ެཱ͸ͩͯ͜ະདྷେֶ 2020 ೥౓γεςϜ৘ใՊֶ࣮श
άϧʔϓใࠂॻ
Future University Hakodate 2020 System Information
Science Project Group ReportϓϩδΣΫτ໊ϩϘοτ‫ܕ‬ϢʔβΠϯλϥΫγϣϯͷ࣮༻Խ-ʮະདྷେൃͷళһϩϘοτʯΛϋʔυ΢ΣΞ͔Β։ൃ͢Δ-

Project Name
Practical application of the robot-type interactionϓϩδΣΫτ൪߸/Project No.

8άϧʔϓ໊/Group Nameάϧʔϓ B/Group BϓϩδΣΫτϦʔμ/Project Leaderҏ౻ұHajime ItoάϧʔϓϦʔμ/Group Leaderਢా‫ګ‬ฏ

Kyohei Sudaάϧʔϓϝϯό/Group MemberԞଜًTeru Okumura

ሣഅ෢࿠Takurou Tsushimaࢁຊါ‫ޗ‬

Yugo Yamamotoਢా‫ګ‬ฏ

Kyohei Sudaࢦಋ‫ڭ‬һ/Advisorࡾ্ః๕

Sadayoshi Mikami

ླ໦তೋSho’ji Suzukiߴ‫ڮ‬৴ߦ

Nobuyuki Takahashiఏग़೔
2021 ೥ 1 ݄ 14 ೔

Date of Submission
January 14, 2021֓ཁɹۙ೥ͷ‫ݱ‬୅ࣾձͰ͸༷ʑͳ৔ॴʹళһͱͯ͠ϩϘοτ͕࢖ΘΕ͍ͯΔɽྫ͑͹ɼҿ৯ళͷҊ಺΍ϗςϧͷϑϩϯτͳͲͰ΋‫͞༻ى‬Ε͍ͯΔɽͦͷഎ‫ʹܠ‬͸ɼ‫ۀا‬ଆͷਓखෆ଍ɼਓ݅අͳͲͷίετͷ࡟‫ݮ‬ɼ୯७࡞‫ۀ‬ͷޮ཰ԽͳͲ͕͋Δɽ͔͠͠ɼଟ਺ͷళһϩϘοτ͕։ൃ͞Εɼଟ͘ͷ༗༻ͳϩϘοτ͕࢖ΘΕ͍ͯΔ͕ɼ‫ۀا‬ଆɼར༻͢ΔଆͲͪΒͷࢹ఺Ͱ΋ະͩ࢖͍ͮΒ͍෦෼΍ෆ଍ͯ͠
͍ΔͱࢥΘΕΔ‫ػ‬ೳ΋ଟ͍ɽͦ͜Ͱࢲͨͪ͸ɼओʹ‫ػ‬ೳͷ໘ͷ։ൃɼվྑΛਐΊɼཧ૝ͷళһϩϘοτΛ։ൃ͢Δ͜ͱΛ໨ࢦͨ͠ɽࡢ೥ͷϓϩδΣΫτֶशͷऔΓ૊ΈͰ͸ PaPeRo i Λ༻͍ͯళһϩϘοτͷ։ൃ͕ߦΘΕ͕ͨԻ੠‫ػ‬ೳʹ໰୊఺͕͋ͬͨɽձ࿩ʹ͓͚Δίϛϡχέʔγϣϯʹ͓͍ͯɼ൓Ԡͷ஗͞ͳͲΛ‫ݪ‬Ҽͱͯ͠ɼར༻ऀ͕ϩϘοτͷಈ࡞Λ଴ͨͳ͚Ε͹ͳΒͳ͍༷ͳγʔϯ͕‫ݟ‬ΒΕɼར༻ऀʹ༩͑Δෛ୲͕େ͖͔ͬͨɽࢲͨͪͷߟ͑Δཧ૝ͷళһϩϘοτͰ͸ɼγʔϜϨεͳձ࿩ͷ࣮‫ݱ‬Λ໨ࢦ͍ͯ͠Δɽ͔͠͠ɼ‫ط‬ଘͷϩϘοτ‫ܕ‬ΠϯλϑΣʔεΛ֦ு͢Δํ๏Ͱ͸ɼϋʔυ໘Ͱͷ੍໿͕ॏେͳ໰୊఺ͱͳͬͨɽͦͷͨΊɼࠓ೥౓ʹ͓͚ΔຊϓϩδΣΫτͰ͸ɼϋʔυ΢ΣΞͱιϑτ΢ΣΞͷͲͪΒ΋ 1 ͔Β࡞Δ͜ͱʹͨ͠ɽࢲͨͪ͸ɼͦͷཧ૝ͷళһϩϘοτͷ
࣮‫ݱ‬ͷͨΊɼओʹԻ੠ೝࣝ‫ػ‬ೳͷվળΛ໨ඪͱ͢ΔɽҎલͷ൓Ԡͷ஗͍ίϛϡχέʔγϣϯͰ͸ͳ͘ɼਓؒͱมΘΒͳ͍Α͏ͳ൓Ԡͷૣ͍ίϛϡχέʔγϣϯΛ໨ࢦ͢ɽ·ͨɼ1 ͔ΒϩϘοτΛ࡞
੒͢Δʹ͋ͨΓɼϩϘοτͷ͕࢟ਓʹҖѹ‫ײ‬΍ෆշ‫ײ‬Λ༩͑Δ͜ͱͳ͘ɼ਌͠ΈΛ࣋ͯΔΑ͏ͳ‫ܗ‬ঢ়ʹ͢Δ͜ͱ΋ߟ͑ɼ։ൃ͍ͯ͘͠ɽ
Ωʔϫʔυɹ PaPeRo iɼ ίϛϡχέʔγϣϯɼ Ի੠ೝࣝ‫ػ‬ೳ(˞จ੹: Ԟଜً)i

Abstract
In modern society in recent years, robots are used as clerk in various places. For example, it
is also used for restaurant information and hotel front desks. Behind this are labor shortages
on the part of companies, reduction of costs such as labor costs, and eﬃciency of simple
work. However, although many clerk robots have been developed and many useful robots
are used, there are still many functions that are diﬃcult to use or lack in terms of both thecompany side and the user side. Therefore, we mainly proceeded with the development andimprovement of the functional aspects, and aimed to develop the ideal clerk robot. In lastyear’s project learning initiative, a clerk robot was developed using PaPeRo i, but there wasa problem with the voice function. In communication in conversation, there was a great dealof consideration and burden on the customer side, such as slow response. Our ideal clerk
robot aims to realize seamless conversation. However, in the method of extending the existing
robot-type interface, the hardware limitation has become a serious problem. Therefore, inthis project this year, we decided to make both hardware and software from scratch. We
mainly aim to improve the voice recognition function in order to realize the ideal clerk robot.
We aim for fast-responsive communication that is no diﬀerent from humans, rather than theprevious slow-responsive communication. In addition, when creating a robot from scratch, wewill consider and develop a shape that makes the robot familiar without giving a feeling of
intimidation or discomfort to people.
Keyword ɹ PaPeRo i, communication, voice recognition function(˞จ੹: Ԟଜً)

ii

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ୈ1ষ

1.1
1.2
1.3
1.4
ୈ2ষ

2.1
2.2
2.3
2.4
ୈ3ষ

3.1
3.2
3.3
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ୈ4ষ

4.1
4.2
4.3
ୈ5ষ

5.1
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ୈ6ষ

6.1
6.2

͸͡Ίʹ
‫ݱ‬ঢ় . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
‫ݱ‬ঢ়ͷ໰୊ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
άϧʔϓʹ͓͚Δ໨ඪ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ϓϩδΣΫτͷ֓ཁ໰୊ͷઃఆ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ຊάϧʔϓʹ͓͚Δ։ൃ໨ඪ

. . . . . . . . . . . . . . . . . . . . . . . . . . . .
ղܾ͢Δ՝୊ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
՝୊ͷઃఆ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
՝୊ղܾͷϓϩηε
՝୊ͷׂΓ౰ͯ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fusion360 ʹΑΔ 3DCAD ͷઃ‫ ܭ‬. . . . . . . . . . . . . . . . . . . . . . . . . .
Ի੠ೝࣝ‫ػ‬ೳͷઃ‫ ܭ‬. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ಈ࡞ͷ੍‫ޚ‬ͷઃ‫ ܭ‬. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
՝୊ղܾͷϓϩηεͷৄࡉ֎‫؍‬ͷઃ‫ ܭ‬. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
γʔϜϨεͳର࿩‫ػ‬ೳ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
टɾ‫ޱ‬ɾ৲ඌͷಈ࡞ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
݁ՌϓϩδΣΫτͷ੒Ռ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ϓϩδΣΫτʹ͓͚Δ֤‫ݸ‬ਓͷ‫׆‬ಈৄࡉ . . . . . . . . . . . . . . . . . . . . . . .
·ͱΊ‫׆‬ಈͷৼΓฦΓ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ࠓ‫ޙ‬ͷల๬ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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ࢀߟจ‫ݙ‬

iii

Practical application of the robot-type interaction

ୈ1ষ

͸͡Ίʹ
͜ͷষͰ͸ϩϘοτ‫ܕ‬ΠϯλϑΣʔεͷधཁ΍໰୊఺Λ౿·͑ͳ͕Βɼͦͷ࡞੒ͱӡ༻ʹ͍ͭͯຊϓϩδΣΫτͰղܾ͢΂͖՝୊ʹ͍ͭͯड़΂Δɽ

1.1 ‫ݱ‬ঢ়ۙ೥ళฮͳͲͷड෇΍঎඼ͷ঺հʹɼϩϘοτ‫ܕ‬ͷΠϯλϑΣʔεΛಋೖ͢Δྫ͕૿͍͑ͯΔɽ
ैདྷͰ͸ϩϘοτΛಋೖ͢Δ໨తͱͯ͠޻৔΍ɼࡂ֐‫ݱ‬৔ͳͲոզ΍ࣄ‫ނ‬ɼ͋Δ͍͸ೋ࣍ࡂ֐ͳͲ
ͷϦεΫ͕જΉ‫ͳݥة‬৔ॴʹ͓͍ͯɼਓʹ୅Θͬͯ࡞‫ۀ‬Λ͢Δ͜ͱ͕ଟ͔ͬͨɽ͔͠͠ɼۙ೥૿Ճ
͢Δ܏޲ʹ͋ΔϩϘοτ‫ܕ‬ΠϯλϑΣʔεͰ͸ɼ঎඼঺հ΍ళฮҊ಺ͳͲͷ୯ௐͰ௕࣌ؒଓ͘࡞‫ۀ‬Λਓ͔Β‫ػ‬ցʹஔ͖‫͑׵‬Δ͜ͱ΍ɼάϩʔόϦθʔγϣϯΛҙࣝͨ͠֎ࠃਓ޲͚ͷଟ‫Ͱޠݴ‬ͷରԠɼϩϘοτ‫ܕ‬ΠϯλϑΣʔεʹ‫ڵ‬ຯΛ͓࣋ͭࢠ͞Μ΁ͷରԠͳͲɼ࡞‫͑૿͕ۀ‬Δ‫ݱ‬৔Ͱ͋·ΓਓखΛׂ͘͜ͱ͕Ͱ͖ͳ͍‫ۀ‬຿Λ୅ߦͤ͞Δ͜ͱΛ໨తͱ͍ͯ͠Δɽ

(˞จ੹ɿࢁຊါ‫)ޗ‬

1.2 ‫ݱ‬ঢ়ͷ໰୊‫ݱ‬ঢ়ͷ՝୊ͱͯ͠ɼϩϘοτͷಈ࡞ͷ͗ͪ͜ͳ͕͞ࢠ‫ڙ‬Λ͸͡Ίͱͨ͠ར༻ऀʹ༩͑Δෆ҆‫ײ‬΍ɼίϛϡχέʔγϣϯʹ͓͍ͯக໋తͳ൓Ԡͷ஗͞ͳͲɼ·ͩΠϯλϑΣʔεͱͯ͠վྑ͢΂͖఺͸਺ଟ͘࢒͞Ε͍ͯΔɽਓ෺ͷೝࣝ΍ɼൃ࿩಺༰Λೝࣝͨ͠ରԠͳͲɼٕज़తʹߴ౓ͳΠϯλϑΣʔεΛ࣮‫͢ݱ‬Δ͜ͱ͸๬·͍͠ࣄͰ͋Δ͕ɼҰํͰೝ͕ࣝෆ҆ఆͰ͋ͬͨΓ͢ΔͨΊʹɼ͔͑ͬͯର࿩‫ײ‬ΛࣦͬͨΓɼ࣮ࡍʹ఻͍͑ͨ৘ใ͕఻ΘΓͮΒ͍͜ͱ͕͋Δͱ൱Ίͳ͍ɽࡢ೥౓࢖༻
ͨ͠ PaPeRo i[1] Ͱ͸αʔόΛ‫ܦ‬༝͢Δձ࿩ͷγεςϜ্ɼಛʹձ࿩ʹΑΔίϛϡχέʔγϣϯʹ͓͍ͯฦ౴΍Ԡ౴଎౓ʹେ͖ͳ஗Ԇ͕͋Γɼར༻ऀ͕ϩϘοτͷಈ࡞Λ଴ͨͳ͚Ε͹ͳΒͳ͍༷ͳγʔϯ͕‫ݟ‬ΒΕɼ൴Βͷෛ୲͕େ͖͔ͬͨɽ

