jrm23-5 2011 邦訳111212 - kawazoe-lab
TRANSCRIPT
Journal of Robotics and Mechatronics, Vol.23, No.5 (October 2011) pp.684-700. ��������� �������������
Journal of Robotics and Mechatronics Vol.23 No.5, 2011
1
������
��� ������������ ������ !"#$�%&'�()*+,-$�.��/01
�
2345� � � 6789� � � :;� <�
�
Practical Education Curriculum for Autonomous Mobile Robot (Project Learning Program for School Based on Subsumption Architecture)
Yoshihiko Kawazoe, Masaki Mitsuoka and Sho Masada Graduate School of Engineering, Saitama Institute of Technology,
1690, Fusaiji, Fukaya, Saitama, 369-0293, Japan E-mail: kawazoe�sit.ac.jp
[2011�3�10��� 2011�6�29 �!]
There is no robot around us in our society at the current stage if we define a robot as an autonomous machine working in the arena of offices, homes, and disaster sites, etc. outside the factories. Mechatronics, dynamics and robotics involving humans are the world of strong nonlinearity. This paper investigated the approach to the emergence of the objective behavior of an autonomous mobile robot by learning with Subsumption Architecture (SA) for breaking through the problems of the conventional robotics with SMPA (Sense- Model- Plan- Act) framework in the real world. It showed the way of learning in the real world with SA and developed into practical education curriculum as an introduction to Robotics having an intellectual and emotional appeal. Key words: Robotics, Practical Education Curriculum, Autonomous Mobile Robot, Subsumption Architecture, Perception and Action��
=>�?@A �
1.1� BCD� ����+E*FGHI � "#$%&'()*+,-./0123 ���
456 ���789:;<=>*?@ABCD*
�E�FG<HIJKLD*M7/�HIN ��
�JOPQ/7RS9T�<UV*WXXYRZ9
:;<=[*K\]< ���W�@A7^_�
`ab78cdeAB^/afg ���K9 �
��J^hi[9%j7�HIJkhlmcno
B9pqr�sXRtuoB^/vwx yz{�
*i/ ���W|@<}T~�cK�A^���
�Q�/�J���*��*�[��cm�UV� [1]�[3]��cK7E��*W��-.t��[4]-[7]_ �d��9����9������ *¡^B ���¢£<�¤7¥g�+,-.B^/�9|¦
< ���¢£K9§G<¨b©ª*«¬A� �
��¢£<]Dg®4¢£<�|¯°±N²³*
cm7^c^/[8][9]_
� ´ ���µ)¶ ·¸¸¹ � º �»*¡^B9¼
���½¾<!¿ÀÁÂ��u.9ÃWÃW9 �
��UV*ÄÅ7!¿JKÆX�Ç�B�Y.B^
/_¤;7 ���½¾È�É;JÊË-./�Ì
c9Tm*Y�[ ���½¾¢£<UV4 ��
�<��*ÍYoBG�Î;<�E*ÏÐJÑ��
�ÒB^/J^hÓÔ�ÕÖ/[10]_�� ×ÖS9pØÙÚ ���cK,Û�LÜ<ÝÞß#4à1áâ$ã`äåâJABæçQ/ ZMP�Zero Moment Point�½¾���DJ^h���n/�9èé[11]WêëQ/ih*9��< ���½¾cK�ìí8¡[*^X7^�J��E9î^
�m<�ï4 ð3�±<�|ñ<òó�êë-.
B^/[12]-[17]_ôõö< ASIMO<ÙÚ�÷RXcn/��* ZMP ½¾*øùEÙÚKúO�Jûü-.4Q^[18]�9ASIMO K ZMP ½¾��*ý?A7^cþÚ�û*i/�E<��N�XAB^/
XR��DúO7<cnoB9�;�'Q/C<
��K ���*JoBK� *��B¡[9|
@<��D7�x 1�NJ/ò[9½¾Qlm�
��1�J������D*�Ö/�J*7/_
���*��$��7�mN+,Q.SQ/�89
���K�|�D7W<*7/_ � ���ö !"{3KÄ#D*�~$cn[9
rµD*%�-./��D½¾!¿� ���&f
*'*Þ(�JKnu[7^J)´[19]�êëQ/ih*9�*+$�~$K ���<´Lcn[9
���<´L���õ{,<�~$<-µJ½¾
ñ<%��JQ.S9.�õ{,cW�/3*7/
���<-µJ½¾K�0cn/[20]-[22]_�� !¿J�¬g<12�xN3�/��*457 ð3�½¾<UVW 20 �6[7�*ÚY.Bm��9 ���<ÁTcWn/�~$±�~$äåâ
Â8c�[9Y.B^/��<òó�n[9:!D
7Á±Nq�;<A�= ð3�7%��+,-.
��>?9�@§A9Bé� C
Journal of Robotics and Mechatronics Vol.23 No.5, 2011 2
B^/[23]_ � �Ì9vDE*¡�/ �����<�FGH¡
iI9Ã.*øùE��������<³ÞNJD
* ´ ���µ)*KÞ-.�¼ �����U
VLMNO)À*i[¼ ���P���QõRy
S� 2009À��T-.�_ � ���<$J�mKÎU*JoB�X[4QE9
���KÎ*ioB"�QVõ�KOcm/<c
ÎNP�-W�[XïPNY/�J�cm/�J9
Z[$K�$\&$�]�^<=>c¯°cn[9
�XAB_/J ���K´`*�X7^�J�Y
X/�9�.�a��Õ$üb°-Nch�J*7
[9d^e><øf�cNgï¿D*µl/<c�
h*¯°±Ni����cn/�J789 ���
��<Áj�klR.B^/_mõyn��õo$
à{p y1KQõqQ3(gï¿D)cn[9��A�nJ*!¿NµSW/J!üA4Q^�J9h
uE�EW<<ÓÔ*Kr-.�Cs�n/KZc
n[9Ã.N],D*tuQ/ÌÈ�ÄÅcn/�
J78WvG-.B^/_ � ���<ÎU��DwP*(^BK�x<yz
�W�.B¡[[24][25]9{¿Q.S9 ����||Üc}�~�cmÃh7��K����<ih*
ÕÖ/_ 1.2 JKL�M+NO PQ� ��+�R+
�S+TU � ��Ü�úO��mN(E/J^h-µ�!J�
���-N½¾A�¦F��*øùEJ��@<
�m��u./_�
� �`*�{qâJá�1��ÄÅcn/ih*9
pØÙÚ ���<b89ÙÚ��cK7E�ݽ
¾Wø´cn/_×ÖS9� �K9�w*�ÌXR
�-.�pØÙÚ ����9�ÝNC�A9�Ý
|<��N��ò*Q/ih*���NA9�ÝA
��*��E���/�&N�Q_ ���<Q
lB<y�N�|��*�XAB9�mN��Q/
����-N½¾AB¦F����N$ïQ/�J
*i[�_7�m��|Q/_�<b8K9 ¡*
�[���¢£qõ01cs̤J<£¥<|U¦
�§N¨©A9�Ý<ª«NAB^/_x o��
K0á0õxQVõDg¬NgAB^/[26]-[29]_ � ®�1¯p ° ���<UV�7�cn/�9
±¢cm7^EÐ*i[�ÝA�Jm*9��N�
�ò*J8�/ih7���D�m4�Ý�<²m
n�[<D�|K9ÙÚ³s<Ä´µ¶cn/_
AXA9 ���*´LD7�<ih7UVK{�
B"7^_·¸<¹�|bcK¼ ���ªv ´À
< ���¢£Kdecm/�ºâ*K7^_¼
��ªv ´ÀJ^hb8< ���K%+7HI
¢£$»#¢£9��� n{3<¼%*i/½f
g ���<�Jcn[9UV�*Wûü-.4Q
^[5]-[7],[9],[31]-[33]_ôõö<¡¾-u¿Àqõ�1<ô1�Á1y<·¸*Âh Q&A *¡^B9¼ASIMO*��µÃÄ!NABWRÖuW�XÀJ^hL�*«Q/É<ÅÆKÇÈc��ÖuA^_
¼Honda < ASIMO K9§GÎ<'*Þ(lE��NABÉ[uA��9ÊË7�R|¦cK9ÌÅÍ
N^��^�¤7�J�cm/¢£*KÎoB¡[
uW�À[34]_ � � 2K9QlB<y�N�|��*�XAB����-N½¾Q/�J*i/pØÙÚ ���<Ï
ÐÑ[cn[901�ä1�<�â{�Ø*WXX
YRZ9�]Ò]NÓoB 1ÐNÔ 1ÕcÖ4X*Ñ[m/[26],[35]_� 3 <ih*9×Ø�W@<î+cÙ/[36]_ � ÞÚ[37]�Ûµ�ÜÝ1ÞNßgABêëQ/¼à!K&/�JÃ<W<*¡^Bn/ÀK9 �
��*�W`BKu/_3R1á4â£$â°78
J�ÒE9°ím4],'i[W ���K¼^X
*�EXÀ�ãä-./lmcn/_¼�XAB_7
E�åYXR7^À<�#$�m:$®�J�?
