The dynamic stability of a quadruped robot trotting on slope was analyzed.Compared with crawl gait,trot gait can improve walking speed of quadruped robots.When a quadruped robot trots,each leg is in the alternate stat...The dynamic stability of a quadruped robot trotting on slope was analyzed.Compared with crawl gait,trot gait can improve walking speed of quadruped robots.When a quadruped robot trots,each leg is in the alternate state of swing phase or supporting phase,and two legs in the diagonal line are in the same phase.The feet in the supporting phase form a supporting region on the ground.When a quadruped robot walks on slope,the vertical distance from zero moment point(ZMP) to the supporting diagonal line is defined as ZMP offset distance.Whether this distance is less than the maximum offset distance or not,the stability of robot trotting on slope can be judged.The foot trajectory was planned with the sinusoidal function.Based on the kinematic analysis,the ZMP offset distance of quadruped robot under different slope angles,step length and step height was calculated,then the reasonable slope angle,step length and step height for quadruped robot trotting on slope to keep dynamic stability can be determined.On the other hand,the posture angle of quadruped robot should be controlled within the desired range.Computer simulations were executed to verify the theoretical analysis.The study will provide reference for determining reasonable step parameters of the quadruped robot.展开更多
This study seeks to establish techniques of architecture planning for living robots and human together. This experiment is elemental step to search relations between a small mobile robot and human. This experiment is ...This study seeks to establish techniques of architecture planning for living robots and human together. This experiment is elemental step to search relations between a small mobile robot and human. This experiment is ＂How can a small mobile robot approach to individuals distances of foreigners （non-Japanese） up to the point where foreigners （non-Japanese） do not feel like approaching any more＂. It focuses on a small mobile robot and identifies distances at which the robot can approach to individuals, particularly adult foreign male. This paper clarifies how the individual distances change by the robot＇s speed and angle of approach varies.展开更多
In recent years, it is remarkable that various robots are being developed, and the development of robot technology is beginning to be taken into an actual living space. There are still many questions that we will have...In recent years, it is remarkable that various robots are being developed, and the development of robot technology is beginning to be taken into an actual living space. There are still many questions that we will have to answer for the harmonization of living together with a robot. This study is focused on ＂the study of how to plan and design a living space in harmonizing with robots＂, and focused on the effects of infants （subjects） along with the distance between robots and themselves. The study is to seek for the minimum distance for the subjects who felt that ＂I do not want a robot to be any closer being approached to me＂. This experiment was conducted among 30 infants at the kindergarten, utilizing a small experimental robot. A small robot whose dimension is 120 mm （W） ×130 mm （D） × 70 mm （H）, approaching infants as is to see if it would make any differences to the infant＇s reactions.展开更多
This study investigated the difference in the levels of people＇s acceptance of robots by the types of social relationships between humans and robots. In this study, social relationships between a robot and a person w...This study investigated the difference in the levels of people＇s acceptance of robots by the types of social relationships between humans and robots. In this study, social relationships between a robot and a person were categorized into four types consisted of two in the horizontal of social relationship （intimacy dimension） and two in the vertical of social relationship （status dimension）. In dialogue between humans and robots, the types of social relationship were adjusted by forms of language such as calling by name and speech styles. People＇s acceptance of robots was measured by people＇s comfortable approach distance to the robot. Participants showed greater acceptance of a robot when the robot called them by their names. In the case of speech style, participants accepted the robot which used honorific speech style without addressing them by their name, while they accepted the robot which used familiar speech style with addressing them by their name. There was an interaction effect between gender and calling by name.展开更多
Recently, Japan has experienced a low birthrate and an aging population. The development of communication robots, such as cleaning and a care-giver robot, has been progressing. Care-giver robots provide daily assistan...Recently, Japan has experienced a low birthrate and an aging population. The development of communication robots, such as cleaning and a care-giver robot, has been progressing. Care-giver robots provide daily assistance, including contacting emergency services. This study is part of the ＂study on planning techniques of living space in harmony with robots＂, and focused on the elderly. Minimum distance was the subjects felt ＂I do not want any more approached＂. Subjects were 21 elderly persons （eight males and thirteen females）, aged 66-86 years. The experimental room was an assembly room in a public accommodation （14 m× 6.5 m）. The small mobile robot used in this experiment was external form dimensions of 120 mm （W）× 130 mm （D）× 70 mm （H）, In this experiment, considering the personal space as the small mobile robot is watching robot without support function for person. The robot moved toward standing or sitting subjects at constant velocities from a distance 5 m apart. Research factors are 5 angles （0°, 45°, 90°, 135° and 180°） and 2 speeds （0.08 m/s and 0.24 m/s）.展开更多
