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Proposal of a flexible translational joint mechanism for humanoid robots
Takehiro Yoneyama,Kazuyuki Ito 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Recently, applications of robots for home assistant, helper and rehabilitation have attracted considerable attention, and various humanoid robots are developed. In such environments, robots have to handle unexpected disturbance very quickly. Especially, external forces owing to collision to obstacles or people are one of significant problems, because they causes risks to injure human bodies or to break own structures. However, almost conventional robots consist of rigid structures, so, many sensors and high-spec controller is required for handling external forces. To address this problem, flexible structures like a muscle have attracted considerable attentions. By employing flexible structures, we can reduce sensors and controllers, because the flexible structures can adapt themselves to the unknown environment by utilizing their physical properties without sensors or controllers. In this paper, we focus on flexible mechanism, and propose a flexible translational joint of which flexibility can be adjusted adaptively. We employ the proposed flexible joints for legs of a humanoid robot, and we conduct experiments of walking on vibrated plane. As the result, we confirm that the developed humanoid robot can walk on the vibrated plane, due to the filtering properties of the flexible joints.
Realization of Flock Behavior by Using Tau - margin
Yodai Miyagawa,Yuta Kondo,Kazuyuki Ito 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Recently, swarm intelligence has been actively studied and has been applied for various robots. Realization of flock behaviors by mobile robots is one of them. In conventional works of applications of flock behaviors, environments are modeled as three-dimensional space by using distance sensors, and flock behaviors are realized based on the distance information. However, the conventional framework can not explain mechanisms of real flock behaviors of animals like birds and so on, because most of animals do not have distance sensors and can not perceive precise distance information. To explain the mechanism, in the ecological psychology, it is considered that animals perceive time to contact called tau-margin, instead of perceiving information of distance. In this paper, we consider realization of flock behaviors using tau-margin, and develop multi mobile robots that have 10-watt light bulb and can perceive tau-margin by utilizing optical inverse-square law. To discuss the effectiveness of tau-margin in realizing flock behaviors, experiments using the developed robots have been conducted, and as the results, flock behaviors have been realized without employing any distance information.
Magnetic Properties of Mn2Sb1−xGex (0.05 ≤ x ≤ 0.2) in High Magnetic Fields
Daisuke Shimada,Hiroki Orihashi,Daisuke Mitsunaga,Masakazu Ito,Masahiko Hiroi,Keiichi Koyama,Reisho Onodera,Kohki Takahashi,Kazuyuki Matsubayashi,Yoshiya Uwatoko 한국물리학회 2013 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.63 No.3
Magnetization and electrical resistivity measurements were carried out for polycrystallineMn2Sb1−xGex (0.05 ≤ x ≤ 0.2) in magnetic fields up to 16 T in the 4.2 - 600 K temperaturerange in order to investigate the magnetic and the electrical properties under high magnetic fields. Mn2Sb0.92Ge0.08 showed a Curie temperature, TC, of 532 K and a first order magnetic transitionfrom a ferrimagnetic (FRI) to an antiferromagnetic (AFM) phase at Tt = 230 K with decreasingtemperature in a zero magnetic field. With increasing x, TC decreased and Tt increased. ForMn2Sb0.92Ge0.08, a matamagnetic transition from an AFM to a FRI phase was observed at 215 K. The magnetic phase diagram of Mn2Sb1−xGex is presented.