ඛ➃ࣟ࣎ࢵࢺᕤᏛ◊✲ࢭࣥࢱ࣮άືሗ࿌          ඛ➃ࣟ࣎ࢵࢺᕤᏛ◊✲ࢭࣥࢱ࣮㛗 㯤 ೺ᡤဨ ᑠ㇂ෆ ⠊✠㸪ᶞ㔝 ῟ஓ㸪ᰘ⏣ ⍞✑㸪⏣ୖ ᑗ἞㸬ᖹᡂ  ᖺᗘάືሗ࿌ ᮏᖺᗘࡣ㸪Ᏻᚰ࣭Ᏻ඲࡛ᛌ㐺࡞♫఍ࢆᵓ⠏ࡍࡿࡓࡵࡢࣟ࣎ࢵࢺᢏ⾡ࡢ◊✲࡜㛤Ⓨࡢ᥎㐍࡜࠸࠺┠ᶆࢆᐇ⌧ࡍࡿࡓࡵ㸪௨ୗࡢ◊✲άືࡀ⾜ࢃࢀࡓ㸬ձ 1 ㍈ࣇ࣮ࣜᅇ㌿ᶵᵓࡘࡁ⬚㒊ᨭᣢࣃࢵࢻࢆ᭷ࡍࡿṌ⾜㌴ࡢṌ⾜ホ౯㸦㯤࣭ᑠ㇂ෆ㸧 㧗㱋⪅ࡢ❧ࡕୖࡀࡾ࡜Ṍ⾜ࢆᨭ᥼ࡍࡿࡓࡵ㸪⌧ᅾࡉࡲࡊࡲ࡞චⲴᘧࣜࣇࢺࡀ㛤Ⓨࡉࢀ㸪ၟရ໬ࡉࢀ࡚࠸ࡿ㸬ࡇࢀࡲ࡛ࡢ◊✲࡛ࡣ㸪1 ㍈ࣇ࣮ࣜᅇ㌿ᶵᵓࡘࡁ⬚㒊ᨭᣢࣃࢵࢻࢆ᭷ࡍ
ࡿṌ⾜㌴ࡢಁ㐍ຠᯝࢆᐃ㔞ⓗ࡟ホ౯ࡍࡿࡓࡵ㸪」ᩘࡢࢭࣥࢧࢆ᭷ࡍࡿṌ⾜㌴ࡢタィ࡜ヨసࢆ⾜ࡗࡓ㸬ࡋ࠿ࡋ࡞ࡀࡽ㸪ࡇࢀࡲ࡛ࡢṌ⾜ィ࡟࣮ࣔࢩࣙࣥ࢟ࣕࣉࢳ࣮ࣕࢆ⏝࠸ࡓࡓࡵ㸪࣓࢝ࣛゎീᗘࡢไ㝈࡛Ṍ⾜㊥㞳ࡣ▷ࡃ㸪⏬ീィࡋࡸࡍ࠸ࡼ࠺࡟ᩚഛࡉࢀࡓሙᡤ࡟Ṍ⾜ᐇ㦂ࡀ㝈ᐃࡉࢀࡿ࡞࡝ࡢၥ㢟ࡀ࠶ࡗࡓ㸬ࡉࡽ࡟㸪ᚑ᮶ࡢࢹ࣮ࢱ཰㞟ࢩࢫࢸ࣒࡜ࡋ࡚ࢹࢫࢡࢺࢵࣉᆺࣃࢯࢥࣥࢆ⏝࠸ࡓࡓࡵ㸪⿦⨨ࡢ኱ࡁࡉࡸࢣ࣮ࣈࣝ㛗ࡉࡢไ㝈࡛ࣜࣁࣅࣜ᪋タࡸᐙᗞ࡞࡝ࡢ⌧ሙィࡊఙᒎゅࡢ࡟฼⏝࡛ࡁ࡞࠸㸬ᮏᖺᗘ࡛ࡣ㸪⏬ീィࡢ௦ࢃࡾ࡟Ṍ⾜㐠ື୰Ṍ⾜⪅ࡢࡦᐃ࡟ࢦࢽ࣓࣮࢜ࢱࢆ⏝࠸ࡓ㸬ࡲࡓ㸪ᨭᣢࣃࢵࢻ࡟ྲྀࡾ௜ࡅࡽࢀ࡚࠸ࡿᅽຊࢭ

ࣥࢧ㸪ゅᗘࢭࣥࢧ㸪ࡉࡽ࡟ࢦࢽ࣓࣮࢜ࢱ࡞࡝ࡢࢭࣥࢧ᝟ሗࢆ཰㞟ࡍࡿࡓࡵ࡟ࡣ࣐࢖ࢥࣥ࣎
࣮ࢻ Arduino DUE ࢆ⏝࠸ࡿࡇ࡜࡛㸪ィࢩࢫࢸ࣒ࡢࢥࣥࣃࢡࢺ໬ࢆᅗࡗࡓ㸬ࡑࡢ⤖ᯝ㸪㟁※౪⤥ࢣ࣮ࣈࣝ௨እࡢṌ⾜ᐇ㦂࡟฼⏝ࡍࡿ࣐ࣝࢳࢭࣥࢧィࢩࢫࢸ࣒඲యࡀṌ⾜㌴ࡢᮏయ࡟㞟⣙ࡉࢀࡿࡇ࡜ࢆᐇ⌧ࡋࡓ㸬ղ ࣇ࢕࣮ࣝࢻࣟ࣎ࢵࢺࡢ㛤Ⓨ㸦ᑠ㇂ෆ㸧ࣇ࢕࣮ࣝࢻࣟ࣎ࢸ࢕ࢡࢫࡢ◊✲㛤Ⓨࡢࡦ࡜ࡘ࡜ࡋ࡚ 