Faculty Profiles - MATSUNO Takayuki

Presentations -

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Progressive Approaches towards Automation of the Zerobot That Supports IR Procedures under CT Fluoroscopy Invited

Takayuki Matsuno

2024 IEEE International Conference on Cyborg and Bionic Systems 2024.11.21

医療用ロボットの設計開発 Invited

松野隆幸

ロボット×デザインで描く未来令和５年度岡山大学研究協力会×岡山県立大学協力会コラボイベント 2024.3.11

Research and development of the CT-guided needle insertion robot, Zerobot Invited

JSME Information, Intelligence and Precision Equipment Division 2024.3.4

IVR ロボットにおけるリアルタイム接触判定のための領域特定用シミュレータ

酒井菜々子, 松野隆幸, 城戸脩希, 門田成司, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

第30回日本コンピュータ外科学会大会 2021.11.22

Estimation of Needle Puncturing Form Based on Force Data during Slight Needle Movement

Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Takaaki Miyamoto, Nanako Sakai, Mamoru Minami, Takao Hiraki

2021 International Symposium on Medical Robotics 2021.11.18

Collision detection calculation of robot to insert needles for interventional radiology

Takayuki MatsunoKamegawa, TetsushiTakao Hiraki

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) 2021.7.9

CT画像内の穿刺針のディープラーニングによる検出と姿勢決定アルゴリズム

眞弓虎太郎, 松野隆幸, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

ロボティクス・メカトロニクス講演会2021 2021.6.7

穿刺ロボットにおける針のたわみ推定シミュレーション

宮本隆晃, 松野隆幸, 村上輝, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

第65回システム制御情報学会研究発表講演会(SCI’21) 2021.5.28

Topological Structure Learning of Point Cloud data using Modified Region of Interest Growing Neural Gas

戸田雄一郎, 松野隆幸, 見浪護

ロボティクスシンポジア予稿集 2020

Region of Interest Growing Neural Gas for Real-Time Point Cloud Processing

Yuichiro Toda, Xiang Li, Takayuki Matsuno, Mamoru Minami

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT III 2019 SPRINGER INTERNATIONAL PUBLISHING AG

Event date： 2019

Language：English

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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Improving pose estimation accuracy and expanding of visible space of lighting 3D marker in turbid water

Horng-Yi Hsu, Naoki Mukada, Daiki Yamada, Khin Nwe Lwin, Myo Myint, Yuichiro Toda, Takayuki Matsuno, Keigo Watanabe, Mamoru Minami

2019 IEEE UNDERWATER TECHNOLOGY (UT) 2019 IEEE

Event date： 2019

Language：English

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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Region of Interest Growing Neural Gasに関する検討

戸田雄一郎, 松野隆幸, 見浪護

インテリジェント・システム・シンポジウム(CD-ROM) 2019

発光3Dマーカーによる混濁深海模擬環境下での認識性能評価

岡田優也, 山田大喜, LI Xiang, HSU Horng-Yi, 神田佳希, 山下耕平, 中村翔, 門田拓也, 戸田雄一郎, 松野隆幸, 見浪護

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) 2019

Visual-lifting Approachによるアイススケート歩行の実現と腕振り運動の発見-動力学的干渉による自発的腕振りの考察-

WANG Ying, 井澤大時, 張則奕, LI Xiang, 見浪護, 松野隆幸

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) 2019

水中ロボットのための完全自律式回転型充電システムの構築

門田拓也, 山下耕平, 神田佳希, 中村翔, 山田大喜, 岡田優也, 松野隆幸, 戸田雄一郎, 見浪護

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) 2019

ステレオビジョンによる新しい空間認識手法の提案

川上拓朗, 山本太郎, KOU Yejun, TIAN Hongzhi, LI Xiang, 戸田雄一郎, 松野隆幸, 見浪護

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) 2019

改良型Growing Neural Gas with Utilityを用いた時系列3次元点群からの特徴量抽出と領域分割

戸田雄一郎, 松野隆幸, 見浪護

計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 2019

ロボティックIVRにおけるマニピュレータと周辺環境との接触判定アルゴリズム

城戸脩希, 松野隆幸, 亀川哲志, 平木隆夫, 見浪護

日本ロボット学会学術講演会予稿集(CD-ROM) 2019

CT透視ガイド下針穿刺ロボツトの臨床試験により得られた穿刺力データの解析

亀川哲志, 松野隆幸, 平木隆夫

日本ロボット学会学術講演会予稿集(CD-ROM) 2019

ステレオビジョンを用いた信号機の位置姿勢実時間認識

WANG Lujie, TIAN Hongzhi, KOU Yejun, WANG Junxiang, LI Xiang, 山本太郎, 戸田雄一郎, 松野隆幸, 見浪護