Q/ ���cn[9°ím��ìí�4¯n��
âK�XR(^BE/_ ���W¼©G7Xo�
Rwæ�7^çóÀcn[9å�â�<¼:èhÃ
*:n[ÀXR¼:n[Ã*:èhÀñ<�å�â
�D%��é�R./[26][38][39]_
� (a) t=0.68 s � (b) t=1.12 s � � (c) t=1.24 s � (d) t=1.36 s (e) t=1.52 s (f) t=1.64 s
(g) t=1.76 s (h) t=1.88 s (i) t=1.96 s (j) t=3.04 s (k) t=3.20 s (l) t=3.72 s
Fig.1 Simple autonomous shock avoidance during falling down and instantaneous rising of biped robot GENBE-No.5-2005 utilizing instability. It takes only 2.5 seconds.
Journal of Robotics and Mechatronics Vol.23 No.5, 2011
3
(b) t=0.999 s (c) t=1.33 s (d) t=1.66 s (e) t=1.99 s ((f) t=2.33 s
(g) t=2.66 s (h) t=2.99 s (i) t=3.33 s (j) t=3.66 s (k) t=3.99 s
(l) t=4.33 s � (m) t=4.66 s (n) t=4.99 s (o) t=5.33 s (p) t=5.66 s
� � � � � � Fig.2� Going up the stairs of GENBE-No.4 with 10 freedom legs with instability.
Fig.3 Humanoid biped robot who walks and runs on the ice and snow in the lake HARUNA. 1.3VWXYZ[\AQ� ]^'_`a � �]�ÎU$�:�*ç�ê�H°Në(W<9
n/^Kê�H°*ìÖBCDH°NíÖB^/W
<J^h<��Wø´Dc´LD7 ���<OP
cnîh_ ªµ ���,µì< 1�ÉXR3�1�Q/.9ïð<"Îroâ1x*i/x yz{�ñòPN
óOA9¼pØÙÚXRt�/�� �������
����ÀN��A�[40][41]_ �àÝ{3ôMN¼pØÙÚ ���ÀXRt�/!*K9Q3à�
JAB<½¾��A^�*+Q3à�cn[9�
_7�mN�|Q/*K¤;7Cs�Åé-.9A
XW9Ã<õAöA�÷cWøù*�X[9µú<
Ò]ûJ]D7ïü�J*ÕÖ4Q^XRcn/_
]D��J��üb<��N��DýÈ*%�c
m/°-Nch�J�JDcn/_ � \�É*Äþ<¼pØÙÚ ���\&È�¡i
I\&�ú�À9.�É*¼pØÙÚ ���\&È
�¡iI\&�ú�À9¼pØÙÚ ���\&È�
¡iI\&�ú�ÀNÃ.�.��ï|U915Å�A9ï�É<¼�� ���$x yz{�
�9�ÀñJE_¡�N�_ÞBB9� qõ0
<���ü�� 4�J�ïA�� <�mNÓoB9C�JÅ�Ú�N��g¬'<ýÈ*i[x o�
�A9pØÙÚ ���<Ú�N�|-W/_
�¢)*Î/uc*þÚ�û*i/��üb<��
N��_ � �OKx yz{�N�ÚQ/�cÄÅJ7/�
²4�°ð 3N�Ö/�9�ò�K*7�óc
J�NXïQ/ÌÈNR;Ö9x yz{���
ïQ/ucþÚ�ûN�[�Q_y�Q/¿�78
WÉ�AB9��Ü4Ç�ÜN��A9µ�Ã.�
.� <¯n��â'$],'Nþ_/_ ��
�µ)¶78<�!<¿�N"��µ�K9¿�*
K�|�D7�E<#O�K�R.B^/�J*$
ùE_�JÖS9Ø%<÷[N¥gA�Ì&�'*
yAB[42]9µ�<�R1�*KÉ<ih7()�ÕR./_ � ¿�<#O(1)� ���<�&Kq�**E9ioB+±-<,-N��7^_./-<0ü�12
Dcn/_ � Ñ�� ���<ÁjK3�1�$3��x3ì
î$4î<�[�Acn/_¿�<#OcKê�J
KkÖ7^_ ð3�73�1�$3��x<�ï
�à ���<5Å7a�cn/_ � ¿�<#O(2)��./6rJ7./6rK A^W<JAB9h_ � Ñ����*KÃh7R7^<c9¿�<#O*
K8!�n/9./<ª�*ý?A7^c ð3�
7�mNQ/ ���N�|Q/�J�5Å7a�
cn/_ � ¿�<#O(3)�:;K<�c9Ø%*XX/./-K�¤X(��JQ/_ � Ñ��|�*K ���K:;<=>4Ø%<?
@¦F<,-N��4Q^<c9¿�<#OK�|
�Dcn/_�¤7=>J./<n/:;c ð3
�7 ���<�|�Ã5Å7a�cn/_!¿D
cnoBW�X7^ ���i[gï¿DcW��
*�_*�E ���NãäABü�$K�<«A
JQlmcn/_ � �.R<�JK h:!µcKø´<�Jcn/
�9äôB*JRY.7^�C7µ¡\9.���
XR$ùE�Jcn[9 ����|i[W¿�&
ïNãäWD/NÖ7^ªµE�4UV�*K$ù
m*E^�JXWA.7^_�<ih7a��ÕJ
übÈ<FGK9 ���N�XAB_BH�BY
��>?9�@§A9Bé� C
Journal of Robotics and Mechatronics Vol.23 No.5, 2011 4
X/�Jcn[9��üb°-<cï*K{�B5
Åcn/_Ã.�.�pSISNJ�ABüÆ<7
^¯n��â'N�DQ�J*7/[35] [36] [40] [43]_ � ���<¿�*K¤;7#O4sÊKL�K�
R.B¡[9Q"��1QVõ<çóJ��â$M
1â°<çóJKN:cn/�JNµ�KC/�J
�cm/_�.*(^BK9-R*9.�É< OP
���$Q"��1�Webots (Cyberbotics (\)[41]NÓo�Qf¼�� ���K�ÈÀ*¡�/Q"��1QVõJï�É<Qf¼�� �
��$x yz{��9�À*¡�/��NRgQ
/�J*i[µú0üN�l/aSNAB^/_ � ¼pØÙÚ ���\&È�¡iI\&�ú�À
cK901�ä1�<½¾*i/�&<�ï9¼pØ
ÙÚ ���\&È�¡iI\&�ú�ÀcK9CkTNg^�qõ0<�Á±<¢OJ�1qxQV
õU�{QVõ*i/VÛ7��g¬Dx o�"
õo<úY9¼pØÙÚ ���\&È�¡iI\&
�ú�ÀcK9�¢<��<WX7ê�<�ïJ CkT*i/x o��&ï�YÅ7��a�cn/
�91�És+*K9¼®�1¯õ$ ���µôMÀJ^hìJN2ZAB¡[9ÎU�#�J ��
��ìµ¢£�*(^B¤;7ÕÌ9;ÖÌNòP
J�R1�<$[c\]Q/_ � �JÖS9 ���½fK7^+,_[*`I7
^<X9 ���K#a�µúQ/ih*µl/X9
bc'()J ���<¤9bc'()JÎU<z9
���KÎUJ��cm/X9 ���K8.�
��N��cm/X9dg7ý&fK ���*
JoB7^�A^X9 ���µK3ìµeaµe
ìµDaµeaµfìµe¬ge9pØÙÚ ��
�<UVK8<ih*ABtuo�X9ôõö�ï
gA� ASIMO<pØÙÚ<��nh�9®�1¯p °<¬gJK9C° ���UV<ijJ�&9
Á�� ���<0gJòó9®�1¯õ$ ��
�µJK978�ø´D7à1¯cn[9�n�¼W
<<�kÀNìµ¢£� ����J#�ÎU�
J^hlÜXR;mWi93àÝ1á$yVáh<
n�<of[3p1�N �����<lÜXR;
mWi978<�p�{3Da�Wq�/_ � �.K9ï�É<¼!$C° ���K��¿�9
�ÀñJ%�-./_��cK97^9 ����
·¸<¹�|bcdecm7^<X9decm/�
�*K8<ih7¢£4%��é�R./X978
W5Å7à1¯J7/_ � 5K9+rþ�<�])��¢)�QffÔcn[9� 6K� 5<�m<ø´J7/��g¬'[26]s[31]<×cn/_� 7 K�])��¢)�tuQ1�<×cn[9� åÝ���ó�9¢£�t|±9
ð3�±�9â£��m<uA-�9v-<¶J�
n/_tu*Kw`�O<�X9TA�Teaching Assistant�9µ��WÉìA9TA <åäNtu<øxJA9tu¶JÌJ* TA *æ^�yz1¯õ
3<b8K 5ÐÏ<�Ü<tu*7[9TA<�yz1¯õ3N=Ö/J�ܳ�*7/�JWn/_M
h*{^tuJ TA N=Ö/tu*«ABKÞ�õ�NÄ´*AB^/_A��oB9TA��h*5Å7'|NQ/_TA�<��0üW%E9�O}Í�*K~57���ú<b*W7/_Qf<a�4
DøK9TA�µs*ofUV4�"c��*�A�W<Nø´*ABòP$[cåä4®õ�N�Ö
/�9Ã.�.<oâ1x�cm/��-c!A
^�ó*�2�õyQ/ih*ê�Q/_�ò�*
°-<�Î��noBWoâ1xc�-ABJDN
XïQ/ih*ê�Q/_ � 8K9�])��¢)�*¡�/oâ1x�<�8tu�ü<×cn[9� åÝ���ó�9¢£
