研究者詳細 - 松野　隆幸

講演・口頭発表等 - 松野　隆幸

分割表示 186 件中 141 - 160 件目／全件表示 >>

コネクタケーブルを取り扱う生産用ロボットシステムの開発

白土浩司, 堂前幸康, 永谷達也, 北明靖雄, 原口林太郎, 奥田晴久, 野田哲男, 鷲見和彦, 松野隆幸, 金子俊一, 福田敏男

日本ロボット学会学術講演会予稿集(CD-ROM) 2011年

Three-Dimensional Modeling and Simualtion of Manipulating Deformable Linear Objects

Ding Feng, Huang Jian, Wang Yongji, Fukuda Toshio, Matsuno Takayuki

2011 30TH CHINESE CONTROL CONFERENCE (CCC) 2011年 IEEE

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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Optimal Braking Control for UW-Car Using Sliding Mode

Feng Ding, Jian Huang, Yongji Wang, Xueshan Gao, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 2009年 IEEE

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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Robust Velocity Sliding Mode Control of Mobile Wheeled Inverted Pendulum Systems

Jian Huang, Hongwei Wang, Takayuki Matsuno, Toshio Fukuda, Kousuke Sekiyama

ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 2009年 IEEE

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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ヒト四肢の力出力と剛性の計測手法の提案

中西英介, 大島徹, 小柳健一, 松野隆幸, 田島孝光

生活支援工学系学会連合大会講演予稿集 2008年

Dynamic Modeling and Simulation of Manipulating Deformable Linear Objects

Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2 2008年 IEEE

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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Fault-tolerant Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems

Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 2008年 IEEE

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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Motion Control of Omni-Directional Type Cane Robot Based on Human Intention

Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 2008年 IEEE

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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二関節筋機能を有するリハビリ教育訓練用ロボットの開発

清水真也, 大島徹, 小柳健一, 松野隆幸, 百生登

生活支援工学系学会連合大会講演予稿集 2008年

動物の脚機構を模倣したリンク機構による跳躍の実現

大島徹, 百生登, 藤川智彦, 鳥海清司, 小柳健一, 松野隆幸

精密工学会誌(CD-ROM) 2008年

サーボモータを利用した筋の運動制御特性の構築

沖佑輔, 大島徹, 松野隆幸, 小柳健一

生活支援工学系学会連合大会講演予稿集 2008年

Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems

Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

2007 INTERNATIONAL SYMPOSIUM ON MICRO-NANO MECHATRONICS AND HUMAN SCIENCE, VOLS 1 AND 2 2007年 IEEE

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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Development of passive force display glove system and its improved mechanism*

Wataru Nozaki, Ken'ichi Koyanagi, Toru Oshima, Takayuki Matsuno, Noboru Momose

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS 2007年 IEEE

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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Basic structure and prototype of novel linear actuator with electro-rheological gel

Ken'ichi Koyanagi, Yasuhiro Kakinuma, Hidenobu Anzai, Koji Sakurai, Tomoya Yamaguchi, Toru Oshima, Noboru Momose, Takayuki Matsuno

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS 2007年 IEEE

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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電磁ブレーキを用いた受動型力覚提示グローブの開発

野崎航, 小柳健一, 大島徹, 松野隆幸, 百生登

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) 2007年

Jumping mechanism imitating vertebrate by the mechanical function of bi-articular muscle

Toru Oshima, Noboru Momose, Ken'ichi Koyanagi, Takayuki Matsuno, Tomohiko Fujikawa

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS 2007年 IEEE

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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Modeling for mating process of electric connectors in robotic wiring harness assembly systems

Jian Huang, Toshio Fukuda, Takayuki Matsuno

IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS 2007年 IEEE

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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Stability proof of biped walking control based on point-contact

Masahiro Doi, Yasuhisa Hasegawa, Takayuki Matsuno, Toshio Fukuda

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 2007年 IEEE

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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Sensor fusion based fuzzy rules learning for humanitarian mine detection

Zakarya Zyada, Yasuhiro Kawai, Takayuki Matsuno, Toshio Fukuda

2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 2006年 IEEE

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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地形推定を用いたトラクタロータリの耕深制御

福田敏男, 菅沼直孝, 松野隆幸, 丹生秀和

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) 2006年一般社団法人日本機械学会

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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<松野 隆幸>

講演・口頭発表等 - 松野 隆幸

<松野　隆幸>

講演・口頭発表等 - 松野　隆幸