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) 2019

遺伝的アルゴリズムを用いたヒューマノイドの歩行解析

和田亮雅, 戸田雄一郎, 松野隆幸, 見浪護

インテリジェント・システム・シンポジウム(CD-ROM) 2019

Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking

Kohei Yamashita, Hsu Horng Yi, Daiki Yamada, Naoki Mukada, Khin New Lwin, Myo Myint, Yuichiro Toda, Takayuki Matsuno, Mamoru Minami

OCEANS 2018 MTS/IEEE CHARLESTON 2018 IEEE

Event date： 2018

Language：English

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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Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking

Yoshiki Kanda, Myo Myint, Naoki Mukada, Daiki Yamada, Khin Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

OCEANS 2018 MTS/IEEE CHARLESTON 2018 IEEE

Event date： 2018

Language：English

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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String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator

Takayuki Matsuno, Tomoya Shirakawa, Tomotoshi Watanabe, Mamoru Minami

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2018 IEEE COMPUTER SOC

Event date： 2018

Language：English

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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Development of Dual-eyes Docking System for AUV with Lighting 3D Marker

Sho Nakamura, Daiki Yamada, Naoki Mukada, Myo Myint, Khin New Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

OCEANS 2018 MTS/IEEE CHARLESTON 2018 IEEE

Event date： 2018

Language：English

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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Development and Evaluation of Active/Lighting Marker in Turbidity and Illumination Variation Environments

Yoshiki Kanda, Naoki Mukada, Daiki Yamada, Khin Lwin, Myo Myint, Kohei Yamashita, Sho Nakamura, Takayuki Matsuno, Mamoru Minami

2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO) 2018 IEEE

Event date： 2018

Language：English

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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Robustness of 3D Pose Estimation against Turbidity Using Dual-eye Cameras And Active/Lighting 3D Marker for Visual-servoing Based AUV

Khin Nwe Lwin, Myo Myint, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Mamoru Minami

2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO) 2018 IEEE

Event date： 2018

Language：English

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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Needle Posture Compensation Using CT Image for Needle Puncture Robot

松野隆幸, 長尾明哲, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

システム制御情報学会研究発表講演会講演論文集(CD-ROM) 2018

ロボットマニピュレータによるひも結びの動作計画のための位相情報Face-Listの提案

松野隆幸, 渡部知俊, 見浪護

ロボティクスシンポジア予稿集 2018

Docking Experiment in Dark Environments Using Active/Lighting Marker and HSV Correlation

Daiki Yamada, Naoki Mukada, Myo Myint, Khin Nwe Lwin, Takayuki Matsuno, Mamoru Minami

2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO) 2018 IEEE

Event date： 2018

Language：English

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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複眼カメラを搭載したDELTA-150のビジュアルサーボ系構築

中村翔, 山田大喜, 神田佳希, 山下耕平, 向田直樹, 松野隆幸, 見浪護

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) 2018

ベジエ曲面を用いた任意研削対象物の形状推定

山本一真, 佐藤篤, 和泉卓朗, 見浪護, 松野隆幸

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) 2018

射影ベース認識法を用いたビジュアルサーボによる対象物追従

WANG Junxiang, TIAN Hongzhi, KOU Yejun, 舟久保龍希, LI Xiang, 山本太郎, 松野隆幸, 見浪護

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) 2018

ひも形状操作におけるセグメント長の比率を考慮したマニピュレータ動作生成

松野隆幸, 渡部知俊, 見浪護

計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 2018

静/動摩擦を考慮したヒューマノイドのアイススケート歩行

LI Xiang, 井澤大時, 見浪護, 松野隆幸

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) 2018

Development of preoperative collision confirmation software for needle puncturing robot-Visualization of needle holder collision-