�t|±9 ð3�±�9â£��m<uA-�9v
-<¶J�<tuWÕ/�J�cm/_�ÎN<t
uK9úYA�pSIS4aSA�Ü78NíXW
��R1�cÚh_ ������ ��� ��� � ��� �� �� �� �����
� ��� ��� ��� ��� ��� ��� ���� ��� ��� ��� ��� ��� ��� ���� ��� ��� ��� ��� ��� ��� ���� ��� ��� ��� ��� ��� ��� ���� ��� ��� ��� ��� ��� ��� ���� ��� ��� ��� ��� ��� ��� ���� ��� ��� ��� ��� ��� ��� ���� ��� ��� ��� ��� ��� ��� ���� ��� ��� ��� ��� ��� ��� ����� ��� ��� ��� ��� ��� ��� ���
����� ����� ����� ��� ����� ����� ���������� ����� ����� ����� ����� ����� ���������� ����� ����� ����� ����� ����� �����
�� �� !"#$ !"%$�� ��� ����� ������� ��� ����� ������� ��� ����� ������ ��� ����� �����
��� ��� ����� �������� ��� ����� �������� ��� ����� �����
&'() ��� *+,-./01 ��23456�708 ���23456�9:;�<=>) ��� �234569(?@ �
��� ��� ��� � �� �� ������� ����� ����� ���� ���� ���� ������� ��� ��� ��� ��� ��� ���
A2BC36D(EFGH IJKL9 ���M�9N9OP �?&'QA23456D A2BC36R����?S
A23456*+,A(R*+,AT>
��
OP!"#$!"%$
��U=
VW�7(?@
�
���
���
���
���
���
��� ��� ��� � �� �� ��A23456
(?@
��
�X
Fig.4 Example of computer aided measurement of
characteristics of sensors using C and Excel in the project.
Fig.5 Presentation and contest of autonomous biped robot
in the projectY.
Journal of Robotics and Mechatronics Vol.23 No.5, 2011
5
Fig.6 Example of Subsumption architecture in the project.
Z[9\]
• 3�^_`a"7bcd2ef9gef
• TA7hijklmnopqmrst
• uvwxl(1,2)\]yzl(6,7)m{|J}`~��
\]�L}\]�L}
Fig.7 Example of estimation sheet in the contest.
Group Idea Technique Art Effort Total Score Group First Place Second Place Third Place1 19 21 22 23 85 Total Score 95(No.11Group) 92(No.7Group) 89(No.8Group)2 19 18 19 22 78 Idea 23(No.11Group) 21(No.7,8Group) -3 17 13 16 20 66 Technique 24(No.11Group) 23(No.7Group) 22(No.8Group)4 17 16 17 21 71 Art 24(No.11Group) 23(No.7,8Group) -5 19 19 19 22 79 Effort 24(No.7,11Group) - 23(No.1Group)6 18 18 18 22 757 21 23 23 24 928 21 22 23 22 899 14 13 15 19 61
10 19 17 18 21 7611 23 24 24 24 95
8578
6671
7975
92 89
61
76
95
0102030405060708090
100
1 2 3 4 5 6 7 8 9 10 11[Group]
[Point]Total Score
19 19 17 17 19 18 21 21 14 19 23
21 1813 16 19 18
23 22
1317
24
2219
16 1719 18
23 23
15
18
24
2322
2021
22 22
24 22
19
21
24
0102030405060708090
100
1 2 3 4 5 6 7 8 9 10 11[Group]
[Point]Idea Technique Art Effort
Fig.8 Example of estimated results in the project. � � 9K9pØÙÚ ���$x yz{�y�<(a)òP9(b)(c)µ�<Qfñ<�[�_9(d)%��<]�Qf9(e)af%�<�OUþ)9(f)�µ�<]�Qf<fÔN�Q_ ]�QfK9·��Í<©sQfJAB���9��<�*931�10 mõ3I 3{1â SSH�Super Science Highschool�90 mõ3$�1�!1Q�x$x yz{� SPP(Science Partnership Project)<à1¯JAB�Å�+�A�c�í&ï�9Qf*y�A�(µ4n�13�½�!�
�2010 � 3 � 23 �9 ´��!������2009� 12� 16 �9��!��2008� 3� 6 �9��!��2008 � 3 � 6 �9à�2���2005 � 10� 12 �9� !�����2005� 10� 9 �9��!��2005� 10� 7 �9 �af!��2005
(a)
(b)
(c)
(d)
(e)
(f)
Fig.9 Scenes of educational curricula and presentation of autonomous biped robot. � 9� 8 �9 �af!��2005� 9� 5 �9 �af!��2005� 9� 1 �*��-.�_u�9%�4�µ�<¼µ��i[À78c�5-.�_ 1.4��� ������������b � &f<�+9î+90�N�éQ/FG<äåâ
º13�J�S./C° ���K9EóNqõ0
c��A9Ã<äåâND¡*g�A9Ú��[N
��>?9�@§A9Bé� C
Journal of Robotics and Mechatronics Vol.23 No.5, 2011 6
ÞB9ÃAB��*Ú�N²�Q�SMPA: Sense- Model- Plan-Act9� 10�_AXA9�<ih7È�Ì[cKp(<ªm7��Ü�n/_�(K ð3
��3< ¡cn/_�H°N�|Q/äy�1â
<8�X*û[�n/J9�¢Ú�K� 10<ih*£¤D7¥¦N§E_p(JK��ÌÈ�¨�7Ü
cn/_n/!óD7¦©*¡^B�äy�1â�
*huE�^�JABW9Ã.RNª8Q/Jhu
E�X7^�J��^_u�9�H°äy�1â<
8�X*!�7H°N�ìAihJQ/J9Ã.�
�<H°äy�1â<K�«¤*,-A9�¬Ql
B<äy�1âN�XR&[7¡Q�J*7/[38] [39] [44] [45]. � �Ì9áâ�{3�ÊA���g¬ (SA: Subsumption Architecture) Në(Ú�ñ�2®12�$º13�$� ����� 11�K9Å�Ú�J�S./Û¯7äy�1âN��D*�_�lB^
m9É°*°-�&�AB^E_�±�ºâ<Ú�
�¥¦ABW9²±�ºâ<Ú���Ú-.9£¤
D7¥¦N³´_|�çóc�E ����É°*
°-N&�-WB^E$c�|cm/[38] [39] [44] [45]. � FGXR9µ¶NW(2®12�$º13�$
���*«AB9¼·¸D7Ú�NAB^/�+<²
7W<7R�|cm/�%É<C°K�|cm7
^À9n/^K¼µú�cm7^À78J^h¹ª�
n/[46]_AXA9¼µúKº��ÀJ Brooks �êëA�ih*[31]9nªD7FG<wæc<µúN�[»�cW¼uA^�üKYR.7^[38][39]_u�9¼½¾$·¬,c()-.�Ú�K9Ú�Uc Þ
cn[¿�:NÅÀA7�RJD·<Ì&ñ��Q
/J^hih7Á8D7Ú�©-�cm7^
[47][48]J^hih*Â^wæ*ûü-.4Q^_�JDÚ�GÃ<��<µú*i/�x 1�N SA
Perc
eptio
n
Sensors Actuators
Mod
elin
g
Plan
ning
Tas
k E
xecu
tion
Mot
or C
ontr
ol
Fig.10 Conventional model-based Robot.
