記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2023.2a1-g02

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s10015-022-00826-y

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その他リンク： https://link.springer.com/article/10.1007/s10015-022-00826-y/fulltext.html

記述言語：日本語   掲載種別：研究論文（国際会議プロシーディングス）  

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掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/ijcnn55064.2022.9892864

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1142/s2424905x22410045

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出版者・発行元：MDPI AG  

<jats:p>Three-dimensional space perception is one of the most important capabilities for an autonomous mobile robot in order to operate a task in an unknown environment adaptively since the autonomous robot needs to detect the target object and estimate the 3D pose of the target object for performing given tasks efficiently. After the 3D point cloud is measured by an RGB-D camera, the autonomous robot needs to reconstruct a structure from the 3D point cloud with color information according to the given tasks since the point cloud is unstructured data. For reconstructing the unstructured point cloud, growing neural gas (GNG) based methods have been utilized in many research studies since GNG can learn the data distribution of the point cloud appropriately. However, the conventional GNG based methods have unsolved problems about the scalability and multi-viewpoint clustering. In this paper, therefore, we propose growing neural gas with different topologies (GNG-DT) as a new topological structure learning method for solving the problems. GNG-DT has multiple topologies of each property, while the conventional GNG method has a single topology of the input vector. In addition, the distance measurement in the winner node selection uses only the position information for preserving the environmental space of the point cloud. Next, we show several experimental results of the proposed method using simulation and RGB-D datasets measured by Kinect. In these experiments, we verified that our proposed method almost outperforms the other methods from the viewpoint of the quantization and clustering errors. Finally, we summarize our proposed method and discuss the future direction on this research.</jats:p>

DOI： 10.3390/app12031705

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その他リンク： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-20K19894/

掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jaciii.2021.p1011

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担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/ISMR48346.2021.9661566

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その他リンク： https://dblp.uni-trier.de/db/conf/ismr/ismr2021.html#MatsunoMKMSMH21

担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s10015-020-00603-9

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jrm.2020.p0692

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s00330-019-06477-1

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s00330-019-06409-z

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/JOE.2018.2871651

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本コンピュータ外科学会  

<p>We are developing a CT-guided needle insertion robot for the purpose of reducing physician exposure dose. Automatic needle insertion will help a physician because it is a little difficult for unskilled operators to control the robot manually. In this paper, we propose a control law to realize full automatic needle insertion for a CT-guided needle insertion robot. In the control law, speed to insert a needle is given based on the result of our observation on the animal experiment. We found that the number of corrections increases as the needle approaches the target in a robotic needle insertion controlled by a physician. We propose the idea that needle insertion velocity decreases exponentially. The effectiveness of the control law is verified by a simulation experiment in which the needle start at having offset to the target trajectory. As a result, the robot in the simulation environment achieves to reach the target point by decreasing its puncture speed as the needle approaches the target.</p>

DOI： 10.5759/jscas.22.14

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その他リンク： http://search.jamas.or.jp/link/ui/2020210402

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s10846-018-0970-x

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s00773-018-0586-7

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記述言語：英語   出版者・発行元：OKAYAMA UNIV MED SCHOOL  

Since 2012, we have been developing a remote-controlled robotic system (Zerobot®) for needle insertion during computed tomography (CT)-guided interventional procedures, such as ablation, biopsy, and drainage. The system was designed via a collaboration between the medical and engineering departments at Okayama University, including various risk control features. It consists of a robot with 6 degrees of freedom that is manipulated using an operation interface to perform needle insertions under CT-guidance. The procedure includes robot positioning, needle targeting, and needle insertion. Phantom experiments have indicated that robotic insertion is equivalent in accuracy to manual insertion, without physician radiation exposure. Animal experiments have revealed that robotic insertion of biopsy introducer needles and various ablation needles is safe and accurate in vivo. The first in vivo human trial, therefore, began in April 2018. After its completion, a larger clinical study will be conducted for commercialization of the robot. This robotic procedure has many potential advantages over a manual procedure: 1) decreased physician fatigue; 2) stable and accurate needle posture without tremor; 3) procedure automation; 4) less experience required for proficiency in needle insertion skills; 5) decreased variance in technical skills among physicians; and 6) increased likelihood of performing the procedure at remote hospitals (i.e., telemedicine).

DOI： 10.18926/AMO/56370

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

Nowadays, autonomous underwater vehicle (AUV) is playing an important role in human society in different applications such as inspection of underwater structures (dams, bridges). It has been desired to develop AUVs that can work in a sea with a long period of time for the purpose of retrieving methane hydrate, or rare metal, and so on. To achieve such AUVs, the automatic recharging capability of AUVs under the sea is indispensable and it requires AUVs to dock itself to recharging station autonomously. Therefore, we have developed a stereo-vision-based docking methodology for underwater battery recharging to enable the AUV to continue operations without returning surface vehicle for recharging. Since underwater battery recharging units are supposed to be installed in a deep sea, the deep-sea docking experiments cannot avoid turbidity and low-light environment. In this study, the proposed system with a newly designed activemeaning self-lighting3D marker has been developed to improve the visibility of the marker from an underwater vehicle, especially in turbid water. Experiments to verify the robustness of the proposed docking approach have been conducted in a simulated pool where the lighting conditions change from day to night. Furthermore, sea docking experiment has also been executed to verify the practicality of the active marker. The experimental results have confirmed the effectiveness of the proposed docking system against turbidity and illumination variation.

DOI： 10.1007/s10015-018-0442-1

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ELSEVIER IRELAND LTD  

OBJECTIVE: To evaluate the accuracy of robotic insertion of various ablation needles at various locations under computed tomography (CT) guidance in swine. MATERIALS AND METHODS: The robot was used for CT-guided insertion of four ablation needles, namely a single internally cooled radiofrequency ablation (RFA) needle (Cool-tip), a multi-tined expandable RFA needle (LeVeen), a cryoablation needle (IceRod), and an internally cooled microwave ablation needle (Emprint). One author remotely operated the robot with the operation interface in order to orient and insert the needles under CT guidance. Five insertions of each type of ablation needle towards 1.0-mm targets in the liver, kidney, lung, and hip muscle were attempted on the plane of an axial CT image in six swine. Accuracy of needle insertion was evaluated as the three-dimensional length between the target centre and needle tip. The accuracy of needle insertion was compared according to the type of needle used and the location using one-way analysis of variance. RESULTS: The overall mean accuracy of all four needles in all four locations was 2.8 mm. The mean accuracy of insertion of the Cool-tip needle, LeVeen needle, IceRod needle, and Emprint needle was 2.8 mm, 3.1 mm, 2.5 mm, and 2.7 mm, respectively. The mean accuracy of insertion into the liver, kidney, lung, and hip muscle was 2.7 mm, 2.9 mm, 2.9 mm, and 2.5 mm, respectively. There was no significant difference in insertion accuracy among the needles (P = .38) or the locations (P = .53). CONCLUSION: Robotic insertion of various ablation needles under CT guidance was accurate regardless of type of needle or location in swine.

DOI： 10.1016/j.ejrad.2018.06.006

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability of dynamical system of manipulators possessing shape changing acceleration in task space by normalized torque inputs, while the hand motion is assigned as the primary task. Besides, we use visual lifting approach to stabilize the walking and stop falling down. In this research, the primary task is to make the position of the head direct to the desired one as much as possible. And realizing the biped walking is the second task. This research indicates that proposed dynamical-evaluating index is effective in evaluating the biped walking motion and biped humanoid robot has the adjustable configuration to walk with higher flexibility. Flexibility represents the dynamical shape changeability of humanoid robot based on redundancy of the humanoid robot with the premise of the primary task given to keeping the head position high.

DOI： 10.1007/s10015-017-0415-9

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

Visual servoing is a control method to manipulate the motion of the robot using visual information, which aims to realize "working while watching." However, the visual servoing towards moving target with hand-eye cameras fixed at hand is inevitably affected by hand dynamical oscillation. To overcome this defect of the hand-eye fixed camera system, an eye-vergence system has been put forward, where the pose of the cameras could be rotated to observe the target object. The visual servoing controllers of hand and eye-vergence are installed independently, so that it can observe the target object at the center of camera images through eye-vergence function. In this research, genetic algorithm (GA) is used as a pose tracking method, which is called "Real-Time Multi-step GA(RM-GA)," solves online optimization problems for 3D visual servoing. The performances of real-time object tracking using eye-vergence system and "RM-GA" method have been examined, and also the pose tracking accuracy has been verified.

DOI： 10.1007/s10015-017-0408-8

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担当区分：筆頭著者  

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掲載種別：研究論文（学術雑誌）  

DOI： 10.1504/IJMA.2018.10016616

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

This research aims to achieve a new grinding robot system that can grind an object into desired shape with force-sensorless control. In order to grind the target object into desired shape with sufficient accuracy, the hand of the robot arm has to generate desired constrained force immediately after the grindstone being contacted with the metal object to be ground. Based on the algebraic equation, we have proposed constraint-combined force controller, which has the ability to achieve the force control without time delay if the motors should ideally generate required torques without time delay. In this paper, the relation between contacting force and grinding resistance force have been derived analytically and the relation is used for grinding force control, having brought improved grinding force accuracy.

DOI： 10.1007/s10015-017-0385-y

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：RADIOLOGICAL SOC NORTH AMERICA  

Purpose To evaluate the accuracy of the remote-controlled robotic computed tomography (CT)-guided needle insertion in phantom and animal experiments. Materials and Methods In a phantom experiment, 18 robotic and manual insertions each were performed with 19-gauge needles by using CT fluoroscopic guidance for the evaluation of the equivalence of accuracy of insertion between the two groups with a 1.0-mm margin. Needle insertion time, CT fluoroscopy time, and radiation exposure were compared by using the Student t test. The animal experiments were approved by the institutional animal care and use committee. In the animal experiment, five robotic insertions each were attempted toward targets in the liver, kidneys, lungs, and hip muscle of three swine by using 19-gauge or 17-gauge needles and by using conventional CT guidance. The feasibility, safety, and accuracy of robotic insertion were evaluated. Results The mean accuracies of robotic and manual insertion in phantoms were 1.6 and 1.4 mm, respectively. The 95% confidence interval of the mean difference was -0.3 to 0.6 mm. There were no significant differences in needle insertion time, CT fluoroscopy time, or radiation exposure to the phantom between the two methods. Effective dose to the physician during robotic insertion was always 0 μSv, while that during manual insertion was 5.7 μSv on average (P < .001). Robotic insertion was feasible in the animals, with an overall mean accuracy of 3.2 mm and three minor procedure-related complications. Conclusion Robotic insertion exhibited equivalent accuracy as manual insertion in phantoms, without radiation exposure to the physician. It was also found to be accurate in an in vivo procedure in animals. © RSNA, 2017 Online supplemental material is available for this article.

DOI： 10.1148/radiol.2017162856

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掲載種別：研究論文（国際会議プロシーディングス）  

This paper presents docking experiments for AUV using stereo vision for sea bottom battery recharging application. Real-time 3D pose tracking system was installed in AUV 'Tuna-Sand 2'. Underwater battery recharging unit with unidirectional docking function was simulated in a pool. 1\ma-Sand 2 approached to the docking station using other sensors and docking operation was performed by visual servoing when a 3D marker was detected. Experimental results showed the performance of the proposed system with accurate docking accuracy in a short time.

DOI： 10.1109/OCEANSE.2017.8084659

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

Biped locomotion created by controlling methods based on zero-moment point has been realized in real world and been well verified its efficacy for stable walking. However, the walking strategies that have been proposed so far seems to avoid such considerations as slipping of foot on the floor, even though there should exist the slipping large or small in real world. In this research, a dynamical model of humanoid robot including slipping of foot is proposed, which is derived by the Newton-Euler method. To confirm the veracity of the derived dynamical model, the model has been verified from the view point that when all friction coefficients are identical to zero, the total kinetic energy should be conserved to be unchanged, and when the coefficients are not zero, the total kinetic energy should decrease monotonously.