4 ㍯ 4 ⬮ᙧࣃ࣮ࢯࢼ࣭ࣝࣟ࣎ࢵࢺࡢ◊✲ࢆ⾜ࡗ࡚࠸ࡿ㸬⏕άᨭ᥼ศ㔝࡛ࡢṌ⾜⪅㏣ᚑᆺࣟ࣎ࢵࢺࣉࣛࢵࢺࣇ࢛࣮࣒ࡢᵓ⠏ࢆ┠ᣦࡋ࡚࠸ࡿ㸬ࣃ࣮ࢯࢼ࣭ࣝࣟ࣎ࢵࢺࡀ㝵ẁ㺃ẁᕪࢆྵࡴ 3 ḟඖ⎔ቃࢆ⛣ືࡍࡿไᚚࣉࣟࢢ࣒ࣛࡢ㛤Ⓨ࡟ࡣࡉࡲࡊࡲ࡞⎔ቃ࡜ࡢ⣽࠿࠸ᖸ΅ࡸ㌿ಽ㜵Ṇࢆྲྀࡾ㎸ࡴᚲせࡀ࠶ࡾ㸪ᐇᶵᐇ㦂ࡔࡅ࡛࡞ࡃィ⟬ᶵࢩ࣑࣮ࣗࣞࢩࣙࣥࡀ㠀ᖖ࡟㔜せ࡟࡞ࡿ㸬 3 ḟඖ CAD ࡛࠶ࡿ
SolidWorks ࢆ⏝࠸࡚ࡼࡾᐇᶵ࡟㏆࠸ 3 ḟඖᗄఱࣔࢹࣝࢆ〇సࡋ㸪ືⓗ≀⌮ἲ๎ࢆࢩ࣑ࣗ
࣮ࣞࢺࡍࡿ≀⌮࢚ࣥࢪࣥ࡟ྲྀࡾ㎸ࡵ࡞࠸࠿᳨ウࢆ⾜ࡗࡓ⤖ᯝ㸪ࢤ࣮࣒࢚ࣥࢪ࡛ࣥ࠶ࡿ
UNITY ࡟ྲྀࡾ㎸ࡴࡢࡀ᭱ࡶྍ⬟ᛶࡀ࠶ࡿ࡜ࡢ⤖ㄽ࡟㐩ࡋࡓ㸬
4 ㍯ 4 ⬮ࣃ࣮ࢯࢼࣝ㺃ࣟ࣎ࢵࢺࡢ㌿ಽ᫬ࡢᶵჾ◚ቯࢆ᭱ᑠ࡟࡜࡝ࡵࡿࡓࡵ㸪1/3 ࣔࢹࣝࢆ๓ᖺᗘ〇సࡋࡓࡀ㸪๛ᛶࡀᙅࡃ⮬㔜ᨭᣢ࡛ኚᙧࡋࡓࡢ࡛㸪๛ᛶᙉ໬ࡢࡓࡵࡢ෌タィࢆ⾜࠸㸪3D ࣉࣜࣥࢱ࡛〇సࡋ┤ࡋࡓ㸬㛵⠇㥑ືࡣ Dynamixel AX-12A ࢆ⏝࠸㸪㌴㍯㥑ື࡟↓㝈ᅇ㌿ᆺࡢ MX-12W ࢆ⏝࠸ࡓ㸬᭦࡟㸪Arduino ࣐࢖ࢥࣥࢩࢫࢸ࣒ࢆᦚ㍕ᆺไᚚࢩࢫࢸ࣒࡜ࡋ࡚᥇⏝ࡋ㸪❧ࡕୖࡀࡾ㌴㍯㉮⾜ࢆࡍࡿᇶᮏືసࢆ☜ㄆࡋࡓ㸬ࡲࡓ㸪ࣇ࢕࣮ࣝࢻࣟ࣎ࢸ࢕ࢡࢫࡢูࡢሙ㠃࡜ࡋ࡚㸪ᘓタᶵᲔࡢ↓ே໬࣭᝟ሗ໬ࡢࡓࡵ࡟

－ 22 －

1/20 ࣔࢹࣝࡢタィࢆ⾜࠸㸪3D ࣉࣜࣥࢱ࡛〇సࡋࡓ㸬4 ㍯ 4 ⬮ࣃ࣮ࢯࢼࣝ㺃ࣟ࣎ࢵࢺ࡜ྠࡌࡃ㸪࢔ࢡࢳ࢚࣮ࣗࢱ࡟ Dynamixel AX-12A ࢆ㸪ᦚ㍕ᆺไᚚ⿦⨨࡟ Arduino