Directory of Researchers

LUO Zhi-wei
Graduate School of System Informatics / Department of System Science
Professor
Other Natural Science Field
Last Updated :2022/10/02

Researcher Profile and Settings

Affiliation

  • <Faculty / Graduate School / Others>

    Graduate School of System Informatics / Department of System Science
  • <Related Faculty / Graduate School / Others>

    Faculty of Engineering / Department of Computer Science and Systems Engineering

Teaching

Research Activities

Research Interests

  • Intelligent robotics
  • System Control
  • 健康工学

Research Areas

  • Informatics / Robotics and intelligent systems
  • Informatics / Human interfaces and interactions
  • Informatics / Biological, health, and medical informatics
  • Informatics / Mechanics and mechatronics
  • Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Control and systems engineering
  • Life sciences / Rehabilitation science

Awards

  • Dec. 2017 NLP-KE 2017, 12th International Conference on Natural Language Processing and Knowledge Engineering(NLP-KE 2017) Best Paper, Wenjun Bai; Changqin Quan*;羅志偉*

    LUO Zhi-Wei

    International society

  • Aug. 2017 The IEEE International Conference on Advanced Robotics and Mechatronics, The IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)2017 Best Conference Paper Award Finalist, Daqian Yang; Ming Zhou;Jian Huang ;Zhaohui Yang; Xiaoqiang Yu; 羅志偉*

    LUO Zhi-Wei

    International society

  • Sep. 2016 計測自動制御学会, SICE Fellow, 羅志偉

    LUO Zhi-Wei

    計測自動制御学会に関与する学問の発展に多大な功績

    Japan society

  • 2014 日本シミュレーション学会, 日本シミュレーション学会論文賞

    羅志偉

  • 2014 計測自動制御学会, 計測自動制御学会SI部門貢献表彰

    羅志偉

  • Jan. 1989 計測自動制御学会, 学術奨励賞

    羅志偉

  • 2010 神戸大学, 学長表彰

  • 2007 IEEE RAS, IEEE 2007 ICRA Best Manipulation paper Award Nomination Finalist

  • 2006 IEEE RAS, IEEE 2006 ICRA Best Manipulation paper Award Nomination Finalist

  • 2006 IFAC Congress, IFAC Congress Best Poster Paper Prize

  • 2006 計測自動制御学会システムインテグレーション部門, 第7回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(SI2006) SI2006優秀講演賞 2件

  • 2005 計測自動制御学会システムインテグレーション部門, 第6回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(SI2005) SI2005優秀講演賞 3件

  • 2021 システム制御情報学会, 初のSCI20オンライン開催実行に対する感謝状

  • Oct. 2019 第11回国際健康長寿フォーラム, 特別貢献賞

  • Oct. 2019 第11回国際健康長寿フォーラム, 優秀論文賞

  • Sep. 2017 The 1st China Beijing International Language Culture Expo, Keynote Speech に対する感謝状

  • Apr. 2017 日本ロボット学会, 会誌編集員に対する感謝状

  • Nov. 2014 第41回日本臨床バイオメカニクス学会, 感謝状

  • Oct. 2012 The 6th All Together Better Health Conference (ATBH VI), 特別講演 感謝状

  • Nov. 2011 第38回日本臨床バイオメカニクス学会, 教育研修講演 感謝状

Published Papers

  • Learning Flexible Latent Representations via Encapsulated Variational Encoder

    Wenjun Bai, Changqin Quan, Zhiwei Luo

    Feb. 2019, Proceedings of the 33rd AAAI Conference on Artificial Intelligence (AAAI 2019), English

    [Refereed]

    International conference proceedings

  • Wenjun Bai, Changqin Quan, Zhi-Wei Luo

    Springer International Publishing, 2019, Computer and Information Science, 63 - 74, English

    [Refereed]

    In book

  • Improvement of Multi-body Simulation Model for Comparative Study of Cervical Traction Therapy – Comparison between Inclined and Sitting Traction

    L. K, F. Wong, LUO Zhi-Wei, N. Kurusu, K. Fujino

    A computer simulation model was developed to study the behavior of the cervical spine during cervical traction therapy in inclined and sitting traction positions. The model improved upon an old model with additional components to represent the behavior of the intervertebral discs and the posterior ligaments. The simulation result of the new model was compared against the cervical traction data from a radiographic experiment in both positions. The simulation results of the old model and new model were compared to illustrate the improvement. Using the new model, we compared the timing response of cervical traction in the inclined and sitting positions.

    IEEE, Dec. 2018, Proc. of 2018 IEEE International Conference on Robotics and Biomimetics, 150–155 - 155, English

    [Refereed]

    International conference proceedings

  • Wenjun Bai, Changqin Quan, Zhiwei Luo

    To lower the single-label dependency on affective facial analysis, it urges the fruition of multi-label affective learning. The impediment to practical implementation of existing multi-label algorithms pertains to scarcity of scalable multi-label training datasets. To resolve this, an inductive transfer learning based framework, i.e.,Uncertainty Flow, is put forward in this research to allow knowledge transfer from a single labelled emotion recognition task to a multi-label affective recognition task. I.e., the model uncertainty-which can be quantified in Uncertainty Flow-is distilled from a single-label learning task. The distilled model uncertainty ensures the later efficient zero-shot multi-label affective learning. On the theoretical perspective, within our proposed Uncertainty Flow framework, the feasibility of applying weakly informative priors, e.g., uniform and Cauchy prior, is fully explored in this research. More importantly, based on the derived weight uncertainty, three sets of prediction related uncertainty indexes, i.e., soft-max uncertainty, pure uncertainty and uncertainty plus are proposed to produce reliable and accurate multi-label predictions. Validated on our manual annotated evaluation dataset, i.e., the multi-label annotated FER2013, our proposed Uncertainty Flow in multi-label facial expression analysis exhibited superiority to conventional multi-label learning algorithms and multi-label compatible neural networks. The success of our proposed Uncertainty Flow provides a glimpse of future in continuous, uncertain, and multi-label affective computing.

    MDPI AG, 19 Feb. 2018, APPLIED SCIENCES, 8 (2), English

    [Refereed]

    Scientific journal

  • Ying Zhao, Luo Zhiwei, Changqin Quan

    Hand segmentation is one of the most fundamental and crucial steps for egocentric human-computer interaction. The special egocentric view brings new challenges to hand segmentation tasks, such as the unpredictable environmental conditions. The performance of traditional hand segmentation methods depend on abundant manually labeled training data. However, these approaches do not appropriately capture the whole properties of egocentric human-computer interaction for neglecting the user-specific context. It is only necessary to build a personalized hand model of the active user. Based on this observation, we propose an online-learning hand segmentation approach without using manually labeled data for training. Our approach consists of top-down classifications and bottom-up optimizations. More specifically, we divide the segmentation task into three parts, a frame-level hand detection which detects the presence of the interactive hand using motion saliency and initializes hand masks for online learning, a superpixel-level hand classification which coarsely segments hand regions from which stable samples are selected for next level, and a pixel-level hand classification which produces a fine-grained hand segmentation. Based on the pixel-level classification result, we update the hand appearance model and optimize the upper layer classifier and detector. This online-learning strategy makes our approach robust to varying illumination conditions and hand appearances. Experimental results demonstrate the robustness of our approach.

    SPRINGER, Feb. 2018, EURASIP Journal on Image and Video Processing, 9 (3), 271 - 286, English

    [Refereed]

    Scientific journal

  • Adapted Generative Initialisation in Transfer Learning

    Wenjun Bai, Changqin Quan, Zhiwei Luo

    2018, Proceedings of the 17th IEEE-ACIS International Conference on Computer and Information Science (ICIS 2018), 77 - 91, English

    [Refereed]

    International conference proceedings

  • Hard Label Relaxation in Biased Pictorial Sentiment Discrimination

    Wenjun Bai, Chanqin Quan, Zhiwei Luo

    Dec. 2017, Proceedings of the 12th International Conference on Natural Language Processing and Knowledge Engineering, English

    [Refereed]

    International conference proceedings

  • Alleviating Adversarial Attacks via Convolutional Autoencoder

    Wenjun Bai, Quan Changqin, LUO Zhiwei

    Jun. 2017, Proceedings of the 18th IEEE ACIS International Conference on Software Engineering, Artificial Intelligence, Networking and Parallel, English

    [Refereed]

    International conference proceedings

  • Ying Zhao, Zhiwei Luo, Changqin Quan

    Hand segmentation is one of the most fundamental and crucial steps for egocentric human-computer interaction. The special egocentric view brings new challenges to hand segmentation task, such as the unpredictable environmental conditions. The performance of traditional hand segmentation methods depend on abundant manually labeled training data. However, these approaches do not appropriately capture the whole properties of egocentric human-computer interaction for neglecting the user-specific context. It is only necessary to build a personalized hand model of the active user. Based on this observation, we propose an online-learning hand segmentation approach without using manually labeled data for training. Our approach consists of top-down classifications and bottom-up optimizations. More specifically, we divide the segmentation task into three parts, a frame-level hand detection which detects the presence of the interactive hand using motion saliency and initializes hand masks for online learning, a superpixel-level hand classification which coarsely segments hand regions from which stable samples are selected for next level, and a pixel-level hand classification which produces a fine-grained hand segmentation. Based on the pixel-level classification result, we update the hand appearance model and optimize the upper layer classifier and detector. This online-learning strategy makes our approach robust to varying illumination conditions and hand appearances. Experimental results demonstrate the robustness of our approach.

    IEEE, 2017, 2017 14TH CONFERENCE ON COMPUTER AND ROBOT VISION (CRV 2017), 248 - 255, English

    [Refereed]

    International conference proceedings

  • The Effect of Traction Position in Cervical Traction Therapy Based on Dynamic Simulation Models

    Lawrence K, F. Wong, LUO Zhi-Wei, Nobuyuki Kurusu

    2017, Journal of Biomedical Science and Engineering, 10 (5), English

    [Refereed]

    Scientific journal

  • Passive Velocity Field Control of a Redundant Cable-Driven Robot with Tension Limitations

    Cao Sheng, LUO Zhi-Wei, Quan Changqin

    2017, Journal of Mechanics Engineering and Automation, 2017 (7), 132 - 144, English

    [Refereed]

    Scientific journal

  • On Observer-based Robust Passive Impedance Control of a Robot Manipulator

    Cao Sheng, LUO Zhi-Wei, Quan Changqin

    2017, Journal of Mechanics Engineering and Automation, 2017 (7), 71 - 78, English

    [Refereed]

    Scientific journal

  • On Energy-based Robust Passive Impedance Control of a Robot Manipulator. Journal of Mechanics Engineering and Automation

    Cao Sheng, LUO Zhi-Wei, Quan Changqin

    2017, Journal of Mechanics Engineering and Automation, 2017 (7), 65 - 70, English

    [Refereed]

    Scientific journal

  • Global Path Planning Using Modified Firefly Algorithm

    Xiaochao Chen, Ming Zhou, Jian Huang, LUO Zhi-Wei

    2017, IEEE 2017 International Symposium on Micro-Nano Mechatronics and Human Science (MHS 2017), English

    [Refereed]

    International conference proceedings

  • Experiment and Dynamic Simulation of Cervical Tractions in Inclined and Sitting Positions

    Lawrence K, F. Wong, LUO Zhi-Wei, Nobuyuki Kurusu, Keiji Fujino

    2017, Open Journal of Therapy and Rehabilitation, 5 (3), English

    [Refereed]

    Scientific journal

  • Evaluation of Heart Rate in Daily Life Based on 10 Million Samples Database

    Makoto Komazawa, Kenichi Itao, Guillaume Lopez, LUO Zhi-Wei

    2017, Global Journal of Health Science, 9 (9), English

    [Refereed]

    Scientific journal

  • Estimaion of an Object's Physical Parameter by Force Sensors of a Dual-arm Robot

    Cao Sheng, LUO Zhi-Wei, Quan Changqin

    2017, Journal of Mechanics Engineering and Automation, 2017 (7), 120 - 131, English

    [Refereed]

    Scientific journal

  • Demodulation method for distorted carrier of visible light communication in indoor positioning for autonomous robots

    Wang Ke, Cheng Jingjing, LUO Zhi-Wei, Huang Zhen

    2017, IEEE 2017 2nd International Conference on Advanced Robotics and Mechatronics, English

    [Refereed]

    International conference proceedings

  • Assessment of Prospective Memory using fNIRS in Immersive Virtual Reality Environment

    Dong Dong, Lawrence, K, F. Wong, LUO Zhi-Wei

    2017, Journal of Behavioral and Brain Science, English

    [Refereed]

    Scientific journal

  • Aided sit to stand transfer by assistive robot and wearable sensors

    Daqian Yang, Ming Zhou, Jian Huang, Zhaohui Yang, Xiaoqiang Yu, LUO Zhi-Wei

    2017, IEEE 2017 2nd International Conference on Advanced Robotics and Mechatronics, English

    [Refereed]

    International conference proceedings

  • On Energy-based Robust Passive Impedance Control of a Robot Manipulator

    Sheng Cao, Zhi-Wei Luo

    Passivity is an important requirement for a robot to interact with human or other dynamic environments stably and safely as in robotic rehabilitations. Considering the time-varying objective impedance center, under the condition that the robot's dynamics is known, previous research has already proposed a passive impedance control approach which adjusts a scaling parameter of the robot's desired velocity with respect to the robot's mechanic energy so as to maintain the robot's passivity. In this research, we future take into account of the robot's dynamical model uncertainties and propose a robust passive impedance control. Computer simulations of a 2-link manipulator interacting with a dynamic wall show the effectiveness of our robust control approach.

    DESTECH PUBLICATIONS, INC, 2014, INTERNATIONAL CONFERENCE ON MECHANISM SCIENCE AND CONTROL ENGINEERING (MSCE 2014), 611 - 616, English

    [Refereed]

    International conference proceedings

  • Brain Response to Aversive Taste for Investigating Taste Preference

    Chenghong Hu, Yoshitada Katagiri, Yoshiko Kato, Luo zhi-wei

    Jan. 2014, Journal of Behavioral and Brain Science, 4, 43 - 48, English

    [Refereed]

    Scientific journal

  • Activation of human prefrontal cortex to pleasant and aversive taste using functional near-infrared spectroscopy

    Chenghong Hu, Yoshiko Kato, Luo zhi-wei

    Jan. 2014, Food and Nutrition, 5, 236 - 244, English

    [Refereed]

    Scientific journal

  • 歩行速度の変化による体幹・下肢の加速度の変動性の違い

    戸田 晴貴, 長野 明紀, Luo zhi-wei

    2014, 第49会日本理学療法学術大会(2014), 41 (2), Japanese

    Symposium

  • 歩行・走行機能の評価と訓練に関する研究

    Luo zhi-wei

    2014, 第41回日本臨床バイオメカニクス学会学術集会(2014), Japanese

    [Invited]

    Symposium

  • 長時間計測による自律神経機能の加齢変化

    板生研一, 駒澤真人, 堅田洋資, 小林弘幸, Luo zhi-wei

    2014, 第17回人間情報学会(2014), Japanese

    Symposium

  • リアルタイムでの心拍解析を⽤いたトレーニングシステムの開発

    佐野 友香, 長野 明紀, Luo zhi-wei

    2014, 第58回システム制御情報学会研究発表講演会(2014), Japanese

    Symposium

  • Variability of walking motions in healthy elderly as a function of walking speed

    Toda H, Nagano A, Luo zhi-wei

    2014, Proceedings of 9th Australasian Biomechanics Conference(2014), English

    [Refereed]

    International conference proceedings

  • Simultaneous Position Estimation and Omnidirectional Camera Parameter Calibration for Multiple Mobile Robots

    Sasahara, K, Nagano, A, Luo zhi-wei

    2014, Journal of Mechanics Engineering and Automation, 4 (2), English

    [Refereed]

    Scientific journal

  • Dynamic Simulation of Cervical Traction Therapy: Comparison between Sitting and Inclined Positions

    Lawrence K. F. Wong, Zhiwei Luo, Nobuyuki Kurusu

    This research describes the construction of a mechanical cervical traction therapy simulation using a physics software engine. The model consisted of an anatomically correct human skeleton and two types of mechanical traction devices, each representing a unique traction position. While most of the movement in the skeleton simulation model was represented by simple hinges and ball-socket joints, the cervical spine was controlled by a spring-damper model to try to mimic its actual behavior in the human body. By varying the traction force, traction angle, and traction position in the simulation, the efficacy of the sitting and inclined traction was evaluated by comparing the anterior and posterior intervertebral separations each achieved. The simulation results suggested that the inclined position creates greater intervertebral separations on both the anterior and posterior sides than the sitting position. Our findings may serve as a reference for practitioners and medical equipment designers where cervical traction therapy is applied.

    IEEE, 2014, 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, 167 - 172, English

    [Refereed]

    International conference proceedings

  • Development of Human Interface in Immersion Type 3D Dynamic Simulator

    Katoh S, Cao Sheng, Luo zhi-wei

    2014, Proceedings of The 2nd International Conference on Maintenance Science and Technology (ICMST2014), English

    [Refereed]

    International conference proceedings

  • Development of assessment system for cognitive function using virtual reality: the effect of age in healthy volunteers

    Sakai H, Okahashi S, Kojima M, Nagano A, Luo zhi-wei

    2014, Proceedings of 16th International Congress of the World Federation of Occupational Therapists(2014), English

    [Refereed]

  • Biomechanical Measurement and Analysis of Human Two-Step Test

    Takahiro Mizoguchi, Sheng Cao, Zhiwei Luo, Keiji Fujino, Nobuyuki Kurusu

    Two-Step Test is now widely used to evaluate the locomotion ability of human in Japanese biomechanical clinical hospitals. It is a test in which Two-Step Value is calculated by dividing a subject's height by the maximum distance of his/her two steps of walking. The test was developed by Hirano and Muranaga in 2003 to conveniently predict human's walking ability and is shown to have high relations with the other existing human locomotion evaluation approaches. However, this test has not been studied so far from the viewpoint of biomechanics. This study examined and analyzed the Two-Step Test using motion capture and musculoskeletal model. Based on the analysis results, we clarified many differences between subjects with different two step values.

    IEEE, 2014, 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, 1499 - 1504, English

    [Refereed]

    International conference proceedings

  • A Stochastic Approach for Cooperative Position Estimation of Multiple Mobile Robots

    Sasahara, K, Nagano, A, Luo zhi-wei

    2014, Journal of Mechanics Engineering and Automation, 4 (1), English

    [Refereed]

    Scientific journal

  • Assessment of convalescent brain-damaged patients using a virtual shopping test with different task difficulties

    Okahashi S, Mizumoto H, Komae A, Ueno K, Yokoyama M, Nagano A, Seki K, Futaki T, Luo zhi-wei

    2014, Proceedings of 10th International Conference on Disability, Virtual Reality and Associated Technologies(2014), 9 (3), 301 - 310, English

    [Refereed]

    International conference proceedings

  • An fNIRS study on prefrontal cortex activity during a virtual shopping test with different task difficulties in brain-damaged patients

    Okahashi S, Mizumoto H, Komae A, Ueno K, Yokoyama M, Nagano A, Seki K, Futaki T, Luo zhi-wei

    2014, Journal of Behavioral and Brain Science, 4 (6), 247 - 255, English

    [Refereed]

    Scientific journal

  • 2ステップテストの生体力学解析

    溝口 貴大, 曹 晟, 栗栖 伸之, 藤野 圭司, 長野 明紀, Luo zhi-wei

    2014, 第26 回日本運動器科学会学術集会(2014), Japanese

    Symposium

  • 2 ステップテストに関する生体力学計測と解析

    溝口 貴大, 曹 晟, 栗栖 伸之, 藤野 圭司, 長野 明紀, Luo zhi-wei

    2014, 第58回システム制御情報学会研究発表講演会(2014), Japanese

    Symposium

  • 24時間の心拍変動データ解析による日本人の自律神経機能と年齢の関係

    板生研一, 駒澤真人, 小林弘幸, Luo zhi-wei

    2014, 第19回人間情報学会(2014), Japanese

    Symposium

  • Toyoyuki Honjo, Akinori Nagano, Zhi-Wei Luo

    Walking locomotion involves complex movement of total center of mass. Not only the lower body behavior but also the upper body behavior affects the walking characteristics. Therefore, in this paper we derive the principle of parametrically excited inverted double pendulum to consider both lower body and upper body dynamics. We propose one approach to utilize the upper body behavior of the robot for energy efficient bipedal locomotion. In addition, we analyze the property of parametrically excited inverted double pendulum.

    CAMBRIDGE UNIV PRESS, Sep. 2013, ROBOTICA, 31 (6), 875 - 886, English

    [Refereed]

    Scientific journal

  • 歩行・走行機能の評価と訓練のためのインテリジェント・トレッドミル

    Nagano, A, Luo Zhi-Wei

    日本バイオメカニクス学会, Jul. 2013, バイオメカニクス研究, 17 (1), 62 - 67, Japanese

    [Refereed]

    Scientific journal

  • Sayaka Okahashi, Keiko Seki, Akinori Nagano, Zhiwei Luo, Maki Kojima, Toshiko Futaki

    Background: Cognitive dysfunction caused by brain injury often prevents a patient from achieving a healthy and high quality of life. By now, each cognitive function is assessed precisely by neuropsychological tests. However, it is also important to provide an overall assessment of the patients' ability in their everyday life. We have developed a Virtual Shopping Test (VST) using virtual reality technology. The objective of this study was to clarify 1) the significance of VST by comparing VST with other conventional tests, 2) the applicability of VST to brain-damaged patients, and 3) the performance of VST in relation to age differences. Methods: The participants included 10 patients with brain damage, 10 age-matched healthy subjects for controls, 10 old healthy subjects, and 10 young healthy subjects. VST and neuropsychological tests/questionnaires about attention, memory and executive function were conducted on the patients, while VST and the Mini-Mental State Examination (MMSE) were conducted on the controls and healthy subjects. Within the VST, the participants were asked to buy four items in the virtual shopping mall quickly in a rational way. The score for evaluation included the number of items bought correctly, the number of times to refer to hints, the number of movements between shops, and the total time spent to complete the shopping. Results: Some variables on VST correlated with the scores of conventional assessment about attention and everyday memory. The mean number of times referring to hints and the mean number of movements were significantly larger for the patients with brain damage, and the mean total time was significantly longer for the patients than for the controls. In addition, the mean total time was significantly longer for the old than for the young. Conclusions: The results suggest that VST is able to evaluate the ability of attention and everyday memory in patients with brain damage. The time of VST is increased by age.

    BIOMED CENTRAL LTD, Jun. 2013, JOURNAL OF NEUROENGINEERING AND REHABILITATION, 10 (59), English

    [Refereed]

    Scientific journal

  • A self-position estimation algorithm for multiple mobile robots using two omnidirectional cameras and an accelerometer

    Sasahara, K, Nagano, A, Luo zhi-wei

    Apr. 2013, Journal of Mechanics Engineering and Automation, 3 (4), 189 - 196, English

    [Refereed]

    Scientific journal

  • 視覚フィードバックを用いたランニング障害の予防に関する研究

    Iwao, K, Nagano, A, Luo Zhi-Wei

    2013, Journal of the Society of Biomechanisms, 37 (4), 249 - 256, Japanese

    [Refereed]

    Scientific journal

  • Research and Development of the Wearable Respiration Sensor

    Yi Shi, Yasuhiro Kawahara, Zhiwei Luo

    In our society, we cannot avoid facing the problem of burdening the huge stress which occurs in our daily life. It is very dangerous if people under the colossal pressure all the time because it may lead to diseases. There are plenty of ways can help people to reduce the stress condition and as common sense, deep breath is one of the ways. Because people cannot notice the respiration condition all the time in daily life, a wearable respiration sensor is needed to help people to monitor the respiration condition. A sensor which is a kind of polymer sheet used in the experiment and from which get the information we need. According to the results of the experiment, the respiration rate, the relationship between output of the voltage and ventilation, the method separating the status of people including sitting, standing, walking and sleeping was known. These consequences have already supplied enough information help to judge the condition of the subjects and evaluate whether they had any problems.

    IEEE, 2013, 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 562 - 566, English

    [Refereed]

    International conference proceedings

  • Realtime biofeedback of the mechanical stress on the legs during running

    Nagano, A, Iwao, K, Luo zhi-wei

    2013, 24th Congress of the International Society of Biomechanics., English

    [Refereed]

    International conference proceedings

  • On Energy-based Robust Passive Control of a Robot Manipulator

    Sheng Cao, Zhiwei Luo

    This research proposes a novel robust passive control approach for a robot manipulator with model uncertainties to interact with its dynamic environment by considering the robot's mechanic energy. Here, we analyze the robot's robust passivity as seen from its environment. By adjusting a scaling parameter of the robot's desired velocity with respect to the robot's mechanic energy, we propose our robust passive control approach. We also perform computer simulations to show the effectiveness of our approach. In the simulation, we studied three cases where the robot has no model error, or its model has errors. As the results, it is found that the previous robust position tracking control may loss passivity to the external force. However, by adjust the robot's desired velocity as in our approach, we can realize the robot's passivity even when the robot has mode errors. The applications of our control approach are expected be used in those robots that are required to make safe physical interaction with human.

    IEEE, 2013, 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 635 - 640, English

    [Refereed]

    International conference proceedings

  • Motion Sickness Due to Vibration on Water Massage Bed

    Akihito Seki, Zhiwei Luo

    In recent years, water massage bed which can provide full body massage effect is often used in physiotherapy. Compared to other physiotherapy equipment, water massage bed is particularly useful in the fact that it can directly massage the destined area on the subject, thus leads to improvement in relieving muscle strain and provides a psychological relaxation effect. However, motion sickness symptoms such as dizziness or nausea have been reported as side effects after using the bed. In this study, we evaluate the massage effect on the human body by measuring and analyzing the mechanical movements of the body during the massage using an accelerometer and a laser range finder.

    IEEE, 2013, 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 352 - 357, English

    [Refereed]

    International conference proceedings

  • Kashihara, Y, Nagano, A, Luo zhi-wei

    Renormalization molecular dynamics method (RMD) is one of coarse-grained molecular dynamics methods to overcome limitations of calculation cost. The number of molecules is compressed by applying renormalization group conversion to the Hamiltonian, and simulations are possible at any scales by controlling the number of conversions. The main advantage of this method is that there is no need to remake the inter-molecular potential function of new coarse-grained molecules. By using this method, however, we cannot simulate hybrid systems that include molecules at different scales. In this study, we propose a simple scheme to perform hybrid molecular simulations with MD and RMD. In this method, we find the nearest N MD molecules from each RMD molecule and define them as closest MD molecules. We place a virtual RMD molecule at the center of gravity of the closest MD molecules, and calculate the interaction force between RMD and virtual RMD molecules. To test our method, we applied MD, RMD and MD-RMD Hybrid simulation methods to argon liquid and gas. Then, we calculated radial distribution function and viscosity, and compared the results. The results of the MD-RMD hybrid were similar to those of all-atom MD, and the simulation time was shortened to 1/4.

    Japan Society for Simulation Technology, 2013, 日本シミュレーション学会論文誌, 5 (3), 47 - 57, Japanese

    [Refereed]

    Scientific journal

  • Chenghong Hu, Yoshitada Katagiri, Yoshiko Kato, Zhiwei Luo

    To clarify the intrinsic food preference mechanism, we investigated neurophysiological responses to unpleasant gustatory stimuli using electroencephalogram (EEG) and near-infrared hemoencepalogram (NIR-HEG) simultaneously. A conventional delayed response task paradigm was performed in the experiment. Results showed excessive evoked EEG potentials in both bitter and sour responses, but not in purified water which was a control condition. Therefore we suggested that these potentials would be only attributed to gustatory stimuli. As these potentials appeared before P3, we considered that they are unconscious electrophysiological early markers for attention. We also identified contingent negative variation (CNV) in a late stage for sour stimulus and corresponding clear P3. In addition, NIR-HEG responses showed a rise for every stimulus and, in particular, bitterness gave larger rise than sourness. In spite of limitation to timing accuracy of taste presentations, the early markers found in this study could be fundamentals for investigating individual food preference. © Springer-Verlag Berlin Heidelberg 2014.

    Springer Verlag, 2014, Communications in Computer and Information Science, 404, 288 - 293, English

    [Refereed]

    International conference proceedings

  • Development of a virtual shopping test (VST) for assessment of cognitive function: parallel form reliability and effect of age

    Okahashi, S, Seki, K, Nagano, A, Luo zhi-wei, Kojima, M, Futaki, T

    2013, International Neuropsychological Society, English

    [Refereed]

    International conference proceedings

  • Development of a Robot System for Rehabilitation of Upper Limbs Cooperative Movement Functions

    Kazuki Nishida, Zhiwei Luo, Akinori Nagano

    Upper limbs cooperative movement functions are very important in our everyday life. Due to many kinds of brain diseases, people usually reduced or even lost their half side of body activities, which made it difficult to realize cooperative movements between right and left limbs. In this research, we developed a novel robot system, integrated with virtual reality technologies to perform rehabilitation of upper limbs cooperative movement functions, such as to realize simultaneous upper limbs motions or to cooperatively catch and setting a common object in 3D space. Three types of rehabilitation movements are designed so that the subject can train their each arm along as well as cooperative movements with game style. The motion trajectories as well as the contact forces with objects of the subjects are automatically recorded so as to evaluate the performance of rehabilitation.

    IEEE, 2013, 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 511 - 515, English

    [Refereed]

    International conference proceedings

  • Cooperative Stochastic Position Estimation of Multiple Mobile Robots Equipped with Omnidirectional Cameras

    Kosuke Sasahara, Akinori Nagano, Zhiwei Luo

    This paper proposes the cooperative position estimation of a group of mobile robots, which performs disaster relief tasks in a wide area. When searching the wide area, it becomes important to know a robot's position correctly. However, each mobile robot is impossible to know its own position correctly. Therefor each mobile robot estimates its position from the data of sensor equipped on it. Generally, the sensor data is incorrect since there is sensor noise, etc. This research considers two types of the sensor data error from omnidirectional camera. One is the error of white noise of the image captured by omnidirectional camera and so on. Another is the error of a position and posture between two omnidirectional cameras. To solve the error of latter case, we proposed a self- position estimation algorithm for multiple mobile robots using two omnidirectional cameras and an accelerometer. On the other hand, to solve the error of the former case, this paper proposed an algorithm of cooperative position estimation for multiple mobile robots. In this algorithm, each mobile robot uses two omnidirectional cameras to observe the surrounding mobile robot and get the relative position between mobile robots. Each mobile robot estimates its position with only measurement data of each other mobile robots. The algorithm is based on a Bayesian filtering. Simulations of the proposed cooperative position estimation algorithm for multiple mobile robots are performed. The results show that position estimation is possible by using only measurement value from each other robot.

    IEEE, 2013, 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 895 - 900, English

    [Refereed]

    International conference proceedings

  • Contribution of Lower Extremity Joint Moment on Ground Reaction Force during Walking in Elderly and Younger People

    Haruki Toda, Akinori Nagano, Zhiwei Luo

    Antero-posterior ground reaction forces are the driving forces affecting walking speed. This study examined the relation between hip, knee, and ankle joint moment and the production of antero-posterior ground reaction forces during walking in the elderly and younger individuals. Forty elderly people, >= 65 years old, and 40 younger people, 20 to 29 years old, participated in this study. Gait analyses involved measurement of the ground reaction forces as well as calculation of hip, knee, and ankle joint moment. A stepwise linear regression analysis determined joint moment that can predict the amplitude of the antero-posterior ground reaction force. Extension moment during early stance of the knee was related to the posterior component of ground reaction force in elderly men, whereas hip and knee joint moments were related to the generation of the antero-posterior ground reaction forces in younger men. Moment of the hip and ankle were related to these forces in the elderly women. On the other hand, moment of the knee was related to generation of these forces in young women. Our results suggest differences between the elderly and the younger individuals with regard to the joints used for production of the antero-posterior ground reaction forces.

    IEEE, 2013, 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 60 - 65, English

    [Refereed]

    International conference proceedings

  • Cervical Spine Simulation Model for Traction Therapy Analysis

    Wong Lawrence KF, Luo zhi-wei, Kurusu Nobuyuki, Fujino Keiji

    This research describes the construction of a biomechanical simulation model of the cervical spine for traction therapy analysis. By building a 3D computer model of the musculoskeletal cervical spine region using a physics-based software environment, we were able to calculate and visualize the changes of the cervical vertebrae and intervertebral discs due to external traction applied during a traction therapy. Since the mechanical parameters of the simulation, such as bone sizes and masses, can be easily adjusted in the computer model, it allows us to match the simulation based on actual data from patient in the traction therapy.

    IEEE, 2013, Proc. of IEEE/SICE International Symposium on System Integration, 516 - 520, English

    [Refereed]

    International conference proceedings

  • An intelligent treadmill system for running training: control of belt speed and biofeedback

    Nagano, A, Kato, S, Iwao, K, Luo zhi-wei

    2013, 31st Conference of the International Society of Biomechanics in Sports, English

    [Refereed]

    International conference proceedings

  • An FNIRS Study of Taste Cortical Areas in Human Brain: Sweetness and Sourness

    Chenghong Hu, Yoshiko Kato, Luo zhi-wei

    2013, Proc. of IEEE/SICE International Symposium on System Integration, English

    [Refereed]

    International conference proceedings

  • A fNIRS Research on Prefrontal Cortex Activity Response to Taste: Sweetness and Sourness

    Chenghong Hu, Yoshiko Kato, Luo Zhi-wei

    システム制御情報学会, 2013, European Congress of Psychology, 57, 4p, English

    [Refereed]

    International conference proceedings

  • Yumi Kashihara, Akinori Nagano, Zhiwei Luo

    Molecular Dynamics method(MD) has been used for simulations of the structure and dynamics of soft matter, biological molecules, fluid and more. However, the calculation cost has been a major bottleneck. Coarse-grained molecular dynamics is one of the most popular methods to accelerate the simulation, and this method is especially used for simulations of biological molecules. Though water is usually used as the solvent in the simulation of biological molecules, it takes a lot of computational cost to simulate the water because of its coulomb force and three-dimensional structure. In this study, we propose the new coarse-grained method for water molecular simulation based of Renormalization Molecular Dynamics method(RMD). We derive the radial distribution functions at 298[K] and at 220[K] to compare with results of all-atom MD. Then, we got similar results with all-atom MD simulation and it was 24 times faster than all-atom MD.

    IEEE, 2013, FOURTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS, MODELLING AND SIMULATION (ISMS 2013), 166 - 171, English

    [Refereed]

    International conference proceedings

  • Haiwei Dong, Zhiwei Luo, Akinori Nagano, Nikolaos Mavridis

    The key issue in this paper is estimating speed of a human. Compared with previous researches on walking speed estimation, we predict the walking intention before gait action. Our proposed hypothesis is that a composite force index is linearly correlated with the intended walking speed. We did two experiments to test the hypothesis. One gives a regression test indicating the intended walking speed has strong linear correlation with the proposed force index; the other tests the linearity by statistical analysis, guaranteeing the tolerance of individual difference. According to the regression and statistics analyses, we built a treadmill-style locomotion interface. Compared with the normal cases of treadmill control, the tested subject does not have to follow the speed of treadmill, but can actively change the speed of treadmill by his/her feet. The designed locomotion interface is applied in a virtual market system. Here the subject walks in a virtual market street with the desired speed. The stereo display based on virtual reality and the ambient sounds of the environment make the subject to have an immersed sense. The layout of shops in the virtual market system is in Japanese style, making the subjects experience much more realistic.

    SPRINGER HEIDELBERG, Jul. 2012, INTELLIGENT SERVICE ROBOTICS, 5 (3), 159 - 167, English

    [Refereed]

    Scientific journal

  • バーチャルリアリティ技術を用いた買い物課題による高次脳機能検査の開発

    Sayaka Okahashi, Rumi Tanemura, Keiko Seki, Akinori Nagano, Maki Kojima, Zhiwei LUO

    Jul. 2012, 高次脳機能研究, 32巻2号,302-311, Japanese

    [Refereed]

    Scientific journal

  • 生体分子機械の粗視化モデリング手法の検証

    GU Jie, TOGASHI Yuichi, LUO Zhi-Wei

    システム制御情報学会, May 2012, 第56回システム制御情報学会研究発表講演会 講演論文集, T24 - 2, Japanese

    Symposium

  • Multi-tasking Arbitration and Behaviour Design for Human-interactive robots

    KOBAYASHI Yuichi, ONISHI Masaki, HOSOE Shigeyuki, LUO Zhiwei

    Jan. 2012, International Journal of Systems Science, in press (DOI: 10.1080/0020772, English

    [Refereed]

    Scientific journal

  • HAYASHI Takeshi, HONJO Toyoyuki, NAGANO Akinori, LUO Zhi-wei

    This research proposes a Asymmetry Parametric Excitation for a Biped Robot. In our research, we succeeded in developing an experimental parametric excited walking robot with counter weights and achieved the improvement of energy efficiency. However, the mechanism of this improvement has not been clarified. In this paper, we clarify the relation between the equipment of counter weights and the improvement of energy efficiency. It is found that counter weights create the asymmetry of the center of mass while the robot's posture during the double support phase is symmetric. This asymmetry contributes to the efficiency of restoring mechanical energy based on parametric excitation of the inverted pendulum. Therefore, a biped robot with counter weights can improve walking speed, step length, restored mechanical energy and walking energy efficiency.

    The Robotics Society of Japan, 2012, 日本ロボット学会誌, 30 (2), 173 - 179, Japanese

    [Refereed]

    Scientific journal

  • 失語症者に対するVirtual reality(VR)技術を用いた高次脳機能評価の試み

    Maki Kojima, Rumi Tanemura, Sayaka Okahashi, Zhiwei LUO, Akinori Nagano, Keiko Seki

    われわれは、日常場面における失語症者の高次脳機能の問題を評価するためにvirtual reality(VR)買い物課題を開発した。本研究の目的は、本課題が失語症者の多様な神経心理学的症状を評価できるかどうかを検証することである。対象は失語症群17名(男性12名、女性5名)と、非失語症群11名(男性4名、女性7名)である。両群のVR課題の成績比較と、失語症群におけるVR課題とRCPM、標準注意検査法内のSDMT、SRT、Congnitive Linguistic Quick Test内のSymbol Cancellation、Symbol Trails、Design Memory、Mazes、SLTA(読む)との関連を調べた。結果、失語症群はヒントを有効活用できないが全員課題を遂行した。VR課題との相関から言語機能の影響は否定できないが、注意や遂行機能を評価できる可能性が示唆された。(著者抄録)

    (一社)日本言語聴覚士協会, Jul. 2012, 言語聴覚研究, 9 (2), 80 - 88, Japanese

    [Refereed]

    Scientific journal

  • The Self-position Estimate Algorithm of the Multiple Mobile Robots which Equipped Two Omnidirectional Cameras and An Accelerometer

    Kosuke Sasahara, Akinori Nagano, ZhiWei Luo

    This paper proposes a self-position estimate algorithm for the multiple mobile robots, each robot uses two omnidirectional cameras and an accelerometer. In recent years, in Japan, the Great East Japan Earthquake and large-scale disasters have occurred frequently. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable. Then, this research has developed the searching robot group system with two or more mobile robots. In this research, the searching robot equips two omnidirectional cameras and an accelerometer. In order to perform distance measurement using two omnidirectional cameras, each parameter of an omnidirectional camera and the position and posture between two omnidirectional cameras have to be calibrated in advance. If there are few mobile robots, the calibration time of each omnidirectional camera does not pose a problem. However, if the calibration is separately performed when using two or more robots in a disaster site etc., it will take huge calibration time. Then, this paper proposed the algorithm which estimates a mobile robot's position and the parameter of the position and posture between two omnidirectional cameras simultaneously. The algorithm proposed in this paper extended Nonlinear Transformation (NLT) Method. This paper conducted the simulation experiment to check the validity of the proposed algorithm. In some simulation experiments, one mobile robot moves and observes the circumference of another mobile robot which has stopped at a certain place. This paper verified whether the mobile robot can estimate position using the measurement value when the number of observation times becomes 10 times in pi/18 of observation intervals. The result of the simulation shows the effectiveness of the algorithm.

    IEEE, 2012, 2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 230 - 235, English

    [Refereed]

    International conference proceedings

  • Research and development for assessment of cognitive function with immersive virtual reality system.