DOI： 10.1007/s10015-017-0349-2

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：FUJI TECHNOLOGY PRESS LTD  

Biped locomotion generated by control methods based on Zero-Moment Point (ZMP) has been achieved and its efficacy for stable walking, where ZMP-based walking does not include the falling state, has been verified extensively. The walking control that does not depend on ZMP - we call it dynamical walking - can be used in walking that utilizes kicks by toes, which looks natural but is vulnerable to turnover. Therefore, keeping the walking of dynamicalmotion stable is indispensable to the realization of human-like natural walking - the authors perceive the human walking, which includes toe off states, as natural walking. Our research group has developed a walking model, which includes slipping, impact, surface-contacting and line-contacting of foot. This model was derived from the Newton-Euler (NE) method. The "Visual Lifting Approach" (VLA) strategy inspired from human walking motion utilizing visual perception, was used in order to enhance robust walking and prevent the robot from falling, without utilizing ZMP. The VLA consists of walking gate generation visual lifting feedback and feedforward. In this study, simulation results confirmed that bipedal walking dynamics, which include a slipping state between foot and floor, converge to a stable walking limit cycle.

DOI： 10.20965/jrm.2017.p0500

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

<p>Industrial robots are used for many purposes, especially as machining facilities. For example, there are welding, assembling and grinding operations. Many of grinding robots are controlled by using feedback control with force sensors. But, the force sensor used for force detection by means of strain gage may be easily damaged when a shock on big power be added. Therefore, this research has been trying to control a position and exerting force at the same time without using a force sensor by feedforward/feedback control. In addition, we aim to construction a system that recognizes the arbitrary shape object and autonomously grind it by using the recognition technology of 3D space with camera. Until last year, the grinding robot could only grind on the 2D plane. Therefore, this paper shows the construction of the new robot system enabling grinding a target with 3D shape.</p>

DOI： 10.1299/jsmermd.2017.2A2-H08

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ASME  

This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shape-changeability of a robot based on the redundancy of the robot and the premise that the primary task is the hand task. DRM represents how much acceleration each intermediate link can generate and in what direction the acceleration can be realized based on normalized torque inputs. This concept will aid in the optimization of the design and control of robots. The appropriateness and usefulness of DRM were confirmed by applying it to redundant manipulators and comparing it with the known concept of avoidance manipulability.

DOI： 10.1115/1.4033667

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：FUJI TECHNOLOGY PRESS LTD  

In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fluoroscopy. However, doctors are exposed to strong radiation from the CT equipment. In order to overcome this problem, we have developed a remote-controlled surgical assistance robot called Zerobot. In animal puncture experiment, the operation of Zerobot was based on joint control. Therefore, during a surgery, the tip of the needle moves when a surgeon orders for a change in the direction of the needle. This makes the robot less user-friendly because the surgeon tracks the trajectory of the tip of the needle. This problem can be solved by using remote center control.

DOI： 10.20965/jrm.2016.p0911

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：FUJI TECHNOLOGY PRESS LTD  

Biped locomotion created by a controller based on Zero-Moment Point (ZMP) known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state, and it's like monkey walking because of knee-bended walking profiles. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this research, a walking model of humanoid robot including slipping, bumping, surface-contacting and line-contacting of foot is discussed, and its dynamical equation is derived by the Extended NE method. In this paper we introduce the humanoid model which including the slipping foot and verify the model.

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© 2016 ICIC International. This paper proposes on-demand type feedback controller for self-tuning generalized minimum variance control (GMVC) in state-space representation using coprime factorization. GMVC can be extended by using coprime factorization, and the extended controller introduces a new design parameter. The parameter can change the characteristics of the extended controller without changing the closed-loop characteristics. In order to design safe systems, strong stability systems are effective because both the closed-loop system and its controller are stable. So the parameter mentioned above is useful to design such a system. Moreover, focusing on feedback signal, the extended controller can adjust the magnitude of the feedback signal. It means that the proposed controller has the ability to make the magnitude of the feedback signal be zero when the control objective was achieved. In other words, the feedback signal of the proposed method emerges on demand of achieving the control objective. Therefore, this paper explores the design method of on-demand type feedback controller using self-tuning GMVC in state-space representation. A numerical example is given in order to check the characteristics of the proposed method.

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：FUJI TECHNOLOGY PRESS LTD  

This paper proposes a design method of self-tuning generalized minimum variance control based on on-demand type feedback controller. A controller, such as generalized minimum variance control (GMVC), generalized predictive control (GPC) and so on, can be extended by using coprime factorization. Then new design parameter is introduced into the extended controller, and the parameter can re-design the characteristic of the extended controller, keeping the closed-loop characteristic that way. Although strong stability systems can be obtained by the extended controller in order to design safe systems, focusing on feedback signal, the extended controller can adjust the magnitude of the feedback signal. That is, the proposed controller can drive the magnitude of the feedback signal to zero if the control objective was achieved. In other words the feedback signal by the proposed method can appear on demand of achieving the control objective. Therefore this paper proposes on-demand type feedback controller using self-tuning GMVC for plant with uncertainty. A numerical example is shown in order to check the characteristic of the proposed method.

DOI： 10.20965/jrm.2016.p0674

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IOS PRESS  

This paper considers an application of self-tuning generalized predictive control (STGPC) to a temperature control experimental device of aluminum plate. In our research, although two DOF GPC can achieve to design the output response and the disturbance response independently, model parameters such as thermal conductivity had been fixed in the experiment. Therefore this paper applies STGPC to the experimental device and verifies the validity of the proposed controller. Moreover the control result, in the case of the controller constructed by the identified parameters through parameter identification law, is shown.

DOI： 10.3233/JAE-162196

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

Traffic congestion is one of the main problems modern cities face, exacerbated by widespread use of normal four-wheeled transportation. A promising solution to this challenge is to develop narrow electric vehicles and apply them in daily transportation. These kinds of narrow vehicles need less parking and lane space and cause no air pollution. In this study, we developed a new conceptual narrow tilting vehicle (NTV) that has one front wheel and two rear wheels. All the three wheels can tilt to improve the stability of NTV during turning. To fully describe the dynamic behaviors, a new switching dynamic model of NTV was derived. This model considers several NTV states including normal running, temporary running with one rear wheel not on the ground, and totally falling down. Based on this model, a simulation platform is established, which is useful for testing different control methods and for investigating dangerous driving situations. A new active tilt controller is proposed based on a tilt dynamic model linearized around an equilibrium on which the lateral acceleration is zero. The controller is easily realized from the point of view of engineering and the closed-loop system stability was also investigated. The driving stability problem of NTV was discussed using peak-to-peak analysis method. Stability condition of input steering angle and angular velocity was obtained, which may be a useful tool for designing the steer-by-wire controller in the future. All the proposed model, control method, and stability conditions were verified through simulations and experiments.

DOI： 10.1109/TMECH.2013.2280147

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：TAYLOR & FRANCIS LTD  

In this paper, we proposed a position-based control strategy for eliminating the vibration at the end of deformable linear objects (DLOs) during its manipulation. Using Schur decomposition of matrices and linear transform of variables, actuated and underactuated parts of the DLO dynamic model are separated. Based on the decoupled dynamic model of a DLO system, a sliding mode control with exponential approach law is designed to force the state variables to converge to an equilibrium and to allow vibration at the end of the DLO to be damped quickly. The DLO system, subjected to control input saturation, is further studied to solve the input saturation problem. An adaptive sliding mode control law is designed to suppress the damping at the end of the DLO. Proposed control strategies are verified by numerical simulations. The simulation results show that proposed methods can effectively damp the vibration at the end of the DLO.

DOI： 10.1080/01691864.2013.861769

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記述言語：日本語   出版者・発行元：The Japanese Society of Interventional Radiology  

Computed tomography (CT) fluoroscopy is a useful imaging modality for guiding various interventional procedures (e.g., ablation, biopsy, and drainage). However, radiation exposure is a major disadvantage of CT fluoroscopy guidance. Even if a physician uses 17-cm forceps, radiation exposure to their hand is 7.0 µGy/s (120 kV; 30 mA). The average activation time for CT fluoroscopy in a lung biopsy has been reported to be approximately 90 s. It is expected that the activation time would be longer for more complex procedures such as ablation for large tumors. Therefore, radiation exposure during CT fluoroscopy is a serious concern for physicians.<BR>Robotic surgery, which is the preferred surgical method for 80% of prostate cancer surgeries in the United States, has been shown to reduce procedural complications. We hypothesized that robotic technology might be more easily applied to CT-guided interventions. If physicians performed CT-guided interventions using a robot that they controlled from a location far from the CT gantry, radiation exposure to physicians could be minimized. However, issues such as metal artifacts and the limited workspace may hinder the development of a robot for CT-guided interventions. More specifically, the robot must be constructed of non-metal materials and it must fit in a small space within the CT gantry. Despite these limitations, we have developed a prototype model of the robot.<BR>The prototype has 5 degrees of freedom and can be remotely operated with a joystick controller. Phantom experiments using the prototype showed no radiation exposure to the operating physician during the procedure. In this article, we will provide an overview of the development of this prototype model, present the limitations of the prototype, and discuss future prospects.

DOI： 10.11407/ivr.29.375

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その他リンク： http://search.jamas.or.jp/link/ui/2015126063

記述言語：日本語   出版者・発行元：自動制御連合講演会  

本研究では，作用対象の色と形状などの属性情報（多機能センシング）を基に，ロボット側に作用対象の自動認識させた後ロボット自身による異なる環境条件においてフィルタプレス装置のろ布芯棒をモデルケースとして，芯金-ロボットハンドとの対象物同士の嵌合制御操作をMOS制御知能により実施し，達成可能な嵌合精度の技術的検証を行い，下記結論を得た．(1)ろ布交換用芯棒嵌合部を嵌合部中心軸に対向する平面範囲20mm×20mm四方以内に設定した合計9箇所に任意に設置した芯棒の嵌合実験をMOS制御知能ロボットで実施した結果,すべての設置点において芯棒嵌合部とロボット先端の嵌合部との嵌合実験に成功した．(2)芯棒嵌合部とロボットに取り付けた嵌合部とのクリアランスが1.875mmであった嵌合実験に対して，MOS制御によるx,y,z軸全方向における制御精度を作動誤差0.5mm以内に制御できることがわかった．

DOI： 10.11511/jacc.57.0_1972

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記述言語：日本語   出版者・発行元：自動制御連合講演会  

本研究ではカルマンフィルタを用いた熱伝導率の推定結果について報告する．具体的には，アルミ板温度制御実験装置のモデルを離散化したものに対して，カルマンフィルタを用いたパラメータ同定を行う．そしてその結果を利用したコントローラを構成する．さらに数値シミュレーションを通して，制御系を構成しつつ熱伝導率のオンライン推定が行えることを示す．

DOI： 10.11511/jacc.57.0_333

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

Traffic problems such as pollution and congestion are becoming more and more serious in urban areas. A potential solution to these problems is to develop narrow vehicles that occupy less space and have lower emissions. There has been increasing interest in underactuated mechanical systems, i.e., mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent narrow vehicles. A novel narrow vehicle based on an MWIP and a movable seat, called UW-Car, is investigated in this paper. The dynamic model of the underactuated vehicle system running on flat ground is derived by Lagrange's equation of motion. Based on the dynamic model and terminal sliding mode control method, two terminal sliding mode controllers are designed to control velocity and braking of the UW-Car. The first one is used to control the forward speed to a desired value while keeping the body upright and the seat on some fixed position. The second one is a switching sliding mode controller, composed of three terminal sliding mode controllers that quickly brakes the system according to an optimal braking scheme. All the control algorithms are tested in both MATLAB simulation and a UW-Car experiment. The simulation and experimental results demonstrate the efficiency of the model and controllers.