松野隆幸, 亀川哲志, 平木隆夫

日本コンピュータ外科学会誌 2018

穿刺ロボットアームのCTガントリ内壁との衝突防止システムの提案

城戸脩希, 松野隆幸, 木村和志, 亀川哲志, 平木隆夫, 見浪護

計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 2018

ボリュームCT画像情報を用いた針穿刺ロボットの姿勢修正に関する研究

松野隆幸, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

日本ロボット学会学術講演会予稿集(CD-ROM) 2018

CT透視ガイド下針穿刺ロボットのためのジャミング転移現象を利用した剛性可変グリッパの試作

横内健人, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫, 多田隈建二郎

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) 2018

逆射影変換を用いた対象物位置姿勢認識法の認識精度の検証

山本太郎, 舟久保龍希, KOU Yejun, TIAN Hongzhi, LI Xiang, 松野隆幸, 見浪護

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) 2018

Dual-eyesカメラと射影変換によるビジュアルサーボの性能

KOU Yejun, TIAN Hongzhi, LI Xiang, 舟久保龍希, 松野隆幸, 見浪護

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) 2018

水中嵌合実験に用いる発光3次元マーカーの光量と位置姿勢推定の関係

山下耕平, 山田大喜, 神田佳希, 中村翔, 向田直樹, 松野隆幸, 見浪護

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) 2018

様々な濁度/照度環境における発光3Dマーカーの改良と評価

神田佳希, 山田大喜, 中村翔, 山下耕平, 向田尚樹, 松野隆幸, 見浪護

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) 2018

写真ベース認識法を用いたビジュアルサーボシステム

椿伊吹, 舟久保龍希, TIAN Hongzhi, KOU Yejun, 見浪護, 松野隆幸

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) 2018

CT透視ガイド下針穿刺ロボットの自動ターゲティングの実現

斎藤奎介, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫

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) 2018

CTガイド下針穿刺ロボットの術前レジストレーション機能の実現 3次元画像による穿刺経路の確認

松野隆幸, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

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) 2018

Strong Stability System Regulating Safety for Generalized Minimum Variance Control

Akira Yanou, Mamoru Minami, Takayuki Matsuno

2017 22ND IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA) 2017 IEEE

Event date： 2017

Language：English

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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Planning of flexible rope manipulation based on topoloby

松野隆幸, 渡部知俊, 見浪護

インテリジェント・システム・シンポジウム(CD-ROM) 2017

An Application of Strong Stability Systems Regulating Safety

矢納陽, 見浪護, 松野隆幸

インテリジェント・システム・シンポジウム(CD-ROM) 2017

Assistance functions for needle puncture of Zerobot under CT fluoroscopy-guided interventional procedures-Needle deflection reduction occurred during puncture treatment-

松野隆幸, 亀川哲史, 平木隆夫, 杉山晃平, 見浪護

日本コンピュータ外科学会誌 2017

Registration of coordinate system using needle CT imaging and automate targeting for a needle puncturing robot under CT fluoroscopy guide

亀川哲志, 石井創, 松野隆幸, 平木隆夫, 五福明夫

日本コンピュータ外科学会誌 2017

複眼立体認識システムを搭載させたTuna-Sand2の嵌合実験

向田直樹, 西田祐也, 李想, 米森健太, MYINT Myo, LWIN Khin Nwe, 松野隆幸, 見浪護

日本ロボット学会学術講演会予稿集(CD-ROM) 2017

瀬戸内海牛窓濁度環境下での連続嵌合実験

山田大喜, 向田直樹, MYINT Myo, 松野隆幸, 見浪護, 齊藤和裕, 坂本竜哉, 牛堂和一郎

日本ロボット学会学術講演会予稿集(CD-ROM) 2017

臨床試験に向けたCTガイド下針穿刺ロボットの開発

久保亮太, 亀川哲志, 松野隆幸, 平木隆夫, 谷本圭司, 石井創, 杉山晃平, 長尾明哲, 高山和真, 池上雄太, 木村和志, 五福明夫

電磁力関連のダイナミクスシンポジウム講演論文集 2017

CTガイド下針穿刺ロボットの自動化に関する研究

高山和真, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫

電磁力関連のダイナミクスシンポジウム講演論文集 2017

産業用マニピュレータによるひも結び作業の実現-形状抽象化データを用いた操作計画法-

松野隆幸, 白川智也, 渡部知俊, 見浪護

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) 2017

穿刺ロボットにおける針のたわみ力を用いた軌道生成

木村和志, 松野隆幸, 杉山晃平, 亀川哲志, 平木隆夫, 見浪護

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) 2017

楕円体近似モデルを用いた複眼立体ビジュアルサーボによる対象物追従

山田大喜, 向田直樹, 米森健太, 松野隆幸, 見浪護

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) 2017

Needle pose adjustment based on force information with needle puncturing robot

Kazushi Kimura, Takayuki Matsuno, Kohei Sugiyama, Akisato Nagao, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2017 IEEE