(˞จ੹ɿࢁຊါ‫)ޗ‬Group Report of 2020 SISP

1Group Number 8

Practical application of the robot-type interaction

1.3 ໨త
ຊϓϩδΣΫτͰ͸ɼʮγϯϓϧͳ࢓૊ΈͰޮՌతͳϩϘοτ‫ܕ‬ΠϯλϑΣʔεͱ͸Կ͔ʯʹ͍ͭͯ໛ࡧ͠ɼԻ੠ೝࣝͳͲΛར༻ͨ͠ιϑτ΢ΣΞͱϩϘοτͷ‫ߏػ‬΍֎‫Ͳͳ؍‬ͷϋʔυ΢ΣΞͷ
྆໘Ͱ࣮‫͢ݱ‬Δ͜ͱΛ໨తͱͨ͠ɽ࡞੒ͨ͠ϩϘοτ‫ܕ‬ΠϯλϑΣʔεΛେֶͷҊ಺ϩϘοτͱͯ͠ӡ༻͢Δ͜ͱΛ໨ࢦ͠ɼάϧʔϓ͝ͱʹ৽͍͠ళһϩϘοτͷϋʔυ΢ΣΞΛ࡞Δ͜ͱΛ৽ͨʹࢼΈΔɽ(˞จ੹ɿࢁຊါ‫)ޗ‬

1.4 άϧʔϓʹ͓͚Δ໨ඪάϧʔϓ B Ͱ͸ 1.3 અͰड़΂ͨʮγϯϓϧͳ࢓૊ΈͰޮՌతͳϩϘοτ‫ܕ‬ΠϯλϑΣʔεʯΛ‫ݩ‬ʹɼࡢ೥౓ͷίϛϡχέʔγϣϯʹ͓͚Δ໰୊ʹண໨͠ɼ࣍ͷ 2 ఺Λղܾ͢΂͖՝୊ͱͨ͠ɽ1 ͭ໨͸ࡢ೥౓ͷେ͖ͳ՝୊ͱͳͬͨԻ੠ೝࣝͷվળΛߦ͏͜ͱͰγʔϜϨεͳձ࿩Λ࣮‫͢ݱ‬ΔϩϘοτͷ࡞੒ͱͨ͠ɽ͜ͷ໨ඪʹ޲͚ 2 ͭ໨͸σβΠϯΛ‫ط‬ଘͷ΋ͷ͔ΒҰ৽͢Δ͜ͱͰɼϩϘοτͷ
͕࢟ਓʹҖѹ‫ײ‬΍ෆշ‫ײ‬Λ༩͑Δ͜ͱͳ͘ɼ਌͠ΈΛ࣋ͯΔΑ͏ʹ͢Δ͜ͱͰ͋Δɽ

(˞จ੹ɿࢁຊါ‫)ޗ‬Group Report of 2020 SISP

2Group Number 8

Practical application of the robot-type interaction

ୈ2ষϓϩδΣΫτͷ֓ཁ͜ͷষͰ͸άϧʔϓ B ͷ໨తΛ໌֬ʹ͠ɼ໨తΛୡ੒͢ΔͨΊʹඞཁͳ՝୊ʹ͍ͭͯड़΂Δɽ(˞จ੹ɿਢా‫ګ‬ฏ)

2.1 ໰୊ͷઃఆ
1.2 અͰड़΂ͨ໰୊Λ۩ମతʹҎԼͷΑ͏ʹ·ͱΊͨɽ• ಈ࡞ͷ͗ͪ͜ͳ͞• ର࿩ͷ൓Ԡ଎౓ͷ஗͞• ਓ෺ɾൃ࿩಺༰ͷೝࣝ• ಈ࡞ͷෆ҆ఆ͞άϧʔϓ B Ͱ͸্‫ه‬ͷ໰୊ͷ͏ͪɼਓ͕ؒϩϘοτͱίϛϡχέʔγϣϯΛߦ͏্Ͱର࿩͔Βҧ࿨‫ײ‬Λ‫ʹͱ͍͜ͳ͡ײ‬ॏ఺Λஔ͖ɼର࿩ͷ൓Ԡ଎౓΍ಈ࡞ͷվળΛ໨ࢦ͢ɽ(˞จ੹ɿਢా‫ګ‬ฏ)

2.2 ຊάϧʔϓʹ͓͚Δ։ൃ໨ඪάϧʔϓ B Ͱ͸ɼళһͷཧ૝తͳ઀٬ͷʮ‫ػ‬ೳʯΛ࠶‫͢ݱ‬ΔɽͦͷͨΊʹҎԼͷ 4 ͭͷ‫ػ‬ೳͷ࣮૷Λ໨ඪͱͯ͠ઃఆͨ͠ɽ

• ΑΓϨεϙϯεͷ଎͍Ի੠ೝࣝͷ࣮૷• ਓͷ͍Δํ޲ɾ઀ۙΛ‫ݕ‬஌͠ɼ৲ඌɾࣖɾ‫ޱ‬ɾटΛಈ͔͢‫ػ‬ೳͷ࣮૷• ձ࿩‫ػ‬ೳͷ࣮૷• ๞͖ͤ͞ͳ͍ίϯςϯπͷ࣮૷(˞จ੹ɿਢా‫ګ‬ฏ)Group Report of 2020 SISP

3Group Number 8

Practical application of the robot-type interaction

2.3 ղܾ͢Δ՝୊
1.3 અͰड़΂ͨΑ͏ʹԻ੠ͷೝ͕ࣝෆ҆ఆͰ͋ͬͨͨΊɼձ࿩ʹΑΔίϛϡχέʔγϣϯʹ͓͍ͯฦ౴΍Ԡ౴଎౓ʹେ͖ͳ஗Ԇ͕͋Γɼར༻ऀʹ͔͔Δෛ୲͕େ͖͔ͬͨɽ·ͨɼಈ࡞ͷ͗ͪ͜ͳ͞΍֎‫͔؍‬ΒਓʹҖѹ‫ײ‬΍ෆշ‫ײ‬Λ༩͑Δ͜ͱ͕͋ͬͨɽຊઅͰ͸ 2.1 અͰड़΂ͨ໰୊ͷղܾΛ͢
ΔͨΊͷ՝୊Λ۩ମతʹઆ໌͢Δɽ
ར༻ऀ͕ൃ࿩͔ͯ͠ΒϩϘοτ͕ॲཧΛߦ͍ɼฦ౴΍ಈ࡞Λߦ͏·ͰʹैདྷͷϩϘοτͰ͸λΠϜϥά͕ൃੜ͍ͯͨ͠ɽ͜ͷ‫ݪ‬Ҽ͸ɼ୯ʹ‫ݴ‬༿Λฦ͢ͷͰ͸ͳ͘ɼձ࿩ͷྲྀΕΛ෼ੳ͠ෆࣗવͰͳ
͍ձ࿩ͷฦ౴Λॲཧͨ͠ΓɼΧϝϥΛ༻͍ͨ೥ྸ൑ఆͷ‫ػ‬ೳ [2] ͳͲଟ͘ͷ‫ػ‬ೳΛ࠾༻͍ͯͨͨ͠
ΊͰ͋Δɽ͜ΕΒͷσʔλΛॲཧ͢Δʹ͸ϩϘοτ಺෦Ͱ‫ͤ݁͞׬‬Δ͜ͱ͸೉͘͠ɼΠϯλʔωοτΛհͯ͠֎෦ͷαʔόʹॲཧΛߦΘͤΔ͜ͱͰ͜ΕΒͷ‫ػ‬ೳ͕࣮‫͞ݱ‬Ε͍ͯͨɽάϧʔϓ B Ͱ͸ɼʮγϯϓϧͳ࢓૊ΈͰޮՌతͳϩϘοτ‫ܕ‬ΠϯλϑΣʔεʯΛ໨ඪͱͨͨ͠Ίɼ‫ػ‬ೳΛߜΔ͜
ͱͰϩϘοτ಺ͷΈͷॲཧͰ‫ͤ݁͞׬‬Δ͜ͱʹΑΓγʔϜϨεͳର࿩Λ࣮‫͢ݱ‬Δ͜ͱͱͨ͠ɽಈ࡞
ͷ͗ͪ͜ͳ͞ͱ֎‫͍ͯͭʹ؍‬͸ɼੜ෺ͷ۩‫ݱ‬ԽʹΑΔෆ‫ؾ‬ຯ͞ͷൃ‫͕͋ݱ‬Δ [3]ɽ͜Ε͸ਓؒʹ͚ۙͮͨϩϘοτͰ͸ຊ෺ͷਓؒͱແҙࣝͷ͏ͪʹಈ͖΍֎‫؍‬Λൺֱͯ͠͠·͏ͨΊʹෆࣗવ‫ൃ͕ײ‬
ੜ͍ͯ͠Δͱߟ͑ͨɽ͜Εͷ໰୊Λղܾ͢ΔͨΊʹϩϘοτͷ֎‫؍‬͸ಈ෺Ͱ͋Δ‫ݘ‬ͷ‫ͨݟ‬໨Λ࠾༻ͨ͠ɽ(˞จ੹ɿਢా‫ګ‬ฏ)

2.4 ՝୊ͷઃఆ
2.1 અͰड़΂ͨ໰୊ΛɼҎԼͷ੍໿৚݅ԼͰղܾ͢Δ͜ͱΛߟ͑ͨɽ• Ͱ͖Δ͚ͩ௿ίετͰ։ൃΛߦ͏ɽ• ແҙຯͳ࡞‫ۀ‬Λͳ͘͢ɽ• ৘ใॲཧԋश II ͷߨٛ΍ͦͷଞͷߨٛ಺Ͱಘͨ஌ࣝ΍ٕज़Λੜ͔͢ɽ• େֶͷߨٛ಺༰ΑΓൃలͨ͠಺༰Λࣗश΍୲౰‫ڭ‬һͱͷ૬ஊʹΑΓशಘ͢Δɽͦͷ݁ՌɼҎԼͷ۩ମࡦ͕ఏҊ͞Εͨɽ• ϩϘοτͷϋʔυ΢ΣΞ։ൃʹ͔͔ΘΔඋ඼ߪೖ͸άϧʔϓ಺ͰΑٞ͘࿦͔ͯ͠Βߦ͏ɽ• ֤‫ݸ‬ਓʹ࡞‫಺ۀ‬༰ΛׂΓ౰ͯΔ͜ͱʹΑΓɼޮ཰తͳ࡞‫ۀ‬Λߦ͏ɽ• ͦΕͧΕͷ஌ࣝ΍‫ڵ‬ຯʹԠͯ͡࡞‫ۀ‬෼୲Λߦ͏ɽ• ࣗ਎ͰղܾͰ͖ͳ͍໰୊Λଞऀʹ૬ஊͰ͖ΔྲྀΕΛ࡞Δɽ
໰୊Λղܾ͢ΔͨΊʹɼ্‫ه‬ͷ۩ମࡦΛ‫׆‬ಈ՝୊ͱͨ͠ɽ

(˞จ੹ɿਢా‫ګ‬ฏ)Group Report of 2020 SISP

4Group Number 8

Practical application of the robot-type interaction

ୈ3ষ՝୊ղܾͷϓϩηε
3.1 ՝୊ͷׂΓ౰ͯ
2.3 અ͓Αͼ 2.4 અͰड़΂ͨ՝୊Λղܾ͢ΔͨΊʹɼେ͖͘σβΠϯ໘ͱ‫ػ‬ೳ໘ʹ෼͚ͯҎԼͷΑ͏ʹखॱΛઃఆͨ͠ɽσβΠϯ໘• ‫ط‬ଘͷϩϘοτͷσʔλΛऩू• ϩϘοτͷσβΠϯҊͷ‫ݕ‬౼• σβΠϯҊΛ 3DCAD ιϑτΛ༻͍ͯσʔλԽ• 3D ϓϦϯλΛ༻͍ͨࢼ࡞඼ͷग़ྗ• ‫ػ‬ೳ໘ͷ࡞‫ͱऀۀ‬ಈ࡞ςετ• ಈ࡞ςετ͔ΒಘΒΕͨ໰୊Λ΋ͱʹࡉ͔ͳඍௐ੔Λߦ͏• ‫׬‬੒ͨ͠ϩϘοτʹ͍ͭͯͷΞϯέʔτΛ࣮ࢪ͠վળ͢Δ‫ػ‬ೳ໘• ‫ط‬ଘͷϩϘοτͰ࣮‫͞ݱ‬Ε͍ͯΔ‫ػ‬ೳΛௐࠪ• ࣮‫͞ݱ‬Ε͍ͯΔ‫ػ‬ೳͷ͏࣮ͪ૷͕Մೳͳ‫ػ‬ೳʹߜΓࠐΉ• ໨తʹ͍͋ͬͯΔ͔֬ೝ͠ɼ࣮૷͢Δ‫ػ‬ೳΛܾఆ• ୲౰ऀΛ‫ػ‬ೳ͝ͱʹ෼͚࣮ͯ૷Λߦ͏• σβΠϯ໘ͷ୲౰ऀͱಈ࡞ςετ• ಈ࡞ςετ͔ΒಘΒΕͨ໰୊Λ΋ͱʹௐ੔Λߦ͏• ‫ػ‬ೳʹ͍ͭͯͷΞϯέʔτΛ࣮ࢪ͠վળ͢ΔҎ্ͷ಺༰Λ౿·͑ɼཧ૝ͱ͢Δʮ‫ػ‬ೳʯΛ΋ͭϩϘοτͷ࣮‫ݱ‬ͷͨΊʹҎԼͷ‫ج‬४ʹΑΓ՝୊ΛϝϯόʔʹׂΓ౰ͯͨɽ• ֤ࣗͷ‫ڵ‬ຯ͕͋Δ಺༰• ֤ࣗͷಘҙͳ෼໺• ࡞‫ۀ‬ෛՙͷ‫ۉ‬ҰੑGroup Report of 2020 SISP