DOI： 10.1109/TCST.2012.2214439

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掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jrm.2013.p0262

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

This paper proposes a design method of extended self-tuning generalized predictive control (GPC) with computation reduction focused on closed-loop characteristics. The authors have extended GPC by coprime factorization and proposed the extended controller for constructing a strongly stable system. Moreover, the proposed controller is able to be designed to make the same steady state output as pre-designed system's steady state output even if feedback loop is cut. Although self-tuning controller is one of the control methods for systems with uncertainty, there is a problem that the computation of self-tuning GPC increases as design engineer takes long prediction horizon in the design parameters. Therefore this paper considers computation reduction for extended self-tuning GPC focused on closed-loop characteristics. The validity of the proposed method is shown by numerical simulation. © IFAC.

DOI： 10.3182/20130703-3-FR-4038.00112

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記述言語：日本語   出版者・発行元：一般社団法人 日本ロボット学会  

Fault detection functions of a robotic manipulator are very useful for factory automation. All production has the possibility to fail due to unexpected accidents. To reduce the fatigue of human workers, small errors automatically should be corrected by a robot system. In this paper, an external thread fastening task by a robotic manipulator is investigated. To discriminate the four states of a task, linear support vector machine methods with two feature parameters are introduced. One is the estimated insertion length, and the other is the maximum reaction force. The effectiveness of the proposed algorithm is confirmed through an experiment and recognition examination.

DOI： 10.7210/jrsj.30.804

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掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jrm.2012.p0666

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：PERGAMON-ELSEVIER SCIENCE LTD  

As an application of mechatronics, this paper presents the advances in surface-adaptive ground penetrating radar (GPR)-based anti-personnel landmine detection project in Nagoya University. These advances can be summarized in three items: (1) GPR manipulation where a low-pressure-tire vehicle capable of moving inside a mine field, to facilitate machine-based sensing in place of manual sensing, is applied; (2) enhancement of underground landmine suspects' images through geography adaptive scanning and measurements signal processing of a vector frequency modulated continuous wave (FMCW) GPR; (3) GPR fusion with metal detector (MD) for automatic decision making through experimental-based fuzzy learnt fusion rules. The state-of-art of these advances as well as directions for future research work is to be presented. (C) 2009 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

DOI： 10.1016/j.jfranklin.2009.02.014

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掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/MHS.2011.6102220

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その他リンク： https://dblp.uni-trier.de/db/conf/mhs/mhs2011.html#DingHMF11

掲載種別：研究論文（国際会議プロシーディングス）  

In realizing a robotic assembly system of electronic products, recognizing the connectors with flexible cables as a single component is one of the most difficult problems, which prevents from automating the system. To overcome this problem, we used our proprietary 3-D range sensor and developed three component algorithms: one is to recognize randomly-stacked connectors; another is to automatically compensate rotational and positional errors by force sensor; the other is to set up visually-guided offline developing environments. In this paper, we introduce these component algorithms and their integration into an evaluation system in detail. © 2011 IEEE.

DOI： 10.1109/ICMA.2011.5985708

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

Recently, industrial robots have engaged in various works. In the near future, robots will be required to work out some difficult assemblies instead of human. Even though high sensitivity of force sensor is needed for difficult assemblies, it is inferior to that of human. Therefore, a force sensor should be developed so that sensitivity can catch up with that of human. In conventional research, some researches concerned with force sensors are conducted. However, they do not have both wide range and high durability. In this paper, we propose a tuning fork structured piezoelectric vibration sensor. It is possible to realize both of high sensitivity and high durability due to multi vibration mode. Through the FEM results, we developed prototype sensor which has two feasible vibration modes. And it applied for robot control in order to confirm the availability. © 2011 IEEE.

DOI： 10.1109/ICMA.2011.5985977

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掲載種別：研究論文（学術雑誌）  

To realize automatic robot-based electrical and electronic product assembly, we developed the handling of cables with connectors - flexible goods which are an obstacle to automation. The element technologies we developed include 3D vision sensing for cable extraction, force control for connector insertion, error recovery for improving system stability, and task-level programming for quick system start-up. We assembled FA control equipment to verify the feasibility of our developments.

DOI： 10.20965/jrm.2011.p0939

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments.

DOI： 10.1109/TCST.2009.2034735

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

There has been increasing interest in a type of underactuated mechanical systems, mobile-wheeled inverted-pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust-velocity-tracking problem of the MWIP systems is investigated in this study. In the velocity-control problem, model uncertainties accompany uncertain equilibriums, which make the controller design become more difficult. Two sliding-mode-control (SMC) methods are proposed for the systems, both of which are capable of handling both parameter uncertainties and external disturbances. The asymptotical stabilities of the corresponding closed-loop systems are achieved through the selection of sliding-surface parameters, which are based on some rules. There is still a steady tracking error when the first SMC controller is used. By assuming a novel sliding surface, the second SMC controller is designed to solve this problem. The effectiveness of the proposed methods is finally confirmed by the numerical simulations.

DOI： 10.1109/TRO.2010.2053732

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掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/ROBIO.2010.5723487

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その他リンク： https://dblp.uni-trier.de/db/conf/robio/robio2010.html#DingHWMFS10

記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

This paper proposes a kinematic model of the vehicle with low-ground pressure tire that enables to enter a minefield in order to scan remaining landmines by a ground penetrating radar in level III survey. The low-ground-pressure tire makes low pressure contact with a ground by deforming its shape of the tire, but the deformation deteriorates position and steering control accuracy. Therefore this paper models the kinematics of the low-ground pressure vehicle based on experimental results. Besides we experimentally confirmed that the vehicle could precisely trace the target trajectory by considering its kinematics in simulated minefield.

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記述言語：日本語   出版者・発行元：公益社団法人精密工学会  

On a two-dimensional jumping behavior by a multi-link mechanism, a mechanism that imitated a animal&#039;s leg and a mechanism of conventional robot were compared analytically. Each joint of a conventional robot is independently controlled. On the other hand, because animal&#039;s leg has bi-articular muscle, the adjoining joints are not independent. The animal&#039;s leg mechanism was imitated by using the closed link mechanism with the rod which connects two joints. For the mechanism which imitated animal&#039;s leg and the mechanism of conventional robot, under the ideal condition, each joint torque for stabilized jump ware deduced. On the conventional robot, it is necessary to detect the center of gravity, and to be feedback. By contrast, in the mechanism which imitated the animal&#039;s leg, it does not need to feedback the position of center of gravity. Furthermore, four-legged jump robot with the mechanism which imitated animal&#039;s leg was produced, and the effectiveness of that mechanism was confirmed by an experiment.

DOI： 10.2493/jjspe.74.416

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system. A class of piecewise linear force models is proposed to describe both the successful and the faulty mating processes of connectors via an elaborate analysis of forces during different phases. The corresponding parameter estimation method of this model is also presented by adapting regular least-square estimation methods. A hierarchical fuzzy pattern matching multidensity classifier is proposed to realize fault detection and diagnosis for the mating process. This classifier shows good performance in diagnosis. A tyical type of connectors is investigated in this paper. The results. p. P can easily be extended to other types. The effectiveness of proposed methods is finally confirmed through experiments.

DOI： 10.1109/TMECH.2007.915063

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

We propose a brachiation robot named Brachiator. Brachiator is able to swing like a real gibbon. The limbs of Brachiatior are designed to be actuated through the wires. However, the elongation and slack of the wires often arise and make it difficult to estimate the joint angles accurately, which has to be resolved to attain more stable brachiation behavior. In this paper we indroduce a vision system to improve brachiation behavior in real time. A stereo vision system is mounted on Brachiator that looks like a gibbon's face. We estimate errors between a model based trajectory and a real trajectory in implementation world from the images which the vision system captures during the brachiation behavior. Based on the vision-based error estimation as to the grasping position on the target branch, the trajectory of the behavior is adjusted in real time in order to realize successful brachiation behaviors. Experimental results showed that the proposed system reduced deviation of the grasping position of brachiation behavior as much as 40% compared with previous methods.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

Ground Penetrating Radar (GPR) is a promissing sensor for landmine detection, however there are two major problems to overcome. One is the non-planer (e.g. rough and/or undulating) ground surface. It remains unremovable clutters on a sub-surface image output from GPR. Geography adaptive scanning is useful to image objects beneath non-planer ground surface. The other problem is the distance between the antennas of GPR. When imaging the small objects such as an antipersonnel landmine buried in shallow depth, it increases the nonlinearity of the relationship between the time for propagation and the depth of a buried object. In this paper, we modify Kirchoff migration so as to account for not only the variation of height and pose of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

This paper proposes a control algorithm for pace gait of a quadruped walking robot, using a passive dynamics autonomous control algorithm (PDAC). The PDAC realizes an efficient motion based on the intrinsic dynamics of a robot. This paper first calculates an energy consumption of the pace and a crawl gait at various walking parameters such as a stride length and a walking period. The optimal walking parameters are obtained for each gait at various walking speed in the simulation and their parameters are confirmed by applied to an experimental walking robot. The trend of the energy consumption transition measured in the experiments are similar to those in the simulation. For example the consumption energy of the pace gait becomes less than that of crawl gait when a walking speed becomes relatively high. As a result, quadruped walking parameters corresponding to the desired walking speed such as the type of gait, the stride length and the walking period are designed on the energy-consumption-basis.

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掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jaciii.2007.p0735

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

We propose tailor-made multilayer piezoelectric actuators (TAMPA) having large displacements and large forces. In existing piezoelectric actuators, production of small, low-cost actuators having large displacements and large forces is difficult to achieve. We solved this problem by combining two bimorph-type piezoelectric elements with both ends simply supported, and stacking several elements on top of each other. Moreover, TAMPA is a tailor-made actuator whose displacement to force ratio can be varied widely by adjusting the size of the bimorph-type piezoelectric elements even when the total size of the actuator is kept constant. In this study, the bimorph-type piezoelectric element was analyzed, and the relationship between the displacement and the force under fixed conditions was experimentally determined. The relationship between the displacement and the force of TAMPA was theoretically derived. The analytical results showed that a TAMPA having dimensions of approximately 10×10×10mm is capable of generating displacements of several hundred μm or the force of several N. A prototype was produced and its performance was evaluated. These results agreed well with the analytical results, confirming the validity of the analytical results. Finally, because the lead in PZT can cause environmental problems, a TAMPA was produced that used (K, Na) (Nb, Ta) O_3 piezoelectric ceramics instead of lead.

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：WILEY  

The essential challenge in the future ubiquitous networks is to make information available to people not only at any time, at any place, and in any form, but with the right thing at the right time in the right way by inferring the users' situations. Several psychological experiments show that there are some associations between each user's situations including the user's emotions and each user's task selection. Utilizing those results, this article presents a situation-based task selection mechanism that enables a life-supporting robot system to perform tasks based on the user's situation. Stimulated by interactions between the robot and the user, this mechanism constructs and updates the association between the user's situation and tasks so that the robot can adapt to the user's behaviors related to the robot's tasks effectively. For the user adaptation, Radial Basis Function Networks (RBFNs) and associative learning algorithms are used. The proposed mechanism is applied to the CRF3 (Character robot face 3) system to prove its feasibility and effectiveness. (c) 2006 Wiley Periodicals, Inc.

DOI： 10.1002/int.20172

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

Using a topological model and knot theory, we propose a method for describing the condition of a rope. We also propose a recognition method based on the image information obtained from the charge-coupled device cameras to obtain the structure of the rope when manipulated by a robot. This method will help solve the difficulties of robots manipulating deformable objects by providing a theoretical framework of error recovery for deformable object manipulation. We confirm the effectiveness of the methods through experiments.