Event date： 2017

Language：English

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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Dual-eyes Vision-based Docking Experiment of AUV for Sea Bottom Battery Recharging

Xiang Li, Yuya Nishida, Myo Myint, Kenta Yonemori, Naoki Mukada, Khin Nwe Lwin, Matsuno Takayuki, Mamoru Minami

OCEANS 2017 - ABERDEEN 2017 IEEE

Event date： 2017

Language：English

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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Installation Angle Offset Compensation of Puncture Robot Based on Measurement of Needle by CT Equipment

Akisato Nagao, Takayuki Matsuno, Kazusi Kimura, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) 2017 IEEE

Event date： 2017

Language：English

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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String Tying Operation by Industrial Manipulator Based on Shape Abstracted Data

Tomotoshi Watanabe, Takayuki Matsuno, Tomoya Shirakawa, Mamoru Minami

2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) 2017 IEEE

Event date： 2017

Language：English

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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ひもの形状操作を目的としたロボットマニピュレーション-結び目理論に基づくロボットの動作計画と軌道生成法の提案-

渡部知俊, 白川智也, 向井啓祐, 松野隆幸, 矢納陽, 見浪護

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) 2016

降下法による時変肘付き位置最適化制御

時末直, LI Xiang, 見浪護, 松野隆幸, 矢納陽

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) 2016

Development of a Prototype of Puncturing Robot for CT-guided Intervention

Hajime Ishii, Tetsushi Kamegawa, Hiroki Kitamura, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

PROCEEDINGS OF THE 2016 IEEE 11TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) 2016 IEEE

Event date： 2016

Language：English

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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Development of Instantaneously Puncture System for CT Fluoroscopy-guided Interventional Radiology

Akira Heya, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) 2016 IEEE

Event date： 2016

Language：English

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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Estimation of Thermal Conductivity for Model with Radiative Heat Transfer by Extended Kalman Filter

Akira Yanou, Naoki Hosoya, Katsuhiro Wada, Mamoru Minami, Takayuki Matsuno

2016 IEEE 21ST INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA) 2016 IEEE

Event date： 2016

Language：English

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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Application and Analyses of Dynamic Reconfiguration Manipulability Shape Index into Humanoid Biped Walking

Keli Shen, Xiang Li, Hongzhi Tian, Daiji Izawa, Mamoru Minami, Takayuki Matsuno

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) 2016 IEEE

Event date： 2016

Language：English

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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フィードフォワード制御を用いた2リンクマニピュレータによる研削実験

佐藤篤, 西彩那, 見浪護, 松野隆幸

日本ロボット学会学術講演会予稿集(CD-ROM) 2016

耐火断熱れんがの熱伝導率と熱膨張率の推定

矢納陽, 内田茂樹, 細谷直紀, 見浪護, 松野隆幸, 増井詠一郎

計測自動制御学会制御部門マルチシンポジウム(CD-ROM) 2016

足と地面の非線形摩擦を考慮したヒューマノイド動力学モデル

李想, 井澤大時, 見浪護, 松野隆幸, 矢納陽

日本ロボット学会学術講演会予稿集(CD-ROM) 2016

静/動摩擦力を受ける足の滑りを考慮したヒューマノイドによる歩行のための歩容モデル

井澤大時, 季想, 見浪護, 松野隆幸, 矢納陽

日本ロボット学会学術講演会予稿集(CD-ROM) 2016

ロボットと魚の敵対的関係における相対的知能評価-カオスを用いたロボットによる魚捕獲実験-

長尾明哲, 犬飼陽裕, 見浪護, 矢納陽, 松野隆幸

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) 2016

IVRロボットのリモートセンタに基づく軌道生成法による操作性の改良

中村優之, 杉山晃平, 松野隆幸, 亀川哲志, 平木隆夫, 矢納陽, 見浪護, 五福明夫

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) 2016

Performance Analyses and Optimization of Real-time Multi-step GA for Visual-servoing Based Underwater Vehicle

Khin Nwe Lwin, Kenta Yonemori, Myo Myint, Mukada Naoki, Mamoru Minami, Akira Yanou, Takayuki Matsuno