ࢆ⏝࠸ࡓ㸬㒔ᕷෆ⛣ືࡢ᪂ࡋ࠸ᙧ࡜ࡋ࡚㸪㟁ືࢫࢣ࣮ࢺ࣮࣎ࢻࢆᣢࡕ㐠ࡧᙧ⛣ືࣟ࣎ࢵࢺ࡜ࡋ࡚⏝࠸ࡿࡓࡵ㸪ࢫࢣ࣮ࢺ࣮࣎ࢻࡢ᧯⯦ᶵᵓࡢゎᯒࢆ⾜ࡗࡓ㸬ࣇ࢕࣮ࣝࢻࣟ࣎ࢸ࢕ࢡࢫࡢ୍⎔࡛ࢫ࣏࣮ࢶࢆࡋ࡞ࡀࡽⓎ㟁ࡍࡿᶵჾࢆ㛤Ⓨ࡛ࡁ࡞࠸࠿㜵⅏⏝ᡭᅇࡋⓎ㟁ᶵࢆ⏝࠸ࡓศᯒࢆ⾜ࡗࡓ㸬ճ ㌴୧ࡢ⮬ື໬࡟㛵ࡍࡿ◊✲㸦ᶞ㔝㸧 ㎰ᴗᶵᲔ࡜⮬ື㌴ࢆᑐ㇟࡟㸪⮬ືసᴗ࣭⮬ື㉮⾜࡟㛵ࡋ࡚◊✲ࢆ⾜ࡗ࡚࠸ࡿ㸬㎰ᴗᶵᲔ࡟ࡘ࠸࡚ࡣ㸪⬮ᆺ⛣ືᶵᵓࢆᣢࡘ㎰సᴗࣟ࣎ࢵࢺࡢ㛤Ⓨࢆ㐍ࡵ࡚࠾ࡾ㸪௒ᖺᗘࡣ⬮㥑ື⏝ࢧ࣮࣎ࢩࢫࢸ࣒ࡢᨵⰋࡸ㸪⬗యࡢỈᖹไᚚ࡟ࡘ࠸࡚ྲྀࡾ⤌ࢇࡔ㸬୍᪉㸪⮬ື㉮⾜㌴ࡣ㸪࣮࢜ࢺ࣮ࣞࣥࢳ࢙ࣥࢪࡢࡼ࠺࡞▱ⓗᶵ⬟ࢆ฼⏝ࡍࡿ࡜㸪஌㌴୰ࡢ඲㌟᣺ືᭀ㟢ࡀῶᑡ࡛ࡁࡿ࡜⪃࠼ࡽࢀ㸪ࢻࣛ࢖ࣅࣥࢢ࣭ࢩ࣑࣮ࣗࣞࢱࢆ⏝࠸࡚㸪ࡑࡢຠᯝࢆᐇドࡍࡿᐇ㦂ࢆ⾜ࡗࡓ㸬մ ᰂ㌾ࣟ࣎ࢵࢺ࡟㛵ࡍࡿ◊✲㸦ᰘ⏣㸧⌧ᅾ㸪እẆࢆᰂ㌾࡞ᶞ⬡ࣇ࢕࣒࡛ࣝᵓᡂࡍࡿỈ୰ࣟ࣎ࢵࢺࢆヨసࡋ࡚࠸ࡿ㸬ࡇࡢỈ୰ࣟ࣎ࢵࢺࡢ〇స࡟ࡣ┿✵ໟ⿦ࡢᢏ⾡ࢆ฼⏝ࡋ࡚࠸ࡿ㸬ᖹᡂ 29 ᖺᗘࡣ㸪ࡦࢀ㐠ື࡜ᑒධᾮ㔞࡜ࡢ㛵ಀࢆ᫂ࡽ࠿࡟ࡍࡿࡓࡵ࡟ゅᗘࢭࣥࢧࢆෆⶶࡋࡓヨసᶵࢆ〇సࡋࡓ㸬┿✵ໟ⿦ᶵ࡟㛵ࡋ࡚ࡣ㸪௻ᴗ࠿ࡽࡢᨭ᥼㸦ᶵჾ㈚୚㸧ࢆཷࡅ࡚࠸ࡿ㸬ࡲࡓ㸪ᮏయࢆᰂ㌾ᵓ㐀㸦ࢸࣥࢭࢢࣜࢸ࢕ᵓ㐀㸧࡛ᵓᡂࡍࡿỈ୰ࣟ࣎ࢵࢺࢆヨసࡋ࡚࠸ࡿ㸬ᖹᡂ 29 ᖺᗘࡣ㸪እẆࢆ⮬ᚊⓗ࡟ኚᙧࡍࡿࡓࡵࡢኚᙧᶵᵓࢆ〇సࡋ㸪ࡑࡢ᭷ຠᛶࢆᐇドࡋࡓ㸬ࡑࡢ⤖ᯝ㸪ኚᙧᶵᵓࢆྲྀࡾ௜ࡅࡓሙྜ࡟ࡶ㸪ᮏయࡢኚᙧ࡟ࡼࡾỈ୰࡛ࡢ㐠ື≉ᛶࡀྍኚ࡟࡞ࡿࡇ࡜ࢆᐇ㦂ⓗ࡟♧ࡋࡓ㸬յ ⭸㛵⠇ࣜࣁࣅࣜᶵჾࡢከᶵ⬟໬࡟㛵ࡍࡿ◊✲㸦⏣ୖ㸧Ṍ⾜ࢆࡣࡌࡵ᪥ᖖ⏕άࢆ㏦ࡿୖ࡛㔜せ࡞ᙺ๭ࢆᢸ࠺⭸ࡣ㸪ຍ㱋ࡸ᛹ᡃ࡞࡝࡟ࡼࡿ⑌ᝈࡶ