DOI： 10.1109/TMECH.2006.878557

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

This paper proposes the novel control method named Passive Dynamic Autonomous Control (PDAC). PDAC is based on the following concept which Grizzle et al.^<(6)(9)> employed previously : 1) point-contact 2) Virtual constraint. Point contact means that the contact state between a robot and the ground is point. This makes it possible to generate the robot motion based on the robot inherent dynamics although it becomes difficult to control. Virtual constraint means that all robot joints are connected and interlocked. We present the new approach by means of these concepts to express the whole robot dynamics an an 1-dimensional autonomous system. Due to autonomy, this approach has two following notable points : 1) period from foot-contact to next foot contact can be obtained 2) there is a conservative quantity to make it possible to stabilize the motion. As the first step of realization of 3 D dynamic walking, this paper applies PDAC to the lateral motion and builds the controller. In addition, the stabilization and motion period control are reported. The validity of these control is confirmed by experiment and desired lateral motion is realized.

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/IROS.2006.281944

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その他リンク： https://dblp.uni-trier.de/db/conf/iros/iros2006.html#MatsunoF06

掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/ROBOT.2005.1570460

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その他リンク： https://dblp.uni-trier.de/db/conf/icra/icra2005.html#MatsunoKAMF05

掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/ROBOT.2005.1570502

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その他リンク： https://dblp.uni-trier.de/db/conf/icra/icra2005.html#MotooAYFMM05

掲載種別：研究論文（国際会議プロシーディングス）  

An electronic odor discrimination system had been developed. The developed system showed high recognition probability to discriminate various single odors to its high generality properties, however the system had a limitation in recognizing the fragrances mixture. In order to improve the performance of the proposed system, development of the sensor and other neural network are being sought. This paper explains the improvement of the capability of that system. In this experiment, the improvement is conducted not only by replacing the last hardware system from 4 quartz resonator-basic resonance frequencies 10 MHz with new 16 quartz resonator-basic resonance frequencies 20 MHz, but also by replacing the pattern classifier from Back Propagation (BP) neural network with Variance of Back Propagation, Probabilistic Neural Network (PNN) and Fuzzy-Neuro Learning Vector Quantization. Matrix similarity analysis (MSA) is then proposed to increase the accuracy of the FNLVQ, become FNLVQ-MSA neural system in determining the best exemplar vector, for speeding up its convergence. The purpose of the recent study is to construct a new artificial odor discrimination system for recognizing the concentration of fragrance. The using of new sensing system and FNLVQ-MSA has produced higher capability to recognize the concentration of fragrance compared to the earlier mentioned system. © 2005 SICE.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

This paper proposes adaptive adjustment methods of a preplanned regrasping strategy according to position and orientation errors of a grasping object. We had already derived a generation algorithm for the regrasping strategy by evolutionary programming. However position and orientation errors of a grasping object from those in numerical simulation are experimentally inevitable since there are many indeterminable factors such as slip contact between a fingertip and an object surface, imbalance of grasping forces, and so on. Those errors are getting bigger according to the task progress, and it is finally difficult to recover those errors due to a limitation of hand's work space and so on. We therefore propose some adaptive adjustment methods that can change an grasping point or intermediate posture of a grasping object so that it could continue to manipulate an object against larger errors. We investigate the allowable error range of the proposed methods in numerical simulations and confirm its reality by experiment.

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掲載種別：研究論文（学術雑誌）  

DOI： 10.20965/jrm.2004.p0031

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DOI： 10.20965/jrm.2004.p0613

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掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/IROS.2004.1389444

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その他リンク： https://dblp.uni-trier.de/db/conf/iros/iros2004.html#FukudaZHMH04

掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/ROBOT.2004.1307975

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その他リンク： https://dblp.uni-trier.de/db/conf/icra/icra2004-2.html#MatsunoFH04

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

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記述言語：日本語   掲載種別：記事・総説・解説・論説等（学術雑誌）   出版者・発行元：公益社団法人 計測自動制御学会  

DOI： 10.9746/sicetr.57.1

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記述言語：日本語   掲載種別：記事・総説・解説・論説等（学術雑誌）   出版者・発行元：(一社)日本インターベンショナルラジオロジー学会  

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記述言語：日本語   出版者・発行元：(株)メジカルビュー社  

手術の領域ではロボット手術がどんどん広がっているが、CTガイド下IVRの領域においても世界的にみればロボット化の流れが進んでいる。本稿では、世界におけるCTガイド下IVR用ロボットの開発状況および筆者らが開発しているロボットについて紹介する。また最後に、今後のIVR医とロボットとのかかわり方について私見を述べる。(著者抄録)

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その他リンク： https://search.jamas.or.jp/index.php?module=Default&action=Link&pub_year=2019&ichushi_jid=J01843&link_issn=&doc_id=20190401110008&doc_link_id=10.18885%2FJ01843.2019198415&url=https%3A%2F%2Fdoi.org%2F10.18885%2FJ01843.2019198415&type=%88%E3%8F%91.jp_%83I%81%5B%83%8B%83A%83N%83Z%83X&icon=https%3A%2F%2Fjk04.jamas.or.jp%2Ficon%2F00024_2.gif

記述言語：日本語   出版者・発行元：(株)北隆館  

CTガイド下に行うIVRには、がんの治療であるアブレーションや生検、ドレナージなど様々な手技がある。針を穿刺するのみで実施可能であるため低侵襲であり、超高齢化社会におけるがん医療として需要が高まっている。我々は、2012年からCTガイド下IVR用の針穿刺ロボット(Zerobot)を開発している。様々な非臨床試験によりロボットの安全性と性能を評価した後、2018年にはFirst-in-Humanの臨床試験を特定臨床研究として実施した。今後は治験を実施し、ロボットの薬事承認すなわち製品化を目指す予定である。(著者抄録)

J-GLOBAL

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記述言語：日本語   掲載種別：記事・総説・解説・論説等（学術雑誌）  

J-GLOBAL

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記述言語：英語   掲載種別：記事・総説・解説・論説等（学術雑誌）  

DOI： 10.1080/01691864.2016.1206680

Web of Science

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

Interventional radiology is a minimally invasive image-guided procedure that can be performed percutaneously. When computed tomography (CT) is used as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote control needle puncture robot which has five degrees of freedom. However, evaluation of the positioning performance of the robot was not conducted. In this paper, evaluation criteria of positioning performance required for a needle puncture robot is determined, and the performance of the robot is evaluated.

CiNii Article

CiNii Books

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

Helicopter has a unique performance such as vertical ascent, decent and hovering. So, it is applied to large field because of that performance. On the other hand, there is a disadvantage that its structure is complex, and it is difficult to stabilize the posture under a windy environment. In the previous research, although we have considered the stabilization of the posture of underactuated flying object experimental device, the control result of the experimental device has been affected by the conducting wire of electrical supply and encoder. Therefore an experimental device is newly manufactured aiming to eliminate the influence of conducting wire by unwiring and wireless communication. And we have explored the control performance for new experimental device by switching the controller gain adaptively based on the predicted value of the posture of underactuated flying object.

CiNii Article

CiNii Books

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

The deformable object such as string, cloth or paper, is soft and can change its form easily. It is difficult for a robot to manipulate deformable object, because it needs to deal with various form. The demand is growing in industry and domestic work. On manipulating deformable objects using robot manipulator, it is important to recognize their form. In this research, distance camera is used to get point cloud data of string. In addition, point chain model is adapted to describe form of string. To create point chain model from point cloud data, vector sequence that describes center line of string needs to be made. Therefore string form recognition algorithm is suggested. This algorithm estimates center line of string using surface normal vectors evaluated by normal estimation algorithm, and creates point chain model by matching method. In addition, experiment to evaluate the effectiveness of this method is conducted.

CiNii Article

CiNii Books

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記述言語：日本語   出版者・発行元：ライフサポート学会  

DOI： 10.5136/lifesupport.20.Supplement_78

CiNii Article

J-GLOBAL

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記述言語：日本語   出版者・発行元：ライフサポート学会  

DOI： 10.5136/lifesupport.18.Supplement_139

CiNii Article

J-GLOBAL

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開催年月日： 2020年

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開催年月日： 2019年

記述言語：英語  

This paper proposes a real-time topological structure learning method based on concentrated/distributed sensing for a 2D/3D point cloud. First of all, we explain a modified Growing Neural Gas with Utility (GNG-U2) that can learn the topological structure of 3D space environment and color information simultaneously by using a weight vector. Next, we propose a Region Of Interest Growing Neural Gas (ROI-GNG) for realizing concentrated/distributed sensing in real-time. In ROI-GNG, the discount rates of the accumulated error and utility value are variable according to the situation. We show experimental results of the proposed method and discuss the effectiveness of the proposed method.

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開催年月日： 2019年

記述言語：英語  

Aiming at developing underwater battery recharging system, the author developed a docking system using stereo-vision-based visual servoing and a 3D marker. The 3D marker consists of red, green, blue spheres that do not emit the light which is named as a passive marker. Real-time relative pose (position and orientation) estimation was implemented utilizing the 3D model-based matching method and real-time multistep genetic algorithm (RM-GA). Given the situation that the docking aims for battery recharging in the deep-sea bottom, the pitch-dark and turbid environment should be considered as an inevitable condition for battery recharging. In our previous works, the docking experiments were conducted in the actual sea, having verified the effectiveness of the proposed system using the passive 3D marker in the daytime environment with turbid water condition. Since lighting passive 3D marker by light from the vehicle in turbid water environment results in a situation that the images taken by video cameras set on the vehicle were looked wholly white, some new idea seems to be required. To overcome this difficulty, the newly lighting 3D marker (active 3D maker) has LEDs inside was introduced in the previous work. The main objective of this study is to check the feasibility area of the proposed system for the docking application, comparison of recognition performance using the active and passive 3D marker that was conducted in the simulated pool with the turbid water is focused. And then, the experiment using the active 3D marker in the actual sea has been performed. The experimental results have confirmed that the new active 3D marker with no-lighting from the vehicle could be recognizable in dark and turbid environment than the passive 3D marker with the lighting from the vehicle.

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開催年月日： 2019年

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開催年月日： 2019年

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開催年月日： 2019年

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開催年月日： 2019年

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開催年月日： 2019年

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開催年月日： 2019年

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開催年月日： 2019年

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開催年月日： 2018年

記述言語：英語  

Disturbances of turbidity and low illuminance are problems in real sea areas when recognizing objects with cameras. Therefore, the recognition target was made to emit light so that it can be recognized correctly even in that environment. However, a suitable light intensity of the target was not decided and it is obvious that recognition results was changed by light intensity of the target. This paper presents the analysis of recognition accuracy of the Real-time 3D estimation system by changing the current value of each color LED (red, green, blue) under turbid and low illuminance. Recognition experiments were conducted at the distance 600 [mm] between the ROV and 3D marker. The turbidity level was set constant value. The current value was changing from 0 [mA] to 16 [mA] for each LED individually. The best current for each LED was optimized by the fitness value and estimation value of position and orientation. The results showed that the recognition accuracy of the proposed system was improved by using optimized lighting intensity.

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開催年月日： 2018年

記述言語：英語  

A stereo-vision-based system of autonomous under-water vehicles (AUVs) for sea-bottom docking that enables for battery recharging to extend persistence time of underwater operation has been developed. This paper presents the docking experiment using a developed V-shaped-thruster typed under-water vehicle. A real-time 3D pose (position and orientation) estimation method using a real-time multi-step genetic algorithm (RM-GA) has been proposed by the authors in previous works and used for docking based on 3D recognition as a feedback pose information in real-time, named as 3D Move on Sensing (3D-MoS). Sea docking experiment results have confirmed the functionality and practicality of proposed docking approach using a hovering typed ROV in previous works. Since the hovering typed underwater vehicles are limited in mobilities concerning speed and operational space, verification of the 3D-MoS system using underwater vehicle that has more mobility deem to be meaningful direction for vision-based docking system to expand the utility value of AUVs. Therefore, in this study, control system for a new V-shaped-thruster typed vehicle is developed and docking experiment is conducted. This paper presents the development of the hardware design of V-shaped-thruster typed underwater vehicle and improvement of controlling with consideration of coupled configuration of thrusters.

