研究者詳細 - 石井　和男

論文 - 石井　和男

分割表示489 件中 321 - 340 件目／全件表示 >>

Design principle of high power joint mechanism possible to walking and jumping imitating locust leg structure 査読有り

Nishida Y., Sonoda T., Ishii K.

Journal of Robotics and Mechatronics 23 ( 2 ) 225 - 230 2011年01月

記述言語：英語掲載種別：研究論文（学術雑誌）

Many insects can jump several times their own body length. Locusts with their powerful hind legs can for example jump up to five times as high - 250 mm. We propose a high-power joint mechanism mimicking the locust leg structure in walking and jumping. The mechanism can produce power higher than motors mounted in the joint mechanism and separate walking and jumping using two motors. We also report the joint mechanism design principles.

DOI： 10.20965/jrm.2011.p0225

Scopus

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Adaptive color calibration algorithm using brain inspired technology 査読有り

Takemura Y., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

One of important subjects for mobile robots is the vision based decision making system, where the color constancy is big problem for robots which use color property to recognize environments. We have been working on color constancy vision algorithms using bio-inspired information processing as creatures can recognize color and shape of objects even if there exits a large change of light conditions in outdoor environments. We evaluate the performances of color recognition using brain-inspired processing algorithms such as Self-Organizing Map (SOM), modular network SOM (mnSOM) and Neural Gas (NG). In this paper, the experimental results in dynamical conditions are discussed. © 2010 TSI Press.

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Survey of cooperative algorithm in robocup middle size league 査読有り

Kitazumi Y., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

RoboCup is an international joint project to promote Artificial Intelligence (AI), robotics, and related fields since 1996. RoboCup project has been held every year, and the performance of robot shows great advance. Especially, Soccer Middle Size League (MSL) uses big robots and the biggest field in the RoboCup projects, and audience can enjoy powerful games. During the l3 years RoboCup project, a lot of teams have advanced various researches for solving problems of multi-agent system. Our survey presents an overview of the cooperative algorithms used in MSL. We summarize about various approaches of multi agent system of different teams, and discuss what will become possible in near future and which kind of approach will be effective. We hope this survey will become good information for many researchers in robotics, and expect a lot of new teams will participate to the RoboCup. © 2010 TSI Press.

Scopus

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Self-localization of omni-directional mobile robot using silicon retina based optical flow sensor 査読有り

Sanada A., Ishii K., Yagi T.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The omni-directional mobile robot has advantage such that three degree of freedom motion in 2D plane can be set independently and can move in arbitrary direction with keeping same heading direction. With regards to self-localization using onboard sensors, dead reckoning is often used by means of measuring the wheel's velocities (motor encoder data) as well as car-like robots. However, omni-directional mobile robots are easy to slip by the nature of omni-wheels with many free rollers, dead reckoning will not work even if one wheel does not attached on ground. A method to measure odometry data which is not affected by wheel's slip should be introduced to acquire enough quality of self1ocation for omni-directional mobile robots. We describe a method to obtain robot ego-motion using camera images and optical flow calculation, that is, the camera is used as a velocity sensor. In this paper, a silicon retina vision camera developed by Vagi et al. is introduced as a mobile robot sensor, which has good dynamic range against various lighting condition. And a FPGA optical flow circuit for the silicon retina is developed to measure ego-motion of mobile robot The developed optical flow calculation system is introduced into a small omni-directional mobile robot and evaluation experiments using the mobile robot ego-motion are carried out. In the experiments, the accuracy of self-location by the dead reckoning and optical flow are evaluated by comparing with motion capture. The results show that the self-location obtained by the optical flow corresponds with motion capture data. © 2010 TSI Press.

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New approach to the self-localization of autonomous sewer inspection robots 査読有り

Nassiraei A., Honda M., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Development of an autonomous pipe inspection system requires design and development of an un-tethered mobile robot platform equipped with the required sensors using for autonomous pipe assessment and damage detection. Autonomous sewer robots must include sensors for their own control, navigation and localization, not only those for sewer state assessment and damage detection. In addition, localization is an issue not only for the proper robot control, so that the robot knows where it is, but also for inspection, as detected damages have to be reported with their location. In this paper, a new approach is presented to simplify the conventional autonomous navigation and self-localization systems. In the presented method, robot self-localization is realized by a pair of passive arms mounted to the side of the developed mobile robot platform. © 2010 TSI Press.

Scopus

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Memory based environment recognition system for mobile robots with omni-directional images 査読有り

Kanda A., Sato M., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Autonomous mobile robot needs various applications such as a control system, environment recognition, decision making, self localization, mapping, and obstacle avoidance. We developed the environment recognition system for wheeled mobile robot because these applications are mostly based on the environment recognition. In our previous research, we developed the wheeled mobile robot with passive linkage mechanism for outdoor environment and evaluate the mobility. And, we proposed environment recognition system using passive linkage mechanism data analyzed self-organizing map. This paper describes our proposed method which is the environment recognition system using the image processing. Using our proposed method, the environment recognition system could succeed self localization and the number of templates is decreased because our method using self organizing map has interpolation function. © 2010 TSI Press.

