布地の押しつけ移動操作における移動距離の推定

近畿大学次世代基盤技術研究所報告 Vol. 5（2014）63－66
ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯స࡟࠾ࡅࡿ⛣ື㊥㞳ࡢ᥎ᐃ
Estimation of Displacement Distance for Wiping motion of Fabric Products
◊✲௦⾲⪅ ᕤᏛ㒊ࣟ࣎ࢸ࢕ࢡࢫᏛ⛉*1 ㅮᖌ ᰘ⏣ ⍞✑
Mizuho Shibata
In this manuscript, an estimation method of displacement distance for wiping motion of
fabric products is implemented. This wiping motion is defined as a task in which there is
contact, but no relative movement, between the manipulator and the deformable object, while
there is both contact and relative movement between the object and a floor during the
displacement of the object in this wiping motion. We propose a visual tracking algorithm
utilizing combination of a particle filter and a rebelling processing for measuring the displace
distance. We invest the validity of the algorithm utilizing a planar robotic arm.
Keywords: Fabric manipulation, Marker tracking, Wiping motion
㸬ࡣࡌࡵ࡟
ᕸᆅࡢᦙ㏦ࡸ఩⨨Ỵࡵ࡞࡝ࡢసᴗࡢከࡃࡣேࡢᡭసᴗ
࡟ࡼࡗ࡚⾜ࢃࢀ࡚࠾ࡾ㸪ࡲࡔࣟ࣎ࢵࢺ࡟ࡼࡿ⮬ື໬ࡀᐇ
⌧࡛ࡁ࡚࠸࡞࠸(1)㸬≉࡟㸪་⒪࣭⚟♴ศ㔝࡟࠾࠸࡚ࡣ⾨⏕
㠃࠿ࡽᕸᆅ⮬య࡟ேࡀゐࢀࡎ࡟సᴗࢆ㐙⾜ࡍࡿࡇ࡜ࡀᙉ
ࡃᮃࡲࢀ࡚࠸ࡿ㸬ࡲࡓ㸪࢔ࣃࣞࣝᴗ⏺࡟࠾࠸࡚ࡶ㏆ᖺࡢ
ከရ✀ᑡ㔞⏕⏘ࢆ⫼ᬒ࡟㸪」㞧࡛ᑠࡉ࡞㒊ᮦࢆᢅ࠺ࡇ࡜
ࡀ࡛ࡁࡿࣟ࣎ࢵࢺࡢ㛤Ⓨࡀồࡵࡽࢀ࡚࠸ࡿ㸬ᕸᆅࡢኚᙧ
ࡸ⣲ᮦࡢ㐪࠸࡞࡝ከࡃࡢၥ㢟Ⅼࡀ࠶ࡿࡓࡵ㸪ࡲࡔᕸᆅࢆ
ࣟ࣎ࢵࢺ࡟ࡼࡗ࡚ᢅ࠺ࡇ࡜ࡣᐇ⌧ࡋ࡚࠸࡞࠸㸬ᕸᆅࡢࣁ
ࣥࢻࣜࣥࢢࢩࢫࢸ࣒ࡀᮍⓎ㐩࡛࠶ࡿ⫼ᬒ࡜ࡋ࡚㸪ᕸᆅࡀ
ᣢࡘࠕ኱ࡁࡃኚ໬ࡍࡿࠖ࡜࠸࠺≉ᚩࡸࠕྠࡌ〇ရ࡟ࡼࡗ
࡚ࡶ≉ᛶ㸦ᙎᛶࡸᦶ᧿ಀᩘ࡞࡝㸧࡟ࡤࡽࡘࡁࡀ࠶ࡿࠖ࡜
࠸࠺ඞ᭹ࡉࢀ࡚࠸࡞࠸ၥ㢟Ⅼࡀᣲࡆࡽࢀࡿ㸬ᮏ◊✲࡛ࡣ
ࡇࢀࢆゎỴࡍࡿࡓࡵ࡟㸪
ࠕᕸᆅ࡜ᗋࢆ᥋ゐࡉࡏࡿࡇ࡜࡟ࡼ
ࡾ㸪ᕸᆅࡀኚᙧ࡛ࡁࡿ᪉ྥࢆ㝈ᐃࡍࡿࠖ
㸪
ࠕどぬࢭࣥࢧࢆ
⏝࠸࡚఩⨨Ỵࡵࢆ⾜࠺ࡇ࡜࡛ᕸᆅࡢ≉ᛶ࡟ࡤࡽࡘࡁࡀ࠶
ࡗ࡚ࡶไᚚ࡛ࡁࡿࠖᕸᆅࣁࣥࢻࣜࣥࢢࢩࢫࢸ࣒ࢆᵓ⠏ࡍ
ࡿ㸬ලయⓗ࡟ࡣ㸪ᕸᆅୖࡢ࣐࣮࣮࢝ࢆᇶ࡟㸪ᕸᆅࡢ఩⨨
Ỵࡵࢆ⾜࠺ࢩࢫࢸ࣒ࢆ㛤Ⓨࡍࡿ㸬ᕸᆅࡣᰂ㌾≀య࡛࠶ࡿ
ࡓࡵ㸪఩⨨Ỵࡵࢆ⾜࠺㝿࡟㸪᧯సⅬ࡜఩⨨Ⅼࡀ␗࡞ࡿሙ
ྜࡀ࠶ࡿ㸬ࡇࢀࢆᕸᆅࡢ㛫᥋఩⨨Ỵࡵၥ㢟࡜࠸࠺(2)㸬ᅗ 1
࡟ᕸᆅࡢ㛫᥋఩⨨Ỵࡵࡢᴫせᅗࢆ♧ࡍ㸬ࡇࡢᅗ࡛ࡣ 1 ࡘ
ࡢ᧯సⅬࢆ 1 ᮏࡢࣟ࣎ࢵࢺ࢔࣮࣒࡛᧯సࡋ㸪ᕸᆅୖࡢ┠
ᶆⅬࢆᗋୖࡢ఩⨨ỴࡵⅬ࡟୍⮴ࡉࡏࡿ㸬ᮏ◊✲࡛ࡣᕸᆅ
ࡢ㛫᥋఩⨨Ỵࡵࢆᑡ࡞࠸ࣟ࣎ࢵࢺ࢔࣮࣒࡛ᐇ⌧ࡍࡿࡇ࡜
ࢆ┠ᣦࡍ㸬ࡇࡇ࡛ࡣ㸪ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯సࢆ฼⏝ࡍ
ࡿ㸬ᮏሗ࿌࡛ࡣ㸪ࡇࡢࢩࢫࢸ࣒ࢆᐇ⌧ࡍࡿࡓࡵࡢᇶ♏࡜
࡞ࡿ㸪ᕸᆅࡢ⛣ື㊥㞳ࢆ㸪⏬ീ᝟ሗࢆ⏝࠸࡚᥎ᐃࡍࡿࢩ
ࢫࢸ࣒࡟ࡘ࠸࡚㆟ㄽࡍࡿ㸬
㸬ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯స
ᮏ⠇࡛ࡣ㸪ᕸᆅࡢ㛫᥋఩⨨Ỵࡵࡢၥ㢟タᐃ࡟ࡘ࠸࡚⪃
࠼ࡿ㸬ᅗ 1 ࡟♧ࡍࡼ࠺࡟㸪1 ࡘࡢࣟ࣎ࢵࢺᣦࡀᖹࡽ࡞ᗋ
