( 2) RC 腕 ( 断面 ) 糸 頭 指令値 RC サーボ 腕 脚 2 ( ) ( ) 布 Fig. 2 Mechanism of Arm(left) and Arrangement of String(right) 制御基板 駆動装置 綿 PWM モータドライバIC PW
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1 1 2 The Motion Control of Soft Feeling Stuffed Animal Robot Tatsuya Ishikawa 1 and Shoichi Hasegawa 2 We propose a stuffed anima robot, which have soft feeling. Stuffed animals are quite familiar to many people and make them comfortable. Current moving stuffed animals have a hard structure with actuators under the fur. It makes them hard to the touch and spoils comfortableness of stuffed animals. Our stuffed animal robot has moving arms only composed of soft stuff such as cloth, cotton and strings. We drive them by pulling the string with actuators, which are deep inside the center of stuffed animal s body. Our purpose is to control the movement with this robot and amuse people by attractive motion. This stuffed animal robot will become one of entertainment robot and mental commit robot. 1 The University of Electro-Communications 2 Tokyo Institute of Technology ) % ) RobotPHONE 3) PARO 4) 5) 2. ( 1 ) ( 2 ) 1 c 2011 Information Processing Society of Japan
2 ( 2) RC 腕 ( 断面 ) 糸 頭 指令値 RC サーボ 腕 脚 2 ( ) ( ) 布 Fig. 2 Mechanism of Arm(left) and Arrangement of String(right) 制御基板 駆動装置 綿 PWM モータドライバIC PWM 回転数 Sh-7144 Bluetooth 巻き取りモータ糸エンコーダ張力フォトリフレクタ電源装置 1 Fig. 1 Composition of System (Li-po ) Fig. 3 Composition of Sensor 2 c 2011 Information Processing Society of Japan
3 3.4 4 Sh-7144 PWM 生成 エンコーダカウント A/D 変換 制御基板モータドライバIC 発光 受光処理回路 電源回路 コネクタ コネクタ バッテリー RCサーボ 2 モータ 12 エンコーダ 12 フォトリフレクタ 12 シリアル通信 Bluetooth ユニット PC or コントローラ Fig. 4 4 Composition of Circuit 6 Fig. 6 Pulse of Encoder Fig. 5 Produced Circuit Board CPU SH k A/D 16 PWM 8 SH ch 2 AB2 A IRQ B IO 6 IRQ A B A B Hi A B Low 1 SH-7144 IRQ 8ch IO 45ch CAD SolidWorks (Dassault Systemes SolidWorks ) CAD Commax AD-VD W MDF CAD 7 3 c 2011 Information Processing Society of Japan
4 情報処理学会研究報告 3.7 動 作 生 成 動作の生成手法としては キーフレームを利用したモーション補間を使用する この方法 は 動作中 特徴的な姿勢をとる時刻とその時の姿勢 キーフレーム を複数用意し この キーフレームを補間して再生することで一連の動作を生成する手法である 本研究のロボットは 多数のアクチュエータを搭載している また張力の合力を利用した 複雑な動作が要求されるので キーフレームの作成には 実機を観察したうえでの試行錯誤 図 7 CAD データ (左) とハードウェアの外観 (右) Fig. 7 Cad Data(left) and Externals of Hardware が必要である そのため ロボットがどのような姿勢を取っているのかその場で確認しなが ら キーフレームを定義できるようなシステムが必要になる そこで次のようなキーフレー 3.6 ぬいぐるみの布生地 ム編集ソフトウェアを作成した (図 9) ぬいぐるみの外見は 熊の形とした 熊の形をしたぬいぐるみは テディベアに代表され るように 老若男女問わず認知され 愛されている ぬいぐるみロボットの布生地に要求さ れることは 腕や脚の綿袋の動きを阻害しない 触り心地がよい といった点が挙げられる この条件を満たすために 薄くて伸縮性のある長毛の布生地を使 用した 生地から縫いあげたぬいぐるみを製作したハードウェアに装着したものを図 8 に 示す 胴体を触ったときに体幹部のケースの硬さを感じさせないために 布生地と駆動部分 の間には綿を詰めてある 図 9 ソフトウェア Fig. 9 Software このソフトウェアでは それぞれの糸の長さに対応するスライドバーを動かすことによ り Bluetooth ユニットを介した無線のシリアル通信を使ってロボットの制御マイコンに指 令が届くようになっている また このソフトウェアは作成したキーフレームを上部のタイ ムライン上に配置して再生することで ロボットの動作を即時実行し すぐに動作を確認す ることが可能となっている 作成したモーションデータはテキストファイルとして保存 読 み込みを行うことができる 4. 評 図 8 ぬいぐるみロボット Fig. 8 Stuffed Animal Robot 価 提案するぬいぐるみロボットの有効性を評価する 4.1 センサを使った動作補正 力センサを使い外力が加わった状態で 動作の補正が可能であるか検証する 実験は図 4 c 2011 Information Processing Society of Japan
5 10 1 OPTOTRAK Certus Y X おもり 10 Fig. 10 Arm Model Robot 60g = +k*( ) k Fig : ex.2:relation between Sensor Value and Time : Fig. 11 ex.1:trajectory of Arm 11 y x OPTOTRAK Certus c 2011 Information Processing Society of Japan
6 x y : Fig. 14 ex.4:appearance of Walk Activity 5. ( 1 ) ( 2 ) 13 3: Fig. 13 ex.3:trajectory of Arm cm/s 1) ( 22 ): 2) Harlow,H.F.: The Nature of Love; American Psychologist, Vol.13, pp , ) Dairoku Sekiguchi, Masahiko Inami, Susumu Tachi; Robot-PHONE: RUI for Interpersonal Communication; CHI 2001, Extended Abstracts, pp , ) Takanori Shibata: An Overview of Human Interactive Robots for Psychological Enrichment; PROCEEDINGS OF THE IEEE, Vol.92, No.11, pp , ) : ; 21, c 2011 Information Processing Society of Japan
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