    Shingo Kato, Akinori Nagano, Zhi-wei Luo

    2012, JSST2012 International Conference on Simulation Technology, English

    [Refereed]

    International conference proceedings

  • Motion Planning of Networked Multi-Vehicle System with Hybrid Measurement Model

    Toru Murayama, Akinori Nagano, Kenneth Ho, Zhi-Wei Luo

    This paper presents a new motion planning method of a multi-vehicle system in which vehicles can mutually measure the location of other vehicles when distances between vehicles are close. The mutual measurement method reduces uncertainty of location estimation by providing additional information. We propose a motion planning method based on the existence of maximal distance of mutual measurement. We formulate a multi-vehicle system with some disturbance and a new hybrid measurement model. The new model is a hybrid of maximal distance of mutual measurement and Kalman filter. The receding horizon control method is shown to be applicable to the new hybrid measurement model. We demonstrate the validity of our new hybrid measurement model in computer simulation.

    IEEE, 2012, 2012 8TH INTERNATIONAL CONFERENCE ON COMPUTING AND NETWORKING TECHNOLOGY (ICCNT, INC, ICCIS AND ICMIC), 207 - 212, English

    [Refereed]

    International conference proceedings

  • Hybrid simulation of molecular dynamics and renormalization molecular dynamics.

    Yumi Kashihara, Akinori Nagano, Zhi-wei Luo

    2012, XXXII Dynamic Days in Europe, English

    [Refereed]

    International conference proceedings

  • Development of An Adaptive Cognitive Training Method Using Near-InfraRed Spectroscopy

    Yuki Murase, Shinichi Nagai, Akinori Nagano, Zhi-Wei Luo

    Recently, the numbers of physically handicapped persons and higher brain dysfunctions are increasing in our super-aging society. Rehabilitative training or cognitive training has been studied. Now, more and more studies show that the motivation is important for the effect of such trainings. We focused on the brain function measurement and the technique of Brain-Computer Interface(BCI). We hypothesized that brain activity can be used as new indicators to set an appropriate task difficulty for patients. We measured the subjects' brain activities during tasks using Near-InfraRed Spectroscopy (NIRS). We found that difficult or easy tasks can be determined by the brain activities. We developed a system that changes the difficulty level of the task according to the results of the discrimination of brain activities during tasks. The system can be beneficial for patients to perform cognitive training more effectively.

    IEEE, 2012, 6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS, 1467 - 1471, English

    [Refereed]

    International conference proceedings

  • Efficient dynamic bipedal walking using effects of semicircular feet

    Fumihiko Asano, Zhiwei Luo

    Mar. 2011, Robotica, Vol. 29, No. 3 (3), 351 - 365, English

    [Refereed]

    Scientific journal

  • Takeshi Hayashi, Kazuaki Kaneko, Fumihiko Asano, Zhi-Wei Luo

    This paper reports some interesting results from our experimental study of parametrically excited dynamic bipedal walking. We describe the details of the walking machine that has telescopic legs, semicircular feet, free hip joint and counterweights. The walker can sustain stable dynamic walking on level ground based on mechanical energy restoration in accordance with the principle of parametric excitation utilizing the effects of semicircular feet and counterweights. Results of numerical analysis on the effect of the counterweights on the gait efficiency are also described. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

    VSP BV, 2011, ADVANCED ROBOTICS, 25 (1-2), 273 - 287, English

    [Refereed]

    Scientific journal

  • Kenji Tahara, Suguru Arimoto, Ryuta Ozawa, Zhi-Wei Luo

    The present paper investigates pinching movements using an index finger and a thumb actuated by redundant nonlinear digitorum muscles mimicking the configuration of human fingers. A dual-finger model with 2-d.o.f. joints for each finger and redundant nonlinear digitorum muscles is formulated to mimic the structure of human fingers. First, the kinematics and dynamics of the overall finger-object system, as well as the nonlinear muscular dynamics, are derived in accordance with the results of physiological studies. Next, a sensory-motor control law is proposed to enable stable pinching simultaneously with orientation regulation of an object. This control law includes an internal force term generated by co-construction of the redundant muscles. It is shown that the internal force term can modulate the damping factor in the joint space by its nonlinearity. Based on this effect, it is then shown by numerical simulation that our sensory-motor control law with co-contraction of each digitorum muscle makes it possible to realize pinching movements. Therefore, the pinching movements may be realized by means of a musculo-skeletal dual-finger system with the sensory-motor control law and co-contraction of redundant digitorum muscles. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

    TAYLOR & FRANCIS LTD, 2011, ADVANCED ROBOTICS, 25 (1-2), 175 - 204, English

    [Refereed]

    Scientific journal

  • Hayashi Takesi, 金子 和晃, 浅野 文彦, 羅 志偉, 加藤 厚生

    Parametrically excited dynamic bipedal walking is an effective approach for a robot to restore its mechanical energy that is lost during the exchange of a leg's swing phase to the stance phase. Based on the parametric excitation principle, we succeeded in developing an experimental walking robot and realized for the first time the dynamic walking by the robot. In detail, the biped robot consists of four parallel legs with prismatic joints driven by DC motors so as to constrain its movement in a 2D plane. Each set of two inside or outside legs is physically jointed by a synchronous shaft and connected with the other set at the free rotational hip joint. The foot of each leg has a semicircular shape that has an effect to increase the walking speed without considering the zero moment point problem. By introducing an unique counterweight mechanism, it is shown that we can improve the Specific resistance, Restored mechanical energy and Walking soeed. Experimental studies and simulations show the effectiveness of this walking robot.

    The Japan Society of Mechanical Engineers, 2010, 日本機械学会論文集, Vol. 76, No. 768, pp. 2117-212 (768), 2117 - 2126, Japanese

    [Refereed]

    Scientific journal

  • Adaptive attitude control for redundant time-varying complex model of human body in the nursing activity

    Haiwei Dong, Zhiwei Luo, Akinori Nagano

    2010, Journal of Robotics and Mechatronics, Vol. 22, English

    [Refereed]

    Scientific journal

  • Fumihiko Asano, Zhi-Wei Luo

    We investigated and identified the conditions necessary for stable dynamic gait generation in biped robots from the mechanical energy balance point of view. The equilibrium point at impact in a dynamic gait is uniquely determined by two conditions; keeping the restored mechanical energy constant and settling the relative hip-joint angle to the desired value before impact. The generated gait then becomes asymptotically stable around the equilibrium point determined by these conditions. This is shown by a simple recurrence formula of the kinetic energy immediately before impact. We verified this stability theorem using numerical simulation of virtual passive dynamic walking. The results were compared with those for a rimless wheel and an inherent stability principle was derived. Finally, we derived a robust control law using a reference mechanical energy trajectory and demonstrated its effectiveness numerically.

    CAMBRIDGE UNIV PRESS, Oct. 2009, ROBOTICA, 27, 949 - 958, English

    [Refereed]

    Scientific journal

  • Biped gait generation based on parametric excitation by Knee-joint actuation

    Yuji Harata, Fumihiko Asano, Zhi-Wei Luo, Kouichi Taji, Yoji Uno

    Restoring mechanical energy lost by heel-strike collisions is necessary for stable gait generation. One principle to realize this is parametric excitation. Recently, Asano et al. applied this principle to a biped robot with telescopic-legs, and succeeded in generating a sustainable biped gait by computer simulation. In this paper, we deal with a model of a biped robot that has not only semicircular feet but also actuated knees. Though this robot has no actuator at the hip, knee actuators can sustain gait by parametric excitation. We first verify that an actuated knee can cause parametric excitation, and then show by computer simulation that the proposed biped robot can walk continuously with actuated knees only.

    IEEE, 2007, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2204 - +, English

    [Refereed]

    International conference proceedings

  • 浅野 文彦, 羅 志偉

    It was clarified that energy-efficient dynamic bipedal walking can be achieved by effectively applying the principle of passive dynamic walking. Approaches based on virtual gravity are typical methods for generating efficient level dynamic gait. These methods, however, had the problem that the specified control input includes a singular point which causes complicated motion. This paper then proposes a new method, which is termed as the pseudo virtual passive dynamic walking, to solve this problem. We first formulate the basic method for a planar underactuated biped model with an upper body by introducing the concept of pseudo center of mass. We also consider to inhibit swing-leg retraction by constraining the impact posture to achieve the maximum efficiency condition. In addition, we discovered that the constraint on impact posture strongly extends the stable domain and improves the convergence speed to the steady gait through numerical simulations. We report the detailed analysis results and theoretically investigate how the constraint affects the gait properties.

    The Robotics Society of Japan, 2009, 日本ロボット学会誌, Vol. 27,No. 8 (8), 892 - 899, Japanese

    [Refereed]

    Scientific journal

  • 小林 祐一, 大西 正輝, 細江 繁幸, 羅 志偉

    Robots that interact with humans in household environments are required to achieve multiple simultaneous tasks such as carrying objects, collision avoidance and conversation with human, in real time. This paper presents a design framework of multiple human-interacting tasks to meet the requirement by considering stochastic behavior of humans. The proposed designing method first introduces petri-net for parallel multiple tasks. The petri-net formulation is converted to Markov decision processes and processed in optimal control framework. Multiple task arbitration is resolved by optimization with approximated value functions. Two tasks of safety confirmation and conversation tasks are mutually interacting and expressed by petri-net. Tasks that normally tend to be designed by integrating many if-then rules can be dealt with in a systematic manner in the proposed framework, that is, in a state estimation and optimization framework. The proposed arbitration method was verified by simulations and experiments using RI-MAN, which was developed to do interactive tasks with humans.

    The Robotics Society of Japan, 2009, 日本ロボット学会誌, Vol. 27, No. 10 (10), 1132 - 1143, Japanese

    [Refereed]

    Scientific journal

  • Sparsing of Information Matrix for Practical Application of a Robot's SLAM

    Haiwei Dong, Thiwei Luo, Weidong Chen

    Mobile robot could navigate in unknown environment autonomously with the help of Simultaneous Localization and Mapping (SLAM). Recently, SLAM based on information matrix enjoys much popularity since it is naturally sparse. However, the computational burden related to information matrix balloons with respect to the increase of the mapped landmarks. In this paper, by considering the features of information matrix, we present a novel method which wipes off nearly half of the elements in information matrix. The errors that come from sparsification decrease apparently by loop-closure. Furthermore, the relationship between sparsification and SLAM accuracy is analyzed theoretically. A large scale simulation and experiment conducted on a real robot suggest that the technique is effective for a robot's SLAM in real-world applications.

    IEEE, 2009, ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 1053 - +, English

    [Refereed]

    International conference proceedings

  • On Efficiency and Optimality of Asymmetric Dynamic Bipedal Gait

    Fumihiko Asano, Zhi-Wei Luo

    Period-doubling bifurcation and chaotic behavior are interesting phenomena in limit cycle walking. Their mechanisms are very complicated and their roles in dynamic biped locomotion are still unclear. This paper then investigates how the gait efficiency changes with the asymmetrization through analysis of a simple rimless wheel model. We mathematically show that the symmetric configuration gives the optimal solution when the mean value of the inter-leg angles is constant in terms of kinetic energy. This is derived from two magnitude relations of the energy-loss coefficient and restored mechanical energy. We also show that the symmetric gait is not always optimal from another viewpoint.

    IEEE, 2009, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 2009 IEEE, 904 - +, English

    [Refereed]

    International conference proceedings

  • Kenji Tahara, Suguru Arimoto, Masahiro Sekimoto, Zhi-Wei Luo

    This paper focuses on a dynamic sensory-motor control mechanism of reaching movements for a musculo-skeletal redundant arm model. The formulation of a musculo-skeletal redundant arm system, which takes into account non-linear muscle properties obtained by some physiological understandings, is introduced and numerical simulations are perfomed. The non-linear properties of muscle dynamics make it possible to modulate the viscosity of the joints, and the end point of the arm converges to the desired point with a simple task-space feedback when adequate internal forces are chosen, regardless of the redundancy of the joint. Numerical simulations were performed and the effectiveness of our control scheme is discussed through these results. The results suggest that the reaching movements can be achieved using only a simple task-space feedback scheme together with the internal force effect that comes from non-linear properties of skeletal muscles without any complex mathematical computation such as an inverse dynamics or optimal trajectory derivation. In addition, the dynamic damping ellipsoid for evaluating how the internal forces can be determined is introduced. The task-space feedback is extended to the 'virtual spring-damper hypothesis' based on the research by Arimoto et al. (2006) to reduce the muscle output forces and heterogeneity of convergence depending on the initial state and desired position. The research suggests a new direction for studies of brain-motor control mechanism of human movements.

    Hindawi Limited, 2009, Applied Bionics and Biomechanics, 6 (1), 11 - 26, English

    [Refereed]

    Scientific journal

  • Experimental Study of A Parametrically Excited Dynamic Bipedal Walker with Counterweights

    Takeshi Hayashi, Fumihiko Asano, Zhi-Wei Luo, Akinori Nagano, Kazuaki Kaneko, Atsuo Kato

    This paper reports some interesting results on our experimental study of parametrically excited dynamic bipedal walking. We describe the details of the walking machine that has telescopic legs, semicircular feet, free hip-joint and counterweights. The walker can sustain stable dynamic walking on level ground based on mechanical energy restoration in accordance with the principle of parametric excitation utilizing the effects of semicircular feet and counterweights. Results of numerical analysis of the effect of the counterweights on the gait efficiency are also described.

    IEEE, 2009, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2009 IEEE, 81 - 86, English

    [Refereed]

    International conference proceedings

  • Behavior Design of a Human-Interactive Robot through Parallel Tasks Optimization

    Yuichi Kobayashi, Masaki Onishi, Shigeyuki Hosoe, Zhiwei Luo

    Robots that interact with humans are required to achieve multiple simultaneous tasks such as carrying objects, collision avoidance and conversation with human, in real time. This paper presents a design framework of the control and the recognition processes to meet the requirement by considering stochastic behavior of humans. The proposed designing method first introduces petri-net. The petri-net formulation is converted to Markov decision processes and dealt with in optimal control framework. Two tasks of safety confirmation and conversation tasks are implemented. Tasks that normally tend to be designed by integrating many if-then rules can be dealt with in a systematic manner in the proposed framework. The proposed method was verified by simulations and experiments using RI-MAN.

    SPRINGER-VERLAG BERLIN, 2009, DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8, 565 - +, English

    [Refereed]

    International conference proceedings

  • 浅野 文彦, 羅 志偉

    Achieving energy-efficient dynamic walking has become one of the main subjects of research in the area of robotic biped locomotion. It has been clarified that approaches based on passive-dynamic walkers accomplish it. In general, however, passive dynamic walking is realized by only the legs and the effect of an upper body has not been clarified. Based on the observations, this paper deeply investigates what effects an upper body had on the performances and stability of dynamic biped locomotion. We first consider adding an upper body, which is introduced as a simple 1-link torso, by means of a bisecting hip mechanism so as not to destroy natural dynamics of the biped model. In the second, we analyze the robot's driving mechanism and apply underactuated virtual passive dynamic walking as a method for generating efficient dynamic gait. We confirm that highly efficient dynamic walking is realized with a specific resistance of 0.01, and investigate the effects of physical parameters of the upper body through numerical simulations.

    The Robotics Society of Japan, Nov. 2008, 日本ロボット学会誌, Vol.26, No.8 (8), 932 - 943, Japanese

    [Refereed]

    Scientific journal

  • 柔軟拇指ロボットの3次元回転接触を利用したProprioceptive Touching

    田原 健二, 有本 卓, 吉田 守夫, Zhiwei LUO

    計測自動制御学会, Jun. 2008, 計測自動制御学会論文集, vol.44, no.6, pp.532-540 (6), 532 - 540, Japanese

    [Refereed]

    Scientific journal

  • Rimless Wheelの安定原理に基づくコンパス型2足ロボットの漸近安定歩容生成

    浅野 文彦, Zhiwei LUO, 山北 昌毅

    May 2008, 日本ロボット学会誌, vol.26, no.4, pp.351-362, Japanese

    [Refereed]

    Scientific journal

  • 大西 正輝, 小田島 正, 田原 健二, 平野 慎也, 向井 利春, Zhiwei LUO, 細江 繁幸

    The Robotics Society of Japan, Apr. 2008, 日本ロボット学会誌, vol.26, no.3, pp.247-250 (3), 247 - 250, Japanese

    [Refereed]

  • Toshiharu Mukai, Masaki Onishi, Tadashi Odashima, Shinya Hirano, Zhiwei Luo

    Human-interactive robots, such as those used for nursing, which share humans' environments and interact with them, should be covered with soft areal tactile sensors for safety and dexterous manipulation. We report the successful development of the tactile sensor system of our human-interactive robot named RI-MAN, which can lift up a dummy human.

    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Apr. 2008, IEEE TRANSACTIONS ON ROBOTICS, 24 (2), 505 - 512, English

    [Refereed]

    Scientific journal

  • 大西 正輝, 小田島 正, 向井 利春, Zhiwei LUO

    In this paper we propose an approach to use tactile information in a robot's whole arm dynamic manipulation. Unlike those researches that only use tactile sensors to recognize objects or contact conditions, this approach considers the relation between a robot's motion trajectory and the tactile information for the succeeded tasks cases, and adjusts the robot's motion spatially and temporally so as to realize the required dynamic manipulations. Experimental results show the effectiveness of our approach. Our human interactive robot named RI-MAN can hold up a dummy weighing up tp18kg by this algorithm using real-time whole body tactile feedback.

    The Society of Instrument and Control Engineers, Jan. 2008, 計測自動制御学会論文集, vol.44, no.1, pp.78-85 (1), 78 - 85, Japanese

    [Refereed]

    Scientific journal

  • 2本指筋骨格冗長モデルによるピンチング動作

    田原 健二, Zhiwei LUO, 小澤 隆太, 有本 卓

    Jan. 2008, 日本ロボット学会誌, vol.26, no.1, pp.57-67, Japanese

    [Refereed]

    Scientific journal

  • Fumihiko Asano, Zhi-Wei Luo

    We clarified that the common necessary condition for generating a dynamic gait results from the requirement to restore mechanical energy through studies on passive dynamic walking mechanisms. This paper proposes a novel method of generating a dynamic gait that can be found in the mechanism of a swing inspired by the principle of parametric excitation using telescopic leg actuation. We first introduce a simple underactuated biped model with telescopic legs and semicircular feet and propose a law to control the telescopic leg motion. We found that a high-speed dynamic bipedal gait can easily be generated by only pumping the swing leg mass. We then conducted parametric studies by adjusting the control and physical parameters and determined how well the basic gait performed by introducing some performance indexes. Improvements in energy efficiency by using an elastic-element effect were also numerically investigated. Further, we theoretically proved that semicircular feet have a mechanism that decreases the energy dissipated by heel-strike collisions. We provide insights throughout this paper into how zero-moment-point-free robots can generate a novel biped gait.

    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Dec. 2008, IEEE TRANSACTIONS ON ROBOTICS, 24 (6), 1289 - 1301, English

    [Refereed]

    Scientific journal

  • 抱え上げ動作による移乗作業を目的とした介護支援ロボット研究用プラットフォーム"RI-MAN"の開発と評価

    ODASHIMA Tadashi, ONISHI Masaki, TAHARA Kenji, MUKAI Toshiharu, HIRANO Shinya, Zhiwei LOU, HOSOE Shigeyuki

    2007, 日本ロボット学会誌, vol.25: no.4: pp.554-565 (4), 554 - 565, Japanese

    [Refereed]

    Scientific journal

  • ASANO Fumihiko, Zhiwei LUO

    This paper investigates what effect semicircular feet had on dynamic bipedal walking. It has been clarified in paper (I) that underactuated virtual passive dynamic walking can be realized by using the rolling effect, which acts as the ankle-joint torque virtually. This paper (II) then studies the rolling effect on the gait performances in detail through theoretical investigations and numerical analyses. We first perform parameter studies, and confirm that a suitable choice of the foot radius increases walking speed effectively. It is then theoretically clarified that increasing walking speed is achieved not by the rolling effect during the single support phase but by reducing the energy-dissipation due to heel-strike collisions. It is also confirmed that mass of the leg is necessary to drive the robot's center of mass in the walking direction. Furthermore, extension to redundant models with knee-joints is discussed.

    The Robotics Society of Japan, 2007, 日本ロボット学会誌, vol.25: no.4: pp.578-588 (4), 578 - 588, Japanese

    [Refereed]

    Scientific journal

  • ASANO Fumihiko, Zhiwei LUO

    Realization of an energy-efficient and high-speed dynamic walking has come to be one of the main subjects in the research area of robotic biped locomotion, and passive dynamic walking has been widely attracted as a clue to solve this problem. It has been empirically known that the effect of convex curve shape of feet, which characterizes passive-dynamic walkers, is important to increase walking speed. This research consists of two parts and aims to investigate the rolling effect of semicircular feet on dynamic bipedal walking. In this paper (I), driving mechanisms of compass-like biped robots and the rolling effect of semicircular feet are mainly investigated. We first analyze the mechanisms of a planar fully-actuated compass-like biped model to clarify the importance of ankle-joint torque introducing generalized virtual gravity concept. In the second, a planar underactuated biped model with semicircular feet is introduced and we show that virtual passive dynamic walking by hip-joint torque only can be realized based on the rolling effect. We then compare it with the flat-feet model through linear approximation, and show that the rolling effect is equivalent to its virtual ankle-joint torque. Throughout this paper, we give a novel approach to dynamic bipedal walking as ZMP-free robots.

    The Robotics Society of Japan, 2007, 日本ロボット学会誌, vol.25: no.4: pp.566-577 (4), 566 - 577, Japanese

    [Refereed]

    Scientific journal

  • 運動物体予測を用いた劣化動画像復元:

    AKIYAMA Kei, Zhiwei LUO, ONISHI Masaki, HOSOE Shigeyuki

    2007, 電気学会論文誌C, vol.127: no.7: pp.1089-1098, Japanese

    [Refereed]

    Scientific journal

  • Doping effects on robotic systems with ionic polymer-metal composite actuators

    Norihiro Kamamichi, Masaki Yamakita, Takahiro Kozuki, Kinji Asaka, Zhi-Wei Luo

    Ionic polymer-metal composite (IPMC) materials are one of the most promising electroactive polymer actuators for applications, and have good properties of response and durability. The characteristics of IPMC materials depend on the type of counter-ion. When applied to mechanical systems such as a robot, there exist possibilities to change the properties of the system dynamics by changing the counter-ions and system parameters according to the environment or purpose. We focus on this 'doping effect' property of the system and will verify the effect on robotic applications. In this paper, we consider dynamic walking of a small-sized biped robot and swimming motion of a snake-like robot, and demonstrate the doping effects by numerical simulations and experiments.

    TAYLOR & FRANCIS LTD, 2007, ADVANCED ROBOTICS, 21 (1-2), 65 - 85, English

    [Refereed]

    Scientific journal

  • Yingjie Yin, Shigeyuki Hosoe, Zhiwei Luo

    By considering the dexterous hand manipulation problem as a hybrid system, we propose a mixed logic dynamical (MLD) modeling formulation which encapsulates phases of continuous motion, switching between types of motion, and occurrence of impacts. We first formulates the multi-contact manipulation system into a general nonlinear dynamical equation subject to (in)equality and complementarity constraints, then transform the constrained system to a MLD system model. Based on the derived MLD model, dexterous hand manipulation can be realized optimally via mixed integer quadric programming (MIQP) algorithm. This modeling formulation and an optimization approach are applied to a whole body manipulation task as an example.

    SPRINGER, Sep. 2007, OPTIMIZATION AND ENGINEERING, 8 (3), 321 - 340, English

    [Refereed]

    Scientific journal

  • AMANO Masateru, Zhiwei LUO, HOSOE Shigeyuki

    This paper studies the synchronization of network coupled systems consisting of many identical dynamic subsystems as well as network coupling with interaction time-delay. Based on graph theory and Lyapunov stability theory, the paper gives conditions for the total system synchronization and the boundedness of trajectories with respect to the graph structures of network coupling interaction. According to our study, it is revealed that, different from the systems without time-delay, (1) there will be a case where synchronization will occurs if the interaction strength and the number of the graph edges lie between some upper and lower bounds, (2) in regular graphs, such that complete-, star- and cycle graph, the synchronization conditon will be violated if total number of subsystems increases, (3) for the complex networks such as Small World Network and Scale Free Network, the synchronization conditon is more easier to be satisfied than regular graphs when the total number of subsystems increases.These are verified using numerical simulations.

    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 2006, システム制御情報学会論文誌, vol.19: no.6: pp.241-249 (6), 241 - 249, Japanese

    [Refereed]

    Scientific journal

  • TAHARA Kenji, Zhiwei LUO, ARIMOTO Suguru

    This paper studies a sensory-motor control mechanism of human's reaching movements from the perspective of robotics aspect. By formulating the musculo-skeletal redundant system which takes into account a nonlinear muscle property obtained by some physiological understandings, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect which comes from mechanical property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six single-joint muscles and three double-joint muscles model whose movements are confined within a horizontal plane. Secondly, the nonlinear muscle property, which comes from several physiological understandings based on Hill's muscle model, is taken into consideration and illustrated by some numerical simulations that the end-point of the manipulator can converge to the desired point smoothly using only simple task-space feedback scheme by considering the muscle property and internal forces induced by the redundancy of muscles, which makes it possible to modulate the damping factors in joint-space, even if the system owns both kinematic and dynamic redundancies. Then we discuss the effectiveness of our control scheme, and suggest it as one direction to study brain-motor control mechanism of human movements.

    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 2006, システム制御情報学会論文誌, vol.19: no.8: pp.301-308 (8), 301 - 308, Japanese

    [Refereed]

    Scientific journal

  • 階層型分散制御構造を用いた多脚歩行系における行動規範型歩行制御

    ODASHIMA Tadashi, Zhiwei LUO

    2006, 日本ロボット学会誌, vol.24: no.6: pp.766-773, Japanese

    [Refereed]

    Scientific journal

  • イモムシ型探索ロボットの開発

    HIRANO Shinya, Zhiwei LUO, KATO Atsuo

    This paper describes an inchworm-type robot that we developed for the application of disaster relief, specially for searching victim. The robot we called AIT-ReBo1 has two types of modules, one is the head module that is equipped at the terminal of the robot's body with a small wireless camera and wireless network functions to communicate with outside, another module is the joint that has two rotational and a linear driven degrees of freedom with a decentralized controller module and energy source in a compact form. We pay attention to moving mechanism and realized the motion patterns such as moving straight, side and rotational movements like an inchworm by the progressive wave in body without using any wheels, or crawlers and legs. This robot has already successfully debut at the AICHI EXPO 2005 and stably played for about one month.

    Aichi Institute of Technology, 2006, 日本ロボット学会誌, vol.24: no.7: pp.838-844, 71 - 76, Japanese

    [Refereed]

    Scientific journal

  • Reaching movements in dynamic environments: How do we move flexible objects?

    M Svinin, Goncharenko, I, ZW Luo, S Hosoe

    The paper presents an analysis of human reaching movements in manipulation of flexible objects. To predict the trajectory of human hand, a minimum crackle criterion has been recently proposed in literature. A different approach is explored in this paper. To explain the trajectory formation, we resort to the minimum hand jerk criterion. First, we show that this criterion matches well experimental data available in literature. Next, we argue that, contrary to the minimum crackle criterion, the minimum hand jerk criterion produces bounded hand velocity profiles for multi-mass flexible objects. Finally, we present initial experimental results confirming the applicability of the minimum hand jerk criterion in manipulation of multi-mass objects.

    IEEE, 2005, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), vol.22: no.4: pp.724-739, 396 - 403, English

    [Refereed]

    International conference proceedings

  • TAKAGI Kentaro, NAKABO Yoshihiro, LUO Zhi-Wei, MUKAI Toshiharu

    It is found from the locomotion of snake-like underwater robot using Ionic Polymer-Metal Composite (IPMC) as its actuator that, although we specify the same amplitude of driven voltages to each segmented IPMC unit, the resultant bending amplitudes along the body's progressive waves change from small to large toward the robot's tail. To analyze this phenomenon, which is also observed in locomotions of slender fishes, we discuss the modeling and analysis of bending motions of IPMC actuators using the Euler-Bernoulli beam theory. Eigenfunction expansion technique is used to solve the model of a partial differential equation. The envelope curve can be drawn by the obtained solution, and simulation results reappear the same phenomenon. Deflection of the real robot is measured by video camera and laser beam. Experimental results verifies the validity of the proposed model. Parameter identification is also performed with measured data.

    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 15 Aug. 2006, Transactions of the Institute of Systems, Control and Information Engineers, 19 (8), 319 - 326, Japanese

    [Refereed]

    Scientific journal

  • Masaki Onishi, Tadashi Odashima, Zhiwei Luo

    Recently, active researches have been performed to increase a robot's intelligence so as to realize dexterous tasks in complex environments such as in the street or homes. However, since skillful human-like task ability is so difficult to formulate for the robot, not only the analytical and theoretical control researches but also the direct human motion mimetic approach is necessary. In this paper, we propose that to realize the environmental interactive task, it is insufficient to replay the human motion alone. We show a novel motion generation approach to integrate the cognitive information into mimickry of human motions so as to realize the final complex task by the robot. As a detailed example of the task, we consider how to carry up a human by cooperating two hands. (c) 2006 Wiley Periodicals, Inc.

    WILEY-BLACKWELL, Aug. 2006, ELECTRICAL ENGINEERING IN JAPAN, 156 (3), 62 - 70, English

    [Refereed]

    Scientific journal

  • Masaki Onishi, Tadashi Odashima, Zhiwei Luo, Shigeyuki Hosoe

    This research paper proposes an immersion-type 3D dynamic simulation environment for designing and evaluating human-interactive robots. This simulation environment is composed of three components (an immersion-type display part, a 3D dynamic simulator part, and a motion capture part). In the immersion-type display part, audio and visual information is presented to subjects using virtual reality technology implemented by parallel processing in general-purpose computers. In the 3D dynamic simulator part, the dynamic movement produced by dynamic interaction between a virtual robot and a virtual subject that emulates the actual subject is calculated in real time. In the motion capture part, the movement of a robot with joints having many degrees of freedom is initially designed by capturing human movement. An experiment was carried out for a situation in which the robot is assumed to lift up a human, as a simulation aimed at realizing a robot that could be deployed in a nursing care facility, and the effectiveness of the proposed method was confirmed. © 2006 Wiley Periodicals, Inc.

    Sep. 2006, Systems and Computers in Japan, 37 (10), 47 - 57, English

    [Refereed]

    Scientific journal

  • Ken Ohta, Mikhail M. Svinin, Zhi-Wei Luo, Shigeyuki Hosoe

    Opening a door, turning a steering wheel, rotating a coffee mill are typical examples of human movements constrained by the external environment. The constraints decrease mobility of the human arm and lead to redundancy in the distribution of interaction force between the arm joints. Due to the redundancy of force actuation in the constrained motions, there is an infinite number of ways to form the arm trajectory. However, humans form the hand trajectory in a unique way. How do humans resolve the redundancy of the constrained motions and specify the hand trajectory? To investigate these problems, we examine the trajectories of the human arm in a crank-rotation task. To explain the trajectory formation in constrained point-topoint motions, we propose a novel criterion minimizing hand contact force change and torque change over the time of the movement. Our experiments show a close matching between the prediction and the subjects' data. This indicates that in constrained movements the CNS naturally selects a moving contact frame as the criterion for the trajectory formation. © 2005 Wiley Periodicals, Inc.

    Nov. 2005, Systems and Computers in Japan, 36 (12), 22 - 32, English

    [Refereed]

    Scientific journal

  • M Svinin, Y Masui, ZW Luo, S Hosoe

    This paper is concerned with the problem of trajectory formation of humanlike reaching movements. First, we review conventional criteria of optimality adopted in robotics computational neuroscience for the prediction of reaching movements and formulate a dynamic version of the minimum hand jerk criteria. We call it a minimum driving force change criterion and check its performance for the free-space movements. Next, we test the performance of the new criterion for the movements where the human hand is geometrically constrained by the external environment, and for the movements with flexible objects. The main feature of these movements is that the hand velocity profiles are not always bell shaped. Our simulations and initial experimental results show that the minimum driving force change criterion can roughly capture this feature and, therefore, can be a reasonable candidate for modeling of humanlike reaching movements. (C) 2005 Wiley Periodicals, Inc.

    JOHN WILEY & SONS INC, Nov. 2005, JOURNAL OF ROBOTIC SYSTEMS, 22 (11), 661 - 676, English

    [Refereed]

    Scientific journal

  • 力学的エネルギー回復に基づく動的歩容生成と制御

    ASANO Fumihiko, Zhiwei LUO, YAMAKITA Masaki

    Oct. 2005, 日本ロボット学会誌, vol.23, no.7, pp.821-830 (7), 821 - 830, Japanese

    [Refereed]

    Scientific journal

  • ASANO Fumihiko, Zhiwei LUO

    It is clarified throughout studies of passive dynamic walking mechanisms that the common necessary condition for dynamic gait generation comes from the requirement on mechanical energy restoration. Until now we have treated only rotational joints of the robot, whereas in this paper we considers a novel dynamic gait generation method based on mechanical energy restoration by parametric excitation phenomenon using telescopic leg actuation. We first introduce a simple biped walking model and a control law for telescopic leg motion, and analyze the typical walking pattern with respect to the change of control and physical parameters by numerical simulations. We then numerically analyze the energy efficiency in the presence of an elastic element by introducing criterions, and show that suitable adjustment of mechanical impedance dramatically increases the energy efficiency. Further, some extensions of the mechanism and control applications are investigated.

    The Robotics Society of Japan, Oct. 2005, 日本ロボット学会誌, vol.23, no.7, pp.910-918 (7), 910 - 918, Japanese

    [Refereed]

    Scientific journal

  • Modeling and bio-mimetic control for whole-arm dynamic cooperative manipulation

    F Asano, ZW Luo, M Yamakita, S Hosoe

    This paper studies modeling and bio-mimetic control of a three-dimensional 8-d.o.f. whole-arm cooperative manipulation system using sensitive skin. A sphere is considered here as a manipulated object. The control law is designed based on integration of voluntary movement and reflex considering the system's redundancy. The Voluntary task of holding the object safely is realized via multi-point impedance control at the four contact points with the object using the contact force information from the sensitive skin. A reflex is introduced as a regulation problem of the direction between the points of end-effectors and elbows to determine the robot system's posture uniquely and to adapt to external disturbances. The solution of the redundant control is formulated and derived from the optimization point of view for different cases of the output function's dimensions. Further, desired functions for voluntary movement and reflex are adjusted according to the task situations. The validity of the proposed method is investigated by numerical Simulations.

    TAYLOR & FRANCIS LTD, 2005, ADVANCED ROBOTICS, 19 (9), 929 - 950, English

    [Refereed]

    Scientific journal

  • Kei Akiyama, Zhi-Wei Luo, Masaki Onishi, Tetsuya Yagi, Shigeyuki Hosoe

    Chiefly for applications to robots that operate in a real environment, it is desirable to construct a compact vision system with real-time properties and adaptability to the environment. The silicon retina is an image sensor considered from such a viewpoint, in which the preprocessing mechanism in the biological retina is simulated in an analog CMOS integrated circuit. This paper proposes a computation scheme which estimates the optical flow (the moving velocity field of an object that is in relative motion with respect to the imaging system) robustly even in images of a real environment, focusing on the function and structure of the silicon retina. In the proposed method, the edge of the moving object is extracted from the response image on the silicon retina. By applying local computation to the result, the optical flow can be derived efficiently even in a real environment. An experiment is performed using the silicon retina and a computer based on the proposed method, and satisfactory results are obtained. © 2005 Wiley Periodicals, Inc.

    Oct. 2005, Systems and Computers in Japan, 36 (11), 12 - 23, English

    [Refereed]

    Scientific journal

  • F Asano, ZW Luo, M Yamakita

    Principal mechanisms of passive dynamic walking are studied from the mechanical energy point of view, and novel gait generation and control methods based on passive dynamic walking are proposed. First, a unified property of passive dynamic walking is derived, which shows that the walking system's mechanical energy increases proportionally with respect to the position of the system's center of mass. This yields an interesting indeterminate equation that determines the relation between the system's control torques and its center of mass. By solving this indeterminate equation for the control torque, active dynamic walking on a level can then be realized. In addition, the applications to the robust energy referenced control are discussed. The effectiveness and control performances of the proposed methods have been investigated through numerical simulations.

    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Aug. 2005, IEEE TRANSACTIONS ON ROBOTICS, 21 (4), 754 - 762, English

    [Refereed]

    Scientific journal

  • SAITO Yohei, Zhiwei LUO, WATANABE Keiji, MURAMATSU Eiiti, FUJII Syozo

    This paper proposes a novel adaptive control approach for a robot manipulator to track a desired force signal while interacting with its unknown dynamic environment. Based on the bio-mimetic studies of human motor control functions, we propose a 2 degree of freedom adaptive control approach. In this approach, both force feedback and feedforward controllers are involved in the robot's control system. The feedback control is set as constant while the feedforward controller is adjusted online adaptively to approach the inverse of the force control transfer function. Using this approach, exact force tracking without any loop delay can be realized. The effectiveness and problems of this control approach are studied through computer simulations and robot experiments.

    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), Jun. 2005, システム制御情報学会論文誌, vol.18, no.6, pp.203-212 (6), 203 - 212, English

    [Refereed]

    Scientific journal

  • 環境と接するロボットの感覚運動統合による動作模倣

    ONISHI Masaki, ODASHIMA Tadashi, Zhiwei LUO

    Jun. 2005, 電気学会論文誌C, vol.125, no.6, pp.856-862, Japanese

    [Refereed]

    Scientific journal

  • Optimization of Circuit Elements for Piezoelectric Switching LR Shunt Damping Systems

    TAKAGI Kentaro, NAGASE Kenji, OSHIMA Kazuhiko, HAYAKAWA Yoshikazu, LUO Zhiwei, ICHIKAWA Hiroyuki

    Switching inductive shunt damping technique is one of the most useful methods for structural vibration control due to its simplicity and robustness. In this paper, a method to design the inductance and the resistance in the shunt circuit is discussed. Initial response and harmonic response are especially considered in the design method. The design method is validated by simulation. Furthermore, switching shunt damping applied for a multi degrees of freedom system is examined using an experimental plate.

    The Japan Society of Mechanical Engineers, 25 Apr. 2005, Transactions of the Japan Society of Mechanical Engineers. Series C., 71 (704), 1193 - 1200, Japanese

    [Refereed]

    Scientific journal

  • 人間と接するロボット開発のための没入型三次元動力学シミュレーション環境

    MASAKI Onishi, TADASHI Odashima, ZHIWEI Luo, SHIGEYUKI Hosoe

    本論文では人間と接するロボットを設計・評価するための没入型三次元動力学シミュレーション環境を提案する.本シミュレーション環境は, 三つの部分(Immersion type display部, 3D dynamic simulator部, Motion capture部)で構成されている.Immersion type display部では, 汎用コンピュータの並列処理によるバーチャルリアリティ技術を用いて被験者に視聴覚情報を提示する.また, 3D dynamic simulator部では, 被験者に追従する仮想被験者と仮想ロボットの間の力学的なインタラクションによって生じる動力学運動を実時間で計算する.更に, Motion capture部では, 人間の動作をキャプチャすることで多自由度の関節を有するロボットの動作の初期設計を行う.介護福祉の現場で活躍するロボットの実現を目指したシミュレーションとして, ロボットが人間を抱き上げることを想定した実験を行い, 提案手法の有効性を確認した.

    The Institute of Electronics, Information and Communication Engineers, Feb. 2005, 電子情報通信学会論文誌, vol.J88-D-II, no.2, pp.368-377 (2), 368 - 377, Japanese

    [Refereed]

    Scientific journal

  • K Tahara, ZW Luo, S Arimoto, H Kino

    This paper studies the human arm's sensory-motor control mechanism in reaching movements. First, we formulate both the kinematics and dynamics of a two-link planar arm model with six redundant muscles. The nonlinear muscle dynamics is modeled based on several biological understandings. We then show the stability of the overall system and perform some numerical simulations. By considering the internal forces induced by the redundant muscles, we show that the damping factors in each joint can be regulated, and as the result, it can realize humanlike quasistraight line reaching movements. In addition, we also propose the gravity compensation method at the muscle input level and present the result of numerical simulation to verify the usefulness of this method. (C) 2005 Wiley Periodicals, Inc.