Lv.0
Cruise
Escape
Lv.3
Search
Avoid2
Lv.2
Lv.1Avoid1 SSensors Actuators
Escape
Lv.0 Lv.1 Lv.2 Lv.3S : Escape > Avoid1sAvoid2 > Search > Cruise
� Fig.11 Example of Subsumption architecture
J��A�UVWn/�[47]9ø´Ú��Å�Ú��<�_nlX�9n/^Kµú<tu¶JÃ<W<
*Ñ��Ê/_WX,JAB<ÄÖÌ�7�.S SA*i/C° ���<´LN!üQ/�JKcm7
^_Å�Ú�NÛ¯·¸Ú���*ò/ÄÅK8^
*WXXYRZ9SA Nº13*A� Brooks<WX,JAB<CD ���K�<ih7ûüN��4
Q^[49]s[51]_ � ��g¬Në( ���K ´cKûü-./�
JW�Xo��[30]9�æ9ÅÆ ���<¼âõðÀ4Ç ´ª¸¹<|b*ÈR.�¼��{��
�À78<de*i[��*WCR./ih*7o
�[52][53]_AXA9�èÉ7�J*9 ´cK��AB^/UV�K{�B"rcn[9·¸<¹�|
bc ´< ����decm7^ªm7!*<�
(�îhJ:;K;ÖB^/_ � ´¿�cK9��g¬'*i/`Êñ��
���<µ×UVN�5A9 1�É92�É<¼pØÙÚ ���Àx yz{�*E¼pØÙÚX
Rt�/ �àÝ{3ôMÀJAB< 3�É<òP¼�� ���x yz{�À<µúx o�
���*%�Q/_ cd����� PQef(��� ��
+gh�� � FG< SMPA *øùE ���<��*¡�/´LD7 ËNá�1{Q/��*9��cÌ
ÍA�a�NK��J ����þÚ�û*i[µ
úA9qõ01$ä1�U*cm/����N5@
-W7^·¸DÅ�Ú�JAB�_�lB^E��
3� âN®�1¯õ$ �àÝ{3JABÊA
�[29]_ � � 12<Î< ���Kµ×UVg*&\A��� ��� Mobile-2004N�Q_½¾gÞõ� 1�K9ä� 1� 68332 (25 MHz, 32bit CPU)Ï�9CCD���K ���<sÌ*&�B2ZAB ���<sÌ<ÐN�YA�_Ð<�Y* 0.3 [s]�+<|UNÅA9�<yr<Ä!|U*�l|U�X
X/<c9ÕÖB^/QlB<ÐN CCD���cª«Q/<cK7E9ÕÖB^/[;<Ñz<�Ü<
RGBNп�0s252�*�'ABÐ<�N|UNÒÓA�_%î?æ¿�:ÅÀNóOAB901�ä
1� 2 �*i[��� ÔNÔ 180 +<e>DcÕÖAB×4>�Ì&ñØ|*��cm/ih*A�_
01�ä1�K9HiTEC (\ HSR-5995TG9�â{30 kg-cm93p1° 0.12 sec/60Ù(7.4 V�&|)cn/_ ���*K��� Ô�ÎÚ*� 1�JÛÜÊ(�1â�23�1)�s�*� 1�n[9ÎÚ<��� Ô*K DCä1��Ã.�.�[��R.B^/_01�ä1�KÞõ� 1�*È??cm/�9
DCä1�*ÝÞ�XXo�Jm901�ä1�<»ß{4<��*û�&N²�Qà.�n/<c9È
?ð�à�1XR»áNaâcm/ih*AB?
A�_ð�à�1NÛ 3 $<ã»[»ä(Panasonic
Journal of Robotics and Mechatronics Vol.23 No.5, 2011
7
(\n�åâ<�»ä 1.2V, 2230 mAh)$6´*ABÖ�'A�_ ���<0 hK9Èæ�Ô 185 [mm]9%-��ç¡� 152 [mm]9L� 1.23 [kg]�ð�à�q�� cn/_CCD���²;<±ZK 112 [mm] cn/_ÎÚ<��� ÔU<£¥K 116 [mm] 9sÌñ<=mK 4.3 +cn/_ � � 13K9���×ècn[9 ����¿�:4�éNÅÀA7�R�NEu7E�^BêÐN
�ÕA�Rëì<ÚÅ�NQ/�JNóOAB^/_
qõ0K¢£qõ09?@qõ09ÐN�NQ/
CCD���cn/_%î?æ¿�:<î+K¢£qõ01<¦�§XR ���J<¿«î+N�©A
B^/_¿�:ÅÀAvoid 1K�·9¿�:ÅÀAvoid 2KÂ^_í9¿�:ÅÀ Avoid 3K%î?æÑ*¡�/Å�Ú�cn[9¿�:ÅÀ Avoid 3K¿�:ÅÀAvoid 1u�K¿�:ÅÀAvoid 2J�|*�|KLN��Q�� Avoid 3Nãä-W9¿�:ÅÀAvoid 3<Ú��KÈs<¿�:ÅÀ Avoid 1u�K¿�:ÅÀ Avoid 2*î/ih7½¾g¬*AB^/_�<ih7 SADÄ!,N� 149Ú��1�à{�2N� 15*�Q_ � � 16K9JD·uc<�m<2å/$Þ¯ïàcn[9(1)�3�1�·Ü9(10)�êÐ<�Õ·Ücn/_
�Fig.12 Mobile robot-2004 (left) and robot e-puck (right)
Red
Gre
en
Blue
Silver
Whi
te
Greenyellow
Yellow
Cream
Road
260
165
360
800100
240 400
300
260
135
340
400
�220
320
400
400
2100
2100
Slop
e
Slop
e
350
470
390
� � � � � � � (b)
(c) � � � � � � � � � � � � � (a) Fig.13 Experimental environment è
� � 17K9¿«î+ 70[cm/s] c%î?æQ/�1â*«Q/êÐðGÑ< ���<¿�:ÅÀ<�
m<¤#N 1/3ÕUñ<2å/$Þ¯ïàc�AB^/_(4)c ����×*��At�B��*�1âNÀ�B^/_ � � 18 s� 20K9ÎUN�D¿�:J��AB�éÅÀ9¿�:ÅÀNA7�R<JDÚ��êÐð
G�N�Q_� 18 K9���*¡^B�EÎU<ØN�D¿�:JABÅÀÚ�NA7�RêÐð
GNQ/ÙÚ ���<k�N�Q_� 19 K9ÎU<ý<�mN��AB�D¿�:JABÅÀQ/
Sensors Actuators
Lv.0
Cruise
Escape
Lv.4
Search
Avoid2
Lv.3
Lv.2Avoid1
Avoid3 Lv.1
Fig.14 Subsumption architecture of autonomous
Mobile-2004.