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開催年月日： 2018年

記述言語：英語  

Recently, the demand to manipulate deformable objects such as a string and cloth by robots is growing. The reason is that it has the possibility of making our lives more convenient in many domains. The manipulation of deformable objects, however, is more difficult than that of rigid objects, because deformable objects have diversity of shape and behavior. Therefore, our research group has been focusing on the string shape operation. This paper describes planning method of string untying operation based on knot theory and algorithms to generate the motion of a manipulator. The novel contribution of our planning method is automatic selection of optimal shape operation based on cost function. At final, the results of string untying experiments are reported.

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開催年月日： 2018年

記述言語：英語  

This paper presents that our proposed docking system could apply for a new Remotely Operated Vehicle(ROV). The authors have proposed a 3D-perception based Move on Sensing (3D-MoS) system using a new 3D position and orientation (pose) estimation method with dual-eye camera that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as "Real-time Multi-step Genetic Algorithm (RM-GA)." We confirmed ROV have conducted docking that assumes charging battery under water by the system, having shown it effective. As a next step, docking experiment using the new ROV were conducted to verify the proposed system apply for new ROV. But, the new ROV is different from a ROV that have used previous experiments, on the point of thruster setting structure. Then, a new control system using Jacobian that shows relationship voltage and velocity was constructed. After it is confirmed the system is effective, docking experiments In the pool have been conducted. In this report, the structure and result of experiments are reported in detail.

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開催年月日： 2018年

記述言語：英語  

To extend the persistence time of an underwater operation of AUVs in the sea, many studies have been performed worldwide. The docking function takes place as an important role not only for battery recharging but also for other advanced applications. Therefore, we developed the visual-servoing-based underwater vehicle using 3D perception based move on sensing (3D-MoS) system with dual-eye cameras and 3D marker for the docking operation. The vision-based underwater vehicle cannot avoid the turbidity and low illumination in the deep sea. In the present study, the active/lighting marker was newly designed and constructed to improve the recognizing ability of the proposed system for the real-time 3D pose estimation. The experiments were conducted in a simulated pool against different turbidity levels and illumination variations by adjusting the LED's brightness of the active marker in both day and night environments. This paper presents the analyses on the relations of the currents of LED installed inside each ball of the 3D marker and recognition results under turbidity and changing illumination conditions. According to the experimental results, the optimum current was chosen for the docking.

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開催年月日： 2018年

記述言語：英語  

This paper presents the 3D pose estimation against turbidity under dark environment by using dual-eye cameras and an active meaning light emitting 3D marker for visualservoing based underwater vehicle. The authors have proposed a 3D-perception based move on sensing (3D-MoS) system using a 3D position and orientation (pose) estimation method with dual eye cameras that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as "Real-time Multi-step Genetic Algorithm (RM-GA)." The active/lighting 3D marker was designed and constructed to improve the 3D pose estimation especially in turbidity and low illumination. In realtime pose estimation, not only recognition but also robustness are important. This paper focus on the robustness of 3D pose recognition performance using dual-eye cameras and 3D marker against turbidity. The experimental results have confirmed that the effectiveness and robustness of the proposed system for the real-time 3D pose estimation under turbidity and night condition.

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開催年月日： 2018年

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開催年月日： 2018年

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開催年月日： 2018年

記述言語：英語  

Recharging ability with underwater docking function would be a first primal step conducted to enable the AUV to operate independently of a surface vessel for extended periods. Therefore, the role of docking operation came in picture not only for battery recharging application but also other novel applications such as sleeping under mother ship, or new mission up and down loading. Moreover, docking capacity can be extended to provide navigation for other underwater vehicles on the way of their mission too. However, there are many challenging issues in achieving these applications that request high accuracy and robustness against disturbances that are provided by the underwater environment. The most challenging and unavoidable problems in sensing sphere for sea operations are, we think, turbidity and light changing. Turbidity is defined as cloudiness in a liquid caused by the presence of suspended particles that scatter and absorb light. Since underwater battery recharging are supposed as a first step to realize a full autonomous/intelligent robot, the deep-sea docking experiments cannot avoid turbidity and low light environment. In previous studies, we had conducted sea docking experiments using a passive (not lighting) marker and image-evaluation function based on only hue information, limiting its operational environment in lower turbid sea with sunshine. Whereas in this study, to improve our system removing above defects, we newly designed an active- light emitting 3D marker and a fitness function determined by HSV color components to improve the performance of the system especially in a more turbid environment. The advantage of using an active 3D marker and HSV-evaluated function is to be thought as being tolerable and seeable despite clipped whites and scattered light on the camera images caused by turbidity. Additionally, we conducted the docking experiments to verify the robustness of the proposed approach against turbidity and compared recognition results between the previous method and the improved method.

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開催年月日： 2018年

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開催年月日： 2018年

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開催年月日： 2018年

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開催年月日： 2017年

記述言語：英語  

This paper explores a strong stability system, which regulates safety for generalized minimum variance control (GMVC). GMVC is one of the control methods for application in industry and the controller is designed by generalized output to make the closed-loop system stable. Once the generalized output is designed, the derived controller cannot be re-designed without changing the closed-loop characteristic. For safe applications in industry, it is desirable that both of the closed-loop system and the controller are stable. That is, the strong stability system, which means that both of the closed-loop system and the controller are stable, is desirable to develop the applications. Although authors have proposed the extended GMVC design methods and the strong stability systems by using coprime factorization, there is a problem that the degree of controller may be higher than the conventional method because stable polynomial is needed in order to obtain coprime factorization. Therefore this paper directly extends GMVC without coprime factoriz ation, and a strong stability system regulating safety is studied from the view point of the quantity of feedback signal. Some numerical examples are shown in order to check the characteristic of the proposed method.

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開催年月日： 2017年

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開催年月日： 2017年

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開催年月日： 2017年

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開催年月日： 2017年

記述言語：英語  

In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image, such as CT and MRI images, of patients. Therefore, this surgical method is less invasive. However, doctors are exposed to strong radiation in the case of CT-guidance. In order to overcome this problem, we have developed remote-controlled IR assistance robot. The phenomena that the needle tip deviates from target tissue at the end sometimes occur, even if the needle is aligned with target tissue before puncturing. In this research a method to adjust pose of a needle in lateral direction based on information of force sensor for reducing deflection of needle is proposed. First, deflection of needle was modeled as a simply cantilever beam. Next, pose of needle gripper of robot to reduce the force is calculated. Finally, validity of the proposed method was verified based on the result of phantom puncture experiment.

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開催年月日： 2017年

記述言語：英語  

This paper presents docking experiments for AUV using stereo vision for sea bottom battery recharging application. Real-time 3D pose tracking system was installed in AUV ''Tuna-Sand 2". Underwater battery recharging unit with unidirectional docking function was simulated in a pool. Thna-Sand 2 approached to the docking station using other sensors and docking operation was performed by visual servoing when a 3D marker was detected. Experimental results showed the performance of the proposed system with accurate docking accuracy in a short time.

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開催年月日： 2017年

記述言語：英語  

A medical procedure called Interventional Radiology(IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient' s fluoroscopic image. Therefore this surgical method is low-invasiveness method. In this surgery, computed tomography (CT) equipment is often used. But a doctor is exposed to strong radiation from CT. Thus, we have developed a remote-controlled surgery support robot called "Zerobot". Because Zerobot is placed front of CT equipment by human, an angle offset from installation target position occurs. If a doctor punctures without noticing that Zerobot has an installation angle offset, there is danger of hurting the part that should not be hurt around a target cancer. In order to solve this problem, we propose an angle offset compensation method and the installation angle offset derivation method using a CT equipment is proposed. Then, effectiveness of proposed method is confirmed through experiments.

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開催年月日： 2017年

記述言語：英語  

Recently, the demand to manipulate deformable objects such as a string and cloth by robots is growing. The reason is that it has the possibility of making our lives more convenient in many domains such as housework, manufacturing and medical field. However, manipulation of deformable objects is more difficult than that of rigid objects, because deformable objects have variety of shape and variety of appearance. Therefore, our research group has been focusing on the string shape operation by a robot. This paper describes planning method of string tying operation based on knot theory and algorithms to generate the motion of a manipulator. Face List is proposed as shape abstraction data of string projection. Face List is data in which a plurality of faces included in the string projection are listed in a list form. Finally, the result of string tying experiment is reported.

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開催年月日： 2016年

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開催年月日： 2016年

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開催年月日： 2016年

記述言語：英語  

Interventional radiology is a minimally invasive image-guided procedure. In the case of using computed tomography (CT) as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote-controlled puncturing robot which has five degrees of freedom. In this paper, we describe the details of the prototype robot and show experimental results to evaluate the robot's repeatability and a result of puncturing to a phantom.

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開催年月日： 2016年

記述言語：英語  

There is minimally invasive method called Interventional Radiology (IR) that achieves an operation by using diagnostic imaging equipment such as Computed Tomography (CT). IR has advantages that it is a minimally invasive method and it is applied widely such as lung cancer treatment, liver cancer treatment, biopsy, and so on. However, it has a problem that doctors are exposed by X-ray due to a procedure in the vicinity of the CT gantry. To solve this problem, we have developed a robot so we calling "Zerobot". Zerobot has six DOF and controlled remotely. We previously conducted animal experiment using a rabbit to evaluate Zerobot. As a result, percutaneous puncture was impossible without epidermis cutting. Therefore, we developed a new function called instantaneously puncture that can achieve high speed and short stroke puncture like a human operator. In this paper, overview of Zerobot is described first. Then, measurement of puncture speed of a human operator is described. Furthermore, design and system structure of instantaneously puncture system is described. Finally, we present results of animal experiment using the instantaneously puncture system.

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開催年月日： 2016年

記述言語：英語  

This paper deals with estimation of thermal conductivity for temperature control of an aluminum plate considering radiative heat transfer. Aiming at accurate control results, model-based control method needs true values of plant parameters. In our previous research, the nominal values of plant parameters have been used for temperature control experiment. However, for the actual environment in industrial field, physical parameters such as thermal conductivity will change. Therefore this paper reports the estimation result of thermal conductivity of aluminum plate considering radiative heat transfer through experimental data.

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開催年月日： 2016年

記述言語：英語  

In this paper, we define a new index of dynamic manipulability for humanoid biped walking to measure dynamic flexibility of changing mechanics by using residual redundancy, when primary work is being assigned, such as face and eyes being targeted to certain object. Although some measurements have been arranged so far to evaluate statical or dynamical flexibility of hand manipulator. This paper displays a new measurement of Dynamic Reconfiguration Manipulability Shape Index (DRMSI) which is the combination of dynamic manipulability and reconfiguration manipulability, and we have applied the DRMSI into humanoid robot experiments to evaluate its dynamical reconfiguration ability during walking. According to the value of DRMSI in our experiments, we have verified our humanoid robot model is reliable and effective since the results have indicated that the kinematic and dynamic characteristics of our model are similar to human-being.

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開催年月日： 2016年

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開催年月日： 2016年

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開催年月日： 2016年

記述言語：英語  

Genetic algorithm (GA) has been applied for real-time pose estimation in this research because of its simplicity, global perspective and repeatable ability. In many of these different situations or problems, optimum selection parameters are a critical factors in the performance of GA. We have developed visual-servo type underwater vehicle using dual-eye camera and 3D marker using real-time pose tracking, named as Real-time Multi-step GA. The relative pose between a vehicle and a 3D-marker can be estimated by Model-based matching method. To recognize the pose of the marker with respect to the vehicle, it is needed to utilize the optimum searching in real-time, and the real-time pose estimation problem can be converted into an optimization problem over a time-varying distribution function with multiple variables. Therefore, analyses the convergence performance of real-time multi-step GA for 3D model-based recognition for underwater vehicle was conducted and reported in this paper. The main aim of this paper is to choose the best parameters for GA that are optimized over population size, selection rate, mutation rate based on their relative fitness value to improve the performance of searching in time domain. The experimental results show that the proposed system effectively improved the searching performance of Real-time multi-step GA for real time pose tracking, having enable an automatic docking of underwater vehicle by dual-eyes visual servoing.