࡟⨨࠸࡚࠶ࡿᕸᆅୖࡢ 1 ࡘࡢ఩⨨ỴࡵⅬࢆ⛣ືࡉࡏࡿ㸬
ࡇࡢ᧯స࡛ࣟ࣎ࢵࢺࡢᣦඛ࡜ᕸᆅࡢ㛫࡟ࡣ⁥ࡾࡀ࡞࠸࡜
௬ᐃࡍࡿ㸬➹⪅ࡽࡣ㸪ࡇࡢࡼ࠺࡟ࣟ࣎ࢵࢺᣦ࡜ᕸᆅࡢ┦
ᑐ఩⨨ࡀኚ໬ࡏࡎ࡟ࣟ࣎ࢵࢺᣦࡢ఩⨨ࢆ⛣ືࡉࡏࡿືస
ࢆ Wiping ືస࡜ࡋ࡚ᐃ⩏ࡋ࡚࠸ࡿ(3)㸬ᕸᆅࡣᰂ㌾≀࡛࠶
ࡾ㸪⛣ືᚋ࡟ኚᙧࡍࡿྍ⬟ᛶࡀ࠶ࡿ㸬ࡋࡓࡀࡗ࡚㸪ࡇࡢ
ືసࡣ๛య࣐ࢽࣆ࣮ࣗࣞࢩࣙࣥ࡟࠾ࡅࡿࢢࣛࢫࣉࣞࢫ࣭
࣐ࢽࣆ࣮ࣗࣞࢩࣙࣥ(4)ࡢ⮬↛࡞ᣑᙇ࡜ࡋ࡚ᐃ⩏ࡉࢀࡿ㸬
ᮏሗ࿌࡛ࡣ㸪఩⨨ỴࡵⅬ࡜ࡋ࡚ᕸᆅ࡟㯮ࡢ࣐࣮࣮࢝ࢆ
⨨ࡃ㸬࣐࣮࣮࢝ࡢ఩⨨ࡣ⎔ቃ࡟ᅛᐃࡉࢀࡓ࣓࢝ࣛ࡟ࡼࡗ
࡚ᚓࡽࢀࡓ⏬ീࢆ౑⏝ࡋ࡚ィ⟬ࡉࢀࡿ㸬㐺ษ࡞࢔ࣝࢦࣜ
ࢬ࣒ࢆ㑅ᢥࡍࡿࡓࡵ࡟㸪ᮏၥ㢟࡟࠾ࡅࡿእ஘ࢆศ㢮ࡍࡿ㸬
*ཎ✏ཷ௜ 2014 ᖺ 5 ᭶ 12 ᪥
*1 ࠛ739-2116 ᮾᗈᓥᕷ㧗ᒇ࠺ࡵࡢ㎶ 1 ␒
E-Mail [email protected]
ᅗ 1. ᕸᆅࡢᢲࡋࡘࡅ⛣ື࡟ࡼࡿᕸᆅࡢ㛫᥋఩⨨Ỵࡵ
－ 63 －
㛫᥋఩⨨Ỵࡵ᧯స࡟࠾ࡅࡿ኱ࡁ࡞እ஘ࡢ୍ࡘ࡟ࣟ࣎ࢵࢺ
ᣦ㸦࣐ࢽࣆ࣮ࣗࣞࢱ㸧ࡑࡢࡶࡢࡀᣲࡆࡽࢀࡿ㸬ࣟ࣎ࢵࢺ
ᣦࡣ㸪᧯సࡍࡿᕸᆅࡢື≉ᛶࡢᙳ㡪ࢆపῶࡍࡿࡓࡵ࡟㸪
࡛ࡁࡿࡔࡅ࣐࣮࣮࢝࡟㏆ࡃ⨨ࡃ࡭ࡁ࡛࠶ࡿ㸬ࡋࡓࡀࡗ࡚㸪
࣓࢝ࣛ࡟ࡼࡗ࡚ᚓࡽࢀࡿ⏬ീ࡟ࣟ࣎ࢵࢺᣦࡀᫎࡾ㎸ࡴྍ
⬟ᛶࡀ࠶ࡿ㸬⏬ീෆࡢࣟ࣎ࢵࢺᣦ࡟ࡼࡿእ஘ࡢ㠃✚ࡣ㸪
࣐࣮࣮࢝ࡀ༨ࡵࡿ㠃✚࡟ᑐࡋ࡚኱ࡁࡃ࡞ࡿྍ⬟ᛶࡀ࠶ࡿ㸬
ࡇࡢࡼ࠺࡞኱ࡁ࡞እ஘࡟ᑐࡋ࡚ࣟࣂࢫࢺᛶࢆᣢࡘ࢔ࣝࢦ
ࣜࢬ࣒ࢆ㑅ᢥࡍࡿᚲせࡀ࠶ࡿ㸬ࡲࡓ㸪ᕸᆅ〇ရ࡟≉᭷ࡢ
እ஘࡜ࡋ࡚ᕸ⾲㠃ࡢᶍᵝࡀ࠶ࡿ㸬࢔ࣃࣞࣝ࡞࡝ࡢ⏘ᴗศ
㔝࡛ࡣᵝࠎ࡞ᶍᵝࡢᕸᆅࢆᚲせ࡜ࡍࡿ㸬౛࠼ࡤ㸪᱁Ꮚᶍ
ᵝࡣ୍ࡘ୍ࡘࡢ᱁Ꮚࡣ㠃✚ࡀᑠࡉ࠸ࡶࡢࡢ㸪⏬ീෆ࡟࠾
࠸࡚ከࡃࡢእ஘࡟࡞ࡾ࠺ࡿ㸬ࡲࡓ㸪ᕸᆅ᧯సࡢࡓࡵࡢ≉
ᚩⓗ࡞እ஘ࡢ୍ࡘ࡜ࡋ࡚㸪ᕸᆅࡀኚᙧࡍࡿࡇ࡜࡟ࡼࡗ࡚
⏕ࡌࡿࢩ࣡ࡀᣲࡆࡽࢀࡿ㸬ᕸᆅୖࡢࢩ࣡ࡣ㸪኱ࡁࡉ࡟ࡼ
ࡗ࡚ࡣ⏬ീฎ⌮࡟࠾࠸࡚኱ࡁ࡞እ஘࡜࡞ࡾ࠺ࡿ㸬ࡇࡢࢩ
࣡ࡣ㸪ࣟ࣎ࢵࢺᣦ㸪ᕸᆅ㸪ᗋࡢ┦ᑐⓗ࡞⛣ື࡜ᕸᆅࡢ≉
ᛶࡢ㛵ಀᛶ࡟ࡼࡗ࡚⏕ᡂࡉࢀࡿ㸬ࡋࡓࡀࡗ࡚㸪ࣟ࣎ࢵࢺ
ᣦࢆ㐺ษ࡟⛣ືࡉࡏࡓሙྜ㸪ࡇࢀࡽࡢࢩ࣡ࡣ⏕ᡂࡉࢀ࡞
ࡼࡗ࡚ᮏሗ࿌࡛ࡣᕸᆅୖࡢࢩ࣡
