Faculty Profiles - MATSUNO Takayuki

Presentations -

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モデル予測制御の劣駆動型飛翔体への適用

吉川浩平, 矢納陽, 見浪護, 松野隆幸

計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM) 2013

ハンドアイカメラの移動動作とオプティカルフローを用いた柔軟物体の形状認識

松野隆幸, 上山由希, 矢納陽, 見浪護, 福田敏男, 福田敏男

日本ロボット学会学術講演会予稿集(CD-ROM) 2013

1A2-H06 Modeling and Stable Motion Control of Three Wheeled Vehicle(Wheeled Robot/Tracked Vehicle(2))

Furuichi Hiroki, Huang Jian, Matsuno Takayuki, Fukuda Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012.5.27 The Japan Society of Mechanical Engineers

Event date： 2012.5.27

Language：Japanese

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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入出力データに基づくアルミ板温度制御モデルへの2自由度一般化予測制御法の適用

荒木翔, 西崎純基, 矢納陽, 見浪護, 松野隆幸

計測自動制御学会中国支部学術講演会論文集 2012

Dynamic Model of Three Wheeled Narrow Tilting Vehicle and Corresponding Experiment Verification

Hiroki Furuichi, Jian Huang, Takayuki Matsuno, Toshio Fukuda

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 2012 IEEE

Event date： 2012

Language：English

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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2自由度構成した状態空間法による一般化予測制御則のアルミ板温度制御

矢納陽, 西崎純基, 見浪護, 松野隆幸, 斎藤誠二

計測自動制御学会制御部門大会(CD-ROM) 2012

Fault Detection Algorithm for Thread Fastening by Robotic Manipulator

松野隆幸, 白土浩司, 黄剣, 福田敏男

日本ロボット学会誌 2012 The Robotics Society of Japan

Event date： 2012

Language：Japanese

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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Hand-Trajectory Tracking Control with Bracing Utilization of Mobile Redundant Manipulator

Yuto Washino, Mamoru Minami, Hidemi Kataoka, Takayuki Matsuno, Akira Yanou, Michiyuki Itoshima, Yosuke Kobayashi

2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE) 2012 SOC INSTRUMENT CONTROL ENGINEERS JAPAN

Event date： 2012

Language：English

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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Analyses of Jumping Motion of Humanoid Robot Using Arms' Swinging

Jumpei Nishiguchi, Mamoru Minami, Akira Yanou, Takayuki Matsuno, Tomohide Maeba

2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE) 2012 SOC INSTRUMENT CONTROL ENGINEERS JAPAN

Event date： 2012

Language：English

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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回避可操作性形状値に基づく移動型冗長マニピュレータの走行軌跡最適化

木下祐樹, 植田浩介, 見浪護, 矢納陽, 松野隆幸

インテリジェント・システム・シンポジウム(CD-ROM) 2012

慣性センサと単眼カメラを用いたマニピュレータの動作指令に関する研究

大島康太, 松野隆幸, 大島徹, 小柳健一, 本吉達郎

日本ロボット学会学術講演会予稿集(CD-ROM) 2012

Modeling and Control for UW-Car in Rough Terrain

Lifei Mao, Jian Huang, Feng Ding, Toshio Fukuda, Takayuki Matsuno

PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012) 2012 IEEE

Event date： 2012

Language：English

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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Dynamic Model of Three Wheeled Narrow Tilting Vehicle and Optimal Tilt Controller Design

Hiroki Furuichi, Jian Huang, Takayuki Matsuno, Toshio Fukuda

2012 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS) 2012 IEEE

Event date： 2012

Language：English

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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Dynamical Analyses of Humanoid's Walking by Visual Lifting Stabilization Based on Event-driven State Transition

Tomohide Maeba, Mamoru Minami, Akira Yanou, Takayuki Matsuno, Jumpei Nishiguchi

2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 2012 IEEE

Event date： 2012

Language：English

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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Comparison between First and Second Order Prediction for On-line Configuration Control of Redundant Manipulator based on AMSIP

Yang Hou, Akira Yanou, Mamoru Minami, Takayuki Matsuno, Yosuke Kobayashi

2012 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA) 2012 IEEE

Event date： 2012

Language：English

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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Nonlinear SVM Based Anomaly Detection for Manipulator Assembly Task

Takayuki Matsuno, Jian Huang, Toshio Fukuda

2012 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS) 2012 IEEE

Event date： 2012

Language：English

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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1A1-E01 Error recovery Strategies for Electric Connectors Assembly System by using Force sensor(Robots for Works)

MATSUNO Takayuki, SASAKi Hironobu, SUN Baiqing, FUKUDA Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011.5.26 The Japan Society of Mechanical Engineers

Event date： 2011.5.26

Language：Japanese

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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慣性航法を用いたマニピュレータの手先操作に関する研究-画像情報のデータ統合-

大島康太, 松野隆幸, 大島徹, 小柳健一, 本吉達郎

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2011

Fault Detection Algorithm for Thread Fastening by Robotic Manipulator

松野隆幸, 白土浩司, 黄剣, 福田敏男

日本ロボット学会誌 2011

1B3-5 Development of Tuning Fork Structured Piezoelectric Vibration Sensor

MATSUNO Takayuki, SHIMA Yasunori, OSHIMA Toru, KOYANAGI Ken'ichi, MOTOYOSHI Tatsuo, FUKUDA Toshio

2011

Event date： 2011

Language：Japanese

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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