5Group Number 8

Practical application of the robot-type interactionׂΓ౰ͯͷ݁ՌɼσβΠϯ໘ͷ՝୊ղܾʹ͍ͭͯ͸Ԟଜͱࢁຊ͕த৺ͱͳΓ‫׆‬ಈΛߦ͍ɼ‫ػ‬ೳ໘ͷ՝୊ղܾʹ͍ͭͯ͸ਢాͱሣഅ͕த৺ͱͳΓ‫׆‬ಈΛߦ͏͜ͱͱͨ͠ɽՃ͑ͯࠓ೥౓͸ COVID-19
ͷӨ‫͔ڹ‬Βର໘Ͱͷ‫׆‬ಈʹ‫ظ‬଴͕Ͱ͖ͳ͍ɽͦͷͨΊɼຖճͦΕͧΕ͕ߦͬͨ࡞‫ۀ‬Λશମʹ‫ڞ‬༗͢
Δ͜ͱͰ࡞‫ۀ‬ͷ஗Ε͕ग़͍ͯͳ͍͔֬ೝ͢Δ͜ͱͱͨ͠ɽׂΓ౰ͯΛৄࡉʹઃఆ͠ɼ‫ݸ‬ਓ͕ͦΕͧΕͷ໾ׂΛҙࣝ͢Δ͜ͱͰɼεϜʔζʹ‫׆‬ಈΛਐΊΔ͜ͱ͕Ͱ͖Δͱߟ͑ͨɽ

(˞จ੹ɿਢా‫ګ‬ฏ)

3.2 Fusion360 ʹΑΔ 3DCAD ͷઃ‫ܭ‬ઃఆ͞Εͨ໨ඪͷ͏ͪɼFusion360 ʹΑΔ 3DCAD ͷઃ‫ʹܭ‬͸ 3.1 અͰड़΂ͨΑ͏ʹάϧʔϓ಺

2 ਓ͕՝୊ղܾʹׂΓ౰ͯΒΕͨɽࠓ೥౓ʹ͓͚ΔຊϓϩδΣΫτͰ͸ϋʔυ΢ΣΞΛ 1 ͔Β੍࡞
͢ΔͨΊɼ3D ϓϦϯλΛ༻͍ͯઃ‫ͨ͠ܭ‬෦඼Λग़ྗ͠ϩϘοτΛ૊ΈཱͯΔख๏Λ࠾༻ͨ͠ɽઃ
‫ܭ‬ιϑτ Fusion360 ͱͦͷߨٛಈը΍ࢿྉͳͲΛ༻͍ͯ 3DCAD Ͱͷઃ‫ํܭ‬๏Λֶशͨ͠ɽशಘ
ٕͨ͠ज़Λ༻͍ͯσβΠϯҊ͔Β۩ମతͳߏ଄ઃ‫ͱ΁ܭ‬མͱ͠ࠐΜͰ͍ͬͨɽ·ͨɼઃ‫ܭ‬͸෦඼͝ͱʹ෼୲ͯ͠ߦ͏͜ͱͱͨ͠ɽ

(˞จ੹ɿሣഅ෢࿠)3.3 Ի੠ೝࣝ‫ػ‬ೳͷઃ‫ܭ‬ઃఆ͞Εͨ໨ඪͷ͏ͪɼԻ੠ೝࣝ‫ػ‬ೳͷઃ‫ʹܭ‬͸ 3.1 અͰड़΂ͨΑ͏ʹάϧʔϓ಺ 1 ਓ͕՝୊ղ
ܾʹׂΓ౰ͯΒΕͨɽલड़ͷ௨Γɼࡢ೥ͷϓϩδΣΫτͰ΋Ի੠ೝࣝ‫ػ‬ೳ͸࣮૷͞Ε͍͕ͯͨɼͦ
ͷઃ‫্ܭ‬ΠϯλʔωοτΛհͨ͠ॲཧΛ‫ڬ‬ΉͷͰ൓Ԡ଎౓͕஗͍ͱ͍͏໰୊͕͋ͬͨɽࠓ೥౓ͷϓϩδΣΫτͰ͸͜ͷ໰୊Λղܾ͢ΔͨΊʹԻ੠ೝࣝͷઃ‫ܭ‬Λ 1 ͔Β‫ݟ‬௚͢͜ͱͱͨ͠ɽ۩ମతͳख
๏ͱͯ͠͸ Raspberry Pi ͷԻ੠ೝࣝϥΠϒϥϦɼJulius Λ༻͍ͯΠϯλʔωοτΛհ͞ͳ͍಺෦
ॲཧͰ࣮૷͢Δɽ

(˞จ੹ɿሣഅ෢࿠)3.4 ಈ࡞ͷ੍‫ޚ‬ͷઃ‫ܭ‬ઃఆ͞Εͨ໨ඪͷ͏ͪɼಈ࡞ͷ੍‫ޚ‬ͷઃ‫ʹܭ‬͸ 3.1 અͰड़΂ͨΑ͏ʹάϧʔϓ಺ 1 ਓ͕՝୊ղܾ
ʹׂΓ౰ͯΒΕͨɽࠓ೥౓ʹ͓͚ΔຊϓϩδΣΫτͰ͸ϋʔυ΢ΣΞΛ 1 ͔Β੍࡞͢ΔͨΊɼՄಈ෦෼ʹ࢖༻͢ΔϞʔλͷ੍‫ޚ‬Λઃ‫͢ܭ‬Δɽ‫ج‬ຊతʹ͸ Arduino Λ༻͍ͯಈ࡞੍‫ޚ‬Λߦ͏͕ɼ্‫ه‬ͷԻ੠ೝࣝ΍֎෦͔Βͷೖྗͱ࿈ಈͤ͞ΔͨΊʹγϦΞϧ௨৴ʹΑΔ Arduino - Raspberry Pi ؒͷ࿈ಈΛ࣮૷͢Δɽ

(˞จ੹ɿሣഅ෢࿠)Group Report of 2020 SISP

6Group Number 8

Practical application of the robot-type interaction

ୈ4ষ՝୊ղܾͷϓϩηεͷৄࡉ
4.1 ֎‫؍‬ͷઃ‫ܭ‬
4.1.1 ॳ‫ظ‬ઃ‫ܭ‬άϧʔϓ B Ͱ͸ʡγϯϓϧͳ࢓૊ΈͰޮՌతͳϩϘοτ‫ܕ‬ΠϯλϑΣʔεʡΛ໛ࡧ͠ɼϩϘοτͷ͕࢟ਓʹҖѹ‫ײ‬΍ෆշ‫ײ‬Λ༩͑Δ͜ͱͳ͘ɼ਌͠ΈΛ࣋ͯΔΑ͏ʹ͢Δ͜ͱΛ໨ඪͱͨ͠ɽ

Pepper ΍ PaPeRo i ͸େ͖ͦ͜͞ҧ͏΋ͷͷਓ‫ܕ‬Λ໛͓ͯ͠ΓɼͦΕ͕ਓʹ‫ڪ‬ා΍ෆշ‫ײ‬Λ༩͑
Δ‫ݪ‬ҼͰ͸ͳ͍͔ͱ෼ੳ͠ɼάϧʔϓ B ͷ 3DCAD ઃ‫ܭ‬൝͸ॳ‫ظ‬ͷઃ‫ܕݘͯ͠ͱܭ‬ϩϘοτΛ࡞
੒͢Δ͜ͱΛܾఆͨ͠ɽ·ͨ͜ͷ‫ܕݘ‬ϩϘοτͷ‫ͨݟ‬໨͸ग़དྷΔ͚ͩ‫࣮ݱ‬ͷ‫ͱͱ͍ͯͤ͘͜ࣅʹݘ‬ͨ͠ɽ࢟੎͸‫࠲͓Ͱ٭ޙ‬Γͷ࢟੎Λอͪͳ͕Βɼલ‫٭‬ΛɼϩϘοτͷલ໘ʹ഑ஔͨ͠ར༻ऀͱͷίϛϡχέʔγϣϯ༻ͷλονεΫϦʔϯͷ্෦ʹ৐ͤ਎Λ৐Γग़͢Α͏ͳ‫ܗ‬Λ૝ఆͨ͠ɽઃ‫࢖ʹܭ‬༻ͨ͠ιϑτ΢ΣΞ͸ Autodesk ఏ‫ڙ‬ͷ Fusion360 Ͱ͋Δɽ͜ͷιϑτ΢ΣΞ͸Ϟσϧ‫ػ‬ೳͰιϦου‫ܗ‬ঢ়͕ɼύον‫ػ‬ೳͰαʔϑΣε‫ܗ‬ঢ়͕ѻ͑ΔΑ͏ʹͳ͍ͬͯΔɽॳ‫ظ‬σβΠϯͷઃ‫༻ʹܭ‬͍ͨͷ͸ Fusion360 ʹಠࣗʹ༻ҙ͞Ε͍ͯΔεΧϧϓτͱ͍͏ෳࡶͳ‫ہ‬໘Λද‫͢ݱ‬Δ‫ػ‬ೳΛ༻͍ͯɼϩϘοτͷ෦Ґ͝ͱʹՄೳͳ‫ݶ‬Γຊ෺ͷ‫ࣅʹݘ‬ΔΑ͏஧࣮ʹઃ‫ܭ‬Λߦͬͨɽ(˞จ੹ɿࢁຊါ‫)ޗ‬

4.1.2 ‫ޙ‬൒ͷઃ‫ܭ‬ॳ‫ظ‬ઃ‫Ͱܭ‬͸ɼຊ෺ͷ‫ࣅʹݘ‬ΔΑ͏ʹ࡞ͬͨ݁Ռɼ‫ͨݟ‬໨͕গ͠ා͘ɼ਌͠ΈΛ࣋ͯΔΑ͏ͳϩϘοτͰ͸ͳ͘ͳ͍ͬͯͨɽͦ͜ͰɼσβΠϯͷํ޲ੑΛ΋͏Ұ౓‫ݕ‬౼͠ͳ͓͠ɼ·ͣɼσϑΥϧϝͨ͠‫ݘ‬ͷΠϥετΛ‫ʹج‬ελΠϩϑΥʔϜΛ࢖͍ɼେ·͔ͳϩϘοτͷ‫ܗ‬Λද‫ͨ͠ݱ‬ɽͦͯ͠ɼ
ελΠϩϑΥʔϜΛࢀߟʹɼσβΠϯͷҰ෦मਖ਼Λߦ͍ͭͭɼϓϩτλΠϓͷઃ‫ܭ‬ΛߦͬͨɽϓϩτλΠϓͰ͸ɼࣖɼख଍ɼ৲ඌͳͲύʔπ͝ͱʹग़ྗͰ͖ΔΑ͏ʹ෼ׂ͠ɼ࡞‫ؒ࣌ۀ‬ͷ࡟‫཰ޮͱݮ‬ԽΛਤͬͨɽ࣍ʹɼϞʔλ΍഑ઢΛ௨͢৔ॴͷઃ‫ܭ‬Λߦͬͨɽ֤ύʔπͷେ͖͞ΛϊΪεͰਖ਼֬ʹଌΓɼଌͬͨେ͖͞ΑΓগ͠෯ΛऔΔ͜ͱͰɼύʔπ͕͔ͬ͠Γͱऩ·ΔεϖʔεΛ࡞ͬͨɽ(˞จ੹ɿԞଜً)Group Report of 2020 SISP