࠸ࡇ࡜ࡀࢃ࠿ࡗ࡚࠸ࡿ(3)㸬
࡟ࡼࡿእ஘ࡣ⪃៖ࡋ࡞࠸㸬
㸬⛣ື㊥㞳᥎ᐃᡭἲ
ᮏ⠇࡛ࡣ㸪๓⠇ࡢၥ㢟タᐃ࡟ᇶ࡙࠸࡚㸪ᕸᆅࡢ㛫᥋఩
⨨Ỵࡵࡢࡓࡵࡢ⏬ീฎ⌮ࡢ࢔ࣝࢦࣜࢬ࣒ࢆᥦ᱌ࡍࡿ㸬ᕸ
ᆅୖࡢ࣐࣮࣮࢝ࢺࣛࢵ࢟ࣥࢢࢆᐇ⌧ࡍࡿࡓࡵ࡟࢔ࣝࢦࣜ
ࢬ࣒࡟ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮࡟ᇶ࡙ࡃ⏬ീฎ⌮ࢆ㐺⏝
ࡍࡿ㸬ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮ࢺࣛࢵ࢟ࣥࢢࡣ㸪࣐࢝ࣝ
ࣥࣇ࢕ࣝࢱ࣮ࡢࡼ࠺࡞᫬⣔ิࣇ࢕ࣝࢱ࣮ࡢ୍✀࡛࠶ࡿ(5)㸬
ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮࡛ᢅ࠺☜⋡ศᕸࡣ㠀⥺ᙧ㠀࢞࢘
ࢫศᕸࡢࡓࡵ㸪ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮ࡣᵝࠎ࡞࣐࣮࢝
࣮ࢺࣛࢵ࢟ࣥࢢࡢၥ㢟࡟㐺⏝ࡍࡿࡇ࡜ࡀ࡛ࡁࡿ㸬ࣃ࣮ࢸ
࢕ࢡࣝࣇ࢕ࣝࢱ࣮ࡢ࢔ࣝࢦࣜࢬ࣒࡛ࡣ㸪┠ᶆ࡟ᑐࡋ࡚࠸
ࡃࡘ࠿ࡢ⢏Ꮚࡀ⏕ᡂࡉࢀࡿ㸬⢏Ꮚࡀ☜⋡ⓗ࡟┠ᶆࡢ࿘ᅖ
࡟⏕ᡂࡉࢀ㸪ࡑࡢᚋ㸪࠸ࡃࡘ࠿ࡢ⢏Ꮚࡀ୍ᐃࡢᇶ‽࡟ᇶ
࡙࠸࡚᤼㝖ࡉࢀࡿ㸬┠ᶆࡢ఩⨨ࡣ⢏Ꮚࡢᖹᆒ఩⨨࡜ࡋ࡚
ィ⟬ࡉࢀࡿ㸬ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮࡟ࡼࡗ࡚ᚓࡽࢀࡓ
఩⨨ࡣ㸪⢏Ꮚࡢ఩⨨ࡀ☜⋡ⓗ࡟⏕ᡂࡍࡿࡓࡵ࡟ࣛࣥࢲ࣒
࡟⛣ືࡍࡿ㸬ࡘࡲࡾ㸪࣐࣮࣮࢝ࡀ㟼Ṇࡋ࡚࠸࡚ࡶ㸪⢏Ꮚ
ࡢᖹᆒ఩⨨ࡣࣛࣥࢲ࣒࡟⛣ືࡍࡿ㸬ࡋࡓࡀࡗ࡚㸪ࡇࡢ⢏
Ꮚࡢᖹᆒ఩⨨ࢆ఩⨨Ỵࡵไᚚ࡟࠾ࡅࡿไᚚಙྕ࡜ࡋ࡚౑
⏝ࡍࡿࡢࡣᅔ㞴࡛࠶ࡿ㸬ࡇࡢၥ㢟ࢆඞ᭹ࡍࡿࡓࡵ࡟㸪࢔
ࣝࢦࣜࢬ࣒࡟ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮࡜ࣛ࣋ࣜࣥࢢฎ⌮
㸬
ࡢ⤌ࡳྜࢃࡏࢆ㐺⏝ࡍࡿ(6)㸬௨ୗ࡟ᡭ㡰ࢆ♧ࡍ㸦ᅗ 2㸧
(a)⏬ീ࢟ࣕࣉࢳࣕ㸹࣓࡛࢝ࣛ RAW ⏬ീࢆྲྀࡾ㎸ࡴ㸬
ᅗ 2. ⏬ീฎ⌮ᡭ㡰
(b) ึᮇ໬㸹⢏Ꮚࡢึᮇ఩⨨ࡣ㸪๓ฎ⌮࡜ࡋ࡚㸪࣐࣮࢝
