Well then
Process and the Shuhai of is I of that robot creation today
I would like to tell you that
In this old door ancient gymnasium of
Even though It is a state when you are practicing Te car
It’s when you’ll do this say martial arts
Learning from the fraction first
Then I will use it as an actual assembler
It gradually deforms with sadness and finally learns the new way to himself as well
It is said that things like that are happening Well I also made New Zealand
Wounded by students yet
Because it is Nagao
Ah ah ah
What is the 8-act seen kick that upper screwdriver have taught to dependents of the place which is determined to clean
But,
Yes mountain not to talk about the day
Joy pet video please.
This is the state in which the experiments using the Yeah right Himahebi is
I say that man
Well I learned that big game mechanical engineering
I want to do something new I thought about making a soft opportunity
I thought Let’s Make a soft opportunity not you pursue precision Come on whether fast whether that sort of a
When it is the most typical example of it is a snake snake so that snake movements
I thought about learning I heard like this and artificial lawn
I made an experiment with the stage equipment
It is when we examine Well in the
There was almost no argument as to why the snake could move forward without legs. Animal Raffia
I only have a bad little study
Oh well there was nothing kind like an engineering cat, so I made the theory of it first
As it is here
This is an electromyograph
When the muscles get out , such a current flows through the day
Cage say sensor Toka body to measure the money ionization and attack forces system to measure the force that pushes the ground next to
Then this kind of measurement points ran to make yourself are moving something gradually
Is not it
Arcane along the body like doing
What measures the state of the yin force and whether the force
When you give strength
Is why was the research and without either go before Well that around here I would be very interesting story
Yet
Well it’s of course not
I would like to talk about what the shape of the snake’s body is
In Well It is this curve is not that this curve or what kind of curve of the
so
To do this story
Nde even though it is as the undercard this is Adnan much had come Scottish students
I suggested to make that man power snake car in one year
This is it. I thought that I had become a serpent muscle, and my front leg with my feet
When bending’ll Just wave is shaped like transmitted from the front Hiro
If I can go forward , even if I go to that blindfolk, it’s all in front but it seems to be Maki Ming
so
How did you become a student of the child How is it before
That’s why you want me to think about what to do with a dolly
Well that this that is very to have the cooperation Netto
Kedomo There I that centipede competition
It must be completely synchronized with yourself This is even more difficult to shift the phase
You must do it.
That’s why it seems that it will not be the part of that more upscale athletic meet
But it’s was also talk
Tiny
So, for example, what would you do if you tried to move your feet to a finger that makes and makes such triangular waves
I say if it is in the care of this pink heaven
Suddenly path strangely pot bust at the p
I can not make guide and triangle of packed buses
Such
It is Aria So arc and say if the arc is at an angle that is Wow E’opo
Rollover Dekaku’ have and also when we eat or to say that just as it is at the same curvature
It is why say
This is pretty quite unnatural also is not it
Giya’ declaration hard or sine wave Anomaa sign cosine sign even if the differential that many times
Since it is a cosine and a continuous function, it is a curve with high continuity
Out with the place is try to think back a great little
Shin y young man x differentiating and differentiating round will pick it up This is
It’s against xe 9
Change rate with respect to x axis
However , when calculating the change rate of the curve when moving along the curve
That person
It is a strange place like this
So crap make a sine wave me that bother bend put thus another in such a side
I can not think of it
That is why it is strange
Well then
Is this bent at a constant speed ?
Is this and say what happens when bent at a speed I
the rate of change along the s is reason to become a one hour the number of straight line but it
Those whose curvature changes by 1 hour number along the curve
It is said to be clothoid curve It is the way to say here Reason for becoming spiral
In So it comes in the form of a hand in this clothoid spiral This is quite that well
It might be close, it looks good
With a
8 It is to tell you that, you guys, you guys do not know much though,
This curve It is this curve of the highway has become a clothoid curve
Bet that for some reason
When an arc from the curve to make the curve to a straight line suddenly Once in the ink from the straight line It is a hand low
It’s such that say when the back I gap to return to the straight line to stop as it is bending Kut
It is a scene to do something good When it is this clothoid , saying that it will enter the curve from the curve
Turn at the speed
It is why that it is smooth, such operation is to say a return to a straight line back in at low speed
So Well Kedomo that this is also I’m pretty good
But because it is a broken line still broken the tie of this straight line and the song also differential Then more and more not
It is continuous
If you do not say so much because I
Well then the best thing is if the curvature along the curve along the curve
It is not an alternative to the sinusoidal is considered whether the it’s a good one best
So then what about those curves? Well if you calculate well it will be like this
so
Well this is an obvious way of thinking This is mathematical dictionary like that at the time I studied various literatures
Yet curvature along the curve curl curves in restricted remarks
I do not see it at all
Oh well so I thought that I found a curve that nobody found out from that straw-baked researcher
Surfing well Well, today’s tent
I made it named Curved Cute Surfing Well Curve
It is the snake in fact, it is now also the experiment of whether to match the snake
If you run to the slope of sweat expansion of Nobu Lee
Kedomo down is got to meandering large that it is linearly Nyuumaya Shinano climbing
If you do it all together and do it with various curves
8 Well to that this GaHano average value
Heita but is a shared Hen likely
Sir well curve of Te is close to the most clothoid is Now this is Fu that the sine wave Kura arc
After all, I understood that the Suru Nude curve actually fights the enemy
Oh well, I understood the shape of that actual snake, but this is a very natural curve
I guess, but then you did not think of anything at first
In fact it was that I used it
Also that that was a process called the revised draft will Yukiume Spain Switzerland by the gross No.