    JOHN WILEY & SONS INC, Nov. 2005, JOURNAL OF ROBOTIC SYSTEMS, 22 (11), 639 - 651, English

    [Refereed]

    Scientific journal

  • 受動歩行を規範とした二足ロボットの歩容生成と制御

    ASANO Fumihiko, Zhiwei LUO, YAMAKITA Masaki

    2004, 日本ロボット学会論文誌, Vol.22:No.1:pp.130-139 (1), 130 - 139, Japanese

    [Refereed]

    Scientific journal

  • シリコン網膜を用いたオプティカルフローの局所計算方式

    AKIYAMA Kei, Zhiwei LUO, ONISHI Masaki, YAGI Tetsuya, HOSOE Shigeyuki

    2004, 電子情報通信学会論文誌, Vol.J87-D-II:No.7:pp.1462-1472, Japanese

    [Refereed]

    Scientific journal

  • K Ohta, MM Svinin, ZW Luo, S Hosoe, R Laboissiere

    Opening a door, turning a steering wheel, and rotating a coffee mill are typical examples of human movements that are constrained by the physical environment. The constraints decrease the mobility of the human arm and lead to redundancy in the distribution of actuator forces (either joint torques or muscle forces). Due to this actuator redundancy, there is an infinite number of ways to form a specific arm trajectory. However, humans form trajectories in a unique way. How do humans resolve the redundancy of the constrained motions and specify the hand trajectory? To investigate this problem, we examine human arm movements in a crank-rotation task. To explain the trajectory formation in constrained point-to-point motions, we propose a combined criterion minimizing the hand contact force change and the actuating force change over the course of movement. Our experiments show a close matching between predicted and experimental data.

    SPRINGER, Jul. 2004, BIOLOGICAL CYBERNETICS, 91 (1), 23 - 36, English

    [Refereed]

    Scientific journal

  • AMANO Masateru, Zhiwei LUO, HOSOE Shigeyuki

    This paper studies the synchronization of network coupled systems consisting of many identical dynamic subsystems as well as network coupling with interaction time-delay. Based on graph theory and Lyapunov stability theory, the paper gives two sufficient conditions for the total system synchronization with respect to the graph structures of network coupling interaction, one is delay-independent and the other is the delay-dependent. These two conditions are compared with Wu's research, which was established without taking interaction time-delays into account. Simulations with two examples show the influences of the interaction timedelay as well as graph structures on the overall synchronization of subsystems.

    The Society of Instrument and Control Engineers, 2004, 計測自動制御学会論文集, Vol.40, No.9, pp.925-933 (9), 925 - 933, English

    [Refereed]

    Scientific journal

  • Development of an artificial muscle linear actuator using ionic polymer-metal composites

    M Yamakita, N Kamamichi, Y Kaneda, K Asaka, ZW Luo

    We are developing an artificial muscle linear actuator using ionic polymer-metal composites (IPMC)-electro-active polymers that bend in response to electric stimuli-and the goal of our study is applying the actuator to robotic applications, especially to a biped walking robot. In this paper, we will describe the structure of the actuator and an empirical model of the actuator which has two inputs and one output, and whose parameters are identified from input-output data. Based on the empirical model, basic experiments and position control of the linear actuator are demonstrated. Then, we consider walking control of a small-sized biped walking robot. In the application we assume that the developed actuators are connected both in series and in parallel to a joint of the walking robot so that the actuators supply enough torque to the robot, and that they are stretched and compressed enough. It is shown throughout simulations that the biped walking robot with the actuators can walk on level ground with a period synchronized with the period of the input signal.

    TAYLOR & FRANCIS LTD, 2004, ADVANCED ROBOTICS, 18 (4), 383 - 399, English

    [Refereed]

    Scientific journal

  • F Asano, M Yamakita, N Kamamichi, ZW Luo

    This paper proposes novel energy-based gait generation and control methods for biped robots based on an analysis of passive dynamic walking. First, we discuss the essence of dynamic walking using a passive walker on a gentle slope from the mechanical energy point of view. Second, we propose a simple and effective gait-generation method, which imitates the energy behavior in every walking cycle considering the zero-moment point condition and other factors of the active walker. The control strategy is formed by taking into account the features of mechanical energy dissipation and restoration. Following the proposed method, the robot can exhibit a natural and reasonable walk on a level ground without any gait planning and design in advance. The effectiveness of the method is examined through numerical simulations and experiments.

    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Jun. 2004, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 20 (3), 565 - 573, English

    [Refereed]

    Scientific journal

  • Adaptive modular vector field control for robot contact tasks in uncertain environment

    Y Saitoh, ZW Luo, K Watanabe

    This paper proposes an adaptive modular vector field control (AMVFC) approach for a robot manipulator to interact with its uncertain environmental geometric constraints. Started from the uncertain geometric model of the environment, the approach first parameterizes the desired velocity vector field of the robot by the weighted combination of a set of basis vector fields. Then, to overcome the influences from the environmental model uncertainties force feedback is added to adjust robot dynamics as well as the weight parameters of the desired velocity field for the robot to approach the real environment. Simulations of a robot interacting with an uncertain circle show the effectiveness of our approach.

    IEEE, 2003, 2003 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-5, CONFERENCE PROCEEDINGS, Vol.16:No.4:pp.374-380, 3645 - 3650, English

    [Refereed]

    International conference proceedings

  • Control Characteristics of an Automatic Matching Control System for In Vivo EPR Spectroscopy

    H. Hirata, Y. Yamaguchi, T. Takahashi, Zhiwei LUO

    Feb. 2003, Magnetic Resonance in Medicine,, Vol.50:pp223-227, English

    [Refereed]

    Scientific journal

  • Yi-Yang Zhang, Jie Zhang, Gen-Lin Wang, Zhi-Feng Wang, Zhiwei Luo, Ming Zhang

    The high phase content of inorganic dielectric fillings will give a strong electric driving force and hard matrix. That is a contradiction in enhancing the electro-deformation of dielectric elastomers (DEs). Therefore, in this paper, by focusing on how to approach a balance between these and finding an effective way to tune the electric response of the DEs, the theoretical calculation and experimental investigation based on calcium copper titanate (CCTO)/poly(dimethyl siloxane) (PDMS) were carried out. It is found that CCTO with a smaller particle size shows a larger dielectric parameter. With smaller CCTO particle as the fillings, the fabricated elastomer composite would approach to a low modulus by a proper CCTO phase morphology in the matrix.

    NONFERROUS METALS SOC CHINA, Sep. 2021, RARE METALS, English

    [Refereed]

    Scientific journal

  • Tomohiro Fujita, Zhiwei Luo, Changqin Quan, Kohei Mori, Sheng Cao

    This paper studies a novel recurrent neural network (RNN) with hyperbolic secant (sech) in the gate for a specific medical application task of Parkinson’s disease (PD) detection. In detail, it focuses on the fact that patients with PD have motor speech disorders, by converting the voice data into black-and-white images of a recurrence plot (RP) at specific time intervals and constructing the detection model that combines RNN and convolutional neural network (CNN); the study evaluates the performance of the RNN with sech gate compared with long short-term memory (LSTM) and gated recurrent unit (GRU) with conventional gates. As a result, the proposed model obtained similar results to LSTM and GRU (an average accuracy of about 70%) with less hyperparameters, resulting in faster learning. In addition, in the framework of the RNN with sech in gate, the accuracy obtained by using tanh as the output activation function is higher than using the relu function. The proposed method will see more improvement by increasing the data in the future. More analysis on the input sound type, the RP image size, and the deep learning structures will be included in our future work for further improving the performance of PD detection from voice.

    MDPI AG, 11 May 2021, APPLIED SCIENCES, 11 (10), 4361 - 4361, English

    [Refereed]

    Scientific journal

  • Changqin Quan, Kang Ren, Zhiwei Luo

    Detection of voice changes in Parkinson's Disease (PD) patients would make it possible for early detection and intervention before the onset of disabling physical symptoms. This study explores static and dynamic speech features relating to PD detection. A comparative analysis of the articulation transition characteristics shows that the number of articulation transitions and the trend of the fundamental frequency curve are significantly different between HC speakers and PD patients. Motivated by this observation, we propose to apply Bidirectional long-short term memory (LSTM) model to capture time-series dynamic features of a speech signal for detecting PD. The dynamic speech features are measured based on computing the energy content in the transition from unvoiced to voiced segments (onset), and in the transition from voiced to unvoiced segments (offset). Under the two evaluation methods of 10-fold cross validation (CV) and splitting the dataset without samples overlap of one individual, the experimental results show that the proposed method remarkably improves the accuracy of PD detection over traditional machine learning models using static features.

    Institute of Electrical and Electronics Engineers (IEEE), 2021, IEEE Access, 9, 10239 - 10252, English

    [Refereed]

    Scientific journal

  • Changqin Quan, Zhiwei Luo, Song Wang

    The exponentially increasing size of biomedical literature and the limited ability of manual curators to discover protein-protein interactions (PPIs) in text has led to delays in keeping PPI databases updated with the current findings. The state-of-the-art text mining methods for PPI extraction are primarily based on deep learning (DL) models, and the performance of a DL-based method is mainly affected by the architecture of DL models and the feature embedding methods. In this study, we compared different architectures of DL models, including convolutional neural networks (CNN), long short-term memory (LSTM), and hybrid models, and proposed a hybrid architecture of a bidirectional LSTM+CNN model for PPI extraction. Pretrained word embedding and shortest dependency path (SDP) embedding are fed into a two-embedding channel model, such that the model is able to model long-distance contextual information and can capture the local features and structure information effectively. The experimental results showed that the proposed model is superior to the non-hybrid DL models, and the hybrid CNN+Bidirectional LSTM model works well for PPI extraction. The visualization and comparison of the hidden features learned by different DL models further confirmed the effectiveness of the proposed model.

    MDPI, Feb. 2020, APPLIED SCIENCES-BASEL, 10 (8), English

    [Refereed]

    Scientific journal

  • Ying Zhao, Zhiwei Luo, Changqin Quan, Dianchao Liu, Gang Wang

    In this paper, we propose a cluster-wise feature aggregation network that exploits multi-level contextual association for multi-person pose estimation. The recent popular approach for pose estimation is extracting the local maximum response from each detection heatmap that trained for a specific keypoint type. To exploit more contextual information, our network simultaneously learns complementary semantic information to encourage the detected keypoints subject to a certain contextual constraint. Specifically, our network uses dense and sparse branches to generate paired multi-peak detection heatmaps for clusters of keypoints. To enhance the feature passing through the network, we aggregate information from different branches. The in-branch aggregation enriches the detection features in each branch by absorbing the holistic human region attention. The cross-branch aggregation further strengthens the detection features by fusing global and local context information between dense and sparse branches. We demonstrate competitive performance of our network on the benchmark dataset for multi-person pose estimation. (C) 2019 Elsevier Ltd. All rights reserved.

    ELSEVIER SCI LTD, Feb. 2020, PATTERN RECOGNITION, 98, English

    [Refereed]

    Scientific journal

  • Ying Zhao, Zhiwei Luo, Changqin Quan, Dianchao Liu, Gang Wang

    Recent multi-person pose estimation networks rely on sequential downsampling and upsampling procedures to capture multi-scale features and stacking basic modules to reassess local and global contexts. However, the network parameters become huge and difficult to be trained under limited computational resource. Motived by this observation, we design a lite version of Hourglass module that uses hybrid convolution blocks to reduce the number of parameters while maintaining performance. The hybrid convolution block builds multi-context paths with dilated convolutions with different rates which not only reduces the number of parameters but also enlarges the receptive field. Moreover, due to the limitation of heatmap representation, the networks need extra and non-differentiable post-processing to convert heatmaps to keypoint coordinates. Therefore, we propose a simple and efficient operation based on integral loss to fill this gap specifically for bottom-up pose estimation methods. We demonstrate that the proposed approach achieves better performance than the baseline methods on the challenge benchmark MSCOCO dataset for multi-person pose estimation.

    SPRINGER INTERNATIONAL PUBLISHING AG, 2020, MULTIMEDIA MODELING (MMM 2020), PT II, 11962, 226 - 238, English

    [Refereed]

    International conference proceedings

  • Masaki Tamura, Makoto Shirakawa, Zhi-wei Luo, Kazue Noda, Rumi Tanemura

    Informa UK Limited, 05 Dec. 2019, Cogent Medicine, 6 (1)

    [Refereed]

    Scientific journal

  • Lawrence K. F. Wong, Zhiwei Luo, Nobuyuki Kurusu, Keiji Fujino

    A computer simulation model was developed to compare the result of cervical traction therapy in inclined and sitting traction positions. The behavior of the model was shown to match with the intervertebral changes in the upper and lower spine from the data of a radiographic experiment. Both the results of the experiment and the simulation also showed that in the inclined position, the amount of posterior separations in the upper cervical spine remains constant regardless of traction angle, while the posterior separations at lower cervical spine increases along with traction angles. Using the simulation model, parametric studies were conducted to investigate the intervertebral space changes in response to different traction angles in the inclined and sitting positions. When using the sitting position, the subject's hip joint stiffness was shown to cause larger variations in the intervertebral space than in the inclined position. In addition, variations in the tension/compression stiffness was shown to cause the largest changes in the resulting separations in both positions but the variations in anterior space changes were larger in the sitting position. Our study suggests that the inclined position is less sensitive to variations in the subject's body parameters and is able to provide a more reliable and predictable traction result than the sitting position.

    TAYLOR & FRANCIS LTD, Jun. 2019, COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING, 22 (8), 861 - 868, English

    [Refereed]

    Scientific journal

  • Lawrence K. F. Wong, Zhiwei Luo, Nobuyuki Kurusu, Keiji Fujino

    A computer simulation model was developed to study the dynamic behavior of the cervical spine during cervical traction therapy in inclined and sitting traction positions. The model improved upon an old model with additional components to represent the behavior of the intervertebral discs and the posterior ligaments. The simulation result of the new model was compared against the cervical traction data from a radiographic experiment in both positions. The simulation results of the old model and new model were compared to illustrate the improvement. Using the new model, we compared the timing response of cervical traction in the inclined and sitting positions.

    TAYLOR & FRANCIS LTD, Jun. 2019, COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING, 22 (8), 806 - 814, English

    [Refereed]

    Scientific journal

  • Yiyang Zhang, Jie Zhang, Genlin Wang, Ming Zhang, Zhiwei Luo

    A dielectric elastomer has been synthesized using organic soluble PANI and PDMS through solution blending method for applications as artificial muscles. The dielectric constant of PANI/PDMS composite reached 4.82 with a filling amount of 0.8 wt.%, which was 2.24 times of pure silicone, due to the dipole polarization in matrix network and electron polarization in conductive polyaniline. The actuated strain of 0.8w.t % PANI/PDMS was 16.57% compared to 8.52% of pure silicone at an electric field of 10V/mu m, and can be applied as a soft actuator.

    IOP PUBLISHING LTD, 2018, 5TH ANNUAL INTERNATIONAL CONFERENCE ON MATERIAL SCIENCE AND ENVIRONMENTAL ENGINEERING (MSEE2017), 301, English

    [Refereed]

    International conference proceedings

  • 非一様な多機能触媒反応系における少数分子成分効果

    中川 正基, 大仲 修平, 羅 志偉, 冨樫 祐一

    京都大学数理解析研究所, May 2017, 京都大学数理解析研究所講究録, 2028 (2028), 120 - 133, Japanese

    Scientific journal

  • Kenichi Itao, Makoto Komazawa, Zhiwei Luo, Hiroyuki Kobayashi

    Scientific Research Publishing, Inc., 2017, Health, 09 (02), 323 - 344

    [Refereed]

    Scientific journal

  • Sakai, H, Nagano, A, Seki, K, Okanashi, S, Kojima, M, Luo, Z

    We developed a virtual reality test to assess the cognitive function of Japanese people in near-daily-life environment, namely, a virtual shopping test (VST). In this test, participants were asked to execute shopping tasks using touch panel operations in a virtual shopping mall. We examined differences in VST performances among healthy participants of different ages and correlations between VST and screening tests, such as the Mini-Mental State Examination (MMSE) and Everyday Memory Checklist (EMC). We included 285 healthy participants between 20 and 86years of age in seven age groups. Therefore, each VST index tended to decrease with advancing age; differences among age groups were significant. Most VST indices had a significantly negative correlation with MMSE and significantly positive correlation with EMC. VST may be useful for assessing general cognitive decline; effects of age must be considered for proper interpretation of the VST scores.

    ROUTLEDGE JOURNALS, TAYLOR & FRANCIS LTD, 2017, Aging, Neurophysiology and Cognition, 25 (4), 561 - 575, English

    [Refereed]

    Scientific journal

  • Haruki Toda, Akinori Nagano, Zhiwei Luo

    [Purpose] This study examined the differences in muscle forces of lower extremities during walking between healthy young males and females. [Subjects] Twenty healthy young males and females (10 each) participated in this study. [Methods] A 3D motion analysis system and force plates measured coordinates of markers and ground reaction forces during walking. Muscle activations of lower extremities during walking were calculated using OpenSim3.2. [Results] Average values of muscle activations during the stance phase of gluteus maximus, gluteus medius, gluteus minimus, and vastus muscles in females were significantly greater than those in males. On the other hand, the maximum value of muscle activation during stance phase of soleus was significantly smaller in females than in males. [Conclusion] This results suggest that young females exhibit greater muscle activity in the uni-articular muscles of the hip and knee during walking than young males.

    Society of Physical Therapy Science (Rigaku Ryoho Kagakugakkai), 05 Mar. 2016, 理学療法科学, 31 (1), 37 - 42, Chinese

    [Refereed]

    Scientific journal

  • Haruki Toda, Akinori Nagano, Zhiwei Luo

    [Purpose] This study examined age-related differences in muscle control for support and propulsion during walking in both males and females in order to develop optimal exercise regimens for muscle control. [Subjects and Methods] Twenty elderly people and 20 young people participated in this study. Coordinates of anatomical landmarks and ground reaction force during walking were obtained using a 3D motion analysis system and force plates. Muscle forces during walking were estimated using OpenSim. Muscle modules were obtained by using non-negative matrix factorization analysis. A two-way analysis of covariance was performed to examine the difference between the elderly and the young in muscle weightings using walking speed as a covariate. The similarities in activation timing profiles between the elderly and the young were analyzed by cross-correlation analysis in males and females. [Results] In the elderly, there was a change in the coordination of muscles around the ankle, and muscles of the lower extremity exhibited co-contraction in late stance. Timing and shape of these modules were similar between elderly and young people. [Conclusion] Our results suggested that age-related alteration of muscle control was associated with support and propulsion during walking.

    SOC PHYSICAL THERAPY SCIENCE, Mar. 2016, JOURNAL OF PHYSICAL THERAPY SCIENCE, 28 (3), 794 - 801, English

    [Refereed]

    Scientific journal

  • Makoto Komazawa, Kenichi Itao, Hiroyuki Kobayashi, Zhiwei Luo

    Scientific Research Publishing, Inc., 2016, Health, 08 (10), 959 - 970

    [Refereed]

    Scientific journal

  • Makoto Komazawa, Kenichi Itao, Hiroyuki Kobayashi, Zhiwei Luo

    Scientific Research Publishing, Inc., 2016, Health, 08 (09), 894 - 904

    [Refereed]

    Scientific journal

  • Makoto Komazawa, Kenichi Itao, Hiroyuki Kobayashi, Zhiwei Luo

    Scientific Research Publishing, Inc., 2016, Health, 08 (09), 827 - 845

    [Refereed]

    Scientific journal

  • Kentaro Takagi, Yoshihiro Nakabo, Zhi-Wei Luo, Toshiharu Mukai, Kinji Asaka

    In the swimming of an underwater snake robot made of an ionic polymer metal composite (IPMC), the bending wave of the snake robot grows from the head to the tail even if a uniform moment (or voltage) with constant amplitude is applied. This interesting phenomenon is also observed in the swimming of living fish and is thought to contribute to energy-efficient swimming. The phenomenon observed in the swimming of the robot may suggest a hypothesis such that living fish utilize the elasticity of their musculoskeletal systems when they swim. That is to say, the growing wave phenomenon of living fish may be generated unintentionally and naturally. This chapter introduces a modelling and analytical solution to the bending deformation of a beam-shaped IPMC robot. The obtained analytical solution can simulate the envelope of the deformation shape, which increases from the head to the tail. In the experiment, the growing wave phenomenon of the robot is measured by a video camera. From the captured deformation data, the parameters of the analytical model are estimated. Finally it is shown that the deformation shape of the analytical model well predicts the experimental deformation.

    Royal Society of Chemistry, 2016, RSC Smart Materials, 2016- (17), 403 - 417, English

    [Refereed]

    In book

  • Yuka Sano, Changqin Quan, Zhiwei Luo

    Increasing attention is being paid to the research of heart-rate-based training to improve the safety and efficiency of exercises. The present study develops a walking and running exercise training system, which is able to provide a more human friendly way to adjust exercise intensity by measuring user's heart rate in real-time. Specifically, the proposed training system makes it possible for the user to control the speed of the treadmill based on the results of heart rate analysis. Two types of exercise intensity adjustment approaches are tested by four health human subjects. From the frequency analysis of heart rates, it was found that, for the same type of intensity adjustment, the subjects may feel different stress with respect to whether he/she has been used to do exercise or not.

    IOS PRESS, 2016, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 52 (3-4), 935 - 942, English

    [Refereed]

    Scientific journal

  • Non-contact, Real-time Monitoring of Heart Rate with a Webcam with Application during Water-Bed Massage

    Akihito Seki, Changqin Quan, Zhiwei Luo

    Techniques for measuring physiological signals are gathering a lot of attention in recent years. In many cases, the techniques require to make direct contact between the physiological signal sensors with the subject's skin. Several studies were proposed to measure heart rate (HR) with standard web cameras under the condition that the subject is keeping the quiescent state. In this paper, we propose a new technique for measuring HR which allows the subject head movements during water-bed massage. For comparison purpose, HR was measured simultaneously using an electrocardiography (ECG) device during all sessions of the experiment. The result shows that our proposed technique is able to improve the accuracy of HR measurement and reduce the processing time to nearly one-third of the existing method. Our approach could be beneficial for applications that require real-time HR monitoring during subject's head is moving.

    IEEE, 2016, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 1703 - 1708, English

    [Refereed]

    International conference proceedings

  • Passive Velocity Field Control of a Redundant Cable-Driven Robot with Tension Limitations

    Sheng Cao, Zhiwei Luo, Changqin Quan

    This paper proposes a novel dynamic control approach for a cable driven robot with high redundant actuation and cable tension limitations to perform tracking task while interacting with environment. In order for a cable-driven exoskeleton robot to execute the task smoothly and safely, it is necessary to consider the tracking motion performance as well as passivity when interacting with the environment under the conditions of the actuation cables' redundancy and the pulling limitation. With the additional consideration of the maximum limitation of the cable tension, cable-driven robot actually can only apply a certain range of feasible wrench on the external environment, which makes the task executed by robot be restricted. In order to make designed wrench be feasible and keep the desired trajectory tracking ability, we present a new control method by extending passive velocity field control (PVFC) method considering tracking stability and passivity. The approach augmented a higher dimensional virtual flywheel dynamics in a specific orthogonal complement space of the cable's actuation space. After the final adjustment of the designed wrench with respect to the cable's constraint, this method is capable of driving the cable robot to complete the trajectory tracking task and realize the passivity.

    IEEE, 2016, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 131 - 136, English

    [Refereed]

    International conference proceedings

  • Akihito Seki, Changqin Quan, Zhiwei Luo, Tomoyuki Shimozono, Kazuaki Miyata

    In recent years, water massage bed for full body massage has been used in physiotherapy effectively. Compared with other physiotherapy equipment, water massage bed is particularly useful since it can directly massage the destined area on the subject, which leads to improvement in relieving muscle strain and provides a psychological relaxation. In this study, we use a heart rate sensor as well as an accelerometer and a laser range finder to measure and evaluate changes of relaxation in the human body before and during the massage. As a result, the water massage bed vibrations observed concentrated at 4Hz or less. We observed that subjective evaluation is strongly correlated to the heart rate based relaxation analysis and subjects' weight. In addition, the result of the subjective evaluation is influenced by the changes in autonomic nerve activity in the first 30 seconds of the massage.

    IOS PRESS, 2016, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 52 (3-4), 927 - 934, English

    [Refereed]

    Scientific journal

  • Sheng Cao, Nishida Kazuki, Changqin Quan, Zhiwei Luo

    Upper limbs cooperative movement functions are very important for us in our everyday life. Due to many kinds of brain diseases, people usually reduced or even lost their half side of body's motion activities, which made it difficult to realize cooperative movements between right and left limbs and in turn greatly reduced their quality of live. In this research, we developed a novel robot system which integrates with virtual reality technologies to perform rehabilitation of upper limbs' cooperative movement functions, such as to realize simultaneous upper limbs' motions or to cooperatively catch and setting a common object in a 3 D work space. Three types of rehabilitation movements are designed so that the subject can train their each arm along as well as cooperative movements in a game style. The motion trajectories as well as the contact forces with objects are automatically recorded which can be used to evaluate the performance of rehabilitation, effectively.

    IOS PRESS, 2016, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 52 (3-4), 943 - 950, English

    [Refereed]

    Scientific journal

  • Comparative Experiment and Dynamic Simulation on Cervical Traction Therapy

    Lawrence K. F. Wong, Zhiwei Luo, Nobuyuki Kurusu, Keiji Fujino

    This study aims to verify the accuracy of a cervical traction therapy simulation model by comparing the intervertebral separations of six normal male adults when traction applied to their cervical spines. The subjects were tested on two mechanical traction devices, representing the inclined and sitting positions. Radiographic images of their cervical spines were taken before, during and after traction. The observed changes of the cervical spine were used as input to adjust parameters of the traction therapy model, which contains a cervical spine built with springs and dampers and two traction devices in inclined and sitting positions. A series of traction forces and traction angles were applied to the model to simulate the actual parameters used in the experiment and the new model was used to evaluate the two traction positions. The result suggests that inclined position not only creates greater intervertebral separations on the posterior sides, it also provides a more accurate and smoother transition when switching between different traction angles.

    IEEE, 2016, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 39 - 44, English

    [Refereed]

    International conference proceedings

  • Human-Robot Coordination Stability for Fall Detection and Prevention Using Cane Robot

    Qingyang Yan, Jian Huang, Zhiwei Luo

    A cane-type walking-aid robot with a ball joint is developed for assisting old people's walking. Considering both the overturn of robot and the stability of human user, this paper presents a new concept of Human-Robot Coordination Stability (HRCS) which can describe the stability of the integrated human-robot system during the user operating the cane robot. HRCS is characterized by a stability region generated from the user's stability measured by posture information and the robot stability obtained by Force-Angle (FA) measure method. If the human-robot system runs out of the stability region, the fall tendency is then detected. To guarantee the safety of both the user and robot, a fall prevention control strategy is also proposed. The fall prevention control is executed to ensure the system staying in the stability region when any fall tendency is detected. Finally, we conducted experiments in real cane robot and the results illustrate the validity of the fall detection and prevention method.

    IEEE, 2016, 2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS), English

    [Refereed]

    International conference proceedings

  • Makoto Komazawa, Kenichi Itao, Hiroyuki Kobayashi, Zhiwei Luo

    This study used a large amount of autonomic nervous system data to investigate the relationship between autonomic nervous system and activity, day of the week, and region. Data was measured via a heart rate variability analysis system that utilizes the camera of smartphones [8]. This system was developed by the authors during previous research. As for as the relationship between autonomic nervous system and activity, total power and sympathetic nervous activity were found to rise after waking, while during leisure time, it was found that total power rises and sympathetic nervous activity is inhibited. Concerning the relationship between autonomic nervous system and day of the week, it was found that total power decreases from the middle through the latter part of the week (namely, Wednesday, Thursday, and Friday), while it rises on Saturday. What's more, sympathetic nervous activity is suppressed on Saturday. Regarding the relationship between autonomic nervous system and region, it was found that total power is lower in the Kanto region than in others. Regarding weather conditions, the results showed a trend in which a significant decrease was seen in sympathetic nervous activity the higher the temperature. In addition, a significant increase was seen in the sympathetic nervous system the higher the atmospheric pressure. Lastly, a significant decrease was seen in the sympathetic nervous system the more precipitation there was. These results accord with prior research and with human biological phenomena, and we were able to use big data to statistically demonstrate our hypothesis.

    IEEE, 2016, 2016 IEEE 14TH INTL CONF ON DEPENDABLE, AUTONOMIC AND SECURE COMPUTING, 14TH INTL CONF ON PERVASIVE INTELLIGENCE AND COMPUTING, 2ND INTL CONF ON BIG DATA INTELLIGENCE AND COMPUTING AND CYBER SCIENCE AND TECHNOLOGY CONGRESS (DASC/PICOM/DATACOM/CYBERSC, 842 - 847, English

    [Refereed]

    International conference proceedings

  • A Novel Approach for Assessing Prospective Memory using Immersive Virtual Reality Task

    Dong Dong, Lawrence K. F. Wong, Zhiwei Luo, Changqin Quan

    Prospective memory can maintain our ability to living independently, which is important for our daily lives. Evaluation of prospective memory can be reflecting the severity of cognitive ability regression. Previous studies developed slide-based task and living-based task to evaluate prospective memory performance in different conditions. However, as a new technology that can provide a more realistic environment, immersive virtual reality is not yet used in this area. Our study first uses immersive virtual reality technology to develop a more real-life like test environment. As a result, by comparing with slide-based task, our VR task can show some potential to evaluate the perspective memory in daily life condition more accurately.

    IEEE, 2016, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 1888 - 1893, English

    [Refereed]

    International conference proceedings

  • Analysis of walking variability through simultaneous evaluation of the head, lumbar and lower extremity acceleration in healthy youth.

    Toda, H, Nagano, A, Luo, Z

    2016, Journal of Physical Therapy Science, 28 (6), 1801-1805 - 185

    [Refereed]

    Scientific journal

  • Virtual Reality (VR) 技術を用いた失語症者の総合的認知機能検査の開発.

    小嶌麻木, 岡橋さやか, 羅志偉, 長野明紀, 酒井弘美, 関啓子

    2016, 高次脳機能研究, 36 (2), 296-303

    [Refereed]

  • Haruki Toda, Akinori Nagano, Zhiwei Luo

    [Purpose] This study examined the relationships between joint moment and the control of the vertical ground reaction force during walking in the elderly and young male and female individuals. [Subjects and Methods] Forty elderly people, 65 years old or older (20 males and 20 females), and 40 young people, 20 to 29 years old (20 males and 20 females), participated in this study. Joint moment and vertical ground reaction force during walking were obtained using a 3D motion analysis system and force plates. Stepwise linear regression analysis determined the joint moments that predict the amplitude of the vertical ground reaction force. [Results] Knee extension moment was related to the vertical ground reaction force in the young males and females. On the other hand, in the elderly females, hip, ankle, and knee joint moments were related to the first peak and second peak forces, and the minimum value of vertical ground reaction force, respectively. [Conclusion] Our results suggest that the young males and females make use of the knee joint moment to control of the vertical ground reaction force. There were differences between the elderly and the young females with regard to the joints used for the control of the vertical ground reaction force.

    SOC PHYSICAL THERAPY SCIENCE, Jun. 2015, JOURNAL OF PHYSICAL THERAPY SCIENCE, 27 (6), 1833 - 1838, English

    [Refereed]

    Scientific journal

  • Optimal Timing of Dolphin Kick during Breaststroke Underwater Swimming Movement

    Yuki Hayashi, Masanobu Homma, Zhiwei Luo

    This research studies optimal swimming movement, specifically it focuses on the optimal kick timing during dolphin style swimming. In the rule of Breast Stroke Style, it is allowed to hit one dolphin kick during underwater movement. Until December 2014, we couldn't do dolphin kick before hands start to move. Now, dolphin kick can be performed at any time by the rule amendment. In this research, we modeled this style of movement and searched for optimum timing of dolphin kick. We used computational simulation model called SWUM (SWimming hUman Model). From the simulation results, we got the conclusion that we should do dolphin kick 0.4 seconds faster than hands move. In addition, we indicate the timing affects the body posture. These results agree with the current top swimmer's timing.

    IEEE, 2015, 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 249 - 254, English

    [Refereed]

    International conference proceedings

  • Wearable EEG-based Human Intention Detection and Its Application in Human Care-Robot Systems

    Shota Terada, Zhiwei Luo

    This research developed a wearable EEG-based brain robot interface (WE-BRI) which detects the human subject's intention using steady-state visual evoked potential (SSVEP) and is applied in the food care tasks of robots. In detail, five types of visual stimuli with different frequencies are displayed on the different locations of a PC monitor. The human subject can select his/her intended food by focusing on a related specific visual stimulus for several seconds. A wearable EEG sensor then measures the subject's EEG and followed by on line frequency analysis. From the frequency analysis, the robot can detect the human subject's intention within limited time and can perform the task to move the related food to the subject. In this research, 5 health subjects are tested using this WE-BRI. It is found that in order to increase the success rate of intention detection, the subject should focus on a specific visual stimulus for more than 4 seconds. The highest success rate of the detection can reach to 92%. The developed WE-BRI is also expected to be applied in wider range of robotic human care tasks.

    IEEE, 2015, 2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 91 - 94, English

    [Refereed]

    International conference proceedings

  • Estimation of an Object's Physical Parameter by Force Sensors of a Dual-arm Robot

    Sheng Cao, Zhiwei Luo, Changqin Quan

    We are developing a Nursing-Care Robot in order to reduce the load in physical nursing care. The concept of this robot is to promote the cared persons by the robot to activate their own motion ability as long as possible. This may lead to the improvement of the cared person's movement volition and movement abilities. In order to realize safe and human friendly robot care tasks, full body manipulation is an important technology, for which it is necessary to estimate the subject's center of gravity from the contact positions and forces with the robot's two arms. In this paper, we estimate the center of gravity of object based on the contact point and the contact force estimated by force sensor on both robot arms. The position of gravity center is important to realize care tasks stably. We performed experiments and simulations for the single point contact and dual points contact cases using a cylindrical object. As a result, it is found that although some errors were recognized in the experiments compared with the simulations, the relations between the contact positions and such errors were observed. Such experimental error mainly comes from the difference of shape between the real robot and the model of the robot in simulation. As the future work, we have to improve the robot model so as to get better estimated information.

    IEEE, 2015, 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 715 - 720, English

    [Refereed]

    International conference proceedings

  • Tsunehiro Otsuka, Rumi Tanemura, Kazue Noda, Toru Nagao, Hiroshi Sakai, Zhi-Wei Luo

    Since the increasing population of aging, cognitive training is focused as one of the non-pharmacological preventive approach of cognitive decline. Although the accumulation of the knowledge, they hardly reflect to the programs for clinical use. We developed a task set named "Atama-no-dojo," designed to activate multiple cognitive functions and enhance motivational incentives. The objective of our study is to confirm the effect of our program through a 6 months group intervention program. The intervention program conducted in a day service center for 6 months in the duration of 45 minutes per day, 4 days per month for a total of 25 sessions. Participants worked to the tasks on the screen all together with filling in the answering sheet. Neuropsychological tests, SF36 and GDS were assessed at pre-/post-intervention periods. Participants filled in a questionnaire about impression to the program at the last training session. Fourteen women (82.2 +/- 2.9 years old) were analyzed and significant changes were found in the improvement of memory, attention, inhibition, GDS and some items of SF36. All participants recognized the program as fun and wanted to continue. Some of the participants' positive impressions to the program correlated to cognitive improvement. The improved cognitive functions by 6 months intervention of "Atama-no-dojo" were mainly related to prefrontal cortex and the motivational incentives seemed supported the effect of task contents. We recognized the importance of task difficulty setting and motivational incentives to reduce frustration from working on difficult tasks and enhance the effects of improvement from activating brain function.

    BENTHAM SCIENCE PUBL LTD, 2015, CURRENT ALZHEIMER RESEARCH, 12 (6), 553 - 562, English

    [Refereed]

    Scientific journal

  • Kentaro Takagi, Zhi-Wei Luo, Kinji Asaka

    Two underwater soft robots using ionic polymer-metal composites (IPMCs), a ray-like robot and a quadruped robot, are introduced. For autonomous operation of the ray-like robot, miniaturized electrical devices are developed. A simple traveling wave input is employed to generate the motion of the fin. The propulsion speed of the robot is able to be controlled by the parameters of the traveling wave. In the experiment we observed that the amplitude of the fin increased toward the backward in spite of the uniform control input. This phenomenon may be the key to achieve the energy-efficient swimming of underwater robots by utilizing the elasticity of the actuator. The underwater quadruped robot is developed from a sheet of IPMC of which electrode is segmented into some parts to be controlled independently. We demonstrate the electro-discharge machining (EDM) method is useful to segment the electrode with the minimum damage to the polymer. In the experiment we found by accident that the deformation of the IPMC became gradually large by ion exchange with the copper electrode contact. Finally we show the gait of turtle is effective to control the developed quadruped robot.

    Springer Japan, 01 Jul. 2014, Soft Actuators: Materials, Modeling, Applications, and Future Perspectives, 9784431547679, 385 - 399, English

    [Refereed]

    In book

  • バーチャルリアリティ技術を用いた高次脳機能評価システムの開発 健常者における年齢の影響

    酒井 弘美, 岡橋 さやか, 小嶌 麻木, 長野 明紀, 羅 志偉

    (一社)日本作業療法士協会, Jun. 2014, 日本作業療法学会抄録集, 48回, PD 4 - 1, Japanese

    [Refereed]

  • An fNIRS research on prefrontal cortex activity response to pleasant taste

    Chenghong Hu, KATO YOSHIKO, Zhiwei Luo

    Dec. 2013, Journal of Behavioral and Brain Science, 3, 617 - 623, English

    [Refereed]

    Scientific journal

  • Virtual Reality技術を用いた高次脳機能評価システムの開発 失語症者を対象とした検討

    小嶌 麻木, 岡橋 さやか, 羅 志偉, 長野 明紀, 関 啓子

    (一社)日本言語聴覚士協会, Sep. 2013, 言語聴覚研究, 10 (3), 254 - 254, Japanese

    [Refereed]

  • Haiwei Dong, Zhiwei Luo, Akinori Nagano

    Human's body is quite flexible because of high redundancy. Compared with the existing control schemes of robot manipulator, human's upper limb has better performance in movement and robustness in fault tolerance. This paper addresses the problem of controlling a upper-limb like humanoid robot arm actuated by muscles. Specifically, we built a humanoid robot arm based on a real human's anthropological parameters. Biarticular muscles were added as actuators. The proposed adaptive control scheme tolerates the modeling error the parameter adaptation scheme identifies the timevarying arm parameters in real-time. The computed torques acting on joints are distributed to corresponding muscle forces. The control and adaptation methods were verified by an arm simulation in bend-stretch movement.

    2011, Proceedings of the 2nd IASTED International Conference on Robotics, Robo 2011, 368 - 374, English

    [Refereed]

    International conference proceedings

  • Haiwei Dong, Zhiwei Luo

    Human's eyes are of great importance in the process of perception, cognition, movement, etc. as about 80% of information about the surrounding world comes from vision. Through analyzing the pattern of eye movement, we can make it clear how human accomplish everyday life with eyes. As human lives in the communities which are artificial environments, various man-made signs, objects and surrounding people have influence on human, particularly on eye movement pattern. To fully understand the eye movement pattern, we have to consider the human factors. This paper focuses on clarifying eye movement pattern during riding motorcycle on the mountain. We use a mobile eye mark tracking system to record the eye motion and the front view. By referring the recorded movie, eye mark analysis and fixation point analysis verify the influence from human factor. In addition, we provide suggestions to promote safe riding. © 2011 ACM.

    2011, PETMEI'11 - Proceedings of the 1st International Workshop on Pervasive Eye Tracking and Mobile Eye-Based Interaction, 27 - 32, English

    [Refereed]

    International conference proceedings

  • Adaptive Control Scheme with Parameter Adaptation - From Human Motor Control to Humanoid Robot Locomotion Control

    Haiwei Dong, Zhiwei Luo

    As the origin intention of humanoid robot is showing the possibility of the biped walking and explaining the principle, there are many common issues between human motor control and humanoid robot locomotion. This paper considers two major common issues of the two researches. First is modeling. Both in human dynamics simplification and humanoid dynamics modeling, we actively or passively choose parts of the variable states because of dynamics simplification and unmodeled dynamics. In these cases, it is questionable that the dynamics represented by the partial variables states still corresponds to a physical system. In this paper, we discuss this problem and prove that the partial dynamics satisfies the conditions of a physical system, which is the basis of control scheme design. Second is control. To tolerate all the errors or perturbations, we design a control scheme which is composed of variable state control and parameter adaptation. The former can tolerate modeling error; the latter can identify the dynamic system in real time. Finally, we apply the proposed control scheme into a humanoid robot control case, which shows the effectiveness of the proposed control scheme.

