Science,English,and math Ⅱ

【A sensor for a remote place】

《Property on the sensor for the remote place》

Besides the rebound on the supersonic and light are limited with an angle on the surface . Even if the surface is even , if the surface leaned , the reflection doesn’t return to the place where the emission was done .

When using the light like the infrared rays , the color of the material is related with the amount of the reflection . While a thing of which color is white reflects the light , the one of which color is black absorbs the light , so the amount of the reflection is little with regard to the black one.

Making use of the property , a robot which follows a black line in a white field has been made sometimes , but when detecting something the property on the color is disadvantageous .

《A prospect on the sensor for the remote place》

A thing which exceeds the limit for the sensor in which the light and supersonic wave is our visual ability . We’ve expected it . The visual ability which deals with …

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【A sensor for a remote place】

《A prospect for the sensor for the remote place》

The visual ability which deals with a three dimensional picture easily is an organ of vision on the human. There has been a trial of making the robot load with the visual ability .

However , even if we can make the robot load with a ccd camera , and succeed in taking in the situation around the robot as information , it’s hard for us to make the robot handle the picture as information . There are mixed pieces of information there .

Extracting the information alone which we need is very hard . As to the robot which moves , it has to deal with continuous picture one after another . Grasping the picture as plane one , or grasping the whole image quickly needs terrible ability of handling .

However detecting things which is classified with some patterns isn’t so hard , for the sensor has only to collate the picture with the fixed information . Actually if picking out a specific…

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【A contacting sensor】

《A simple instrument of turning on and off the switch has been a mainstream on a contacting sensor》

Actually if trying to find a specific color or a specific form its environment around the robot , an ability on an ordinary PC is enough . We don’t need the robot .

As its name shows , a contacting sensor is the one which makes contact with something and detects its existence . It’s different from the sensor for the remote place . Its characteristic is it is hardly influenced by the environment around it .

《A touching sensor》

One of typical contacting sensor is a touching sensor which detects something . It’s used for detecting an obstacle , or catching and taking off it . The sensor has been loaded with a pet robot frequently , then the pet robot can detect being touched or being patted by a person .

Unexpectedly a simple one on the mechanism for the touching sensor is mainstream . What is call a switch has been made use of as the touching sensor frequently …

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【A contacting sensor】

《A touching sensor》

What is called a switch has been made use of as the touching sensor frequently , the switch with turning on and off makes the robot recognize it touches something , especially the way of handling a projecting thing and the way of using a flexible electrical conductive film have been used in varied areas .

As to the former , when the projecting thing touches something , it goes down and the sensor is turned on . As to the latter , the flexible electrical conductive film transforms , the sensor works .

When wanting the sensor to cover a wide area , we increase the number of the switche , Increasing the number of the point and making use of it as plane .

Except for the contacting sensor of the structure of the switch , plenty of contacting sensor has been developed . There is the one in which the property on light has been taken advantage of .

Confining light in the glass , the sensor detects by touched something . Its shape resembles a …

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【A contacting sensor】

《A touching sensor》

Its shape resembles a fingertip , so we call it the touching sensor which loads the fingertip .

By the way I doubt whether or not the glass can confine to the light , but the glass is white and the light can’t pass through the glass .

When something touches the glass in which the light is confined , the part where being touched shines brightly . A sensor which recognize a picture detects the situation , and sends the robot the information on the touch .

《A pressure sensor》

When wanting to know how hard it is , we used a pressure sensor . Plenty of the pressure sensors are the ones which we take advantage of electric change by crookedness of a metal.

It’s indispensable for the robot which deals with both hard and soft things , but controlling the sensor is very hard .

There is a thing which we add a power too much breaks . The robot is poor at handling it . Neither the robot could hold an egg nor shake hands with a person until lately .

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【Controlling the feedback】

《It’s necessary and indispensable way of controlling for a robot which loads each sensor》

The robot which loads the sensor controls a feedback without exception . Controlling the feedback is the way of controlling information of which takes advantage efficiently from each sensor .

《Controlling the feedback》

We often compare the feedback to driving a car . When we try to drive a car , we make sure the situation on the road with our own eyes , and operate a steering wheel , brake , or shift a gear according to the situation on the road .

For example , if the road in front of us is curved to right gently , we make sure it with our eyes and cut the steering wheel to the right and handle the situation , and after that we return the steering wheel to the place where it is .

It’s a basic way of thinking on controlling the feedback . Making sure the situation , and taking into a proper action so as to achieve our goal according to the situation . After we …

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【Controlling the feedback】

After we achived our goal , if the situation changes , we take into action according to the situation . We deal with the changing situation by repeating it .

As to the robot , it makes sure the situation with its sensor , being based on the information ,it chooses a proper action .

