Faculty Profiles - MATSUNO Takayuki

Presentations -

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2P1-B31 Control of smooth biped walking by means of heel-off motion

Doi Masahiro, Mastuno Takayuki, Hasegawa Yasuhisa, Fukuda Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 The Japan Society of Mechanical Engineers

Event date： 2006

Language：Japanese

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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2P2-B05 Integration of piezoelectric vibration-type tactile sensor with high sensitivity and wide measurement range

MOTOO Kohei, YAMADA Yuji, MATSUNO Takayuki, FUKUDA Toshio, ARAI Fumihito

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 The Japan Society of Mechanical Engineers

Event date： 2006

Language：Japanese

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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2P1-C37 GPR Signal Processing for Geography Adaptive Scanning with Vector Radar

KAWAI Yasuhiro, SATO Shinsuke, MATSUNO Takayuki, HASEGAWA Yasuhisa, FUKUDA Toshio, Zyada Zakarya

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 The Japan Society of Mechanical Engineers

Event date： 2006

Language：Japanese

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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Grasping of Objects with Piezoelectric Vibration-Type Tactile Sensor

元尾幸平, 山田祐司, 福田敏男, 新井史人, 松野隆幸

日本ロボット学会学術講演会予稿集(CD-ROM) 2006

Modeling of landmine detection vehicle with low-ground-pressure tire

佐藤慎祐, 福田敏男, 長谷川泰久, 松野隆幸, ZAKARYA Zyada

日本ロボット学会学術講演会予稿集(CD-ROM) 2006

1A1-C15 New Multilayer Piezoelectric Actuator with Large Displacement and Large Force

MOTOO Kohei, TODA Naoya, FUKUDA Toshio, ARAI Fumihito, MATSUNO Takayuki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 The Japan Society of Mechanical Engineers

Event date： 2006

Language：Japanese

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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1A1-A23 Wearable Sleep Control System Based on Human Biological Rhythm

WAKUDA Yuki, NODA Akiko, HASEGAWA Yasuhisa, MATSUNO Takayuki, ARAI Fumihito, FUKUDA Toshio, KAWAGUCHI Mitsuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 The Japan Society of Mechanical Engineers

Event date： 2006

Language：Japanese

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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2A1-D34 Analytical Design Method of Bracgiation Controller on the Irregular Ladder

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 The Japan Society of Mechanical Engineers

Event date： 2006

Language：Japanese

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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Tailor-made multilayer piezoelectric actuator having large displacements and forces produced from lead-free piezoelectric ceramics

Kohei Motoo, Naoya Toda, Toshio Fukuda, Fumihito Arai, Koichi Kikuta, Shin-ichi Hirano, Takayuki Matsuno

2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE 2006 IEEE

Event date： 2006

Language：English

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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Piezoelectric vibration-type tactile sensor with wide measurement range using elasticity and viscosity change

Kohei Motoo, Toshio Fukuda, Fumihito Arai, Takayuki Matsuno

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 2006 IEEE

Event date： 2006

Language：English

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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バイオメカニカルな跳躍メカニズムの提案

坂井康樹, 百生登, 大島徹, 小柳健一, 松野隆幸, 藤川智彦

生活支援工学系学会連合大会講演予稿集 2006

Motion control of landmine detection vehicle equipped with low-ground-pressure tires

Toshio Fukuda, Shinsuke Sato, Yasuhisa Hasegawa, Takayuki Matsuno, Zakarya Zyada

2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE 2006 IEEE

Event date： 2006

Language：English

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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Automatic land-mine detection system using adaptive sensing with vector CPR

Toshio Fukuda, Yasuhisa Hasegawa, Yasuhiro Kawai, Shinsuke Sato, Zyada Zakariya, Takayuki Matsuno

IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11 2006 IEEE

Event date： 2006

Language：English

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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Proposal of smooth biped walking control by means of heel-off motion

Masahiro Doi, Takayuki Matsuno, Yasuhisa Hasegawa, Toshio Fukuda

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 2006 IEEE

Event date： 2006

Language：English

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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Mechanical design and optimization of ubiquitous power generator

新井史人, 高橋淳二, 元尾幸平, 松野隆幸, 松浦英雄, 福田敏男, 糸魚川貢一, 塚原靖典

日本ロボット学会学術講演会予稿集(CD-ROM) 2005

Biped Walking Based on the 3D Inverted Pendulum Model Under the Assumption of Point-contact

土井将弘, 松野隆幸, 長谷川泰久, 福田敏男

日本ロボット学会学術講演会予稿集(CD-ROM) 2005

Quadruped Walking Control Based on Passive Joint

福田敏男, 浅野義彦, 土井将弘, 松野隆幸, 長谷川泰久

日本ロボット学会学術講演会予稿集(CD-ROM) 2005

1P1-S-043 Control of 3D dynamic biped walking based on the assumption of point-contact(Biped Robot 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Doi Masahiro, Matsuno Takayuki, Hasegawa Yasuhisa, Fukuda Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2005 The Japan Society of Mechanical Engineers

2A1-N-104 Integration of tactile sensor using vibrating piezoelectric element and application to robot finger(Tactile and Force Sense 4,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Arai Fumihito, Yamada Yuji, Motoo Kouhei, Matsuno Takayuki, Fukuda Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2005 The Japan Society of Mechanical Engineers

2A1-S-046 Quadruped Walking Control Based on Passive Joint in Pace Gait(Walking Robot 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Fukuda Toshio, Asano Yoshihiko, Doi Masahiro, Matsuno Takayuki, Hasegawa Yasuhisa

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2005 The Japan Society of Mechanical Engineers

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