࣮ୖ࡟ᡭື࡛タᐃࡍࡿ㸬
(c) ஧್໬㸹RAW ⏬ീࢆ㸪ࣂ࢖ࢼࣜ⏬ീ࡟ኚ᥮ࡍࡿ㸬
(d) ཰⦰ฎ⌮㸹ࣀ࢖ࢬࢆపῶࡍࡿࡓࡵ࡟㸪┠ᶆࡢ⏬⣲್
ࡣ㞄᥋ࡍࡿ⏬⣲ࡢ᮲௳࡟ᛂࡌ࡚཯㌿ࡉࢀࡿ㸬
(e) ࣛ࣋ࣜࣥࢢฎ⌮㸹㞄᥋ࡍࡿ⏬⣲ࡢ㞟ࡲࡾ࡟␒ྕ௜ࡅ
ࢆࡍࡿ㸬
(f) ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮㸹୍ᐃࡢᇶ‽࡟ᇶ࡙࠸࡚⢏
Ꮚࡣ⏕ᡂ/㝖ཤࡉࢀࡿ㸬ࡇࡢ㐣⛬ࢆ⤒࡚㸪ᑐ㇟ࢆ㏣㊧
ࡍࡿࡇ࡜ࡀྍ⬟࡜࡞ࡿ㸬⢏Ꮚࡢᖹᆒ఩⨨ࢆィ⟬ࡍࡿ㸬
(g) ㄆ㆑㸹ࢫࢸࢵࣉ (f) ࡛ᚓࡽࢀࡓᖹᆒ఩⨨࡜ࢫࢸࢵࣉ
(e) ࡛ᚓࡽࢀࡓࣛ࣋ࣜࣥࢢࢹ࣮ࢱࢆẚ㍑ࡍࡿ㸬⢏Ꮚࡢ
ᖹᆒ఩⨨ࡀ࡝ࡢࣛ࣋ࣝ࡟ᒓࡍࡿ࠿ࢆᚓࡿ㸬
(h) 㔜ᚰィ⟬ 㸹 ࢱ࣮ࢤࢵࢺ㡿ᇦࡢ㔜ᚰ (Center of
Gravity; COG)ࡢࡳࢆィ⟬ࡍࡿ㸬
௚ࡢࣛ࣋ࣝ㡿ᇦࡢ㔜
ᚰࡣィ⟬ࡋ࡞࠸㸬
ࡇࡢ࢔ࣝࢦࣜࢬ࣒࡛ࡣ㸪ࢫࢸࢵࣉ (h) ᚋ㸪࣓࢝ࣛࡣ෌ࡧ
ࡇࡢ⏬ീࢆ࢟ࣕࣉࢳࣕࡍࡿ㸬ࡇࡢ࢔ࣝࢦࣜࢬ࣒ࡣ㸪ࢫࢸ
ࢵࣉ (h) ࡟࡚ᑐ㇟ࡢࣛ࣋ࣝ㡿ᇦࡢࡳ㔜ᚰࢆィ⟬ࡍࡿࡓࡵ㸪
⢏Ꮚࡢ⏕ᡂἲ࡟ࡼࡽࡎ࣐࣮࣮࢝ࡢ㔜ᚰ఩⨨ࢆィ⟬࡛ࡁࡿ㸬
ࡲࡓ㸪࣐࣮࣮࢝ࡢ㡿ᇦࡀእ஘ࡢ㡿ᇦ࡜ศ㞳࡛ࡁ࡚࠸ࢀࡤ㸪
እ஘ࡣ࣐࣮࣮࢝࡜␗࡞ࡿࣛ࣋ࣝ㡿ᇦ࡜ุᐃࡉࢀࡿࡓࡵ㸪
㡿ᇦࡢ㠃✚࡟ࡼࡽࡎ࣐࣮࣮࢝ࡢ㔜ᚰ఩⨨ࡢࡳࢆィ⟬ࡍࡿ
ࡇ࡜ࡀ࡛ࡁࡿ㸬
➹⪅ࡣ᪤ሗ(6)࡟࡚ࡇࡢ⏬ീฎ⌮࢔ࣝࢦࣜࢬ
࣒ࡢ᭷ຠᛶࢆ᳨ウࡋࡓ㸬
－ 64 －
㸬ᐇ㦂࠾ࡼࡧ⪃ᐹ ᮏ⠇࡛ࡣ㸪ᥦ᱌ࡋࡓ⏬ീ࢔ࣝࢦࣜࢬ࣒ࡢࣟ࣎ࢵࢺࢩࢫ
ࢸ࣒࡬ࡢᐇ⿦ࢆヨࡳࡿ㸬ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯సࢆᐇ⌧
ࡍࡿࡓࡵ࡟㸪ᅗ 3 ࡟♧ࡍヨసᶵࢆస〇ࡋࡓ㸬ࣟ࣎ࢵࢺ࢔
࣮࣒࡟ࡣࢧ࣮࣮࣎ࣔࢱ(ROBOTIS 〇 AX㸫12A)ࢆ 3 ಶ౑
⏝ࡋࡓ㸬ᅗࡢ PC1 ࡣ࣐࢖ࢥࣥ࡬ືస㛤ጞࡢಙྕࢆ୚࠼ࡿ
ࡓࡵ࡟㸪PC2 ࡣ࣓࢝ࣛ࡜᥋⥆ࡉࢀ㸪࣐࣮࣮࢝ࡢ⛣ື㊥㞳
ࢆ᥎ᐃࡍࡿࡓࡵ࡟౑⏝ࡋ࡚࠸ࡿ㸬ᮏࢩࢫࢸ࣒࡛ࡣ㸪ᖹ㠃 2
⮬⏤ᗘࢆ᭷ࡍࡿࣟ࣎ࢵࢺ࢔࣮࣒ࡢᡭඛ࡟ᢲࡋࡘࡅ⏝ࡢࣔ
࣮ࢱࢆ௜ຍࡋ࡚࠸ࡿ㸬ࡇࡢᡭඛࡣᕸᆅࢆᢲࡋ௜ࡅ࡚࠸ࡿ
