研究者詳細 - 石井　和男

口頭発表・ポスター発表等 - 石井　和男

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人間とロボットが共生する未来社会のあり方を考える学研ヒルズ学際駅伝大会

藤永拓矢,Sungmin Nam,筑紫彰太,石井和男,浦環

日本ロボット学会学術講演会2019 日本ロボット学会

選手のポジショニングを用いた自己組織化マップによる戦略分析

富永萌子, 武村泰範, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>In the soccer games, the behavior selection of each player changes depend on the positional relationship of the ball and the every player's position on the field. The player closest to the ball near the opponent team's goal aims at a shot, and the farthest player waits at a position where he can return at any time to his own goal to protect. Currently most of RoboCup soccer teams keep the same strategy during the game so that the result of game depends on the ability of each player like speed of robot, quality of localization, obstacle avoidance and ball handling. Next issue for the robot intelligence is collaborated team behavior and strategy. The autonomous soccer robots are required to behave cooperatively and make decision using environment and game situation. In this research, the team strategy is analyzed based on the positions of human player using Self-Organizing Map (SOM).</p>

視覚情報に基づくトマト果実収穫ロボットの行動戦略（第三報）:―栽培環境を表現するモザイク画像生成のための特徴点マッチング―

藤永拓矢, 安川真輔, 李冰賀, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>This paper presents a feature point matching to generate mosaic image that expresses a cultivation environment, as a part of behavior strategy of tomato harvesting robot. Since that mosaic image requires tomato fruits and stems in front face, in this study, an IR image suitable for detecting the object in front is used. Proposed method uses robot moving distance and location of original feature point to decide detection area to search for feature point. Compare features of feature points in this area and original feature point, then decide matching point. Feature point matching of two consecutive infrared images was performed. By adding detection area of feature point, it is possible to reduce false matching.</p>

自律型水中ロボットの長期間展開に向けた研究開発

中村佳祐, 中西亮汰, 石井和男, 園田隆

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>Japan is a maritime country with vast territorial waters. Long-term investigation by Autonomous Underwater Vehicle (AUV) is desired for efficient investigation. This paper reports about deployment of long-term deployment system based on underwater charging station and evaluation of the system by simulator. It succeeded in docking to the station with 68% probability. As a result of the simulation, this system has the ability to be able to search 110 meters square area every day.</p>

自律型サッカーロボット群によるデータ統合に基づく物体追跡

權代拓大, 嶋田凌太, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>In order to realize cooperative behavior in an autonomous robot, it is necessary to have uniform and highly accurate obstacle position information among robots. We aim to improve estimation accuracy by integrating object position estimation data by multiple robots whose error tendency is known in a dynamic environment accompanied by sensor and environment uncertainty.</p>

深海底生物捕獲ロボットのための画像センシングシステム

安川真輔, 安鍾賢, 西田祐也, 園田隆, 石井和男, 浦環

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>We developed an image sensing system for an autonomous underwater robot with a benthos sampling function, namely sampling-AUV. The mission of a sampling-AUV consist of following four phases: observation phase (OP), return phase (RP), tracking phase (TP) and sampling phase (SP). For an achievement of the above mission, proposed image sensing system comprises software modules of image acquisition, image enhancement, object detection and image selection, and object tracking. The camera in proposed system acquires an image by intervals of five seconds during OP and RP and of a second during TP. The system completes all processing within image acquisition times by employing high-speed algorithms. We checked operations of proposed system in a pool.</p>

吸引と切断機構を用いたトマト収穫用エンドエフェクタの開発

李冰賀, 浦孝徳, 藤永拓矢, 安川真輔, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>In recent years, the introduction of robot technology to the primary industry is very important, and introduction to the agricultural field is also expected. Among them, tomatoes have a long harvesting work time and high labor load. Therefore, automation of harvesting by robots is desired. In this research, we are targeting tomato production facilities with large-scale infrastructure. We are developing tomato harvesting robot aiming at practical application at Hibikinada Greenfarm Co., Ltd.. In this paper, we focused on end effector for harvesting tomato. When harvesting tomatoes, it need to have a stem end. In the previous study, it was pluck a tomato from a stem, but stem end took off from tomatoes. In order to harvest a tomato from cluster with stem end, we developed an end effector using suction mechanism and cutting mechanism.</p>

