受動クローラによる階段昇降機構の開発（回転角度制限の解析と試作機の性能限界）
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| Published in | 日本機械学会論文集 Vol. 82; no. 834; p. 15-00357 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | Japanese |
| Published |
一般社団法人 日本機械学会
2016
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2187-9761 |
| DOI | 10.1299/transjsme.15-00357 |
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| Author | 平澤, 順治 木村, 哲也 |
|---|---|
| Author_xml | – sequence: 1 fullname: 木村, 哲也 organization: 長岡技術科学大学 大学院技術経営研究科 – sequence: 1 fullname: 平澤, 順治 organization: 茨城工業高等専門学校 電子制御工学科 |
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| Copyright | 2016 一般社団法人日本機械学会 |
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| References | Woo,C., Choi, H. D., Yoon, S., Kim, S. H. and Kwak, Y. K., Optimal design of a new wheeled mobile robot based on a kinetic analysis of the stair climbing states, Intelligent Robot System 49(2007), pp.325-354. Kawazoe, Y., Moriyama, S. and Taguchi, J., Emergence of JIZAI movement of humanoid biped robot based on the distributed control of physical body in a martial art (going up and down the stairs with instability), the Japan society of mechanical engineers annual meeting(2007), pp.27-28(in Japanese). Jeong, H. K., Choi, K. H., Kim, S. H. and Kwak, Y. K., Driving mode decision in the obstacle navigation of a variable single-tracked robot, Advanced Robotics No.22(2008), pp.1421-1438. Komatsu, H., Ogata, M., Hodoshima, R., Endo, G., Fukushima, E. F. and Hirose, S., Development of quadruped walking robot TITAN XII and its basic consideration on the control of large obstacle traversing motion, Transactions of the JSME (in Japanese), Vol.80, No.813(2014), DOI: 10.1299/transjsme.2014dr0128. Iwamoto, T., Yamamoto, H. and Amagi, S., Development of terrain-adaptive mobile mechanism for actual indoor passage, Journal of the robotics society of Japan, Vol.6, No.1(1988), pp.67-74(in Japanese). Yoshida, K., Nagatani, K. and Kuze, M., Development of small-sized dual wheel rover with mechanism of variable wheel diameter, Proceedings of the 2006 JSME conference on Robotics and mechatronics(2006), 2P2-D25(in Japanese). Hirasawa, J., Investigation of torque and efficiency about a stair climbing mechanism that equips only one motor, Proceedings of the 2013 JSME conference on Robotics and mechatronics(2013), 2A2-P13(in Japanese). Igarashi, T., Shimaoka, K., Yuuki, K. and Oogane, K., Mobility improvement of rescue robot with passive mechanism, Proceedings of the 2011 JSME conference on Robotics and mechatronics(2011), 1A2-I08(in Japanese). Nakajima, S. and Nakano, E., Adaptive gait for large rough terrain of a leg-wheel robot (Third report: step-down gait), Journal of Robotics and Mechatronics Vol.21 No.1, (2009), pp.12-19. Dalvand, M. M. and Moghadam, M. M., Stair climber smart mobile robot (MSRox), Autonomous Robots 20(2006), pp.3-14. Greenemeier, L., Robots arrive at Fukushima nuclear site with unclear mission, Scientific American (2011), available from <http://www.scientificamerican.com/article.cfm?id=robots-arrive-fukushima-nuclear>, (accessed on 20 June, 2015). Lee, W., Kang, S., Kim, M. and Shin, K., Rough terrain negotiable mobile platform with passively adaptive double-tracks and its application to rescue missions and EOD missions, ICCAS2005, (2005). Kasai, W. and Kato, K., Development of life support robot moving on winding staircase -Proposal of 4+1 leg type mechanism and study its gait generation-, Proceedings of the 2014 JSME conference on Robotics and mechatronics(2014), 1A1-P03(in Japanese). Okada, T., Botelho, W. T. and Shimizu, T., Driving mechanism of a legged and wheeled mobile robot with minimal DOFs and control for reversible switching between walking and rolling, Journal