7Group Number 8

Practical application of the robot-type interaction

4.1.3 ग़ྗઃ‫ͨྃ͠׬͕ܭ‬ϩϘοτͷύʔπ͸ 3D ϓϦϯλΛ༻͍࣮ͯࡍʹग़ྗΛߦ͍ͬͯͬͨɽૉࡐ͸ଞͷૉࡐͱൺ΂ͯ଱‫͘ߴ͕ྗٱ‬ɼ೤Մ઼ੑͷൺֱత௿͍ ABS Λ࢖༻ͨ͠ɽ3D ϓϦϯλΛ༻͍Δͱ
͖ɼग़ྗ͢Δύʔπͷ‫Ͳͳ౓ڧ‬ͷઃ‫ܭ‬Λࡉ͔͘ࢦఆͰ͖Δ͕ɼࠓճ͸ܰ͘ϞʔλͳͲͰಈ͔͢ఔ౓
Ͱ͋ΔͷͰ‫౓ڧ‬ΑΓ΋ύʔπࣗମͷܰ͞Λ௥‫͠ٻ‬ΠϯϑΟϧ͸ඞཁ࠷খ‫Ͳͱʹݶ‬ΊͨɽίϯύΫτ
ͳαΠζʹͳΔΑ͏ઃ‫͕ͨ͠ܭ‬ɼͦΕͰ΋αΠζ͕େ͖͔ͬͨͨΊύʔπͷग़ྗ͸Ұ౓ʹߦ͏ͷͰ͸ͳ͘ɼԿճ͔ෳ਺෦Ґʹ෼͚ͯग़ྗΛߦͬͨɽ࠶ઃ‫ܭ‬΍ௐ੔ͳͲ͕ೖͬͨͱ͖ʹ಑ମ΍಄෦ͳͲͷେ͖ͳύʔπͩͱ࡞Γ௚͢౓ʹ͔ͳΓͷ͕͔͔࣌ؒͬͯ͠·͏͜ͱ͕ࠓ‫ޙ‬ͷ՝୊ʹ͋͛ΒΕͨɽ(˞จ੹ɿࢁຊါ‫)ޗ‬

4.1.4 ֎ശͷ࡞੒
Arduino ΍ Raspberry Pi ΛೖΕΔ֎ശ͸ɼMakerCase ͱ͍͏αΠτΛ࢖͍ɼઃ‫ܭ‬ਤΛ࡞੒ͨ͠ɽ
ശʹೖΕΔ༧ఆͰ্͋ͬͨ‫ه‬ͷϋʔυ΢ΣΞྨΛॏͶͯ෯ɼԞߦ͖ɼߴ͞Λ͋Δఔ౓༧ଌͨ͠͏͑
ͰͦΕΒ͕ͪΐ͏Ͳऩ·ΔΑ͏ͳശΛ࡞ͬͨɽઃ‫ࡐܭ‬ྉʹ͸ MDFʢmedium-density ﬁberboardʣΛબ୒ͨ͠ɽMDF ͸ܰྔͰߴ͍Ճ޻ੑΛ࣋ͪɼ҆ՁͰ଱‫ٱ‬ੑʹ΋༏Ε͍ͯΔͨΊɼ͜ͷ༻్ʹ͸త֬Ͱ͋ͬͨɽ࡞੒ͨ͠ઃ‫ܭ‬ਤΛ༻͍ͯɼMDF ΛϨʔβʔΧολʔͰՃ޻ͨ͠ɽ

(˞จ੹ɿԞଜً)4.1.5 ૊Έཱͯ
3D ϓϦϯλʹΑΔग़ྗ͕‫ͨྃ͠׬‬ύʔπΛ߹Θͤͯ૊ΈཱͯΛߦͬͨɽ͏·࣮͘૷Ͱ͖ͨύʔπ΋͋ͬͨҰํͰɼઃ‫ܭ‬ϛε΍ 3D ϓϦϯλͰͷग़ྗ࣌ͷͣΕ͕ͨΊʹɼ͔ͬ͠Γͱ͸ΊΔ͜ͱ͕Ͱ͖ͳ͔ͬͨύʔπ΋͋ͬͨɽͦ͜Ͱɼͦ͏͍ͬͨύʔπʹؔͯ͠͸΍͢Γ΍ࢳ‫Ͳͳڒ‬Λ༻͍ͯɼमਖ਼Λߦ͍ͬͯͬͨɽ·ͨɼ3D ϓϦϯλͰग़ྗͨ͠෺ͷද໘͸ϑΟϥϝϯτͷ͔͢΍ࢳҾ͖͕෇ணͯ͠͠·͏͜ͱ͕͋Γɼ‫ݟ‬ӫ͑΍ද໘ͷ࣭‫ײ‬Λॏࢹ͢ΔͨΊʹ΍͢ΓͰຏ͖ɼ‫׈‬Β͔ʹͨ͠ɽग़ྗͨ͠ύʔπͷද໘ͷՃ޻΍ɼ੆Γ߹ΘͤΛΑ͘ߦ͔ͬͯΒ͢΂ͯͷύʔπͷ૊ΈཱͯΛߦͬͨɽύʔπͷ૊Έཱͯʹ͍ͭͯ͸ɼ෦඼ಉ࢜Λ߹ΘͤΔ͚ͩͰ૊Έཱ͕ͯ‫ͨྃ͠׬‬΋ͷ΍ɼͦΕ͚ͩͰ͸‫͕Ͳͳ౓ڧ‬ෆे෼ͳ΋ͷ͕͋ͬͨɽ‫͕౓ڧ‬ෆे෼ͳ΋ͷ͸ΞΫϦαϯσʔͱ͍͏थࢷ‫ܥ‬ૉࡐ༻ͷ઀ணࡎ΍ॠؒ઀ணࡎΛ༻͍ͯ‫ݻ‬ఆ͠૊Έཱͯͨɽ(˞จ੹ɿԞଜً)4.1.6 ‫ߏػ‬Λߟྀͨ͠෦඼ͷ࡞੒ɿશൠ
ύʔπΛઃ‫͢ܭ‬Δࡍɼ֎໘͸‫͢ʹܕݘ‬Δͱ͍͏໨తͷΈͰ͋ͬͨͨΊ؆୯Ͱ͕͋ͬͨɼ಺෦ͷ‫ܗ‬ΛͲ͏͢Δ͔ʹ͍ͭͯ͸‫ߏػ‬൝ͷ࢖༻͢ΔϞʔλ΍ΪΞͳͲͷ࢓૊ΈΛཧղͨ͠͏͑Ͱ͓‫ׯ͕͍ޓ‬ব͠ͳ͍Α͏ʹઃ‫ܭ‬Λ͠ͳ͚Ε͹ͳΒͳ͔ͬͨͨΊͱͯ΋ۤ࿑ͷଟ͍৔໘͕‫ݟ‬ड͚ΒΕͨɽ·ͣҰGroup Report of 2020 SISP

8Group Number 8

Practical application of the robot-type interaction൪γϯϓϧͳ΋ͷͱͯ͠ɼ഑ઢΛ௨ͨ͢ΊͷۭಎͰ͋Δɽ͜Ε͸಄෦ͷύʔπͷத΄Ͳ͔Β಑ମͷఈ෦·ͰҰ௚ઢʹ࢛֯‫ܗ‬ͷۭؒΛ࡞Δ͜ͱͰରԠͨ͠ɽ·ͨɼશମతʹՄಈ෦Λ࣋ͭύʔπ΍ͦͷपลʹ͍ͭͯ͸໘औΓ΍ϑΟϨοτͱ͍͏Ճ޻Λߦ͍ύʔπ͕ಈ࡞ͨ͠ͱ͖ʹଞͷ෦෼ʹ‫ׯ‬ব͢Δ͜ͱ͕ແ͍Α͏ʹͨ͠ɽ(˞จ੹ɿࢁຊါ‫)ޗ‬

4.1.7 ‫ߏػ‬Λߟྀͨ͠෦඼ͷ࡞੒ɿ‫ޱ‬ɼ৲ඌ‫ޱ‬΍৲ඌͷՄಈ෦ʹ͍ͭͯ͸ɼ‫ޱ‬΍৲ඌͷύʔπ͕಑ମͱ઀৮͢Δ໘ʹαʔϘϞʔλͷӋ͕དྷΔ
ҐஔΛ֬ೝͨ͠͏͑ͰӋ͕ͪΐ͏Ͳ͸·ΔΑ͏ͳ݀Λ։͚ͨঢ়ଶͰઃ‫ܭ‬ΛߦͬͨɽαʔϘϞʔλͷҐஔʹ͍ͭͯ͸ɼ‫ͳޱ‬Β಄෦ύʔπͷ͋͝෦෼ͷଆ໘ʹ‫ݻ‬ఆ͠ɼӋ͕‫ޱ‬ͷํ޲Λ޲͘Α͏ʹͨ͠ɽ৲ඌͷ৔߹͸಑ମύʔπͷఈ෦ɼ഑ઢ༻ͷۭؒͷ͙͢ԣଆʹαʔϘϞʔλΛஸ౓ऩΊͯ഑ஔग़དྷ
ΔΑ͏ʹεϖʔεΛ֬อͨ͠ɽͦ͜ʹαʔϘϞʔλΛೖΕͨ͏͑ͰϞʔλͷӋ͕֎෦ͷ৲ඌ·Ͱಧ͘Α͏ʹϞʔλͷ͔࣠Β৲ඌͷԣʹಈ͘ՔಇൣғΛߟྀͯ͠ઔঢ়ʹ޿͕ΔӋͷ௨ΔεϖʔεΛ࡞ͬͨɽ(˞จ੹ɿࢁຊါ‫)ޗ‬

4.1.8 ‫ߏػ‬Λߟྀͨ͠෦඼ͷ࡞੒ɿ಄෦ɼट
‫ߏػ‬Λߟྀͨ͠෦඼ͷ࡞੒ʹ͓͍ͯɼҰ൪޻෉Λ‫ڽ‬Βͨ͠ͷ͸಑ମ͔Β಄෦ύʔπ΁ͷ઀ଓͰ͋ͬͨɽɹ·ͣ಄෦͸ਓͷ੠ͷฉ͑ͨ͜ํ޲ʹ޲্͔ͬͯԼࠨӈʹಈ͔͢͜ͱΛ૝ఆ͍ͯͨ͠ͷͰɼαʔϘϞʔλΛ 2 ͭ߹Θͤͯॎɾԣํ޲ʹॊೈʹಈ͔ͤΔΑ͏ʹ͠ͳ͚Ε͹ͳΒͳ͔ͬͨɽͦ͜ͰϞʔλ 2 ͭΛ෇͚ΔͨΊʹߟ͑ΒΕͨઃ‫ܭ‬͸ɼϞʔλͷҰͭΛ಑ମύʔπͷटͷ͋ͨΓʹຒΊͯϞʔλͷ͕࣠಄෦ͱ઀ଓ͢ΔͨΊʹ্Λ޲͘Α͏ʹͨ͠ɽ͜ͷϞʔλͰटͷԣํ޲ͷৼΓ޲͖Λ࣮‫͠ݱ‬ͨɽ΋͏ҰͭͷϞʔλ͸಄෦ύʔπͷத͕ۭಎʹͳ͍ͬͯΔͷͰͦͷҐஔʹ‫ݻ‬ఆͰ͖ΔΑ͏ʹͨ͠ɽϞʔλࣗମΛ‫ݻ‬ఆ͢ΔͨΊͷઐ༻ͷέʔεΛ࡞ΓɼϞʔλͷ͕࣠ग़͍ͯΔํ޲ͱ͸ର৅ʹ൓ରଆͷಉ͡Ґஔʹɼέʔε͕಄෦ύʔπͷதͰҐஔΛ‫ݻ‬ఆͭͭ͠தۭঢ়ଶΛอͪɼϞʔλͷճస͚ͩΛ಄෦ύʔπͷΈʹ఻͑ΔΑ͏ʹ͢ΔͨΊͷ‫ͬͰؙ͍‬ͺΓΛ࡞Γɼ಄෦ύʔπͷͦͷ͕݀઀৮͢Δฏ໘ͷҐஔʹ͸ͦΕΑΓগ͚ͩ͠େ͖͍݀Λ༻ҙͯ͠ɼઐ༻έʔεͷͰͬͺΓ͕಄෦ύʔπͷ݀ʹ͸·ΔΑ͏ʹͨ͠ɽ͜ͷϞʔλͰटͷॎํ޲ͷಈ࡞Λ࣮‫ͨ͠ݱ‬ɽɹ࣍ʹͦΕͧΕͷӋͷมߋ఺ʹ͍ͭͯड़΂Δɽ಑ମʹຒ·ͬͨԣํ޲༻ͷϞʔλͷӋ͸ͦΕΛิ‫ڧ‬͢ΔͨΊͷɼϨʔβʔΧολʔͰ੒‫͞ܗ‬Εͨԁঢ়ͷΞΫϦϧ൘Λ࡞ΓɼӋͷ֦ுͱ͍͏‫Ͱܗ‬ɼӋͱΞΫϦϧ൘ΛΞΫϦαϯσʔΛ༻͍ͯ‫ݻ‬ఆͨ͠ɽͦͷ‫ݻ‬ఆͨ͠ΞΫϦϧ൘Λɼ಄෦ଆͷαʔϘϞʔλ͕ऩೲ͞Ε͍ͯΔέʔεͷఈ෦ʹಉ͡Α͏ʹ‫ݻ‬ఆͨ͠ɽ಄෦ଆͷαʔϘϞʔλͷӋʹؔͯ͠΋ಉ͡Α͏ʹ֦ுͷԁ൫ΞΫϦϧΛ઀ண͠ɼͦΕΛ಄෦ύʔπͷ಺ଆଆ໘ʹࡼͶ͡ 2 ͭΛ༻͍ͯ‫ݻ‬ఆΛͨ͠ɽ͜ΕʹΑΓɼલड़ͷͱ͓Γ൓ରଆͷͰͬͺΓͱ݀ʹؔͯ͠͸ҐஔΛ‫ݻ‬ఆ͍ͯ͠Δ͚ͩͱͳΓɼϞʔλͷಈ͖͕಄෦ύʔπ͚ͩʹ‫Ϳٴ‬Α͏ʹͳͬͨ (ਤ 4.1)ɽ