㛫㸪࢔࣮࣒࡟ᑐࡋ୍࡚ᐃࡢゅᗘࢆ⥔ᣢࡋ࡚࠸ࡿ㸬ࡇࡇ࡛㸪
ࣟ࣎ࢵࢺࡢᡭඛ఩⨨ࢆ(x㸪y)࡜ࡋ㸪➨ 1 㛵⠇࠾ࡼࡧ➨ 2
㛵⠇ࡢゅᗘࢆȟ1㸪ȟ2 ࡜ࡍࡿ㸬ࡲࡓ㸪ྛࣜࣥࢡࡢ㛗ࡉࢆ
L1㸪L2 ࠾ࡼࡧ L3 ࡜ࡍࡿ㸬➨ 3 ࣜࣥࢡࡣ୍ᐃࡢゅᗘ࡛᭤ࡆ
ࡓ≧ែ࡛ᗋࢆ᥋ゐࡉࡏࡿࡓࡵ㸪㐠ື୰࡟ࣜࣥࢡࡢゅᗘࡀ
୍ᐃ࡛࠶ࡿ࡜⪃࠼ࡿ㸬ࡋࡓࡀࡗ࡚㸪௒ᅇ౑⏝ࡍࡿࣟ࣎ࢵ
ࢺ࢔࣮࣒ࡢ㡰㐠ືᏛࡢᘧࡣ㸪
20mm×10mm ࡛࠶ࡿ㸬ᅗ 4 ࡟ᐇ㦂㢼ᬒࢆ♧ࡍ㸬ᅗ࡟♧
ࡍࡼ࠺࡟㸪(a) ึᮇ≧ែ࡛ࡣᕸᆅ࡜ᡭඛࡣ᥋ࡋ࡚࠸࡞࠸㸪
(b) ᡭඛࢆ࣐࣮࣮࢝௜㏆ࡲ࡛⛣ືࡉࡏࡿ㸪(c) ᡭඛ࡛ᕸᆅ
ࢆᢲࡋࡘࡅࡿ㸪(d)ᕸᆅࢆ⛣ືࡉࡏࡿ㸪࡜࠸࠺ᡭ㡰࡛ᕸᆅ
ࢆ᧯సࡍࡿ㸬ࣟ࣎ࢵࢺ࢔࣮࣒ࡣᗋ࡟᥋ゐᚋ㸪30mm ୪㐍
⛣ືࡍࡿ㸬ᕸᆅ࡜ᗋ࡜ࡢ㛫ࡢ㧗ࡉࡣ⣙ 165 mm ࡛࠶ࡿ㸬
⏬ീࡢ኱ࡁࡉࡣ⦪ 240pixle㸪ᶓ 320pixel ࡛࠶ࡾ㸪1 ⏬⣲
ࡢゎീᗘࡣ 0.428mm/pixel ࡛࠶ࡿ㸬1 ᅇࡢ⏬ീฎ⌮࡟ࡣ
࢟ࣕࣉࢳࣕࢆྵࡵ࡚⣙ 70ms ࡢ᫬㛫ࢆせࡋ࡚࠸ࡿ㸬ᅗ 5
࡟ฎ⌮⏬ീࢆ♧ࡍ㸬ᅗ࡟♧ࡍࡼ࠺࡟㸪⏬㠃ୖ࡟ࡣࣟ࣎ࢵ
ࢺᣦ࡟ࡼࡿࣀ࢖ࢬࡀᏑᅾࡍࡿ㸬ࡋ࠿ࡋ࡞ࡀࡽ㸪ᥦ᱌࢔ࣝ
ࢦࣜࢬ࣒ࢆ฼⏝ࡍࡿࡇ࡜࡛㸪࣐࣮࣮࢝ࡢ㔜ᚰ఩⨨ࡀᚓࡽ
ࢀ࡚࠸ࡿ㸬ࡇࡢ࣐࣮࣮࢝ࡢ㔜ᚰ఩⨨ࡣ㸪ࣃ࣮ࢸ࢕ࢡࣝࣇ
࢕ࣝࢱ࣮ࡢ⢏Ꮚࡢᖹᆒ఩⨨࡜ࡣ␗࡞ࡿࡇ࡜ࡀᅗࡼࡾ☜ㄆ
࡛ࡁࡿ㸬
࡜࡞ࡿ㸬ḟ࡟㸪ࣟ࣎ࢵࢺ࢔࣮࣒ࡢ㏫㐠ືᏛࡢᘧࡣ
ᅗ 3. ᐇ㦂⿦⨨
࡜࡞ࡿ㸬ࡇࡇ࡛㸪
(a)
࡜⾲ࡉࢀࡿࡇࡢ㏫㐠ືᏛࢆ⏝࠸࡚㸪ࣟ࣎ࢵࢺ࢔࣮࣒ࡢᡭ
ඛ఩⨨ࢆไᚚࡍࡿ㸬
ᮏヨ㦂ᶵ࡛ࡣ L1㸻68mm㸪
L2=68mm㸪
L3=49mm ࡛࠶ࡿ㸬
どぬࢭࣥࢧ࡟ࡣ BUFFALO 〇 BSW20K04 ࢆ㸪ไᚚ⏝
࣐࢖ࢥࣥ࡜ࡋ࡚ Arduino UNO (R3) ࢆ౑⏝ࡋࡓ㸬᧯సࡍ
ࡿᑐ㇟࡜ࡋ࡚↓ᆅࡢᕸᆅ࡛ᐇ㦂ࢆ⾜࠺㸬㯮࠸ᅄゅᙧࡢ࣐
࣮࣮࢝ࢆ฼⏝ࡍࡿ㸬ࡑࡢ኱ࡁࡉࡣ㸪࣐࣮࣮࢝ࡢ኱ࡁࡉࡣ㸪
－ 65 －
(b)
(d)
(c)
ᅗ 4. ᐇ㦂㢼ᬒ
ᅗ 5. ฎ⌮⏬ീ
ᅗ 6. Ỉᖹ⛣ື㊥㞳ࡢ᫬㛫᥎⛣
ᮏᐇ㦂࡛ࡣ㸪ᅗ 5 ࡢỈᖹ᪉ྥ࡟ࣟ࣎ࢵࢺᣦࢆື࠿ࡍ㸬