When taking into action , if the situation changes , taking in new information from the sensor and taking into action according to the situation . The robot handles the changing situation by the repetition .

《Controlling the feed forward.》

Controlling the feed forward is antithetic to controlling the feedback . Without making sure the situation around it and taking into action , it acts, being based on the information which the robot has . It’s controlling the feed forward .

If comparing the way of controlling the feed forward to driving a car by a person , it is as if we drove with a blindfold . If having a right information , the robot won’t happen a self inflicted …

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【Controlling the feedback】

《Controlling the feed forward》

If having a right information,the robot won’t happen a self inflicted accident ,but it can’t handle an unexpected situation that a child runs out into a road ,but if adopting the way of controlling feed forward , the robot doesn’t have to make sure the situation around it , so it can take into action quickly .

We can make use of the combination of the feedback and feed forward . Memorizing the information by the feedback makes the robot action quick by the feed forward . There are plenty of robots which adopt the combination as one of learning function .

【Three general rules on robotic engineering】

1 The robot must not harm any people . It must not injure any people by overlooking the danger .

2 The robot must obey an order by a person , but if the order is against the 1 ,it isn’t applied for the robot .

3 As long as there is no feat that the robot is against the 1 and 2 , it must protect itself .

They are the three …

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【Three general rules on robotic engineering】

They are the three general rules on the robotic engineering . The ones who are engaged in the robotic engineering have been influenced by the three general rules .

Though it was written in a fiction 『I robot 』 by Isaac Asimov . The novel is his masterpiece , and the three general rules weren’t only written in the opening of the book , but plenty of writers on SF fiction have written a novel the three general rules .

The three general rules are so logic and are such the sound remarks that lots of people have supported them . Apart from that we can’t make the robot in accordance with the three general rules , we think we can lead our life with the robot which is accordance with the three general rules

However the three general rules aren’t always perfect . It has possibility of causing a contradiction , and Asimov showed us it humorously as material for the novel .

I’m going to express a robot arm which is high needs.

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【A robot arm which we need in various areas】

《Instead of a hand of the human , the robot arm can operate so much that it can take an active part in varied places》

There is no rule on a form of the robot , and lots of the robots are close to a creature in regard to its form , but we don’t have to make them look like the creature as long as they accomplish their purpose . As long as the form is suitable for the use , any kind of shape is all right .

The robot doesn’t have a fixed shape , but it seems that we’ve frequently seen the one which remind us of the arm of the human . It’s the robot arm . We sometimes call it a manipulator , but strictly speaking , the two of them aren’t the same one .

The manipulator is a machine which can operate each work and its shape resembles the arm of the human , on the other hand , the robot arm has an ability of judging for itsel to some extent .

Instead of the human , it's suitable to handle such the varied operation that we’ve frequently seen …

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【A robot arm which we need in varied areas】

《Instead of a hand of the human , the robot arm can operate so much that it can take an active part in various places》

Instead of the human , it’s suitable to handle such the varied operation that we’ve frequently seen the robot arm . As a result ,as to the place is accompanied by a dangerous situation if trying to do by the human , the robot arm has been taken advantage of positively there .

《The robot arm which operates in a dangerous place》

For example , let’s think of an operation in outer space . In the outer space where there is hardly influence on gravitation , we the human carry away a heavy thing for ourselves .

However the outer space which isn’t protected by surrounding like the earth is a risky place . Even a trivial error is a matter of life and death there , so the robot arm which can operate the same work as the human has been used .

There are lots of dangerous places for us to operate on the earth,though they aren’t …

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【A robot arm which we need in varied places】

《The robot arm which operates in a dangerous place》

There are plenty of places for us to operate on the earth , though it’s not as dangerous as the outer space .

The safety has been secured with a high possibility in a nuclear power plant ,but it has been demonstrated that it’s not always safe there with the form of an accident .

Instead of operating the work for ourselves,being worried about our own safety , we should develop the robot arm which is a substitute for the human and make use of it positively .

A place where a dangerous medicine is handled is the same . Preparing for the worst , the robot arm seems to have been taken advantage of often . In addition , the robot for operating in a high place like a wiring work has been developed , so we’ll come across it every day life in the near future .

《The robot arm which operates in a place which is close to us》

As to an example which isn’t indifferent to us , an introduction of …

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【A robot arm which we need in varied place】

《The robot arm which operate in varied place which is close to us》

As to an example which isn’t indifferent to us , an introduction of the robot arm has been examined for a field of welfare in which plenty of work force is indispensable .

It doesn’t always mean that instead of the human, the robot works as perfect autonomous type. It’s the robot arm which assists the human. It cares for the people with a remote control, or receiving direction from the people in the place and helping the people do a heavy labor.

As I've expressed before, the robot arm for a surgical operation has been in the step for a practical use. It is used so as to promote to cure a patient rather than a substitute for a person.