    SPRINGER-VERLAG BERLIN, 2011, INTELLIGENT ROBOTICS AND APPLICATIONS, PT II, 7102, 558 - +, English

    [Refereed]

    International conference proceedings

  • バーチャルリアリティ技術を用いた高次脳機能評価システムの開発(第2報)

    岡橋 さやか, 押海 龍生, 酒井 弘美, 出水 朋子, 遠藤 裕美, 山本 麻木, 澤 真澄, 永井 伸一, 長野 明紀, 羅 志偉, 種村 留美, 関 啓子

    日本神経心理学会, Aug. 2010, 日本神経心理学会総会プログラム・予稿集, 34回, 134 - 134, Japanese

    [Refereed]

    Symposium

  • Akinori Nagano, Hisahito Noritake, Zhi-Wei Luo

    This study proposes a new approach of posturography analysis, which enables the evaluation of directional changes in the center of pressure trajectory. The concept is similar to that of so-called "stabilogram diffusion analysis". Instead of calculating the distance traveled by the center of pressure in a certain time interval, this new method calculates the cosine of the instantaneous velocity vectors of the center of pressure, which corresponds to the amount of change in the sway direction (cosine = 1 corresponds to the identical direction; cosine = 1 corresponds to the opposite direction). This method was applied to the analysis of the experimental data in which postural sway was collected under four conditions: open eyes, closed eyes, and two auditory biofeedback conditions. In the biofeedback conditions, auditory signal was given to the subjects when the center of pressure swayed out of a certain area. As results, the differences in the postural reaction under these conditions were clearly shown using the new method. The results indicated that the subjects reacted to the auditory signals by swaying in the opposite direction with biofeedback. It was also found that the eyes open condition exhibited a more random-like profile. As this method analyzes the directional change in the postural sway, this method can be utilized cooperatively together with such a method as stabilogram diffusion analysis, which analyzes the magnitude of sway. (C) 2010 Elsevier B.V. All rights reserved.

    ELSEVIER IRELAND LTD, Mar. 2010, GAIT & POSTURE, 31 (3), 400 - 402, English

    [Refereed]

    Scientific journal

  • Ken Ohta, Koji Umegaki, Koji Murofushi, Zhi Wei Luo

    Motions of the hammer were analyzed to understand the mechanism of acceleration with a hula-hoop model using an energy pumping mechanism. The condition that makes the time derivative of the energy positive is derived as energy pumping for hammer. The condition is expressed in terms of the tugging force times velocity to pump the hammer energy. In this study, motions of the hammer were analyzed and numerical experiments were performed to examine the validity of the theory. (C) 2010 Published by Elsevier Ltd.

    ELSEVIER SCIENCE BV, 2010, ENGINEERING OF SPORT 8: ENGINEERING EMOTION - 8TH CONFERENCE OF THE INTERNATIONAL SPORTS ENGINEERING ASSOCIATION (ISEA), 2 (2), 3197 - 3203, English

    [Refereed]

    International conference proceedings

  • Haiwei Dong, Jun Tang, Weidong Chen, Akinori Nagano, Zhiwei Luo

    Simultaneous localization and mapping (SLAM) is a fundamental issue in mobile robotics because it is the basis of higher-level tasks of robots. Recently, more and more research has been proposed that aims to enhance the efficiency of SLAM solutions from the viewpoint of the information matrix. This paper presents a novel, efficient SLAM approach by using the characters of the information matrix. Our approach eliminates many of the elements in the information matrix while maintaining the consistency. The large complex environment simulation, as well as outdoor car park experiment verifies the validity of our approach. The proposed sparsification method provides an efficient way to obtain a consistent estimation with provable upper bounds of sparsification errors. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

    VSP BV, 2010, ADVANCED ROBOTICS, 24 (5-6), 819 - 838, English

    [Refereed]

    Scientific journal

  • Development of a 3D Interactive Virtual Market System with Adaptive Treadmill Control

    Haiwei Dong, Tatuo Oshiumi, Akinori Nagano, Zhiwei Luo

    As the computer vision and virtual reality (VR) technology become mature nowadays, there is a huge potential to connect VR with the real world. In this paper, a 3D interactive VR system with adaptive treadmill control is developed. The subject walks on the treadmill at will. Interaction force between feet and treadmill are measured to estimate the subject's intended walking speed. The treadmill belt velocity and 3D display adjust to the walking pace according to the subject's walking intention, which makes the subject feel that he (or her) is walking in the real market. The experiment shows that the control results are smooth, which verifies the validity of the whole system.

    IEEE, 2010, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 5238 - 5244, English

    [Refereed]

    International conference proceedings

  • Reduced Model Adaptive Force Control for Carrying Human Beings with Uncertain Body Dynamics in Nursing Care

    Haiwei Dong, Zhiwei Luo, Akinori Nagano

    As the human society steps into the aging society, robots play more and more important roles in our daily life, especially in nursing activities. As we all know, the human body has numerous joints and each joint has at least one degree of freedom. Hence, changing the attitude of human body is very complex. In this paper, we consider the human body as a redundant system and only interested parts of the joint states are controlled. The new strategy proposed in this paper is able to life up the human body to the pre-defined position and posture while ragardless of individual differences. In addition, the convergence analysis, including tracking time analysis and tracking error analysis, is also given. The approach is simulated by lifting a skeleton human model with two robot arms, which verifies the efficiency and effectiveness of the approach.

    IEEE, 2010, 2010 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), English

    [Refereed]

    International conference proceedings

  • ADAPTIVE TREADMILL CONTROL BY HUMAN WILL

    Haiwei Dong, Zhiwei Luo, Akironi Nagano

    Nowadays treadmill's control has become more and more popular in many fields, such as athletic exercise, rehabitation training, computer game, and so on. In the previous treadmill usage, the subject passively follows the speed of treadmill. However, in many application cases, the treadmill control strategy by human will is very desirable. Focusing on this problem, in this paper, by analyzing the formula of center of pressure (COP) and simulation results, a key index which indicates the intended walking speed was found. Based on the experiment data, a new model of intended walking speed was established, and further calibrated by least-squares regression technology. The new treadmill control strategy proposed in this paper was built with the intended walking speed model. The treadmill experiment shows that our approach is able to control the treadmill velocity smoothly, which verifies the validity.

    WORLD SCIENTIFIC PUBL CO PTE LTD, 2010, CLAWAR2010, English

    [Refereed]

    International conference proceedings

  • Yuji Harata, Fumihiko Asano, Zhi-Wei Luo, Kouichi Taji, Yoji Uno

    Restoration of mechanical energy dissipating on impact at the ground is necessary for sustainable gait generation. Parametric excitation is one approach to restore the mechanical energy. Asano et al. ("Parametric excitation mechanisms for dynamic bipedal walking," IEEE International Conference on Robotics and Automation (2005) pp. 611-617.) applied parametric excitation to a biped robot with telescopic-legs, in which up-and-down motion restores total mechanical energy like playing on the swing. In this paper, parametric excitation principle is applied to a kneed biped robot with only knee actuation and it is shown that the robot walks successively without hip actuation. We also examine influences of several parameters and reference trajectory on walking performance.

    CAMBRIDGE UNIV PRESS, Dec. 2009, ROBOTICA, 27, 1063 - 1073, English

    [Refereed]

    Scientific journal

  • Kei Akiyama, Zhi-Wei Luo, Masaki Onishi, Shigeyuki Hosoe

    Iterative optimal calculation methods have been proposed for degraded static image restoration based on the multiresolution wavelet decomposition. However, it is quite difficult to apply these methods to process moving images due to the high computational cost. In this paper, we propose an effective restoration method for degraded moving images by modeling the motion of moving object and predicting the future object position. We verified our method by computer simulations and experiments to show that our method can achieve favorable results. © 2009 Wiley Periodicals, Inc.

    Feb. 2009, Electronics and Communications in Japan, 92 (2), 38 - 48, English

    [Refereed]

    Scientific journal

  • Development of A Soft Tactile Sensor for RI-MAN based on Inverse Problem Analysis

    Zhiwei Luo, Takahiro Mttani, Akinori Nagano

    This research develops a soft tactile sensor for those robots that interact with human directly so as to realize safe and human friendly care tasks. The basic method we applied is Electrical Impedance Tomography (EIT). Specifically, we study the relation between the sensor's softness and its electrical sensitivity. We also study three types of measuring methodes and find that unlike the result of LIT for biological system, for our tactile sensor, the Neighboring Method has better result.

    JAPAN SOCIETY APPLIED ELECTROMAGNETICS & MECHANICS, 2009, APPLIED ELECTROMAGNETICS AND MECHANICS (II), 13, 265 - 266, English

    [Refereed]

    International conference proceedings

  • Sparsing of Information Matrix for Practical Application of SLAM for Autonomous Robots

    Haiwei Dong, Zhiwei Luo

    As simultaneously localization and mapping (SLAM) is the basis for autonomous robots to realize high level task, it has become a key issue in mobile robotics field to propose a practical SLAM approach for a large scale environment. By analyzing the features of information matrix, this paper presents a novel method to enhance practicability of simultaneous localization and mapping (SLAM) by changing information matrix into a sparse matrix. A large scale environment simulation shows that our sparsification method is highly efficient with the increase of landmarks while maintaining accuracy. Outdoor experiment verifies the promising future of our approach for the application into the real-world.

    SPRINGER-VERLAG BERLIN, 2009, DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8, 295 - 304, English

    [Refereed]

    International conference proceedings

  • Three-dimensional object manipulation by two robot fingers with soft tips and minimum DOF

    Morio Yoshida, Suguru Arimoto, Zhi-Wei Luo

    This paper shows through faithfully deriving Paffian forms of 3-D rolling contact constraints that 3-D pinching can be stabilized by using a pair of robot fingers with a hemispherical soft tip and minimum degrees of freedom under the gravity effect. The proposed control input is based on fingers-thumb opposition without using object information or external sensing. Stability analysis of the closed-loop dynamics is presented by using a Lyapunov method. Finally, for the sake of confirmation of effectiveness of the proposed control signals, numerical simulations are carried out.

    IEEE, 2008, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 1615 - 1621, English

    [Refereed]

    International conference proceedings

  • Takaaki Osada, Kentaro Takagi, Yoshikazu Hayakawa, Zhi-Wei Luo, Kinji Asaka

    Ionic polymer-metal composite (IPMC) actuators are expected as artificial muscles for bio-mimetic soft robots. The IPMC gel first bends quickly and then bends back slowly when a constant voltage is applied to the sample. The latter phenomenon, referred to as the stress relaxation, can be modeled by electrostress diffusion coupling theory. The theory can predict the behavior of the actuator for the different species of counterions. In order to describe the actuator dynamics as a system with inputs and outputs, this paper proposes a linear state space model based on the electrostress diffusion coupling theory. The model consists of the three systems, the electrical, the electro-mechanical, and the mechanical systems. The results of the simulation and the experiment demonstrate the validity of the model. ©2008 IEEE.

    IEEE, 2008, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 119 - 124, English

    [Refereed]

    International conference proceedings

  • Kentaro Takagi, Kinji Asaka, Gou Nishida, Yoshihiro Nakabo, Zhi-Wei Luo

    This paper discusses a distributed system modeling of the electrical impedance of ionic polymer-metal composites from the point of view of the electrode roughness. A diffusion-like equation is derived from the distributed circuit model which represents the fractal-like distribution of the polymer-electrode interface. The port-Hamiltonian representation of the system is also shown. In the experiment, the frequency response of the impedance is measured under various conditions. © 2008 Trans Tech Publications, Switzerland.

    Trans Tech Publications Ltd, 2008, CIMTEC 2008 - Proceedings of the 3rd International Conference on Smart Materials, Structures and Systems - Artificial Muscle Actuators using Electroactive Polymers, 61, 157 - 162, English

    [Refereed]

    International conference proceedings

  • Efficiency and Symmetry of Ballisitic Gait

    Fumihiko Asano, Zhi-Wei Luo

    This paper studies efficiency and symmetry of ballistic gait. We introduce a compass-like biped model and propose a simple control law for generating the dynamic gait. The efficiency is then numerically analyzed and the optimality of mechanical energy restoration is discussed. It is also shown that perfectly ballistic gait by kick action achieves the highest walking speed and exhibits symmetric gait automatically. We discuss how the symmetric gait is generated from the angular momentum point of view.

    IEEE, 2008, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2928 - 2933, English

    [Refereed]

    International conference proceedings

  • Kentaro Takagi, Norihiro Kamamichi, Boyko Stoimenov, Kinji Asaka, Toshiharu Mukai, Zhi-Wei Luo

    This paper discusses a model of IPMC sensors and the characteristics of the frequency responses. There are two different methods of measurements, the current sensing and the voltage sensing, which exhibit completely different frequency responses each other. A simple model based on Onsager's equation is shown in order to explain the experimental results of the current sensing. The voltage sensing model is derived by the equivalent transform of the voltage and the current sources. In contrast to the constant gain of the charge response, the characteristics of the voltage response are directly related to the impedance dynamics. In the experiments, the frequency responses of the charge/current sensing and the voltage sensing for two species of counter ion are measured. The ratio of the obtained frequency responses and the measured impedance are also compared to validate the voltage sensing model. Though the theoretical prediction of the sensor coefficient does not match the experimental one, the structure of the model agrees with the experimental data.

    SPIE-INT SOC OPTICAL ENGINEERING, 2008, ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2008, 6927, English

    [Refereed]

    International conference proceedings

  • Video restoration with motion prediction based on the multiresolution wavelet analysis

    Kei Akiyama, Zhi-wei Luo, Masaki Onishi, Shigeyuki Hosoe, Kouichi Taji, Yoji Uno

    We propose a novel method for image sequence restorations. It is based on the wavelet domain image restoration method proposed by Belge et al. for static images [1]. In this paper, by combining the iteration procedure in the Belge's method with the renewing process for sequentially given images and by employing Kalman filer for predicting the foreground movement of the images in the wavelet domain, considerable reduction of the computational cost is shown to be achievable. This is verified by computer simulations on artificially degraded images.

    SPRINGER-VERLAG BERLIN, 2008, NEURAL INFORMATION PROCESSING, PART II, 4985, 77 - +, English

    [Refereed]

    International conference proceedings

  • Asymptotic stability of dynamic bipedal gait with constraint on impact posture

    Fumihiko Asano, Zhi-Wei Luo

    This paper studies the efficiency and asymptotic stability of a dynamic bipedal gait with a constraint on the impact posture. First, we generate a gait by using tracking control to achieve the desired trajectory of the hip-joint angle, and show that there is a trade-off between efficiency and robustness through a numerical simulation. Second, we investigate the asymptotic stability of the gait from the mechanical energy balance viewpoint, and discuss the importance of the control input properties. Furthermore, we point out that there is a feedback in mechanical energy in the discrete walking system, and it is difficult to detect a stable 2-period gait.

    IEEE, 2008, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 1246 - 1251, English

    [Refereed]

    International conference proceedings

  • Underactuated virtual passive dynamic walking with an upper body

    Fumihiko Asano, Zhi-Wei Luo

    Achieving energy-efficient dynamic walking has become one of the main subjects of research on robotic bipedal locomotion. Approaches based on passive-dynamic walkers can accomplish bipedal locomotion. However, passive dynamic walking has only been studied with the legs, and the effect of an upper body has not been clarified. This paper investigates the effect of an upper body on the efficiency and stability of dynamic bipedal locomotion based on observations. We first investigated a suitable upper body, which was a simple 1-link torso with a bisecting hip mechanism that would not destroy natural dynamics of the biped model. Second, we analyzed the robot's driving mechanism and chose underactuated virtual passive dynamic walking as the method for generating an efficient dynamic gait. We confirmed that efficient dynamic walking was possible with a specific resistance of 0.01 and investigated the effect of the physical parameters of the upper body through numerical simulations.

    IEEE, 2008, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 2441 - 2446, English

    [Refereed]

    International conference proceedings

  • Kenji Tahara, Suguru Arimoto, Masahiro Sekimoto, Morio Yoshida, Zhi-Wei Luo

    This paper proposes an iterative learning control method for simultaneous force/position tracking tasks by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. In our previous works, "blind touching", which is defined as a point-to-point control scheme for the robot to realize a desired contact position and a contact force simultaneously without any external sensing, have proposed. In this paper, an iterative learning control manner to realize a desired continuous trajectory of the center of the contact point together with a desired contact force on the task plane is proposed. The usefulness of this learning control method is demonstrated by showing results of computer simulations.

    IEEE, 2008, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 2611 - +, English

    [Refereed]

    International conference proceedings

  • Pseudo Virtual Passive Dynamic Walking and Effect of Upper Body as Counterweight

    Fumihiko Asano, Zhi-Wei Luo

    This paper investigates the effect of an upper body on efficient dynamic bipedal walking utilizing its natural dynamics. We introduce an upper body as a one-link torso and add it to a simple biped model by means of a bisecting hip mechanism (BHM). We first mathematically analyze the effect of the upper body with the BHM as a counterweight and discuss how it affects natural swinging motion of the swing leg. Second, we propose a simple method for generating efficient dynamic bipedal gait imitating the property of virtual passive dynamic walking, and numerically analyze the gait efficiency. Simulation results show that the walking system exhibits period-doubling bifurcation, and we discuss how the efficiency changes in the multiple-period gait.

    IEEE, 2008, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2934 - 2939, English

    [Refereed]

    International conference proceedings

  • Parametric Excitation of a Biped Robot as an Inverted Pendulum

    Toyoyuki Honjo, Zhi-Wei Luo, Akinori Nagano

    For stable gait generation on the level floor, restoring mechanical energy lost by heel-strike collision at the ground is necessary. Parametric excitation principle is one of the solutions. Harata et al. applied this principle to a knee actuated robot to achieve parametric excitation by bending and extending the knee, and succeeded in generating a sustainable biped gait by computer simulation. Although only the dynamics of the swing-leg was considered in the method, the stance-leg's dynamics also affects the swing-leg's dynamics. Therefore we considered the whole dynamics of the robot in this paper. Therefore, we dealt with the robot's center of mass as an inverted pendulum and achieved stable gait generation by parametric excitation of the inverted pendulum. The resultant energy efficiency was increased significantly.

    IEEE, 2008, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3408 - 3413, English

    [Refereed]

    International conference proceedings

  • G.Nishida, M.Yamakita, Zhiwei Luo

    This paper presents a general modeling method to construct a virtual Lagrangian for infinite-dimensional systems. If the system is self-adjoint in the sense of the Fretchet derivative, there exists some Lagrangian for a stationary condition of variational problems. A system having such a Lagrangian can be formulated as a field port-Lagrangian system by using a Stokes-Dirac structure on a variational complex. However, it is unknown whether any infinite-dimensional system can be expressed as an Euler-Lagrange equation. Then, we introduce a virtual Lagrangian with a homotopy operator. The virtual Lagrangian defines a self-adjoint subsystem, which is realized by a cancellation of non-self-adjoint error subsystems.

    SPRINGER-VERLAG BERLIN, 2006, Proceedings of the 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 366, 51 - 56, English

    International conference proceedings

  • Field port-Lagrangian systems with degenerate Lagrangian and external forces

    Gou Nishida, Masaki Yamakita, Zhi-wei Luo

    The relation between a port-representation and an infinite-dimensional Euler-Lagrange equation has previously been studied before by the authors. The formal form is called a field port-Lagrangian system. However, this system was considered under the condition that the Lagraneian was regular and the case of a degenerate Lagrangian was not explicitly shown. This paper presents a more general framework for the field port-Lagrangian system from the viewpoint of the treatment of degenerate Lagrangian and external forces.

    IEEE, 2007, Proc of the IEEE Conf. on Decision & Control(CDC), 1550 - 1555, English

    [Refereed]

    International conference proceedings

  • Port-representation of bi-Hamiltonian structure for infinite-dimensional symmetry

    Gou Nishida, Masaki Yamakita, Zhi-wei Luo

    In this paper, the port-representation of conservation laws is extended to a wider class of symmetries, the infinite-dimensional symmetry expressed by the bi-Hamiltonian system. It is known from Noether's theorem that a conservation law is associated with an invariant property called a symmetry. In certain cases, the symmetry appears in a system as a hidden infinite-dimensional structure. Such a structure can be defined by using a recursive operator consisting of a Hamiltonian pair and is called a bi-Hamiltonian structure. The bi-Hamiltonian structure induces a hierarchical set of conservation laws. This concept can be used for reducing a system possessing a bi-Hamiltonian structure to simpler port-representations of the conservation laws. Finally, a boundary observer for symmetry destruction is shown.

    IEEE, 2007, Proc of the IEEE Conf. on Decision & Control(CDC), 1556 - 1561, English

    [Refereed]

    International conference proceedings

  • Kenji Tahara, Suguru Arimoto, Zhi-Wei Luo, Morio Yoshida

    Human can pinch or grasp and manipulate an object stably and dexterously. Accomplishment of such tasks is contributed from human hand's configuration, called "Fingers-thumb opposability". This opposability of the thumb against other digits is specific and granted to only human among primates. When we use a cell phone, or change a TV's channel using a remote controller, we grasp it by a palm and digits other than the thumb, and push buttons using the thumb quickly, without looking the buttons. These kinds of thumb's movement seem to be one of the most intelligent movements in a human. Therefore, execution of such touching tasks without visual or tactile sensing is called in this paper "Blind Touching". The goal of this research is to realize human-like "Blind Touching" by means of a 5 D.O.F. thumb robot model with soft and hemispherical finger-tip. To do this, we formulate a simultaneous contact position and touching force control by using 3-Dimensional rolling contact with the task plane. First, dynamics of the 5 D.O.F. thumb robot model with hemispherical soft finger-tip under rolling constraints is derived. Then, a sensory-motor control law without vision, force or tactile sensing is proposed. Some numerical simulations show that the desired contact position and touching force can be attained by the proposed control scheme. A theoretical proof of convergence to the desired state is also presented.

    IEEE, 2007, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 592 - 598, English

    [Refereed]

    International conference proceedings

  • OSADA Takaaki, TAKAGI Kentaro, HAYAKAWA Yoshikazu, LUO Zhiwei

    IPMC(ionic polymer-metal composite) actuator is one of the soft actuators to be expected as artificial muscles for small robots. The IPMC gel first bends quickly and then bends back slowly when a constant potential is applied to the sample. The latter phenomenon, reffered to as stress relaxation, is modeled by Electrostress Diffusion Coupling Model. We propose a dynamic state space model including stress relaxation. The result of the experiment demonstrates the validity of the model.

    The Japan Society of Mechanical Engineers, 2007, The Proceedings of the Dynamics & Design Conference, 2007 (0), _633 - 1_-_633-6_, Japanese

    [Refereed]

    Symposium

  • Morio Yoshida, Suguni Arimoto, Ji-Hun Bae, Zhi-Wei Luo

    This paper first proposes a testbed problem of control for dynamic grasp or immobilization of a 2D rigid object for the sake of gaining a physical insight into stable grasp of an object by soft fingers. Such a problem may play a principal role in understanding the methodology of sensory feedback stabilization similarly to the role of "inverted pendulum on a cart" problems in stabilization and control of mechanical systems. Second a class of coordinated control signals is proposed and shown to be effective for realizing stable grasp of a 2D rigid object in a blind manner without using the knowledge of object kinematics or external sensings. It is shown that rolling contact constraints around the centers of contact areas between soft finger-tips and object surfaces treated as nonholonomic constraints play an essential role in stabilization of a dynamic grasp with forceltorque balance.

    IEEE, 2007, 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 870 - 876, English

    [Refereed]

    International conference proceedings

  • On NIRS-based brain-robot interface

    Makoto Okujrnura, Zhiwei Luo

    Constructing of flexible and intelligent human-robot interface that can catch the human intention correctly and lead to the success of the required tasks in complex environment by a robot has become a new challenging research subject. In this research, we proposed to apply NIRS (Near Infrared Spectroscopy) to measure the brain activities during the free body motion, we aim to use it as an interface to control the motion of robots directly in the near future. In detail, two basic types of experiments of a human subject are performed so as to distinguish the human brain activities in different tasks, one is the thinking task and another is during the subject's body motions. For each type of experiment, we also set two different tasks. For the thinking experiment, we studied the tasks when the human subject is performing mathematic calculations and puzzles. For the experiment during body motions, we studied finger tapping and tongue extension tasks. As a result, although we couldn't found the difference of the right and left brain activities in the different thinking experiments, we successfully caught the difference of brain activities for different body motions, which left us the possibility of MRS as an important technology in constructing the brain-robot interface.

    IEEE, 2007, 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 864 - 869, English

    [Refereed]

    International conference proceedings

  • The effect of semicircular feet on energy dissipation by heel-strike in dynamic biped locomotion

    Fumihiko Asano, Zhi-Wei Luo

    This paper investigates the effect of semicircular feet on dynamic bipedal walking. It has been clarified in [3] that underactuated virtual passive dynamic walking can be realized by using the rolling effect, which acts as the ankle-joint torque virtually. It has been also shown that, throughout parameter studies, the rolling effect dramatically increases the stable domain of limit cycles. Now that the effect of semicircular feet during stance phase has been discussed, this paper then focuses the effect on mechanical energy dissipation by heel-strike. It is theoretically clarified that, through modeling and analysis of an inelastic collision, increasing walking speed is achieved not by the rolling effect during stance phase but by the effect of reducing mechanical energy dissipation by heel-strike.

    IEEE, 2007, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 3976 - +, English

    [Refereed]

    International conference proceedings

  • Dynamic analyses of underactuated virtual passive dynamic walking

    Fumihiko Asano, Zhi-Wei Luo

    Realization of an energy-efficient and high-speed dynamic walking has come to be one of the main subjects in the research area of robotic biped locomotion, and passive dynamic walking has been widely attracted as a clue to solve the problem. It has been empirically known that the effect of convex curve shape of foot, which characterizes passive-dynamic walkers, is important to increase walking speed. This paper then investigates the driving mechanism of compass-like biped robots and the rolling effect of semicircular feet are mainly investigated. We first analyze the mechanism of a planar fully-actuated compass-like biped model to clarify the importance of ankle-joint torque introducing generalized virtual gravity concept. In the second, a planar underactuated biped model with semicircular feet is introduced and we show that virtual passive dynamic walking by hip-joint torque only can be realized based on the rolling effect. We then compare with a flat feet model through linear approximation, and show that the rolling effect is equivalent to its virtual ankle-joint torque. Throughout this paper, we provide novel insights into how ZMP-free robots can generate a dynamic bipedal gait.

    IEEE, 2007, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 3210 - +, English

    [Refereed]

    International conference proceedings

  • Parametric excitation approaches to efficient dynamic bipedal walking

    Fumihiko Asano, Takeshi Hayashi, Zhi-Wei Luo, Shinya Hirano, Atsuo Kato

    Traditionally, an inverted pendulum has been used as a reduced biped locomotion system, whereas this paper proposes a different approach. The essence of dynamic biped gait generation is mechanical energy restoration, and parametric excitation approach is a good idea for it Our novel approach does not require any rotational actuation and thus enables to be free from the constraint of zero moment point (ZMP). This paper considers some basic methods of parametric excitation and shows that energy-efficient biped locomotion can achieved very easily without taking the ZMP condition into account. We then conduct parametric studies by adjusting the control and physical parameters, and determine how well the basic gait perform by introducing some performance indices.

    IEEE, 2007, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2216 - 2222, English

    [Refereed]

    International conference proceedings

  • Asymptotically stable gait generation for biped robot based on mechanical energy balance

    Fumihiko Asano, Zhi-Wei Luo

    This paper investigates dynamic bipedal gait and its stability from the mechanical energy balance point of view. The equilibrium points at impact in a dynamic gait are uniquely and systematically determined by two constraint conditions; one is the constraint on restored mechanical energy, the other is the constraint on impact posture. The dynamic gait then becomes always asymptotically stable around the equilibrium points, and this is shown by a simple recurrence formula of the pre-impact kinetic energy. The validity of the method is numerically confirmed via gait generation by virtual passive dynamic walking.

    IEEE, 2007, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3333 - 3339, English

    [Refereed]

    International conference proceedings

  • Kentaro Takagi, Yoshihiro Nakabo, Zhi-Wei Luo, Kinji Asaka

    From the observation of the measured frequency response, the electrical impedance of IPMC has the characteristics of a distributed parameter system. Especially in the case of TEA ion, we found that the frequency response cannot be approximated by a simple ideal capacitor or even by low-order transfer functions. In this study, we discuss a black-box circuit modeling of the electrical system of IPMC from the point of view of the frequency response. We employ some models whose transfer functions are not rational. One of such models is a distributed circuit (transmission line). Another is a black-box circuit model with a distributed parameter element (constant phase element). Both transfer functions consist of square root of W. In the experiment, the electrical impedance of an IPMC (gold plated Nafion) is measured under some conditions such as electrode clamp sizes and two cation species, Na ion and TEA ion. Froi.-n the result, we found that the electrode clamp condition less affects the measured impedance. However, we observed that the impedance highly depends on the cation species. From the experimental frequency response, the parameters of the model are identified. Larger resistance and smaller capacitive element are identified in TEA case than those in Na case. The identified parameters are consistent with the physical intuition that TEA ion movement is slower than Na ion.

    SPIE-INT SOC OPTICAL ENGINEERING, 2007, ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2007, 6524, English

    [Refereed]

    International conference proceedings

  • Masaki Onishi, ZhiWei Luo, Tadashi Odashima, Shinya Hirano, Kenji Tahara, Toshiharu Mukai

    Recently, active researches have been performed to increase a robot's intelligence so as to realize the dexterous tasks in complex environment such as in the street or homes. However, since the skillful human-like task ability is so difficult to be formulated for the robot, not only the analytical and theoretical control researches but also the direct human motion mimetic approach is necessary. In this paper, we propose that to realize the environmental interactive tasks, such as human care tasks, it is insufficient to replay the human motion along. We show a novel motion generation approach to integrate the cognitive information into the mimic of human motions so as to realize the final complex task by the robot.

    IEEE, 2007, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 3128 - 3129, English

    [Refereed]

    International conference proceedings

  • Mikhail Svinin, Igor Goncharenko, Zhi-Wei Luo, Shigeyuki Hosoe

    The paper presents an analysis of human reaching movements in manipulation of flexible objects. To predict the trajectory of human hand, a minimum crackle criterion has been recently introduced in literature. A different approach is explored in this paper. To explain the trajectory formation, we resort to the minimum hand jerk criterion. First, we show that this criterion matches well experimental data available in literature. Next, we. argue that, contrary to the minimum crackle criterion, the minimum hand jerk criterion produces bounded hand velocity profiles for multimass flexible objects. Finally, we present initial experimental results confirming the applicability of the minimum hand jerk criterion to the prediction of reaching movements with multimass objects.

    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Aug. 2006, IEEE TRANSACTIONS ON ROBOTICS, 22 (4), 724 - 739, English

    [Refereed]

    Scientific journal

  • Analysis of system structure around degenerate critical points

    Gou Nishida, Hisakazu Nakamura, Zhiwei Luo

    In this paper, we will state the new problem of system structures around degenerate critical points in the viewpoint of control engineering. Then, two fundamental schemes are presented to construct a weak Lyapunov function systematically. The procedures are based on the following deformations. One of them is a collapsing residual singularity defined by the formal local coordinate of Thom's splitting lemma. The other is a blowing-up for the resolution of singularity.

    IEEE, 2006, 2006 SICE-ICASE International Joint Conference, Vols 1-13, 29 - 32, English

    [Refereed]

    International conference proceedings

  • Kenji Tahara, Zhi-Wei Luo, Suguru Arimoto

    This paper focuses on a sensory-motor control mechanism in human reaching movements from the perspective of robotics. By formulating a musculo-skeletal redundant system which takes into account a nonlinear muscle property and performing numerical simulations, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect coming from nonlinear property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six monoarticular muscles and three biarticular muscles model whose movements are limited within a horizontal plane. Secondly, the nonlinear muscle property coming from a physiological study based on Hill's muscle model, is taken into consideration. This nonlinearity makes it possible to modulate the damping effect in joint-space by considering the internal force generated by the redundant muscles. By utilizing this feature, the end-point converges to the desired point using only simple task-space feedback control scheme, even thought the system owns both the joint and muscle redundancies. Finally, we illustrate numerical simulations to show the effectiveness of the control scheme, and suggest one of the direction to study brain-motor control mechanism of human movements.

    IEEE, 2006, 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 1402 - 1409, English

    [Refereed]

    International conference proceedings

  • Kenji Tahara, Zhiwei Luo, Ryuta Ozawa, Ji-Hun Bae, Suguru Arimoto

    In this paper, we study co-activation of digitorum muscles while perform stable pinching and posture regulation tasks of an object by using dual fingers. The fingers have 2 D.O.F. joints and are actuated by nonlinear redundant digitorum muscles to mimic human-like pinching movements. Firstly, we illustrate the kinematics and the dynamics of the overall system, which consider not only the fingers and an object, but also three muscles for each finger to actuate the finger links. Secondly, we consider nonlinear muscle property based on several physiological studies, and propose sensory-motor control rule to the muscles in order to realize stable pinching simultaneously with posture regulation by introducing internal force term induced by co-activation between flexor digitorums and extensor digitorums to modulate the damping factor in joint space. We verify our study by numerical simulations and conclude that this dual fingers system can realize human-like stable pinching and posture regulation.

    IEEE, 2006, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 994 - 999, English

    [Refereed]

    International conference proceedings

  • Kentaro Takagi, Yoshihiro Nakabo, Zhi-Wei Luo, Toshiharu Mukai, Masanori Yamamura, Yoshikazu Hayakawa

    It is found from the locomotion of snake-like underwater robot using Ionic Polymer-Metal Composite (IPMC) as its actuator that, although we specify the same amplitude of driven voltages to each segmented IPMC unit, the resultant bending amplitudes along the body's progressive waves change from small to large toward the robot's tail. To analyze this phenomenon, which is also observed in locomotions of slender fishes, we discuss the modeling and analysis of bending motions of IPMC actuators using the Euler-Bernoulli beam theory. Eigenfunction expansion technique is used to solve the model of a partial differential equation. The envelope curve can be drawn by the obtained solution, and simulation results reappear the same phenomenon. Deflection of the real robot is measured by video camera and laser beam. Experimental results verifies the validity of the proposed model. Parameter identification is also performed with measured data.

    SPIE-INT SOC OPTICAL ENGINEERING, 2006, SMART STRUCTURES AND MATERIALS 2006: ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD), 6168, English

    [Refereed]

    International conference proceedings

  • Masaki Yamakita, Akio Sera, Norihiro Kamamichi, Kinji Asaka, Zhi-Wei Luo

    We are studying about robotic application of Ionic Polymer-Metal Composite (IPMC). The characteristics of IPMC highly depend on the type of counter-ions, and it is considered that the performance of the actuators can be improved by combining the actuators with several types of counter-ions and applying an integrated control. IPMC has also a sensor function, as the IPMC film generates electromotive force when it is deformed. It has possibility to be integrated into IPMC actuator with soft actuation. In this paper, we consider an integrated design of IPMC actuator/sensor, and investigate a control of the combined IPMC actuators using H-infinity control and the construction of IPMC sensor system.

    IEEE, 2006, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 1834 - 1839, English

    [Refereed]

    International conference proceedings

  • Development of an inchworm-type searching robot

    Shinya Hirano, Atsuo Kato, Zhi-Wei Luo

    This paper describes an inchworm-type robot that we developed for the application of disaster relief, specially for searching victim. The robot we called AIT-ReBo1 has two types of modules, one is the head module that is equipped at the terminal of the robot's body with a small wireless camera and wireless network functions to communicate with outside, another module is the joint that has two rotational and a linear driven degrees of freedom with a decentralized controller module and energy source in a compact form. We pay attention to moving mechanism and realized the motion patterns such as moving straight, side and rotational movements like an inchworm by the progressive wave in body without using any wheels, or crawlers and legs. This robot has already successfully debut at the AICHI EXPO 2005 and stably played for about one month.

    IEEE, 2006, 2006 1ST IEEE RAS-EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, VOLS 1-3, 290 - +, English

    [Refereed]

    International conference proceedings

  • Kentaro Takagi, Masanori Yamamura, Zhi-Wei Luo, Masaki Onishi, Shinya Hirano, Kinji Asaka, Yoshikazu Hayakawa

    Ionic polymer-metal composite (IPMC), which is one of the electro-active polymer actuators, is expected as artificial muscles for robots. An interesting property of IPMC is that it requires water to work, therefore it is suitable for underwater robots. In this paper, we developed an underwater robot which mimics rajiform swimming, that is the swimming form of a ray fish. Fins are designed using sixteen IPMCs. For autonomous operation, miniaturization of the electrical devices such as a micro controllers and small amplifiers are performed. A simple traveling wave control input is employed to generate moment on the fin. In the experiment, propulsion speed is measured under various control parameters. Furthermore, incremental wave of the fin is observed although the amplitude of the control input is spatially uniform. We also discuss this phenomenon from the point of view of interaction between elasticity of the actuator and fluid dynamics.

    IEEE, 2006, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1861 - 1866, English

    [Refereed]

    International conference proceedings

  • Restoration of degraded moving image for predicting a moving object

    Kei Akiyama, Zhi-wei Luo, Masaki Onishi, Shigeyuki Hosoe

    Iterative optimal calculation methods have been proposed for restoration of degraded static image based on wavelet multiresolution decomposition. However, it is quite difficult to apply these methods to process moving images due to the high computation cost. In this paper, we propose an effective restoration method for degraded moving image by modeling the motion of a moving object and predicting the future object position. We verified our method by computer simulations and an experiment to show that our method can reduce the computation time.

    INSTICC-INST SYST TECHNOLOGIES INFORMATION CONTROL & COMMUNICATION, 2006, VISAPP 2006: PROCEEDINGS OF THE FIRST INTERNATIONAL CONFERENCE ON COMPUTER VISION THEORY AND APPLICATIONS, VOL 1, 72 - +, English

    [Refereed]

    International conference proceedings

  • On energy-efficient and high speed dynamic biped locomotion with semicircular feet

    Fumihiko Asano, Zhi-Wei Luo

    This paper investigates effectiveness of semicircular feet on dynamic biped locomotion. We first introduce the simplest biped model with semicircular feet and show its level walking by hip-joint actuation. In the second, parameter study is performed by adjusting the physical and control parameters. Throughout numerical analysis, it is shown that the semicircular feet dramatically increases the walking speed and the stable domain. By the effect of the rolling, energy-efficient and high-speed dynamic biped locomotion on a level can be realized easily without ankle-joint actuation nor concerning the zero moment point condition.

    IEEE, 2006, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 5901 - +, English

    [Refereed]

    International conference proceedings

  • Development of soft areal tactile sensors for human-interactive robots

    Toshiharu Mukai, Masaki Onishi, Shinya Hirano, Zhiwei Luo

    Human-interactive robots, such as for nursing, which share humans' environments with and interact with them, should be covered with soft areal tactile sensors for safety and dexterous manipulation. We are developing such tactile sensors by embedding semiconductor pressure sensors in an elastic body. We have so far established a method of fabricating flat tactile sensors. We have also proposed a structure of the elastic body consisting of soft and hard elastic materials for improving the sensitivity of our tactile sensors. However it was still difficult to fix the sensor on a curved surface while keeping a bent shape, though the sensor we developed was flexible. In the current paper, we propose a method of fabricating a curved tactile sensor in order to mount it on a curved robot surface. We also report experimental results of our tactile sensors and a robot arm with curved tactile sensors.

    IEEE, 2006, 2006 IEEE SENSORS, VOLS 1-3, 831 - +, English

    [Refereed]

    International conference proceedings

  • Masaki Onishi, Tadashi Odashima, Zhiwei Luo

    Recently, active researches have been performed to increase a robot's intelligence so as to realize the dexterous tasks in complex environment such as in the street or homes. However, since the skillful human-like task ability is so difficult to be formulated for the robot, not only the analytical and theoretical control researches but also the direct human motion mimetic approach is necessary. In this paper, we propose that to realize the environmental interactive task, it is insufficient to replay the human motion along. We show a novel motion generation approach to integrate the cognitive information into the mimic of human motions so as to realize the final complex task by the robot. As a detailed example of the task, we consider on how to carry up a human by cooperating two hands. © 2005, The Institute of Electrical Engineers of Japan. All rights reserved.

    2005, IEEJ Transactions on Electronics, Information and Systems, 125 (6), 856 - 862, English

    [Refereed]

    Scientific journal

  • Fumihiko Asano, Zhi-Wei Luo, Sang-Ho Hyon

    It is already clarified throughout studies of passive dynamic walking mechanisms that the common necessary condition for dynamic gait generation comes from the requirement on mechanical energy restoration. Until now we have treated only rotational joints of the robot, whereas in this paper we consider a novel dynamic gait generation method based on mechanical energy restoration by parametric excitation using telescopic leg actuation. We first introduce a simple walking model and a control law for the telescopic leg motion, and show the typical walking pattern by numerical simulations. We then analyze the gait performance by adjusting some control and physical parameters. In addition, some extensions of the mechanism and control applications are investigated. ©2005 IEEE.