ࡋࡓࡀࡗ࡚㸪ࡇࡢᐇ㦂࡛ࡣࣟ࣎ࢵࢺᣦࡢ⛣ື᪉ྥ࣋ࢡࢺ
ࣝ࡜ࣟ࣎ࢵࢺᣦࢆᇶ‽࡜ࡍࡿ࣐࣮࣮࢝ࡢ఩⨨࣋ࢡࢺࣝࡢ
ྥࡁࡣ୍⮴ࡋ࡚࠸࡞࠸㸬ᅗ 6 ࡟࣐࣮࣮࢝ࡢỈᖹ⛣ື㊥㞳
ࡢ᫬㛫᥎⛣ࢆ♧ࡍ㸬ᅗ࡟♧ࡍࡼ࠺࡟㸪Ỉᖹ⛣ື㊥㞳ࡣ⣙
25mm ࡛࠶ࡿࡇ࡜ࡀศ࠿ࡿ㸬ࣟ࣎ࢵࢺᣦࡢỈᖹ⛣ື㊥㞳
࡜࣐࣮࣮࢝ࡢỈᖹ⛣ື㊥㞳࡟ᕪࡀࡳࡽࢀࡿࡢࡣ㸪ᕸᆅࡢ
ື࠿ࡋ᪉࡟ࡼࡿ㸬ᮏᐇ㦂࡛ࡣ㸪ࣟ࣎ࢵࢺᣦࡣᡭඛࡢ⛣ື
᪉ྥࡀỈᖹ࡟࡞ࡿࡼ࠺࡟⿵㛫ࢆ⾜ࡗ࡚࠸ࡿ㸬ࡋ࠿ࡋ࡞ࡀ
ࡽ㸪ᮏࣟ࣎ࢵࢺᣦࡣᖹ㠃㐠ື࡟ᑐࡋ࡚ 2 ⮬⏤ᗘࡋ࠿᭷ࡋ
࡚࠸࡞࠸ࡓࡵ㸪㐠ື୰࡟ࣟ࣎ࢵࢺ࢔࣮࣒ࡢᡭඛࡢゅᗘࡣ
ኚ໬ࡋ࡚࠸ࡿ㸬ࡘࡲࡾ㸪ࣟ࣎ࢵࢺᣦࡢ᥋ゐ఩⨨ࢆᨭⅬ࡜
ࡋ࡚ᕸᆅࡣᅇ㌿ࡋ࡚࠾ࡾ㸪᥎ᐃࡉࢀࡿ࣐࣮࣮࢝࡜ᡭඛࡢ
Ỉᖹ⛣ື㊥㞳ࡀ␗࡞ࡿ࡜࠸࠺⤖ᯝࡀᚓࡽࢀࡿ㸬ࡲࡓ㸪ᅗ 6
ࡢ 1s ௜㏆࡛㸪ᕸᆅࡀ⛣ືࡋ࡚࠸ࡿࡇ࡜ࡀ☜ㄆ࡛ࡁࡿ㸬ࡇ
ࢀࡣ㸪ࣟ࣎ࢵࢺᣦ࡜ᕸᆅࡀ᥋ゐࡋ㸪ᕸᆅࡀ⛣ືࡋࡓࡇ࡜
ࢆ⾲ࡋ࡚࠸ࡿ㸬ࡇࡢࡼ࠺࡟㸪࣐࣮࣮࢝ࡢ⛣ື㊥㞳ࡢ᫬㛫
᥎⛣ࡢࢹ࣮ࢱ࠿ࡽࣟ࣎ࢵࢺᣦ࡜ᕸᆅࡢ᥋ゐ≧ែࢆᢕᥱ࡛
ࡁࡿྍ⬟ᛶࡀ♧၀ࡉࢀࡿ㸬
㸬ࡲ࡜ࡵ
ᮏ✏࡛ࡣ㸪ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯సࢆ⏝࠸࡚ᕸᆅࡢ㛫
᥋఩⨨Ỵࡵືసࢆᐇ⌧ࡍࡿࣟ࣎ࢵࢺࢩࢫࢸ࣒࡟ࡘ࠸࡚㆟
ㄽࡋࡓ㸬ᮏሗ࿌࡛ࡣ㸪ᖹ㠃 2 ⮬⏤ᗘࢆ᭷ࡍࡿࣟ࣎ࢵࢺ࢔
࣮࣒࡟ᑐࡋ࡚㸪࣐࣮࣮࢝㏣㊧࢔ࣝࢦࣜࢬ࣒ࢆᐇ⿦ࡋࡓ㸬
ࣟ࣎ࢵࢺᣦ࡟ࡼࡿእ஘࡞࡝㛫᥋ྠ᫬఩⨨Ỵࡵ᧯స࡛ၥ㢟
࡞ࡿ඾ᆺⓗ࡞እ஘ࡀ࠶ࡿሙྜ࡟ࡶ㸪ṇ☜࡟࣐࣮࣮࢝ࡀ᳨
ฟ࡛ࡁࡿࡼ࠺࡟㸪ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮࡜ࣛ࣋ࣜࣥࢢ
ฎ⌮ࢆ⤌ࡳྜࢃࡏࡿࡇ࡜ࢆヨࡳࡓ㸬ᐇ㦂ࢆ㏻ࡋ࡚㸪(1) ᧯
సࡍࡿࣟ࣎ࢵࢺᣦ࡞࡝㸪࣐࣮࣮࢝࡟ᑐࡋ࡚ẚ㍑ⓗ኱ࡁ࡞
እ஘ࡀ⏬ീ୰࡟࠶ࡿሙྜ࡛ࡶ࣐࣮࣮࢝ࢆ㏣㊧ࡍࡿࡇ࡜ࡀ
࡛ࡁࡿ㸪(2) ࣐࣮࣮࢝ࡢ⛣ື㊥㞳ࡢ᫬㛫᥎⛣࠿ࡽ㸪ࣟ࣎ࢵ
ࢺᣦ࡜ᕸᆅࡢ᥋ゐ≧ែࢆᢕᥱ࡛ࡁࡿྍ⬟ᛶࡀ࠶ࡿࡇ࡜ࡀ
♧ࡉࢀࡓ㸬
ㅰ㎡
ᮏ◊✲ࡢ୍㒊ࡣ㸪ྂᕝᢏ⾡᣺⯆㈈ᅋ◊✲ຓᡂ㔠㸦ᖹᡂ