TECHNO-OCEAN 2016: RETURN TO THE OCEANS 2016 IEEE

Event date： 2016

Language：English

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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Dynamical Model of Humanoid Considering Slipping with Nonlinear Floor Friction and Internal Force During Free-fall Motion

Xiang Li, Daiji Izawa, Mamoru Minami, Takayuki Matsuno, Akira Yanou

2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2016 IEEE

Event date： 2016

Language：English

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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組立作業のためのパラレルリンク機構を有するエンドエフェクタの提案第2報リンク長に対するヤコビアンの影響検証

松野隆幸, 矢納陽, 見浪護, 福田敏男, 福田敏男

計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 2015

劣駆動型飛翔体実験装置に対する適応予測制御系の設計

溝上翔也, 吉川浩平, 矢納陽, 見浪護, 松野隆幸

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) 2015

Temperature Control of a Mold Model using Multiple-input Multiple-output Two Degree-of-freedom Generalized Predictive Control

Naoki Hosoya, Akira Yanou, Mamoru Minami, Takayuki Matsuno

2015 10TH ASIAN CONTROL CONFERENCE (ASCC) 2015 IEEE

Event date： 2015

Language：English

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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On-Demand Type Feedback Controller for State Space Based Generalized Minimum Variance Control Using Coprime Factorization

Akira Yanou, Mamoru Minami, Takayuki Matsuno

2015 INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS) 2015 IEEE

Event date： 2015

Language：English

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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A Design Method of On-Demand Type Feedback Controller Using Coprime Factorization

Akira Yanou, Mamoru Minami, Takayuki Matsuno

2015 10TH ASIAN CONTROL CONFERENCE (ASCC) 2015 IEEE

Event date： 2015

Language：English

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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Shape Modeling of A String And Recognition Using Distance Sensor

Keisuke Mukai, Takayuki Matsuno, Akira Yanou, Mamoru Minami

2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN) 2015 IEEE

Event date： 2015

Language：English

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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Iterative Calculation Method for Constraint Motion by Extended Newton-Euler Method and Application for Forward Dynamics

Xiang Li, Jumpei Nishiguchi, Mamoru Minami, Takayuki Matsuno, Akira Yanou

2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2015 IEEE

Event date： 2015

Language：English

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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Reaction Force Analysis of Puncture Robot for CT-guided Interventional Radiology in Animal Experiment

Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Akira Yanou, Mamoru Minami

2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2015 IEEE

Event date： 2015

Language：English

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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String Shape Recognition Using Enhanced Matching Method From 3D Point Cloud Data

Tomoya Shirakawa, Takayuki Matsuno, Akira Yanou, Mamoru Minami

2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2015 IEEE

Event date： 2015

Language：English

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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Switching PID Control for an Underactuated Flying Object Through Model-Based Prediction

Akira Yanou, Kohci Yoshikawa, Syouya Mizokami, Mamoru Minami, Takayuki Matsuno

2015 10TH ASIAN CONTROL CONFERENCE (ASCC) 2015 IEEE

Event date： 2015

Language：English

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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CT-IVRロボットの穿刺速度に関する検証

松野隆幸, 亀川哲志, 平木隆夫, 中家寛貴, 難波孝文, 杉山晃平, 石井創, 見浪護, 矢納陽, 五福明夫

日本ロボット学会学術講演会予稿集(CD-ROM) 2015

熱伝導率のオンライン推定を目指した耐火断熱れんがのモデル化

和田克啓, 細谷直紀, 矢納陽, 内田茂樹, 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 2015

