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History of Robotics Research and Development of Japan1987Integration, Intelligence, etc.Self-contained mobile robot in campus road (A mobile robot strategy and its application to Harunobu-4)

Hideo MORIUniversity of Yamanashi Faculty of Engineering
Shinji KOTANIUniversity of Yamanashi Faculty of Engineering
A mobile robot strategy. A stereotyped motion y Stereotyped motion by Sign Pattern drawn from a study of lower animal is applied to mobile robot “Harunobu”. A stereotyped motion is specified by a fixed action pattern which appeared always when the robot encountered a certain situation. It is classified in to two groups; vision-based motion and sensor-based motion. The former is consist of Moving-Along, Moving-Toward, Turning-Corner and Moving-Obstacle. A sign pattern is specified by a part of an object that initiates and guides the stereotyped motion. The latter is consist of Run-Over-Step motion and several Collision-Avoiding motions woken up by bumper switches, ultrasonic sensors. To deal with such error status in vision based motion as No-Passage-found or Sign-Pattern-Missing, several Error Recovery motions are specified.
図1　歩行者のサインパターン
Fig. 1 Sign Patterns of Pedestrians
図2　自動車のサインパターン
Fig. 2 Sign Patterns of Cars
図3　危険度判定の例
Fig. 3 Sample of Danger Estimation
図4　歩行ガイドロボットの概念図
Fig. 4 Concept of Walking Guidance Robot
図5　歩行ガイドロボットの写真
Fig. 5 Walking Guidance Robot
 

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Hideo Mori, Shinji Kotani, Hiroshi Ishiguro, Satoshi Yasutomi, and Yukiko Chino：Self-contained mobile robot in campus road (A mobile robot strategy and its application to Harunobu-4)

Journal of the RSJ, Vol. 5, No. 5, 1987 (in Japanese).

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[3] N. Tinbergen，"The Study of Instinct", The Clarendon Press Oxford, 1951（永野訳，“本能の研究”，三共出版，1975）. (in Japanese)

[4] 森英雄，小谷信司，石黒浩，安富敏，茅野之雄，“構内道路を走行する自律移動ロボット（移動ロボットの一戦略‐晴信４号機）”，日本ロボット学会誌，Vol.5,No.5､pp.361-373,1987. (in Japanese)

[5] Seiichi Mori, "Factors Associated with and Fitness Effects of Nest-Raiding in the Three-Spined Sticleback, Gasterosteus Aculeatus, in a natural Situation," Behaviour 132, pp.1012-1023, 1995.

[6] G. Jansson, "Non-Visual guidance of Walking" Ed. R.Warren, Perception and Control of Self-Motion, Lawrence Erbaum Associates Pub. 1990.

[7] 安富敏，森英雄，他，“歩行のリズムに基づく歩行者検出の一手法”，電子情報通信学会論文誌，D-II, Vol.J78-D-II No.4, pp.608-617, 1995. (in Japanese)

[8] H. Mori, N. M. Charkari & T. Matsushita, "On-Line Vehicle and Pedestrian Detection Based on Sign Pattern", IEEE Trans. On Industrial Electronics, Vol.41, No.4, 1994.

[9] 中村雄一，小谷信司，森英雄，“歩行ガイドロボットの走行環境のティーチング”，ロボティクス・メカトロニクス講演会'00講演論文集，2P1-65-114, 2000. (in Japanese)

[10] S.kotani, H. Mori & N.M.Charkari, "danger estimation of the Robotic Travel Aid(RoTA) at Intersection," Robotics and Automation systems 18,　pp.235-232,1996.

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