Faculty Profiles - MATSUNO Takayuki

Papers - MATSUNO Takayuki

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農林水産支援自律型水中ロボの自動充電実用化へ向けて複眼カメラによる空間立体認識で,水中の嵌合穴へのドッキングに成功

向田直樹, 山田大喜, 松野隆幸, 見浪護

画像ラボ 29 ( 2 ) 2018

CT透視ガイド下IVR用針穿刺ロボット(Zerobot)の開発

平木隆夫, 亀川哲志, 松野隆幸, 谷本圭司, 櫻井淳, 桐田泰三, 金澤右

IVR 33 ( 1 ) 2018

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

松野隆幸, 白川智也, 渡部知俊, 見浪護

日本ロボット学会誌 36 ( 6 ) 2018

Docking experiment of underwater vehicle by dual-eye visual servoing (Control performance verification with autonomous underwater vehicle)

松野隆幸, 西田祐也, 米森健太, LI Xiang, 向田直樹, 加藤直輝, MYINT Myo, 山田大喜, KHIN Nwe Lwin, 見浪護

日本機械学会論文集(Web) 84 ( 858 ) 2018

Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. Reviewed

Akisato Nagao, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki

IJMA 6 ( 4 ) 190 - 200 2018

Improvement of force-sensorless grinding accuracy with resistance compensation

Atsushi Sato, Keli Shen, Mamoru Minami, Takayuki Matsuno

ARTIFICIAL LIFE AND ROBOTICS 22 ( 4 ) 509 - 514 2017.12

Language：English Publishing type：Research paper (scientific journal) Publisher：SPRINGER

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

DOI： 10.1007/s10015-017-0385-y

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Robotically Driven CT-guided Needle Insertion: Preliminary Results in Phantom and Animal Experiments. International journal

Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Yasuzo Kirita, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshiharu Mitsuhashi, Toshiyuki Komaki, Yoshihisa Masaoka, Yusuke Matsui, Hiroyasu Fujiwara, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

Radiology 285 ( 2 ) 454 - 461 2017.11

Language：English Publishing type：Research paper (scientific journal) Publisher：RADIOLOGICAL SOC NORTH AMERICA

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

DOI： 10.1148/radiol.2017162856

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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-October 1 - 5 2017.10

Publishing type：Research paper (international conference proceedings)

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

DOI： 10.1109/OCEANSE.2017.8084659

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Modeling of humanoid dynamics including slipping with nonlinear floor friction

Xiang Li, Hiroki Imanishi, Mamoru Minami, Takayuki Matsuno, Yanou Akira

ARTIFICIAL LIFE AND ROBOTICS 22 ( 2 ) 175 - 183 2017.6

Language：English Publishing type：Research paper (scientific journal) Publisher：SPRINGER

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

DOI： 10.1007/s10015-017-0349-2

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Visual Lifting Approach for Bipedal Walking with Slippage

Xiang Li, Mamoru Minami, Takayuki Matsuno, Daiji Izawa

JOURNAL OF ROBOTICS AND MECHATRONICS 29 ( 3 ) 500 - 508 2017.6

Language：English Publishing type：Research paper (scientific journal) Publisher：FUJI TECHNOLOGY PRESS LTD

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

DOI： 10.20965/jrm.2017.p0500

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加熱炉からのふく射を考慮した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, 和田克啓, 見浪護, 松野隆幸, 増井詠一郎

電気学会論文誌 C 137 ( 2 ) 2017

Construction of Robot System for Arbitrary Shape Grinding

IZUMI Takuro, SATO Atsushi, MINAMI Mamoru, MATSUNO Takayuki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 2A2 - H08 2017

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

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

DOI： 10.1299/jsmermd.2017.2A2-H08

CiNii Article

J-GLOBAL

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Dynamic Reconfiguration Manipulability for Redundant Manipulators

Mamoru Minami, Xiang Li, Takayuki Matsuno, Akira Yanou

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 8 ( 6 ) 2016.12

Language：English Publishing type：Research paper (scientific journal) Publisher：ASME

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

DOI： 10.1115/1.4033667

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Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control

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

JOURNAL OF ROBOTICS AND MECHATRONICS 28 ( 6 ) 911 - 920 2016.12

Language：English Publishing type：Research paper (scientific journal) Publisher：FUJI TECHNOLOGY PRESS LTD

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

DOI： 10.20965/jrm.2016.p0911

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Dynamical Model of Walking Transition Considering Nonlinear Friction with Floor

Xiang Li, Hiroki Imanishi, Mamoru Minami, Takayuki Matsuno, Akira Yanou

JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS 20 ( 6 ) 974 - 982 2016.11

Language：English Publishing type：Research paper (scientific journal) Publisher：FUJI TECHNOLOGY PRESS LTD

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

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On-demand type feedback controller for self-tuning generalized minimum variance control in state-space representation Reviewed

Akira Yanou, Mamoru Minami, Takayuki Matsuno

ICIC Express Letters 10 ( 11 ) 2695 - 2702 2016.11

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

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Self-Tuning Generalized Minimum Variance Control Based on On-Demand Type Feedback Controller

Akira Yanou, Mamoru Minami, Takayuki Matsuno

JOURNAL OF ROBOTICS AND MECHATRONICS 28 ( 5 ) 674 - 680 2016.10

Language：English Publishing type：Research paper (scientific journal) Publisher：FUJI TECHNOLOGY PRESS LTD

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

DOI： 10.20965/jrm.2016.p0674

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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 7 - 12 2016.2

Language：English Publishing type：Research paper (international conference proceedings) Publisher：Institute of Electrical and Electronics Engineers Inc.

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.

DOI： 10.1109/SII.2015.7404888

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Application of self-tuning generalized predictive control to temperature control experimental device of aluminum plate

Naoki Hosoya, Akira Yanou, Syohei Okamoto, Mamoru Minami, Takayuki Matsuno

INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS 52 ( 3-4 ) 875 - 881 2016

Language：English Publishing type：Research paper (scientific journal) Publisher：IOS PRESS

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

DOI： 10.3233/JAE-162196

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穿刺とドレナージ~IVRの基礎と応用 CT透視下IVR用針穿刺ロボット(Zerobot)の開発

平木隆夫, 亀川哲志, 松野隆幸, 櫻井淳, 桐田泰三, 三宅徹, 谷本圭司, 金澤右

Rad Fan 14 ( 9 ) 2016

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Papers - MATSUNO Takayuki