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開催年月日： 2016年

記述言語：英語  

Biped locomotion created by controlling me-thods based on Zero-Moment Point (ZMP) has been realized in real world and been well verified its efficacy for stable walking. However the walking strategies that have been proposed so far seem to avoid such considerations as slipping of foot on the floor, even though there should exist the slipping large or small in real world. In this research, a dynamical model of humanoid robot including slipping of foot is proposed, which is derived by the Newton-Euler (NE) method. To confirm the veracity of the derived dynamicl model, the model has been verified from the view point that when all friction coefficients are identical to zero, the total kinetic energy should be conserved to be unchanged, and when the coefficients are not zero, the total kinetic energy should decrease monotonously.

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開催年月日： 2015年

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開催年月日： 2015年

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開催年月日： 2015年

記述言語：英語  

This paper considers an application of two degree of-freedom generalized predictive control (Two DOF GPC) to an aluminum mold model of temperature control experimental device. In our research, Two DOF GPC can achieve to design the output response for the aluminum plate model independently of modeling error or disturbance. The present study aims at controlling the temperature for various mold models in order to develop the proposed method for application to industry. Therefore, this paper shows an aluminum mold model, which we newly constructed, for temperature control by extending the conventional model. And we increased the number of input and output to examine the interference of heat with temperature control of the derived model by using two DOF GPC. The numerical examples are shown to verify the validity of the model and the proposed method.

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開催年月日： 2015年

記述言語：英語  

This paper proposes on-demand type feedback controller for state space based generalized minimum variance control (GMVC) using coprime factorization. GMVC can be extended by using coprime factorization, and a new design parameter is introduced to the extended controller. Then the parameter can determine the characteristics of the extended controller without changing the closed-loop characteristics. In order to design safe systems, strong stability systems are effective because both closed-loop system and the controller are stable. So the parameter mentioned above is seemed to be useful to design safe systems. Moreover, focusing on feedback signal, the extended controller can adjust the magnitude of the feedback signal. It means that the proposed controller has the possibility to make the magnitude of the feedback signal be zero when the control objective is achieved. In other words the proposed method has the ability that the feedback signal emerges on demand of achieving the control objective. Therefore this paper explores the design method of on-demand type feedback controller using state space based GMVC and coprime factorization. A numerical example is given in order to check the characteristics of the proposed method.

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開催年月日： 2015年

記述言語：英語  

This paper proposes a design method of on-demand type feedback controller using coprime factorization. A controller, such as generalized minimum variance control (GMVC), generalized predictive control (CPC) and so on, can be extended by using coprime factorization. Then the extended controller has a new design parameter, and the parameter can select the characteristic of the extended controller without changing the closed-loop characteristic. Considering to design safe systems, strong stability systems can be obtained by the extended controller. Moreover, focusing on feedback signal, the extended controller can adjust the magnitude of the feedback signal. That is, the proposed controller can drive the magnitude of the feedback signal to zero if the control object was achieved. In other words the feedback signal by the proposed method can appear on demand of achieving the control object. At first step, this paper proposes on-demand type feedback controller using GMVC and coprime factorization. A numerical example is given in order to check the characteristic of the proposed method.

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開催年月日： 2015年

記述言語：英語  

The demand is growing that a robot manipulates a deformable object. Scenarios for both of a grasping point and transfer of grasped point are required, in order to manipulate a deformable object by a robot. Therefore, it is important for a robot to recognize its form by using image information. In this paper, three-dimensional points groups of a string are obtained by a camera that has distance measure equipment. A shape model called "point chain model" is obtained from points group based on proposed algorithm. In this algorithm, first, points which are estimated to be outside of target object are removed from obtained points groups. Secondly, points groups obtained from various viewpoints are combined to reconstruct three-dimensional shape of a string. Thirdly, central axes of a string are abstracted from combined points groups. Finally, central axes are chained to construct the point chain model. Effectiveness of proposed algorithm is confirmed by experiment.

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開催年月日： 2015年

記述言語：英語  

There are two principal methods to derivate motion of equation of robot manipulator, which are Newton-Euler (NE) method and Lagrange method. The NE method enables to make a dynamical model of robots and it is possible to calculate internal force and torque not generating real motion of robot manipulator, seemed to be an advantage of the NE method that Lagrange method does not have. This merit can be applicable for propagations of constraint and impact force/torque when discussing humanoids walking based on strict dynamical models. So far, the NE method has been applied to a robot of open-loop serial-linkage structure. However, the NE method has been limited to a motion without contacting with environment. Although robot task to the hand contact with environment, for example assembly task, grinding task is important, it has not been formulated in the way of the NE method. So, this paper proposes iterative calculation method for representing constraint dynamical motion of robot manipulator utilizing inverse dynamic calculation the NE method, leading and enabling the forward dynamics calculation of constraint motions to be dealt recursively through proposed the extended NE method for constraint motions, with no use of explicit representation of equation of motions. We applied this method to 2-linkage and 3-linkage manipulators and evaluated its validity by numerical simulations.

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開催年月日： 2015年

記述言語：英語  

A medical procedure called Interventional Radiology (IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. It has advantage that invasiveness is low compared with conventional surgery. In order to take patient's fluoroscopic image, computed tomography (CT) equipment is often used. In this case, it is problem that the doctor is exposed to radiation because the doctor should conduct the procedure close to CT equipment. Thus, we have developed a robot called "Zerobot" which has six DOF and remote-control feature with dedicated input device. In this paper, first, overview of Robotic IR is described. Then, we describes about animal puncture experiment of Zerobot, and discuss the result of puncture reaction force analysis in the experiment.

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開催年月日： 2015年

記述言語：英語  

The deformable object such as string, cloth and paper, is soft and can change its shape easily. It is difficult for a robot to manipulate deformable object because it needs to deal with various shape. For the operation of deformable object, it is important to recognize the shape of them. In our previous research, point chain model and the string shape recognition method were proposed. Point chain model is a structure to describe a string shape by a series of connections of points. And the string shape recognition method are algorithms to recognize a string shape from 3D point cloud data and output point chain model. However, the previous method sometimes occurred misrecognition of segments. Therefore, enhanced matching method is proposed to improve recognition performance.

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開催年月日： 2015年

記述言語：英語  

This paper explores switching PID controller for an underactuated flying object through model-based prediction. Helicopter is applied in large field because of flight ability such as vertical ascent, vertical descent and hovering. However the helicopter, which is one of the underactuated flight objects, is complex and has nonlinear dynamics. In this research, controlled target is an underactuated flight object with two inputs and three outputs. The proposed method predicts the system outputs using the model of controlled target, and the control inputs are calculated by using their values. That is, PID gains arc switched at each sampling tune by the model-based controlled result with time passing virtually. A numerical example is shown to verify the validity of the proposed method.

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開催年月日： 2015年

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開催年月日： 2015年

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開催年月日： 2015年

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開催年月日： 2015年

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開催年月日： 2015年

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開催年月日： 2015年

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開催年月日： 2015年

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開催年月日： 2015年

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開催年月日： 2015年

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開催年月日： 2015年

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開催年月日： 2014年

記述言語：英語  

This paper considers an application of two degree-of-freedom generalized predictive control (Two DOF GPC) to the model of temperature control experimental device of two dimensional aluminum plate. In our research, Two DOF GPC can achieve to design the output response for the aluminum plate model with modeling error or disturbance, and without them independently. The present study aims at three dimensional temperature control by expanding the model of the one dimensional aluminum plate into two dimensional one.

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開催年月日： 2014年

記述言語：英語  

There is a surgical method called Interventional Radiology (IVR) as one of lung cancer treatments. It has a problem that doctors are exposed to radiation because IVR is conducted in CT apparatus. In order to avoid the problem, a robotic IVR system that doctors conduct the puncture with a robot is developed. An operation test is necessary to develop the robotic IVR system, however, an experiment with real patients is rejected based on ethic regulation. Therefore, a phantom is used for experiments instead of patients. A phantom is a model of human used for both evaluation and adjustment of medical imaging equipments such as CT and MRI. However, ready-made phantoms can not be punctured, because they are only aimed to radiography and their surface are hard. Therefore a phantom for CT-IVR which can be punctured is developed.

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開催年月日： 2014年

記述言語：英語  

A lot of researches on inverted pendulum cart are conducted in recent years. And it attracts as a personal vehicle that realizes energy saving for many practical applications. However, because most conventional personal vehicles require a certain level of physical ability from the driver, it is not suitable for elderly and disabled people to drive.Therefore, an inverted pendulum cart with a sliding mechanism for posture control that could be ridden by anyone has been developed. In this paper, we propose that inverted pendulum cart runs keeping posture perpendicularly. First, algorithm to estimate the lean angle, that is calculated based on the center of gravity of the cart, using the full-order state observer is proposed. Secondly, algorithm to keep the posture of cart perpendicular against the change of the center of gravity is proposed. Then, desired position of slider is calculated based on the estimated lean angle. Finally, the effectiveness of algorithm is confirmed through a simulation.

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2014年

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開催年月日： 2013年

記述言語：英語  

There are surgical methods called Interventional Radiology (IVR) using CT equipments in medical treatments of lung cancers, a blood vessels, and so on. IVR has an advantage that invasiveness is low and medical treatments with local anesthesia are possible as compare with the fact that laparotomy surgeries require general one. Therefore the number of IVR surgery has been increasing in recent years. However, radiation exposure to doctors has been concerned in the current IVR, since medical doctors conduct the treatment using CT equipment. Thus, the IVR robot should be developed in order to avoid the radioactive exposure to doctors. In this research, a robot using a parallel link mechanism is developed from the viewpoints that hand accuracy and hand rigidity are high and motors can be arranged far from CT scanning plane. The dual delta-type parallel link is proposed. It has the structure which is arranged the delta-type parallel link mechanism with three degrees of freedom (DOF). First, the arm which has offset of the axis in consideration of interference was designed. Secondly, inverse kinematics of parallel link was analyzed. Next, Delta-type parallel link mechanism with three DOF was manufactured. Finally, basic motion of parallel link robot was confirmed.

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開催年月日： 2013年

記述言語：英語  

Fault detection functions with learning method of a robotic manipulator are very useful for factory automation. All production has the possibility to fail due to unexpected accidents. To reduce the fatigue of human workers, small errors automatically should be corrected by a robot system. Also a learning method is important for fault detection, because labor of system integrator should be reduced. In this paper, an external thread fastening task by a robotic manipulator is investigated. To discriminate the four states of a task, linear support vector machine methods with two feature parameters are introduced. The effectiveness of the proposed algorithm is confirmed through an experiment and recognition examination. Finally, the ability of linear SVM is compared with artificial neural network method.

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開催年月日： 2013年

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開催年月日： 2013年

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開催年月日： 2013年

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開催年月日： 2013年

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開催年月日： 2013年

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開催年月日： 2013年

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開催年月日： 2013年

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開催年月日： 2013年

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開催年月日： 2012年5月27日

記述言語：日本語  

This paper proposes a dynamic model of general behavior using a new concept Narrow Tilting Vehicle (NTV). Our NTV has one wheel on the front and two wheels on the rear. Also, it is very narrow and all three wheels will tilt to make stable during turn. We derive three types of dynamic model. One is the model when all three wheels are on the ground. Other two are the model when each right and left rear wheel floats. These dynamic models are useful to control the real vehicle. Then, we made simulations to indicate the availability of our dynamic model. We also made some simulations to validate our three dynamic models.

