検索結果 789件中 1-20 を表示

  • IXM:ロボット制御ソフトウェア向けプロセス間通信ミドルウェア

    菅谷 みどり , 松原 豊 , 住谷 拓馬 , 中野 美由紀

    … いては,機能ごとに別々のプログラムを開発し,それらのプログラム間でセンサ値や制御命令などのデータを通信することで,互いに連携できるよう支援するミドルウェアが用いられる.ROS(Robot Operating System)は,通信機能が単純で,サポートされる機器も豊富であることことから急速に普及している.その一方で,Linuxが動作する高性能コンピュータを用いることを前提としているので,性能が限 …

    情報処理学会論文誌 58(10), 1578-1590, 2017-10-15

    情報処理学会

  • Flocking for Multirobots Without Distinguishing Robots and Obstacles

    Sakai Daito , Fukushima Hiroaki , Matsuno Fumitoshi

    … Most existing studies of multiple mobile robots assume that robots can distinguish between other robots and obstacles. … In this brief, we propose a flocking algorithm that does not distinguish between a robot and an obstacle. … Furthermore, unlike many previous studies, the effectiveness of the algorithm is demonstrated not only by simulations, but also in real robot experiments. …

    IEEE Transactions on Control Systems Technology 25(3), 1019-1027, 2017-05-01

    機関リポジトリ DOI

  • Design and Assessment of Sound Source Localization System with a UAV-Embedded Microphone Array (Special Issue on Robot Audition Technologies)

    Hoshiba Kotaro , Sugiyama Osamu , Nagamine Akihide , Kojima Ryosuke , Kumon Makoto , Nakadai Kazuhiro

    Journal of robotics and mechatronics 29(1), 154-167, 2017-02

  • 大規模地図構築のためのランドマークを用いた自動地図統合

    町中 希彰 , 黒田 洋司

    … When constructing a large-scale map using multiple robots, the coordinate system of each maps created, must be unified into one coordinate system. … Since the area where the robot is active has a large scale, both outdoors and indoors, a map building method which can correspond to any environment is necessary. … An optimization process is performed on a map created by multiple robots, thereby realizing constructions of a map with a higher accuracy. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 2P2-A05, 2017

    J-STAGE

  • チャレンジ&カバー戦術のサッカーロボットへの実装

    南﨑 亮吾 , 松本 康平 , 石井 和男

    … Therefore, cooperative defense behavior system by multiple robots is required. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 2P1-J10, 2017

    J-STAGE

  • ロボカップサッカーにおけるキックシステムの開発

    町田 直人 , 久野 顕司 , 石井 和男

    … In recent years, the pass behavior has been required as cooperative behavior of multiple robots. … When doing the pass behavior it is necessary to use with the trajectory of ball which the receiver robot is easy to receive. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 2P1-K08, 2017

    J-STAGE

  • 環境センサを利用した複数ロボットのタスク管理システムの開発

    藤本 一真 , 中井 智之 , 中村 幸博 , 松日楽 信人

    … So, we developed a photography robot using RT-Middleware. … However, measuring ranges of sensors mounted on the robot were limited. … Therefore, we developed a robot cooperation system using an Intelligent Space, Kukanchi. … We connected robots to the Kukanchi system to realize automatic photography service. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 2A2-J12, 2017

    J-STAGE

  • リアルタイム遮蔽物透視システムのための微小な位置ズレのあるRGB-D画像対の位置合わせ

    橘高 達也 , 藤井 浩光 , 山下 淳 , 淺間 一

    … For remote operation of robots in dangerous situations such as disaster sites, providing robot operators with appropriate visual information is important. … So far, we have proposed the "see-through system", in which multiple images acquired from RGB-D sensors are integrated to present images of objects as if they are seen through obstacles. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 2A1-P02, 2017

    J-STAGE

  • 狭隘不整地を移動するロボットのための可変屈曲剛性を持つ連結分離機構

    土居 隆宏 , 奥村 林礼

    … We propose the idea of the robot system and design of 1) split into multiple units, 2) connect/disconnect by coupling mechanism, and 3) changeable rigidity. … The concept of the robot system, design and force analysis of the coupling mechanism, and experimental results of the prototype coupling mechanism are shown.</p> …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 2A1-D08, 2017

    J-STAGE

  • 柔軟索状ロボットにおける独立低ランク行列分析と統計的音声強調に基づく高品質ブラインド音源分離の開発

    三井 祥幹 , 溝口 聡 , 猿渡 洋 , 越智 景子 , 北村 大地 , 小野 順貴 , 石村 大 , 前 成美 , 高草木 萌 , 松井 裕太郎 , 山岡 洸瑛 , 牧野 昭二

    … <p>In this paper, we propose a novel blind source separation method for the hose-shaped rescue robot based on independent low-rank matrix analysis and statistical speech enhancement. … The rescue robot is aimed to detect victims'speech in a disaster area, wearing multiple microphones around the body. … In addition, the vibration noise (ego-noise) is generated when the robot moves, yielding the serious contamination in the observed signals. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 1P2-P04, 2017