I would like to explain
This is the snake’s
The next year I did the experiment 19 In 1972
It is there in Section eyes 20 between eh and the moved is if snake-type robot
8 It is why each joint moves when in the Saab system
So you have various thinking while eating waiting for this because how Wow so the
Then put a waveform that turns to the left and right in No. 1 center and send it backward at a constant speed
Well, if we consider what to do with the waveform it is not made a certain segment house that go
that
If three times rockfish bowl
That wave came out believe Ne’m naturally sine wave Well thinking Tsu keep in to a certain
It is in the fact that it was still looking at the actual Well waveform of snakes to experiment to snake the same
I understand .
In other words it ‘s like trying to understand a very complex system like its identity
Analyze and steadily
Analysis methods, such as have been doing cult to say that that analysis is well that ordinary royal road
Although that’s it.
Going he became another God without’m so
When I make Pluto, it really means that the contents are English.
It is analysis by Sinses
In Well it is that it was experience in this
For another one this story is it is if there is that sequel
I forgot for a while even after doing this
1996
It is good that uc received a letter from Dr. Takeshi Berkeley
In bar to the teacher I guess this Tteyuu I of the bar Carry scan path robot that octene uproar
I made a cypress but I suggested that reading the book and being interesting in the line
And that because the well curve of Sape is
Ah
The rate is exactly the same as the curve he is to represent the meandering of the river
I told you that it is a mathematical formula he said it would be third place, it would be a keel curve
Is to say
Why is that curve
As meandering rivers meander as it is
Because factors that become a factor change sinusoidally along the river
a
In fact that is any curve that is pulled out solo sign people will buy surfing load 1
I have always thought that if I look at it from the past it is really the same as this heavy though
Sometimes I found out later that mathematically there was a problem at all
Oh well.
That when you put a raw that Come Perot Ido curve
It might have been found if you examine the civil engineering person properly
Once again it is or
Well now I can not find this well surf well well now one world to make a snake-shaped robot
Cows’ people make use of this
Well then let’s show the actual movement this time
I brought a snake-like robot here
Where is it?
We have wheels, but this wheel is passive everyone
It is a roller , please move it .
So when you tell Konami from 8 front to back , it will be meandering exercise
It is a bit narrow on the day, so I have to pay attention to driving.