Escape
Cruise
Avoid1(plain)
BACK�Right-Turn
BACK�Left-Turn
BACK�2�Left-Turn
Left-Turn
Right-Turn
Left-Turn
FORWARD
PSD
Bumper
Motor
L-front Sensor
R-front
Center
R-Contact
LR-Contact
L-Contact
CCD Search Jubilant-TurnRed S
(*)S : Escape > Avoid1, Avoid2, Avoid3 > Search > Cruise
(*)
S
S
(*)
(*)
Left-Turn
Right-Turn
Avoid2(passage)
Right-Turn
Right-TurnR-side(0) Sensor+
L-side(0)+Left-Turn
Center+L-front
Back+Right-Turn
Center+L-front+R-front
Center(1) Sensor
Center(1)
R-front(0)+
R-side(1)
L-side(1)
L-front(0)+
(0):Detect no obstacle (1):Detect obstacle (1.1):Detect obstacle which approach
R-side1(0)L-front1(0)
L-side1(0)R-front1(0)
R-side2(1)L-side2(1)
Avoid3(danger)
Right-Slide
Left-Slide
2�Left-Turn
L-side(0) Sensor
L-side(1)+R-side(0)
L-side(1)+R-side(1)
2�Right-TurnR-side(1)
Center(1)+L-side(1)+
Center3(1.1)
(**)Center3(1.1) > (L-front1(0), R-side1(0)), (R-front1(0), L-side1(0)), (R-side2(1), L-side2(1))
(**)
Servo
Fig.15 Subsumption architecture of autonomous Mobile-2004
��>?9�@§A9Bé� C
Journal of Robotics and Mechatronics Vol.23 No.5, 2011 8
Ú�cn/_� 20K9���<Eó����*¡^Bò��oB^/ÎU<�mN��AB�D¿
�:JABÅÀÚ�Q/ ���<k�N�Q_
���K=><�Näåâ'A7^cW�·�N
ë�7^cW��m:<ih7��7�mN�Q_
(1) 0 s (2) 8 s (3) 16 s (4) 24 s (5) 30 s
(6) 40 s (7) 48 s (8) 55 s (9) 64 s (10) 68 s
óôõö÷øù���úôûüýþ÷���õô�ý��÷ö���Pô�÷��������ôö÷÷�÷��������ôú� ÷���ô�÷�����ôö÷÷
Fig.16 Autonomous and objective behaviors of Mobile Robot 2004 with SA(Escape�Avoid1�Avoid2�Avoid3�Search�Cruise) for searching for RED color using CCD camera with high-speed approaching obstacle avoidance in a new unknown environment.
(1) time t = 0.0 s (2) t = 0.33 s (3) t = 0.67 s (4) t = 1.0 s (5) t = 1.33 s
(6) t = 1.67 s (7) t = 2.0 s (8) t = 2.33 s (9) t = 2.67 s (10) t = 3.0 s �
Fig.17 Avoidance (B) of Mobile Robot-2004 against an approaching ball with a relative velocity of 60 cm/s during searching for RED color.
2 0.0 s. 32 1.0s 62 3.0 s 92 4 .0s 122 5.0 s
152 6.0 s 182 7.0 s 212 8.0 s 242 9.0 s 272 10 s
302 11 s 332 12 s 362 13 s 391 14 s
Fig.18 Robot-2003 behaviors of avoiding moving human legs as obstacles.
Journal of Robotics and Mechatronics Vol.23 No.5, 2011
9
2 0.0 s 17 0.5 s 32 1.0 s 47 1.5 s 62 2.0 s
77 2.5 s 92 3.0 s 107 3.5 s 122 4.0 s 137 4.5 s
Fig.19 Robot-2003 behaviors of avoiding moving human hands as obstacles.
20 0.0 s 35 0.5 s 50 1.0 s 65 1.5 s 80 2.0 s
95 2.5 s 110 3.0 s 125 3.5 s 140 4.0 s 155 4.5 s
170 5.0 s 185 5.5 s 200 6.0 s 215 6.5 s 230 7.0 s
Fig.20 Robot-2003 behaviors of avoiding a moving human body lying down outside experimental environment. �
id)*j��� ��k$�%&'�lb+
m/ � ªµ ���,µì< 3�É* 2ð<"Îroâ1x*i/x yz{�ñòPNóOA9��g¬
'Nº13*A�`Êñ�� ���<��$
µúx o��N��A�_� qõ0<���ü
J�ïA�� <�mNÓoB9C�JÅ�Ú�N
��g¬'<ýÈ*i[x o��A9�� ��
�<Ú�N�|-W/_+rþ�N����]
)*Î/uc*þÚ�û*i/��üb<��N�
�_ � � 12 <Ú<ïà�x yz{�ñòP*gA� ��� ÷�� ���cn[9·¸¸���*UV$��g
<!ñá1âJAB��3 3��a쪵 1�õ
��<Q3à�UV����C°Q3à�UVo
â1x��C°Q3à�UV�<����x yz{
�JAB��-.�©�±<%^C° ���cn
/_µúx o��*K9��gx �� xJA
B< ��� ÷�� �� JJW*9OP ���$Q"
��1� û÷ �þ!"õ� ÷ö �þý�!(#NRgA�_�
��òP¼�� ���$x yz{��9�À
K9Ã.�. 90 �915 Å�A9�� ���<�&��N_AB9x yz{�<��$K�$
�$°-78-uDuCDÄ!¢ÈN�*��9-
R*9 ���<CD½¾J^hBÜXRgï¿D
*µ���JN�%A9��üb°-N%�/�J
NJêAB^/_ � 21Ká� àõºâo$21{â<?æ$ÅÀ
Ú�<&Ë�9� 22 K ��� e-puck <�;�JêE~ IRqõ0<�[��2Zcn[9� 23¡iI� 24<Þ¯ïàK9 ��� e-puckJêE~ IRqõ0 IR19IR6NÓgAB9Ã.�.ÅÀJ?æ<��Nþ_�×cn/_�'ÞõNg^BVÛ7�
�g¬x o��*i[�:<ih7#7�m�
^�c��cm/_ �
��>?9�@§A9Bé� C
Journal of Robotics and Mechatronics Vol.23 No.5, 2011 10
�a�Avoid �b�Approach Fig.21 Approach and avoidance of Braitenberg Vehicles
IR0IR7
IR6 IR1
IR2IR5
IR3IR4
Front
Rear
� � �a� � � �b� Fig.22 Robot e-puck and locations of IR sensors
(a) t = 0s (b) t = 0.33s (c) t = 0.67s (d) t = 1.0s (e) t = 1.33s (f) t = 1.67s Fig.23 Obstacle avoidance behaviors of robot e-puck
(a) t = 0s � (b) t = 0.33s � � (c) t = 0.67s (d) t = 1.0s Fig.24 Approach behaviors of robot e-puck
� ¼�� ���$x yz{��À<s(K
µ×UV<�59 ��� e-puck<ø´D7ÓgÈ4�)7H°<Ó^Ì78<��1���â7Dø
JA9�(K��* ���NÓoBx o��N
&ïAB�XQDøJA9�úa�N�Ö�_]
D*K9 °\Å�x yz{�ñQf<&Å9*wµ¶9©
]78*(^B+ öõ3NÚ^9�,.ð��
-�<oâ1x��Nµ��cYD*Úh_ °.Å� ���<¡�Jg¬�IRqõ09CMOS���9LED9�q��3 ��9 1��$3 ��9�M1LED9 õ01���åð�+ MPLAB ICD2?Þ�{�9»á3 ��93p1�9©�
�1°9¯ {93à�põoä1�78�N�²
A9��* ���<VÛcø´D7åäNÕW/_
åäK93D ìî+qõ0bcNÓoB=>Ì&<LED Ü.94 /<ìî+<ªm-*ioB3p1
�XR�Q/0N�'-W/9IRqõ0NÓo�¿�:ÅÀÙÚJ�FÙÚ_3 (<¯ {NÓoB0
áÌ&*&mN�Ö/78cn/_ °ïÅ�x o��<ª8��� MPLAB IDENÓo�x yz{�<&ïÈJ� {<«Ì9C kTx o��<�Ú78N��*Õ&Q/_u�9
MPLAB ICD2NÓgAB0õxâx o��N�Ú