分岐式マッチング法による3次元点群からのひも形状認識

白川智也, 向井啓祐, 松野隆幸, 矢納陽, 見浪護

計測自動制御学会中国支部学術講演会論文集 2015

耐火断熱れんがの熱伝導率の推定

矢納陽, 内田茂樹, 細谷直紀, 見浪護, 松野隆幸

自動制御連合講演会(CD-ROM) 2015

静/動摩擦を考慮したヒューマノイドの定式化と二足歩行

今西裕紀, LI Xiang, 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) 2015

IVRロボットの逆運動学を用いた操作性の改良

杉山晃平, 井上卓也, 松野隆幸, 亀川哲志, 平木隆夫, 矢納陽, 見浪護, 五福明夫

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) 2015

ひもの形状モデリングと距離カメラを用いた認識

白川智也, 向井啓祐, 松野隆幸, 矢納陽, 見浪護

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) 2015

術者の放射線被ばくを低減するCT-IVRロボットの提案

松野隆幸, 亀川哲志, 平木隆夫

日本コンピュータ外科学会誌 2015

セルフチューニング一般化予測制御則のアルミニウム板温度制御装置への適用

細谷直紀, 岡本庄平, 矢納陽, 見浪護, 松野隆幸

システム制御情報学会研究発表講演会講演論文集(CD-ROM) 2015

路面の静・動摩擦および滑りを考慮したヒューマノイド二足歩行モデル

LI Xiang, 今西裕紀, 見浪護, 松野隆幸, 矢納陽

計測自動制御学会中国支部学術講演会論文集 2015

A Proposal of Temperature Control Model for Two Dimensional Aluminum Plate Using Two Degree-of-Freedom Generalized Predictive Control

Naoki Hosoya, Akira Yanou, Mamoru Minami, Takayuki Matsuno

2014 Proceedings of the SICE Annual Conference (SICE) 2014 IEEE

Event date： 2014

Language：English

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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CT Phantom for Development of Robotic Interventional Radiology

Hirotaka Nakaya, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Takuya Inoue, Akira Yanou, Mamoru Minami, Akio Gofuku

2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2014 IEEE

Event date： 2014

Language：English

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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Posture Control of Inverted Pendulum Cart with Balancing Mechanism Using Full-Order State Observer

Yuji Hashimoto, Yuki Otsuki, Takayuki Matsuno, Akira Yanou, Mamoru Minami

2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2014 IEEE

Event date： 2014

Language：English

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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動的形状変更可操作性および4リンクマニピュレータへの適用

李想, 馮陶然, 松野隆幸, 矢納陽, 見浪護

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) 2014

多機能センシング環境対応制御(MOS制御)による嵌合精度検証試験

西村健太, 須浪唯介, 矢納陽, 松野隆幸, 山下学, 石山新太郎, 見浪護

自動制御連合講演会(CD-ROM) 2014

MOS制御を用いたろ布芯棒認識における嵌合精度の検証

西村健太, 須浪唯介, 矢納陽, 松野隆幸, 山下学, 石山新太郎, 見浪護

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) 2014

MOS制御知能を搭載した放射能汚染土壌固化・減容化仕様フィルタプレス装置のろ布取外検証試験

西村健太, 須浪唯介, 矢納陽, 松野隆幸, 山下学, 石山新太郎, 見浪護

自動制御連合講演会(CD-ROM) 2014

アルミ板温度制御モデルに対する熱伝導率の推定

矢納陽, 内田茂樹, 細谷直紀, 見浪護, 松野隆幸

自動制御連合講演会(CD-ROM) 2014

同一次元オブザーバを用いた倒立振子型車両の姿勢制御

橋本雄侍, 松野隆幸, 矢納陽, 見浪護

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) 2014

Move on Sensingを用いた高濃度放射残土模擬回収実験

前田耕市, 須浪唯介, 西村健太, 見浪護, 松野隆幸, 矢納陽, 石山新太郎

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) 2014

画像認識による濾布芯棒認識精度の確認

須浪唯介, 西村健太, 松野隆幸, 矢納陽, 見浪護, 石山新太郎, 山下学

日本ロボット学会学術講演会予稿集(CD-ROM) 2014

平面型アルミ板温度制御実験モデルに対する2自由度一般化予測制御法の適用

細谷直紀, 矢納陽, 見浪護, 松野隆幸

システム制御情報学会研究発表講演会講演論文集(CD-ROM) 2014

ジャイロセンサを用いたイメージモザイキングに基づくカメラの姿勢推定-第2報姿勢角推定の精度検証-

松野隆幸, 飯島敏也, 本吉達郎, 小柳健一, 大島徹

日本ロボット学会学術講演会予稿集(CD-ROM) 2014

カメラ奥行方向に移動する3D対象物の実時間ポーズトラッキング解析とビジュアルサーボ性能

西村健太, 須浪唯介, 前田耕市, 見浪護, 矢納陽, 松野隆幸

日本ロボット学会学術講演会予稿集(CD-ROM) 2014

オプティカルフローを用いた不定形物体の三次元形状判別空間占有率を用いた線状物体と面状物体の形状判別実験

向井啓祐, 松野隆幸, 見浪護, 矢納陽

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) 2014

劣駆動型飛翔体の重心位置における特性変動実験

溝上翔也, 平井貴久, 矢納陽, 見浪護, 松野隆幸

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) 2014

Development of a Minimally Invasive Robotic Interventional Radiology for Treatment of Lung Cancer -Manufacture of a Basic Mechanism and Verification Experiment-