(˞จ੹ɿࢁຊါ‫)ޗ‬Group Report of 2020 SISP

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ਤ 4.1಄෦಺ͷ‫ߏػ‬4.2 γʔϜϨεͳର࿩‫ػ‬ೳ
4.2.1 Ի੠ೝࣝͱํ޲‫ݕ‬஌γʔϜϨεͳର࿩‫ػ‬ೳΛ࣮‫͢ݱ‬ΔͨΊʹɼԻ੠ͷೝࣝͱ࿩͔͚͍ͯ͠Δਓ෺͕Ͳͷํ޲ʹ‫ډ‬Δͷ͔Λ‫ݕ‬஌͢Δඞཁ͕͋Δɽඪ४తͳϚΠΫͱಈମηϯαΛ૊Έ߹ΘͤΔҊ΋͕͋ͬͨࠓճ͸ Seeedࣾͷ ReSpeaker Mic Array v2.0ʢਤ 4.2ʣΛ࠾༻ͨ͠ɽ͜ͷϚΠΫΞϨΠσόΠεʹ͸ RaspberryPi ʹԻ੠ΠϯλϑΣʔεΛ௥Ճ͠੠ೖྗॲཧΛ࣮‫͢ݱ‬ΔͨΊͷ‫ػ‬ೳ͕ଟ਺౥ࡌ͞Ε͓ͯΓɼൃ੠ํ޲Λ‫ݕ‬஌͢Δ Direction of Arrival ‫ػ‬ೳɼൃ࿩ऀͷํ޲͔ΒͷԻʹϑΥʔΧε͢Δ Beam Forming‫ػ‬ೳɼഎ‫ޙ‬ͷࡶԻΛແࢹ͢Δ Noise Suppression ‫ػ‬ೳɼ‫಺ڥ؀‬ͷ࢒‫ڹ‬Λ௿‫͢ݮ‬Δ de-reverberation‫ػ‬ೳɼԻ‫ڹ‬ΤίʔΛআ‫͢ڈ‬Δ Acoustic Echo Cancellation ‫ػ‬ೳͳͲ͕͋Δɽ

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ਤ 4.2

ReSpeaker Mic Array v2.0γʔϜϨεͳର࿩‫ػ‬ೳΛ࣮‫͢ݱ‬ΔͨΊʹ࠷దͳσόΠεͰ͋Γɼඪ४తͳϚΠΫͱಈମηϯαΛ૊Έ߹ΘͤΔख๏ΑΓγϯϓϧͰߴੑೳͳԻ੠ೝࣝ‫ػ‬ೳΛ࣮‫͖Ͱݱ‬ΔՄೳੑ͕ߴ͍ͱߟ͑ͨɽ

(˞จ੹ɿሣഅ෢࿠)4.2.2 ൚༻େ‫ޠ‬ኮ࿈ଓԻ੠ೝࣝΤϯδϯ Julius
Julius ͸ɼԻ੠ೝࣝγεςϜͷ։ൃɾ‫ڀݚ‬ͷͨΊͷΦʔϓϯιʔεͷߴੑೳͳԻ੠ೝࣝΤϯδϯͰ͋Δ [4][5]ɽ਺ສ‫ޠ‬ኮͷ࿈ଓԻ੠ೝࣝΛҰൠͷ PC ΍εϚʔτϑΥϯ্Ͱ΄΅࣮࣌ؒͰ࣮ߦͰ͖
Δܰྔ͞ͱίϯύΫτ͞Λ͍࣋ͬͯΔɽ͜ΕʹΑΓ୹࣌ؒͰͷԻ੠ॲཧ͕ՄೳʹͳΓɼάϧʔϓͷ໨ඪͱ͍ͯͨ͠γʔϜϨεͳձ࿩‫ػ‬ೳΛ࣮‫ͨ͠ݱ‬ɽ·ͨ Julius ͸୯‫ॻࣙޠ‬΍‫ޠݴ‬ϞσϧɾԻ‫ڹ‬ϞσϧͳͲͷԻ੠ೝࣝͷ֤ϞδϡʔϧΛ૊Έସ͑Δ͜ͱͰɼԻ੠ೝࣝͷਫ਼౓ΛߴΊΔ͜ͱ͕Ͱ͖Δɽ୯‫ʹॻࣙޠ‬൓Ԡ͢Δ࠷௿‫ݶ‬ͷ‫ޠ‬ͷΈΛొ࿥͓ͯ͘͜͠ͱͰࣙॻ୳ࡧͷ࣌ؒΛ୹ॖɼଞͷ‫ݴ‬༿΍ࡶԻʹ൓Ԡ͠ͳ͍Α͏ʹͨ͠ɽࡶԻͷଟ͍‫ڥ؀‬ԼͰ͸Ͳ͏ͯ͠΋Ի੠ೝࣝͷਫ਼౓͕མͪͯ͠·͏ɽ͜ͷରࡦͱͯ͠ Julius ͷ‫ػ‬ೳͷҰͭͰ͋ΔεϖΫτϧαϒτϥΫγϣϯΛར༻ͨ͠ɽ͋Β͔͡Ίࢦఆ࣌ؒ෼ͷԻ੠ͷͳ͍ࡶԻԻ੠ΛϚΠΫೖྗ͔Β࿥Ի͠ɼͦͷ୹࣌ؒεϖΫτϥϜͷฏ‫ۉ‬Λೝࣝͨ͠Ի੠͔Β‫͢ࢉݮ‬Δɽ͜ΕʹΑΓ͋Δఔ౓ͷࡶԻԼͰ΋໰୊ͳ͘ೝࣝͰ͖Δఔ౓ʹਫ਼౓Λվળͨ͠ɽ

(˞จ੹ɿሣഅ෢࿠)Group Report of 2020 SISP

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Group Number 8

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4.2.3 ιέοτ௨৴ͱγϦΞϧ௨৴Julius ΛϞδϡʔϧϞʔυͰ‫ى‬ಈ͢Δ͜ͱͰιέοτ௨৴Ͱ઀ଓͨ͠ϓϩάϥϜʹೝࣝͨ͠୯‫ޠ‬ͱ৴པ౓ͳͲͷ৘ใΛૹΔ͜ͱ͕Ͱ͖Δɽ͜ΕΒͷ৘ใΛ‫ʹݩ‬൓Ԡͱͯ͠ߦ͏ΞΫγϣϯΛબ୒͢Δɽը໘දࣔΛߦ͏ϓϩάϥϜʹ͸ιέοτ௨৴Ͱදࣔ͢Δ୯‫ޠ‬ͷ৘ใΛૹ৴͠ɼArduino ʹ͸γϦΞϧ௨৴Λ༻͍ͯߦ͏ΞΫγϣϯͷࢦࣔͱԻ੠Λ‫ݕ‬஌ͨ͠ํ޲ͷ৘ใΛૹ৴͢Δɽಠཱ֤ͨ͠ϓϩάϥϜΛͦΕͧΕͷ௨৴खஈͰ࿈‫͠ܞ‬શମͷϓϩάϥϜʢਤ 4.3ʣΛߏஙͨ͠ɽ

ਤ 4.3

ϓϩάϥϜߏ੒

(˞จ੹ɿሣഅ෢࿠)4.2.4 ը໘දࣔʹΑΔର࿩ิॿϩϘοτʹରͯ͠Ұํతʹ࿩͔͚͠Δ৔߹ɼͪ͜Βͷ‫ݴ‬༿͕ਖ਼֬ʹೝࣝ͞Ε͍ͯΔ͔ෆ໌ྎͰ
͋ͬͨɽͦ͜Ͱೝࣝͨ͠୯‫ޠ‬ΛσΟεϓϨΠʹදࣔ͢Δ͜ͱͰ࠷௿‫ݶ‬ͷ൓ԠΛอূͨ͠ɽදࣔ͢Δ
ϓϩάϥϜ͸ Processing Λ༻͍ͯ࡞੒ͨ͠ɽԻ੠ೝࣝϓϩάϥϜ͔ΒૹΒΕͨ৘ใΛ΋ͱʹ୯‫ޠ‬Λબ୒͠දࣔ͢Δɽ

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4.3 टɾ‫ޱ‬ɾ৲ඌͷಈ࡞
4.3.1 ಈ͖ʢ͙͠͞ʣͷ‫ݕ‬౼
4.1 અͰड़΂ͨ௨Γɼ਌͠ΈΛ࣋ͯΔϩϘοτΛ໨ඪͱͨ͠ɽ֎෦αʔόΛհͣ͞௨৴Λߦͬͨ͜ͱͰૉૣ͍൓Ԡ͕Ͱ͖ΔΑ͏ʹͳͬͨɽ͔͠͠ɼૣ͗͢Δटͷಈ͖͸ར༻ऀΛ‫͍·͔ͯͤ͠ڻ‬ෆշ‫͏·͕ͯͬ͠ͳͭʹײ‬ɽͦͷͨΊɼಈ͖Λ։࢝͢ΔλΠϛϯά͸มߋͤͣʹಈ͖ͷ։࢝఺͔Βऴ
ྃ఺·ͰͷεϐʔυΛௐ੔͠ෆշ‫ײ‬Λ‫͘͘͢ʹ͡ײ‬Δ͜ͱͱͨ͠ɽ

(˞จ੹ɿਢా‫ګ‬ฏ)

4.3.2 ϞʔλͷબఆϩϘοτͷ಄෦Λࢧ͑Δ෦෼͸಑ମଆʹ഑ஔͨ͠ट෦෼ͷϞʔλͱͳΔͨΊɼ͜͜ʹ͸಄෦ͷॏྔ͕શ͔͔ͯΔɽϩϘοτͷ಄෦ύʔπΛࢧ͑Δ͜ͱ͕Ͱ͖ΔϞʔλΛ‫ݕ‬౼ͨ͠ࡍʹɼͰ͖Δ͚ͩখ‫͋Ͱܕ‬Δ͜ͱͱɼϩϘοτͷύʔπΛࢧ͑ΒΕΔఔ౓ͷྗ͕ඞཁͰ͋ͬͨɽͦͷ݁ՌɼϞʔλ͕ࢧ͑ΒΕΔྗʢτϧΫʣͱϞʔλͷαΠζΛ‫ݕ‬౼ࣄ߲ͱͨ͠ɽࢼ࡞඼ͷॏྔͱɼ͜Εʹ଱͑͏Δτ
ϧΫΛߟ͑ͨ݁Ռɼ্Լࠨӈํ޲ʹಈ͔ͨ͢ΊͷϞʔλ͸ྗͷେ͖͍ϞʔλΛ༻͍ɼ৲ඌͷύʔπΛಈ͔͢Ϟʔλͱ‫ޱ‬ͷԼ͋͝Λಈ͔͢Ϟʔλ͸͋·ΓྗΛඞཁͱ͠ͳ͍ͨΊɼখ‫࠷ͳྔܰͰܕ‬௿‫ݶ‬ͷྗΛग़ͤΔϞʔλΛ࠾༻ͨ͠ɽ

(˞จ੹ɿਢా‫ګ‬ฏ)

4.3.3 ಈ࡞ͷ࣮૷ͱճ࿏ਤ
ಈ࡞ͷ࣮૷͸ Arduino Λ༻͍ͯߦͬͨɽ4.2.3 ߲Ͱड़΂ͨ௨ΓɼγϦΞϧ௨৴Λ༻͍ͯ Rasp-

berry Pi ͔Β Arduino ΁ಈ࡞ͷ໋ྩΛૹ৴͍ͯ͠ΔɽArduino Ͱ͸ड͚औͬͨ৴߸Λ΋ͱʹɼαʔϘϞʔλʹ PWMʢPulse Width Modulationʣ৴߸Λૹ৴֯͠౓ͷ੍‫ޚ‬Λߦͬͨɽճ࿏ਤ͸ਤ 4.4 ʹࣔ͢ɽ(˞จ੹ɿਢా‫ګ‬ฏ)Group Report of 2020 SISP

13Group Number 8

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ਤ 4.4Group Report of 2020 SISPϩϘοτͷ഑ઢਤ

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Practical application of the robot-type interaction

