本質的安全性のためのロボット体自己再構成プランニング
デジタルデータあり（科学技術振興機構）
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- 資料種別
- 記事
- 著者・編者
- 内田 雅文野澤 昭雄浅野 裕俊 他
- 並列タイトル等
- Self-reconfiguration planning of robot embodiment for inherent safe performance
- タイトル（掲載誌）
- 電気学会論文誌. C, 電子・情報・システム部門誌 = IEEJ transactions on electronics, information and systems
- 巻号年月日等（掲載誌）
- 129(4) 2009.4
- 掲載巻
- 129
- 掲載号
- 4
- 掲載ページ
- 653～662
- 掲載年月日（W3CDTF）
- 2009-04
- ISSN（掲載誌）
- 0385-4221
- ISSN-L（掲載誌）
- 0385-4221
- 出版事項（掲載誌）
- 東京 : 電気学会
- 出版地（国名コード）
- JP
- 本文の言語コード
- jpn
- NDLC
- 対象利用者
- 一般
- 所蔵機関
- 国立国会図書館
- 請求記号
- Z16-795
- 連携機関・データベース
- 国立国会図書館 : 国立国会図書館雑誌記事索引
- 書誌ID（NDLBibID）
- 10251069
- 整理区分コード
- 632
- 要約等
- 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. In other ward, it is impossible to avoid the physical contact and the interaction of force between a robot and a human. 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, a self-reconfiguration algorithm based on some indexes to evaluate a robot body in the macroscopic point of view was examined on a modular robot system of the 2-D lattice structure. In this paper, it investigated effect specially that the object of learning of each individual was limited to the cooperative behavior between the adjoining modules toward the macroscopic evaluation index.
- DOI
- 10.1541/ieejeiss.129.653
- オンライン閲覧公開範囲
- インターネット公開
- 連携機関・データベース
- 科学技術振興機構 : J-STAGE
- 要約等
- 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. In other ward, it is impossible to avoid the physical contact and the interaction of force between a robot and a human. 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, a self-reconfiguration algorithm based on some indexes to evaluate a robot body in the macroscopic point of view was examined on a modular robot system of the 2-D lattice structure. In this paper, it investigated effect specially that the object of learning of each individual was limited to the cooperative behavior between the adjoining modules toward the macroscopic evaluation index.
- DOI
- 10.1541/ieejeiss.129.653
- 関連情報（URI）
- 参照
- 自己再構成ロボットにおけるモジュールの外部環境センシング
- 参照
- Modular Robot Motion Planning Using Similarity MetricsDistributed motion planning for modular robots with unit-compressible modulesEvolved and Designed Self-Reproducing Modular RoboticsDesign and Implementation of Metamorphic RobotsHormone-inspired adaptive communication and distributed control for CONRO self-reconfigurable robotsMechatronic design of a modular self-reconfiguring robotic systemEvaluating efficiency of self-reconfiguration in a class of modular robotsHormone-controlled metamorphic robotsA complete, local and parallel reconfiguration algorithm for cube style modular robotsBounds for self-reconfiguration of metamorphic robotsA rapidly deployable manipulator systemDistributed reconfiguration of metamorphic robot chainsLocomotion versatility through self-reconfigurationAutonomous Self-Assembly in Swarm-BotsUseful metrics for modular robot motion planningCrystalline Robots: Self-Reconfiguration with Compressible Unit ModulesM-TRAN: self-reconfigurable modular robotic systemSelf-reconfigurable robotsQ-learningDynamically reconfigurable robotic systemNew locomotion gaits
- 連携機関・データベース
- 国立情報学研究所 : CiNii Research
- 提供元機関・データベース
- Japan Link Center雑誌記事索引データベースCrossrefCiNii ArticlesCrossref
- 書誌ID（NDLBibID）
- 10251069
- NII論文ID
- 10024774721