Scopus

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Kinematics analysis of a high power joint mechinasm imitating locust leg structure 査読有り

Nishida Y., Sonoda T., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

We have been working on high power joint mechanism which is expected to improve robot functionality and the activities in various working environment. In general, the performance of joint mechanisms depends on actuators performance, and the power mass ratio of actuators is almost constant in the same type motors. Locusts whose length is about 50mm have powerful hind-leg to jump five times high (about 250mm) at the peak. The aim in this research is to develop high power joint mechanism by mimicking leg mechanism of locusts. Proposed high power joint mechanism consists of a closed link structure with 4 links, a spring and 2 linear slide actuators. This paper descries how to generate high power in the joint mechanism, and shows the characteristic of the joint mechanism by the analysis. © 2010 TSI Press.

Scopus

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Evolutionary optimization method of mobile robot structure and control system 査読有り

Sato M., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper describes one of the most important issues for mobile robots: it is simultaneous optimization of robot structures and its control systems using evolutionary algorithm and dynamics simulation. Generally, wheeled mobile robots have difficulty in traveling on the outdoor environments because of its mechanical limitations. And, the effective outdoor traveling has deeply relationship between the mobile robot structures and its control systems. Our proposed optimization method evaluates and optimizes the traveling ability, time consumption, energy consumption, control accuracy, and attitude of robot. The result of dynamics simulation the optimized mobile robot could overcome the three kinds of benchmark environment including the bump and stairs. And also, the mobile robot showed effective outdoor traveling. © 2010 TSI Press.

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Dynamics classification of underwater robot and introduction to controller adaptation 査読有り

Takemura Y., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Underwater robots and underwater machines are counted on helping the salvage procedure, escaping prevention of pollution, lifesaving at sea, scientific exploration in the ocean and so on. In the underwater robot, therefore, Autonomous Underwater Vehicles (AUVs) have been developed actively during recent year. However, AUVs have various problems which should be solved such as motion control, acquisition of sensors' information, behavioral decision self-localization and so on. Regarding to consider about these problems, robot should be learning on self-organizing about relation ship to own status, environment and behaviors. In this paper, a new self-organizing controllers system for AUVs using modular network SOM proposed by Tokunaga et al., is described. The proposed control system is developed using Recurrent Neural Network (RNN) type mnSOM. And, we report that the control system is implemented into the AUV "Twin-Burger". © 2010 TSI Press.

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Color Constancy in RoboCup Robot Vision 査読有り

Takamura Yasunori,Ishii Kazuo

ICIUS 2010 2010年11月

Kinematics analysis of a high power joint mechinasm imitating locust leg structure 査読有り

Nishida Yuya,Sonoda Takashi,Ishii Kazuo

World Automation Congress (WAC) 2010 2010年09月

Self-localization of omni-directional mobile robot using silicon retina based optical flow sensor 査読有り

Sanada Atsushi,Ishii Kazuo,Tetsuya Yagi

World Automation Congress (WAC) 2010 2010年09月

Adaptive color calibration algorithm using brain inspired technology 査読有り

Takamura Yasunori,Ishii Kazuo

World Automation Congress (WAC) 2010 2010年09月

Dynamics classification of underwater robot and introduction to controller adaptation 査読有り

Takamura Yasunori,Ishii Kazuo

World Automation Congress (WAC) 2010 2010年09月

Survey of cooperative algorithm in robocup middle size league 査読有り

Kitazumi Yuuichi,Ishii Kazuo

World Automation Congress (WAC) 2010 2010年09月

Evolutionary optimization method of mobile robot structure and control system 査読有り

Masanori Sato,Ishii Kazuo

World Automation Congress (WAC) 2010 2010年09月

New approach to the self-localization of autonomous sewer inspection robots 査読有り

Forough Nassiraei Amir Ali,Honda Masayoshi,Ishii Kazuo

World Automation Congress (WAC) 2010 2010年09月

Memory based environment recognition system for mobile robots with omni-directional images 査読有り

Kanda Atsushi,Sato Masanori,Ishii Kazuo

World Automation Congress (WAC) 2010 2010年09月

Simultaneous optimization of robot structures and control systems using evolutionary algorithm 査読有り

Masanori Sato,Kazuo Ishii

Journal of Bionic Engineering 7 ( Suppl. ) 185 - 190 2010年09月

Jacobian Matrix Derived from Cross Product and its Application into High Power Joint Mechanism Analysis 査読有り

Yuya Nishida,Takashi Sonoda,Kazuo Ishii

Journal of Bionic Engineering 7 ( Suppl. ) 218 - 223 2010年09月

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