    2005, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 2005, 609 - 615, English

    [Refereed]

    International conference proceedings

  • ヒトのクランク回転作業の最適運動規範

    太田憲, M.Svinin, 羅志偉, 細江繁幸

    ドアを開けたり,ハンドルを回すなどの拘束運動は,我々が日常経験する腕の運動である.拘束のない自由空間での運動と異なり,拘束運動では手先を通して環境との相互作用がある.その中でも,クランク回転運動は運動学的拘束条件のもとでのリーチング運動としてとらえることができる.本研究では,拘束運動としてクランク回転運動を取り上げ,最適化による運動計画モデルとして,手先力変化最小とトルク変化最小の二つの規範から構成される複合規範を提案する.クランク回転運動では,非拘束下のリーチング運動を再現する,躍度最小規範やトルク変化最小規範による予測よりも,複合規範によって予測された運動軌道と力軌道がヒトの実験データをよく再現した.このことは運動計画が腕やクランクのダイナミックスに関連して決定されることを示唆し,手先と外界との相互作用のある条件下では,作業空間と関節空間での両方の滑らかさが運動計画に求められていると考えられる.また,この運動規範は作業座標系の選択の仕方に依存していることから,ヒトは自然と拘束座標系を運動規範の座標系として選択していると考えられる.

    The Institute of Electronics, Information and Communication Engineers, Aug. 2004, 電子情報通信学会論文誌, J87-D-II (8), 1707-1717 - 1717, Japanese

  • Masaki Onishi, Tadashi Odashima, Fumihiko Asano, Zhiwei Luo

    PC-based immersion-Type display integrated with a motion capture system as well as a 3D dynamic simulator has been successfully constructed in our laboratory, as a first universal development environment of human interactive robot within Japan. This system makes it possible for us to design and examine the next generation of human interactive robot easily and safely. Experiments of a virtual robot interact with human and perform dynamic motion show the effectiveness of our system.

    Corresponding, Institute of Electrical and Electronics Engineers Inc., 2003, Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA, 3, 1213 - 1218, English

    [Refereed]

    International conference proceedings

  • Zhiwei Luo, Hideyuki Ando, Shigeyuki Hosoe, Keiji Watanabe, Atsuo Kato

    2001, JRM, 13 (5), 533 - 539

    [Refereed]

  • ODASHIMA Tadashi, YUASA Hideo, LUO Zhi - wei, ITO Masami

    Locomotion of animals is said to be generated by CPG that is located at lower level of the nervous systerrl. We deal with an application of autonomous decentralized system like CPG to a myriapod locomotion robot. In this paper, we confirm by computer simulation that six subsystems generate gait pattern by the method of vector quantizat ion (VQ) under the conditions that each subsystem only have functions for controlling one leg and using local informations. The gate pattern is coded to the phase differences of each oscillator. Each subsystem learns a relation between the energy consumption and the phase difference using VQ. We succeeded in generating the gait pattern such that the energy consumptions for each leg are averaged.

    The Robotics Society of Japan, 15 Nov. 1999, JRSJ, 17 (8), 1149 - 1157, Japanese

    [Refereed]

  • Satoshi Ito, Hideo Yuasa, Zhi-wei Luo, Masami Ito, Dai Yanagihara

    Animals change their gait patterns with environmental conditions. The adaptive changes of gait patterns can be observed in the experiment where a decerebrate cat was forced to walk on the treadmill. This experiment suggests that cats should memorize the locomotion pattern and adjust it in adaptation process. From this point of view, we control the quadruped walking robot to behave adaptively on the treadmill like this cat. For the control and adaptation law, we take the decentralized approach: each four limb is regarded as subsystem, and pattern generation and adaptation is achieved with only the local interaction among four subsystems. Such a system structure is supposed to be important on the adaptability and flexibility.

    一般社団法人 日本ロボット学会, May 1999, Journal of the Robotics Society of Japan, 17 (4), 595 - 603, Japanese

    [Refereed]

    Scientific journal

  • H Hirata, ZW Luo

    Stability analysis and design of an automatic frequency control (AFC) system for in vivo continuous-wave EPR spectroscopy is described. The open-loop function of the feedback control system for the AFC was derived and the stability of the feedback loop systematically examined. A stability analysis of the system is demonstrated and a systematic design procedure is proposed. The design is started from the required system specifications (phase margin, steady-state error, and system bandwidth) and clear guidelines for designing an AFC system are given. A case study of the design is presented based on the specific needs of in vivo EPR measurements. A phase margin of 53 degrees, a steady-state error of 1.6%, and a system bandwidth of up to 1.8 kHz were obtained in the designed AFC system. The system specifications defined in advance are satisfied in this case study. (C) 2001 Wiley-Liss, Inc.

    JOHN WILEY & SONS INC, Dec. 2001, MAGNETIC RESONANCE IN MEDICINE, 46 (6), 1209 - 1215, English

    [Refereed]

    Scientific journal

  • LUO Zhi-wei, TAKAHASHI Hideki, ITO Masami

    In this paper, we study on hierarchical control structure of multi-D. O. F. manipulator to perform compliant manipulation on dynamic objects. We propose that in order to realize the real time fast computation of the joint control torques, it is better to calculate the joints angle terms with low sampling frequency at high level, and compute the lefted control torques including joints velocities and linear compensation with high sampling frequency at low level. Such hierarchical structure is demonstrated by the simulation of a 2-D. O. F arm pushing on a dynamic door. Simulation results also shows the effectiveness of the model matching method that was used in the linear force feedback compensator design, compared with impedance control.

    The Robotics Society of Japan, 1991, JRSJ, 9 (4), 453 - 456, Japanese

    [Refereed]

  • MURAYAMA Toru, NAGANO Akinori, LUO Zhi-Wei

    In this research, we analyze a formation control of a multi-robot system while considering the limitation of communication range for each robots. With limitation in communication range, it is important to control the communication network topology of a multi-robot system in order to keep the network's connectivity. We formulate the multi-robot system as a hybrid dynamical system, with the communication constraints by inequality. Then we study the algorithm to solve a mixed integer programming problem that is equivalent to the optimal formation control probrem of the system. Computer simulation of the formation control of three robots is perform, in which a optimal control and a receding horizon control is done to assure the validity of our approach.

    The Robotics Society of Japan, 15 Nov. 2012, JRSJ, 30 (9), 881 - 888, Japanese

    [Refereed]

  • MURAYAMA Toru, NAGANO Akinori, LUO Zhi-Wei

    In this research, we propose a distributed control method for a multi-vehicle system. Due to the communication range between vehicles, we need to consider the range when vehicles move toward objective positions, and moreover we need to control the network topology. We formulate a multi-vehicle system as a hybrid dynamical system in which we can control both vehicle positions and the network topology. The system can be controled by receding horizon method, but the method may require a long time because there are many discrete variables. Then, we analyze the constraint space and propose a distributed control method with reduced discrete variables. We show the advantage and computatinanal time of our method by a computer simulation.

    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 15 Sep. 2012, Transactions of the Institute of Systems, Control and Information Engineers, 25 (9), 239 - 246, Japanese

    [Refereed]

  • Wenjun Bai, Changqin Quan, Zhi-Wei Luo

    AbstractConcerning facial expression generation, relying on the sheer volume of training data, recent advances on generative models allow high-quality generation of facial expressions free of the laborious facial expression annotating procedure. However, these generative processes have limited relevance to the psychological conceptualised dimensional plane, i.e., the Arousal-Valence two-dimensional plane, resulting in the generation of psychological uninterpretable facial expressions. For this, in this research, we seek to present a novel generative model, targeting learning the psychological compatible (low-dimensional) representations of facial expressions to permit the generation of facial expressions along the psychological conceptualised Arousal-Valence dimensions. To generate Arousal-Valence compatible facial expressions, we resort to a novel form of the data-driven generative model, i.e., the encapsulated variational auto-encoders (EVAE), which is consisted of two connected variational auto-encoders. Two harnessed variational auto-encoders in our EVAE model are concatenated with a tuneable continuous hyper-parameter, which bounds the learning of EVAE. Since this tuneable hyper-parameter, along with the linearly sampled inputs, largely determine the process of generating facial expressions, we hypothesise the correspondence between continuous scales on the hyper-parameter and sampled inputs, and the psychological conceptualised Arousal-Valence dimensions. For empirical validations, two public released facial expression datasets, e.g., the Frey faces and FERG-DB datasets, were employed here to evaluate the dimensional generative performance of our proposed EVAE. Across two datasets, the generated facial expressions along our two hypothesised continuous scales were observed in consistent with the psychological conceptualised Arousal-Valence dimensions. Applied our proposed EVAE model to the Frey faces and FERG-DB facial expression datasets, we demonstrate the feasibility of generating facial expressions along with the conceptualised Arousal-Valence dimensions. In conclusion, to generate facial expressions along the psychological conceptualised Arousal-Valance dimensions, we propose a novel type of generative model, i.e., encapsulated variational auto-encoders (EVAE), allowing the generation process to be disentangled into two tuneable continuous factors. Validated in two publicly available facial expression datasets, we demonstrate the association between these factors and Arousal-Valence dimensions in facial expression generation, deriving the data-driven Arousal-Valence plane in affective computing. Despite its embryonic stage, our research may shed light on the prospect of continuous, dimensional affective computing.

    Springer Science and Business Media LLC, 31 Jan. 2022, Cognitive Computation, English

    [Refereed]

    Scientific journal

  • Changqin Quan, Kang Ren, Zhiwei Luo, Zhonglue Chen, Yun Ling

    Elsevier BV, Apr. 2022, Biocybernetics and Biomedical Engineering, 42 (2), 556 - 574, English

    [Refereed]

    Scientific journal

  • Fujita Tomohiro, Luo Zhiwei, Quan Changqin, Mori Kohei

    This paper presents novel RNN structures. In order to reduce the calculation as well as to overcome the analysis difficulty of gate structure and the problem of data dependence related normalization in the conventional method, 4 types of new RNNs inspired by shortcut connection were constructed while taking the advantages of gated RNNs and a sech function. Experiments and analyses are carried out to evaluate the performance of the RNNs. In detail, the experiments are performed using two corpus of WikiText-2 and IMDB, which have different properties. As a result, in the binary classification task using IMDB, the accuracy was about the same as LSTM and GRU with the parameter of 1/6 or less. However, in the language modeling task using WikiText-2, even if multilayer and the parameters of the intermediate layer were increased, the results were worse than that of conventional RNNs. This should be clarified in our future research.

    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 15 Apr. 2021, Transactions of the Institute of Systems, Control and Information Engineers, 34 (4), 89 - 97, Japanese

    [Refereed]

    Scientific journal

  • LUO Zhi-wei, YAMAKITA Masaki, IWAKOSHI Ken, ITO Koji

    In this paper, we present a new compliance control strategy for a robot manipulator to interact with its uncertain environment. Our strategy considers the manipulability explicitly in designing the robot's compliance. Computer simulations of the crank rotation task show that, our approach results in smaller interaction forces and better positional accuracy compared to the conventional compliance control.

    The Society of Instrument and Control Engineers, 1995, Transactions of the Society of Instrument and Control Engineers, 31 (9), 1534 - 1536, English

    [Refereed]

  • ITO Satoshi, YUASA Hideo, LUO Zhi-wei, ITO Masami, YANAGIHARA Dai

    This paper considers an adaptation of rhythmic movements to changes in environments. Perturbed locomotion has been proposed as a new paradigm of motion learning. Here, we formulate this phenomenon with CPG model and give a rule for parameter changing in locomotion patterns. Our rule is derived from a criterion that less interaction is more natural in CPG oscillation. Then extending our approach, we discuss general features and necessary conditions for rhythmic motion and propose a mathematical framework for its adaptation.

    The Society of Instrument and Control Engineers, 30 Sep. 1998, Transactions of the Society of Instrument and Control Engineers, 34 (9), 1237 - 1245, Japanese

    [Refereed]

  • LUO Zhi-wei, ITO Koji, ITO Masami, KATO Atsuo

    This paper studies on a bilinear model for joint impedance control in contact tasks. It is proved that in order for robot to operate on dynamic objects smoothly without any oscillation, adjustment of the antagonist coactivation is useful.

    The Society of Instrument and Control Engineers, 1991, Transactions of the Society of Instrument and Control Engineers, 27 (9), 1070 - 1072

    [Refereed]

  • Luo Zhi-wei, KATO Atsuo, ITO Masami

    This paper studies on the control of robot to perform compliant manipulation on unknown dynamic environments. Compliant manipulation fundamentally requires robot to adapt for environment dynamics. For robot manipulators to be succeeded in performing such manipulation, it's already known that control of position or force alone is inadequate. Focused on the input-output responses of both position and force of the robot control system, we have proposed a model matching approach. In this approach, both for the selection of reference model and the design of force feedback compensator, the accurate information on environment dynamics was needed. However practically, in most of the robot's contact tasks, we never know the environment dynamics or only know the bounds of its parameters before exiting the task.
    In this paper, by studying the most unfavourable environment dynamics for robot's compliance, the digital simulator for continuous linear dynamic environment, we try to give out an algorithm for robot manipulators to adapt for the unknown environment dynamics autonomously during the manipulation. A setup of experimental system of one degree of freedom robot and environment has also been made to study various of control approaches for robot's pushing manipulation on dynamic environment. Experiment results show the effectiveness of our design approach.

    The Society of Instrument and Control Engineers, 1991, Transactions of the Society of Instrument and Control Engineers, 27 (7), 806 - 814

    [Refereed]

  • LUO Zhi-wei, ITO Masami

    This paper considers the problems of control design of robot performing compliant manipulation.
    Compliant manipulation fundamentally requires that the controlled robot can not only follow up the input trajectory exactly in free motion space, but also move adaptively in constrained space while making compliant contact with its dynamic environment. However generally, since there exists no mechanical link between robot and its operating environment, because of the dynamic interaction, the contact discontinuity may probably cause. So even if the total system including robot and its environment is analyzed to be stable when thinking of nothing on such contact discontinuity, the real system may be unstable.
    In this paper, with the formulation of environment dynamics, the simplification of robot body dynamics by nonlinear feedback compensation, and the definition of compliancy and environment adaptability that clarifies the control design objectives, we present a model matching approach for the control design of robot compliant manipulation considering the contact discontinuity.
    The problems of how to select the reference model considering the environment dynamics, its dynamic uncertainty and robot actuator's output limitation, and how to implement such model in the control system are analyzed.
    Also the effectiveness of this approach is illustrated by some simulation results.

    The Society of Instrument and Control Engineers, 1990, Transactions of the Society of Instrument and Control Engineers, 26 (4), 427 - 434

    [Refereed]

  • Zhiwei Luo, Hideyuki Ando, Shigeyuki Hosoe, Keiji Watanabe, Atsuo Kato

    This paper presents a diffusion-based learning approach to generalize optimal control of a robot manipulator over a bounded work space. Generally, optimal control requires to solve a two point boundary value problem with respect to increase and decrease of time and is very difficult to be solved analytically. In our approach, we first assume that, for some sets of initial and desired terminal conditions of the robot's positions we already have the numerical optimal solutions (for example, using some complex numerical computation techniques). Then by using radial basis Junction network, we parameterize these control inputs by a set of weight matrixes. Finally, we apply our diffusion-based algorithm to generalize these weight matrixes for different terminal position conditions. This approach greatly reduced computation cost for the robot to find its optimal control. In addition, since diffusion-based algorithm is a parallel distributed learning approach which only requires local interaction between the nodes of a learning network (a lattice), it can be realized by resent IC hardware technology easily. Computer simulations of a 2 D.O.F. planner robot arm show the effectiveness of our approach.

    IEEE Computer Society, 2000, IECON Proceedings (Industrial Electronics Conference), 1, 2076 - 2081, English

    [Refereed]

    International conference proceedings

  • Kentaro Takagi, Takaaki Osada, Kinji Asaka, Yoshikazu Hayakawa, Zhi-Wei Luo

    Toward the construction of the unified model of ionic polymer actuators, this paper discusses the system modeling with the electro-stress diffusion coupling theory. The theory can explain the differences of the relaxation phenomenon of polymer electrolytes with respect to the various counter ion species in the polymer. In addition to the mechanical system which employs a simple beam model, the electrical system and the electro-mechanical coupling systems are also represented by partial differential equations. The electrical system is modeled based on the non-uniform distributed circuit which represents the electrode roughness. The electro-mechanical coupling system is derived from the electro-stress diffusion coupling theory. The overall system is represented by a statespace equation with a feedback structure. The comparisons between the simulation result and the experimental result show the validity of the model. © 2009 SPIE.

    2009, Proceedings of SPIE - The International Society for Optical Engineering, 7287, English

    [Refereed]

    International conference proceedings

  • Kenji Tahara, Zhi-Wei Luo

    This chapter deals with modeling of human-like reaching and pinching movements. For the reaching movements, we construct a two-link planar arm model with six redundant muscles. A simple task-space feedback control scheme, taking into account internal forces induced by the redundant and nonlinear muscles, is proposed for this model. Numerical simulations show that our sensory-motor control can realize human-like reaching movements. The effect of gravity is also studied here and a method for the gravity compensation on the muscle input signal level is introduced. The stability of this method is proved and its effectiveness is shown through numerical simulations. For the pinching movements, realized by the index finger and the thumb, the co-contraction between the flexor and extensor digitorum muscles is analyzed. It is shown that an internal force term can be generated by the redundant muscles to modulate a damping factor in the joint space. Numerical simulations show that the co-contraction of each digitorums makes it possible to realize human-like pinching movements. Our results suggest that the central nervous system (CNS) does not need to calculate complex mathematical models based on the inverse dynamics or on the planning of optimal trajectories. Conversely, the human motor functions can be realized through the sensory-motor control by exploiting the passivity, nonlinearity and the redundancy of the musculo-skeletal systems. © 2006 Springer.

    Springer Berlin Heidelberg, 2006, Advances in Robot Control: From Everyday Physics to Human-Like Movements, 217 - 247, English

    [Refereed]

    In book

  • Kentaro Takagi, Kenji Nagase, Kazuhiko Oshima, Yoshikazu Hayakawa, Zhi-Wei Luo

    Piezoelectric shunt damping is a method to reduce structural vibration by shunting a piezoelectric element with an electrical circuit. This paper proposes a method to identify the physical parameters that are required to design piezoelectric shunt damping systems. Employing self-sensing actuator methodology, the proposed method requires no additional sensor or actuator other than a simple bridge circuit. The parameters can be identified from a transfer function simply by linear least squares method. To demonstrate the validity of the proposed method, the shunt damping of the steel plate with the piezoelectric ceramic is performed based on the identified parameters.

    2005, Proceedings of SPIE - The International Society for Optical Engineering, 5648, 97 - 108, English

    [Refereed]

    International conference proceedings

  • K Tahara, ZW Luo, S Arimoto, H Kino

    In this paper, we study the sensory motor control mechanism in human reaching movements by considering the redundant muscle dynamics. We first formulate the kinematics and dynamics of a two-link arm model with six muscles, and introduce the nonlinear muscle dynamics based on the biological understanding. Secondly, we show the stability of the system by using intrinsic muscle characteristics and La Salle's invariance theorem. From this result and the numerical simulations, we propose that the reaching movement can be regulated by the internal forces of the redundant muscles, in detail, the muscle's internal forces can be used to control the damping of the joints. In addition, human can compensate the gravity by using antigravity muscles. To realize this effect in the arm, we propose the gravity compensation method at the muscle input level from the viewpoint of robotics. We present the result of numerical simulation to verify the usefulness of this compensation method.

    IEEE, 2005, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2870 - 2875, English

    [Refereed]

    International conference proceedings

  • K Takagi, ZW Luo, K Asaka, K Tahara

    The essential motion of the ionic polymer-metal composite (IPMC) is bending, therefore some mechanisms are expected to transform from the bending to other required motions. Motivated by the motion of a spiral spring, we discovered that the bending of the ionic polymer could be directly transformed to the limited angle rotation. We introduce the model of the rotary actuator, which consists of mechanical, electrical and electromechanical dynamics. The motion of the rotary actuator is demonstrated in the experiment. The stationary properties are measured and the parameters of the dynamical model are identified, which are also validated by experiments.

    Corresponding, SPIE-INT SOC OPTICAL ENGINEERING, 2005, Smart Structures and Materials 2005: Electroactive Polymer Actuators and Devices( EAPAD), 5759, 487 - 496, English

    [Refereed]

    International conference proceedings

  • K Tahara, ZW Luo, S Arimoto, H Kino

    It is well-known that a human musculo-skeletal body is redundant in terms of both kinematics and dynamics. The former means that the degree of freedom in joint space is larger than that in task space, and the latter means that a joint is driven by a number of muscles. All human skillful movements can be performed by using both redundancies. However, these redundancies induce the underlying ill-posedness problem that each joint angle and muscle's output forces cannot be uniquely determined. These ill-posedness problems are known as "Bernstein's problem" and are important to understand how human multi-joint movements are produced. In this study, we address the latter redundancy problem on how muscle's output forces can be determined from the viewpoint of robotics. In this paper, we consider a reaching movement by means of a two-link planar arm with six muscles and show that both damping and elastic properties coming from nonlinear dynamics of the muscles play a crucial role. By using a simple task space feedback control input together with an additional term to control the internal force to regulate damping and elasticity in joint space, we show some simulation results which exhibit human-like quasi-straight line movement.

    IEEE, 2005, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 223 - 228, English

    [Refereed]

    International conference proceedings

  • 二重課題条件下である歩行中にバーチャルリアリティ課題を用いた半側空間無視に対する評価

    田村 正樹, 白川 真, 羅 志偉, 種村 留美

    2022, 認知リハビリテーション, Japanese

    [Refereed]

    Scientific journal

  • Online detection of weld surface defects based on improved incremental learning approach

    Xiaofeng Wang, Yanan Zhang, Jun Liu, Zhiwei Luo, Teresa Zielinska, Weimin Ge

    2022, Expert Systems with Applications, 195, English

    [Refereed]

    Scientific journal

  • Finite-time Consensus of Linear Multi-agent Systems via Time-based Event-triggered Control

    Ziyang Cheng, Sheng Cao, Changqin Quan, Kohei Mori, Zhiwei Luo

    2022, システム制御情報学会論文誌, English

    [Refereed]

    Scientific journal

  • On Distributed Event-triggered Controller with Aperiodic Event Detection for Finite-time Consensus of Multi-agent Systems

    Ziyang Cheng, Changqin Quan, Kohei Mori, Sheng Cao, Zhiwei Luo

    2022, システム制御情報学会論文誌, 35 (8), English

    [Refereed]

    Scientific journal

  • Research on Consensus State of Multi-agent System with Event-triggered Controller

    Ziyang Cheng, Changqin Quan, Kohei Mori, Sheng Cao, Zhiwei luo

    2022, システム制御情報学会論文誌, 35 (4), English

    [Refereed]

    Scientific journal

  • Research on Self-triggered Controller for Finite-time Consensus of Multi-agent System

    Ziyang Cheng, Changqin Quan, Kohei Mori, Sheng Cao, Zhiwei Luo

    2021, Proc. of International Conference on Electrical, Computer, Communications and Mechatronics Engineering (IEEE ICECCME), 2021, English

    [Refereed]

    International conference proceedings

  • High dimensional nonlinear spring characteristic modelling and vibration analyses of subharmonic resonance of a dual-rotor system based on energy tracks

    Jun Liu, Chang Wang, Zhiwei Luo

    2021, Applied Mathematical Modelling, 91, 390 - 411, English

    [Refereed]

    Scientific journal

  • Fujita Tomohiro, Luo Zhiwei, Quan Changqin, Mori Kohei

    In this paper, we study on simplification of RNN and propose new structures which enable faster learning to improve the performance while reducing the number of learning parameters. We construct 4 types of RNNs with new gated structures and call these new RNNs “SGR (Simple Gated RNN)”. SGR have two or one gate and weight or no weight for input. Comparison studies are performed to verify the effectiveness of our proposal. As a result of machine translation in relatively small corpus, compared with LSTM and GRU, our proposed SGR can realize higher scores than LSTM and GRU. Furthermore, SGR can realize faster learning approximately 1.7 times than GRU. However, with the increase of learning layers and weights for input, the learning scores of SGR seems not increase as much as we expected, which should be studied in our future work. It is necessary to analyze in more detail a performance in larger dataset and a performance difference due to multi-layering, weight for input and the number of gates.

    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 15 Oct. 2020, Transactions of the Institute of Systems, Control and Information Engineers, 33 (10), 267 - 274, English

    [Refereed]

    Scientific journal

  • 田村 正樹, 白川 真, 羅 志偉, 種村 留美

    半側空間無視(unilateral spatial neglect:USN)の評価では、手の届く空間範囲内で出現する無視(peripersonal neglect)に対して、BIT行動性無視検査日本版(Behavioural Inattention Test:BIT)を用いることが多い。しかしながら、無視症状は机上検査と生活場面とで、その発現頻度に乖離が生じる場合があると報告されている(Azouviら2003)。その要因の一つとして、身体からの距離または視角の違いが挙げられる。今回、手の届く空間範囲外で出現する無視(extrapersonal neglect)に対して、筆者らは移動場面を模したバーチャルリアリティ(virtual reality:VR)課題を開発した。VR課題を用い、70歳代右利き女性で右視床出血後のUSN症例1名の無視症状について、健常高齢者11名(平均年齢71.2±4.0歳、男性3名、女性8名)と比較し、検討した。USN症例はBIT通常検査と行動検査のそれぞれの合計得点が正常範囲内であったが、VR課題では健常高齢群と比較し、総得点の低下や見落とし数の増加、頭頸部の平均回旋角度の右側偏倚等が認められた。(著者抄録)

    (一社)日本高次脳機能障害学会, Sep. 2020, 高次脳機能研究, 40 (3), 369 - 376, Japanese

    [Refereed]

    Scientific journal

  • Research of the internal resonances on a nonlinear dual-rotor based on the energy tracks shifting

    Jun Liu, Chang Wang, Zhiwei Luo

    2020, Journal of Sound and Vibration, 481

    [Refereed]

    Scientific journal

  • Research nonlinear vibrations of a dual‑rotor system with nonlinear restoring forces

    Jun Liu, Chang Wang, Zhiwei Luo

    2020, Journal of the Brazilian Society of Mechanical Sciences and Engineering (, 42

    [Refereed]

    Scientific journal

  • Virtual Reality Systemを用いたトレッドミル歩行下でのExtrapersonal Neglectの評価 Pilot Studyによる無視の質的特徴

    田村 正樹, 白川 真, 羅 志偉, 種村 留美

    (公社)日本理学療法士協会, Aug. 2019, 理学療法学, 46 (Suppl.1), K - 1, Japanese

    [Refereed]

    Scientific journal

  • Improving Generative and Discriminative Modelling Performance by Implementing Learning Constraints in Encapsulated Variational Autoencoders

    Wenjun Bai, Changqin Quan, Zhiwei Luo

    2019, APPLIED SCIENCES, 9 (12)

    [Refereed]

    Scientific journal

  • Hard Label Relaxation in Biased Pictorial Sentiment Discrimination

    Wenjun Bai, Changqin Quan, Zhiwei Luo

    2017, International Journal of Advanced Intelligence, 9 (4), 507 - 521

    [Refereed]

    Scientific journal

  • 田村 正樹, 種村 留美, 白川 真, 羅 志偉

    (一社)日本高次脳機能障害学会, Mar. 2016, 高次脳機能研究, 36 (1), 75 - 76, Japanese

    [Refereed]

  • バーチャルリアリティ技術を用いた買い物課題による高次脳機能検査の開発

    小嶌麻木, 岡橋さやか, 羅志偉, 長野明紀, 酒井 弘美, 関 啓子

    2016, 高次脳機能研究, 36 (2), 134 - 141

    [Refereed]

    Scientific journal

  • ウォーターマッサージベッドを用いたマッサージの自律神経活動変化と主観評価の関係

    石 叡人, 羅志偉, 下園朋幸, 宮田和亮

    2016, 日本感性工学会論文誌, 15 (3)

    [Refereed]

    Scientific journal

  • A Novel Approach for Assessing Prospective Memory Using Immersive Virtual Reality Task

    Dong, D, Wong, L. K, Zhiwei Luo

    2016, Psychology, 7 (10)

    [Refereed]

    Scientific journal

  • T. Otsuka, R. Tanemura, K. Noda, T. Nagao, H. Sakai, Z.W. Luo

    Kobe University, 2015, Bulletin of Health Sciences Kobe, 31, 31 - 44, English

    [Refereed]

    Scientific journal

  • Time-series muscle force profile around the hip joint during walking in the elderly and young people

    H. Toda, A. Nagano, Z.W. Luo

    2015, Physiotherapy, 101 (1)

    [Refereed]

    Scientific journal

  • Age-related Change of the Activity of Autonomic Nervous System Measured by Wearable Heart Rate Sensor for Long Period of Time:Pervasive Computing Paradigms for Mental Health

    K. Itao, M. Komazawa, Y. Katada, K. Itao, H. Kobayashi, Z.W. Luo

    2014, the series Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, 100, 33 - 38

    [Refereed]

    International conference proceedings

  • Development of Dielectric Elastomer Actuators, - Part II : Preparation of the High Dielectric Constant Film Actuators Containing BaTiO3 Particles -

    Takeshi Fukuda, Z.W. Luo, Aya Ito

    2012, Advanced Materials Research, 557-559, 1869 - 1874

    [Refereed]

    Scientific journal

  • Development of Dielectric Elastomer Actuators - Part I : Performance of Polyurethane Film Actuators with Dangling Chains and Network Structures -

    Takeshi Fukuda, Z.W. Luo, Aya Ito

    2012, Advanced Materials Research, 557-559, 1862 - 1868

    [Refereed]

    Scientific journal

  • くりこみ群分子動力学法によるミクロ流体解析に関する考察

    柏原裕美, 長野明紀, 羅志偉

    2012, 日本シミュレーション学会論文誌, 4 (1), 1 - 8

    [Refereed]

    Scientific journal

  • バーチャルリアリティ技術を用いた高次脳機能評価システムの開発 -健常者での検討-.

    SAKAI Hiromi, NAGANO Akinori, LUO Zhi-wei, SEKI Keiko

    神戸大学大学院保健学研究科, 2010, 神戸大学医学部保健学科紀要, Vol. 26, pp. 25-37, 25 - 37, Japanese

    Research institution

  • Adaptive Modular Vector Field Control for Robot Contact Tasks in Uncertain Environments

    Y.Saitoh, Zhiwei LUO, K.Watanabe

    2004, Journal of Robotics and Mechatronics, 16 (4), 374 - 380

    [Refereed]

    Scientific journal

  • Dynamic control and simulation of human musculo-skeletal model

    K Tahara, ZW Luo, T Odashima, M Onishi, S Hosoe, A Kato

    In this paper, we propose a dynamic human motion simulator to clarify and obtain the natural movement as human carries out. This system consists of a 3D motion capturing system, which has 6 high-speed cameras, 8 force plates, 10 3-axis accelerometers and 32 EMG sensors. To reconstruct the human's complex movement in VR space, a dynamic simulation model of human muscle-skeletal body is constructed. This model has 100 segments of born and has totally 105 D.O.F. in whole body, and also 300 muscles are included in this model. These muscles have the properties of stiffness, damping and contractive force generation. This platform makes it possible for construct human dynamic motion control functions more precisely and is thus useful for bio-mimetic robots. By using the super-redundant human body model, we are studying the brain motor control functions through the dynamic simulations.

    SOC INSTRUMENT CONTROL ENGINEERS JAPAN, 2004, SICE 2004 ANNUAL CONFERENCE, VOLS 1-3, 2395 - 2398, English

    [Refereed]

    International conference proceedings

  • H Hirata, ZW Luo

    JOHN WILEY & SONS INC, May 2003, MAGNETIC RESONANCE IN MEDICINE, 49 (5), 977 - 977, English

    [Refereed]

  • Hierarchical control structure of a multi-legged robot for environmental adaptive locomotion

    T. Odashima, Zhiwei Luo, S. Hosoe

    2003, Artificial Life and Robotics, 6 (1), 44 - 51

    [Refereed]

  • Design of Multivariable Control System with Output Delays Based on the Controller Parametrization

    IZUTA Guido, WATANABE Keiji, LUO Zhi Wei

    計測自動制御学会, 31 Jul. 2001, 計測自動制御学会論文集, 37 (7), 618 - 625, Japanese

  • Development of a quadrupedal robot adapting to environmental changes

    ITO SATOSHI, YUASA HIDEO, LUO ZHI-WEI, ITO MASAMI, YANAGIHARA DAI

    01 Jun. 1999, Advanced robotics : the international journal of the Robotics Society of Japan, 13 (3), 263 - 264, English

    [Refereed]

  • Adaptive Locomotion to Periodic Perturbation: Adaptation Mechanism with Coupling of Oscillator and Link Dynamics

    S. Ito, H. Yuasa, Zhiwei Luo, M. Ito, D. Yanagihara

    1999, Artificial Life and Robotics, 3, 97 - 101

    [Refereed]

  • Analysis of Human Movement under Environmental Constraints -Adaptability to Environment during Crank Rotation Tasks-

    OHTA Ken, LUO Zhi-Wei, ITO Masami

    人間は未知な作業環境との複雑な相互作用の中で環境拘束に適応し, 作業スキルを獲得することによって巧みな運動を実現している.本研究はクランク回転作業を取り上げ, 環境拘束における人間の運動機能解析を行う.クランク回転運動では, 被験者は回転方向に対象物のダイナミックスの影響を受け, また半径方向に対象物の幾何学的拘束を受ける.実験ではさまざまな環境特性を実現するように, クランクの回転軸にACサーボモータを取り付け, クランク半径など環境の不確かさを作り出すために, 被験者にヘッドマントディスプレイを装着させた.その結果, クランク回転方向の粘性によって回転角速度のパターンが異なることがわかり, これを操作力楕円体の観点から解析した.また, 「生体における運動計画が作業環境のダイナミックスとは無関係に行われている」というShadmehrらの主張を否定した.更に, 初心者は確実に作業を遂行するようクランクを引っ張り, 熟練が進むにつれ, むしろ意図的に系の不安定性を利用し, クランクを押して効率的に作業を実現することを明らかにし, これをリンク間の内力と系全体の安定性との関係から考察した.

    The Institute of Electronics, Information and Communication Engineers, Jun. 1998, The Transactions of the Institute of Electronics,Information and Communication Engineers., 81 (6), 1392 - 1401, Japanese

    [Refereed]

    Scientific journal

  • Diffusion-based Learning Theory for Organizing Visuo-motor Coordination

    Zhiwei LUO, Masami Ito

    Lead, 1998, Biological Cybernetics, 79, 279 - 289

    [Refereed]

  • A Mathematical Model of Adaptive Behavior in Quadruped Locomotion

    S. Ito, H. Yuasa, Zhiwe Luo, M. Ito, D. Yanagihara

    1998, Biological Cybernetics, 78, 337 - 347

    [Refereed]

  • WU Jianqing, LUO Zhiwei, YAMAKITA Masaki, ITO Koji

    This paper studies position/force hybrid control of a robot manipulator to interact with its uncertain flexible object. Because of its flexibility, the object dynamics will influence the robot's control system, and since it is a distributed parameter system, the object dynamics as seen from the robot's end-effector will change when the robot moves on its different locations. In this paper, the variation of the object dynamics as seen from the robot end-effector is formulated as an uncertain linear parameter-varying system (ULPV). Gain scheduled control is developed for controlling this kind of uncertain system. It is found, although the robot's position control loop is not influenced by the contact force, the robot's moving velocity influences the solution of the force control system's Riccati equation, which was used in constructing the system's force control input. Therefore, the position control loop should be designed with respect to the force control loop. Computer simulations show the effectiveness of our control approach.

    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 15 May 1997, Transactions of the Institute of Systems, Control and Information Engineers, 10 (5), 236 - 247, English

    [Refereed]

  • 未知な柔軟曲面上での倣い作業におけるマニピュレータの動的位置/力制御

    呉建青, 羅 志偉, 山北正毅, 伊藤宏司

    1997, 日本機械学会論文集(C編), 63 (607), 303 - 310, Japanese

    [Refereed]

    Scientific journal

  • On cooperative manipulation of dynamic objects

    LUO ZHI-WEI, ITO KOJI, ITO MASAMI, KATO ATSUO

    01 Nov. 1996, Advanced robotics : the international journal of the Robotics Society of Japan, 10 (6), 621 - 636, English

    [Refereed]

  • Adaptive hybrid control of manipulators on uncertain flexible objects

    WU JIANQING, LUO ZHIWEI, YAMAKITA MASAKI, ITO KOJI

    01 Sep. 1996, Advanced Robotics, 10 (5), 469 - 485, English

    [Refereed]

  • Nonlinear robust control for robot compliant manipulation on dynamic environments

    LUO ZHI-WEI, ITO MASAMI, KATO ATSUO, ITO KOJI

    01 Mar. 1996, Advanced robotics : the international journal of the Robotics Society of Japan, 10 (2), 213 - 227, English

    [Refereed]

  • Robustness of Multi-Degree of Freedom Robot's Control System in Contact Tasks

    LUO Zhi-Wei, TAKAHASHI Hideki, ITO Masami

    計測自動制御学会, 28 Feb. 1993, 計測自動制御学会論文集, 29 (2), 239 - 241, Japanese

    [Refereed]

  • Control Design of Robot for Compliant Manipulation on Dynamic Environments

    Zhiwei LUO, Masami ITO

    Lead, 1993, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 9 (3), 286 - 296, English

    [Refereed]

    Scientific journal

  • ト-クンの巡回とデ-タ転送をHDLC手順に準拠して処理するリング状LAN

    加藤 厚生, 羅 志偉

    電子情報通信学会, Dec. 1987, 電子情報通信学会論文誌 D 情報・システム, 70 (12), p2688 - 2696, Japanese

    [Refereed]

    Scientific journal

  • 1A2-4 Identification of Ankle Viscoelasticity During Quiet Upright Stance

    IWAO Kazutaka, NAGANO Akinori, LUO Zhi-Whi

    Nowadays, aging is rapidly proceeding in Japan. We can predict that there will be many accidents of falls of the elderly. So we pay attention to the prevention of falling. In this paper, we model quiet posture with simple inverted pendulum model and identify ankle viscoelasticity during quiet stance using sway of the center of pressure measured by force plate. We examined the change of ankle viscoelasticity when the subject's visual conditions were changed or the ankles were stretched. Visual conditions were open eyes, closed eyes, and biofeedback of the center of pressure. While we found that sway of center of pressure increased as the result of change of visual conditions and ankle joints stretching, we found that ankle viscoelasticity did not change.

    The Japan Society of Mechanical Engineers, 01 Sep. 2011, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 2011 (21), 98 - 101, Japanese

  • 1A2-5 Estimation of Walking Intention and Development of Adaptive Walking Training System

    Kato Shoichi, Nagano Akinori, Luo Zhiwei

    For evaluation and training of motor function, we developed a system which estimates human walking intention and trains human walking. We used treadmill with built-in force plates, and measure floor reaction force. From the force measurement, the intention of the subject was estimated. We find the linearity between the walking speed and the impulse of the horizontal reaction force when the ground was kicked in walking. Based on this characteristic, the speed of the treadmill was adjusted according to the subject's intention. As future tasks, it is necessary to further develop the system so that the individual variation can be solved.

    The Japan Society of Mechanical Engineers, 01 Sep. 2011, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 2011 (21), 102 - 103, Japanese

  • 1A2-3 Estimation of Human Emotion Using Near-Infrared Spectroscopy

    MURASE Yuki, NAGANO Akinori, LUO Zhi-Wei

    Recently, Brain-Computer Interface (BCI) has been studied by many researchers. In this study, brain activity of the frontal lobe was measured using Near-Infrared Spectroscopy (NIRS) when the subject feels comfortable or uncomfortable. Specifically, two kinds of emotion were classified by combination of five features and three discriminant analyses when the subject looked at the pictures in the screen. Presented pictures were three types: Figure, Color and Image task. As a result, maximum discrimination rate was 85% when training data were identical to the test data. Average discrimination rate was 10% lower when training data were different from test data. Discrimination rates varied by combination of features and discriminant analyses.

    The Japan Society of Mechanical Engineers, 01 Sep. 2011, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 2011 (21), 94 - 97, Japanese

  • 1A2-1 Target Trajectory Design of Parametrically Excited Inverted Pendulum for Efficient Bipedal Walking

    HONJO Toyoyuki, HAYASHI Takeshi, NAGANO Akinori, LUO Zhi-Wei

    In the study of efficient bipedal walking, the center of robot's total mass have been treated as an inverted pendulum. We have studied control methods in which this inverted pendulum follows the target trajectory of parametric excitation. In this paper, we propose a new target trajectory design method for efficient bipedal walking. This target trajectory was represented by a product of two sigmoid functions. We analyzed the relationship between parameters of target trajectory and energy efficiency. As a result, we found that the gentle rising and falling of the target trajectory contributed to energy efficiency via numerical simulations of an inverted pendulum and a bipedal robot. Then, we achieved efficient dynamic walking used by proposed target trajectory.