    J-STAGE

  • 水噴射による索状体の能動化システムの開発

    安藤 久人 , 安部 祐一 , 昆陽 雅司 , 多田隈 建二郎 , 円山 重直 , 田所 諭

    … We revealed the capability of improving robot's mobility and responding new emergency tasks by applying air and water jets as the new actuation technology. … In this paper, we show the logic model of the Nozzles of Active Hose System by Waterjets and we apply the results for further development of the system.</p> …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 1P2-P02, 2017

    J-STAGE

  • 複数の全方位カメラによるマーカを用いた位置計測

    黒沢 賢一 , 笹木 亮 , 畑山 直哉 , 舩戸 昌宏

    … <p>The stereo measurement method is applied to an autonomous mobile robot or a car. … The relative position of the camera is necessary for this MMS method, but we cannot measure the relative position and the distance at the same time with the system which we used. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 1P2-K01, 2017

    J-STAGE

  • 装着型アシストロボットの接触部位形状検討のための複数台のKinectを用いた体表面形状計測

    伊藤 大輝 , 舟洞 佑記 , 道木 慎二 , 道木 加絵

    … In response to the requirement, a control system based on pressure distribution has been researched. … However, a robot structure suitable for the control method measured by tactile sensor has not been cleared. … In this paper, in order to consider a suitable structure for wearable assist robots with tactile sensor 3D body surface measurement system is presented. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 1P2-J07, 2017

    J-STAGE

  • 移動探査ロボットの群制御による探査の効率化に関する研究

    松山 森仁 , 大坪 義一

    … It is efficiency to investigate using multiple mobile search robots at the disaster area. … We apply to the new operating system using ROS to execute the trajectory tracking control with UMRS2009. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 1P2-N04, 2017

    J-STAGE

  • 脚ロボットにおける連続的な移動・手先動作遷移に対応可能な遠隔操作インタフェースの開発

    江藤 孝紘 , 佐藤 隆哉 , 仁内 智志 , 中村 早紀 , 亀﨑 允啓 , 岩田 浩康

    … Furthermore, it is required that robots have to be operated intuitively since such disaster response robots have multiple degree of freedom. … In order to deal with these requirements, we developed a master-slave interface system using magnetic sensors and data gloves for hand movement so that robots can be operated intuitively, and using foot pedals for body movement so that systems can manage sequential transition between hand and body movement. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 1P1-Q04, 2017

    J-STAGE

  • ロボット間通信を可能とした円弧歯車型モジュラーロボットの設計開発

    栗田 千河 , 池本 有助 , 福田 敏男

    … <p>The purpose of this study is to design and develop circular-arc-gear type modules which enabled inter-robot communications. … In the recent modular robotics, there have been a lot of modular robots, however, circular-arc-gear type module robots which enabled inter-robot communications hasn't been developed. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 1A1-F12, 2017

    J-STAGE

  • 信号多重化技術を用いた空間的にシームレスな局所的通信システムの通信速度改善

    赤川 徹朗 , 新井 義和 , 今井 信太郎 , 猪股 俊光

    … <p>In multiple robots environment, it is an essential technique that the robots avoid collisions with each other. … To achieve efficient collision avoidance, it is desirable that each robot avoids surrounding robots considering not only their positions but also their behaviors. … We have developed spatially seamless local communication system in order to exchange behaviors between the robots. …

    ロボティクス・メカトロニクス講演会講演概要集 2017(0), 1A1-E03, 2017

    J-STAGE

  • レーザスキャナを搭載する複数移動ロボットによる非GNSS環境下での協調移動物体追跡

    金生 翔太 , 橋本 雅文 , 余田 侑仁 , 高橋 和彦

    … <p>This paper presents a laser-based tracking (estimation of pose and size) of moving objects using multiple mobile robots in Global-navigation-satellite-system (GNSS)-denied environments. … Each robot is equipped with a multilayer laser scanner and detects moving objects, such as people, cars, and bicycles, in its own laser-scanned images by applying an occupancy-grid-based method. …

    日本機械学会論文集 83(854), 17-00138-17-00138, 2017

    J-STAGE

  • Optimizing Decision Making for Safe Navigation Using a Robot Operating System

    ZHANG Ruolan , FURUSHO Masao

    日本航海学会誌 NAVIGATION 199(0), 13-14, 2017

    J-STAGE

  • レーザスキャナを搭載する複数移動ロボットによる非GNSS環境下での協調移動物体追跡

    金生 翔太 , 橋本 雅文 , 余田 侑仁 , 高橋 和彦

    … <p>This paper presents a laser-based tracking (estimation of pose and size) of moving objects using multiple mobile robots in Global-navigation-satellite-system (GNSS)-denied environments. … Each robot is equipped with a multilayer laser scanner and detects moving objects, such as people, cars, and bicycles, in its own laser-scanned images by applying an occupancy-grid-based method. …

    日本機械学会論文集, 2017

    J-STAGE

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