Takuya Inoue, Takayuki Matsuno, Akira Yanou, Mamoru Minami, Takao Hiraki

2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE) 2013 IEEE

Event date： 2013

Language：English

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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Fault Detection Algorithm for External Thread Fastening by Robotic Manipulator Using Linear Support Vector Machine Classifier

Takayuki Matsuno, Jian Huang, Toshio Fukuda

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2013 IEEE

Event date： 2013

Language：English

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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ジャイロセンサを用いたイメージモザイキングに基づくカメラの姿勢推定

飯島敏也, 松野隆幸, 小柳健一, 本吉達郎, 大島徹

日本ロボット学会学術講演会予稿集(CD-ROM) 2013

入出力データに基づくアルミ板温度制御実験装置への2自由度一般化予測制御系の構成

吉川浩平, 荒木翔, 矢納陽, 見浪護, 松野隆幸

システム制御情報学会研究発表講演会講演論文集(CD-ROM) 2013

ワインドアップを考慮した2自由度一般化予測制御法によるアルミ板温度制御実験

矢納陽, 西崎純基, 見浪護, 松野隆幸

計測自動制御学会制御部門大会(CD-ROM) 2013

強安定率を用いたセルフチューニングコントローラの一設計法

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

スライド式重心制御機構を有する倒立振子型車両の開発-小型車両の設計製作および姿勢制御実験-

大槻有輝, 松野隆幸, 矢納陽, 見浪護

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) 2013

パラレルリンク機構を用いた低侵襲ロボティックIVRの提案-基礎機構の製作と手先位置精度検証実験-

井上卓也, 松野隆幸, 矢納陽, 見浪護

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) 2013

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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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

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 IEEE

Event date： 2011

Language：English

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 IEEE

Event date： 2009

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 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 IEEE

Event date： 2009

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. 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

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 IEEE

Event date： 2008

Language：English

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 IEEE

Event date： 2008

Language：English

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 IEEE

Event date： 2008

Language：English

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

Realization of Jumping behavior by the Link Mechanism which Imitated an Animal Leg

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

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

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 IEEE

Event date： 2007

Language：English

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 IEEE

Event date： 2007

Language：English

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 IEEE

Event date： 2007

Language：English

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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Development of Passive Force Display Glove System Using Electromagnetic Brakes

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

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 IEEE

Event date： 2007

Language：English

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 IEEE

Event date： 2007

Language：English

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 IEEE

Event date： 2007

Language：English

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 IEEE

Event date： 2006

Language：English

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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Tillage Depth Control for Rotary Implements on a Tractor by using Ground Level Estimation and Orientation Control of Transmitting and Receiving Antennae

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 The Japan Society of Mechanical Engineers

Event date： 2006

Language：Japanese

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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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

Grasping Thin Plate by Robot Hand Using Sensor Embedded Soft Finger

松野隆幸, 金田健作, 福田敏男, 新井史人, 松浦英雄

日本ロボット学会学術講演会予稿集(CD-ROM) 2004

Shape Recognition Method of Rope Using Topological Model and Knot Invariant Based on Image Information for Manipulation(Vision and Recognition 2,Session: MP1-D)

MATSUNO Takayuki, TAMAKI Daichi, ARAI Fumihito, FUKUDA Toshio

The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2004 The Japan Society of Mechanical Engineers

Novel Tactile Sensor Using Elastic Deformation of Gel for Robot

元尾幸平, 新井史人, 山田祐司, 松野隆幸, 福田敏男, 松浦英雄

日本ロボット学会学術講演会予稿集(CD-ROM) 2004

Tandem Hole Insertion Using Search

松野隆幸, 福田敏男, 長谷川泰久

日本ロボット学会学術講演会予稿集(CD-ROM) 2003

Flexible Rope Manipulation by Dual Manipulator System with Vision Sensor.

松野隆幸, 福田敏男, 新井史人

日本ロボット学会学術講演会予稿集 2000

Flexible Object Manipulation by Dual Arm System.

福田敏男, 松野隆幸, 新井史人

日本ロボット学会学術講演会予稿集 1999

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