As to an surgical operation by the robot arm, its gaping wound becomes so small that to the days when getting out of the hospital is short. Needless to say, instead of the robot arm itself operating, a doctor does.

In short, the robot arm …

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【A robot arm which we need in varied places】

《The robot arm which is operated in various places and is close to us》

In short, the robot arm has been made use of as high advanced medical instrument . The surgical operation from a remote place may have been done in the future .

Instead of going to a doctor who has a high technical profession, a patient will be able to receive an operation or a diagnosis in a medical institution where there is little burden for the patient in the near future.

【The structure on the robot arm】

《While being aiming at the same function as the human, an original structure has been developed》

The arm of a human is the model for the robot arm. Its ultimate goal is flexibility on the arm of the human and realization of general purpose of being able to take advantage of various works.

However as long as it’s not used as artificial hand, it doesn’t have to be the same structure as the arm of the human. Needless to say, it isn’t hard to make the structure …

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【The structure on the robot arm】

《While being aiming at the same function as the arm of the human, an original structure has been developed》

Needless to say, it isn’t hard to make the structure close to the arm of the human on the function, but it’s different from the arm of the human which moves unconsciously, it has a shortcoming that we have to control every movement on the robot arm consciously.

Without being the structure we can control easily as much as possible, we can't operate any works smoothly .

《How much do we allow the robot to give its movement on the joints?》

The robot arm which operates on behalf of us the human has the most important condition . How much do we allow the robot to give its movement on the joints? It means the number of direction that the robot arm can move its joints.

The more the joints, the more the movements, and the more flexible its movements become,and the harder to control it. As to the robot arm which operates on behalf of us the human,it …

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【The structure on the robot arm】

《How many joints do we allow the robot to give its movements?》

As to the robot which operates on behalf of us the human, it needs six joints at least which moves . The arm of the human has seven, but if having six, it can catch a thing like the arm of the human.

As to the structure on the joint, the robot arm doesn’t have to be the same as the arm of the human. The structure on the multijoints of being able to bend or rotate like the arm of the human is being able to be move delicately.

On the other hand its control becomes harder, so when trying to achieve the movements of six direction of the joints, increasing the joints of slide type which we can control easily.

By the way, I've expressed the joints of slide type which we can control easily, I’m not sure of it in details. I've tried to examined it with the internet,but to my sorrow, it’s too hard to understand. If you’re interested in it, please search for it for yourself.

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【Multifingered hand device】

《While it's suitable for grasping various things,it’s hard to control it》

A hand is equipped to the robot arm so as to deal with a work. One of them is multi fingered device which has some fingers. If making the robot have a function which is close to the human, flexibility on its movements is close to the human.

When comparing the multifingered hand with other structure on the hand, it’s close to the human,so we can make it have general purpose.

《Characteristic on the multifingered device》

If equipping the multiple fingered device,without being tied to its shape and material, the robot arm can handle lots of things. Equipping a sensor to the finger tip of the multiple fingered device, when grasping the things the robot arm investigates the material of ther thing,and it can examine how much friction is caused by the catch.

The robot arm can change the way of catching with the investigation. It can carry out an action of grasping accompanying slide…

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【Multi fingered device】

《Characteristic on the multi fingered device》

The robot arm can carry out an action of grasping, accompanying a slide action intentionally, and it can grasp it again.

When expressing the multi fingered device, it seems the best for the robot arm, but the way of controlling is so hard that it prevents us from putting to practical use.

As to the sensor which is loaded to the finger tip,we need a smaller one with high advanced performance.

A finger has plenty of joints,the more finger, the harder to control them. We the human catch a thing easily, but if trying to make the robot do the same thing, we need plenty of technical skills and devices.

《Proper number on the finger》

As to the multiple fingered device, the more the number of the fingers, the more it can deal with various things.

For example, if the robot arm has plenty of fingers like a sea anemone イソギンチャク, it must have grasped a thing of every shape exactly, though its size and weight are limited.

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【Multi fingered device】

《Appropriate number on the finger》

On the other hand, the multi fingered device which doesn’t have lots of fingers has a proper use. It’s grasping a small thing.

It is thought the way of using a pair of chopsticks is suitable for its use. Dexterous 器用なmovement as if we handled a pair of chopsticks,grasping an azuki bean with a pair of chopsticks one by one and carry it to the plate.

The right way of using the pair of chopsticks is fixing one of pair of the chopsticks and moving the other according to the nature of the thing which we try to catch.

When trying to control the multi fingered device which doesn’t have lots of finger,it is easy to handle,and is efficiency.

