研究者詳細 - 松野　隆幸

論文 - 松野　隆幸

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Development of Production Robot System that can Assemble Products with Cable and Connector. 査読

Rintaro Haraguchi, Yukiyasu Domae, Koji Shiratsuchi, Yasuo Kitaaki, Haruhisa Okuda, Akio Noda, Kazuhiko Sumi, Takayuki Matsuno, Shun'ichi Kaneko, Toshio Fukuda

Journal of Robotics and Mechatronics 23 ( 6 ) 939 - 950 2011年

掲載種別：研究論文（学術雑誌）

To realize automatic robot-based electrical and electronic product assembly, we developed the handling of cables with connectors - flexible goods which are an obstacle to automation. The element technologies we developed include 3D vision sensing for cable extraction, force control for connector insertion, error recovery for improving system stability, and task-level programming for quick system start-up. We assembled FA control equipment to verify the feasibility of our developments.

DOI： 10.20965/jrm.2011.p0939

A robotic assembly system capable of handling flexible cables with connector 査読

Yasuo Kitaaki, Rintaro Haraguchi, Koji Shiratsuchi, Yukiyasu Domae, Haruhisa Okuda, Akio Noda, Kazuhiko Sumi, Toshio Fukuda, Shun'ichi Kaneko, Takayuki Matsuno

Proceedings of IEEE International Conference on Mechatronics and Automation, ICMA 2011 893 - 897 2011年

掲載種別：研究論文（国際会議プロシーディングス）

In realizing a robotic assembly system of electronic products, recognizing the connectors with flexible cables as a single component is one of the most difficult problems, which prevents from automating the system. To overcome this problem, we used our proprietary 3-D range sensor and developed three component algorithms: one is to recognize randomly-stacked connectors; another is to automatically compensate rotational and positional errors by force sensor; the other is to set up visually-guided offline developing environments. In this paper, we introduce these component algorithms and their integration into an evaluation system in detail. © 2011 IEEE.

DOI： 10.1109/ICMA.2011.5985708

Robust Model-Based Online Fault Detection for Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems

Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 18 ( 5 ) 1207 - 1215 2010年9月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

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 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 robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments.

DOI： 10.1109/TCST.2009.2034735

Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum Systems

Jian Huang, Zhi-Hong Guan, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

IEEE TRANSACTIONS ON ROBOTICS 26 ( 4 ) 750 - 758 2010年8月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

There has been increasing interest in a type 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 the 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. Two sliding-mode-control (SMC) methods are proposed for the systems, both of which are capable of handling both parameter uncertainties and external disturbances. The asymptotical stabilities of the corresponding closed-loop systems are achieved through the selection of sliding-surface parameters, which are based on some rules. There is still a steady tracking error when the first SMC controller is used. By assuming a novel sliding surface, the second SMC controller is designed to solve this problem. The effectiveness of the proposed methods is finally confirmed by the numerical simulations.

DOI： 10.1109/TRO.2010.2053732

Modeling and control of a novel narrow vehicle.

Feng Ding 0005, Jian Huang 0001, Yongji Wang 0001, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

2010 IEEE International Conference on Robotics and Biomimetics(ROBIO) 1130 - 1135 2010年

地雷探知のための低接地圧車両に関する研究 : 低接地圧タイヤ特性を考慮した車両位置・姿勢制御方法の提案

福田敏男, 佐藤慎祐, 長谷川泰久, 松野隆幸, ZYADA Zakarya

日本機械学會論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C 74 ( 744 ) 2038 - 2044 2008年8月

記述言語：日本語出版者・発行元：一般社団法人日本機械学会

This paper proposes a kinematic model of the vehicle with low-ground pressure tire that enables to enter a minefield in order to scan remaining landmines by a ground penetrating radar in level III survey. The low-ground-pressure tire makes low pressure contact with a ground by deforming its shape of the tire, but the deformation deteriorates position and steering control accuracy. Therefore this paper models the kinematics of the low-ground pressure vehicle based on experimental results. Besides we experimentally confirmed that the vehicle could precisely trace the target trajectory by considering its kinematics in simulated minefield.

動物の脚機構を模倣したリンク機構による跳躍の実現

大島徹, 百生登, 藤川智彦, 鳥海清司, 小柳健一, 松野隆幸

精密工学会誌(CD-ROM) 74 ( 4 ) 416 - 420 2008年4月

記述言語：日本語出版者・発行元：公益社団法人精密工学会

On a two-dimensional jumping behavior by a multi-link mechanism, a mechanism that imitated a animal's leg and a mechanism of conventional robot were compared analytically. Each joint of a conventional robot is independently controlled. On the other hand, because animal's leg has bi-articular muscle, the adjoining joints are not independent. The animal's leg mechanism was imitated by using the closed link mechanism with the rod which connects two joints. For the mechanism which imitated animal's leg and the mechanism of conventional robot, under the ideal condition, each joint torque for stabilized jump ware deduced. On the conventional robot, it is necessary to detect the center of gravity, and to be feedback. By contrast, in the mechanism which imitated the animal's leg, it does not need to feedback the position of center of gravity. Furthermore, four-legged jump robot with the mechanism which imitated animal's leg was produced, and the effectiveness of that mechanism was confirmed by an experiment.