of the robotics society of Japan, Vol.29, No.3(2011), pp.306-316(in Japanese). Morales, R., Gonzalez, A., Feliu, V. and Pintado, P., Environment adaptation of a new staircase-climbing wheelchair, Autonomous Robot 23(2007), pp.275-292. Mabuchi, T., Nagasawa, T., Awa, K., Shiraki, K. and Yamada, T., Development of a stair-climbing mobile robot with legs and wheels, Artificial Life and Robotics No.2(1998), pp.184-188. Matsubara, H., Suzuki, S., Asai, T., Okugawa, M., Kurisu, M. and Kinugasa, T., Change in the center of gravity position for passive adaptive crawler robot considering attitude angle of manipulator at stair-climbing, Proceedings of the 2015 JSME conference on Robotics and mechatronics(2015), 1A1-U05(in Japanese). Yamamoto, M., Gao, P. and Ikeda, T, Traverse ability of flexible spoke wheel for the wiring task mobile robot, Transactions of the Japan society of mechanical engineers, Series C, Vol.77, No.778(2011), pp.2343-2350(in Japanese). Hirasawa, J., Trial production of an improved stair climbing mechanism that equips only one motor - Aiming for an application for a rescue robot-, Proceedings of the 2012 JSME conference on Robotics and mechatronics(2012), 2A1-N08(in Japanese). Hirasawa, J., Trial production and analysis of a stair climbing robot that equips only one motor, Proceedings of the 2011 JSME conference on Robotics and mechatronics(2011), 2A2-L04(in Japanese). Hirasawa, J., Development of robot equipped with single motor for going up stairs, Proceedings of 13th Robotics symposia(2008), pp. 218-223(in Japanese). Hirose, M., Takenaka, T., Gomi, H. and Ozawa, N., Humanoid robot, Journal of the robotics society of Japan, Vol.15, No.7(1997), pp.983-985(in Japanese). Kim, B. S., Vu, Q. H., Song, J. B. and Yim, C. H., Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing, Journal of Mechanical Science and Technology No.24(2010), pp.343-350. Asama, H., Miura, S., Ueki, C., Tsuyuki, A., Ura, T., Thornton, B., Matsuhira, N., Hirai, K., Nonami, K., Mano, A., Battistine, T., Birmingham, R., Brown, C., Monti, K., Trainer, T., Yoshida, T., Kawatsuma, S., Tsukui, S., Kase, T., Morisono, R., Kato, S., Egawa, E., Fukushima, S., Kawamura, H. and Yokoi, K., Special issue on robot technology for accident response and decommissioning of the Fukushima daiichi nuclear power station, Journal of the Japan Society of Mechanical Engineers, Vol.117, No.1151(2014), pp.647-691(in Japanese). Yuuki, K., Igarashi, T. and Oogane, K., Validity of passivity mechanism with rescue robot, Proceedings of annual conference of the Robotics Society of Japan(2010), RSJ2010AC3G1-4 (in Japanese). Kimura, T., Oshita, J. and Takamori, T., Development of a rubble explorer system for rescue activities -Experimental evaluation of vision sensor and moving abilities-, Proceedings of the 1998 JSME conference on Robotics and mechatronics(1998), 1CI4-2(in Japanese). Koyachi, N., Adachi, H., Nakamura, T. and Nakano, E., Design and control of self-contained hexapod walking robot for stair-climbing, Journal of the robotics society of Japan, Vol.11, No.6(1993), pp.918-928(in Japanese). Hirasawa, J. and Kimura, T., Development of stair-climbing mechanism with passive crawlers, Proceedings of 19th Robotics symposia(2014), pp.399-404(in Japanese). Kamimura, A., A crawler robot mechanism enabling high-step climbing (Realization of automatic climbing motion), Transactions of the Japan society of mechanical engineers, Series C, Vol.75, No.758(2009), pp.2742-2749(in Japanese). Ottaviano, E., Rea, P. and Castelli, G., THROO: a tracked hybrid rover to overpass obstacles, Advanced Robotics, Vol.28, No.10(2014), pp.683-694. Japan government, Enforcement order of building standards act, chapter 2, section 3 (stairs), available from <http://law.e-gov.go.jp/htmldata/S25/S25SE338.html>, (accessed on 24 June, 2015) (in Japanese). |