【Adactyly 無指 hand】

《It lacks general purpose,but it has high reliability for grasping under a fixed condition》

There is the multi fingered device which catches a thing with its fingers, there is adactyly which doesn’t have any fingers. Both of them are loaded to the tip of the robot arm…

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【Adactyly 無指 hand】

《It lacks a general purpose,but has high reliability under a fixed condition》

Both of them are loaded to the tip of the robot arm,and catch a thing,but the adactyly make much of the reliability more than the multi fingered device.

《Classification on the adactyly》

Without having any finger, there are some ways of catching a thing,and the adactyly which adopts a vacuum adhesive pat has been used frequently until at present.

The thing which it can catches is limited, but without giving any damage, it can move it.

The robot arm in a space shuttle which was operated by a Japanese astronaut was the adactyly. The way of grasping a thing is suitable in the outer space where being able to move a thing with small power,and the reaction of the power have influenced greatly.

However,as to the way of grasping the thing,it has to fit up to a shaft to the thing it catches. In short,without being fit up to the shaft,it can’t grasp it. Almost all of the adactyly have some …

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【Adactyly 無指 hand】

《Classification on the adactyly》

Almost all of the adactylit’s have some limits to the thing which the adactyly tries to catch even if it has any kind of way of grasping. Saying in other words, as long as the thing which adactyly tries to catch fits the limit, it has reliability that it can catch all kinds of thing.

As a point of view on general purpose, the adactyly is antithetic to the multi finger device.

【Multi functional hand】

《Without being close to a person’s hand, equipping some functions which are appropriate to some works》

Main purpose on both the multi fingered device and the adactyly is catching and moving,though two of their forms are different.

Except for the actions, the multi fingered hand can operate various works,but what it does doesn’t surpass the ability of a person.

The goal on the multi functional hand isn’t substitute for a hand of a human itself. Instead of grasping a thing,its main purpose is processing it,so the one to which some …

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【Multi functional hand】

《Without being close to a person’s hand, equipping some functions which are appropriate to some works》

Instead of grasping a thing, its main purpose is processing it, so the one to which is fixed up an instrument at the tip of the robot arm is a special hand, and the multi functional hand can change its manner of using to suit the occasion.

《Changing manner of using the special hand》

Roughly speaking, the changing manner of using the special hand is two.

The one is setting a disc on the robot arm,and some instruments are fixed up on the disc,but the it’s limited to install the single special hand alone,and the number of the instrument are also limited,but when working and one instrument doesn’t fit for the work, we can change other instrument on the special hand there at once according to the situation.

In an operation in which several kinds of instruments are necessary, the robot arm which has the functional hand is suitable for the operation.

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【Multi functional hand】

《Changing manner of the special hands》

The other is changing manner of using several special hands by a structure for moving or removing. Equipping the structure for moving or removing in which electro magnetic is adopted is used at the tip of the robot arm,so we can install the special hands of which standard is the same easily.

A mechanical lock is equipped and it prevents the special hand from removing. It seems that we need a complicated apparatus on the robot arm so as to control the special hands,for we have to different works with the special hands.

However, it’s just that the robot arm sends the special hands an energy for operating. Actual operation is done by the special hands,so the robot arm does the same operation altogether,but it can change manner of using several number of the special hands.

If there is a demerit on the special hands, whenever we want to do other operation with them,we have to change the special hand to other one.

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【Multi functional hand】

《Changing manner of using the special hands》

In addition,we have to stop the operation once and to move the robot arm to the place where there is a robot hand which we need.

If wanting to change the manner of using the special hands alone,we don’t have to use the robot arm of the special hands. There is a way of preparing for the robot arm which has several different special hands.

Controlling all the different special hands by a single person may be hard,but there are some number of operators who deal with the special hands, even if there are complicated operations,the operations will be able to be done efficiently.

【Operation for the robot arm】

《Main way of operating it is done by two joysticks》

There isn’t fixed any rule on the operation of the robot like driving a car,for the robot is develpoping,and an easier instrument of operating the robot has been searched at present, but there is a way of operating robot which has been made use of in vary areas.

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【Operation for the robot arm】

《Main way of operating it is done by two joysticks》

The joystick has been taken advantaged of in an arm robot which is loaded in a space shuttle. We make use of two control sticks called joy sticks. They are equipped both on the left and right.

《Operation by the joysticks》

As to the operation by the joysticks, We decides the location of the tip on the robot arm with the left one, and we operate the finger tip of the robot arm with the right one.

The operation by the combination of the two joysticks shows the robot arm various directions. If adopting the way of using the joysticks, its operator has to be trained enough so as to operate the robot arm well.

As Japanese astronaut,Wakata has been evaluated highly on the technical skill for operating the robot arm, the ability of the operator reflects on the operating efficiency as it is. It’s a characteristic for the way of using joysticks.

《To easier way of using operation system》

If it’s the robot …

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【Operation for the robot arm】

《To easier way of using operation system》

If it’s the robot which operates works with technical skills, it’s just that we have only to train a skillful operator,but if considering taking advantage of the joystick everyday life,it doesn’t seem the operation by the joystick isn’t suitable.