    The Japan Society of Mechanical Engineers, 01 Sep. 2011, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 2011 (21), 87 - 90, Japanese

    [Refereed]

    International conference proceedings

  • Effect of visual biofeedback on motor imagery

    NAGAI Shinichi, MURASE Yuki, SEKI Keiko, NAGANO Akinori, LUO Zhiwei

    The motor imagery of the body is frequently used for the BCI or rehabilitation. However, it is reported that the brain activation by motor imagery is lower than the brain activation by motor execution, and it is more difficult to use the motor imagery for the BCI or rehabilitation than the motor execution. This is because the subject is not given real-time sensory feedback when the motor imagery task is performed. We used the technique of biofeedback to solve this problem. Biofeedback is a technique that trains people to control bodily processes with equipments. We measured the brain activation during motor imagery with NIRS, and usually presented the measured brain activity to the subject. Finally, the brain activation by motor imagery approached that by motor execution, and we suggest that we can use the brain activation by motor imagery for the BCI or rehabilitation.

    The Institute of Electronics, Information and Communication Engineers, 18 Jul. 2011, IEICE technical report, 111 (157), 55 - 60, Japanese

    Symposium

  • Innovation of Health Engineering for Aging Society

    LUO Zhiwei

    Development of Health Industry is important for supporting the aging society. For which, the solid scientific foundation --- Health Engineering --- should be established, that not only based on present medical science, bioscience, health science, but also should include advanced electric engineering, information technology as well as robotics. This can contribute to the scientific health management, heath promotion, health prediction, care support, rehabilitation as well as the scientific evaluation of human's health so as to improve their social activities.

    Lead, The Institute of Electronics, Information and Communication Engineers, 18 Jul. 2011, IEICE technical report, 111 (157), 61 - 64, Japanese

    [Invited]

    Symposium

  • Hybrid Control of Network Coupled Dynamical System

    MURAYAMA Toru, LUO Zhi-Wei, NAGANO Akinori

    We report a hybrid control method of a network coupled system. A network coupled system is a coupled system whose subsystems interact through network, and the network structure is expressed as graph. Espesially we regard the graph as controllable states in our research, and we control the graph and subsystems' states simultane ously. Because the graph is a discrete state, we formulate a network coupled system as a hybrid dynamical system and show the control method.

    Corresponding, The Institute of Electronics, Information and Communication Engineers, 18 Jul. 2011, IEICE technical report, 111 (157), 11 - 14, Japanese

    Symposium

  • B26 Mathematical analysis of hammer movement based on a parametrically excited double pendulum

    OHTA Ken, UMEGAKI Koji, MUROFUSHI Koji, LUO Zhi Wei

    The motions of a hammer are commonly regarded as a circular movement which a hammer undergoes around a turning human body. The distance of a throw depends on the speed of the hammer and the angle of its trajectory at the instant of release. The speed of the hammer increases gradually during preliminary winds and turns. During each turn the hammer rises up toward the high point of the trajectory and passes through the low point. Our interest in this study was to understand the mechanism of acceleration of the hammer in terms of parametrical excitation. The motions of hammer were analyzed to examine our theory using double pendulum model.

    The Japan Society of Mechanical Engineers, 2010, The Proceedings of the Symposium on sports and human dynamics, 2010 (0), 319 - 324, Japanese

    Symposium

  • B-43 Analysis of Hammer Movement Based on Pendulum Model

    OHTA Ken, UMEGAKI Koji, MUROFUSHI Koji, LUO Zhi Wei

    The motions of hammer were analyzed to understand the mechanism of acceleration using variable-length pendulum and hula-hoop model using energy pumping mechanism. The condition that makes the time derivative of the energy positive is derived as energy pumping for hammer. The condition is expressed in terms of tugging force times velocity to pump hammer energy and tangential acceleration on the handle. In this study, motions of hammer were analyzed and numerical experiments were performed to examine the validity of the theory.

    The Japan Society of Mechanical Engineers, 2009, The Proceedings of Joint Symposium: Symposium on Sports Engineering, Symposium on Human Dynamics, 2009 (0), 447 - 452, Japanese

    Symposium

  • 1P1-B14 Experimental Study of Dynamic Bipedal Walking Based on Principle of Parametric Excitation

    HAYASHI Takeshi, KANEKO Kazuaki, ASANO Fumihiko, HARATA Yuji, HIRANO Shinya, LUO Zhi-Wei, KATO Atsuo

    This paper reports some interesting results on our experimental case study of parametrically excited dynamic bipedal walking. We describe the detailed specifications of the final walking machine that has telescopic legs, semicircular feet, free hip-joint, and counterweights. The walker finally succeeded in sustaining stable dynamic walking on level ground in accordance with the principle of parametric excitation utilizing the effects of semicircular feet and counterweights. We also conducted numerical analysis to examine the change of gait descriptors with respect to the physical parameters, and the results show that the counterweights are effective for improvement of the gait efficiency.

    The Japan Society of Mechanical Engineers, 06 Jun. 2008, ロボティクス・メカトロニクス講演会講演概要集, 2008, "1P1 - B14(1)"-"1P1-B14(4)", Japanese

    Symposium

  • Linear State Space Identification for Muscle Force and Mechanomyogram Responses of Isometric Twitch Contraction

    高木賢太郎, 高木賢太郎, 田原健二, 田原健二, 吉田守夫, 伊東保志, 伊東保志, 三田勝己, 三田勝己, LUO Zhi-Wei, LUO Zhi-Wei

    2008, 生体・生理工学シンポジウム論文集, 23rd

    Symposium

  • 1P1-E03 Asymmetric Shape of Semicircular Feet and Its Effect on Gait Performance

    ASANO Fumihiko, LUO Zhi-Wei

    The authors have clarified the mechanisms and importance of semicircular feet on dynamic biped locomotion. This paper then investigates the effect of asymmetric shape of semicircular feet on biped walking speed. The rolling effect acts as the virtual ankle-joint torque during the stance phase; the heel-side effect propels the robot's center of mass (CoM) forward during the first-half of cycle, whereas the toe-side effect forces CoM backward during the second-half of cycle. The feet on the other hand reduce energy-dissipation caused by heel-strikes at instants of transition. These properties can be adjusted by changing the foot radius. The question then yields of which effect is more crucial for gait generation. Underactuated virtual passive dynamic walking is considered to generate a biped gait and its parametric studies are performed to clarify the mechanisms of semicircular feet with various foot radius.

    The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "1P1 - E03(1)"-"1P1-E03(4)", Japanese

    Symposium

  • 1P1-E02 Role of Passive Knee-joints from Mechanical Energy Cycle Point of View

    ASANO Fumihiko, LUO Zhi-Wei

    This paper investigates the roles of passive knee-joints in dynamic biped locomotion systems from the viewpoint of mechanical energy cycle. We introduce two planar biped walking models for analyses; one is with semicircular feet and the other is with flat feet. Viscosity at knee-joint is considered as a function to distribute mechanical energy dissipation and its effect on walking speed is numerically investigated. The analysis results and properties of the two models are compared, and the importance of mechanical energy dissipation in dynamic biped locomotion is discussed.

    The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "1P1 - E02(1)"-"1P1-E02(4)", Japanese

    Symposium

  • Estimation of the Allocated Positions by Subsystems in Modular Multi-Legged Robot

    ODASHIMA Tadashi, LUO Zhiwei

    The Japan Society of Mechanical Engineers, 25 Sep. 2006, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 16, 177 - 180, Japanese

    Symposium

  • Development A Human-Interactive Robot RI-MAN

    ODASHIMA Tadashi, ONISHI Masaki, TAHARA Kenji, MUKAI Toshiharu, HIRANO Shinya, LUO Zhiwei

    The Japan Society of Mechanical Engineers, 25 Sep. 2006, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 16, 71 - 74, Japanese

    Symposium

  • On Body Cognitive Function of RI-MAN

    ONISHI Masaki, ODASHIMA Tadashi, MUKAI Toshiharu, LUO Zhi-Wei

    The Japan Society of Mechanical Engineers, 25 Sep. 2006, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 16, 75 - 78, Japanese

    Symposium

  • Restoration of Blurred Moving Image for Abstracting A Moving Object

    AKIYAMA Kei, LUO Zhi-wei, ONISHI Masaki, HOSOE Shigeyuki

    Iterative optimal calculation methods have been proposed for blurred static image restoration based on the wavelet transformation. However, it is quite difficult to apply these methods to process moving images due to the high computation cost. In this paper, we propose an effective restoration method for blurred moving images by modeling the motion of a moving object and predicting the future object position. We verified our method by computer simulations to show that our method can dramatically reduce the computation time.

    The Institute of Electronics, Information and Communication Engineers, 22 Apr. 2005, IEICE technical report. Image engineering, 105 (30), 25 - 30, Japanese

    Symposium

  • Unification of Gait Generation Methods via Variable Virtual Gravity and Its Control Performance Analysis

    Asano F, Luo Z, Yamakita M

    The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 71 - 72, Japanese

  • Bio-Mimetic Control for Whole Arm Cooperative Manipulation

    Asano F, Luo Z, Yamakita M, Tahara K, Hosoe S

    The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 25 - 25, Japanese

  • Development of A Dynamic Simulator by using Musculo-Skeletal Model

    Tahara K, Lou Z, Kato A

    The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 26 - 26, Japanese

  • Prediction of human movements using dynamic version of the minimum hand jerk criterion

    Masui Y, svinin Mikhail, Luo Z, Hosoe S

    The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 27 - 27, Japanese

  • Self-organizatoin of Visuo-motor Coordination for Redundant D.O.F. System

    Abe N, Luo Z. W, Hosoe S

    The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 27 - 27, Japanese

  • Tele-cooperative Control of A Dual-Arm Robot Using Mixed Reality Technology

    Tanaka H, Luo Z. W, Hosoe S

    The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 26 - 27, Japanese

  • Local computation of optical flow for Silicon Retina

    AKIYAMA Kei, LUO Zhi-wei, HOSOE Shigeyuki, YAGI Tetsuya, ONISHI Masaki

    In this paper, we propose a parallel computation algorithm for obtaining optical flow by utilizing the specific architecture and functions of the Silicon Retina developed by Yagi et al. The Silicon Retina we used has two kinds of outputs, one is the V2G edge enhancement image and another is the frame subtraction image. In our approach, we first detect the moving edges of a object based on these two images. We then calculate the tangent direction velocity of the moving edges by measuring the local maximums from the frame subtraction image and the spatial gradients from an edge enhancement image with respect to the moving edges. Experiments of our algorithms using the Silicon Retina and a computer are performed and the favorable results are obtained.

    The Institute of Electronics, Information and Communication Engineers, 07 Mar. 2003, Technical report of IEICE. PRMU, 102 (708), 117 - 122, Japanese

  • Optimal Trajectory Formation of Crank Rotation Task

    OHTA Ken, SVININ Mikhail, LUO Zhi-Wei, HOSOE Shigeyuki, TAMURA Toshiyo

    09 Sep. 2002, 生体・生理工学シンポジウム論文集, 17, 229 - 230, Japanese

  • An autonomous decentralized gait patterns generation algorithm considering the system's extendibility : Utilization of progressive wave on torus space

    ODASHIMA Tadashi, YUASA Hideo, LUO Zhi-wei

    21 Jan. 2000, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 12, 501 - 506, Japanese

    [Refereed]

  • Learning of coodinate rhythmic movement and it's transformation to unconscious movement

    OHTA Ken, LUO Zhi-Wei

    There are two different types of human movements. One is conscious movement and another is the unconscious movement. The conscious movement can be transformed into unconscious movement through repetitive training. This kind of transformation can not only reduced the load of high level brain organization, but also makes it possible to realize high skillful movement with in lower reflex level. Biological studies suggested that such kind of function in brain have deep relations with basal ganglia. In this research, we study this unconsciousness of movement by using the experiment on human coordination rhythmic movement.

    The Institute of Electronics, Information and Communication Engineers, 18 Mar. 1999, IEICE technical report. ME and bio cybernetics, 98 (671), 17 - 21, Japanese

  • Gait pattern generation of a myriapod robot system based on energy consumption

    ODASHIMA Tadashi, YUASA Hideo, LUO Zhi-wei, ITO Masami

    18 Jan. 1999, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 11, 39 - 44, Japanese

    [Refereed]

  • Parallel Decentralize Computation Architecture for Calculating an Inverse Map of a Redundant System

    ANDO Hideyuki, LUO Zhi-Wei, ITO Masami

    18 Jan. 1999, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 11, 53 - 56, Japanese

    [Refereed]

    Research institution

  • Development of a quadruped walking robot system that can adapt to periodic perturbation

    ITO Satoshi, YUASA Hideo, LUO Zhi-wei, ITO Masami, YANAGIHARA Dai

    20 Jan. 1998, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 10, 307 - 310, Japanese

    [Refereed]

  • 複数ロボットによる動的対象物の分散協調制御

    羅志偉

    Lead, 1998, 電気学会技術報告, 700, 10 - 12

    [Refereed]

    Symposium

  • 動的作業環境におけるテレーマニピュレーションの研究

    梅沢将実, 羅 志偉, 加藤厚生, 伊藤正美

    1998, 愛知工業大学研究報告, 33, 17 - 21

    [Refereed]

    Research institution

  • Analysis of Human Movement in Dynamical Environment Constrained by Geometry

    OHTA Ken, LUO Zhi-Wei, ITO Masami

    04 Sep. 1997, 生体・生理工学シンポジウム論文集, 12, 325 - 328, Japanese

    Symposium

  • On Adaptation of Rhythmic Movements to Environmental Variation : A Mathematical Study

    ITO Satoshi, YUASA Hideo, LUO Zhi-wei, ITO Masami

    16 Jan. 1997, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 9, 205 - 210, Japanese

    [Refereed]

  • An Uniform Observing Method in the Analysis of Linear Electric Network Including Active Elements

    Luo Zhiwei, Kato Atsuo

    This paper studied lumped linear electric network including active elements. By definition of self-parameter matrix ([Y'], [Z']), mutual-parameter marix ([G], [R]) and a uniform selection of directed branch, we find that the parameter matrix of electric network including active elements ([Y], [Z]) is equal to the sum of ([Y'], [Z']) and ([G], [R]), and because ([Y'], [Z']), ([G], [R]) can be obtained just by observation, it made us very easy to get the parameter matrix of electric network ([Y], [Z]), so the analysis of this kind of circuit become much simple. It may be useful in the design of LSI with CAD. Also, two special cases have been risen to make attention when using the theorems of this paper. The computer simulation of electric network making application of this method will be hopeful.

    Lead, Aichi Institute of Technology, Mar. 1988, Bulletin of Aichi Institute of Technology. Part B, 23, 33 - 39, Japanese

    [Refereed]

    Research institution

  • HDLC手順によるトークンリング方式LANの開発

    加藤厚生, 青木徹彦, 董 屏, 羅 志偉

    1987, 愛知工業大学研究報告, 22, 19 - 25

    [Refereed]

    Research institution

  • Imitation and Innovation: Reflections on the Development of Intelligent Science and Technology and the Progress of Human Society

    Zhiwei Luo

    Lead, 2020, 2020 Global Smart Education Conference(Keynote Speaker)

    [Refereed][Invited]

  • Innovation of AI based Health Services for Aging Society

    Zhiwei Luo

    Lead, 2020, International Symposium on Artificial Intelligence in Medical Sciences (ISAIMS 2020)

    [Refereed][Invited]

    International conference proceedings

  • Virtual Reality Systemを用いたExtrapersonal Neglectの評価 無視空間に乖離が生じた一症例

    田村 正樹, 白川 真, 羅 志偉, 種村 留美

    (一社)日本高次脳機能障害学会, Mar. 2019, 高次脳機能研究, 39 (1), 147 - 148, Japanese

    [Refereed]

    Scientific journal

  • Suppression of Self-Excited Vibrations in Rotating Machinery Utilizing Leaf Springs

    Chang Wang, Jun Liu, Zhiwei Luo

    2019, Journal of Mechanical Engineering, 65 (10), 599 - 608

    [Refereed]

    Scientific journal

  • Study of Hepatic Vascular Dynamics Based on Symmetrical Pulsating Perfusion

    Jun Liu, Lanlan Tian, Songli Wang, Zhiwei Luo

    2019, Annals of Transplantation, 24, 214 - 222

    [Refereed]

    Scientific journal

  • Innovation of Health Robotics for Aging Society

    Zhiwei Luo

    Lead, 2018, The 12th Int. Convention on Rehabilitation Engineering and Assistive Technology (i-CREATe2018 and HCR2018), 2018, Invited Talk

    [Refereed][Invited]

  • Assess BA10 activity in slide-based and immersive virtual reality prospective memory task using functional near-infrared spectroscopy (fNIRS)

    Dong, D, Wong, L, Zhiwei Luo

    2018, Applied Neuropsychology: Adult, 26 (1), 1 - 7

    [Refereed]

    Scientific journal

  • Virtual Reality Technology for Evaluating Cognitivr Function of Human Subjects with Aphasia

    Zhiwei Luo

    Lead, 2017, Language Technology and Human Well-being, International Language and Culture Forum 2017(Invited Talk)

    [Refereed][Invited]

    International conference proceedings

  • Yiyang Zhang, Lei Duan, Genlin Wang, Ming Zhang, Zhiwei Luo

    2017, JOURNAL OF THE INSTITUTE OF INDUSTRIAL APPLICATIONS ENGINEERS

    [Refereed]

    Scientific journal

  • Eyeblink rate during a virtual shopping game performance for cognitive rehabilitation

    Okahashi S, Watanabe R, Luo Zhiwei, Futaki T

    2016, The 11th International Conf. on Disability, Virtual Reality and Associated Technologies 2016

    [Refereed]

    International conference proceedings

  • Robotics for Health Promotion

    Zhiwei Luo

    Lead, 2015, Proc. of 2015 IEEE Int. Conf. on Mechatronics and Automation, 2015 Keynote Speech

    [Refereed]

    International conference proceedings

  • Reserch and Development of an Assessment System for Cognitive Function Using Virtual Reality

    Sakai H, Okahashi S, Kojima M, Nagano A, Zhiwei Luo

    2013, Proceedings of Life Engineering Symposium 2013

    [Refereed]

    International conference proceedings

  • Performance of Polyurethane Film Actuators with Polydimethylsiloxane Units into the Main Chain or Side Chain

    Takeshi Fukuda, Zhiwei Luo, Aya Ito

    2013, The 7th World Congress on Biomimetics, Artificial Muscles and Nano-Bio(BAMN2013), 2013

    [Refereed]

    International conference proceedings

  • Renormalization molecular dynamics for micro fluid analysis

    KASHIHARA Yumi, NAGANO Akinori, Zhiwei Luo

    2011, CBI/JSBi 2011 合同大会, 情報計算化学生物学会

    [Refereed]

    International conference proceedings

  • Hybrid Control of Networked Multi-Vehicle System Considering Limitation of Communication Range

    Toru Murayama, Akinori Nagano, Zhiwei Luo

    2011, International Conference on Control, Automation, Robotics and Vision 2011, World Academy of Science, Engineering and Technology, Venice, Italy

    [Refereed]

    International conference proceedings

  • Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Locomotion Interfaces,

    Haiwei Dong, Jianjun Meng, Zhiwei Luo

    2011, 8th International Conference on Ubiquitous Robots and Ambient Intelligence, 2011

    [Refereed]

    International conference proceedings

  • A new method of posturography processing: directional change analysis

    NAGANO Akinori, NORITAKE Hisahito, LUO Zhiwei

    2010, 6th World Congress of Biomechanics

    [Refereed]

    International conference proceedings

  • Derivation of stability conditions of passive dynamic walking

    Toyoyuki Honjo, Zhiwei Luo, Akinori Nagano

    2010, CLAWAR2010

    [Refereed]

    International conference proceedings

  • Passive Control of A Dual-Arm Cooperative Robot

    Kosuke Kido, Zhiwei Luo, Akinori Nagano

    2010, SICE Annual Conference 2010

    [Refereed]

    International conference proceedings

  • Robust Falling-down Avoidance Control for Acrobat Robot Using Switching Controller

    Yusuke Yashiro, Masaki Yamakita, Shinya Hirano, Zhiwei Luo

    2010, SICE Annual Conference 2010

    [Refereed]

    International conference proceedings

  • Amplitude properties of mechanomyogram with stimulation intensity during single twitch contraction produced by electrical stimulation,

    Y.Itoh, K.Tahara, K.Takagi, M.Yoshida, Zhiwei Luo, K.Akataki, K.Mita

    2008, Proceedings of the International Symposium on Biological and Physiological Engineering / The 22nd SICE Symposium on Biological and Physiological Engineering,, 94 - 95

    [Refereed]

    International conference proceedings

  • Behavior Design of Human-interactive Robot by Stochastic Petri-net and Optimal Control

    Y.Kobayashi, M.Onishi, S.Hosoe, Zhiwei Luo

    2008, Proceedings of the IEEE SMC International Conference on Distributed Human-Machine Systems 2008, 69 - 76

    [Refereed]

    International conference proceedings

  • Modeling and Control of 3-D pinching in Full Variables by Soft Fingers under Non-holonomic Constraints

    M.Yoshida, S.Arimoto, Zhiwei Luo

    2008, 8th World Congress on Computational Mechanics & 5th European Congress on Computational Methods in Applied Sciences and Engineeering, Jul. 2008

    [Refereed]

    International conference proceedings

  • Multi-Scale Distributed Port-Hamiltonian Representation of Ionic Polymer-Metal Composite

    G.Nishida, K.Takagi, B.Maschke, Zhiwei Luo

    2008, Proceedings of the 17th World Congress The International Federation of Automatic Control,, 2300 - 2305

    [Refereed]

    International conference proceedings

  • On NIRS-based BRI for a Human-Interactive Robot RI-MAN

    S.Kishi, Zhiwei Luo, A.Nagano, M.Okumura, Y.Nagano, Y.Yamanaka

    2008, Joint 4th International Conference on Soft Computing and Intelligent Systems and 9th International Symposium on advanced Intelligent Systems

    [Refereed]

    International conference proceedings

  • Falling-down Avoidance Control for Acrobat Robot by Q-Learning with Function Approximation,

    H.Suzuki, M.Yamakita, Zhiwei Luo, S.Hirano

    2008, Proceedings of the SICE Annual Conference 2008

    [Refereed]

    International conference proceedings

  • RECOVERY OF POSTURAL SWAY AFTER STATIC STRETCH OF THE ANKLE JOINT

    Tomoaki Iwata, Akinori Nagano, Zhiwei Luo

    2008, North American Congress on Biomechanics 2008

    [Refereed]

    International conference proceedings

  • Experimental Verifications on Control and Sensing of Bucky Gel Actuator/Sensor,

    N.Kamamichi, M.Yamakita, K.Asaka, Zhiwei Luo, T.Mukai

    2007, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1172 - 1177

    [Refereed]

    International conference proceedings

  • Port-based Energy Balance on Compact Manifolds,

    G.Nishida, R.Enomoto, M.Yamakita, Zhiwei Luo

    2007, Reprint of the 7th IFAC Symposium on Nonlinear Control Systems, 491 - 496

    [Refereed]

    International conference proceedings

  • Time-Varying Port-Representation of Dissipative Structures with Gauge Transformations

    G.Nishida, M.Yamakita, Zhiwei Luo

    2007, Proceedings of the European Control Conference 2007, 4819 - 4828

    [Refereed]

    International conference proceedings

  • Integrated Actuator-Sensor System on Patterned IPMC Film : Consideration of Electoric Interference,

    H.Nakadoi, A.Sera, M.Yamakita, K.Asaka, Zhiwei Luo, K.Ito

    2007, Proceedings of the 4th IEEE International Conference on Mechatronics

    [Refereed]

    International conference proceedings

  • Virtual Lagrangian Construction Method for Infinite-Dimensional Systems with Homotopy Operators

    G.Nishida, M.Yamakita, ZhiweiLuo

    2007, Lecture Notes in Control and Information Sciences, 366, 75 - 86

    [Refereed]

    International conference proceedings

  • Development of functionally distrubuted sensor network for rescue

    HADA Yasushi, HIRANO Shinya, KAWABATA Kuniaki, LUO Zhiwei, KAETSU Hayato, ASAMA Hajime

    In this paper, we functionally distributed sensor network for rescue. It consists of base Rescue-Communicators with global mesh network, and client Rescue-Terminals with local hub network. Rescue-Terminals have microphone, speakers, network and cheap CPU, and gather victims' voice in rubble. Rescue-Communicator accumulates and shares the voices to other Communicators with mesh network. The functionally layered system allows to reduce the total system cost and network congestion compared to many Communicators with one mesh network.

    The Japan Society of Mechanical Engineers, 25 Sep. 2006, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 16, 339 - 340, Japanese

    Symposium

  • A Snake-like Swimming Robot Using IPMC Actuator/Sensor,

    N.Kamamichi, M.Yamakita, K.Asaka, Zhiwei Luo

    2006, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 1812 - 1817

    [Refereed]

    International conference proceedings

  • Snake-like Swimming Artificial Muscle -A Bio-Mimetic Soft Robot-,

    Y.Nakabo, K.Takagi, T.Mukai, Zhiwei Luo, K.Asaka

    2006, Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles -

    [Refereed]

    International conference proceedings

  • On Control Strategy of A Redundant Musculo-Skeletal Arm System,

    K.Tahara, Zhiwei Luo, S.Arimoto

    2006, Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles -

    [Refereed]

    International conference proceedings

  • Modeling of and Experiments with Skillful Movements in Dynamic Environments

    M.Svinin, I.Goncharenko, Zhiwei Luo, S.Hosoe

    2006, Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles -

    [Refereed]

    International conference proceedings

  • A Distributed Circuit Model for IPMC's Electrical Impedance,

    K.Takagi, Y.Nakabo, Zhiwei Luo, K.Asaka

    2006, Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles

    [Refereed]

    International conference proceedings

  • An Autonomous Ray-Like Swimming Robot with IPMC Artificial Muscle,

    M.Yamamura, K.Takagi, Zhiwei Luo, K.Asaka, Y.Hayakawa, M.Onishi, S.Hirano

    2006, Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles

    [Refereed]

    International conference proceedings

  • Global Boundary Connection of Stokes-Dirac Structures for Morse-Smale Flows on Compact Manifolds

    G.Nishida, M.Yamakita, Zhiwei Luo

    2006, Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, 515 - 520

    [Refereed]

    International conference proceedings

  • Self-Localization for Subsystems in Modular Structured Multi-Legged Robot,

    T.Odashima, Zhiwei Luo

    2006, Proceedings of the 9th International Conference on Climbing and Walking Robots, 573 - 578

    [Refereed]

    International conference proceedings

  • Modeling of Human-Like Reaching Movements in the Manipulation of Flexible Objects,

    M.Svinin, I.Goncharenko, Zhiwei Luo, S.Hosoe

    2006, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 549 - 555

    [Refereed]

    International conference proceedings

  • A Soft Human-Interactive Robot RI-MAN,

    T.Odashima, M.Onishi, K.Tahara, K.Takagi, F.Asano, Y.Kato, H.Nakashima, Y.Kobayashi, T.Mukai, Zhiwei Luo, S.Hosoe

    2006, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) (Video)

    [Refereed]

    International conference proceedings

  • Landing Control of Acrobat Robot by RHC - Experimental Evaluation -,

    T.Rokusho, M.Yamakita, S.Hirano, Zhiwei Luo

    2006, Proceedings of SICE-ICASE International Joint Conference 2006, 4808 - 4813

    [Refereed]

    International conference proceedings

  • Field Port-Lagrangian Representation of Conservation Laws for Variational Symmetries,

    G.Nishida, M.Yamakita, Zhiwei Luo

    2006, Proc of the IEEE Conf. on Decision & Control(CDC), 5875 - 5881

    [Refereed]

    International conference proceedings

  • On Biomimetic Robotics

    Zhiwei Luo

    Lead, 2006, Proc. of International Symposium on Advanced Robotics and Machine Intelligence, 2006

    [Refereed][Invited]

  • An Energy Effective Biped Walking Mechanism Based on Parametric Excitation

    F.Asano, Z.W.Luo

    2005, Proc. of the IEEE ROBIO 2005 Workshop, 53 - 58

    [Refereed]

    International conference proceedings

  • On Recent Developments and Autonomous Decentralized Control of Mobile Robot

    Zhiwei LUO, T.Odashima, K.Takagi, M.Yamamura, Y.Hayakawa, S.Hirano, A.Kato

    Lead, 2005, Proc. of the IEEE ROBIO 2005 Workshop,, 19 - 22

    [Refereed]

    International conference proceedings

  • Control of Biped Walking Robot with IPMC Linear Actuator

    M.Yamakita, N.Kamamichi, T. Kozuki, K.Asaka, Z.W. Luo

    2005, Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2005).

    [Refereed]

    International conference proceedings

  • A Snake-Like Swimming Robot Using IPMC Actuator and Verification of Doping Effect

    M.Yamakita, N.Kamamichi, T.Kozuki, K.Asaka, Z.W.Luo

    2005, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3333 - 3338

    [Refereed]

    International conference proceedings

  • Incremental Motion Compression for Telepresent Walking Subject to Spatial Constraints

    J.B. Su, Z.W.Luo

    2005, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA)

    [Refereed]

    International conference proceedings

  • An Analysis of Reaching Movements in Manipulation of Constrained Dynamic Objects

    M.Svinin, T.Odashima, S.Ohno, Z.W.Luo, S.Hosoe

    2005, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1885 - 1891

    [Refereed]

    International conference proceedings

  • Dynamic Gait Generation Based on Mechanical Energy Restoration by Telescopic Leg Motion

    Asano F, Hyon S, Luo Z, Emura T

    The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 31 - 31, Japanese

  • Construction of intellectual control system of autonomous, electric wheelchair(Faculty of Engineering:Department of Electronic Engineering)

    KAWAI Koji, HIRAMATU Seiji, LUO Zhiwei, KATO Atsuo

    Recently, aging society becomes serious problem. In this research, pays attention to the wheelchair from among welfare and medical equipment which is "Foot" for the physically handicapped person and the senior citizen. The following two systems were constructed for that User Interface which can single-step wheelchair certainly and easily and Autonomous running and obstacle avoidance function to reduce complex operation. We use indoors camera (global camera) and camera on the wheelchair (local part camera) in a different usage. The operator clicks the global camera image projected onto the operator computer for the display and converts the chick point to local coordinate system by operator's computer. Then computed rate vector to reach the target point and transmit to the autonomous wheelchair. The note type computer that loaded wheelchair controls wheelchair to tend target point along to the rate vector. In this time, the local camera always monitor safety area forward of the wheelchair. If wheelchair invades no safety areas, wheelchair is stopped. This system was conferred by experiment to control wheelchair using global and local camera information.

    Aichi Institute of Technology, 31 Mar. 2004, Bulletin of Aichi Institute of Technology. Part B, 39, 21 - 27, Japanese

    [Refereed]

  • Robotic Uncalibrated Hand-Eye Coordination Based on the Extended State Observer

    J.Su, H.Ma, Z.W.Luo

    2004, Proc. of the 5th Asian Control Conf.2004, 988 - 995

    [Refereed]

    International conference proceedings

  • Modeling and Control of Intelligent Robots A General Hybrid System Framework

    Y.Yin, Z.W.Luo, S.Hosoe, Z.Kang

    2004, Proc. of the 5th Asian Control Conf.

    [Refereed]

    International conference proceedings

  • Toward the Tracking Control of Discrete and Continuous Hybrid Systems

    Y.Yin, S.Hosoe, Z.W.Luo

    2004, Proc. of The 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications, 688 - 693

    [Refereed]

    International conference proceedings

  • Does the CNS plan the optimal trajectory of arm movement using dynamic formulation?

    K. Ohta, R. Laboissi`ere, M. Svinin, Z.W. Luo, S. Hosoe

    2004, Neural Control of Movement(NCM)14th Annual Meeting, 2004.

    [Refereed]

    International conference proceedings

  • Immersion-Type 3D Dynamic Simulation Technologies

    Z.W. Luo

    Lead, 2004, Int. Symposium on Advancement in Information Technology, 2004.

    [Refereed][Invited]

    Symposium

  • On Environmental Adaptive Motion Control and Cognitive Manipulation

    Z.W. Luo

    Lead, 2004, Proc. of Int. Workshop on Fuzzy Systems & Innovational Computing 2004 (FIC2004).

    [Refereed][Invited]

    International conference proceedings

  • Development of a soft-actuator with viscoelasticity for the estimation of human muscle dynamics

    K. Ito, K. Mita, Z.W. Luo, K. Akataki, M. Watakabe

    2004, Proc. of The Second Conf. on Artificial Muscles, 2004.

    [Refereed]

    International conference proceedings

  • Control of Biped Walking Robots with IPMC Linear Actuator with Re-doping Capability

    M. Yamakita, N. Kamamichi, Y. Kaneda, K. Asaka, Z.W. Luo

    2004, Proc. of The Second Conf. on Artificial Muscles, 2004.

    [Refereed]

    International conference proceedings

  • Control of Mechanical Impedance of IPMC Linear Actuator with Antagonism Structure

    M. Yamakita, Y. Kaneda, N. Kamamichi, K. Asaka, Z.W. Luo

    2004, Proc. of The Second Conf. on Artificial Muscles, 2004.

    [Refereed]

    International conference proceedings

  • Development of A Dynamic Human Movement Analysis Platform

    K. Tahara, T. Odashima, M. Onishi, F. Asano, Z.W. Luo, S. Hosoe

    2004, Proc. of The Second Conf. on Artificial Muscles, 2004.

    [Refereed]

    International conference proceedings

  • Adjustment of Impedance Center for Passive Interaction between A Robot and Its Environment

    Z.W. Luo, Y. Kishi, F. Asano, S. Hosoe

    2004, Proc. of The Second Conf. on Artificial Muscles, 2004.

    [Refereed]

    International conference proceedings

  • Unification of Dynamic Gait Generation Methods via Variable Virtual Gravity and Its Control Performance Analysis

    F.Asano, Z.W. Luo, M.Yamakita

    2004, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3865 - 3870

    [Refereed]

    International conference proceedings

  • Modeling and Control for Whole Arm Dynamic Cooperative Manipulation

    F.Asano, Z.W. Luo, K.Tahara, M.Yamakita, S.Hosoe

    Corresponding, 2004, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3282 - 3287

    [Refereed]

    International conference proceedings

  • On the Dynamic Version of the Minimum Hand Jerk Criterion

    M.Svinin, Y.Masui, Z.W.Luo, S.Hosoe

    2004, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 174 - 179

    [Refereed]

    International conference proceedings

  • On the Optimization Approaches to the Trajectory Formation of Human Movements

    M.Svinin, T.Odashima, Zhiwei LUO, S.Hosoe:

    2004, Proc. of the CSIMTA, Complex Systems Intelligence and Modern Technological Applications 2004,, 628 - 633

    [Refereed]

    International conference proceedings

  • Modeling and Dynamic Simulation of Super-redundant Musculo-skeletal System

    K.Tahara, Z.W.Luo, T.Odashima, M.Onishi, F.Asano, A.Kato

    Corresponding, 2004, Proc. of the CSIMTA, Complex Systems Intelligence and Modern Technological Applications 2004,, 503 - 508

    [Refereed]

    International conference proceedings

  • Analysis of Human Movements in Virtual Environments: Dealing with Flexible Objects

    M.Svinin, Y.Masui, Z.W.Luo, S.Hosoe

    2004, Proc. of the 2004 IEEE Int. Conf. on Systems Man & Cybernetics, 298 - 2923

    [Refereed]

    International conference proceedings

  • Bio-Mimetic Control for Whole Arm Cooperative Manipulation

    F.Asano, Z.W.Luo, M.Yamakita, K.Tahara, S.Hosoe

    Corresponding, 2004, Proc. of the 2004 IEEE Int. Conf. on Systems Man & Cybernetics, 704 - 709

    [Refereed]

    International conference proceedings

  • 3DImmersion-type Dynamic Simulation Environment for Developing Human Interactive Robot

    M. Onishi, T. Odashima, F. Asano, Z.W. Luo, S. Hosoe

    Corresponding, 2004, Video Proc. of the 2004 IEEE Int. Conf. on Robotics & Automation, 2004.

    [Refereed]

    International conference proceedings

  • Some Extensions of Passive Walking Formula to Active Biped Robots

    F. Asano, Z.W. Luo, M. Yamakita

    Corresponding, 2004, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA)

    [Refereed]

    International conference proceedings

  • Development of Dynamic Human Simulation Platform

    K. Tahara, Z.W. Luo, T. Odashima, A. Kato

    2004, Proc. of HUT-RITS Joint Symposium on Sensory-Motor Coordination in Robotic Manipulation, 2004., 81 - 84

    [Refereed]

    International conference proceedings

  • Modeling of the electromechanical response of ionic polymer metal composites (IPMC)

    K. Asaka, N. Mori, K. Hayashi, Y. Nakabo, T. Mukai, Z.W. Luo

    2004, Proc. of SPIE's 11th Annual Int. Symposium on Smart Structures / NDE 2004

    [Refereed]

    International conference proceedings

  • Learning Explicit Force Control of a Robot Manipulator Interacting with Unknown Dynamic Environment

    Y.Saitoh, Z.W.Luo, K.Watanabe, E.Muramatsu, S.Fujii

    Corresponding, 2004, Proc. of the 6th Asia-Pacific Conf. on Control and Measurement, 2004., 153 - 159

    [Refereed]

    International conference proceedings

  • Full-DOF Calibration-Free Robotic Hand-Eye Coordination Based on Fuzzy Neural Network

    J.Su, Q.Pan, Z.W.Luo

    2004, Advances in Neural Networks - ISNN2004 (Proc. of the Int. Symposium on Neural Networks 2004) part II, 7 - 12

    [Refereed]

    International conference proceedings

  • Feedback-error Learning for Explicit Force Control of a Robot Manipulator Interacting with Unknown Dynamic Environment

    Z.W.Luo, S.Fujii, Y.Saitoh, E.Muramatsu, K.Watanabe

    Lead, 2004, Proc. of the IEEE Int. Conf. on Robotics and Biomimetics 2004

    [Refereed]

    International conference proceedings

  • On Optimality of Human Arm Movements

    Z.W.Luo, M.Svinin, K.Ohta, T.Odashima, S.Hosoe

    Lead, 2004, Proc. of the IEEE Int. Conf. on Robotics and Biomimetics 2004

    [Refereed]

    International conference proceedings

  • Hybrid System Modeling and Control of Multi-contact Hand Manipulation

    Y.Yin, S.Hosoe, T.Sugimoto, F.Asano, Z.W.Luo

    2004, Proc. of the IEEE Int. Conf. on Robotics and Biomimetics 2004

    [Refereed]

    International conference proceedings

  • Dynamic Simulation of Redundant Musculo-skeletal Control System

    K.Tahara, Z.W.Luo, S.Arimoto, H.Kino

    Corresponding, 2004, Pro. of the Forth Int. Symposium on Human and Artificial Intelligence Systems, 155 - 160

    [Refereed]

    International conference proceedings

  • Optimal Feature Set by Interactive Reinforcement Learning for Image Retrieval

    J.B. Su, Fang Liu, Z.W.Luo

    2004, Proc. of the Int. Symposium on Neural Networks, 2004.