ᑡ࡞ࡃ࡞ࡃ㸪ᵝࠎ࡞἞⒪ࡀ⾜ࢃࢀࡿ㸬἞⒪㐣⛬ࡢࣜࣁࣅࣜࢸ࣮ࢩ࡛ࣙࣥࡣ㸪≉࡟㛵⠇ࡢᅛ╔ࡸྍືᇦᅇ᚟ࡢࡓࡵ࡟ᝈ㒊ࡢ⭸ࢆ࣮ࣔࢱ࡟ࡼࡾࡺࡗࡃࡾ࡜᭤ࡆఙࡤࡋࡍࡿ௚ືカ⦎ჾ࡜࿧ࡤࢀࡿᶵჾࡀከ⏝ࡉࢀ࡚࠸ࡿ㸬ࡑࡢ᭷ຠᛶࡣᗈࡃ▱ࡽࢀ࡚࠸ࡿ୍᪉࡛㸪ᝈ⪅࡟࡜ࡗ࡚ࡣᶵᲔ௵ࡏ࡜࡞ࡿࡓࡵ➽ຊࡢᅇ᚟ࡀ㐜ࢀࡿ㸬ࡑࡇ࡛ࢥࣥࣉࣛ࢖࢔ࣥࢫไᚚࢆᛂ⏝ࡋ࡚ࢺ࣮ࣞ
ࢽࣥࢢ㈇ⲴࢆⓎ⏕ࡉࡏࡿ௙⤌ࡳࢆᥦ᱌㸪௚ືカ⦎ჾ࡟௜ຍࡋࡓ㸬H30 ᖺᗘࡣ᫖ᖺᗘࡢᐇ㦂࡛᫂ࡽ࠿࡟࡞ࡗࡓヨసჾࡢၥ㢟Ⅼࢆᨵၿࡋ㸪ヨసᶵࢆᨵⰋࡋࡓ㸬ࡲࡓ㸪᪂ࡓ࡞⿕㦂⪅ᐇ㦂ࡢ‽ഛࢆᩚ࠼ࡓ㸬㸬ඹྠ◊✲(1) ᑠ㇂ෆ⠊✠㸸ࠕࣇ࢕࣮ࣝࢻࣟ࣎ࢸ࢕ࢡࢫࡢ◊✲ࠖ㸪㸦ᅜ◊㸧⏘ᴗᢏ⾡⥲ྜ◊✲ᡤ࡜ࡢඹྠ◊✲(2) ᰘ⏣⍞✑㸸◊✲ᨭ᥼ࠕࣟ࣎ࢵࢺࣃࢵ࢟ࣥࢢᢏ⾡ࡢ㛤Ⓨࠖ ᰴ ྂᕝ〇సᡤ(3) ᰘ⏣⍞✑㸸ཷク◊✲ 1 ௳－ 23 －㸬୺せ࡞◊✲ᴗ⦼  ⴭ᭩㸦 ௳㸧1)㯤 ೺㸪͆ຊឤぬࡢㄆ▱࣓࢝ࢽࢬ࣒ࡢゎ᫂㸦➨ 3 ❶ ➨ 2 ⠇㸧͇㸪ຊឤぬࡢㄆ▱࣓࢝ࢽࢬ࣒࡜ࡑࡢゎ᫂ VR/AR ᢏ⾡ࡢ㛤Ⓨືྥ࡜᭱᪂ᛂ⏝஦౛㸪ᢏ⾡᝟ሗ༠఍㸪pp86-96,2018/12)

N. Sakagami, M. Shibata, "Dynamic Modeling of a Serial Link Robot Laminatedwith Plastic Film (Chapter 4)", Lamination - Theory and Application, InTech,
pp.73-88, 2018

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 Ꮫእවົᴗົ(1) 㯤 ೺࣭The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2017) Associate Editor