-W/_ °1Å�MPLAB ICD2NÓoBx o��N ��� e-puck´]*öSõ 1°AB�Ú-W/_ °�Å� ��� e-puck*�2Q/'y� bootloaderJ8~_3H° BlueToothNÓo� e-puck´]ñ<öSõ 1°ÌÈJ8~*i/ PC-e-puck U<_3
*(^B��Q/_bootloader< PC 4<'y� Tiny Bootloader NÓoB8~_3*ioB9LED Ü5x
o��NöSõ 1°Q/_ °�Å��2'y� e-puckän�NÓgAB9 ��� e-puck *Ï�A�qõ0/�IR qõ09LED9 1��$3 ��9¯ {93Dìî+qõ093à�põo$ä1�9CMOS���93p1��<�&N�z�{Q/_ °6Å�°�ÅJ�ÒDøN9�2'y� e-puckän�cK7E9WindowsXP �2'y� I �1�1"!âNÓoBÚh_I �1�1"!âNÓo
�qõ0à3�cK9 IR qõ078<ô-§�e-puck än�<ih*l�D*]�-./<cK7E9r§c]�-./Ü�M7/_I �1�1"
!âN²�A9_3<KONÚh_?*ïgQ/
J9[;*KÞ¯õ°�3��]�-.9�1�1
°i[Þ¯õ°Nô-Q/J9 ��� e-pucki[å1��È3-./_
Journal of Robotics and Mechatronics Vol.23 No.5, 2011
11
°�Å�Q"��1QVõ'y� WebotsNÓoB9IR qõ0*i/¿�:<�éÅÀ<Q"��1QVõN×*Q"��1QVõ<ÌÈNµúQ/_
Webots<²�XR9yÝ1â°<�ï9¤78<¿�:<2ZNÚ^9��*Q"��1��c ��
� e-puckNÙRW/_ °7Å� ��� e-puck*Ï�A�3à�põo$ä1�<½¾*(^Bü�A9ä1�N��-W/
x o��<&ïNÚ^9 ��� e-puckNÙRWB_/_s¼9�899Å78<ø´D7x o�
��úJø´D7�mN�|Q/_ � �(<a�NXïA�R9I �1�1"!âJ
BlueTooth NÓo�8~_3*i[ e-puck N�yÞõ*Q/x o��N&ï-W/_�1�1°XR
<�1ô-*ioBä1�<Å�rN�:Q/�J
*ioB-uDu7�m�cm/_-R*9ô-§
<§Nqõ0ô-78*Zm'Ö/�J*ioB
x o��*�2�õyQ/_ � ¼�� ���$x yz{��À<s(K
µ×UV<�578��1���â7DøJA9�
(K��* ���NÓoBx o��N&ïAB
�XQDøJA9�úa�N�Ö�_]D*K9 °\Å�qõ0Nô-§N PC *È3Q/��< CkT*i/x o��&ïNÚ^9IRqõ0<Á±NGl9Microsoft ExcelNg^B��å1�N�R1�<$*Q/_ °.Å�ä1�<½¾J�_8YWB IRqõ0NÓo�¿�:ÅÀÚ�NÚh_ °ïÅ�&ïA�x o��N0áâ1�õ'AB9
!�*&o�� õâ1�õ* 1��$3 ��
NÓo�ÙÚä1°<;[<Öx o��N&ïA9
�ÚQ/_ °1Å�� õ��13g<:;qõ0<Á±N�
�D*Gl9qõ0�[��±Z78NG=Q/_ � É*9VÛ7���N�,*gw-W9x o
��N�ÚAB><� õN��cm/ih*-W
/_ É*9:;qõ0 1 ?�>N��A�R LED< 1?NÜ.-W/ih7VÛ70õxâx o��N
É;*AB9� õ��13�¢NÚYW/_�� TA�M7/Þ13N&ïA9�])cÙÚ-W9�,<ÙÚ� �N�¢A9x o��<��Ü4;
m78N+r�R1�JABÊ©-W/_ ��uc�Û±�Y<��<ÄÅ��ò<a�cn[9�.RNXïA�R9Q"��1QVõJ�
�N«�Q/��*93D ���$Q"��1�c&ïA�x o��N�H ��� e-puck *È[9 ���N�XQ��NÚh_ � � 25K9&ïA�à�3�<×cn/_� 25(a) K��$�� ���$x yz{��9Vol.01<\@J9°.ÅJ<òPgcn[9(b) K Vol.08�°7ÅJ<òPg�<\@J9(c)K Vol.08<�ú9(d)K Vol.08<a�<×cn[93à�põoä1�<���!*(^Bµ���9ä1�N��-W/
x o��N&ïA9 ���NÙRW/_�úJ
a�K�AJA9s¼9�899Å78<ø´D7
�mN�|Q/_ � � 26K9¼�� ���$x yz{��À<°\ÅJ<Dø*yQ/W<cn[9(a)K IR qõ0Á±<¢Ox o��<&ïJ��<¤#9(b)Ka��R1�<×cn/_� 27K9à�3�<�¡cn[9Þõp�1�1B*i/¢Ox o��
<É;×cn/_
� � (a) Vol.01, p.1 (b)Vol.08, p.1
(c) Vol.8, Exercise � (d) Vol.8, Practice Theme Fig.25 Example of Weekly Textbooks
(a) (b)
Fig.26 Measurement of IR-sensor characteristics and an example of report.
��>?9�@§A9Bé� C
Journal of Robotics and Mechatronics Vol.23 No.5, 2011 12
�� ���$x yz{�� vol.01 $$$CÅK e-puck*Ï�-.B^/ IRqõ0<Á±NGlB]*uJ�;mQ/_
1. IRqõ0¢O��
1.1��gx o��
2DA� irsensoryzâö<Ñ< irsensor.c<main<¡�*²(<x o��Ním»�_
Fig.27 Computer aided measurement program of
IR-sensor characteristics with C language.
� � 28K9><� õN��©G/:;qõ0N ���*�[��BÃ<Á±N¢OA9¢O�üN
ÓoB� õN��-WB ���NÙRW/x
o��N&ïA9�¢NÚoB^/¤#N�Q_ � � 29K9Q"��1QVõJ��N«�Q/��*93D ���$Q"��1� Webots(Cyberbotics()c&ïA�x o��N�H ��� e-puck *È[9 ���N�XQ��cn/_� 30K9(a) �H ���<ïàJ(b) 3D ���$Q"��1��< ���[û[;N�Q_ � � 31K9Q"��1QVõJ��*¡�/ ���<D7¿�:ÅÀÚ�N��A�[ûcn/_ � � 32s� 34K ;<� õ��13a�*¡�/ ���<Q"��1QVõJ��<�mN«�
A��[<ØUD77E[ûcn/_� 35K9+rþ�a�<Þ13×9� 36KÃ<�fÔcn/_ � � 37K9� õ<�<¿�:NÀ�7�RD*Þ13NÙ/ ���<Q"��1QVõJ
��<«�cn[9� 38 K9� 37(b)<��<Þ¯ïà<�¡cn[9� õ�<¿�:N¨©$ÅÀ
A��9tI� õ�*î[9-R*� õN��
13Q/¤#N�Q_
(a) (b) (c)
Fig.28 Line trace experiment of autonomous robot with floor sensors and the project contest scenes
Fig.29 Robot simulator and forwarding program to autonomous robot.
(a) Robot for experiment (b) Robot for 3Dsimulator
� Fig.30 Robot for experiment and 3Dsimulator
Journal of Robotics and Mechatronics Vol.23 No.5, 2011
13
��
(a) Simulation (b) Experiment Fig.31 Autonomous obstacle avoidance with comparison between simulation and experiment
(a) Simulation (b) Experiment
�Fig.32 Simulation and experiment���
(a) Simulation (b) Experiment
Fig.33 Simulation and experiment���
(a) Simulation (b) Experiment
Fig.34 Simulation and experiment���
��>?9�@§A9Bé� C
Journal of Robotics and Mechatronics Vol.23 No.5, 2011 14
Fig.35 Experimental environment in final competition
(a) Simulation (b) Experiment
Fig.36 Scenes in a final competition of autonomous mobile robot.
(a) Simulation (b) Experiment
Fig.37. Line trace with obstacle avoidance
� � � � t=24.63s � t=28.97s � t=31.83s
Fig.38. Experimental behavior of autonomous mobile robot with SA during line trace with obstacle avoidance
Journal of Robotics and Mechatronics Vol.23 No.5, 2011
15
(a) (b)
(c) (d)
(e) (f)
(g)
(h) (i)
(j) (k)
(l)
Fig.39 Scenes related to the educational curricula and
the presentation of autonomous mobole robot.