| References_xml | – reference: Yoshida, K., Nagatani, K. and Kuze, M., Development of small-sized dual wheel rover with mechanism of variable wheel diameter, Proceedings of the 2006 JSME conference on Robotics and mechatronics(2006), 2P2-D25(in Japanese). – reference: Yuuki, K., Igarashi, T. and Oogane, K., Validity of passivity mechanism with rescue robot, Proceedings of annual conference of the Robotics Society of Japan(2010), RSJ2010AC3G1-4 (in Japanese). – reference: Hirasawa, J., Trial production of an improved stair climbing mechanism that equips only one motor - Aiming for an application for a rescue robot-, Proceedings of the 2012 JSME conference on Robotics and mechatronics(2012), 2A1-N08(in Japanese). – reference: Matsubara, H., Suzuki, S., Asai, T., Okugawa, M., Kurisu, M. and Kinugasa, T., Change in the center of gravity position for passive adaptive crawler robot considering attitude angle of manipulator at stair-climbing, Proceedings of the 2015 JSME conference on Robotics and mechatronics(2015), 1A1-U05(in Japanese). – reference: Woo,C., Choi, H. D., Yoon, S., Kim, S. H. and Kwak, Y. K., Optimal design of a new wheeled mobile robot based on a kinetic analysis of the stair climbing states, Intelligent Robot System 49(2007), pp.325-354. – reference: Kamimura, A., A crawler robot mechanism enabling high-step climbing (Realization of automatic climbing motion), Transactions of the Japan society of mechanical engineers, Series C, Vol.75, No.758(2009), pp.2742-2749(in Japanese). – reference: Hirose, M., Takenaka, T., Gomi, H. and Ozawa, N., Humanoid robot, Journal of the robotics society of Japan, Vol.15, No.7(1997), pp.983-985(in Japanese). – reference: Hirasawa, J., Investigation of torque and efficiency about a stair climbing mechanism that equips only one motor, Proceedings of the 2013 JSME conference on Robotics and mechatronics(2013), 2A2-P13(in Japanese). – reference: Kimura, T., Oshita, J. and Takamori, T., Development of a rubble explorer system for rescue activities -Experimental evaluation of vision sensor and moving abilities-, Proceedings of the 1998 JSME conference on Robotics and mechatronics(1998), 1CI4-2(in Japanese). – reference: Igarashi, T., Shimaoka, K., Yuuki, K. and Oogane, K., Mobility improvement of rescue robot with passive mechanism, Proceedings of the 2011 JSME conference on Robotics and mechatronics(2011), 1A2-I08(in Japanese). – reference: Okada, T., Botelho, W. T. and Shimizu, T., Driving mechanism of a legged and wheeled mobile robot with minimal DOFs and control for reversible switching between walking and rolling, Journal of the robotics society of Japan, Vol.29, No.3(2011), pp.306-316(in Japanese). – reference: Greenemeier, L., Robots arrive at Fukushima nuclear site with unclear mission, Scientific American (2011), available from <http://www.scientificamerican.com/article.cfm?id=robots-arrive-fukushima-nuclear>, (accessed on 20 June, 2015). – reference: Hirasawa, J., Trial production and analysis of a stair climbing robot that equips only one motor, Proceedings of the 2011 JSME conference on Robotics and mechatronics(2011), 2A2-L04(in Japanese). – reference: Dalvand, M. M. and Moghadam, M. M., Stair climber smart mobile robot (MSRox), Autonomous Robots 20(2006), pp.3-14. – reference: Asama, H., Miura, S., Ueki, C., Tsuyuki, A., Ura, T., Thornton, B., Matsuhira, N., Hirai, K., Nonami, K., Mano, A., Battistine, T., Birmingham, R., Brown, C., Monti, K., Trainer, T., Yoshida, T., Kawatsuma, S., Tsukui, S., Kase, T., Morisono, R., Kato, S., Egawa, E., Fukushima, S., Kawamura, H. and Yokoi, K., Special issue on robot technology for accident response and decommissioning of the