ୈ5ষ݁Ռ
5.1 ϓϩδΣΫτͷ੒ՌຊϓϩδΣΫτͷ‫׆‬ಈ‫ͼٴ‬੒Ռͱͯ͠ɼ·ͣॳΊʹɼલ‫ظ‬ͷ‫׆‬ಈͰ͸ɼళһϩϘοτΛ੍࡞͢Δ
ʹ͋ͨͬͯͷ໰୊఺΍໾ׂʹ͍ͭͯσΟεΧογϣϯΛߦ͍ɼʮಈ͖ʯʮ‫ػ‬ೳʯʮ֎‫ݟ‬ʯͷ 3 ͭͷ‫؍‬఺ʹண໨ͨ͠ɽͦͷதʹ͓͍ͯάϧʔϓ B Ͱ͸ʮ‫ػ‬ೳʯʹ஫໨͠ɼࡢ೥ͷϓϩδΣΫτʹ͓͍ͯେ͖ͳ՝୊ͱͳͬͨԻ੠ೝࣝ‫ػ‬ೳͷվળͷඞཁ͕͋Δͱߟ͑ͨɽಛʹɼձ࿩ʹΑΔίϛϡχέʔγϣϯʹ͓͍ͯར༻ऀʹ༩͑Δෛ୲͕େ͖͔ͬͨͨΊɼΑΓγʔϜϨεͳձ࿩Λ࣮‫͢ݱ‬Δ͜ͱΛ໨ࢦ͠
ͨɽ·ͨɼσβΠϯΛ‫ط‬ଘͷ΋ͷ͔ΒҰ৽͠ɼϩϘοτͷ͕࢟ਓʹҖѹ‫ײ‬΍ෆշ‫ײ‬Λ༩͑Δ͜ͱͳ
͘ɼ਌͠ΈΛ࣋ͯΔΑ͏ʹ͢Δ͜ͱ΋໨ࢦͨ͠ɽதؒൃදͷධՁ͔Βࢲͨͪͷํ޲ੑ͕໰୊͕ͳ͍
͜ͱ͕֬ೝͰ͖ͨɽͦͷධՁΛ‫͔ͯ͠׆‬ɼ‫ظޙ‬ͷϓϩδΣΫτ‫׆‬ಈΛߦͬͨɽ‫ظޙ‬ͷ‫׆‬ಈͰ͸ɼ֎‫ݟ‬ͷઃ‫ܭ‬ɼճ࿏ͷઃ‫ܭ‬ɼԻ੠ೝࣝ‫ػ‬ೳͷ։ൃͷ 3 ͭʹ෼͔Εɼ‫ݸ‬ਓͰͷϩϘοτ։ൃΛਐΊͨɽ࣍ʹɼ֎‫ݟ‬ͷઃ‫Ͱܭ‬͸ɼFusion360 Λ༻͍ͯɼ෦Ґ͝ͱʹઃ‫ͨ͠ܭ‬ɽઃ‫ͨ͠ܭ‬σʔλΛ 3D ϓϦϯλΛ༻͍ͯग़ྗ͠ɼ૊Έ߹ΘͤΔ͜ͱͰϩϘοτͷ֎‫ݟ‬Λ࡞੒ͨ͠ɽճ࿏ͷઃ‫Ͱܭ‬͸ɼArduino Λ༻͍ͯɼϩϘοτͷಈ࡞Λ੍‫͢ޚ‬ΔϓϩάϥϜͷ։ൃΛߦͬͨɽԻ੠ೝࣝ‫ػ‬ೳͱϚΠΫͳͲͷ֎෦͔Βͷೖྗͱ࿈ಈͤ͞ΔͨΊʹγϦΞϧ௨৴ʹΑΔ Arduino ͱ‫ޙ‬ड़ͷԻ੠ೝࣝΛߦ͏ RaspberryPi ͱͷ࿈ಈ΋ߦͬͨɽͦͯ͠ɼԻ੠ೝࣝ‫ػ‬ೳͷઃ‫Ͱܭ‬͸ɼRaspberry Pi ͷԻ੠ೝࣝϥΠϒϥϦɼJulius Λ༻͍ɼΠϯλʔωοτΛհ͞ͳ͍಺෦ॲཧͰͷ։ൃΛߦͬͨɽ࠷‫ʹޙ‬ɼͦΕͧΕ͕୲౰ͨ͠ϓϩάϥϜ΍ϩϘοτͷ֎ଆɼϞʔλͳͲΛ૊Έ߹Θͤͯɼ1 ͭͷϩϘοτ (ਤ 5.1) Λ‫׬‬੒ͤͨ͞ɽGroup Report of 2020 SISP

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ਤ 5.1‫׬‬੒ͨ͠ϩϘοτ(˞จ੹: Ԟଜً)5.2 ϓϩδΣΫτʹ͓͚Δ֤‫ݸ‬ਓͷ‫׆‬ಈৄࡉ
5.2.1 Ԟଜً5݄·ͣɼϓϩδΣΫτ‫׆‬ಈΛߦ͏্Ͱͷඞཁͳ஌ࣝͷशಘΛߦͬͨɽϩϘοτʹؔ͢Δࢀߟॻ
΍ϓϩδΣΫτ‫׆‬ಈͷਐΊํͷֶशɼࡢ೥౓ͷϓϩδΣΫτֶशͷ಺༰ͷ೺ѲΛߦͬͨɽ·ͨɼͲͷΑ͏ͳϩϘοτΛ࡞Γ͍͔ͨɼάϧʔϓ͝ͱͰҊΛग़͠ɼ࿩͠߹ͬͨɽ

6݄Ҿ͖ଓ͖ϩϘοτͷσβΠϯɼ‫ػ‬ೳɼίϯηϓτͳͲΛܾΊͨɽ࣍ʹɼFusion360 ϚελʔΨΠυΛࢀߟʹ Fusion360 Ͱͷઃ‫ܭ‬ͷֶशΛߦͬͨɽशಘٕͨ͠ज़Λ࢖͍ɼϩϘοτͷϓ
ϩτλΠϓͷ࡞੒ΛਐΊͨɽ

7݄ϩϘοτͷϓϩτλΠϓͷ಄෦෼ͷ࡞੒Λߦͬͨɽ·ͨɼதؒൃදͰ࢖༻͢ΔධՁγʔτ΍εϥΠυͷ࡞੒ΛߦͬͨɽதؒൃදͰ͸ɼ‫ޙ‬൒ͰͷൃදΛ୲౰ͨ͠ɽ

9݄தؒใࠂॻͷ࡞੒Λߦͬͨɽ࡞੒Λ͢Δ্Ͱඞཁͳ LaTeX ͷ࢖͍ํΛֶशͨ͠ɽ·ͨɼઃ‫ͨ͠ܭ‬σβΠϯͷ‫ݟ‬௚͠Λߦͬͨɽ

10 ݄ ઃ‫ͨ͠ܭ‬ύʔπΛҰ౓ग़ྗ͠ɼ‫ߏػ‬൝ͱ࿩͠߹͍ɼ۩ମతͳαʔϘϞʔλΛ࢖ͬͨ಺෦ઃ
‫ܭ‬Λߟ͑ͨɽ‫׬‬੒ͨ͠಺෦ઃ‫ܭ‬ҊΛ‫ʹج‬ϩϘοτͷ಺෦ͷεϖʔεΛ࡞ͬͨɽ

11 ݄ 3D ϓϦϯλΛ࢖͍ɼ‫׬‬੒ͨ͠σʔλΛग़ྗͨ͠ɽ‫ߏػ‬൝ͱ࿈‫ܞ‬ΛऔΓͳ͕Βɼ͔ͬ͠Γͱ
ಈ࡞͢ΔΑ͏ʹࡉ͔͍मਖ਼Λߦͬͨɽ·ͨɼվળ͢΂͖ϙΠϯτ΋‫͚ͭݟ‬ɼ࠶౓ 3D ϓϦϯλͰग़ྗͨ͠ɽ৲ඌΛಈ͔͢ύʔπ͸ɼΞΫϦϧ൘ΛϨʔβʔΧολʔͰՃ޻ͨ͠ɽ

12 ݄ Raspberry Pi ΍ Arduino ΛೖΕͯϩϘοτͷ౔୆ͱͳΔശͷઃ‫ܭ‬Λߦͬͨɽͦͯ͠ɼઃ‫ܭ‬Group Report of 2020 SISP

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Practical application of the robot-type interaction
ͨ͠σʔλΛ࢖͍ɼMDF ΛϨʔβʔΧολʔͰՃ޻͠ɼശΛ‫׬‬੒ͤͨ͞ɽͦͯ͠ɼϩϘοτ͕‫׬‬੒ͨ͠ɽ੒ՌൃදͰ࢖༻͢ΔࢿྉΛ࡞੒͠ɼ੒ՌൃදΛߦͬͨɽ·ͨɼάϧʔϓใࠂॻͷ࡞੒Λߦͬͨɽ

(˞จ੹: Ԟଜً)5.2.2 ሣഅ෢࿠5݄
6݄ϓϩδΣΫτֶश࢝ಈɽάϧʔϓ B Ͱ੍࡞͢ΔϩϘοτͷํ޲ੑΛܾఆͨ͠ɽ
ϩϘοτͷσβΠϯɼ‫ػ‬ೳҊͷܾఆɽԻ੠ೝࣝΛ୲౰͢Δ͜ͱͱͳͬͨͷͰ࣮૷ํ๏ͷௐࠪΛߦͬͨɽ

7 ݄ தؒൃද΁޲͚ͯ४උɽԻ੠ೝࣝ‫ػ‬ೳͷ࣮૷‫ܭ‬ըΛ໌֬ʹ͢Δɽ
9 ݄ Ի੠ೝࣝςετ‫ڥ؀‬ͷߏஙɽ୯‫ॻࣙޠ‬Λ༻͍ͨೝࣝਫ਼౓޲্ΛਤΔɽ
10 ݄ Ի੠ೝࣝͱ࿈ಈ͢ΔϓϩάϥϜΛ࡞੒ɽRaspberry Pi - Arduino ؒͷ௨৴ʹγϦΞϧ௨৴Λ༻͍ͨɽ

11 ݄ Ի੠ೝࣝͷ໰୊఺ΛվળɽಛʹࡶԻ‫ڥ؀‬ԼͰͷೝࣝਫ਼౓վળΛਤΔɽ
12 ݄ ࠷ऴൃද΁޲͚ͯௐ੔ɽRaspberry Pi ͷ SD Χʔυ͕ഁଛ͠શ‫ڥ؀‬ͷ࠶ߏஙΛ༨ّͳ͘͞
ΕΔɽ

(˞จ੹: ሣഅ෢࿠)5.2.3 ਢా‫ګ‬ฏ5݄ϩϘοτͷ‫ߏػ‬౳ͷ‫ૅج‬஌ࣝʹ͍ͭͯࢀߟॻΛಡΈɼֶशΛߦͬͨɽ‫ط‬ଘͷϩϘοτ‫ࡢͼٴ‬೥౓ͷϓϩδΣΫτͰ࡞੒͞ΕͨϩϘοτͷ‫ػ‬ೳΛௐࠪ͠ɼͲͷΑ͏ͳ‫ܗ‬ͷϩϘοτʹ͢Δ͔ҊΛग़ͨ͠ɽ

6݄લ݄ʹҾ͖ଓ͖ҊΛग़͠߹ͬͨɽ·ͨɼΞΠσΞΛ‫͖Ͱʹܗ‬ΔΑ͏ʹάϧʔϓ಺Ͱ 3DCAD
ιϑτͷ࢖͍ํΛֶशͨ͠ɽ͞Βʹɼத०ʹ࣮ࢪ͞ΕͨΞδϟΠϧ։ൃϓϩηεମ‫ݧ‬ϫʔΫγϣοϓʹࢀՃ͠ɼ։ൃख๏ΛֶΜͩɽ

7݄தؒൃදձʹ޲͚ͨࢿྉΛ࡞੒͢ΔதͰɼϓϩδΣΫτશମͷํ਑Λܾఆͨ͠ɽ༷ʑͳηϯαྨΛߪೖ͠ɼ͓٬͞Μ͕͍ۙͮͯ͘Δͷ͔཭Ε͍ͯ͘ͷ͔Λೝࣝ͢Δ͜ͱ΍ɼͲͷํ޲͔Β࿩͔͚͠ΒΕ͍ͯΔ͔ΛೝࣝͰ͖ΔΑ͏ͳηϯαྨͷબఆΛߦͬͨɽ9݄લ݄ʹҾ͖ଓ͖ηϯαΛ༻͍ͯࢼߦࡨ‫ޡ‬Λ‫܁‬Γฦͨ͠ɽதؒใࠂॻΛ࡞੒͢ΔͨΊʹ

LaTeX ͷ࢖͍ํΛֶशͨ͠ɽ
10 ݄ σβΠϯ୲౰ऀͱ࿈‫ܞ‬ΛऔΓͳ͕ΒϩϘοτΛಈ͔͢αʔϘϞʔλͷબఆ‫ͼٴ‬औ෇ҐஔΛܾఆ͠ɼࢼ࡞඼Λ࡞੒ͨ͠ɽϓϩάϥϜ໘Ͱ͸ Arduino ͷϓϩάϥϜΛ࡞੒͠ɼಈ࡞ςετΛߦͬͨɽ‫ݕ‬౼ΛॏͶͨ݁ՌɼRaspberry Pi ͱ Arduino ͷ௨৴ํ๏͸γϦΞϧ௨৴Λ༻͍Δ͜ͱͱͨ͠ɽ