� � 39K9�� ���$x yz{�y�<QffÔcn[9(a)J(b)K9TA *i/���<\&<¤#9(c)9(d)KQf*¡�/�äÞõ*i/ÕFx o��<&ïJ�¢)<xí$]úfÔ9
(e)K�Îr<]�Qf<��* TA �\&A��ãc�Gcm/ªñ�¢Þ139(f)K%��<]�Qf9 (g)s (l)K�µ�<µ£ßH) SPP�Science Paartnership Project�4ÁN!ì��78<]�QffÔN�AB^/_ � ´UVc��A��� ���*yQ/x
yz{�ñòP<µúx o��<0ü*(^Bu
J�/�JKÊ-.�C�<a�<�(cn[9�
õå1�<�*�Ì;XR<=!�ÄÅcn/�9
´¿�c�5A��fÔïàXRcW9ªµ<Q
f��cK7E9%��XR�µ�uc�"7EJ
WHæ4yzNë(¤#�ÕÖ/_u�9]�µú
N�A�%�4�µ�<_7RZ9!�78<¯
3Þ"XRWyzNWoB(µ*AB^��^�_
ndo� ��
� �àÝ{3<|¦<��ÜJ!A^ ����
�<wPJ5űNêëA9]D��J��üb
<��N��DýÈ*%�cm/°-Nch�JN
JDJA�gï¿D��g¬'<ýÈ*øùEªµ
���,µì<x yz{�ñQf*¡�/µú
x o��N��A�_gï¿D7 �����<
^E(X<µ×UVN�5A9Ã.R*øù^B9
\�É*Äþ<¼pØÙÚ ���\&È�¡iI
\&�ú�À9.�É*¼pØÙÚ ���\&È
�¡iI\&�ú�À9¼pØÙÚ ���\&È
�¡iI\&�ú�ÀNÃ.�.��ï|U915Å�A9ï�É<¼�� ���$x yz{
��9�ÀñJE�� ���µúx o�
�N��$��A9Ã<DøN�5A�_�
� �àÝ{3ôMN¼pØÙÚ ���ÀXRt
�/!*K9Q3à�JAB<½¾��A^�*
+Q3à�cn[9�_7�mN�|Q/*K¤;
7Cs�Åé-.9AXW9Ã<õAöA�÷cW
��µ�*W�øù*�X[9µú<Ò]ûJ]
D7ïü�J*ÕÖ4Q^XRcn/_�
� I[54]K9 ���* XW7^¼�8À<wæ*(^B98<¡�N�[�lBW9Ã<��<�
¡�<�'�9Ò]<QlB<J�*,-Q/9J
^h<�´`<wæc<�8cn[9�<ih7w
æc<�8K9��cm7^�JXWA.7^_¼�
�/JKÖBAuhÀ9Ãh^o�´±��8*K
r-.B^/ih�JêëAB^/_-R*[55][56]9¼&oB_.S�X/ÀJ^h<K9 ���aµ
<�(<ª;7��cn[9Ñ���XR7^b8
*K9J*XE&oB_/<�JêëAB^/_¼L
Î<MNé�Z9LÎ<é��/�Né�iÀJ^
hNOPQ<RkNßgAB9¼FSW�gcn/
�9äÎ<�±DcT¬D7��ucNWFSQl
m�ÀJ)lB^/_�
��>?9�@§A9Bé� C
Journal of Robotics and Mechatronics Vol.23 No.5, 2011 16
� �_7¢£<úUN�DQ��cìµQ/z�
�u.9ìµQ/zXRÛµ��u./�JN+,
A�^_�
� ¡Y[*9´UV*Ì�-^��^� Dr.Takashi Gomi (Applied AI Systems Inc.)*VWQ/_u�9ª
µE¡iIµ¡<ofUV¡iI Xó JABYz7
�-N^��^�UVZ<µ�[\*VEPWQ/_ �� � � � � � � � � � � � � � �� � [1] ]�^_$ì`u a9 ���<C°JQ3à�ª89
´ ���µ)¶920-5,(2004), pp.4642- 469. [2] ]�^_9ÎUñ ����0EG()J!½f<Tï9
´ ���µ)¶922-1,(2004), pp.2-5. [3] �b�^c9ÎUñ ���<æG¬g9 ´ ���
µ)¶922-1,(2004), pp.6-9. [4] ZdÛe9 ���QàÝñ<L�9 ´ ���µ)¶9
22-7, (2004), pp.853-855. [5] Ñfg#9 hD7�J<cm7^ ���9 ´ ��
�µ)¶9Vol.16,No.1, pp.26-26, 1998. [6] hiÇP9{ò&f ���x yz{�<�\JÊ-.
�a�jÑfg#ä�<êëNkuÖBj9 ´ ���µ
)¶9Vol.16, No.1, pp.27-29, 1998. [7] Ñfg#9{òK hcWn/9 ´ ���µ)¶9Vol.16,
No.1, p.30, 1998. [8 ] d´Ûe9Éçl ����g'x yz{�m�gQ3
à�'n¼µf*(^Bm, ´ ���µ)¶9Vol. 24 No. 2, pp.169-170, 2006.
[ 9] o]p?9 ���½f*yQ/¨bGH$¨b±¢<��
J��9 ´ ���µ)¶9Vol.27, No.3, pp.265- 267, 2009. [10] qé²$ª²xr9“¼ ���½¾<!¿ÀÁÂ*(^B”9
´ ���µ)¶927s4»9 p.369, 2009., [11] èétu9“ÝÞß#XR2ØÙÚñ� m½¾!¿JZMPm”9
´ ���µ)¶9Vol.27, No.49(2009), pp.392-395. [12] vdw�$N�xã$J. G. Hale$I´w9“v'µúNg^
�®�1¯p ° ���*i/�ÝÅÀ3à�x�&<
µú”9 ´ ���µ)¶927s5»9(2009), pp.527-537. [13] Napoleon Nazir$ÑyzA$���u9“ÎUñ ���<ZMP
yÝ1°ð�{½¾*¡�/½¾±°<òó”9 ´ ���µ)¶9Vo.22, No.5, (2004), pp.656-665.
[14] {|}S$ªf|~$�é��$Tc��?,” �ª®�1¯p ° ���*i/ö !"�{²m��[Ú�<�
|”, ´ ���µ)¶9Vol. 23, No. 6, (2005), p. 706-717. [15] )´�9“�_-<�©�ö !"{3º13�½¾”9
´ ���µ)¶9Vol.24, No.7 (2006), pp.791-796. [16] ª´`��9“ö !"{3º13�½¾<¼��îÀ”9
´ ���µ)¶9Vol.24, No.7 (2006), pp.797-799.� [17] ����$ª´`��$�>�S$Ld��9“�çó<±
LN¥gA�C�J½¾”9 ´ ���µ)¶9Vol.24, No.7 (2006), pp.807-811.
[18] ��ã$���$%�wS9.Ø®�1¯p ° ���
<�y�`%ñÙÚ��1õ�ï�â��h�9 ´HIµ
)¿�Â970-700(C),(2004), pp.3509-3515. [19] )´� �9 ���<�~$½¾9 ´ ���µ)¶9
Vol.23, No.4, pp.404-407, 2005. [20] �� ª�9dy� �,”*}yÝ1°ð�{½¾Ng^�2�
õ{�� ���<ª`Êê�<�|”, ´HIµ)¿�ÂC�9Vol.76, No.767, (2010), pp.1700- 1707.
[21] {|}S9“ �àÝ�{$0 mõ3JKÆX”9 ´ ���µ)¶9Vol.28, No.4 (2010), pp.370-374.
[22] ��>?$��s5$�iõ²9ÎU/Á�1�<�Î�
JúU+<�/3$mõ� pü�Jy�yݽ¾*i/�
Y9 ´HIµ)¿�Â�C��,76s765»9pp.1362-137, 2010. [23] � �É9½¾*¡�/�=� ð3�±921ç�COEbc
ìµ¢£��Þ�$= ð3����!x yz{�$=
ð3�Nð/9pp.1-10, 2005..
[24] I B�9 �Þõ<ÎU��DwP9 ´ ���µ)¶9Vol.27, No.9, pp.964 – 966, 2009.