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開催年月日： 2012年

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開催年月日： 2012年

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開催年月日： 2012年

記述言語：日本語  

Fault detection functions of a robotic manipulator are very useful for factory automation. All production has the possibility to fail due to unexpected accidents. To reduce the fatigue of human workers, small errors automatically should be corrected by a robot system. In this paper, an external thread fastening task by a robotic manipulator is investigated. To discriminate the four states of a task, linear support vector machine methods with two feature parameters are introduced. One is the estimated insertion length, and the other is the maximum reaction force. The effectiveness of the proposed algorithm is confirmed through an experiment and recognition examination.

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開催年月日： 2012年

記述言語：英語  

This paper shows effectiveness of bracing for precise and low electrical energy consumption of the end-effector in the case with and without the constraint of the joint of mobile manipulator. Considering that human can do accurate task with less power by bracing elbow on the table, we believe that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper first discuss the motion equation of robot with constraint condition, and robots dynamics including motor's dynamics also. Then the effects of bracing are analyzed and displayed.

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開催年月日： 2012年

記述言語：英語  

The objective of this research is to analyze humanoid's jumping and landing motions on a view point of arms' dynamical coupling onto jumping. Humans seem to use arms' swinging for walking or running effectively and jump highly by swinging up arms high. So, we gave input torques to arms in such a way as to swing arms similar to humans, and changed timing to start swinging them, comparing them with humanoid's motion that does not swing the arms through numerical simulation. Then we have confirmed that appropriate swinging motions of arms help the jumping to be higher than those without arms' swinging.

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開催年月日： 2012年

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開催年月日： 2012年

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開催年月日： 2012年

記述言語：英語  

The traffic congestion is growing in urban area these days due to the rapidly increasing number of automobiles. One of the traffic problem solutions is to increase the flow rate of a particular traffic artery. To make the vehicle smaller and narrower might be a good idea. We developed a new conceptual Narrow Tilting Vehicle (NTV) that has one front wheel and two rear wheels. The proposed NTV is very narrow and all three wheels can tilt to improve the stability during turning. We also derive a new switching dynamical model of the NTV. This model considers several states including normal running, temporary running with one rear wheel not on the ground and totally falling down. Based on this model, a simulation platform is established, which is useful to test different control methods and to investigate dangerous driving situations in case hurt drivers in real experiments. The effectiveness of proposed dynamical model is verified through comparison study of simulations and corresponding experiments.

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開催年月日： 2012年

記述言語：英語  

The traffic congestion is growing in urban area these days. This is because the number of the automobiles is increasing rapidly. To solve this problem, there are many solutions. One of them is to increase the flow rate of a particular traffic artery. A converse approach to increase the flow rate is to make the vehicle smaller and narrower. We developed a new conceptual Narrow Tilting Vehicle (NTV) that has one front wheel and two rear wheels. Also, it is very narrow and all three wheels can tilt to improve the stability during turning. In this paper, we derive a new switching dynamical model of NTV. This model considers several NTV states including normal running, temporary running with one rear wheel not on the ground and totally falling down. Based on this model, a simulation platform is established, which is useful to test different control methods and to investigate dangerous driving situations in case hurt drivers in real experiments. The effectiveness of proposed dynamical model is verified through comparison study of simulations and corresponding experiments.

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開催年月日： 2012年

記述言語：英語  

Biped locomotion created by a controller based on Zero-Moment Point [ZMP] known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this paper, walking model of humanoid including slipping, bumping, surface-contacting and point-contacting of foot is discussed, and its dynamical equation is derived by Newton-Euler method. Then, we propose walking stabilizer named "Visual Lifting Stabilization" strategy to enhance standing robustness and prevent the robot from falling down. Simulation results indicate that this strategy helps stabilize pose and bipedal walking even though ZMP is not kept inside convex hull of supporting area.

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開催年月日： 2012年

記述言語：英語  

This paper proposes and analyses an approach named predictive control of redundant manipulators based on avoidance manipulability to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators' future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare first order prediction with second order prediction and show the results through simulation. Moreover, we validate the effectiveness of predictive control through Avoidance Manipulability Shape Index with Potential (AMSIP) distribution.

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開催年月日： 2012年

記述言語：英語  

There is much attraction of automation of difficult assembly by robotic manipulator. However, robots in factory should be overseen by human workers in order to check whether task condition is anomaly or not. In order to reduce human cost, anomaly detection for assembly task is important. A task to tighten a screw as one of assembly tasks is focused on. In this paper, we propose a method to generate high confidence area in the map of features based on nonlinear support vector machine with Gaussian kernel. By proposed method, a robot system can reduce occasions to make mistake in recognition of task conditions.

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開催年月日： 2012年

記述言語：英語  

There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel transportation system, UW-Car, which is composed of an MWIP system and a movable seat is proposed. The reduced-order dynamic model of a UW-Car system running in a rough terrain is obtained by applying Lagrangian motion equations. A sliding mode control approach is proposed based on the dynamic model. Comparing with the linear quadratic regulator (LQR) approach, the new method guarantees that a UW-Car system can run in a rough terrain while keeping the body upright and the seat on some fixed position. The theoretical results are finally demonstrated through numerical simulations.

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開催年月日： 2011年5月26日

記述言語：日本語  

To obtain a secured mating of electric connectors is one of the most important steps in a robotic wiring harness assembly system. Although there are plentiful results about complex peg-in-hole assembly problems, little work has been done with respect to this special issue. In many cases, mating connectors can be regarded as a hole search process of a multiple hole-in-peg problem. Because various faults might occur during the search, a reliable error recovery strategy is necessary in the mating task. In the paper, the error detection algorithm and the error recovery algorithm for various connectors are mainly realized by using force/torque sensor. The experiment results show the proposed system can detect and diagnose the position errors, and realize error recovery and mating successfully. It shows the fault-tolerable capability of the system is improved evidently.

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開催年月日： 2011年

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開催年月日： 2011年

記述言語：日本語  

Recently, industrial robots have engaged in various works. In the near future, robots will be required to work out some difficult assemblies instead of human. Even though high sensitivity of force sensor is needed for difficult assemblies, it is inferior to that of human. Therefore, a force sensor should be developed so that sensitivity can catch up with that of human. In conventional research, some researches concerned with force sensors are conducted. However, they do not have both wide range and high durability. In this paper, we propose a tuning fork structured piezoelectric vibration sensor. It is possible to realize both of high sensitivity and high durability due to multi vibration mode. And, it applied for robot control in order to confirm the availability.

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開催年月日： 2011年

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開催年月日： 2011年

記述言語：英語  

Three-dimensional dynamic modeling and numerical simulation of manipulating deformable linear objects (DLOs) such as hoses, wire and cables are studied in this paper. Several coordinate systems are introduced first to describe the deformation of DLOs. The dynamic three-dimensional deformation of an inextensible linear object is formulated using finite element method (FEM) and lagrange motion equations. The proposed method provides more efficient simulation of dynamic manipulating DLOs with faster computation speed. Two simulation examples are illustrated to confirm the effectiveness of our methods. One is a comparison simulation study and the other shows the three-dimensional dynamic character of the DLO.

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開催年月日： 2011年

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開催年月日： 2009年

記述言語：英語  

There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust velocity tracking problem of MWIP systems is investigated in this study. In the velocity control problem, model uncertainties accompany uncertain equilibriums, which make the controller design become more difficult A sliding mode control (SMC) method based on a novel sliding surface is proposed for the systems, which are capable of handling both parameter uncertainties and external disturbances. By assuming the specially designed sliding surface, the proposed SMC controller is capable of eliminating the steady velocity tracking error. The asyrnptotical stability of the closed-loop system is achieved through selecting sliding surface parameters in terms of some rules. The effectiveness of the proposed methods is finally confirmed by numerical simulations.

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開催年月日： 2009年

記述言語：英語  

There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying Lagrange's motion equation. A sliding mode control (SMC) method is proposed for the dynamic model, which is capable of both handling the mismatched perturbation and keeping the body upright. An optimal braking scheme is introduced which reduces the velocity of UW-Car to zero first and adjusts the displacement of seat to the centre position. Genetic Algorithm (GA) is adopted to search the optimal parameters for sliding mode controller. The optimal braking scheme is implemented by on-line switching three sliding mode controllers. The effectiveness of the proposed methods is finally confirmed by numerical simulation.

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開催年月日： 2008年

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開催年月日： 2008年

記述言語：英語  

Deformable linear objects (DLOs) such as cables, hoses and wires are widely used in the real life, electric industries and medical operations. In this paper, we propose a new approach to simulate manipulating DLOs in the robotic assembly. The dynamic 2D deformation of an inextensible linear object is formulated using FEM approach. Based on the model, simulation can be efficiently implemented by matrix computation and numerical solvers for differential equations. The proposed method provides faster computation speed than methods based on differential geometry coordinate systems. Some simulation examples are illustrated to confirm the effectiveness of our methods.

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開催年月日： 2008年

記述言語：英語  

To obtain a secured mating of electric connectors is one of the most important steps in a robotic wiring harness assembly system. Although there are plentiful results about complex peg-in-hole assembly problems, little work has been done with respect to this special issue. In many cases, mating connectors can be regarded as a hole search process of a multiple hole-in-peg problem. Because various faults might occur during the search, a reliable error recovery strategy is necessary in the mating task. In this paper, we model possible faults as "trap regions" in the configure space (C-space) of the assembly. Fault isolation methods are obtained from elaborated force analyses as well. Based on these fault isolation results, error recovery strategies are proposed according to the fault models. A fault-tolerant mating of electric connectors can then be achieved. The effectiveness of the methods is finally confirmed by experiments.

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開催年月日： 2008年

記述言語：英語  

A three-wheeled omni-directional cane robot is designed for aiding the elderly walking. Possible move modes are analyzed and a corresponding hybrid model is constructed to describe walking behavior. A concept called intentional direction is presented to denote the moving intention of a human. Based on experiments and some assumptions, dynamic model of intentional direction is obtained as well as its online estimation method. A new admittance control scheme is presented based on intentional direction, which provides natural and intuitive human machine interface. Experiment results show the effectiveness of the design.

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開催年月日： 2008年

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開催年月日： 2008年

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開催年月日： 2008年

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開催年月日： 2007年

記述言語：英語  

Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets (FPS) is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The effectiveness of these methods is finally confirmed through experiments.

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開催年月日： 2007年

記述言語：英語  

The purpose of this study is development of a passive type virtual reality glove, which represents force sensations of grasping virtual objects and rather enhances immersive feelings in virtual space. VR technologies are recently actively researched for application or practical use, and actually some sensor gloves were commercialized. Though, force display gloves have not become popular. One of the major reasons would be safety of the device. We aim to develop a passive force display glove which consists of only passive elements like brakes, have no danger of hurting operator even if the controller runs away, and is to have characteristics of safety, high performance and inexpensive. This paper reports the prototype glove and its improved type.

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開催年月日： 2007年

記述言語：英語  

Nowadays, robots manipluated by human are aggressively researched and developed. Such robots need large generative force, high speed response, good controllability, high safety, low friction, backdriveability and so on. We have put emphasis on the backdriveability and created a novel prototype linear actuator with new structure applying an ER (Electro-Rheological) gel, a recent functional material. It is an all-purpose actuator satisfying characteristics for human-coexistence welfare robot.