ロボカップサッカーロボットにおけるボール保持機構の開発:―第三報：ボールドリブル時におけるボール操作の実機実験及び評価―

筑紫彰太, タリンドゥウィラコーン, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>RoboCup is an international project to promote fields such as robotics, Artificial Intelligent (AI), and related field. It is an attempt to apply AI and Intelligent robotics research by providing standard problems where a wide variety of technologies can be integrated and examined. We organized RoboCup team "Hibikino-Musashi" for Middle-Size League soccer competition. Ball dribbling in soccer games of Middle size league is the most important action. Also recently, advanced co-operated behavior control system action is required. Therefore, in this research, the kinematics and effectiveness of the kinematics at the time of ball dribbling is focused.</p>

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

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>In RoboCup Soccer Middle Size League, strategy and behavior is improved annually. In recent years, the pass behavior has been required as cooperative behavior of multiple robots. Also, the kick power needs to be changed according to the distance to the goal to broaden the range of strategy. When doing the pass behavior it is necessary to use with the trajectory of ball which the receiver robot is easy to receive. However, our current kick device on our team can't kick a suitable kick for pass behavior. In this research, we will develop a mechanism to lob and grounders shooting, aiming to realize the pass behavior and expand the range of strategy.</p>

マルチロータヘリを用いた森林内樹木の計測

篠原浩佑, 片山将, 堀航, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>Japan is a forestry country where forests account for about 70% of the land, and introduction of robots is expected in the field of forestry. However, there is already a method of measuring height using aircraft and laser scanner, but the diameter of breast height is investigated by human hands despite the lack of personnel. Therefore, in this research, we propose a trees diameter measurement system using multi rotor helicopter. We aim to stably fly through the forest and measure the breast height diameter of trees in the forest. We propose a tree detection algorithm using LRF data.</p>

フルカラー構造化光を用いた水中三次元計測:―第１報基礎理論の検証―

進木智也, 西田祐也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>A rich undersea mineral resource is confirmed in the basin of Japan. Three-dimensional measurement technology is indispensable for developing undersea resources. By applying structural light to the underwater environment, it is possible to measure not only the three-dimensional topography but also the seabed creature. Therefore, we aim to develop an underwater three-dimensional measuring device using structured light and light cutting method. In order to develop a new three-dimensional measuring instrument, basic measurement theory was verified.</p>

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

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>In RoboCup Soccer middle size league, we need to cope various enemy attacks such as dribble, pass and shoot. Therefore, cooperative defense behavior system by multiple robots is required. We aim to realize cooperative defensive behavior with reference to soccer tactics of human. There is Challenge & Cover as one of the basic defense tactics of human soccer. In this research, we develop the defensive behavior algorithm of Challenge & Cover using information of enemies, teammates and ball positions, and implement it to the soccer robots. We compared conventional algorithms and new algorithms by simulation, confirmed that it has higher defensive performance than those.</p>

サリエンシーマップを使用した移動ロボットの場所認識の高効率化

望月隆吾, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>Saliency detection is used to estimate which information in images attracts human attention in view of color and brightness contrast. Humans can perceive objects more sharply what they focus on than what they do not. In Saliency detection, Gaussian pyramid and Center-Surround difference realizes this human visual mechanism.<br>The author introduced Saliency detection in place recognition by mobile robots. The aim of the introduction is to lessen the amount of features and colors that are extracted from training images. Input data of Support Vector Machine is Color and Visual Word Histogram.<br>We evaluated the amount of extracted features and place recognition rate of Support Vector Machine. As the result, we succeeded in executing efficient environment recognition. The correct prediction rate increased by 14 percent, and the amount of features decreased by 85 percent compared to the case of no saliency detection.</p>