[25] I B�9�<Î*�E ���aµ<�0�9 ´ ��
�µ)¶9Vol.27, No.9, pp.1001–1004, 2009. [26] ��>?9 ���<�mN��Q/����-<½¾9
ð /��nh�µ)¶9Vol.359No.3, pp.159-167, 2011. [27] ��>?9ÎUñpØ ���¼á��ÀNg^�!õð
ÙmXR!õðÙ[<t|9ð /��n{3UV9Vol.12, No.1, pp.23-33, 2008.
[28] ��>?9�é��9 <¡�9ñpØ ���á�
�<Anti-ZMP*i/ØUD�Ý��ÅÀJ²m��[9 ´HIµ)$Dynamics and Design Conference 2006 CD-ROM¿�Â, 550:1-6, 2006.
[29] ��>?� ��¼®�1¯õ$ ���µÀµ×UV��� ���JpØÙÚ ���<��g¬'�9 ´HIµ)
2006�+�ɪ)ò�¿�Â(7), No.06-1, 29-30, (2006). [30] ¢æ£�9! AI¢£*i/0123 ���9�$y! 9
2007� 11�», pp.148-162, 2007_ [31] ¢æ£�9!AIìµJ56 ���9 ´y�yݵ)¶9
13 s 1», pp.28-39, 2001. [32] ´�� 0$��¤¨$o]p?$¥¦3§9¼n1h*øù
^� �����ÀÁÂ*(^B9 ´ ���µ)¶9Vol.27, No.3, p.259, 2009.
[33] ¨ét²9UV<K�µ9 ´ ���µ)¶9Vol.27, No.3, pp.260-262, 2009.
[34 ]ASIMO*��µÃÄ!NABWRÖuW�X9·¸*ÂhQ&A9¡¾-u¿Àqõ�19ôõö<ô1�Á1y�
� � http://www.honda.co.jp/customer/disaster/asimo/ [35] ��>?$Id੪$é«� x$¬��¯�$�iõ²9
ÎUñpØ ���á��<!õðÙmXRÏЮ$=%
î!õðÙ[ñ<%�9 ´HIµ)QõRyS��3R1
áaµ& ®�1¯õ$ö !"{3)ò�¿�Â9No.07-24, 391-396, 2007.
[36] ��>?$�iõ²$¯<p°$±�²5$�� ³?9×ØNÙ/ÎUñpØ ���¼á��À< ð3�±<��
nh�9 ´HIµ) 2008�+�ɪ)ò�¿� , No.08-1,Vol.5, 165-166, 2008.
[37] ÞÚ £9 ���µ)TÞ20=�(Ëò��21 ç�<
�àÝ{3J()9 ´ ���µ)¶9vol.21, No.3, pp.239-246, 2003.
[38] Gomi,T, Impact of Non-Cartesianism on Software Engineering, AAI Books,Ontario, Canada, pp.487–519, 1998.
[39] Gomi,T, From Intelligent Robots to Artificial Life, Vol. II, Ontario,Canada,AAI Books,Ontario, Canada, pp.427–454, 1998.
[40] ��>?9pØÙÚXRt�/�� ���P���x o���°1c9��Ü�úON¥gQ/�~$�´½¾J
��g¬<%��9°28Å ´ ���µ)µ£ò�)±µ
ÂCD-ROM, RSJ2010AC1L3-4, pp.1-4, 2010. [41] ��>?9pØÙÚXRt�/�� ���P���x
o���°2c9 �àÝ{3ôMJAB<pØÙÚ ���µúx o���9°28Å ´ ���µ)µ£ò�)±µÂCD-ROM, RSJ2010AC1L3-5, pp.1-4, 2010.
[42] �y¶·#$Ñ@¸�¹$Rd�º$�éU5$R#5p$
×]�»$èétu9Ø%<÷[N¥gA� 2ØÙÚ ���<Ì&�'m÷[|A<äåâ'JÅ�¼<±¢m9Vol.28, No.10, pp.1232-1242, 2010.
[43] ��>?$´½¾�$¿]À³9pØ ���á��<
Anti-ZMP*i/ØUDÌ&�'¼!õð$�1õÀ<�|9JSME Dynamics and Design Conference 2006 CD-ROM, 560, pp.1-6, 2006. [in Japanese]
[44] Brooks, R. A., A robust layered control system for a� mobile robot, IEEE Journal of Robotics and Automation, Vol.2, No.1, 14 -23, 1986.
[45] Brooks,R.A.,Intelligence without representation, Artificial Intelligence, Vol.47, pp.139 -159, 1991.
[46] �éÁ^9C° ���*¡�/¢£ª8�Ú�½¾�1
�à{�2J õà�yzõ3ö !"{39�¢J½¾944-10, pp.729-734, 2005.
[47] °qp5$�qjº$c�éÈÚ9�JDÚ�GÃ*øùE
Journal of Robotics and Mechatronics Vol.23 No.5, 2011
17
�� ���<Ú��Y9 ´HIµ)¿�Â968-671, pp.2067-2073, 2002.
[48] c�éÈÚ$�éÂ�$ëÄ?$�qjº$�é�º9�
� ���<�JDÚ�GÃ<��<µú9 ´HIµ)¿
�Â967-664, pp.3876-3882, 2001. [49] ��>?9WX,JAB<ÎU<�_-J ���<
C±<�|9 ´HIµ) 2002 �+�ɪ)ò�¿�Â, pp.171-17292002.
[50] ��>?9ÎU<�_-<�|J��g¬�3R1á*¡�/�_-ñ<�x 1��9 ´HIµ)$HI-µ$�
¢½¾¡Mò�) CD-ROM¿�Â9pp.1-6, 2003.� [51] ��>?9µú<��g¬'*i/C° ���<C±<
T�JÎU<�_-<�|, ´HIµ)2004�+�ɪ)ò�¿�Â, pp.169-170, 2004.
[52] iRobot Roomba: http://store.irobot.com/home/index.jsp http://www.irobot-jp.com/irobot/index.html
[53] Ñq_7_,�#ÅÆÇ*��{����ôo�,�3Rõ3,2011� 4� 18 (�), http://response.jp/article/2011/04/18/155010.html
[54] IB�9¼ ���K�8À<wæ9ROBOCON Magazine9No.55, pp.81-83,2007.
[55] IB�9LÎ<MNé�7^ ���9ROBOCON Magazine9No.64, pp.81-83,2009.
[56] IB�9 ���J�±9ROBOCON Magazine9No.67, pp.81-83,2010.�
Name: Yoshihiko Kawazoe Affiliation: Dr. Eng., Professor, Graduate School of Engineering, Saitama Institute of Technology
Address: 1690, Fusaiji, Fukaya, Saitama, 369-0293, Japan Brief Biographical History: 1976-1986 Assistant Professor, Saitama Institute of Technology 1985 Received Dr. Eng. degree from The University of Tokyo 1986-1990 Associate Professor, Saitama Institute of Technology 1990- Professor, Saitama Institute of Technology Main Works: • Fuzzy Controllers, Theory and Applications, Edited by: Lucian Grigorie, ISBN 978-953-307-543-3, InTech Publishing, 2010. •Y. Kawazoe et al., Chaos-Entropy Analysis and Acquisition of Individuality and Proficiency of Human Operator's Skill Using a Neural Controller, Journal of System Design and Dynamics, Vol.2, No.6, pp.1351-1363, 2008. •Y. Kawazoe et al., Prediction of Impact Shock Vibrations at Tennis Player's Wrist Joint, Journal of System Design and Dynamics, Vol.4, No.2, pp.331-347, 2010. Membership in Learned Societies: • The Japan Society of Mechanical Engineers (JSME) Fellow • The Robotics Society of Japan (RSJ) • Society of Biomechanism (SOBIM) • Society of Automotive Engineers of Japan
Name: Masaki Mitsuoka Affiliation: Master Course, Graduate School of Engineering, Saitama Institute of Technology
Address: 1690, Fusaiji, Fukaya, Saitama, 369-0293, Japan Brief Biographical History: 2010- Master Course, Graduate School of Engineering, Saitama Institute of Technology Main Works: • Autonomous Mobile Robot • Practical Robot Education Curriculum
Name: Sho Masada Affiliation: Master Course, Graduate School of Engineering, Saitama Institute of Technology
Address: 1690, Fusaiji, Fukaya, Saitama, 369-0293, Japan Brief Biographical History: 2011- Master Course, Graduate School of Engineering, Saitama Institute of Technology Main Works: • Autonomous Mobile Robot • Practical Robot Education Curriculum