11 ݄ લ݄ʹҾ͖ଓ͖ಈ࡞ςετΛߦ͍ɼαʔϘϞʔλͷৼಈͷ‫ݪ‬ҼΛಛఆͨ͠ɽͦͷ΄͔ʹࡉ͔͍ඍௐ੔ΛՃ͑ɼ֎‫Ͱݟ‬ॏཁͱͳΔ౔୆ͷ࡞੒Λߦ͍ϩϘοτΛ‫׬‬੒ͤͨ͞ɽ

12 ݄ ࠷ऴൃදʹ޲͚ͨࢿྉΛ࡞੒͠ɼൃදʹ͍ͭͯͷϑΟʔυόοΫΛड͚ͨɽ·ͨɼάϧʔ

Group Report of 2020 SISP

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Practical application of the robot-type interactionϓใࠂॻͷࣥචΛߦͬͨɽ(˞จ੹: ਢా‫ګ‬ฏ)

5.2.4 ࢁຊါ‫ޗ‬
5݄ϓϩδΣΫτϝϯόʔͱ‫߹إ‬ΘͤΛߦͬͨɽ·ͨ‫ڭ‬त͔Β௖͍ͨຊͳͲͷࢿྉΛ‫ʹݩ‬3DCAD ͷٕज़शಘΛߦͬͨɽσϞͱͯ͠ϚάΧοϓͳͲͷ࡞੒Λ͠‫ج‬ຊతͳ CAD ͷૢ࡞ʹ‫׳‬ΕͨɽϓϩδΣΫτશମͰͲ͏‫׆‬ಈ͢Δ͔ͷҊΛग़͠ɼάϧʔϓΛ 3 ͭʹ෼͚Δ͜ͱΛ
ܾఆͨ͠ɽ

6݄

5 ݄ʹଓ͍ͯࣗ਎ͷॴଐ͢ΔάϧʔϓͰͲͷΑ͏ͳϩϘοτΛ࡞੒͢Δ͔Λ࿩͠߹ͬͨɽάϧʔϓ಺Ͱઃ‫ܭ‬൝ʹ഑ଐ͞ΕͨɽFusion360 Λ༻͍ͯୈ 1 ஈ֊໨ͷϩϘοτͷ࡞੒ʹணखͨ͠ɽ7݄தؒൃදʹҙࣝͭͭ͠ධՁऀʹਐ௙͕Θ͔ΔΑ͏ʹҾ͖ଓ͖ઃ‫ܭ‬Λଓ͚ͨɽ಑ମҎԼͷεΧϧϓτʹΑΔઃ‫ͨྃ͠׬͕ܭ‬ɽ

9݄தؒใࠂॻͷ࡞੒Λߦͬͨɽઃ‫ܭ‬ҊΛ‫ݟ‬௚͠ɼΑΓར༻ऀʹѪ͞ΕΔՄѪ͍ϩϘοτʹ͍ͭͯ໛ࡧ͠ɼελΠϩϑΥʔϜͳͲΛ༻͍ͯ࠷ऴతͳ‫׬‬੒൛ͷ‫ܕݪ‬Λ࡞੒ɽͦΕΛ΋ͱʹ΋͏Ұ౓ઃ‫ܭ‬Λ΍Γ௚ͨ͠ɽ

10 ݄ 9 ݄ʹҾ͖ଓ͖ઃ‫ܭ‬Λߦ͍ɼେ൒ͷύʔπͷ֎໘ͷ࡞੒ʹ‫ͨྃ͠׬‬ɽύʔπ͸ͦΕͧΕग़ྗͰ͖ΔΑ͏ʹ෼ׂͨ͠ɽ

11 ݄ 3D ϓϦϯλΛ༻͍ͯઃ‫ͨ͠ܭ‬ϞσϧΛग़ྗͨ͠ɽ‫ߏػ‬൝ͱ࿩͠߹͍Λͭͭ͠ɼϩϘοτΛಈ࡞ͤ͞ΔͨΊʹඞཁͳ಺෦ͷεϖʔεͳͲΛ೺Ѳͨ͠ɽ

12 ݄ εϖʔεͳͲΛ֬อͭͭܰ͠ྔԽΛߦͬͨύʔπΛग़ྗͨ͠ɽग़ྗͨ͠ύʔπ͕໰୊ͳ͘
ಈ࡞͢ΔΑ͏ʹՃ޻΍ௐ੔Λߦͬͨɽ(˞จ੹: ࢁຊါ‫)ޗ‬Group Report of 2020 SISP

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ୈ6ষ

·ͱΊ
6.1 ‫׆‬ಈͷৼΓฦΓ
6.1.1 ຊϓϩδΣΫτͷ໨తຊϓϩδΣΫτͰ͸ɼਓʹ୅Θͬͯେֶ΍ళฮͷҊ಺΍঺հΛߦ͏ϩϘοτΛɼϓϩδΣΫτಠࣗʹ։ൃ͢Δ͜ͱͰਓؒͷෛ୲Λ‫ݮ‬Β͢͜ͱΛ໨ࢦ͠ɼߦΘΕͨɽ(˞จ੹: Ԟଜً)6.1.2 ຊάϧʔϓͷ໨తάϧʔϓ B ͸γϯϓϧͳ࢓૊ΈͰ͋Γͳ͕ΒޮՌతͳϩϘοτΠϯλϑΣʔεʹ͍ͭͯ໛ࡧ͠ɼ
Ի੠ೝࣝΛॏࢹͨ͠ιϑτ໘ͱɼར༻ऀʹ਌͠ΈΛ࣋ͬͯ΋Β͑ΔՄѪ͛ͷ͋Δ‫ܕݘ‬Λ໨ࢦ͢ϋʔυ໘Λ߹ΘͤΔ͜ͱͰ৽͍͠ళһϩϘοτͷઃ‫ܭ‬Λ໨ࢦ͠‫׆‬ಈͨ͠ɽ(˞จ੹: Ԟଜً)6.1.3 ຊάϧʔϓͷ‫׆‬ಈάϧʔϓ B ͸ɼιϑτͱϋʔυͷ྆໘ʹͦΕͧΕϑΥʔΧεΛ߹ΘͤΒΕΔΑ͏ɼٕज़൝Λࡉ͔ʹ෼͚ɼઃ‫ܭ‬൝ɼԻ੠ೝࣝ൝ɼ‫ߏػ‬൝ͱ͢Δ͜ͱͰ࡞‫ۀ‬ͷޮ཰ԽΛਤͬͨɽ൝͝ͱͰ 3DCAD Λ༻͍ͨઃ‫ܭ‬ɼRaspberry Pi Λ༻͍ͨԻ੠ೝࣝɼArduino Λ༻͍ͨ‫ߏػ‬ͷͦΕͧΕʹରͯ͠։ൃΛਐΊ͍ͯͬͨɽ

(˞จ੹: Ԟଜً)Group Report of 2020 SISP

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6.1.4 ຊάϧʔϓͷ੒Ռάϧʔϓ B Ͱ͸ɼ্‫ه‬ͷ‫׆‬ಈͷ݁Ռͱͯ͠ར༻ऀʹ਌͠ΈΛ͍͚࣋ͬͯͨͩΔԻ੠ೝࣝʹΑΔίϛϡχέʔγϣϯʹಛԽͨ͠ಠࣗͷϩϘοτͷ࡞੒ʹ੒ޭͨ͠ɽ

(˞จ੹: Ԟଜً)6.2 ࠓ‫ޙ‬ͷల๬
6.2.1 σβΠϯ໘Ͱͷల๬֎૷໘ʹؔͯ͠͸଱‫ྗٱ‬ΛଛͶΔ͜ͱͳ͘σϑΥϧϝ͞Ε͔ͨΘ͍Β͍͠ϩϘοτ͕࣮૷Ͱ͖
ͨɽ͜ΕʹΑΓར༻ऀʹҖѹ‫ײ‬΍‫ڪ‬ා‫ײ‬Λ༩͑ͳ͍ͱ͍͏άϧʔϓͷ໨ඪ͸ୡ੒Ͱ͖ͨɽ಺෦ͷ‫ػ‬ߏ༻ʹ࡞੒ͨ͠Ϟʔλʔέʔε΋༧૝Ҏ্ʹ‫׈‬Β͔ʹಈ͖ɼࣗવͳटͷৼΓ޲͖΍‫Ͳͳޱ‬ͷՔಇ෦Ґͷಈ࡞ʹߩ‫͍ͨͯ͠ݙ‬ɽ͔͠͠ɼσβΠϯ໘Ͱ͸ࠓ‫ޙ‬ͷ՝୊ͱͯ͠େ͖͘ 2 ͭվળ͢΂͖఺͕‫ݟ‬ΒΕͨɽ·ͣ 1 ͭ͸ύʔπࣗମͷܰྔԽͰ͋Δɽ଱‫ٱ‬ੑʹ͸໰୊͕ͳ͍ͱ͍͏͜ͱ͸࣮ࡍͷಈ࡞Λ௨ͯ͡໌֬ʹͳ͕ͬͨɼ·ͩܰྔԽͰ͖Δ෦෼͕ଟ͘ɼࠓͷ··Ͱ͸αʔϘϞʔλͷग़ྗ͕ύʔπͷॏ͞ΛԼճΓɼϋϯνϯάͳͲͷෆ۩߹Λ‫͍ͨͯͬ·ͯ͜͠͠ى‬ɽύʔπͷग़ྗΛߦ͏ࡍʹΠϯϑΟϧ (֎นΑΓ಺ଆͷิ‫ڧ‬෦) Λ‫ݮ‬Β͢͜ͱ΍ɼ֎นࣗମͷϨΠϠʔ਺Λ‫ݮ‬Β͢͜ͱͰܰྔԽ͕
ߦ͑Δͱ༧૝͢Δɽ·ͨɼ2 ͭ໨ͷ՝୊఺͸ɼ4.1.6 ߲Ͱड़΂ͨ‫ߏػ‬Λߟྀͨ͠෦඼ͷ࡞੒ʹ͍ͭ
ͯͰ͋Δɽࠓճ͸͢΂ͯͷύʔπΛ໰୊ͳ͘ಈ࡞ͤ͞Δ͜ͱ͕Ͱ͖͕ͨɼࠓ‫ޙ‬ՄಈͰ͖ΔύʔπΛ૿΍͍ͯ͘͠ࡍɼ಺෦ͷεϖʔε͕଍Γͳ͍ͱ͍͏໰୊͕ු্͢Δ͜ͱ͕༧૝Ͱ͖ΔɽҰͭҰͭͷύʔπʹׂ͔ͳ͚Ε͹ͳΒͳ͍εϖʔε͕ͱͯ΋େ͖͔ͬͨͨΊɼίϯύΫτʹ͢Δ͜ͱ͕ॏཁͱ
ͳΔɽ·ͨɼࠣࡉͳࣄͰ͸͋Δ͕ɼύʔπͷ֎໘ͷϑΟϨοτΛे෼ʹʹऔΕ͍ͯͳ͔ͬͨͨΊɼ৮Εͨࡍʹ௧ΈΛ‫͡ײ‬ΔՄೳੑ͕͋ΔͷͰɼࠓ‫ޙ‬ͷύʔπͰ͸ϑΟϨοτ΍໘औΓΛ‫͍ߦ͘ڧ‬ɼͦ͏͍ͬͨ‫ڪ‬ΕΛ෷১͢Δඞཁ͕͋Δɽ

(˞จ੹: ࢁຊါ‫)ޗ‬

6.2.2 Ի੠ೝࣝ໘Ͱͷల๬Ի੠ೝࣝΤϯδϯͰ͋Δ Julius Λ༻͍ͨγεςϜͰ͸ɼଟগͷࡶԻ͕‫·ؚ‬Ε͍ͯͯ΋໰୊ͳ͘Ի੠Λೝࣝ͢Δ͜ͱ͕Ͱ͖ͨɽ͔͠͠ɼ‫ݱ‬ஈ֊Ͱ͸ೝࣝͰ͖Δ‫͕਺ޠ‬গͳ͘ɼܾΊΒΕͨ‫ݴ‬༿ʹ͔͠൓Ԡ͢Δ͜ͱ͕Ͱ͖ͳ͍ɽࠓ‫ޙ‬͸ೝࣝͰ͖Δ‫਺ޠ‬Λ૿΍͍͕ͯ͘͠ɼೝࣝͰ͖Δਫ਼౓ΛԼ͛ͳ͍ͨΊʹϚΠΫͷҐஔͳͲΛௐ੔͢Δඞཁ͕͋Δɽ

