2023/01/29 更新

写真a

マツモト オサム
松本 治
Scopus 論文情報  
論文数: 0  Citation: 0  h-index: 6

Citation Countは当該年に発表した論文の被引用数

所属
研究院(研究機関) 次世代ロボット研究機構
職名
上級研究員(研究院教授)
 

研究分野

  • ロボティクス、知能機械システム

  • 機械力学、メカトロニクス

Misc

  • ロボット制御プログラム動的更新手法の安全性および応用

    堀内 英一, 松本 治, 小谷内 範穂

    日本ロボット学会誌   24 ( 5 ) 647 - 653  2006年

     概要を見る

    We have presented safety issues such as deadlocks and dependency as well as their solutions in a dynamic updating method of running robot motion controller programs. Case studies of a mobile manipulator, a hexapod robot and a biped robot with wheeled legs illustrate discontinuity and overhead time in updating. We have also shown that the present method may significantly reduce work time of testing phase in system development.

    DOI CiNii

  • 重心移動のみで操縦可能な小型・軽量パーソナルビークル

    佐々木 牧子, 柳原 直人, 松本 治, 小森谷 清

    日本ロボット学会誌   24 ( 4 ) 533 - 542  2006年

     概要を見る

    This paper reports the development of a compact and light-weight personal vehicle called the"Personal riding-type wheeled Mobile Platform (PMP) "that consists of two wheels and a standing base for a human rider. The two wheels are driven independently, and forward and backward movement and steering are achieved by simply changing the relative position of the rider's center of gravity (COG) on the base. The vehicle has two distinct advantages: a reduction in total weight through its simple structure and a space-saving design that does not use a steering unit. In this paper, we introduce the first prototype (PMP-1) and the second (PMP-2) whose weight is smaller than 12 [kg], and propose its posture stabilizing and running control methods to realize the proper forward and backward movement by changing the position of the rider's COG. In order to achieve steering control according to the rider's intentions, we propose the structure for detecting the rider's COG on the base and the steering control method. We also investigated the steering control method to improve maneuverability in various estimated standing poses. Our experimental results demonstrate that natural steering control can be achieved using the rider's COG based on the rider's intentions.

    DOI CiNii

  • 空間移動ロボットに関する研究(第1報)

    計測自動制御学会システムインテグレーション部門講演会論文集    2004年

共同研究・競争的資金等の研究課題

  • 脚車輪型システムの動的制御