࣭ The 2017 IEEE

International Conference of Robotics and Biomimetics(ROBIO2017) PC ጤဨ࣭ࣟ࣎ࢸ࢕ࢡࢫ࣭࣓࢝ࢺࣟࢽࢡࢫㅮ₇఍ 2019 ᐇ⾜ጤဨ(2017.8㹼)－ 25 －(2) ᑠ㇂ෆ ⠊✠࣭ࡘࡃࡤࢳࣕࣞࣥࢪ 2017 ᐇ⾜ጤဨ఍ጤဨ࣭ᗈᓥ┴⏘ᴗ⏝ࣟ࣎ࢵࢺά⏝㧗ᗘ໬◊✲఍఍㛗
࣭NEDO ࣟ࣎ࢵࢺά⏝ᆺᕷሙ໬㐺⏝ᢏ⾡㛤Ⓨࣉࣟࢪ࢙ࢡࢺࠕపࢥࢫࢺ࡞ࣂࣛ✚ࡳ⮬ື㌴㒊ရ⤌௜ࡅࢩࢫࢸ࣒ࡢ㛤Ⓨࠖ࢔ࢻࣂ࢖ࢨ࣮࣭NEDO ศ㔝ᶓ᩿ⓗබເ஦ᴗ࡟ಀࡿ஦๓᭩㠃ᑂᰝဨ㸦ࣆ࢔ࣞࣅࣗ࢔㸧(3) ᰘ⏣ ⍞✑࣭ࣟ࣎ࢵࢺᏛ఍ 2017 ᖺᗘ௦㆟ဨ (2017.3㹼2021.2)
࣭ࣟ࣎ࢸ࢕ࢡࢫ࣭࣓࢝ࢺࣟࢽࢡࢫㅮ₇఍ 2019 ᐇ⾜ጤဨ(2017.8㹼)࣭World Robot Summit ࡶࡢ࡙ࡃࡾ࢝ࢸࢦ࣮ࣜ ➇ᢏጤဨ(2017.11㹼)࣭ᖹᡂ 30 ᖺᗘィ⮬ືไᚚᏛ఍୰ᅜᨭ㒊㐠Ⴀጤဨ(2018.1㹼)(4) ᶞ㔝 ῟ஓ
࣭ᖹᡂ 29 ᖺᗘィ⮬ືไᚚᏛ఍୰ᅜᨭ㒊㐠Ⴀጤဨ࣭ᖹᡂ 29 ᖺᗘ᪥ᮏே㛫ᕤᏛ఍୰ᅜ࣭ᅄᅜᨭ㒊⌮஦(5) ⏣ୖ ᑗ἞࣭᪥ᮏᶵᲔᏛ఍ࣟ࣎ࢸ࢕ࢡࢫ࣭࣓࢝ࢺࣟࢽࢡࢫㅮ₇఍ 2019 ᐇ⾜ጤဨ(2017.8㹼2019.6)
࣭The International Congress of Sound and Vibration (ICSV25)ᐇ⾜ጤဨ(2017.4㹼2018.7)
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