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 ௓ㆤࣜࣇࢺᆺṌ⾜࢔ࢩࢫࢺࡢṌ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㸪࣮ࣔࢩࣙࣥ࢟ࣕࣉࢳ࣮ࣕࢆ⏝࠸࡚Ṍ⾜୰ࡢ⭜㒊ࡸୗ⫥㒊ࡢ㐠ືࢆ ᐃࡋ㸪⭜㒊ࡢࢫ࢖ࣥࢢ࡜⭸ఙᒎゅࡢ㛵㐃ࡀ☜ㄆࡉࢀࡓ㸬ࡋ࠿ࡋ࡞ࡀࡽ,Ṍ⾜㌴ࡣᕷ㈍ࣔࢹࣝࡢࡓࡵ㸪ࢭࣥࢧࡀ୍ษ௜ࡅࡽࢀ࡚࠸࡞࠸㸬⬚㒊ᨭᣢࣃࢵࢻࡢᅇ㌿ゅᗘ
࡜ഴᩳゅᗘࡢ᝟ሗ࠾ࡼࡧ⬚㒊ᨭᣢࣃࢵࢻ࡟᥃࠿ࡗ࡚࠸ࡿᅽຊࡢ᝟ሗࢆ┤᥋ィࡍࡿࡇ࡜ࡀ࡛ࡁࡎ㸪Ṍ⾜ಁ㐍ࡢホ౯࡜ᙳ㡪せᅉࡢゎ᫂࡟ࡣ⮳ࡗ࡚࠸࡞࠸㸬ᮏᖺᗘ࡛ࡣ㸪Ṍ⾜ಁ㐍ຠᯝࡢホ౯࠾ࡼࡧࡑࡢᙳ㡪せᅉࢆ᫂ࡽ࠿࡟ࡍࡿࡓࡵ㸪ゅᗘࢭࣥࢧ࡜ᅽຊࢭࣥࢧࢆྲྀࡾ௜ࡅࡿࡇ࡜ࢆ๓ᥦ࡜ࡋࡓ⬚㒊ᨭᣢࣃࢵࢻࢆྵࢇࡔ᪂ࡋ࠸Ṍ⾜㌴ࡢタィ࡜ヨసࢆ⾜ࡗࡓ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 ODA ࢆ⏝࠸ࡓືຊᏛࢩ࣑࣮ࣗࣞࢩ࡛ࣙࣥࠊᐇᶵࡢᙧ≧࡟㏆࡙ࡅࡿ◊✲ࢆ⾜ࡗࡓ㸬㌿ಽ᫬ࡢᶵჾ◚ቯࢆ᭱ᑠ࡟࡜࡝ࡵࡿ
ࡓࡵࠊ1/3 ࣔࢹࣝࡢタィࢆ⾜ࡗࡓ㸬ࡲࡓ㸪ࣇ࢕࣮ࣝࢻࣟ࣎ࢸ࢕ࢡࢫࡢูࡢሙ㠃࡜ࡋ࡚㸪⅏ᐖ᫬ࡢ᥈⣴ࣟ࣎ࢵࢺ࡜ࡋ࡚⿵ຓࢡ࣮ࣟࣛᙧࣟ࣎ࢵࢺࡢタィࢆヨࡳࡓ㸬㎰ᴗศ㔝࡛ࡢࣇ࢕࣮ࣝࢻࣟ࣎ࢸ࢕ࢡࢫ౛࡜ࡋ࡚ࠊᚑ᮶࣑ࢶࣂࢳ࡛⾜ࢃࢀࡓཷ⢊సᴗࢆᏳ౯࡞ᑠᆺ࣐ࣝࢳࢥࣉࢱ࣮ࢻ࣮࡛ࣟࣥ⾜࠺ࡓࡵࡢࢩࢫࢸ࣒タィ࡜᣺ືᲬࢆࡘࡅࡓࢻ࣮ࣟࣥࡢ
