Hideaki Yamato

2A1-G18 Study on Path Generation for Robots with Different Driving Systems

○林達也(千葉工大),内田成一(千葉工大),清水正晴(千葉工大),大和秀彰(千葉工大), 入江清(千葉工大),古田貴之(千葉工大),正 林原靖男(千葉工大) Tatsuya HAYASHI, Masakazu UCHIDA, Masaharu SHIMIZU, Hideaki YAMATO, Kiyoshi IRIE, Takayuki FURUTA, Yasuo HAYASHIBARA, Chiba Institute of Technology, yasuo.hayashibara@it-chiba.ac.jp In this paper, we discuss on path generation for robots with different driving systems. We are developing RT-component to generate a path for various mobile robots. To develop a reusable component, we propose a method to generate path with hierarchical components. In upper component, it generates universal path according to map data. In lower component, it generates individual path according to characteristics of robot and demands of operator. We indicate the method and confirm its effectiveness through simulations.

2A1-G17 Obstacle Avoidance Algorithm with Potential Method Considering Robot Shape

○伊藤聡一郎(千葉工大),清水正晴(千葉工大),大和秀彰(千葉工大),入江清(千葉工大), 古田貴之(千葉工大),正 林原靖男(千葉工大) Souichirou ITO, Masaharu SHIMIZU, Hideaki YAMATO, Kiyoshi IRIE, Takayuki FURUTA, Yasuo HAYASHIBARA, Chiba Institute of Technology, yasuo.hayashibara@it-chiba.ac.jp We develop RT component for obstacle avoidance of autonomous mobile robot. Specially, we deal with avoidance algorithm for omni-directional mobile robot. For autonomous robot passes the narrow route, not only position, but also direction of path should be generated according to configuration of environment. To solve this problem, we propose a potential method with translate and rotary motion. In our method, repulsive force is applied to circumference of robot. Therefore, the force is not only applied to the center of gravity of robot. Then, the robot generates rotary motion for avoiding obstacle. By such method, translate and rotate path is generated according to reference model. We introduce a method and confirm its effectiveness by simulations.

1P1-E07 Study on Detection of Foot Using Range Image Sensor

○一澤勝弘(千葉工大),藤本与(千葉工大),清水正晴(千葉工大),大和秀彰(千葉工大), 入江清(千葉工大),古田貴之(千葉工大),正 王志東(千葉工大),正 林原靖男(千葉工大) Katsuhiro ICHIZAWA, Atsuru FUJIMOTO, Masaharu SHIMIZU, Hideaki YAMATO, Kiyoshi IRIE, Takayuki FURUTA, ZhiDong WANG, Yasuo HAYASHIBARA, Chiba Institute of Technology, yasuo.hayashibara@it-chiba.ac.jp In this paper, we discuss on an estimation of foot’s direction using range image sensor. For the robot works with a human cooperatively, a robot should detect human statuses adequately. Specially, the direction of human is one of most important information. To detect the direction of human, we focus the tip of foot. Foot may be detected by range image sensor stably. We propose a method to estimate the position of leg and the angle of foot. Then, we confirm the effectiveness of the method through experiments.