there may be restrictions on the COD performance of the remaining lower limb.

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The story of Japanese tennis great Zenzo Shimizu's commendable behavior on the tennis court at the 1921 Davis Cup has been handed down to generations of Japanese school children. During a close championship match against an American team featuring tennis star Bill Tilden, Shimizu made a soft return of one of Tilden's shots because Tilden had slipped after making the shot. From this incident, Shimizu has been praised highly for his sportsmanship. The story was told in Japanese middle school textbooks before World War II and was adopted after the war for elementary school textbooks until the 1950's. However, an author began to doubt the truthfulness of the episode involving the two tennis legends, and there suddenly arose debate over whether or not the incident really happened. This study considers the authenticity of the event, focusing on Kaneji Yajima, who was the author that wrote the original account. The conclusion is summarized as follows: 1) Many of the accounts included in school textbooks had deviated from the writer's intension as they were handed down from textbook to textbook. Various adaptations were published by authors and editors who lost focus of the facts in relaying the moving events of the story. 2) In the post-war adaptations of the episode, the event occurred at the 1920 Wimbledon Tennis Championships rather than at the 1921 Davis Cup. In fact, a book was found which shows that Tilden slipped while playing against Shimizu during their 1920 match at Wimbledon. 3) Kaneji Yajima wrote his story in order to emphasize the instructive potential that sports has to offer. This study considers that Yajima created the inspirational story knowing full well that Tilden never slipped during the Davis Cup match. Yajima wanted to express an educational viewpoint that it is not good to stick to the extreme principle of competition and victory. The international event and Shimizu's fabled behavior embodied Yajima's ideal of athleticism and sportsmanship. A few historical facts about the incident have been successfully probed for accuracy, but there remains much conjecture and interpretation in this study. The matter calls for further investigation.

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The Urawa Red Diamonds is a representative "big club" in J1-league. It not only won the championship of the J-league 2006 season for the first time in the club's history, but also had an average of 45, 573 attendance per game in that year, which was the league record in the J-league history. Its annual income was 5.8 billion yen. But it was not an easy task for the club to realize this position. The management of the club had been strongly affected by the parent company. Because of the failure of the parent company, the team was demoted to the J2-league in the year 2000 season. The team's success came after the club gained autonomy in management and implemented active reforms. This paper reports on how the Urawa Red Diamonds increased the team performance, the attendance, and the revenue, leading to success.

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スポーツ精神医学の臨床面での取り組みは，アスリートが抱えるこころの問題の抽出・予防と精神疾患のある人へのスポーツの治療効果を明らかにすることである．前者はオーバートレーニング症候群，摂食障害，アルコールやドーピングの問題などで，アスリートの身体的治療に関与する整形外科医もこれらの問題を少なからず経験すると思われる．後者については，当事者のリカバリーを後押しすることが期待されるが，精神障がい者スポーツの普及とともに外傷などの身体的な問題が生じてきている．今後はスポーツにおける整形外科領域と精神科領域との相互理解，連携・協力が求められるであろう．

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移動ロボットにおいて自己位置推定は最も重要な課題の一つである．ロボカップサッカーにおいても自己位置は障害物回避や経路計画，行動判断アルゴリズムにおける基本的な情報となっている．ロボカップサッカーロボットの動作環境は，複数のロボットが常時移動しているため動的に変化することに加え，各ロボットの自己位置情報は、照明状態の変化や車輪のスリップ等が存在するため，単体のロボットによる推定では限界がある。 提案手法では，ボールを全ロボットにおける共通のランドマークとして設定し，ランドマーク情報を共有することにより，複数のロボットを用いて自己位置推定を行う．提案手法を各ロボットに実装し、実環境における推定精度の評価を行った。本論文では、実環境において情報共有に基づいた自己位置推定実験を行ったので、その結果を報告する。

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