Hibikino-Musashi@Home 2023 Team Description Paper

This paper describes an overview of the techniques of Hibikino-Musashi@Home, which intends to participate in the domestic standard platform league. The team has developed a dataset generator for the training of a robot vision system and an open-source development environment running on a human support robot simulator. The robot system comprises self-developed libraries including those for motion synthesis and open-source software works on the robot operating system. The team aims to realize a home service robot that assists humans in a home, and continuously attend the competition to evaluate the developed system. The brain-inspired artificial intelligence system is also proposed for service robots which are expected to work in a real home environment

Fundamental study on countermeasures against subharmonic vibration of order 1/2 in automatic transmissions for cars

In automatic transmissions for cars, a damper is installed in the lock-up clutch to absorb torsional vibrations caused by combustion in the engine. Although a damper with low stiffness reduces the torsional vibration, low-stiffness springs are difficult to use because of space limitations. To address this problem, dampers have been designed using a piecewise-linear spring having three different stages of stiffness. However, a nonlinear subharmonic vibration of order 1/2 occurs because of the nonlinearity of the piecewise-linear spring in the damper. In this study, we experimentally and analytically examined a countermeasure against the subharmonic vibration by increasing the stages of the piecewise-linear spring using the one-degree-of-freedom system model. We found that the gap between the switching points of the piecewise-linear spring was the key to vibration reduction. The experimental results agreed with results of the numerical analyses

Fundamental study on countermeasures against subharmonic vibration of order 1/2 in automatic transmissions for cars

In automatic transmissions for cars, a damper is installed in the lock-up clutch to absorb torsional vibrations caused by combustion in the engine. Although a damper with low stiffness reduces the torsional vibration, low-stiffness springs are difficult to use because of space limitations. To address this problem, dampers have been designed using a piecewise-linear spring having three different stages of stiffness. However, a nonlinear subharmonic vibration of order 1/2 occurs because of the nonlinearity of the piecewise-linear spring in the damper. In this study, we experimentally and analytically examined a countermeasure against the subharmonic vibration by increasing the stages of the piecewise-linear spring using the one-degree-of-freedom system model. We found that the gap between the switching points of the piecewise-linear spring was the key to vibration reduction. The experimental results agreed with results of the numerical analyses