㣕⾜ᐇ㦂ࢆ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௒ᖺᗘࡣపࢥࢫࢺ࡛ࣂࢵࢡࣛࢵࢩࣗࡢᑡ࡞࠸ࢧ࣮࣎ࢩࢫࢸ࣒ࡢ㛤Ⓨࡸ㸪┬⮬⏤ᗘᆺࡢࢧ࣮࣎ᶵᵓࡢ㛤Ⓨࢆ᳨ウࡋࡓ㸬୍᪉㸪⮬ື㉮⾜㌴ࡣ㸪࣮࢜ࢺ࣮ࣞࣥࢳ࢙ࣥࢪࡢࡼ࠺࡞▱ⓗᶵ⬟ࢆ฼⏝ࡍࡿ࡜㸪஌㌴୰ࡢ඲㌟᣺ືᭀ㟢ࡀῶᑡ࡛ࡁࡿ࡜⪃࠼ࡽࢀ㸪ࢻࣛ࢖ࣅࣥࢢࢩ࣑࣮ࣗࣞࢱࢆ⏝࠸࡚㸪ࡑࡢ－ 21 －ຠᯝࢆᐇ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ᖹᡂ 28 ᖺᗘࡣ㸪⊃㝼㒊࡛ࡢ㐠ືࢆ┠ⓗ࡟ⷧᆺᙧ≧ࡢヨసᶵࢆ〇సࡋࡓ㸬ࡇࡢỈ୰ࣟ࣎ࢵࢺࡢ〇స࡟ࡣ┿✵ໟ⿦ࡢᢏ⾡ࢆ฼⏝ࡋ࡚࠸ࡿ㸬┿✵ໟ⿦ᶵ࡟㛵ࡋ࡚ࡣ㸪௻ᴗ࠿ࡽࡢᨭ᥼㸦ᶵჾ㈚୚㸧ࢆཷࡅ࡚࠸ࡿ㸬ࡲࡓ㸪ᮏయࢆᰂ㌾⣲ᮦ㸦ᶞ⬡ᮦ㸧࡛ᵓᡂࡍࡿእ㦵᱁ᆺ஧㊊Ṍ⾜ࣟ࣎ࢵࢺࢆヨసࡋ࡚࠸ࡿ㸬ᖹᡂ 28 ᖺᗘࡣ㸪⾪✺⌧㇟ࢆ㸪㠀⥺ᙧࡤࡡࢆྵࡴࢩࢫࢸ࣒࡜ࡋ࡚ࣔࢹࣝ໬ࡋ㸪ヨసࡋࡓࣟ࣎ࢵࢺࡢ᭷ຠᛶࢆ㆟ㄽࡋࡓ㸬ࡑࡢ⤖ᯝ㸪㍍㔞࠿ࡘᰂ㌾࡞እẆࡀ⾪✺᫬ࡢ᥋ゐຊࢆపῶࡍࡿྍ⬟ᛶࢆぢฟࡋࡓ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ᖹᡂ 28 ᖺᗘࡣヨసჾࡢไᚚࢯࣇࢺ࢙࢘࢔ࡢᐇ⿦࡜➽㟁఩ィ ࡟ࡼࡿຠᯝ☜ㄆࢆ⾜࠸㸪ࡑࡢ᭷⏝ᛶࢆ☜ㄆࡋࡓ㸬㸬ඹྠ◊✲(1) ᑠ㇂ෆ⠊✠㸸ࠕࣇ࢕࣮ࣝࢻࣟ࣎ࢸ࢕ࢡࢫࡢ◊✲ࠖ㸪 ᅜ◊ ⏘ᴗᢏ⾡⥲ྜ◊✲ᡤ࡜ࡢඹྠ◊✲(2) ᰘ⏣⍞✑㸸◊✲ᨭ᥼ࠕࣟ࣎ࢵࢺࣃࢵ࢟ࣥࢢᢏ⾡ࡢ㛤Ⓨࠖ ᰴ ྂᕝ〇సᡤ(3) ⏣ୖᑗ἞㸸ࠕ㐠ືᶵ⬟ࡢᅇ᚟࣭ᨵၿࢆ┠ᣦࡋࡓ⚄⤒➽ࢺ࣮ࣞࢽࣥࢢᶵჾࡢ㛤Ⓨࠖ㸪ࡕࡹ࠺ࡈࡃ⏘ᴗ๰㐀ࢭࣥࢱ࣮࠿ࡽࡢཷク◊✲(4) ⏣ୖᑗ἞㸸ࠕࣜࣁࣅ࣭ࣜࢺ࣮ࣞࢽࣥࢢᶵჾࡢࡓࡵࡢไᚚᢏ⾡㛤Ⓨࠖ㸪 ᰴ ᚚᖾ㕲ᕤᡤ࠿ࡽࡢཷク◊✲㸬୺せ࡞◊✲ᴗ⦼  ⴭ᭩㸦 ௳㸧1)