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開催年月日： 2007年

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開催年月日： 2007年

記述言語：英語  

In proposing the jumping mechanism imitating the leg of vertebrate, unique mechanical function of bi-articular muscle was analyzed. The bi-articular muscle is an actuator which exists only in vertebrate. The ground reaction force and/or jumping motion were examined using the following three jumping mechanisms, 1) the mechanism which arranged two actuators on the knee and ankle joint independently (Mechanism-A), 2) the mechanism which arranged two actuators on the knee and ankle joint, and connected two joints by a wire (Mechanism-B), 3) the mechanism which arranged one actuator only on the knee joint, and connected two joints by a wire (Mechanism-C). It became clear that the Mechanism-C is excellent as the result of analyses in this study. A pantograph mechanism is constituted by the wire equivalent to the biarticular muscle which transmits the joint torque between two joints. And, ideal ground reaction force for jumping motion is generated. Furthermore, the jumping mechanism or robot which has the function of bi-articular muscle was made and the vertebrate like jumping motion was realized. In this study, it is said that the muscular arrangement of vertebrate is ideal arrangement. It is also an answer to the general question why is the crus very thinner than the femur of vertebrate which makes a jump elated.

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開催年月日： 2007年

記述言語：英語  

Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system. A piece-wise linear force model is reported to describe the successful mating process of connectors via elaborate analysis of force during different phases. The corresponding parameter estimation method of this model is also presented by adapting regular least square estimation methods. A typical type of connectors are investigated in this paper. The results can be extended to other types easily. Experiments show that the presented model has good prospects in fault diagnostic tasks.

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開催年月日： 2007年

記述言語：英語  

As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. We proposed Passive Dynamic Autonomous Control (PDAC) previously[13] as one of point-contact methods. PDAC expresses the robot dynamics as an 1-dimensional autonomous system based on the two concepts: 1) point-contact 2) Virtual Constraint (proposed by Grizzle and Westervelt et al[8], [10]). We actually realized 3D dynamic walking by means of proposed method, however stability is not proved and the convergence domain is not clear. Thus, this paper finds the convergence domain of the previously proposed controller and proves the stability by the Liapunov Theory. Finally, the correctness of stability proof is confirmed by the numerical simulation.

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開催年月日： 2006年

記述言語：英語  

In this paper, a sensor fusion based fuzzy rules for humanitarian demining are presented. A fuzzy learning algorithm for extracting fuzzy fusion rules from experimental data of robot-manipulated ground penetrating radar (GPR) and metal detector (MD) is presented. The inputs to the fuzzy learning algorithm are features extracted from both a GPR and an MD while its output is a set of fuzzy rules. Applying the learnt fuzzy fusion rules and knowing GPR and the MD features of a given scan, it is possible to decide if there is a land mine and its approximate depth underground. The features chosen for this fusion algorithm are the peak amplitude of a processed GPR output signal and the peak value of the cumulative sum of amplitudes of MD output signal for the same scanned area. Experimental test results are presented for verifying the validity of the proposed learnt fuzzy fusion rule base.

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開催年月日： 2006年

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開催年月日： 2006年

記述言語：英語  

We propose a new tactile sensor utilizing piezoelectric vibration. This tactile sensor has a high sensitivity, wide measurement range, pressure resistance, flexibility, and self-sensing function. This tactile sensor comprises two piezoelectric materials. One is used for the vibration of the sensor element and the other is used for the measurement of the change in mechanical impedance induced by an external force. We achieved the wide measurement range by implementing two ideas. One was to apply the external force to the sensor element through an elastic body and the other was to use two or more modes of vibration. Moreover, for the elastic body, it is preferable to use a material whose elasticity and viscosity are easily changed by an external force, such as a gel. In this study, first, this tactile sensor was analyzed, and then its characteristics were derived. The analytical results qualitatively corresponded to the experimental results. Next, a prototype tactile sensor was fabricated and evaluated. The evaluation results showed that this tactile sensor can measure a pressure of 2.5 Pa or less and a pressure of 10 kPa or more and its pressure resistance is 1 MPa or more.

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開催年月日： 2006年

記述言語：日本語  

In this papar, we proposed a new method of rotary height control. Our method can estimate absolute height of ground level only using pitching sensor. But this ground level estimation method has a error caused by unknown ground height between front wheel rear wheels, we solved this problem by observing the difference between a rear cover angle of an internal model and an actual rear cover angle. In additon, we proposed hybrid control system of preview control and rotary height control. Finally, the effectiveness of proposed methods was confirmed.

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開催年月日： 2006年

記述言語：日本語  

This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and the approximate 1-mass model in both planes is employed. In the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. The phase of dynamics derived by means of PDAC makes it possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.

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開催年月日： 2006年

記述言語：日本語  

We integrated the piezoelectric vibration-type tactile sensor with high sensitivity and wide measurement range. It was a problem that the vibration of a certain sensor element influenced other sensor elements when this tactile sensor was integrated. In this paper, first, we solved this problem by placing the vibration absorption material between sensor elements. Next, the structure of the integrated piezoelectric vibration-type tactile sensor was proposed and produced. As a result, we succeeded in integrating 18 sensor elements in the area of 20×20 mm. However, the vibration was not absorbed enough by the vibration absorption material with the acrylic resin and the conductive epoxy resin. This problem was solved by using a flexible conductive tape as the vibration absorption material, and the integrated tactile sensor with high sensitivity and wide measurement range was realized.

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開催年月日： 2006年

記述言語：日本語  

Ground Penetrating Radar (GPR) is a promising sensor for landmine detection, however there are several problems to overcome. One is adaptability to non-planer(e.g. rough and/or undulating) ground surface. It remains unremovable clutters on a sub-surface image output from GPR. Geography adaptive scanning is useful to image objects beneath non-planer ground surface. The other problem is the distance between the antennas of GPR. When imaging a small object such as an anti-personnel landmine close to antennas, it increases the nonlinearity of the relationship between the time for propagation and the depth of a buried object. In this paper, we modify Kirchoff migration so as to account for not only the variation of height and pose of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

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開催年月日： 2006年

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開催年月日： 2006年

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開催年月日： 2006年

記述言語：日本語  

We propose the tailor-made multilayer piezoelectric actuator with large displacement and large force. In a past piezoelectric actuator, the achievement of a small, low-cost actuator with large displacement and large force was difficult. We solved these problems by combining two bimorph type piezoelectric elements by the both ends being supported, and accumulating it. Moreover, the ratio of displacement and force of this multilayer piezoelectric actuator can be widely changed by changing the size of bimorph type piezoelectric element. In this study, first, we show the structure of this multilayer piezoelectric actuator. Next, displacement and force of this multilayer piezoelectric actuator were theoretically derived. The analytical results almost corresponded to the experimental results. Next, prototype multilayer piezoelectric actuators were fabricated and evaluated. The evaluation results showed that this multilayer piezoelectric actuator can generate a displacement of several 100 μm or a force of several N within the size of 10×10×10 mm.

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開催年月日： 2006年

記述言語：日本語  

In this paper, we propose the wearable sleep control system and estimation method of the sleep state using pulse wave. We are trying to make an adaptive human interface of sleep control system above mentioned. There are 3 steps for realize the system. At first, the system could be estimate human sleep state. Secondly, system must be an adaptive system for differences among individuals. At last, the system must be able to do something to human to control user's state. We are considering about most simple way to control human's sleep cycle phase is to control awakening timing and sleep time. Now, the ordinary alarm clock operates according to the time. And we have to set the "time" in advance. But human has a rhythms in one's sleep cycle. The cycle affects one's sleep depth and wake-up timing.

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開催年月日： 2006年

記述言語：日本語  

In this paper, we present the control method to achieve the continuous brachiation on the irregular ladder. The uniform ladder problem was solved by means of symmetric property previously. However, as for the irregular ladder problem, it's impossible to build the controller based on symmetric property since the motion cannot be designed symmetrically. Therefore, it is necessary to estimate the energy difference caused by symmetry breaking.We apply Passive Dynamic Autonomous Control (PDAC), which was proposed previously, to the locomotion action and evaluate the energy difference. Swing motion is adjusted so as to satisfy the desired energy calculated from the energy difference. The validity of proposed method is tested by the experiment of Gorilla Robot III and the irregular ladder brachiation is realized.

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開催年月日： 2006年

記述言語：英語  

We propose tailor-made multilayer piezoelectric actuators (TAMPA) having large displacements and large forces. In existing piezoelectric actuators, production of small, low-cost actuators having large displacements and large forces is difficult to achieve. We solved this problem by combining two bimorph-type piezoelectric elements with both ends simply supported, and stacking several elements on top of each other. Moreover, TAMPA is a tailor-made actuator whose displacement to force ratio can be varied widely by adjusting the size of the bimorph-type piezoelectric elements even when the total size of the actuator is kept constant. In this study, the bimorph-type piezoelectric element was analyzed, and the relationship between the displacement and the force under fixed conditions was experimentally determined. The relationship between the displacement and the force of TAMPA was theoretically derived. The analytical results showed that a TAMPA having dimensions of approximately 10x10x10 mm is capable of generating displacements of several hundred mu m or the force of several N. A prototype was produced and its performance was evaluated. These results agreed well with the analytical results, confirming the validity of the analytical results. Finally, because the lead in PZT can cause environmental problems, a TAMPA was produced that used (K,Na)(Nb,Ta)O-3 piezoelectric ceramics instead of PZT.

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開催年月日： 2006年

記述言語：英語  

Most of landmine detection robots proposed before have been strongly restricted to locomote because they have not been able to enter the minefield. So we have proposed a mine detection vehicle which can enter minefield with low-ground-pressure tires and scan landmines directly using GPR. Low-ground-pressure tire decrease ground contact pressure. And we are intended to make accurate map that point out the position where landmines are buried. The position of the vehicle is able to be observed with internal sensors (for the posture measurement) and external sensors (for the position measurement). However, when controlling the vehicle, the sampling time of external sensors and communication time from external sensors to the vehicle cannot be disregarded. Exact position of the vehicle must be predicted with dynandcal model of the vehicle. We therefore propose dynamical model of the vehicle for low-ground-pressure vehicle. Based on experimental results, the dynamical model for low-ground-pressure vehicle is in consistency with acutual behavior of it.

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開催年月日： 2006年

記述言語：英語  

Ground Penetrating Radar (GPR) is a promising sensor for landmine detection, but there are two major problems to overcome. One is the non-planer(e.g. rough and/or undulating) ground surface. It remains irremovable clutters on a sub-surface image output from GPR. Geography adaptive scanning is useful to image objects beneath non-planer ground surface. The other problem is the distance between the antennas of GPR. When imaging the small objects such as an anti-personnel landmine close to antennas, it increases the nonlinearity of the relationship between the time for propagation and the depth of a buried object. In this paper, we modify Kirchhoff migration so as to account for not only the variation of height and pose of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

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開催年月日： 2006年

記述言語：英語  

This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and each motion is designed individually under the assumption that each motion is possible to be treated independently each other. We adopt the approximate 1-mass model in both planes and derive the dynamics based on these models. It is assumed that the lateral motion is relevant to heel-off motion. On the other hand, in the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. By applying PDAC to the dynamics, phase around the contact point can be derived. By means of this phase of dynamics, it is possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.

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開催年月日： 2005年

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開催年月日： 2005年

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開催年月日： 2005年

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開催年月日： 2005年

記述言語：日本語  

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開催年月日： 2005年

記述言語：日本語  

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開催年月日： 2005年

記述言語：日本語  

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開催年月日： 2004年

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開催年月日： 2004年

記述言語：英語  

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開催年月日： 2004年

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開催年月日： 2003年

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開催年月日： 2000年

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開催年月日： 1999年

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出願人：富山県

出願番号：特願2011-037520  出願日：2011年2月23日

公開番号：特開2012-171071  公開日：2012年9月10日

特許番号/登録番号：特許第5496129号  登録日：2014年3月14日 

J-GLOBAL

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出願人：株式会社エクォス・リサーチ

出願番号：特願2008-212239  出願日：2008年8月20日

公開番号：特開2010-047095  公開日：2010年3月4日

特許番号/登録番号：特許第5181923号  登録日：2013年1月25日 

J-GLOBAL

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