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6.2.3 ಈ࡞໘Ͱͷల๬‫ػ‬ೳ໘ʹؔͯ͠͸ɼར༻ऀͷൃ࿩͔Βͷ஗Ԇ͕গͳ͘ͳΔΑ͏ʹಈ࡞Λߦ͏͜ͱ͕Ͱ͖ͨɽ͔͠
͠ɼσΟεϓϨΠʹൃ࿩಺༰Λද͔ࣔͯ͠Βಈ࡞Λߦ͏·Ͱʹ͸ଟগͷ஗Ԇ͕·ͩ࢒͍ͬͯΔɽ͜
Ε͸ 6.2.1 ߲Ͱड़΂ͨαʔϘϞʔλͷϋϯνϯάΛ๷ࢭ͢ΔͨΊʹϓϩάϥϜ಺Ͱগ͠ͷؒॲཧΛ
ఀࢭ͢Δ಺༰Λ‫ڬ‬ΜͰ͍Δ͜ͱ͕‫ݪ‬ҼͰ͋Δɽࠓ‫ޙ‬͸σβΠϯ໘ͱͷ࿈‫ܞ‬Λߦ͍ɼߏ଄ͷ࠶‫ݕ‬౼Λߦ͏ͱͱ΋ʹϓϩάϥϜ಺ͰͷΑΓྑ͍վળࡦΛ‫ݕ‬౼͢Δɽ

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Practical application of the robot-type interactionࢀߟจ‫ݙ‬[1] PaPeRo iʢύϖϩɹΞΠʣɿιϦϡʔγϣϯɾαʔϏεʛ NEC ϓϥοτϑΥʔϜζʢ࠷ऴӾ
ཡ೔ɿ2020 ೥ 1 ݄ 6 ೔ʣhttps://www.necplatforms.co.jp/solution/papero i/[2] ϢχΠϯϑΥʔϝʔγϣϯʛϢχΠϯϑΥʔϝʔγϣϯ‫ࣜג‬ձࣾʢ࠷ऴӾཡ೔ɿ2020 ೥ 1 ݄
6 ೔ʣhttps://www.uni-info.co.jp/news/2017/0928 2.html[3] Ճೲ ੓๕, ਗ਼ਫ ଠ࿠ɿͳʹ΋Ͱ͖ͳ͍ϩϘοτ Babyloid ͷ։ൃɼ೔ຊϩϘοτֶձࢽ 29 ‫ר‬
3 ߸ɼpp.298-305ɼ2011ɽ[4] Տ‫ݪ‬ୡ໵, ཥߊ৳.ʮ࿈ଓԻ੠ೝࣝιϑτ΢ΤΞ Juliusʯਓ޻஌ೳֶձࢽ, Vol.20, No.1, pp.41–
49, 2005.
[5] ཥ ߊ৳, Տ‫ ݪ‬ୡ໵,”Julius Λ༻͍ͨԻ੠ೝࣝΠϯλϑΣʔεͷ࡞੒”, ώϡʔϚϯΠϯλ
ϑΣʔεֶձࢽ, Vol. 11, No.1, pp.31–38, 2009.

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෇࿥ A ɹ৽‫ن‬शಘٕज़• Adobe Illustrator• 3D ϓϦϯλ• ϨʔβʔΧολʔ• Fusion360• εΧϧϓτΛ༻͍ͨઃ‫ܭ‬• linux ͷ‫ૅج‬஌ࣝ• Ի੠ೝࣝ‫ػ‬ೳ࣮૷ٕज़
• python ϓϩάϥϛϯά
• γϦΞϧ௨৴Group Report of 2020 SISP

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෇࿥ B ɹ‫ߨͨ͠༻׆‬ٛ• ৘ใॲཧԋश II– Arduino ʹΑΔηϯαૢ࡞ʹ͍ͭͯ‫ͨ͠༻׆‬ɹ• ηϯα޻ֶ– ֤छηϯαʹؔ͢Δ‫ૅج‬஌ࣝΛ‫͠༻׆‬։ൃΛߦͬͨɹɹ• ϩϘοτͷՊֶٕज़– ϩϘοτͷ‫ؔ͢ʹߏػ‬Δ஌ࣝΛಈ࡞ͷઃ‫ܭ‬౳ʹ‫ͨ͠༻׆‬ɹɹ• ৘ใද‫ݱ‬ೖ໳ɾ৘ใද‫ ૅجݱ‬1– Processing Λ༻͍ͨը໘දࣔͷ࡞੒ʹ‫༻׆‬ɹɹ• ϓϩάϥϛϯά‫ૅج‬– Java ͓Αͼ Python ͷϓϩάϥϛϯάٕज़Λ‫༻׆‬ɹ

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෇࿥ C ɹ૬‫ޓ‬ධՁԞଜࢁຊ ϩϘοτͷઃ‫ͯͱͰܭ‬΋‫ྗڠ‬తͰ͍ΖΜͳΞΠσΞ΍ٙ໰ΛఏҊͯ͘͠Ε͓͔ͨ͛Ͱͱͯ
΋࡞‫ۀ‬ͷޮ཰͕ྑ͔ͬͨͰ͢ɽ·ͨ಄෦ͷઃ‫ܭ‬΋೚ͤΔ͜ͱ͕ग़དྷͨͷͰͱͯ΋ॿ͔Γ·ͨ͠ɽሣഅ ओʹϩϘοτͷઃ‫ܭ‬Λ୲౰ͯ͠΋Β͍·ͨ͠ɽಈ࡞෦෼ͷ‫ߏػ‬ΛൃҊͯ͘͠Εͯɼ‫܁‬Γฦ͠ग़ྗͱඍௐ੔Λߦ͍ɼ‫׈‬Β͔ʹಈؔ͘અΛ࣮‫ͯ͘͠ݱ‬Ε·ͨ͠ɽਢా ൴͸άϧʔϓ B ͷσβΠϯ໘ͷ୲౰Ͱ͋ΓɼϩϘοτͷઃ‫ܭ‬Λߦ͍ͬͯ·ͨ͠ɽάϧʔϓ಺Ͱͷ‫׆‬ಈͰ͸࿩͠߹͍ͷཁ఺Λ·ͱΊͯ͘ΕͨΓɼٙ໰఺Λ౤͔͚͛ͯ͘Εͨ͜ͱͰ‫׆‬ಈΛ͏·͘ਐΊͯ͘Ε·ͨ͠ɽ·ͨɼ3D ϓϦϯλͷग़ྗʹෆඋ͕͋ͬͨࡍʹ΋େֶʹొߍ͠ରԠͯ͘͠Ε͓ͯΓɼϩϘοτͷ‫׬‬੒ʹେ͖͘ߩ‫ͨ͠·͍ͯ͠ݙ‬ɽࢁຊԞଜ ϩϘοτͷઃ‫ܭ‬Λ୲౰ͯ͘͠Ε·ͨ͠ɽॳΊͯ࢖͏ Fusion360 ͱ͍͏ιϑτͰ๻্͕ख͘
࢖͍͜ͳͤͳ͔ͬͨͷͰ͕͢ɼ൴͕ઌਞΛ੾ͬͯઃ‫ܭ‬ΛਐΊͯ͘Ε·ͨ͠ɽ൴͕͍ͳ͚Ε͹ɼࠓճͷΑ͏ͳϩϘοτΛ࡞Δ͜ͱ͕Ͱ͖·ͤΜͰͨ͠ɽಉ͡ઃ‫ܭ‬ͷ୲౰Λͯ͘͠Εͯɼͱͯ΋‫͢·͍ͯ͠ँײ‬ɽሣഅओʹϩϘοτͷઃ‫ܭ‬Λ୲౰ͯ͠΋Β͍·ͨ͠ɽ3D ϓϦϯλʹ͍ͭͯ଄‫͘ਂ͕ܮ‬ɼඍௐ੔ͱ
ग़ྗΛ‫܁‬Γฦ͢͜ͷϓϩδΣΫτʹ͓͍ͯඇৗʹཔΓʹͳΓ·ͨ͠ɽਢా൴͸άϧʔϓ B ͷσβΠϯ໘ͷ୲౰Ͱ͋ΓɼFusion360 Λ༻͍ͨσʔλͷ࡞੒΍ग़ྗΛߦͬ
͍ͯ·ͨ͠ɽϓϩδΣΫτΛ։͔࢝࣌Β 3D ϓϦϯλΛ࢖ͬͨग़ྗํ๏ʹ͍ͭͯͷ஌͕ࣝ਎ʹ͍͓ͭͯΓɼࡉ͔͍ඍௐ੔ͷमਖ਼΋ૉૣ͘σʔλʹ൓өͯ͘͠Εͯɼෆඋ͕͋ͬͨࡍʹ΋͙͢ʹग़ྗͯ͠मਖ਼ରԠΛߦ͏͜ͱ͕Ͱ͖·ͨ͠ɽሣഅԞଜ Raspberry Pi ͰͷԻ੠ೝࣝͷ։ൃΛ୲౰ͯ͘͠Ε·ͨ͠ɽάϧʔϓͷதͰҰ൪ϩϘοτͷ
ϓϩάϥϜؔ܎ʹৄ͔ͬͨ͠ͷͰɼͱͯ΋པΓʹͳΓ·ͨ͠ɽ·ͨɼଞͷϝϯόʔ͕‫͍ͮؾ‬͍ͯͳ͍ϙΠϯτΛࢦఠ͢ΔͳͲɼ൴ͷ͓͔͛Ͱྑ͍ϓϩδΣΫτ‫׆‬ಈʹͳΓ·ͨ͠ɽࢁຊάϧʔϓ B ͰԻ੠ೝࣝΛ୲౰ͯ͠΋Β͍·ͨ͠ɽࣗ෼ʹ͸Ͱ͖ͳ͍͜ͱΛ୶ʑͱߦ͓ͬͯ
Γͱͯ΋པ΋͔ͬͨ͠Ͱ͢ɽൃදձͷ͋ͨΓͰ͸༧‫͵ͤظ‬τϥϒϧ΋͋Γ·͕ͨ͠൴ͷਚྗ

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Practical application of the robot-type interactionͷ͓͔͛Ͱཱͯ௚͢͜ͱ͕ग़དྷͱͯ΋‫͢·͍ͯ͠ँײ‬ɽਢా൴͸άϧʔϓ B ͷ͏ͪ Raspberry Pi Λ༻͍ͨԻ੠ೝࣝͷ։ൃΛϝΠϯʹ୲౰͍ͯ͠·ͨ͠ɽσβΠϯ໘Ͱ͸‫ݘ‬ͷσβΠϯͷൃҊΛͯ͘͠Ε·ͨ͠ɽ‫ػ‬ೳ໘Ͱ͸ࢲͷ୲౰͍ͯͨ͠

Arduino ෦෼ͱͷ࿈‫ʹࡍ͍ͨͯ͠ޡࡨߦࢼ͍ͯͭʹܞ‬ΞυόΠεΛ͍͖ͯͨͩ͠ Arduino
ͱ Raspberry Pi ͱͷ௨৴Λ͏·͘ಈ࡞ͤ͞Δ͜ͱ͕Ͱ͖·ͨ͠ɽਢాԞଜ Arduino Ͱͷճ࿏ͷઃ‫ܭ‬Λ୲౰ͯ͘͠Ε·ͨ͠ɽ΍ͬͨ͜ͱ͕ͳ͍ઃ‫ܭ‬΋ҰਓͰ΍͍ͬͯͯɼͱͯ΋৺‫͢Ͱ͔ͨͬڧ‬ɽ‫ݶظ‬ͷ࿈བྷͳͲͷϦϚΠϯυ΋ͯ͘͠ΕͨͷͰɼຊ౰ʹॿ͔Γ·ͨ͠ɽࢁຊ Arduino ͷઃ‫͍ߦܭ‬ɼϩϘοτͷ໨‫ۄ‬ͷҰͭͱͳΔ‫ߏػ‬Λ࡞੒͍͖ͯͨͩ͠·ͨ͠ɽઃ‫ܭ‬ͱ‫ߏػ‬ͷ྆ํΛॏࢹ͢Δ෦෼ͷઃ‫Ͱܭ‬͸ஸೡʹ࿩͠߹͍͕ग़དྷɼεϜʔζʹ࡞‫ۀ‬ΛਐΊΔ͜ͱ͕ग़དྷ·ͨ͠ɽ·ͨάϧʔϓ B Ͱ͸཰ઌͯ͠࡞‫ۀ‬΍࿈བྷΛߦ͍ͬͯͨͷͰάϧʔϓϝϯόʔશһ͕ॿ͔Γ·ͨ͠ɽሣഅ ओʹ Arduino ʹΑΔճ࿏ઃ‫ܭ‬Λ୲౰ͯ͠΋Β͍·ͨ͠ɽ΄ͱΜͲςετ͕Ͱ͖ͳ͍ʹ΋͔͔ΘΒͣ࿈‫ܞ‬ͷ࢓༷Λਖ਼֬ʹ‫ټ‬Έऔͬͯ͘Εͯɼͪ͜Βͷҙਤͨ͠௨Γʹಈ͘‫׬‬ᘳͳϓϩάϥϜΛॻ͍ͯ͘Ε·ͨ͠ɽGroup Report of 2020 SISP

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