Fukushima daiichi nuclear power station, Journal of the Japan Society of Mechanical Engineers, Vol.117, No.1151(2014), pp.647-691(in Japanese). – reference: Iwamoto, T., Yamamoto, H. and Amagi, S., Development of terrain-adaptive mobile mechanism for actual indoor passage, Journal of the robotics society of Japan, Vol.6, No.1(1988), pp.67-74(in Japanese). – reference: Kasai, W. and Kato, K., Development of life support robot moving on winding staircase -Proposal of 4+1 leg type mechanism and study its gait generation-, Proceedings of the 2014 JSME conference on Robotics and mechatronics(2014), 1A1-P03(in Japanese). – reference: Kim, B. S., Vu, Q. H., Song, J. B. and Yim, C. H., Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing, Journal of Mechanical Science and Technology No.24(2010), pp.343-350. – reference: Morales, R., Gonzalez, A., Feliu, V. and Pintado, P., Environment adaptation of a new staircase-climbing wheelchair, Autonomous Robot 23(2007), pp.275-292. – reference: Ottaviano, E., Rea, P. and Castelli, G., THROO: a tracked hybrid rover to overpass obstacles, Advanced Robotics, Vol.28, No.10(2014), pp.683-694. – reference: Komatsu, H., Ogata, M., Hodoshima, R., Endo, G., Fukushima, E. F. and Hirose, S., Development of quadruped walking robot TITAN XII and its basic consideration on the control of large obstacle traversing motion, Transactions of the JSME (in Japanese), Vol.80, No.813(2014), DOI: 10.1299/transjsme.2014dr0128. – reference: Mabuchi, T., Nagasawa, T., Awa, K., Shiraki, K. and Yamada, T., Development of a stair-climbing mobile robot with legs and wheels, Artificial Life and Robotics No.2(1998), pp.184-188. – reference: Hirasawa, J., Development of robot equipped with single motor for going up stairs, Proceedings of 13th Robotics symposia(2008), pp. 218-223(in Japanese). – reference: Lee, W., Kang, S., Kim, M. and Shin, K., Rough terrain negotiable mobile platform with passively adaptive double-tracks and its application to rescue missions and EOD missions, ICCAS2005, (2005). – reference: Nakajima, S. and Nakano, E., Adaptive gait for large rough terrain of a leg-wheel robot (Third report: step-down gait), Journal of Robotics and Mechatronics Vol.21 No.1, (2009), pp.12-19. – reference: Yamamoto, M., Gao, P. and Ikeda, T, Traverse ability of flexible spoke wheel for the wiring task mobile robot, Transactions of the Japan society of mechanical engineers, Series C, Vol.77, No.778(2011), pp.2343-2350(in Japanese). – reference: Kawazoe, Y., Moriyama, S. and Taguchi, J., Emergence of JIZAI movement of humanoid biped robot based on the distributed control of physical body in a martial art (going up and down the stairs with instability), the Japan society of mechanical engineers annual meeting(2007), pp.27-28(in Japanese). – reference: Koyachi, N., Adachi, H., Nakamura, T. and Nakano, E., Design and control of self-contained hexapod walking robot for stair-climbing, Journal of the robotics society of Japan, Vol.11, No.6(1993), pp.918-928(in Japanese). – reference: Jeong, H. K., Choi, K. H., Kim, S. H. and Kwak, Y. K., Driving mode decision in the obstacle navigation of a variable single-tracked robot, Advanced Robotics No.22(2008), pp.1421-1438. – reference: Hirasawa, J. and Kimura, T., Development of stair-climbing mechanism with passive crawlers, Proceedings of 19th Robotics symposia(2014), pp.399-404(in Japanese). – reference: Japan government, Enforcement order of building standards act, chapter 2, section 3 (stairs), available from <http://law.e-gov.go.jp/htmldata/S25/S25SE338.html>, (accessed on 24 June, 2015) (in Japanese). |
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| Title | 受動クローラによる階段昇降機構の開発（回転角度制限の解析と試作機の性能限界） |
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