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘The dynamic stability of a quadruped robot trotting on slope was analyzed.Compared with crawl gait,trot gait can improve walking speed of quadruped robots.When a quadruped robot trots,each leg is in the alternate state of swing phase or supporting phase,and two legs in the diagonal line are in the same phase.The feet in the supporting phase form a supporting region on the ground.When a quadruped robot walks on slope,the vertical distance from zero moment point(ZMP) to the supporting diagonal line is defined as ZMP offset distance.Whether this distance is less than the maximum offset distance or not,the stability of robot trotting on slope can be judged.The foot trajectory was planned with the sinusoidal function.Based on the kinematic analysis,the ZMP offset distance of quadruped robot under different slope angles,step length and step height was calculated,then the reasonable slope angle,step length and step height for quadruped robot trotting on slope to keep dynamic stability can be determined.On the other hand,the posture angle of quadruped robot should be controlled within the desired range.Computer simulations were executed to verify the theoretical analysis.The study will provide reference for determining reasonable step parameters of the quadruped robot.
文摘This study seeks to establish techniques of architecture planning for living robots and human together. This experiment is elemental step to search relations between a small mobile robot and human. This experiment is ＂How can a small mobile robot approach to individuals distances of foreigners （non-Japanese） up to the point where foreigners （non-Japanese） do not feel like approaching any more＂. It focuses on a small mobile robot and identifies distances at which the robot can approach to individuals, particularly adult foreign male. This paper clarifies how the individual distances change by the robot＇s speed and angle of approach varies.
文摘In recent years, it is remarkable that various robots are being developed, and the development of robot technology is beginning to be taken into an actual living space. There are still many questions that we will have to answer for the harmonization of living together with a robot. This study is focused on ＂the study of how to plan and design a living space in harmonizing with robots＂, and focused on the effects of infants （subjects） along with the distance between robots and themselves. The study is to seek for the minimum distance for the subjects who felt that ＂I do not want a robot to be any closer being approached to me＂. This experiment was conducted among 30 infants at the kindergarten, utilizing a small experimental robot. A small robot whose dimension is 120 mm （W） ×130 mm （D） × 70 mm （H）, approaching infants as is to see if it would make any differences to the infant＇s reactions.
文摘This study investigated the difference in the levels of people＇s acceptance of robots by the types of social relationships between humans and robots. In this study, social relationships between a robot and a person were categorized into four types consisted of two in the horizontal of social relationship （intimacy dimension） and two in the vertical of social relationship （status dimension）. In dialogue between humans and robots, the types of social relationship were adjusted by forms of language such as calling by name and speech styles. People＇s acceptance of robots was measured by people＇s comfortable approach distance to the robot. Participants showed greater acceptance of a robot when the robot called them by their names. In the case of speech style, participants accepted the robot which used honorific speech style without addressing them by their name, while they accepted the robot which used familiar speech style with addressing them by their name. There was an interaction effect between gender and calling by name.
文摘Recently, Japan has experienced a low birthrate and an aging population. The development of communication robots, such as cleaning and a care-giver robot, has been progressing. Care-giver robots provide daily assistance, including contacting emergency services. This study is part of the ＂study on planning techniques of living space in harmony with robots＂, and focused on the elderly. Minimum distance was the subjects felt ＂I do not want any more approached＂. Subjects were 21 elderly persons （eight males and thirteen females）, aged 66-86 years. The experimental room was an assembly room in a public accommodation （14 m× 6.5 m）. The small mobile robot used in this experiment was external form dimensions of 120 mm （W）× 130 mm （D）× 70 mm （H）, In this experiment, considering the personal space as the small mobile robot is watching robot without support function for person. The robot moved toward standing or sitting subjects at constant velocities from a distance 5 m apart. Research factors are 5 angles （0°, 45°, 90°, 135° and 180°） and 2 speeds （0.08 m/s and 0.24 m/s）.