DOI： 10.2493/jjspe.74.416

Model-based intelligent fault detection and diagnosis for mating electric connectors in robotic wiring harness assembly systems

Jian Huang, Toshio Fukuda, Takayuki Matsuno

IEEE-ASME TRANSACTIONS ON MECHATRONICS 13 ( 1 ) 86 - 94 2008年2月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system. A class of piecewise linear force models is proposed to describe both the successful and the faulty mating processes of connectors via an elaborate analysis of forces during different phases. The corresponding parameter estimation method of this model is also presented by adapting regular least-square estimation methods. A hierarchical fuzzy pattern matching multidensity classifier is proposed to realize fault detection and diagnosis for the mating process. This classifier shows good performance in diagnosis. A tyical type of connectors is investigated in this paper. The results. p. P can easily be extended to other types. The effectiveness of proposed methods is finally confirmed through experiments.

DOI： 10.1109/TMECH.2007.915063

GPR signal processing with geography adaptive scanning using vector radar for antipersonal landmine detection

Toshio Fukada, Yasuhisa Hasegawa, Yasuhiro Kawai, Shinsuke Sato, Zakarya Zyada, Takayuki Matsuno

International Journal of Advanced Robotic Systems 4 ( 2 ) 199 - 206 2007年6月

記述言語：英語掲載種別：研究論文（学術雑誌）

Ground Penetrating Radar (GPR) is a promising sensor for landmine detection, however there are two major problems to overcome. One is the rough ground surface. The other problem is the distance between the antennas of GPR. It remains irremovable clutters on a sub-surface image output from GPR by first problem. Geography adaptive scanning is useful to image objects beneath rough ground surface. Second problem makes larger the nonlinearity of the relationship between the time for propagation and the depth of a buried object, imaging the small objects such as an antipersonnel landmine closer to the antennas. In this paper, we modify Kirchhoff migration so as to account for not only the variation of position 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.

ブラキエーションロボットの視覚情報を用いた軌道補正に関する研究

福田敏男, 岩崎慶一, 松野隆幸, 関山浩介

日本機械学会論文集. C編 73 ( 729 ) 1508 - 1513 2007年5月

記述言語：日本語出版者・発行元：一般社団法人日本機械学会

We propose a brachiation robot named Brachiator. Brachiator is able to swing like a real gibbon. The limbs of Brachiatior are designed to be actuated through the wires. However, the elongation and slack of the wires often arise and make it difficult to estimate the joint angles accurately, which has to be resolved to attain more stable brachiation behavior. In this paper we indroduce a vision system to improve brachiation behavior in real time. A stereo vision system is mounted on Brachiator that looks like a gibbon's face. We estimate errors between a model based trajectory and a real trajectory in implementation world from the images which the vision system captures during the brachiation behavior. Based on the vision-based error estimation as to the grasping position on the target branch, the trajectory of the behavior is adjusted in real time in order to realize successful brachiation behaviors. Experimental results showed that the proposed system reduced deviation of the grasping position of brachiation behavior as much as 40% compared with previous methods.

ベクトルレーダによる地形適応走査時の地中レーダ信号処理

川合康弘, 長谷川泰久, 佐藤慎祐, ZYADA Zakarya, 松野隆幸, 福田敏男

日本機械学会論文集. C編 73 ( 727 ) 803 - 810 2007年3月

記述言語：日本語出版者・発行元：一般社団法人日本機械学会

Ground Penetrating Radar (GPR) is a promissing sensor for landmine detection, however there are two major problems to overcome. One is the 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 the small objects such as an antipersonnel landmine buried in shallow depth, 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.

点接触仮定に基づく関節連動型制御による四足歩行に関する研究 : 消費エネルギーによるペース歩容とクロール歩容の比較

浅野義彦, 土井将弘, 長谷川泰久, 松野隆幸, 福田敏男

日本機械学会論文集. C編 73 ( 725 ) 230 - 236 2007年1月

記述言語：日本語出版者・発行元：一般社団法人日本機械学会

This paper proposes a control algorithm for pace gait of a quadruped walking robot, using a passive dynamics autonomous control algorithm (PDAC). The PDAC realizes an efficient motion based on the intrinsic dynamics of a robot. This paper first calculates an energy consumption of the pace and a crawl gait at various walking parameters such as a stride length and a walking period. The optimal walking parameters are obtained for each gait at various walking speed in the simulation and their parameters are confirmed by applied to an experimental walking robot. The trend of the energy consumption transition measured in the experiments are similar to those in the simulation. For example the consumption energy of the pace gait becomes less than that of crawl gait when a walking speed becomes relatively high. As a result, quadruped walking parameters corresponding to the desired walking speed such as the type of gait, the stride length and the walking period are designed on the energy-consumption-basis.

Fuzzy Sensor Fusion for Humanitarian Demining.