In to and this is also at an angle that
Even if you make it oblique as there is a joint that turns back and forth as well as turning right and left
You can also move at 45 degrees if you bend left and right and half up and down
In it which I’m what really wheels attitude is always to be in contact with the ground
Well then there’s a camera at the top and raising that river
It seems to say that you can also do inspections
It’s my grandmother’s live club, but it’s not
Yes
Yes Ee’ Yeah it is Well snake robot is such a thing
In I made also snake-Oh over robot of amphibious after the
Do it Listing Please I, please
This actuator turns vertically Like left between the fuselage cylindrical containing motor
I am covering it entirely with bellows with bellows
So because there is air inside
The whole of the specific gravity has to be able to 1
So it seems to be very lightly floating, so it is much smoother than that on the ground
It is why it is possible to swim in the water
Um
Well this is that underwater can be inspected and can enter from a narrow place Well the color is
After that many applications are being done
Let’s explain my mother next, so far I tried to make something very similar to that snake
I am a
It does not necessarily need to stick to it, not to imitate that creature
That’s right
Well I use it, but it’s practical to use everything I can use
It becomes important to make a robot
For example, this and is it Oh I’ll grab later oppo comes in the form of a loop
But it is not it such a thing after all edges
So if you loop it you can make a moving wheel
Since the snake will slip cost that in this ground
The friction case still has resistance, but after all such efficiency is not good
I can not run the snake so much consultation I can not do that because I’m pretty tired
This narrow low raised Well more often when you are no movement of the sliding say the place is Te Zu’
say it
Also it seems to say that it can be called to move in a loop
This is from Hey it
Although the snake that this is a passive wheel or I’ll make this wheel to activate
I have more exercise performance
Of course it goes straight line Ru to that this is a straight line business I’d do I need to Danko
Such as I can go
It becomes a snake type robot
So this is it Hey, last night when Dhwynn of nhk came and I televised how I watched
Though it also might do some
That will Nozoko the Well nest hole of this bat State which is in Tasmania
This was used for the project This is the nest hole of the wombat This is a snake type robot
It is a pre- use fee child, is that it is full of mud
That in Director of a single root death penalty in the burn Yamada
is not it
Today I will tell you what is going on inside This is the previous
Here is a picture of the Hirohno camera with the tip camera
It’s complicated as if my father were to make such a thing and diverge variously
Though I’ve been making a number is not such went except it won bat
You should go to where you should have said
If you can not see it
Looking at Riyo, many of them are many of them
It is rather to have been hidden towards the ok one
It is very strongly our wombat is
I take the posture of such a defensive person at that time always show a lot of holes
I could not see the face by taking the posture not to hide the head but to hide the head but already the hole is a maid
Say
So to be I was also snake seemingly has
Kawase Because you will enter the thin part of the enemy
It can also be used for rescue
This is Superintendent Agency
Although it is a state of the demo that it did but at a chemical plant
It is time that human beings can not get in under the assumption that there was an accident .
That’s why
In which it and its three crawler is to modify the color
But it means that much become a simple structure and use the fish members and active faculty
After all the same mobility as the snake can be realized
I have the motivation to be able to enter even narrow places
If there is that hit hair want margin wearing a thermo-vision and normal camera
Has become a snake-like robot, such that properly found
further
Ring
Until now carried out by say put a little that new function close, but to us the snake
Though it came
It will be effective even in a position independent from that snake
Even though after the snake of study I was the research of a walking robot
It is effective in a wasteland
Kedomo dancer of Tteyuu moves stepping stone like a Toko Toka or there is I have good diplomatic relations
As long as I got Yamato, the wheels are the best I guess it’s awesome to run a big pump
I have research, but
I ‘m casually like that, it’s nice to have a wheel guitar
But that
Sha-tan I thought that the brakes are on with the motor attached Shearing
You must stick to the end of
8 seems to be too heavy So go over these two well
We made the Ann model such as Chi tricks eventually consider a configuration for hybrid
this is
It will there is a wasteland
And I wrote a little 8 is an ear driven type walker care physician
It is flat
Tilt 90 degrees I Luo its feet is if you come to the Toka the highway
So is not it because this is a small motor at that root How are you selling?
Kedomo weight is do not increase
It is why do so when the foot is on the roller skating roller
In Ya
Even if I do not know how I added my dad
You seem to be able to promote properly if you scare your feet
so
I think door Well and that the downlink has been a little rant like
The chapel is hung
If it is in the corridor it is reasonable that speeds of 10 kilometers per hour or more can be brought out
It is almost now my foot is turning in that direction
When Dabureji do the customers do a rant
It moves a little diagonally
I am thinking here
When you climb the slope from and out properly or if there is a large orbit water flow
If you are doing it like that and you are free to move freely and move around
By say Eraku Keta does not use only a total of 1020 degrees for a walk with in
It means that the functionality of the walking robot will rise all the time
Though it’s a little start-up or change Well, when you that compensated dating exercise
Well if you slide you can also run obstacles
it
In short it is
that
It is or think of it of hybrid Kedomo another I’m at all, such a different person of Tteyuu walking
Sometimes I learned with that snake robot
That is, the essence of the snake robot is different in coefficient of friction
Work it out and slip the lightweight walking slippery in one direction by using a very like a
To be able to move forward and I’ll buy
Led wearing to see other principle Well this that child used it but I’m a thing say
It will be a movement like seeing the sacred monkey on the locus of that, but that is why I was using it
is not it
Its that the I is mainly have seeded the day that
First, in the study of snake robot, its basic stance of life from bio is very important
And then I can learn quite a lot of things
But not only that
We will further push it into public offering and introduce new new concepts
When it comes to increasing functionality as well, eventually its shape no longer matters and its essence
If only you use it more
More good things to say and can is a good like this idea up in the robot development
Even without it
I think that it can be applied in a wide field
Well I guess you should remember everyone Thank you for your kind attention
[applause]
”
Be First to Comment