Without having special knowledge,or without being good at handling a machinery,without being able to use an instrument,we can’t deal with the robot arm easily every day life.

Therefore,a way of setting up a sensor to a human’s hand and operating the robot arm by the movement of the hand has been developed.

If adopting the way,we have to know some ways of operating the robot arm,but it won’t take much time until we can handle the robot arm. It doesn’t need for special knowledge on the machinery so much.

As long as we can fix up the senfor accurately,everyone learns to make use of the robot arm at ease. As to easy way of setting the sensor easily,there is a way using…

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【Operation for the robot arm】

《To easier way of adopting operation system》

As to an easy way of setting the sensor to a hand,a cyber glove has been considered. Its shape is like an ordinary glove. The sensor is incorporated into the glove. If wearing the glove, we can operate the robot arm. It will decrease the burden from the operator.

【A remote control】

《Realization of the remote control is important for a robot which has a possibility of taking an active role close to us.》

Lots of people have been interested in the remote control for the robot lately. Its big factor is the robot can operate in even a danger place for us the human,but the robot arm has other strong point.

If comparing the robot arm with a hand of a human,it’s in no way of inferior to the hand of the human,so we’ve expected it’ll take an active role close to us on behalf of the human.

《A strong point for the remote control on the robot arm》

We think of caring for or medical treatment at home by specialists …

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【A remote control】

《Strong point for the remote control on the robot arm》

We’ve thought of caring for or medical treatment at home by specialists at a distant place. With an aging society neat at hand, we’ve sincely hoped to enrich a nursing or the medical treatment at home.

However if dispatching the specialists each home actually,the number of the specialists aren’t enough,and we can’t ignore the expense for their movement,so it is considered a nursing and medical treatment by the remote control of the robot arm.

Broad band has been made use of for the remote control. The broad band is a communication circuit of large amount of capacity with high speed.

If using the robot arm of a bilateral way,combination with a TV monitor, high advanced operation is done by the robot arm. Bilateral means both sides. The feeling of a patient is sent to the one who cares for the patient with the bilateral way.

《A problem on the remote control》

As to the problem on the remote control is …

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【A remote control】

《A problem on the remote control》

As to the problem on the remote control is difference on the time between the actual movement of the robot and directions by an operator. The farther its distance is, the more its time passes,so the difference between two of their time becomes bigger.

If doing the operation by the internet,its problem becomes bigger. When controlling the robot arm for the outer space through an communicating satellite,the problem is the same.

If there is difference on the time between the direction and the movement,the robot can't only operate smoothly, and it’s hard for the robot to grasp a thing,if it isn’t fixed.

A way of controlling bilateral by foreseeing is considered a solution for delaying time on the communication.

Instead of making sure of a result of the movement on the robot arm with a monitor, when operating,the operator watches a picture of three dimension in which the result of the movement on the robot arm is simulated.

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【A remote control】

《A problem on the remote control》

The way makes the operator feel its operation smooth,but in this case,the robot need autonomous knowledge to some extent.

For example,if there is possibility of colliding with something,the robot arm reduces its speed in order to avoid the collision automatically. That kind of efficiency is needed.

When operating wih a cooperation of some robot arms,if they have the autonomous ability of avoiding the danger,the ability will be able to prevent the robots from causing an accident.

【A problem on an operation in the outer space】.

《There is no gravitation and being unable to fix anything in the outer space,so there are plenty of problems on making use of the robot arm》

With a launching of an artificial satellite,a Sputnik 1,by the Soviet Union in 1957, the space development has brought us plenty of scientific data on essence and origin of the solar system and the cosmos.

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【A problem on an operation in the outer space】

《There is no gravitation and being unable to fix anything in the outer space,so there are lots of problems on making use of the robot arm there》

At the same time,plenty of the artificial satellites which are about to fall pieces have been left on the orbits,and they are obstacles for other man–made satellite which will be launched in the future.

The wreck like those artificial satellites which don’t work is called space debris,and there is a possibility that they may collide with a space station of which building has already started.

The wreck goes around the orbit so fast that even if it’s even a small fragment,there is a dangerous possibility of causing a serious accident.

The robot arm which takes an active role in the outer space isn’t only made use of building the space station,of inspecting and repairing the artificial satellites,but of excluding the dangerous things like the space debris.

If we recognize a thing which we …

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【A problem on the operation in the outer space】

《There is no gravitation and being unable to fix anything in the outer space,so there are lots of problems on taking advantage of the robot arm there》

If we recognize a thing with which we deal,handling it isn’t so hard,otherwise there are lots of problems waiting for us.