M. Shibata, “Fish-Like Robot Encapsulated by a Plastic Film (Chapter 11) ”, Recent
Advances in Robotic Systems, InTech, pp. 235-251, 2016  ㄽᩥ㸦 ௳㸧1)

Junya TATSUNO, Kiyoshi TAJIMA and Katsuhiko INAGAKI, “Two-dimensional
Localization System of a Legged Robot for Shaft Tillage Cultivation”, MechanicalEngineering Journal, 4(2), Paper 16-00472, 20172)⏣ୖ ᑗ἞㸪஬ⓒ஭ Ύ㸪͆ᧁᚰཎ⌮ࢆᛂ⏝ࡋࡓ⾪ᧁపῶ᪉ἲࡢᇶ♏᳨ウ͇㸪㏆␥኱Ꮫḟୡ௦ᇶ┙ᢏ⾡◊✲ᡤሗ࿌ Vol.7㸪pp. 77-80, 2016－ 22 －  Ꮫ఍Ⓨ⾲㸦 ௳㸧1)

Jian Huang, Noriho, Koyachi, “Evaluating the Assistance Effectiveness of a NewlyDeveloped Rollator Mounted with a Freely Rotating Chest Support Pad”, Proc. ofIEEE International Conference on Robotics and Biomimetics (ROBIO2016),
pp.1185-1190, (2016.12)2)

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㸪➨34ᅇ᪥ᮏࣟ࣎ࢵࢺᏛ఍Ꮫ⾡ㅮ₇఍(RSJ2016)ㅮ₇ㄽᩥDVD, 1E1-02,(2016.9)3)

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4)

Nobutake Hiraoka, Junya Tatsuno and Katsuhiko Inagaki, “Omnidirectional Motion
Planning for a Leg-wheeled Robot with Reduced DOF and Using Passive Wheels”,
Proceedings of 14th International Conference on Control, Automation, Robotics &Vision, (ICARCV 2016), Phuket, Thailand, paper number MO31.2, (2016)

5)

Nobutake Hiraoka, Junya Tatsuno and Katsuhiko Inagaki, “Study of an
Omnidirectional Robotic Cart Using Passive Wheels”, Proceedings of 42nd Annual
Conference of the IEEE Industrial Electronics Society (IECON 2016), pp.5850-5855,(2016)

6)

Junya Tatsuno and Setsuo Maeda, “Driving Simulator Experiment on Ride Comfort
Improvement and Low Back Pain Prevention of Autonomous Car Occupants”,Proceedings of the AHFE 2016 International Conference on Human Factors inTransportation, Florida, USA, pp.511-523, (2016)

7)

Mizuho Shibata, Nariaki Yokota, “Experimental evaluations of impact resistance ofa biped robot composed of flexible struts”, Advanced in Cooperative Robotics(CLAWAR2016), pp.312-319, (2016)8)ᰘ⏣ ⍞✑, ᆏୖ ᠇ග, ͆ᰂ㌾እẆỈ୰ࣟ࣎ࢵࢺ࡟࠾ࡅࡿᑒධᾮ㔞࡜ࡦࢀ㐠ືࡢ㛵ಀ͇㸪
SICE SI 2016㸪(2016)9)ᰘ⏣ ⍞✑, ͆㏆␥኱ᏛᕤᏛ㒊ࣟ࣎ࢸ࢕ࢡࢫᏛ⛉ࡢᡂࡾ❧ࡕ࡜࣒͇࢝ࣜ࢟ࣗࣛ㸪➨34ᅇ᪥
ᮏࣟ࣎ࢵࢺᏛ఍ㅮ₇㞟㸪(2016)10) ᆏୖ ᠇ග, ᰘ⏣ ⍞✑, ᕝᮧ ㈆ኵ, ͆ᾋᚰ⛣ືᶵᵓࢆᣢࡘỈ୰ࣟ࣎ࢵࢺࢩ࣑࣮ࣗࣞࢱࡢ㛤Ⓨ࡜ゎᯒ͇㸪➨34ᅇ᪥ᮏࣟ࣎ࢵࢺᏛ఍ㅮ₇㞟㸪(2016)11) Masaharu Tagami, Shinzo Sato, Masaki Hasegawa and Yasutaka Tagawa, “A
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ᚚᡭἲࡢᇶ♏᳨ウ͇㸪ィ ⮬ືไᚚᏛ఍SI㒊㛛ㅮ₇఍(SI2016), 2853-2857, (2016.12)
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