24 ᖺᗘ㸧࡟ࡼࡾᡂࡉࢀࡓࡶࡢ࡛࠶ࡿ㸬ࡇࡇ࡟ㅰពࢆ⾲ࡍ
ࡿ㸬
ཧ⪃ᩥ⊩
(1) ᰘ⏣⍞✑㸪ኴ⏣๛ኈ㸪ᖹ஭ៅ୍㸪
͆᦬ࡳ⁥ࡾືసࢆ฼
⏝ࡋࡓᕸᆅࡢᒎ㛤ືస͇
㸪᪥ᮏࣟ࣎ࢵࢺᏛ఍ㄅ㸪Vol.27,
No.9,(2009), pp.67-74
(2) S. Hirai, and T. Wada: “Indirect Simultaneous
Positioning of Deformable Objects with Multi
Pinching Fingers Based on Uncertain Model”,
Robotica, Vol.18, Issue 1, (2000), pp.3-11
(3) M. Shibata, T. Ota, and S. Hirai, “Wiping Motion
for Deformable Object Handling”, Proc. IEEE Int.
Conf. on Robotics and Automation, (2009),
pp.134-139
(4) ┦ᒣᗣ㐨, ✄ⴥ㞞ᖾ, ஭ୖ༤ඔ㸪
͆ࢢࣛࢫࣉࣞࢫ࣭࣐
ࢽࣆ࣮ࣗࣞࢩࣙࣥࡢ◊✲: ᧯సᙧែࡢศ㢮࡜ࣆ࣎ࢵࢺ
᧯సࡢᐇ⌧͇
㸪᪥ᮏࣟ࣎ࢵࢺᏛ఍ㄅ㸪Vol. 14㸪No. 1,
(1996),pp.114-121
(5) M. Isard, A. Blake,“CONDENSATIONConditional Density Propagation for Visual
Tracking”, Int. Journal of Computer Vision, Vol.29,
No.1, (1998),pp.5-29
(6) M.Shibata, “Marker Tracking for Indirect
Positioning During Fabric Manipulation”, The 3rd
Int. Conf. on Intelligent Robotics, Automations,
Telecommunication facilities, and applications,
(2013),pp.889-896
－ 66 －