One of problems is free rotating movement for a thing which we handle. Even if it looks the debris on the orbit as if it stood still there from the ground on the earth, its cycle of rotating is in harmony with the rotation of the earth,so the debris goes on moving with complicated rotation.

Without being able to foreseeing its movement,the robot arm can’t catch it. Besides, the robot arm needs to predict its weight and material to some extent.

The second problem is the power of reaction from the robot arm and occurrence of reaction force. The robot arm on the ground of the earth is fixed anywhere,so when moving,the robot arm isn’t influenced by the reaction power.

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【A problem on the operation in the outer space】

《There is no gravitation and being unable to fix anything in the outer space,so there are lots of problems on taking advantage of the robot arm there》

On the other hand,a space ship or a space station where the robot arm is fixed up is the one which floats in the outer space. They aren’t fixed anywhere,so the reaction power from the movement of the robot arm has influence on the location or the position for the space ship or the space station direct.

As a result,the robot arm has to possess ability of restraining its reaction power.

When moving the robot arm in the outer space,there is the third problem,it’s a touching way when it tries to grasp a thing in the outer space.

Without being able to touch it skilllfully,and without getting the difference between the speed and direction of the robot arm and the thing smaller gradually,there is fear that the thing will be apart from the robot arm by the touching shock.

If worst come to…

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【A problem on the operation in the outer space】

《There is no gravitation and being unable to fix anything in the outer space,so there are plenty of problems on making use of the robot there》

If worst come to worst,the robot arm may be broken.

It seems that the outer space is fairly close to us,accompanying by development on the technical skill in recent years,but as a failure of launching a rocket shows us, the existence of the cosmos is far away from us.

When launching a rocket or putting the robot arm in the outer space,we find it hard to repair or exchange their parts. In short,even if it’s in a severe circumstance like outer space,the robot arm needs a durability which stands for a long time.

『R2–D2』

The R2–D2 is a robot which has three legs and appears in a SF film,Star Wars which describes a long battle between a bad force in the empire and a rebel army which opposes the empire.

Its first film was shown in 1977,since then lots of fan of the film were born,and the R2–D2

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『R2–D2』

Lots of fans of the film were born since 1977, and the R2–D2 is the robot which appears through the first film to the fourth one.

By the way,I have little knowledge on the film,and the book on the robot which I’ve expressed seems to be written in the time the fourth film was shown. It’s around 2000,and after that I don’t know almost anything on the movie.

To return to my main topic,I’m going to start again.

In the first film,the R2–D2 played an important role. The princess of Leia in the rebel army entrusted the robot a plan for a strong weapon. She was captured,and R2–D2 was passed from one person to another,and finally belonged to the hero,Luke Skywalker.

Then from that time,his adventure has started.

As you know,other humanoid robot,C–3PO appears in the film,but it seems that it isn’t as popular as the the R2–D2. It can understand the language of the human,so it’s different from the R2–D2 which can’t understand the language. And it can take into action like a person…

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『R2–D2』

And it can take into action like a person,but it isn’t as popular as R2–D2. Why?

R2–D2 played an important role in the film,so it’s more popular than C–3PO,but we can see a kind of our expectation to the robot is half hidden there.

C–3PO is high advanced as robot,but it’s very common as human. We can’t see anything special of which ability surpasses the human in C–3PO. We the human want something wonderful which we don’t have,and may be attracted by it,

By the way the series of the film,Star Wars goes on at present. What kind of conspicuous activity does the robot show us?

The author ended his column like that,but I’m not sure whether or not the film goes on at present. If it’s over,I’m sorry for it. I’m going to start a new chapter,a structure on the movement for the robot.

【The structure on movement for the robot】

《There aren’t any almighty implement on the movement for the robot,so we change the manner of using according to the situation》

The robot didn’t used to…

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【The structure on movement for the robot】

《There aren’t any almighty implements on movement for the robot,so we change manner of using according to situation》

The robot used to be adopted in a limited place like a factory as industrial one,so we hardly need the structure on movement for the robot. The only one which was equipped the structure on movement was the robot which carried materials.

However,with increasing a place where the robot plays an active part, the importance of the structure on movement has increased. The structure on movement has been indispensable in order that the robot works efficiently in an extreme situation for the human where there is lots of dangerous things or that the robot works at the place which is close to us.

The structure on movement which spreads its its radius of action has been necessary.

《Various structure on movement》

It is a way of walking with its own two feet which has been paid attention than any other way at present.

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【The structure on movement for the robot】

《Various structures on movement》

The way of walking with its own feet needs such a very advanced technical skill for controlling the robot that we’d doubted whether or not its realization came true until lately,but the appearance of the robot which walks with its own two feet makes us feel it’s not a fantastic story.

As to the robot which walks with its own two feet,we hope it takes an active role in our environment where the human being who walk with its own two feet,but the way of walking with its own feet isn’t always almighty.

