書誌事項
- タイトル別名
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- External Environment Sensing by a Module on Self-reconfiguration Robot
- ジコ サイコウセイ ロボット ニ オケル モジュール ノ ガイブ カンキョウ センシング
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抄録
In the situation in which a robot and a human work together by collaborating with each other, a robot and a human share one working environment, and each interferes in each other. The boundary of each complex dynamic occupation area changes in the connection movement which is the component of collaborative works at this time. The main restraint condition which relates to the robustness of that connection movement is each physical charactristics, that is, the embodiment. A robot body is variability though the embodiment of a human is almost fixed. Therefore, the safe and the robust connection movement is brought when a robot has the robot body which is well suitable for the embodiment of a human. A purpose for this research is that the colaboration works between the self-reconfiguration robot and a human is realized. To achieve this purpose, sensing function of external environment on a module was examined. A module is a component of the self-reconfiguration robot. A robot body vibrates when a module actuates an arm actively. This vibration is observed by using some acceleration sensors. Measured datas reflects a difference of objects that it touches a robot body. In this paper, the sensing technique of external environment which identifies this difference by using the neural network is proposed.
収録刊行物
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- 電気学会論文誌. A
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電気学会論文誌. A 131 (4), 239-245, 2011
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679575746176
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- NII論文ID
- 10027979432
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- NII書誌ID
- AN10136312
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- ISSN
- 13475533
- 03854205
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- NDL書誌ID
- 11065048
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可