    [Refereed]

    International conference proceedings

  • Development of Artificial Muscle Actuator Using Ionic Polymer with its Application to Biped Walking Robots

    M. Yamakita, N. Kamamichi, Y. Kaneda, K. Asaka, Z.W. Luo

    2003, SPIE's 10th Annual Int. Symposium on Smart Structures / NDE 2003

    [Refereed]

    International conference proceedings

  • On Recent Bio-mimetic Studies of Legged Locomotion ---Diversity, Adaptability and Energy Consumption for Hexapod, Quadruped and Biped

    Z.W. Luo, T. Odashima, F. Asano, S. Hosoe

    Lead, 2003, Proc. of Int;Symposium on Adaptive;Motion of Animals;Machines, WeP-III

    [Refereed]

    International conference proceedings

  • Dealing with Constraints: Optimal Trajectories of the Constrained Human Arm Movements

    K. Ohta, M. Svinin, Z.W. Luo, S. Hosoe

    2003, Proc., XVII IMEKO World Congress,2003, 2059 - 2064

    [Refereed]

    International conference proceedings

  • Emergent Cooperative Manipulation of a Multi-linked Object

    M. Onishi, T. Odashima, Z.W. Luo

    Corresponding, 2003, Proc. of SICE Annual Conf., 2003, 2700 - 2703

    [Refereed]

    International conference proceedings

  • Response Function of Polymer Electrolyte Actuators

    K. Asaka, Y. Nakabo, T. Mukai, Z. W. Luo

    2003, Proc. of SICE Annual Conf. 2003, 2650 - 2653

    [Refereed]

    International conference proceedings

  • Control of Linear Artificial Muscle Actuator Using IPMC

    Y. Kaneda, N. Kamamichi, M. Yamakita, K. Asaka, Z. W. Luo

    Corresponding, 2003, Proc. of SICE Annual Conf.,2003, 218 - 223

    [Refereed]

    International conference proceedings

  • Biped Walking of Passive Dynamic Walker with IPMC Linear Actuator

    N. Kamamichi, Y. Kaneda, M. Yamakita, K. Asaka, Z. W. Luo

    2003, Proc. of SICE Annual Conf.,2003, 212 - 217

    [Refereed]

    International conference proceedings

  • Passive Impedance Control with Time-varying Impedance Center

    Y. Kishi, Z.W. Luo, F. Asano, S. Hosoe

    Corresponding, 2003, Proc. 2003 IEEE Int. Symposium on Computational Intelligence in Robotics and Automation, 1207 - 1212

    [Refereed]

  • On Dynamic Whole Body Manipulation

    F. Asano, Y. Saitoh, K. Watanabe, Z.W. Luo, M. Yamakita

    Corresponding, 2003, Proc. 2003 IEEE Int. Symposium on Computational Intelligence in Robotics and Automation,, 1201 - 1206

    [Refereed]

    International conference proceedings

  • Graph Dependant Sufficient Conditions for Synchronization of Dynamic Network System with Time-Delay,

    M. Amano, Z.W. Luo, S. Hosoe

    2003, Proc. of 4th IFAC Workshop on Time Delay Systems (TDS'03), Sep. 2003.

    [Refereed]

    International conference proceedings

  • A unified formulation and solutions to gait generation problems based on passive dynamic walking

    F. Aasano, Z.W. Luo, M. Yamakita

    2003, Proc. of the Sixth Int. Conf. on Climbing and Walking Robots and their Supporting Technologies for Mobile, 451 - 458

    [Refereed]

    International conference proceedings

  • On the Trajectory Formation of the Human Arm Constrained by the External Environment

    K. Ohta, M.M.Svinin, Z.W.Luo, S.Hosoe

    2003, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 2884 - 2891

    [Refereed]

    International conference proceedings

  • Immersion Type Virtual Environment for Human-robot Interaction

    T. Odashima, M. Onishi, Z.W. Luo, S. Hosoe

    2003, Proc. of the 2003 IEEE Int. Conf. on Systems Man & Cybernetics,, 3651 - 3656

    [Refereed]

    International conference proceedings

  • Hybrid Control of Multi-fingered Robot for Dexterous Manipulation Hand,

    Y.J. Yin, Z.W. Luo, M. Svinin, S. Hosoe

    2003, Proc. of the 2003 IEEE Int. Conf. on Systems Man & Cybernetics, 3639 - 3644

    [Refereed]

    International conference proceedings

  • Optimality of Human Movements in Constrained and Unconstrained Manipulations,

    M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

    2003, Proc. of the 2003 IEEE Int. Conf. on Systems Man & Cybernetics, 3625 - 3632

    [Refereed]

    International conference proceedings

  • Integration of PC-based 3D Immersion Technology For Bio-mimetic Study of Human Interactive Robotics

    Z.W. Luo, M. Onishi, T. Odashima, K. Oyama, F. Asano, S. Hosoe

    Lead, 2003, Proc. of the 2003 IEEE Int. Conf. on Robotics, Intelligent Systems and Signal Processing, 13 - 18

    [Refereed]

    International conference proceedings

  • Optimal trajectory of human arm reaching movements in dynamical environments,

    K. Ohta, R. Laboissiere, M. Svinin, Z.W. Luo, S. Hosoe

    Corresponding, 2003, Proc. of Neuroscience Conf., Symposium on Advances in Computational Motor Control II, 2003

    [Refereed]

    International conference proceedings

  • Dynamic Modeling and Control for Whole Body Manipulation

    F. Asano, Z.W. Luo, M. Yamakita, S. Hosoe

    Corresponding, 2003, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2637 - 2644

    [Refereed]

    International conference proceedings

  • Towards Understanding of Human Movements Constrained by the External Environment

    M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

    2003, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2637 - 2644

    [Refereed]

    International conference proceedings

  • On Novel Hybrid System Control Framework of Intelligent Robots,

    Y.J. Yin, Z.W. Luo, S. Hosoe

    2003, Proc. of Int. Conf. on Systems Science and Systems Engineering, 535 - 540

    [Refereed]

    International conference proceedings

  • Environmental Adaptive PVFC for a Robot Manipulator

    Y. Saitoh, Z.W. Luo, K. Watanabe

    2002, Proc. of SICE Annual Conf. 2002

    [Refereed]

    International conference proceedings

  • A Study on the Stable Grasping by a Redundant Multi-Fingered Robot Hand

    K. Kumazaki, M. Svinin, Z.W. Luo, T. Odashima, S. Hosoe

    Corresponding, 2002, Proc. of SICE Annual Conf. 2002

    [Refereed]

    International conference proceedings

  • Adaptive Visual Tracking System under Changing Lighting Environment

    N. Abe, Z.W. Luo, K. Akiyama, T. Yagi, S. Hosoe

    2002, Proc. of SICE Annual Conf. 2002

    [Refereed]

    International conference proceedings

  • Virtual Impedance Control for Preshaping of a Robot Hand

    Z.W. Luo, T. Ito, N. Sugimoto, T. Odashima, S. Hosoe

    2002, Proc. of SICE Annual Conf. 2002

    [Refereed]

    International conference proceedings

  • Teaching of Locomotion for a Multi-legged Robot based on Sound Perception

    H. Tanaka, Z.W. Luo, T. Odashima, S. Hosoe

    Corresponding, 2002, Proc. of SICE Annual Conf. 2002

    [Refereed]

    International conference proceedings

  • Extended State Observer Based Technique for Control of Robot Systems

    Y. Huang, Z.W. Luo, M. Svinin, T. Odashima, S. Hosoe

    2002, Proc. of the 4th World Congress on Intelligent Control and Automation, 2807 - 2811

    [Refereed]

    International conference proceedings

  • Stabilization of Acrobat Robot in Upright Position on a Horizontal Bar

    M. Yamakita, T. Yonemura, Y. Michitsuji, Z.W. Luo

    2002, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 3093 - 3098

    [Refereed]

    International conference proceedings

  • On the Stiffness and Stiffness Control of Redundant Manipulators

    M. Svinin, S. Hosoe, M. Uchiyama, Z.W. Luo

    2002, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 2393 - 2399

    [Refereed]

    International conference proceedings

  • Dealing with Constraints: the Synthesis of Optimal Human Movements Constrained by the External Environment

    K. Ohta, M. Svinin, Z.W. Luo, S. Hosoe

    2002, The 4th Int. Workshop on Emergent Synthesis, 183 - 188

    [Refereed]

    International conference proceedings

  • Relation between IMC Parameterization and Generalized Stabilizer

    K. Watanabe, G. Izuta, Z.W. Luo, Y. Asagi

    2002, Proc. of Asian Control Conf., 2002., 495 - 500

    [Refereed]

    International conference proceedings

  • A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraint

    F. Asano, M. Yamakita, N. Kamamichi, Z.W. Luo

    Corresponding, 2002, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2637 - 2644

    [Refereed]

    International conference proceedings

  • A Design of an Extended State Observer for the Motion/Force Control of Constrained Robotic Systems

    Y. Huang, M. Svinin, Z.W. Luo, S. Hosoe

    2002, Proc. of the ICASE/SICE Workshop -Intelligent Control and Systems114, 2002., 114 - 119

    [Refereed]

    International conference proceedings

  • Model Following Type PVFC for Variable Dynamic Bipedal Walking

    F. Asano, M. Yamakita, Z.W. Luo

    2002, Proc. of the ICASE/SICE Workshop -Intelligent Control and Systems, 2002., 310 - 314

    [Refereed]

    International conference proceedings

  • A Novel Decentralized Control System for Multi-legged Robot

    T. Odashima, Z.W. Luo, S. Hosoe

    Corresponding, 2001, VIDEO Proc. of IEEE Int. Conf. on Robotics and Automation

    [Refereed]

    International conference proceedings

  • Decentralized Control Design of Network Robotic System with Time-varying Communication Delay

    Z.W. Luo, M. Amano, K. Watanabe, S.Hosoe

    Lead, 2001, Proc. of SICE/ICASE Joint workshop on Control Theory and Applications, 79 - 82

    [Refereed][Invited]

    International conference proceedings

  • Hierarchical control structure of a multi-legged robot for environmental adaptive locomotion

    T. Odashima, Z.W. Luo, S. Hosoe

    2001, Proc. of 4th Int. Conf. on Climbing and Walking Robot,2001., 105 - 112

    [Refereed]

    International conference proceedings

  • Diffusion-Based Spatial Generalization of Optimal Motor Control

    Z.W. Luo, H. Ando, S. Hosoe, K. Watanabe, A. Kato

    Lead, 2001, Proc. 5th World Multi-Conf. on Systemics, Cybernetics, and Informatics, 15, 251 - 256

    [Refereed]

    International conference proceedings

  • Hierarchical Control System for Hexapod Robot Using Base Motion Vector Fields

    T. Odashima, Z.W. Luo, S. Hosoe

    Corresponding, 2001, Proc. 5th World Multi-Conf. on Systemics, Cybernetics, and Informatics, 15, 257 - 262

    [Refereed]

    International conference proceedings

  • A Hierarchical Approach for Environmental Adaptive Locomotion Control of Multi-legged Robot

    T. Odashima, Z.W. Luo, S. Hosoe

    Corresponding, 2001, Proc. of the 6th Int. Symposium on Artificial Life and Robotics, 458 - 461

    [Refereed]

    International conference proceedings

  • Reinforcement learning approach to acquisition of motion patterns for autonomous robotic systems

    M. Svinin, Z.W. Luo, S. Hosoe

    2001, Proc. 5th World Multi-Conf. on Systemics, Cybernetics, and Informatics, 263 - 268

    [Refereed]

    International conference proceedings

  • Analysis of human movements in crank rotation task

    K. Ohta, M. Svinin, Z.W. Luo, S. Hosoe

    2001, 3rd Int. Symposium on Progress in Motor Control: From Basic Science to Application,

    [Refereed]

    International conference proceedings

  • Mathematical analysis of the crank turning task

    M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

    2001, Proc. 1st Int. Symposium on Measurement, Analysis and Modeling of Human Functions, 346 - 352

    [Refereed]

    International conference proceedings

  • Understanding of human movements in crank rotation

    M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

    2001, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2105 - 2110

    [Refereed]

    International conference proceedings

  • Robust Pole Placement with Widely Adjustable Parameters

    K. Watanabe, Z.W. Luo, G. Izuta

    2000, Proc of the IEEE Conf. on Decision & Control(CDC)

    [Refereed]

    International conference proceedings

  • Modified H-inf Control for Mixed Sensitivity Problem

    K. Watanabe, Z.W. Luo, Guido Izuta

    2000, Proc. of the 3rd Asian Control Conf. 2000., 256 - 261

    [Refereed]

    International conference proceedings

  • Robust Gain Scheduled Position/Force Hybrid Control for a Robot Manipulator Interacting with Uncertain Flexible Environment

    Z.W. Luo, M. Ito

    Lead, 1999, Proc. of 14th IFAC World Congress, 235 - 240

    [Refereed]

    International conference proceedings

  • Emergent Generation of Gait Pattern for a Myriapod Robot System based on Energy Consumption

    T. Odashima, H. Yuasa, Z.W. Luo

    1999, Proc. of 1999 IEEE Hong Kong Symposium on Robotics and Control

    [Refereed]

    International conference proceedings

  • Parallel Decentralized Computation of Inverse Kinematics Map for a Redundant Robot Manipulator

    H. Ando, Z.W. Luo, A. Kato

    Corresponding, 1999, Proc. of 1999 IEEE Hong Kong Symposium on Robotics and Control

    [Refereed]

    International conference proceedings

  • Suboptimal control of linear systems with state time-delay

    G.Y. Tang, Z.W. Luo

    1999, Proc. of 1999 IEEE Int. Conf. on Systems Man & Cybernetics., 104 - 109

    [Refereed]

    International conference proceedings

  • Adaptive Behavior of Quadrupted Walking Robot under Periodic Perturbation

    S. Ito, H. Yuasa, Z.W. Luo, M. Ito, D. Yanagihara

    1998, Proc. of Fifth Int. Conf. of the Society for Adaptive Behavior

    [Refereed]

    International conference proceedings

  • Realization of Human Task Skill in Dynamic Tele-manipulation

    Z.W. Luo, K. Ohta, M. Ito

    Lead, 1998, Proc. of 1998 ISIC/CIRA/ISAS on Bio-mimetic Robotics

    [Refereed]

    International conference proceedings

  • Unilateral? or Bilateral? ---New Research on Dynamic Tele-manipulation

    Z.W. Luo, M. Ito

    Lead, 1998, Proc. of 1998 Int. Conf. on Mechatronic Technology

    [Refereed]

    International conference proceedings

  • Adaptability of Human Movement in Unknown Dynamical Environments

    K. Ohta, Z.W. Luo, M. Ito

    1997, Proc. of 1997 American Control Conf., 2249 - 2250

    [Refereed]

    International conference proceedings

  • Human Perceptual-Motor Coordination in Unknown Dynamical Environments

    K. Ohta, Z.W. Luo, M. Ito

    Corresponding, 1997, Proc. of 1997 IEEE Int. Conf. on Systems Man & Cybernetics, 459 - 462

    [Refereed]

    International conference proceedings

  • A Mathematical Model of Adaptation in Rhythmic Motion to Environmental Changes

    S. Ito, H. Yuasa, Z.W. Luo, M. Ito, D. Yanagihara

    1997, Proc. of 1997 IEEE Int. Conf. on Systems Man & Cybernetics, 275 - 280

    [Refereed]

    International conference proceedings

  • Adaptive Locomotion to Periodic Perturbation -- Adaptation Mechanism with Coupling of Oscillator and Link Dynamics

    S. Ito, H. Yuasa, Z.W. Luo, M. Ito, D. Yanagihara

    1997, Proc. of 3rd Int. Symposium on Artificial Life and Robotics (AROB III'98), 1997.

    [Refereed]

    International conference proceedings

  • Gain Scheduled Control for Robot manipulator's Contact Tasks on Flexible Environments

    J.Q. Wu, Z.W. Luo, K. Ito

    Corresponding, 1996, Proc. of 4th Int. workshop on Advanced Motion Control,, 512 - 517

    [Refereed]

    International conference proceedings

  • Adaptive Hybrid Control for a Robot Manipulator Interacting with Uncertain Flexible Environments

    J.Q. Wu, Z.W. Luo, M. Yamakita, K. Ito

    Corresponding, 1996, Proc. of 13th IFAC World Congress, 235 - 240

    [Refereed]

    International conference proceedings

  • Gain Scheduled Control of Robot manipulators for Contact Tasks on Uncertain Flexible Objects

    J.Q. Wu, Z.W. Luo, M. Yamakita, K. Ito

    Corresponding, 1996, Proc. of IEEE Int. Conf. of Systems Man & Cybernetics, 41 - 46

    [Refereed]

    International conference proceedings

  • Dynamic Cooperative Manipulation of Flexible Objects

    Z.W. Luo, K.Ito, M.Ito

    Lead, 1996, Proc. of 1996 Japan-USA Symp. on Flexible Automation, 229 - 232

    [Refereed]

    International conference proceedings

  • Potential Field Representation of Environment Model and its Application to Robot's Force/Position Hybrid Control

    M. Yamakita, Z.W. Luo, K. Ito

    1996, Proc. of 1996 IEEE Conf. on Emerging Technologies and Factory Automation, 316 - 321

    [Refereed]

    International conference proceedings

  • Robot manipulator's Contact Tasks on Uncertain Flexible Objects

    J.Q. Wu, Z.W. Luo, M. Yamakita, K. Ito

    Corresponding, 1995, Proc. of 10th Korea Automatic Control Conf. (KACC'95), 460 - 463

    [Refereed]

    International conference proceedings

  • Estimation of Environment Models Using Vector Field and its Application to Robot's Contact Tasks

    Z.W. Luo, K. Ito, M. Yamakita

    Lead, 1995, Proc. of IEEE Int. Conf. on Neural Networks, 2546 - 2549

    [Refereed]

    International conference proceedings

  • Self-Organization of an Uniformly Distributed Visuo-Motor Map through Controlling the Spatial Variation

    Z.W. Luo, K. Asada, M. Yamakita, K. Ito

    Lead, 1994, Proc. of 2nd Int. Symposium on Distributed Autonomous Robotic Systems, 279 - 288

    [Refereed]

    International conference proceedings

  • Compliance Control of an EMG-Controlled Prosthetic Forearm Using Ultrasonic Motors

    K. Ito, M. Pecson, Z.W. Luo, M. Yamakita, A. Kato, T. Aoyama, M. Ito

    1994, Proc. of Int. Joint Conf. on Intelligent Robots and Systems(IROS), 1816 - 1823

    [Refereed]

    International conference proceedings

  • On Cooperative Manipulation of Dynamic Object

    Z.W. Luo, Y. Uematsu, K.Ito, A.Kato, M.Ito

    Lead, 1994, Proc. of Int. Joint Conf. on Intelligent Robots and Systems(IROS), 1064 - 1071

    [Refereed]

    International conference proceedings

  • Compliance Control of Direct Drive Manipulator Using Ultrasonic Motor

    A. Kato, N. Kondo, H. Narita, K. Ito, Z.W. Luo

    1994, Proc. of 10th CISM-IFToMM Symp. on Theory and Practice of Robots and Manipulators, 125 - 130

    [Refereed]

    International conference proceedings

  • Optimum Coordination of Nonlinear Dynamic Systems with Its Application to Robot Locomotion

    Z.W. Luo, K. Ito, M. Ito, H. Yuasa

    Lead, 1993, Proc. of Int. Symposium on Nonlinear Theory and Its Applications, 995 - 996

    [Refereed]

    International conference proceedings

  • Compliance Control of an Ultrasonic Motor Powered Prosthetic Forearm

    M. Pecson, K. Ito, Z.W. Luo, A. Kato, T. Aoyama, M. Ito

    1993, Proc. of IEEE Int. Workshop on Robots and Human Communication (Ro-Man'93), 90 - 95

    [Refereed]

    International conference proceedings

  • Robust Nonlinear Control for Robot Compliant Manipulation on Dynamical Environments

    Z.W. Luo, K. Ito, A. Kato, M. Ito

    1993, Proc. of Int. Symposium on Measurement and Control in Robotics (ISMCR'93)

    [Refereed]

    International conference proceedings

  • Multiple Robot Manipulators' Cooperative Compliant Manipulation on Dynamical Environments

    Z.W. Luo, K. Ito, M. Ito

    Lead, 1993, Proc. of Int. Joint Conf. on Intelligent Robots and Systems (IROS), 1927 - 1934

    [Refereed]

    International conference proceedings

  • Robust Nonlinear Control Design of Robot for Compliant Manipulation on Dynamical Environments

    Z.W. Luo, H. Takahashi, K. Ito, A. Kato, M. Ito

    Lead, 1992, Proc. of SICE'92, Int. session, 991 - 994

    [Refereed]

    International conference proceedings

  • Control Design of Robot for Compliant Manipulation on Dynamic Environment

    Z.W. Luo, M. Ito

    Lead, 1991, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 42 - 47

    [Refereed]

  • On Impedance Adjustment in Compliant Motion Control

    M. Ito, Z.W. Luo

    1989, Proc. of The 1st China-Japan Joint Symposium on Systems, Control Theory and its Application, 1989.

    [Refereed]

    International conference proceedings

  • Measurement of Stride During Human Walking

    A. Kato, Z.W. Luo

    1987, Proc. of 26th SICE Annual Conf., Int. Session, 1987., 1105 - 1108

    [Refereed]

    International conference proceedings

  • 受動性を考慮したロボットの適応インピーダンス制御

    孫 文可, 曹 晟, 森 耕平, 全 昌勤, 羅 志偉

    Corresponding, Jan. 2022, 2021年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Symposium

  • 深層学習を用いた地震波の時系列信号による地盤地質推定

    陳 冉, 全 昌勤, 曹 晟, 森 耕平, 羅 志偉

    Corresponding, 2022, 第66回システム制御情報学会研究発表講演会(SCI'22), Japanese

    Symposium

  • Mask-based contour inpainting for pose-guided human image generation

    余 昊聡, 全 昌勤, 曹 晟, 森 耕平, 羅 志偉

    Corresponding, 2022, 第66回システム制御情報学会研究発表講演会(SCI'22), English

    Symposium

  • 路上駐車を考慮した交差点の交通シミュレーション

    山本 晃央, 森 耕平, 全 昌勤, 曹 晟, 羅 志偉

    2021, 第65回システム制御情報学会研究発表講演会(SCI'21), Japanese

    Symposium

  • リカレンスプロットにおける%DETに着目した時系列データ解析

    井川 祥太, 森 耕平, 全 昌勤, 曹 晟, 羅 志偉

    2021, 第65回システム制御情報学会研究発表講演会(SCI'21), Japanese

    Symposium

  • ヒューマンエラーを考慮したシステムの信頼性解析

    前山 一登, 曹 晟, 森 耕平, 全 昌勤, 羅 志偉

    2021, 第65回システム制御情報学会研究発表講演会(SCI'21), Japanese

    Symposium

  • リカレンスプロットを用いた深層学習によるパーキンソン患者の音声識別

    藤田 倫弘, 全 昌勤, 森 耕平, 曹 晟, 羅 志偉

    2021, 第65回システム制御情報学会研究発表講演会(SCI'21) (学生発表賞), Japanese

    Symposium

  • 個別指導塾におけるのマッチングと時間割表への当てはめの接続

    森 耕平, 吉岡 由貴, 羅 志偉

    2021, 第65回システム制御情報学会研究発表講演会(SCI'21), Japanese

    Symposium

  • Research on Consensus State of Multi-agent System with Event-triggered Controller

    程子洋, 全 昌勤, 森 耕平, 曹 晟, 羅 志偉

    Corresponding, 2021, 第65回システム制御情報学会研究発表講演会(SCI'21), English

    Symposium

  • OpenPose によるパーキンソン患者の症状識別

    本荘 友毅, 羅 志偉, 森 耕平, 全 昌勤, 曹 晟

    Corresponding, 2021, 第38回センシングフォーラム, Japanese

    Symposium

  • 座位から立位への動作の計測と動力学解析

    塩見 竜希, 曹 晟, 森 耕平, 全 昌勤, 羅 志偉

    2021, 第38回センシングフォーラム

    Symposium

  • キャラクタ性を有する日本語対話生成に関する研究開発

    前田 研吾, 全 昌勤, 羅 志偉, 森 耕平, 曹 晟

    2021, 2020年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Symposium

  • 個別指導塾の時間割作成における離散値の不確かさに対するロバスト性

    吉岡 由貴, 森 耕平, 羅 志偉

    2021, 2020年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Research society

  • Automated seizure detection system using rhythmic wave analysis for children with altered mental state

    丸山あずさ, 永瀬裕朗, 保多隆裕, 羅志偉

    2021, てんかん研究, 39 (2)

  • RNNにおけるゲート構造と機能解析

    藤田 倫弘, 羅 志偉, 全 昌勤, 森 耕平

    Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Symposium

  • ニューラルネットワークを用いた Twitter 情報による世論分析

    前田 研吾, 全 昌勤, 羅 志偉, 森 耕平

    Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Symposium

  • 深層学習を用いた非けいれん性てんかん発作の識別

    小池 智哉, 羅 志偉, 永瀬 裕朗, 丸山 あずさ, 森 耕平, 全 昌勤

    Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Symposium

  • 全単模性を利用したスケジューリング手法の検討

    吉岡 由貴, 森 耕平, 羅 志偉

    Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Symposium

  • ロボット技術を用いた上肢運動リハビリテーション

    能勢 拓磨, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉

    Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Symposium

  • 脊椎リハビリテーションのためのstiffness推定

    東 孝幸, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉

    Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Symposium

  • 画像認識を用いた株価予測の分析

    小島 一也, 曹 晟, 全 昌勤, 羅 志偉

    2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Symposium

  • ベクトル場を用いたSLAMの研究

    塩崎 亮, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉

    Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

    Symposium

  • RNN における性೵向上のための構造解析

    藤田 倫弘, 羅 志偉, 全 昌勤, 森 耕平

    Corresponding, 2020, 第64回システム制御情報学会研究発表講演会 (SCI'20)学生発表賞, Japanese

    Symposium

  • 単語の活用に着目した効率的な自然言語生成

    前田 研吾, 全 昌勤, 羅 志偉

    2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), Japanese

    Symposium

  • 漢方医薬の知的データベース構築と検索に関する研究開

    徐 亜坤, 田中 成典, 森 耕平, 曹 晟, 羅 志偉

    2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), Japanese

    Symposium

  • Harnessing Generated Instance-Specific Neutral Expressions in Facial Expression Classification

    BAI WENJUN, 全 昌勤, 羅 志偉

    2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), English

    Symposium

  • Development of Virtual Reality System for Assessment of Unilateral Spatial Neglet

    Sheng Cao, Zhiwei Luo, Makoto Shirakawa, Masaki Tamura, Rumi Tanemura

    2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), English

    Symposium

  • 協調作業を行う群ロボットの冗長インピーダンス制御

    和田 翔太, 羅 志偉, 森 耕平, 曹 晟

    Corresponding, 2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), Japanese

    Symposium

  • 個別指導塾の時間割作成問題における全単模性を利用した探索手法

    吉岡 由貴, 森 耕平, 羅 志偉

    Corresponding, 2020, 第64回システム制御情報学会研究発表講演会 (SCI'20)学生発表賞, Japanese

    Symposium

  • Hyperbolic Tangent Function based Tension Distribution Design for Cable-Driven Robot

    曹 晟, 羅 志偉, 全 昌勤, 森 耕平

    2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), English

    Symposium

  • 下肢リハビリテーションのための身体力学解析

    江藤 恒夫, 羅 志偉, 全 昌勤, 森 耕平, 曹 晟, 藤野 圭司

    Corresponding, 2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), Japanese

    Symposium

  • 動的ランドマーク環境における SLAM に関する研究

    松永 理寛, 曹 晟, 羅 志偉, 森 耕平

    Corresponding, 2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), Japanese

    Symposium

  • 脳卒中後半側空間無視患者の姿勢変化の違いによるVirtual Reality System課題結果の比較 -歩行と座位では無視の変数がどのように異なるのか?-

    田村 正樹, 白川 真, 羅 志偉, 種村 留美

    2019, 第17回日本神経理学療法学術大会 2019

    Symposium

  • Learning Optimal Human-Robot Interaction Control Considering Robot's Passivity

    曹 晟, 羅 志偉, 全 昌勤, 森 耕平

    2019, 第63回システム制御情報学会研究発表講演会 (SCI’19)

    Symposium

  • テキスト情報処理におけるRNNの構造と性能解析

    藤田 倫弘, 全 昌勤, 羅 志偉

    2019, 第63回システム制御情報学会研究発表講演会 (SCI’19)学生発表賞

    Symposium

  • 個別指導塾の講師と生徒のスケジュールを考慮したマッチング問題の前処理

    吉岡 由貴, 森 耕平, 羅 志偉

    2019, 第62回自動制御連合講演会講演論文集

    Symposium

  • A Simple Rounding Technique Based on Convex Relaxation in Maximizing Algebraic Connectivity

    森耕平, 程子洋, 羅志偉

    2019, 第62回自動制御連合講演会講演論文集

    Symposium

  • 個別指導学習塾の生徒-講師-科目の割当問題の係数行列のtotally unimodularity

    森 耕平, 吉岡 由貴, 羅 志偉

    2019, 第63回システム制御情報学会研究発表講演会 (SCI’19)学生発表賞

    Symposium

  • Adaptive Control Design of Multi-robot System with Connection Uncertainty

    程 子洋, 曹 晟, 羅 志偉, 森 耕平, 全 昌勤

    Corresponding, 2019, 第63回システム制御情報学会研究発表講演会 (SCI’19)

    Symposium

  • Virtual Reality Systemを用いたトレッドミル歩行下でのExtrapersonal Neglectの評価-Pilot Studyによる無視の質的特徴-

    田村 正樹, 白川 真, 羅 志偉, 種村 留美

    2018, 第16回日本神経理学療法学術大会 2018 (優秀ポスター賞)

    Symposium

  • Virtual Reality Systemを用いたExtrapersonal neglectの評価-無視空間に乖離が生じた一症例-

    田村 正樹, 白川 真, 羅 志偉, 種村 留美

    2018, 第42回日本高次脳機能障害学会学術総会 2018 (優秀ポスター賞)

    Symposium

  • 心拍変動と心拍数を組み合わせたストレス評価に関する検討

    駒澤真人, 板生研一, 羅 志偉

    2017, 第28回人間情報学会

    Symposium

  • 片脚立位における下肢筋力と膝関節負荷に関する動力学解析

    羅志偉, 栗栖信之, 藤野圭司, 田辺秀樹

    Lead, 2017, 日本臨床整形外科学会学術集会プログラム・抄録集, 30th, Japanese

    [Refereed]

    Symposium

  • 約20万件の大量の心拍データに基づく自律神経機能と気象との関係

    駒澤真人, 板生研一, 羅 志偉

    2016, 第23回人間情報学会最優秀賞

    Symposium

  • 歩行における下肢筋シナジーの加齢変化

    戸田晴貴, 戸田晴貴, 長野明紀, 羅志偉

    2016, 中国ブロック理学療法士学会抄録誌, 30th

  • 両手協調作業機能のリハビリテーション用ロボットシステム

    LUO Zhi-Wei

    Lead, Jan. 2016, 日本機械学会誌, 119 (1166), 34 - 35, Japanese

  • SWUM によるひとかきひとけり中のドルフィンキックタイミングの最適化

    林 勇樹, 本間 正信, 羅志偉

    2015, 日本水泳水中運動学会 2015 年次大会

    Symposium

  • 約10万件の大量の心拍データに基づく自律神経機能評価

    駒澤真人, 板生研一, 羅 志偉

    2015, 第22回人間情報学会(最優秀賞)

    Symposium

  • スマートフォンのカメラを用いた心拍変動解析システムの開発

    駒澤真人, 板生研一, 羅 志偉

    2015, 第20回人間情報学会

    Symposium

  • 認知制御の二重脳機能ネットワークモデル仮説と検証

    施イ, 大谷啓尊, 羅 志偉, 片桐祥雅

    2015, 第20回人間情報学会

    Symposium

  • Virtual Reality Systemを用いたextrapersonal spaceにおける半側空間無視例の特徴

    田村 正樹, 種村 留美, 白川 真, 羅 志偉

    2015, 第39回日本高次脳機能障害学会学術総会 2015

    Symposium

  • 高齢者と若年者における歩行中の大腿四頭筋とハムストリングスの筋活動パターン

    戸田 晴貴, 長野 明紀, 羅志偉

    2015, 第 50 回日本理学療法学術大会,2015, 50th (2)

    [Refereed]

    Symposium

  • Effects of Discreteness in Numbers of Molecules in Catalytic Networks with a Power-law Degree Distribution

    Onaka Shuhei, Luo Zhiwei, Togashi Yuichi

    The Physical Society of Japan (JPS), 26 Aug. 2013, Meeting abstracts of the Physical Society of Japan, 68 (2), 334 - 334, Japanese

    Symposium

  • Innovation of Health Engineering for Happy Ageing Society

    LUO Zhiwei

    Institute of Systems, Control and Information Engineers, 15 Jan. 2013, Systems, control and information, 57 (1), 19 - 24, Japanese

  • 遺伝子探索における転写因子分子数の影響

    藤本健太朗, 新海創也, 前島一博, 羅志偉, 冨樫祐一

    2013, 日本物理学会 2013年秋季大会

    Symposium

  • 睡眠不足による自律神経機能障害

    施嫕, 片桐祥雅, 川原靖弘, 羅志偉

    2013, 第57回 システム制御情報学会研究発表講演会(SCI'13), 2013

    Symposium

  • A fNIRS research on prefrontal cortex activity response to sweet taste

    Chenghong Hu, Yoshiko Kato, Zhiwei Luo

    2013, 第57回 システム制御情報学会研究発表講演会(SCI'13), 2013

    Symposium

  • Virtual Reality技術を用いた高次脳機能評価システムの開発―失語症者を対象とした検討―

    小嶌麻木, 岡橋さやか, 羅志偉, 長野明紀, 関啓子

    2013, 日本言語聴覚士協会総会・日本言語聴覚学会プログラム・抄録集 2013

    Symposium

  • Neurophysiological Study of Taste Preference Mechanism

    Chenghong Hu, Y. Katagiri, Y. Kato, Luo Zhiwei

    2013, 第15回人間情報学会講演会

    Symposium

  • Modulation of Central Fatigue is Dependent on Sound Environment

    Yi Shi, Y. Katagiri, Luo Zhiwei

    2013, 第15回人間情報学会講演会 (最優秀賞)

    Symposium

  • ハンマー投のダイナミクスに基づくサイバネティック・トレーニング

    太田憲, 梅垣浩二, 室伏広治, 羅志偉

    2013, バイオメカニクス研究, 17 (1)

    [Refereed]

  • Towards Human Promotive System Design and Construction : Reflection from RI-MAN Shock

    LUO Zhiwei

    日本経営工学会, 15 Jul. 2012, 経営システム = Management systems : a journal of Japan Industrial Management Association, 22 (2), 91 - 96, Japanese

    [Invited]

  • 使用者の意図する歩行・走行速度を実現するインテリジェント・トレッドミルの研究開発

    長野 明紀, 巌 和隆, 羅 志偉

    2012, 第22回日本バイオメカニクス学会, 2012

    Symposium

  • 生体分子機械の粗視化モデリング手法の検証

    顧 傑, 冨樫 祐一, 羅 志偉

    2012, 定量生物学の会 第4回年会, 2012

    Symposium

  • ポリウレタンフィルムアクチュエータの創製とその特性

    伊藤彩, 福田 武司, 羅 志偉

    2012, 第21回ポリマー材料フォーラム, 2012

  • 高次脳機能評価手法を用いた生活環境の評価

    川原靖弘, 施嫕, 片桐祥雅, 羅志偉

    2012, 電子情報通信学会・HCG シンポジウム 2012

    Symposium

  • 微小皮膚変位感知型センサーの呼吸モニタリングへの適用

    川原靖弘, 施嫕, 片桐祥雅, 羅志偉

    2012, 第11回人間情報学会

    Symposium

  • SOCスコアと生理指標の相関に関する一検討

    川原靖弘, 施嫕, 片桐祥雅, 羅志偉

    2012, 第13回人間情報学会

    Symposium

  • 近赤外光計測による人間の意思推定に関する研究

    村瀬 友規, 長野 明紀, 羅 志偉

    2012, 第56回システム制御情報学会研究発表講演会(SCI'12)

    Symposium

  • 逆ダイナミクス解析による筋力推定を用いたリハビリシステムの開発

    中野 達矢, 長野 明紀, 羅 志偉

    2012, 第56回システム制御情報学会研究発表講演会(SCI'12)

    Symposium

  • 障害物回避機能を有する移動ロボットのSLAMに関する研究

    坂口 豪一, 長野 明紀, 羅 志偉

    2012, 第56回システム制御情報学会研究発表講演会(SCI'12)

    Symposium

  • 促し動作を実現する介護支援用ロボットの力制御に関する研究

    坂口 隼哉, 長野 明紀, 羅 志偉

    2012, 第56回システム制御情報学会研究発表講演会(SCI'12)

    Symposium

  • 視覚フィードバックを用いたランニング障害の予防に関する研究

    巌 和隆, 長野 明紀, 羅 志偉

    2012, 第56回システム制御情報学会研究発表講演会(SCI'12)

    Symposium

  • 効率的な二足歩行のための二重倒立振子パラメータ励振

    本城 豊之, 長野 明紀, 羅 志偉

    2012, 第56回システム制御情報学会研究発表講演会(SCI'12)

    Symposium

  • 通信範囲制約を考慮するネットワーク群ロボットシステムの分散制御

    村山 暢, 長野 明紀, 羅 志偉

    Corresponding, 2012, 第56回システム制御情報学会研究発表講演会(SCI'12)

    Symposium

  • 力学情報のリアルタイムバイオフィードバックを用いたランニング動作訓練システムの開発

    長野明紀, 巌和隆, 羅志偉

    2012, 日本トレーニング科学会大会プログラム・抄録集, 25th

    Symposium

  • Development of human care robots for aging society

    Zhiwei Luo

    CAMBRIDGE UNIV PRESS, Sep. 2011, INTERNATIONAL PSYCHOGERIATRICS, 23, S4 - S5, English

  • 動的身体運動の計測と解析

    羅志偉

    Lead, 2011, 第38回日本臨床バイオメカニクス学会,教育研修講演

    [Invited]

    Symposium

  • Distributing Joint Torques to Muscle Forces for Robot Manipulator Control,

    Haiwei Dong, Zhiwei Luo, Akinori Nagano

    2011, 第29回日本ロボット学会学術講演会, 9/7~9/9

    Symposium

  • 高齢社会の健康を促すロボティクス研究開発

    羅志偉

    Lead, 2011, 計測自動制御学会中部支部第1回静岡地区計測制御研究委員会講演会招待講演,2011

    [Invited]

    Research institution

  • 呼吸センシングの生理学的意義とその日常応用

    施嫕, 川原靖弘, 片桐祥雅, 羅志偉

    2011, 第9回人間情報学会

    Symposium

  • 健康工学創成に向けて

    羅志偉

    2011, 日本機械学会東海支部講習会資料集, 114th

  • 姿勢動揺方向の解析を用いた聴覚フィードバック効果の評価

    長野 明紀, 則武 悠人, 羅 志偉

    2010, 第21回日本バイオメカニクス学会, 2010

    Symposium

  • 群ロボットシステムによる協調型SLAMの構築

    早野真理子, 長野明紀, 羅志偉

    2010, 第22回自律分散システム・シンポジウム

    Symposium

  • 時間遅れを有する群ロボットの分散フォーメーション制御

    村山 暢, 長野 明紀, 羅 志偉

    2010, 第22回自律分散システム・シンポジウム

    Symposium

  • くりこみ群分子動力学法による流体解析

    柏原裕美, 長野明紀, 羅志偉

    2010, 第22回自律分散システム・シンポジウム,1/30~1/31

    Symposium

  • 移動ロボット群の全方位カメラパラメータと位置の同時推定

    笹原康介, 長野明紀, 羅志偉

    2010, 第22回自律分散システム・シンポジウム,1/30~1/31

    Symposium

  • 音刺激のバイオフィードバックによる姿勢保持課題の遂行支援.

    NORITAKE Hisahito, NAGANO Akinori, LUO Zhi-wei

    Institute of Systems, Control and Information Engineers, 2010, システム/制御/情報, Vol. 54, No. 8, 320-326 (8), 320 - 326, Japanese

  • Application of biomechanical simulation in nursing activity – towards a new adaptive strategy of lifting up human body.