When moving in a huge place outdoor, the way of moving with a wheel is more suitable. It has been used for vehicle like a car,and it has been completed technically,so controlling it is easy.

Its moving speed is enough,if using in a leveled land of a city,it can take into action enough. Even if it’s not the leveled land,without any big obstacle, a way of using crawler of which caterpillar is wound around the …

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【The structure on movement for the robot】

《Various structure on movement》

Even if it’s not the leveled land, as long as there isn’t any big obstacle,a way of using a crawler of which caterpillar is wounded around the wheel is adopted. The way of using the crawler has been adopted for car which is used in an agricultural land, construction site or snow road.

It’s established technical skill like an ordinary running way with a wheel,and there is high reliability for it.

In a wasteland or a place where there are lots of obstacles,a way of walking with multi feet is suitable. The longer the feet, the easier we can overcome the obstacle,a valley or a bump.

If using the way of walking with own two or three feet,it’s hard for it to keep its balance in the unleveled land,but if it’s multi feet which is by far more than two or three feet,it can keep its balance,even if some feet are in the air…

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【The structure on movement for the robot】

《Various structure on movement》

…even if some feet are in the air,it can keep its balance with its other feet on the ground. For example,in a big city which was collapsed immediately after a big earthquake,it can move at will there.

《The structure on movement in the future》

We’ve expected greatly that the way of walking with no foot with a view of point that it can move at will even if it falls into every kind of hard situation,though it has never been completed technically.

For example,as to the robot which moves as if it were a snake, as long as there is a small space for its head,it can pass through debris and obstacles,and reach the inner part.

If we can imitate the structure on movement for the snake completely,the robot will be able to slide up on to a electric light pole or a tree. Even in a marshy place or sandy soil where our feet are likely to sink, it may be able to move as if it slided.

As to the same way of walking with no…

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【The structure on movement for the robot】

《Various structure on movement》

As to the way of walking with no feet,the way of moving of a worm has been examined.

When thinking up the structure on movement for the robot,we’ve frequently referred to the movement of an insect,but it doesn’t always mean that we adopt its way.

For example,there is a way of hybrid which adopts two ways of moving at the same time. If using the way, we can match a wheel and multi foot,and change manner of using according to the situation.

【A driving way of using wheels】

《A number of wheels changes a way of using and the degree of difficulty》

Speaking of a driving way of using wheel, while a four–wheeled vehicle occurred to us,the driving way of using wheel which has been used more than any other one is using two wheels,and each wheel is driven by different motors.

《The driving way of using two wheels》

The reason why the driving way of using two wheels is we can control it easily. We can make both the …

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【A driving way of using wheels】

《The driving way of using two wheels》

We can make both of each left and right wheel drive with different motors,so when changing a direction on rotation of the wheel,we can make the driving way of using two wheels go forward,back,turn right or turn left at will.

By the way, the driving way of using two wheels is the one like the next,according to the illustration on the book.

Roughly speaking its body is a rectangular parallelepiped 直方体 and two wheels are put each side. When making each wheel rotate opposite direction each other, it can circle,so it can easily make sharp turns. As a result it can change its direction even in a small space.

As it adopts the two wheels,so its body is compact, and it’s one of strong points.

On the other hand,keeping its balance is hard,though its balance is influenced by its height. When moving slowly, there is almost no problem,but when moving quickly,its body inclines backward.

When accelerating suddenly,if worst…

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【A driving way of using wheels】

《The driving way of using two wheels》

When accelerating or braking suddenly,if worst come to worst,there is a feat that it overturns. There is a way of avoiding overturning. Setting a safety wheel of which shape is ball prevents it from overturning,but we can’t deal with the sudden change of the speed with the safety wheel enough.

《The driving way of using four wheels》

If adopting the driving way of using four wheels like a car, the shortcoming of the driving way of using two wheels on its balance is overcome.

If changing its structure into the one which is used for a race,it can move with high speed,but when changing its course,it can’t do as quickly as the driving way of using two wheels.

The driving way of using four wheels is controlled by front wheels,so it can’t circle there on the spot,and its control has to be changed according to its speed,so its control is harder than the driving way of using two wheels.

There is other way on the…

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【A driving way of using wheels】

《The driving way of using two wheels》

There is other way on the driving way of using four wheels. It’s four wheel drive 四輪駆動,but it’s different from the one which is used for an automobile. When changing course, it changes the direction on rotation of the wheels like the driving way of two wheels.

Controlling it is easy,but it can't make sharp turns there on the spot,but as to its power and speed,it’s better than the driving way of using two wheels.

《The driving way of using six wheels》

A rover which was used for a probe in the Mars is six wheel drive which is an extension of the four drive wheel. A suspension which makes some tires touch on the ground at least is used for the suspension,so even if it’s in an uneven place,it didn’t lose its drive 駆動力. We call it the structure of Rocker Bogie.