Zakarya Zyada, Yasuhiro Kawai, Takayuki Matsuno, Toshio Fukuda

J. Adv. Comput. Intell. Intell. Informatics 11 ( 7 ) 735 - 744 2007年

変位と力を両立したテーラーメード型積層圧電アクチュエータ

元尾幸平, 当田直哉, 新井史人, 福田敏男, 松野隆幸, 菊田浩一, 平野眞一

日本機械学会論文集. C編 72 ( 722 ) 3302 - 3309 2006年10月

記述言語：日本語出版者・発行元：一般社団法人日本機械学会

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 10×10×10mm is capable of generating displacements of several hundred μm 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 lead.

The task selection mechanism for interactive robots: Application to the intelligent life supporting system

Seung-Min Baek, Daisuke Tachibana, Fumihito Arai, Toshio Fukuda, Takayuki Matsuno

INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS 21 ( 9 ) 973 - 1004 2006年9月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：WILEY

The essential challenge in the future ubiquitous networks is to make information available to people not only at any time, at any place, and in any form, but with the right thing at the right time in the right way by inferring the users' situations. Several psychological experiments show that there are some associations between each user's situations including the user's emotions and each user's task selection. Utilizing those results, this article presents a situation-based task selection mechanism that enables a life-supporting robot system to perform tasks based on the user's situation. Stimulated by interactions between the robot and the user, this mechanism constructs and updates the association between the user's situation and tasks so that the robot can adapt to the user's behaviors related to the robot's tasks effectively. For the user adaptation, Radial Basis Function Networks (RBFNs) and associative learning algorithms are used. The proposed mechanism is applied to the CRF3 (Character robot face 3) system to prove its feasibility and effectiveness. (c) 2006 Wiley Periodicals, Inc.

DOI： 10.1002/int.20172

Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information

Takayuki Matsuno, Daichi Tamaki, Fumihito Arai, Toshio Fukuda

IEEE-ASME TRANSACTIONS ON MECHATRONICS 11 ( 4 ) 401 - 408 2006年8月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Using a topological model and knot theory, we propose a method for describing the condition of a rope. We also propose a recognition method based on the image information obtained from the charge-coupled device cameras to obtain the structure of the rope when manipulated by a robot. This method will help solve the difficulties of robots manipulating deformable objects by providing a theoretical framework of error recovery for deformable object manipulation. We confirm the effectiveness of the methods through experiments.

DOI： 10.1109/TMECH.2006.878557

点接触の仮定に基づく2足歩行の Lateral 運動制御

土井将弘, 松野隆幸, 長谷川泰久, 福田敏男

日本機械学会論文集. C編 72 ( 718 ) 1832 - 1839 2006年6月

記述言語：日本語出版者・発行元：一般社団法人日本機械学会

This paper proposes the novel control method named Passive Dynamic Autonomous Control (PDAC). PDAC is based on the following concept which Grizzle et al.^<(6)(9)> employed previously : 1) point-contact 2) Virtual constraint. Point contact means that the contact state between a robot and the ground is point. This makes it possible to generate the robot motion based on the robot inherent dynamics although it becomes difficult to control. Virtual constraint means that all robot joints are connected and interlocked. We present the new approach by means of these concepts to express the whole robot dynamics an an 1-dimensional autonomous system. Due to autonomy, this approach has two following notable points : 1) period from foot-contact to next foot contact can be obtained 2) there is a conservative quantity to make it possible to stabilize the motion. As the first step of realization of 3 D dynamic walking, this paper applies PDAC to the lateral motion and builds the controller. In addition, the stabilization and motion period control are reported. The validity of these control is confirmed by experiment and desired lateral motion is realized.

Manipulation of Flexible Rope Using Topological Model Based on Sensor Information.

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems 2638 - 2643 2006年

Manipulation of deformable linear objects with knot invariant to classify condition

Takayuki Matsuno, Daichi Tamaki, Fumihito Arai, Toshio Fukuda

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2 893 - 898 2005年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In this paper, we propose a description method of conditions of rope using a topological model and knot theory. And, we also propose a recognition method to obtain the structure of rope from visual information obtained by the CCD cameras when a robot manipulates a rope. There are many deformable objects such as papers, clothes, and ropes in life space of a person. Robots need skills to manipulate deformable objects, in order to take active parts in such space. However, it is difficult for robots to manipulate deformable objects well and possibility of failure to operate deformable objects cannot be denied. Therefore theoretical framework of error recovery for deformable object manipulation is required. For error recovery system, it is necessary to abstract profitable data from deformable objects, which are hyper degrees of freedom structures. Finally, effectiveness of methods are confirmed by experiments. © 2005 IEEE.

Strategy of Picking Up Thin Plate by Robot Hand Using Deformation of Soft Fingertip.

Takayuki Matsuno, Kensaku Kanada, Fumihito Arai, Hideo Matsuura, Toshio Fukuda

Proceedings of the 2005 IEEE International Conference on Robotics and Automation(ICRA) 2326 - 2331 2005年

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