カムを用いた拮抗型高出力関節機構の開発

鈴木克彰, 西田祐也, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>Many mechanisms with Impulse Force Generator is generally operated at high speed and strong force. We have been working on high power joint mechanism imitating locust hind-leg in order to realize a mechanism capable of not only rapid motion but also normal motion. However, they have some problems as following. In rapid motion, The developed mechanism has energy loss due to the viscous resistance of the reduction gear of the actuator. And the direction of rotation during rapid motion is restricted. In this paper, we propose a high power joint mechanism with higher performance which solves this problem. The mechanism proposed by us can perform rapid motion and normal motion at clockwise and counterclockwise. And the mechanism can change of the articular compliance. The mechanism consist two motors with cams, two wires, one spring and some links. Our verification experiment of rapid motion showed that the proposed mechanism can realize rapid motion without viscous drag.</p>

Underwater Manipulator for Sampling Mission with AUV in Deep-Sea

Weerakoon Tharindu, Sonoda Takashi, Nassiraei Amir Ali Forough, Godler Ivan, Ishii Kazuo

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：英語

<p>Deep-sea exploration has taken a remarkable attention among the researchers and we are developing a group of autonomous underwater vehicles (AUVs) dedicated for deep-sea observations, collecting sea creatures and biological samples. We discuss the basic development of the mechanical, hydraulic and electrical systems of 4 degrees of freedom (DOF) underwater hydraulic manipulator. Manipulator system design is explained in details along with the design requirements and experimental results. The developed manipulator is successfully installed on the AUV named TunaSand2 and a number of experiments are performed in different deep-sea sites to realize the usability and reliability of the manipulator system.</p>

RoboCup サッカーロボットにおける局所的/大域的な位置推定を組み合わせた自己位置推定システムの開発

松田恕子, 渡邊周太, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>Various abilities are required for autonomous robots because they act judge and act on their own. The selflocalization problem that recognizes the surrounding environment and estimates the position is one of the most important tasks. The self-localization system is highly dependent on operating conditions, environment, and available sensors. That system is desirable operate stably for a long time. In this research, we focus on autonomous mobile robots for the RoboCup soccer meddle size league (MSL), but self-position kidnapping is a big problem. Therefore, we propose self-localization algorithm combining particle filter and perfect match, and aim for improvement of accuracy and stability of self-localization.</p>

AUV のためのナビゲーションシステムの開発

益田晃次, 藤原晋也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2017年01月記述言語：日本語

<p>AUV is stable for a wide range of search because it does not have an umbilical cable. However, AUV cannot work for a long time because of internal power source. Utilization of charging station in the water is required for long-term operation to solve this problem. In this paper, it is described a navigation system to the station with acoustic positioning system that mounting is possible to the AUV. It has three hydrophones and receives signal from that pinger is mounted the station. Sound source detection is calculated by Cross Correlation Function and Super Short Base Line method. In addition, it is introduced chirp signal as the pinger to develop a robust the system against noises. It is applied the developed system and carried out the experiment for navigation to the pinger. The present result suggested that sound source detection and guidance to the station are feasible in this system.</p>

船底清掃を目的とした水中システムの開発 -第4報: 船底モザイク画像作成におけるキーポイントの変位推定-

望月隆吾

ロボティクスシンポジア2016

球体の運動制御とホイル配置の一般論 -ボール保持機構のホイル配置問題-

木村憲二

ロボティクスシンポジア2016

駆動輪の荷重変動を考慮した障害物回避行動

石倉万希斗, 渡辺周太, 桑田将史, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

<p>A lot of obstacle avoiding algorithm for mobile robot has been proposed. However, consideration of slippage that is caused by wheel load change is lacked in these methods. This causes unstable motion of mobile robot. This research aims to achieve safe motion of mobile robot by considering slippage. We propose obstacle avoidance algorithm for omni-wheeled mobile robot without slippage by load change. This was achieved by extension of Dynamic Window Approach algorithm. Proposal method is tested on RoboCup MSL robot. The result shows 60% reduction of slippage compared with conventional method.</p>

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