As to its structure,I can’t express it with my poor English,but its moving image is shown in YouTube ,so if you’re interested in it, please look at it.

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【A driving way of using wheels】

《The driving way of using six wheels》

The car with six drive wheel doesn’t go into a small space,so the six drive wheel which can’t make sharp turn easily is all right.

There is other type. Though it’s the same driving way of using six wheels,its center two wheels alone work,and other four wheels are used as safety tires. It’s basically the two drive wheel,so its mobile efficiency that it can turn easily turn sharp is made full use of.

There are four safety tires both front and back in the six drive wheel, so its whole body becomes big, but its balance is steady,so it can stand the change of its speed to some extent.

【The driving way of using a crawler】

《A caterpillar is used for the driving way. It can move in an uneven land easily》

It’s called a moving car with a caterpillar. Covering some tires with a belt can get a wide grounding 接地 area. We can handle some wheels covered with the belt as single wheel,so its control is almost as same as the …

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【The driving way of using a caterpillar】

《The caterpillar is used for the driving way. It can move in an uneven land easily.》

We can handle some wheels covered with the belt as single wheel,so its control is almost as same as the two drive feel.

The typical one on the driving way of using the crawler is a tank. It can move in uneven place at will,and when rotating each of the left and right crawler in different direction,it can circle there on the spot.

《A strong point on the driving way of using the crawler》

The driving way of using the crawler has been made use of in a truck and automobile which are close to us.

When driving up a steep slope,or a snowy road,the driving way of using the crawler is suitable. The four drive wheel is also all right,but as to the stability,the driving way of using the crawler is by far better than the four drive feel.

The characteristic on the driving way of using the crawler has become more promising as structure on movement for the robot which…

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【The driving way of using a crawler】

《A strong point on the driving way of using the crawler》

The characteristic on the driving way of using the crawler has become promising as structure on movement for the robot which takes an active role in the uneven land.

Other structure is sometimes efficient,but the driving way of using the crawler is a kind of driving way of using wheels,and it’s completed technically,so its control is so easy,so the ones who are engaged in the robotics engineering find it promising.

《Variation on the driving way of using the crawler》

In addition to the driving way of using the crawler,loading arms which assists the driving way of using the crawler has been considered. When going up on the steep slope, the operator uses the arms as if the arms touched on the ground.

When looking at the illustration on the driving way of using the crawler which is loaded with arms,the illustration occurred to me a crab,and the book says they are arms but they look legs…

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【The driving way of using the crawler】

《Variation on the driving way of using the crawler》

…and the book says it’s an arm,but it looks like a leg rather than the arm. The leg has a joint,and it’s stretched to the ground. The whole shape of the driving way of using the crawl looks like M, a capital letter of alphabet. When walking the M is distorted.

Touching on the ground with the leg is a trial of supporting the weight of the robot as much as it can. When operating,we can use the leg,and if putting into a practical use for the way,changing direction on the slope is possible.

We need to arrange the movement between the leg and the crawler,and controlling them are hard though. There has been other trial of changing the shape of the crawler itsel into other one according to the geographical feature and the surface of the road,trying to realize an efficient movement.

When looking for a person who is pinned under a debris,or searching in a building which has a fear of collapsing, if…

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【The driving way of using the crawler】

《Variation on the driving way of using the crawler》

When looking for a person who is pinned under a debris or searching in a building which has a fear of collapsing, if changing the size,height,or width of the crawler into other ones by transformed it, it’ll be useful. The one who is engaged in the robotics engineering seems to have an idea like that.

【A moving way for all directions.】

《If forming a single tire with some tires,it becomes the one which moves in all directions》

The moving way for all directions is a moving structure which can move forward,backward,left,or right as its position remains.

When changing course in an automobile, we usually change a direction of the vehicle,but as to the moving way for all directions,when facing the front,keeping its position,it can move back,left,or right with the same speed and same power of moving forward.

We don’t need only the way of controlling it but the structure for moving without…

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【A moving way for all directions】

《If forming a single tire with some other tires,it becomes the one which can moves for all directions》

We don’t need only to control it but but the structure which moves forward,backward,left,and right without changing direction of the vehicle so as to make possible the moving way for all directions.

When trying to move with an ordinary tire,we can move forward and backward by changing direction of the rotation on the tire,but we can’t move both for left or right. Then we have to turn the direction of the tire either left or right. In short we have to change a course.

If using the tire of moving way for all directions, we can go ahead,go backward,move to right or left without changing the direction of the car.

《Give up!》

What is called オムニ wheel has been used for the tire which moves for all directions more than any other one.

To my sorrow,I can’t express on the moving way for all directions any more,for it’s too hard to understand.

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