    DONG Haiwei, LUO Zhi-wei, NAGANO Akinori

    日本バイオメカニクス学会, 2010, バイオメカニクス研究, Vol. 14, No. 1, pp. 52-60 (1), 52 - 60, English

  • バーチャル商店街を用いた高次脳機能評価システムの開発

    山本 麻木, 岡橋 さやか, 出水 朋子, 遠藤 裕美, 酒井 弘美, 押海 龍生, 山中 優希, 長野 明紀, 関 啓子, 羅 志偉

    2009, 全国回復期リハビリテーション病棟連絡協議会第13回研究大会, 2009年

    Symposium

  • バーチャルリアリティ技術を用いた高次脳機能評価システムの開発

    酒井弘美, 岡橋さやか, 山本麻木, 出水朋子, 遠藤裕美, 山中優希, 押海龍生, 長野明紀, LUO Zhiwei, 関啓子

    2009, 日本生体医工学会大会プログラム・論文集(CD-ROM) 2009年

    Symposium

  • 環境適応ロボットシステム,

    羅志偉

    Lead, 2009, 日本知能情報ファジィ学会 2009,招待講演

    [Invited]

    Symposium

  • 群ロボット制御のグラフ理論

    羅志偉

    Lead, 2009, 第53回システム制御情報学会研究発表講演会 招待講演

    [Invited]

    Symposium

  • 複数台ロボットによる協調型SLAM の構築

    早野真理子, 長野明紀, 羅志偉

    2009, 第53回システム制御情報学会研究発表講演会

    Symposium

  • 姿勢維持課題における聴覚フィードバックの影響

    則武悠人, 長野明紀, 羅志偉

    2009, 第53回システム制御情報学会研究発表講演会

    Symposium

  • 両手協調作業機能のリハビリテーション用ロボットシステムの開発

    永井潔, 奥村允, 遠藤洋亮, 奥山裕司, 長野明紀, 羅志偉

    2009, 第53回システム制御情報学会研究発表講演会

    Symposium

  • 高齢社会を支える介護支援用ロボットの研究開発

    羅志偉

    2009, 都市問題研究, 61 (8)

  • パラメタ励振原理を用いた高効率な歩行動作のシミュレーション研究

    長野明紀, 本城豊之, 羅志偉

    2009, 日本トレーニング科学会大会プログラム・抄録集, 22nd

    Symposium

  • くりこみ群分子動力学を用いた気体・流体解析

    柏原裕美, 長野明紀, 羅志偉

    2009, 分子シミュレーション討論会講演要旨集, 23rd

    Symposium

  • Aspects of Global Nonlinear Control Theory

    LUO Zhiwei

    Institute of Systems, Control and Information Engineers, 15 Mar. 2008, Systems, control and information, 52 (3), 71 - 71, Japanese

  • 超分散非平衡システムの分子動力学,

    柏原 裕美, 長野 明紀, 羅 志偉

    2008, 計測自動制御学会 システム・情報部門学術講演会 2008 講演論文集,pp.243-246,Nov.2008

    Symposium

  • SLAM of Multi-Robot System Considering Its Network Topology

    董 海巍, Zhiwei Luo

    2008, 計測自動制御学会 システム・情報部門学術講演会 2008 講演論文集,pp.247-248,Nov.2008

    Symposium

  • 超分散システムにおける情動伝播のネットワークモデルと安定性解析

    村山 暢, 長野明紀, 羅志偉

    2008, 計測自動制御学会 システム・情報部門学術講演会 2008 講演論文集,pp.249-250,Nov.2008

    Symposium

  • 遊脚収縮現象を考慮したロバスト擬似仮想受動歩行

    浅野 文彦, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,3B1-05, Sep. 2008

    Symposium

  • ストレッチが姿勢制御に及ぼす影響に関する考察

    岩田 知晃, 長野 明紀, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,1I2-05, Sep. 2008

    Symposium

  • 上肢協調作業のリハビリテーション支援用ロボットの研究開発

    奥村 允, 永井 潔, 奥山 裕司, 遠藤 洋亮, 長野 明紀, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,3K2-06, Sep. 2008

    Symposium

  • 時間遅れを有するテレマニピュレーションシステムの介在インピーダンス制御の受動性に関する考察

    奥山 裕司, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,3C3-03, Sep. 2008

    Symposium

  • RI-MANの動作制御を行うNIRSを用いたBRIシステムの構築

    岸 悟志, 奥村 允, 山中 優希, 永野 洋平, 長野 明紀, 横田 康成, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,3L3-04, Sep. 2008

    Symposium

  • 介護支援用ロボットシステムの動力学シミュレーション

    永野 洋平, 長野 明紀, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,3K1-06, Sep. 2008

    Symposium

  • ロボット分散制御のための適応通信方式

    西村 直人, 長野 明紀, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,3O2-05, Sep. 2008

    Symposium

  • 足圧中心の視覚フィードバックが姿勢制御に与える影響と短期学習効果

    則武 悠人, 長野 明紀, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,3O2-05, Sep. 2008

    Symposium

  • パラメータ励振原理に基づくカウンターウエイトを使用した2脚動歩行機の開発と実験検証

    林 健志, 金子 和晃, 浅野 文彦, 羅 志偉, 平野 慎也, 加藤 厚生

    2008, 第26回日本ロボット学会学術講演会予稿集,1O1-03, Sep. 2008

    Symposium

  • 倒立振子のパラメータ励振原理による動歩行制御

    本城 豊之, 長野 明紀, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,1O3-03, Sep. 2008

    Symposium

  • 逆問題解析を用いた面状触覚センサの柔軟性と感度に関する考察

    三谷 隆弘, 林 健史, 長野 明紀, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,3L1-04, Sep. 2008

    Symposium

  • バーチャル商店街を用いた高次脳機能評価システム

    山中 優希, 岡橋 さやか, 押海 龍生, 出水 朋子, 遠藤 裕美, 山本 麻木, 酒井 弘美, 長野 明紀, 関 啓子, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,3L3-02, Sep. 2008

    Symposium

  • A Novel Information Matrix Sparsification Approach for Practical Implementation of SLAM

    Heiwei Dong, Zhiwei Luo

    2008, 第26回日本ロボット学会学術講演会予稿集,2C2-01, Sep. 2008, English

    Symposium

  • 順序関係が無い鞍関節と柔軟な指先を有する2本指ロボットを用いた安定把持制御

    吉田 守夫, 有本 卓, 田原 健二, 羅 志偉

    2008, 第26回日本ロボット学会学術講演会予稿集,1E2-08, Sep. 2008

    Symposium

  • 擬似仮想受動歩行とその性能-カウンターウェイトとしての上体の効果-

    浅野 文彦, 羅 志偉

    2008, ロボティクス・メカトロニクス講演会2008 講演論文集,pp.1P1-B08(1)-1P1-B08(4), June 2008

    Symposium

  • 弾道歩容の性能と対称性

    浅野 文彦, 羅 志偉

    2008, ロボティクス・メカトロニクス講演会2008 講演論文集,pp.1P1-B07(1)-1P1-B07(4), June 2008

    Symposium

  • 変分問題におけるStokes-Dirac構造とポート表現

    西田 豪, 山北 昌毅, 羅 志偉

    2008, 第8回制御部門大会,pp.05241-1-05241-8, March 2008

    Symposium

  • LUO Zhi-Wei, HOSOE Shigeyuki, AMANO Masaki

    The Society of Instrument and Control Engineers, 10 Nov. 2007, Journal of The Society of Instrument and Control Engineers, 46 (11), 847 - 852, Japanese

  • On Design and Control of Human Friendly Care Robots

    LUO Zhiwei

    Institute of Systems, Control and Information Engineers, 15 Oct. 2007, Systems, control and information, 51 (10), 458 - 463, Japanese

  • Motion Analysis of a Rescue Robot ReBo fourth Type

    KURACHI Kentaro, YOSHIMI Keiji, HIRANO Sinya, Luo Z. W., KATO Atsuo

    In recent years, many disasters that depend on the great earthquakes were reported in our country. Therefore, we are developing a rescue robot that searches for the victim cooped in the collapsed house. Our robot has no wheel and no extremity. It moves by bending traveling waves on its body. The third machine of our robot achieved some basic motions that are straight progress, rotating motion and climbing hill. This paper describes for the process of development from prototype machine to the third machine, and then for the analysis of some measured motions about third machine.

    Aichi Institute of Technology, Aug. 2007, Bulletin of Research Institute for Industrial Technology, 9, 41 - 46, Japanese

  • 偏微分制御理論とその応用,

    西田 豪, 榎本 隆二, 羅 志偉

    2007, 第7回制御部門大会,pp.81-2-5-1-81-2-5-6, March 2007

    Symposium

  • 仮想受動歩行の駆動力学と特異点問題について,

    浅野 文彦, 羅 志偉

    2007, 第12回ロボティクスシンポジア予稿集,pp.202-207, March 2007

    Symposium

  • 力学的エネルギー平衡に基づく漸近安定歩容生成,

    浅野 文彦, 羅 志偉

    2007, ロボティクス・メカトロニクス講演会2007 講演論文集,pp.1P1-E04(1)-1P1-E04(4), May 2007

    Symposium

  • 膝関節駆動によるパラメータ励振に基づく2脚歩容生成,

    原田 祐志, 浅野 文彦, 羅 志偉, 田地 宏一, 宇野 洋二

    2007, ロボティクス・メカトロニクス講演会2007 講演論文集,pp.1P1-F02(1)-1P1-F02(4), May 2007

    Symposium

  • 受動性を有するロボットの介在インピーダンス遠隔制御,

    奥山 裕司, 羅 志偉

    2007, 第17回インテリジェント・システム・シンポジウム講演論文集,pp.477-480, Aug. 2007

    Symposium

  • 人間と接するロボットの安全安心な設計と動作評価方式,

    永野 洋平, 羅 志偉, 大西 正輝

    2007, 第17回インテリジェント・システム・シンポジウム講演論文集,pp.481-484, Aug. 2007

    Symposium

  • 人と接するロボットのための認識・対話設計法-Petri-netと最適制御からのアプローチ,

    小林 祐一, 大西 正輝, 細江 繁幸, 羅 志偉

    2007, 第25回日本ロボット学会学術講演会予稿集,1E36, Sep. 2007

    Symposium

  • 上体を有する劣駆動2 脚ロボットの動歩行解析-股関節二分機構を用いた高効率動歩行の実現-,

    浅野 文彦, 羅 志偉

    2007, 第25回日本ロボット学会学術講演会予稿集,1G31, Sep. 2007

    Symposium

  • 柔軟拇指ロボットを用いた繰返し学習による接触力・位置の同時軌道追従制御,

    田原 健二, 有本 卓, 関本 昌紘, 吉田 守夫, 羅 志偉

    2007, 第25回日本ロボット学会学術講演会予稿集,2M11, Sep. 2007

    Symposium

  • 2本指ロボットによるピンチングに関係する3次元転がり拘束の導出,

    吉田 守夫, 有本 卓, 羅 志偉

    2007, 第25回日本ロボット学会学術講演会予稿集,2M12, Sep. 2007

    Symposium

  • 転がり拘束を介した不動化のためのTestbed Problem,

    吉田 守夫, 有本 卓, J.H.Bae, 羅 志偉

    2007, 第25回日本ロボット学会学術講演会予稿集,2M17, Sep. 2007

    Symposium

  • IPMCセンサの周波数応答特性I: 電圧/電流計測の実験的検証,

    釜道 紀浩, B.Stoimenov, 高木 賢太郎, 安積 欣志, 向井 利春, 羅 志偉

    2007, 第25回日本ロボット学会学術講演会予稿集,3I13, Sep. 2007

    Symposium

  • IPMCセンサの周波数応答特性II: モデルによる検討

    高木 賢太郎, 釜道 紀浩, B.Stoimenov, 安積 欣志, 羅 志偉, 向井 利春

    2007, 第25回日本ロボット学会学術講演会予稿集,3I14, Sep. 2007

    Symposium

  • 応力緩和現象を考慮したIPMCアクチュエータの線形分布定数モデル,

    高木 賢太郎, 長田 高明, 安積 欣志, 羅 志偉

    2007, 第8回 SICE システムインテグレーション部門 講演会論文集,pp.225-226, Dec. 2007

    Symposium

  • 衝突姿勢拘束を考慮した動的歩容の漸近安定性,

    浅野 文彦, 羅 志偉

    2007, 第8回 SICE システムインテグレーション部門 講演会論文集,pp.259-260, Dec. 2007

    Symposium

  • 柔軟な指先を有するロボット指一対によるスピニングを許した重力下での3次元ピンチング,

    吉田 守夫, 有本 卓, 羅 志偉

    2007, 第8回 SICE システムインテグレーション部門 講演会論文集,pp.683-684, Dec. 2007

    Symposium

  • 人と接するソフトロボットのための反射を考慮した階層型ネットワーク,

    平野 慎也, 大西 正輝, 向井 利春, 羅 志偉, 細江 繁幸

    2007, 第8回 SICE システムインテグレーション部門 講演会論文集,pp.1240-1241, Dec. 2007

    Symposium

  • Petri-netを用いた人と接するロボットのための並列タスク設計法

    小林 祐一, 大西 正輝, 細江 繁幸, 羅 志偉

    2007, 第8回 SICE システムインテグレーション部門 講演会論文集,pp.1242-1243, Dec. 2007

    Symposium

  • A Development of Intellectual Rescue Robot

    HATTORI Tsuyoshi, HIRANO Shinya, LUO Z.W., KATO Atsuo

    This paper describes on a first step development of self controlled rescue robot. In recent years, we were suffered from serious disaster caused by earthquakes, so we have to take all possible measure against large earthquakes. Many seismologists say some big earthquakes will occur within next thirty years, and then several active studies of rescue robots are developing now. Generally an operator of robot is required special operating skill, but in the field of disaster it will be difficult to look for a skilled operator. Therefore we are developing self controlled rescue robot works for finding a person under the collapsed building. In this study we intend to give some intelligence to our hand made rescue robot AIT-ReBo.1.As first step of that we achieved self configuration control to continue progressive motion of ReBo.1 when it turns over on its side using G-sensor. TV camera image on console display get from ReBo.1 is waving with progressive motion of it because it makes bending traveling wave on its body for propagation, then we made holding image system by synchronous selection of movie frame with TV camera angle. By the holding image system, we can see arbitrary angle images, and even if ReBo.1 turn over on its side we can see vertical images. Usually, the console operators intend to search sufferer in dark area on the camera images, then we made aerial brightness control imaging system.

    Aichi Institute of Technology, Jun. 2006, Bulletin of Research Institute for Industrial Technology, 8, 65 - 70, Japanese

  • エネルギー効率に優れた歩行メカニズムを求めて,

    浅野 文彦, 羅 志偉

    2006, 第6回 制御部門大会 資料Vol.1,pp.65-68, May 2006

    Symposium

  • 保存則のポート表現による変分対称性崩壊の境界検出,

    西田 豪, 羅 志偉, 山北 昌毅

    2006, 第6回 制御部門大会 資料Vol.2,pp.917-922, June 2006

    Symposium

  • コンパクト多様体上のエネルギー平衡の解析,

    西田 豪, 羅 志偉, 山北 昌毅

    2006, 第6回 制御部門大会 資料Vol.2,pp.923-928, June 2006

    Symposium

  • バッキーゲル素子のセンサ機能の検証,

    釜道 紀浩, 山北 昌毅, 安積 欣志, 向井 利春, 羅 志偉

    2006, 第24回日本ロボット学会学術講演会予稿集,1A22, Sep. 2006

    Symposium

  • バッキーゲルアクチュエータの電気インピーダンス,

    高木 賢太郎, 釜道 紀浩, 羅 志偉, 安積 欣志

    2006, 第24回日本ロボット学会学術講演会予稿集,1A23, Sep. 2006

    Symposium

  • パラメータ励振による高効率2脚歩行ロボットの開発,

    林 健志, 浅野 文彦, 羅 志偉, 平野 慎也, 加藤 厚生

    2006, 第24回日本ロボット学会学術講演会予稿集,1F14, Sep. 2006

    Symposium

  • 足のころがり効果を利用した劣駆動仮想受動歩行,

    浅野 文彦, 羅 志偉

    2006, 第24回日本ロボット学会学術講演会予稿集,1F22, Sep. 2006

    Symposium

  • 分散型多脚歩行系における脚モジュールの自己位置同定,

    小田島 正, 羅 志偉

    2006, 第24回日本ロボット学会学術講演会予稿集,2F24, Sep. 2006

    Symposium

  • 筋骨格冗長指モデルによるピンチング動作の実現,

    田原 健二, 羅 志偉, 小澤 隆太, 裵 芝薫, 有本 卓

    2006, 第24回日本ロボット学会学術講演会予稿集,3C17, Sep. 2006

    Symposium

  • 弱制御Lyapunov関数を用いた非線形系の漸近安定化可能性,

    西田 豪, 中村 文一, 山下 裕, 羅 志偉

    2006, 第35回制御理論シンポジウム資料,pp.63-66, Sep. 2006

    Symposium

  • Stokes-Dirac構造と指数定理,

    西田 豪, 中村 文一, 山下 裕, 羅 志偉

    2006, 第35回制御理論シンポジウム資料,pp.391-396, Sep. 2006

    Symposium

  • 特異値分解法を用いた筋力と筋音の時間応答解析,

    高木 賢太郎, 田原 健二, 伊東 保志, 三田 勝己, 羅 志偉

    2006, 第21回生体・生理工学シンポジウム論文集,pp.355-358, Nov. 2006

    Symposium

  • 2脚動歩行における半円足のエネルギー損失に対する効果,

    浅野 文彦, 羅 志偉

    2006, 第49回自動制御連合講演会講演論文集,pp.SU8-3-1-1-SU8-3-1-4, Nov. 2006

    Symposium

  • 仮想拘束を用いた二足歩行ロボットの動的制御,

    原田 祐志, 羅 志偉, 浅野 文彦, 田地 宏一, 宇野 洋二

    2006, 第49回自動制御連合講演会講演論文集,pp.SU8-3-2-1-SU8-3-2-4, Nov. 2006

    Symposium

  • 仮想拘束を用いた劣駆動システムの適応制御,

    山村 雅紀, 羅 志偉, 早川 義一

    2006, 第49回自動制御連合講演会講演論文集,pp.SU8-3-3-1-SU8-3-3-4, Nov. 2006

    Symposium

  • “仮想バネ・ダンパー仮説”に基づいた筋内力と手先粘性の関係に関する考察,

    田原 健二, 有本 卓, 羅 志偉, 関本 昌紘

    2006, 第49回自動制御連合講演会講演論文集,pp.SU8-3-4-1-SU8-3-4-2, Nov. 2006

    Symposium

  • Field-port-Lagrange 系における非可逆なエネルギー流の一般化,

    西田 豪, 山北 昌毅, 羅 志偉

    2006, 第49回自動制御連合講演会講演論文集,pp.SU8-3-5-1-SU8-3-5-6, Nov. 2006

  • 圧電素子を用いた受動的制振のためのモデル化とパラメータ同定,

    高木 賢太郎, 羅 志偉

    2006, 第49回自動制御連合講演会講演論文集,pp.SU8-3-6-1-SU8-3-6-4, Nov. 2006

    Symposium

  • 人と接するロボットRI-MANの認識・行動調停法のための人間-ロボット対話のモデル化

    小林 祐一, 大西 正輝, 細江 繁幸, 中島 弘道, 羅 志偉

    2006, HAIシンポジウム2006,pp.1D-2-1-1D-2-6, Dec. 2006

    Symposium

  • 冗長系による劣駆動仮想受動歩行について,

    浅野 文彦, 羅 志偉

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.1-2, Dec. 2006

    Symposium

  • パラメータ励振による高効率2脚歩行ロボットの制御実験,

    林 健志, 浅野 文彦, 羅 志偉, 平野 慎也, 加藤 厚生

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.21-22, Dec. 2006

    Symposium

  • イオンドーピングによるIPMCアクチュエータの電気インピーダンス変化について,

    高木 賢太郎, 中坊 嘉宏, 羅 志偉, 安積 欣志

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.177-178, Dec. 2006

    Symposium

  • 電気的干渉を考慮したIPMCアクチュエータセンサ併合系の構築,

    中土井 隼人, 瀬良 暁雄, 山北 昌毅, 安積 欣志, 羅 志偉

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.185-186, Dec. 2006

    Symposium

  • 優しいRI-MANの環境適応機能創生,

    羅 志偉

    Lead, 2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.1156-1157, Dec. 2006

    [Invited]

    Symposium

  • 人と接するソフトロボット"RI-MAN"のための複合階層型分散制御ネットワークの構築,

    平野 慎也, 小田島 正, 大西 正輝, 田原 健二, 高木 賢太郎, 向井 利春, 羅 志偉

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.1158-1159, Dec. 2006

    Symposium

  • 人と接するロボットRI-MANのための認識・行動調停法,

    小林 祐一, 大西 正輝, 細江 繁幸, 中島 弘道, 羅 志偉

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.1160-1161, Dec. 2006

    Symposium

  • 人と接するソフトロボットRI-MANの没入型三次元動力学シミュレータの開発,

    伊藤 寿典, 大西 正輝, 小田島 正, 羅 志偉, 加藤 厚生

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.1164-1165, Dec. 2006

    Symposium

  • 人と接するロボットRI-MANによる抱き上げ動作の実現,

    大西 正輝, 小田島 正, 向井 利春, 羅 志偉

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.1166-1167, Dec. 2006

    Symposium

  • 人を抱え上げるロボットに求められる機構上の工夫とその実装,

    小田島 正, 田原 健二, 羅 志偉

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.1168-1169, Dec. 2006

    Symposium

  • 人と接するロボット"RI-MAN"の触覚システム開発,

    向井 利春, 大西 正輝, 小田島 正, 平野 慎也, 羅 志偉

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.1170-1171, Dec. 2006

    Symposium

  • 拇指ロボットの3 次元回転接触を利用した"Blind Touching"の実現,

    田原 健二, 有本 卓, 羅 志偉, 吉田 守夫

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.1174-1175, Dec. 2006

    Symposium

  • ロボットプログラミング用グラフィカルシミュレーションシステムの開発,

    伊藤 理貴, 水野 直樹, 伊藤 雅則, 光畑 幸史, 小田島 正, 羅 志偉

    2006, 第7回 SICE システムインテグレーション部門 講演会論文集,pp.1269-1270, Dec. 2006

    Symposium

  • For the new development of a bio-mimetic control theory.

    羅志偉

    Lead, 1997, 日本機械学会東海支部総会講演会講演論文集, 46th

    [Invited]

  • Control Design of Robot for Compliant Manipulation on Uncertain Flexible Objects.

    羅志偉, 呉建青, 山北昌毅, 伊藤宏司

    Corresponding, 1997, 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, 1997 (Vol.A)

    Symposium

  • 「巧みな運動制御」の機械による実現をめざして

    羅 志偉, 伊藤 正美

    養賢堂, Mar. 1996, 機械の研究, 48 (3), 332 - 337, Japanese

  • Learning and control of biolocomotion.

    小沢利之, 伊藤正美, 羅志偉, 伊藤宏司

    1995, 電気関係学会東海支部連合大会講演論文集, 1995

  • ベクトル場を用いた未知環境推定と接触作業ロボットへの応用

    服部正, 山北昌毅, 羅志偉, 大塚広幸, 伊藤宏司

    1994, 電気関係学会東海支部連合大会講演論文集, 1994

  • Self-organization of an upper limb motion pattern by neural network.

    大塚宏幸, 羅志偉, 伊藤宏司

    1993, バイオメカニズム学術講演会予稿集, 14th

    Symposium

  • Identification of position and force control measures for a human in both hands cooperative motions.

    渡辺泰弘, 羅志偉, 伊藤宏司

    1993, バイオメカニズム学術講演会予稿集, 14th

    Symposium

  • Coordination control of an object by multiple manipulators.

    植松義貴, 羅志偉, 伊藤宏司

    1993, バイオメカニズム学術講演会予稿集, 14th

    Symposium

  • Compliance control of an ultrasonic motor drive artificial arm.

    PECSON M G, 羅志偉, 伊藤宏司, 加藤厚生

    1993, バイオメカニズム学術講演会予稿集, 14th

    Symposium

  • Bilinear model of the musculoskeletal system and visco-elastic characteristics of a pneumatic type rubber artificial muscle.

    加藤厚生, 伊藤宏司, 伊藤正美, 羅志偉

    1988, 電気学会システム・制御研究会資料, SC-88 (1-10)

    Symposium

  • A consideration and development of LAN to construct for CAI.

    加藤厚生, 青木徹彦, 羅志偉

    1987, 電子情報通信学会技術研究報告, 87 (79)

  • 没入型動的インタラクションシステム

    大西 正輝, 小田島 正, 羅 志偉, 細江 繁幸

    Corresponding, 2005, 計測自動制御学会第67回パターン計測部会研究会資料, 19 - 25

  • 筋冗長多リンク系によるリーチング動作について

    田原 健二, 羅 志偉, 有本 卓

    2005, 第6回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • 腰上下動によるパラメータ励振に基づく2脚動歩行の実現

    浅野 文彦, 羅 志偉

    2005, 第6回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • IPMCアクチュエータの電気インピーダンス

    高木 賢太郎, 中坊 嘉宏, 羅 志偉, 安積 欣志, 早川 義一, 山村 雅紀

    2005, 第6回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • IPMCアクチュエータ/センサを用いたヘビ型ロボットの自励駆動

    釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    2005, 第6回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • IPMCアクチュエータ/センサの統合システム設計に関する研究 ~異種ドーピングされたIPMCアクチュエータの複合による高機能化~

    瀬良 暁雄, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    2005, 第6回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • 触覚情報を用いたソフトロボットによる全身マニピュレーション

    大西 正輝, 向井 利春, 浅野 文彦, 小田島 正, 田原 健二, 高木 賢太郎, 羅 志偉, 平野 慎也

    2005, 第6回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • ロボットに装着した曲面状触覚センサによるフィードバック制御の実現

    向井 利春, 大西 正輝, 平野 慎也, 羅 志偉

    2005, 第6回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • 人と接するロボットのためのソフトウェアアーキテクチャ

    小林 祐一, 大西 正輝, 中島 弘道, 羅 志偉, 細江 繁幸

    2005, 第6回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • 人と接するロボットに求められる機能とは

    小田島 正, 田原 健二, 高木 賢太郎, 平野 慎也, 大西 正輝, 浅野 文彦, 加藤 陽, 中島 弘道, 小林 祐一, 向井 利春, 羅 志偉, 細江 繁幸

    2005, 第6回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • 圧電素子を用いたスイッチングLRシャントダンピング

    高木 賢太郎, 長瀬 賢二, 大嶋 和彦, 早川 義一, 羅 志偉, 市川 浩幸

    2005, 第48回自動制御連合講演会講演論文集

    Symposium

  • 触覚情報を用いたロボットの動的マニピュレーション

    大西 正輝, 浅野 文彦, 向井 利春, 小田島 正, 田原 健二, 高木 賢太郎, 羅 志偉

    2005, 第23回日本ロボット学会学術講演会予稿集

    Symposium

  • リーチング運動を行う冗長筋骨格系の適応重力補償について

    田原 健二, 羅 志偉, 有本 卓, 木野 仁

    2005, 第23回日本ロボット学会学術講演会予稿集

    Symposium

  • 抱え上げ動作検証用ロボットアームの開発

    小田島 正, 田原 健二, 大西 正輝, 高木 賢太郎, 浅野 文彦, 向井 利春, 羅 志偉

    2005, 第23回日本ロボット学会学術講演会予稿集

    Symposium

  • 2脚動歩行における支持脚駆動のパラメータ励振効果

    浅野 文彦, 羅 志偉

    2005, 第23回日本ロボット学会学術講演会予稿集

    Symposium

  • 人間と対話するロボットのためのQoSを考慮した複数認識プロセスの調停法

    小林 祐一, 大西 正輝, 羅 志偉, 細江 繁幸

    2005, 第23回日本ロボット学会学術講演会予稿集

    Symposium

  • IPMCセンサ/アクチュエータの統合的システム設計に関する研究

    瀬良 彰雄, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    2005, 第23回日本ロボット学会学術講演会予稿集

    Symposium

  • IPMCアクチュエータを用いたRajiform 推進型水中ロボットの開発

    山村 雅紀, 高木 賢太郎, 羅 志偉, 安積 欣志, 早川 義一, 大西 正輝, 平野 慎也

    2005, 第23回日本ロボット学会学術講演会予稿集

    Symposium

  • 一定進行波入力によるIPMCの屈曲振幅増大現象とその力学II:単純梁モデルによる力学解析

    高木 賢太郎, 中坊 嘉宏, 羅 志偉, 向井 利春, 山村 雅紀, 早川 義一, 安積 欣志

    2005, 第23回日本ロボット学会学術講演会予稿集

    Symposium

  • 一定進行波入力によるIPMCの屈曲振幅増大現象とその力学I:人工筋肉を用いたヘビ型水中推進ロボットの屈曲形状解析

    中坊 嘉宏, 高木 賢太郎, 向井 利春, 羅 志偉, 安積 欣志

    2005, 第23回日本ロボット学会学術講演会予稿集

    Symposium

  • IPMCアクチュエータの運動による特性の適応可能性について

    山北 昌毅, 釜道 紀浩, 羅 志偉, 安積 欣志

    2005, 第49回システム制御情報学会研究発表講演会講演論文集, 523 - 524

    Symposium

  • 環境適応ロボットのバイオミメティック制御

    羅 志偉

    Lead, 2005, 第5回計測自動制御学会制御部門大会資料, 37 - 40

    [Invited]

    Symposium

  • 多脚歩行系における分散型力分配問題解決の一手法

    小田島 正, 羅 志偉

    2005, 第17回自律分散システム・シンポジウム資料, 93 - 98

    Symposium

  • イオン導電性高分子を用いた有限回転型人工筋アクチュエータ

    高木 賢太郎, 羅 志偉, 安積 欣志, 田原 健二

    2004, 第5回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • 再ドーピング可能なIPMCアクチュエータを用いた水上蛇型ロボットの開発

    瀬良 暁雄, 金田 泰昌, 山北 昌毅, 安積 欣志, 羅 志偉

    2004, 第5回 SICE システムインテグレーション部門 講演会論文集

    Symposium

  • Human-Machine Interactive Reinforcement Learning for Image Retrieval

    J.Su, F.Liu, Zhiwei Luo

    2004, 第5回 SICE システムインテグレーション部門 講演会論文集

  • IPMC直動アクチュエータを用いた歩行ロボットの制御

    小築 隆博, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    2004, 第22回日本ロボット学会学術講演会予稿集

    Symposium

  • Performance Analysis for Uncalibrated Hand-Eye Coordination with Neural Networks

    J. Su, Zhiwei Luo

    2004, 第22回日本ロボット学会学術講演会予稿集

    Symposium

  • 環境との相互作用を行うロボットの身まね学習方式

    大西 正輝, 小田島 正, 羅 志偉

    2004, 第22回日本ロボット学会学術講演会予稿集

    Symposium

  • 複雑な環境で活動する組み替え可能なレスキューロボットの研究開発

    平野 慎也, 服部 剛史, 羅 志偉, 加藤 厚生

    2004, 第22回日本ロボット学会学術講演会予稿集

    Symposium

  • 動的環境での人間上肢運動の軌道解析

    増井 洋平, M. Svinin, 羅 志偉, 細江 繁幸

    2004, 第22回日本ロボット学会学術講演会予稿集

    Symposium

  • Explicit Force Adaptive Control of a Robot Manipulator Interacting with Unknown Dynamic Environment

    Y. Saitoh, Zhiwei Luo, S. Fujii, E. Muramatsu, K. Watanabe

    2004, 第22回日本ロボット学会学術講演会予稿集

    Symposium

  • 随意運動と反射の統合に基づく全身マニピュレーションの実現

    浅野 文彦, 羅 志偉, 山北 昌毅, 細江 繁幸

    2004, 第22回日本ロボット学会学術講演会予稿集

    Symposium

  • ハイブリッドシステム制御による接触モード遷移を伴うハンドマニピュレーション

    尹 英杰, 杉本 隆幸, 細江 繁幸, 浅野 文彦, 羅 志偉

    2004, 第22回日本ロボット学会学術講演会予稿集

    Symposium

  • パラメータ励振現象に基づく伸縮脚ロボットの動的歩行制御

    浅野 文彦, 玄 相昊, 羅 志偉, 江村 超

    2004, 第22回日本ロボット学会学術講演会予稿集

    Symposium

  • 認識情報を考慮した模倣動作生成によるロボット制御

    大西 正輝, 小田島 正, 羅 志偉

    2004, 画像の認識・理解シンポジウム(MIRU2004)論文集, 422 - 427

    Symposium

  • On Recent Bio-mimetic Studies of Environmental Adaptive Manipulations

    Zhiwei Luo

    2004, Ritsumeikan ISERP(Institute of Science and Engineering Research Project) Symposium on Intelligent Control of Multi-Fingered Hands by Sensory Feedback, 69 - 74

    Symposium

  • 人間と接するロボットを開発するための没入型三次元動力学シミュレーション環境

    大西 正輝, 小田島 正, 羅 志偉, 細江 繁幸

    Corresponding, 2004, 電子情報通信学会技術研究報告, 7 - 12

    Symposium

  • 多自由度ロボットのネットワーク制御システム

    大西 正輝, 小田島 正, 小林 祐一, 浅野 文彦, 羅 志偉, 細江 繁幸

    2003, 第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集

    Symposium

  • 身体の動的運動計測による筋骨格モデルの動力学シミュレーション

    田原 健二, 羅 志偉, 加藤 厚生

    2003, 第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集

    Symposium

  • Formulation of Dexterous Hand Manipulation via Hybrid System Control Approach

    尹 英杰, 羅 志偉, 細江 繁幸

    2003, 第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集

    Symposium

  • IPMCを用いた拮抗型直動人工筋アクチュエータの可変メカニカルインピーダンス

    山北 昌毅, 羅 志偉, 釜道 紀浩, 金田 泰昌, 安積 欣志

    2003, 第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集

    Symposium

  • 再ドーピング可能な直動人工筋アクチュエータと歩行ロボットへの応用

    山北 昌毅, 釜道 紀浩, 金田 泰昌, 安積 欣志, 羅 志偉

    2003, 第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集

    Symposium

  • バイオ分野における制御工学

    細江 繁幸, 羅 志偉

    2003, 第46回自動制御連合講演会講演論文集, 1267 - 1270

    Symposium

  • 環境適応ロボットの視覚モジュールの機能開発

    秋山 圭, 羅 志偉, 大西 正輝, 八木 哲也, 細江 繁幸

    2003, 第21回日本ロボット学会学術講演会予稿集

    Symposium

  • 人との力学的な相互作用を行うソフトアクチュエータの開発

    伊藤 晋彦, 三田 勝己, 羅 志偉

    2003, 第21回日本ロボット学会学術講演会予稿集

    Symposium

  • 環境適応ロボットにおける分散型汎用コントローラの開発

    平野 慎也, 羅 志偉, 小田島 正, 加藤 厚生

    2003, 第21回日本ロボット学会学術講演会予稿集

    Symposium

  • 環境と力学的相互作用を行う人間のモーションキャプチャシステムの構築

    小田島 正, 大山 浩市, 羅 志偉, 細江 繁幸

    2003, 第21回日本ロボット学会学術講演会予稿集

    Symposium

  • 環境適応ロボット開発のための三次元動力学シミュレータ

    大西 正輝, 小田島 正, 羅 志偉, 細江 繁幸

    2003, 第21回日本ロボット学会学術講演会予稿集

    Symposium

  • ハイブリッドシステム制御による巧みなハンドマニピュレーション

    尹 英杰, 羅 志偉, 細江 繁幸

    2003, 第21回日本ロボット学会学術講演会予稿集

    Symposium

  • 環境による拘束下での人間上肢運動の軌道生成と解析

    太田 憲, M. シビニン, 羅 志偉, 細江 繁幸

    2003, 第21回日本ロボット学会学術講演会予稿集

    Symposium

  • イオン導電性高分子を用いた直動アクチュエータの開発 -等価定常ゲイン向上のための非線形特性の導入-

    金田 泰昌, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    2003, 第21回日本ロボット学会学術講演会予稿集

    Symposium

  • 受動歩行規範型歩容生成問題の定式化 (I) 力学原理と制御系設計

    浅野 文彦, 羅 志偉, 山北 昌毅

    2003, 第21回日本ロボット学会学術講演会予稿集

    Symposium

  • 受動歩行規範型歩容生成問題の定式化 (II) 膝関節モデルへの拡張

    浅野 文彦, 羅 志偉, 山北 昌毅

    2003, 第21回日本ロボット学会学術講演会予稿集

  • New Trends on Bio-mimetic System Control

    Zhiwei Luo

    Lead, 2003, 第47回システム制御情報学会研究発表講演会講演論文集, 45 - 48

    [Invited]

    Symposium

  • 摩擦特性を考慮した動的フルボディ・マニピュレーション

    浅野 文彦, 羅 志偉, 山北 昌毅, 細江 繁幸

    2002, 自動制御連合講演会

    Symposium

  • 直動人工筋アクチュエータの開発と歩行ロボットへの応用

    釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    2002, 自動制御連合講演会

    Symposium

  • 拡散学習に基づくマニピュレータ最適制御の空間汎化

    浅黄 義昭, 羅 志偉, 渡辺 慶二

    2002, 自動制御連合講演会

    Symposium

  • 生物の制御構造を模した階層型多脚歩行系

    小田島 正, 羅 志偉, 岸 泰生, 田中 宏幸

    2002, SICE SI2002 講演論文集

    Symposium

  • 人間と接するロボット開発のための三次元動力学シミュレーション環境

    小田島 正, 大西 正輝, 浅野 文彦, 羅 志偉

    2002, SICE SI2002 講演論文集

    Symposium

  • 拘束条件下でのヒトの運動の最適軌道

    太田憲, M. Svinin, 羅志偉, 細江繁幸

    2001, 計測自動制御学会システムインテグレーション部門学術講演会(SI2001)

    Symposium

  • ベクトル場の自己組織化と接触作業ロボットへの応用

    大塚広幸, 羅志偉, 山北昌毅, 伊藤宏司

    Corresponding, 1994, 第5回自律分散システムシンポジウム

    Symposium

  • Optimum Order Formation in Autonomous Decentralized System

    Zhiwei Luo, J. Arakawa, K. Ito, M. Ito, H. Yuasa

    Lead, 1994, 第5回自律分散システムシンポジウム

    Symposium

  • 自律分散システムの最適化について

    羅志偉, 伊藤宏司, 伊藤正美, 湯浅秀男

    Lead, 1993, 日本機械学会第3回FANシンポジウム

    Symposium

  • 複数のロボットによる動的な対象物の協調制御

    植松義貴, 羅志偉, 伊藤宏司

    Corresponding, 1993, 第3回ロボットシンポジウム

    Symposium

  • Cooperative Compliant Manipulation of Dynamical Environments by Multiple Robotic Systems

    Zhiwei Luo, Koji Ito, Masami Ito

    Lead, 1993, 第4回自律分散システムシンポジウム

    Symposium

  • 動的な対象物に対する複数ロボットの自律協調制御とその実験

    植松義貴, 羅志偉, 伊藤宏司

    1993, 第11回日本ロボット学会学術講演会

    Symposium

  • パラメータ調節による接触作業ロボットの非線形制御

    高橋秀樹, 羅志偉, 伊藤正美

    Corresponding, 1992, 第21回制御理論シンポジウム

    Symposium

  • 接触作業ロボットのロバスト制御

    羅志偉, 伊藤正美

    Lead, 1991, 第20回制御理論シンポジウム

    Symposium

  • 多自由度マニピュレータのコンプライアントマニピュレーション

    羅志偉, 高橋秀樹, 伊藤正美

    Lead, 1990, 第8回日本ロボット学会学術講演会

    Symposium

  • 関節インピーダンス調節の双線形モデル

    羅志偉, 伊藤正美, 加藤厚生

    Lead, 1990, 第8回日本ロボット学会学術講演会

    Symposium

  • ロボットのコンプライアントマニピュレーション

    羅志偉, 伊藤正美

    Lead, 1990, 日本機械学会ロボティックス・メカトロニクス講演会

    Symposium

  • 動的作業環境に対するロボットの適応制御について

    羅志偉, 伊藤正美

    Lead, 1990, 第19回制御理論シンポジウム

    Symposium

  • コンプライアントマニピュレーションのためのロボットの適応制御

    羅志偉, 大滝和宏, 伊藤正美, 加藤厚生

    Lead, 1989, 第7回日本ロボット学会学術講演会

    Symposium

  • 接触作業ロボットの制御設計方針について

    羅志偉, 伊藤正美

    Lead, 1989, 第7回日本ロボット学会学術講演会

    Symposium

  • ロボットの接触作業の制御について

    羅志偉, 伊藤正美

    Lead, 1989, 第2回ロボットシステム技術研究会資料

    Symposium

  • コンプライアントマニピュレーションのためのロボットインピーダンスの設計

    羅志偉, 伊藤正美

    1989, SICE89

    Symposium

  • ロボットの接触作業に関する制御理論

    羅志偉, 伊藤正美

    Lead, 1989, 第18回制御理論シンポジウム

    Symposium

  • 一般化インピーダンス制御

    羅志偉, 伊藤正美, 細江繁幸

    Lead, 1988, 第11回Dynamical System Theory シンポジウム

    Symposium

  • ロボットの一般化インピーダンス制御について

    羅志偉, 伊藤正美

    Lead, 1988, 第6回日本ロボット学会学術講演会

    Symposium

  • 可変粘弾性アクチュエータの研究

    加藤厚生, 伊藤正美, 羅志偉

    1988, 第32回システムと制御研究発表講演会

    Symposium

  • 筋骨格系の双線形モデルとゴム人工筋の粘弾性特性

    加藤厚生, 伊藤宏司, 伊藤正美, 羅志偉, 伊藤晋彦, 国枝和彦, 近藤隆, 原田幸英

    1987, 第5回日本ロボット学会学術講演会, 657 - 658

    Symposium

  • Z08用トークンリングLANのシステムプログラム

    加藤厚生, 石井宏之, 小林寿史, 長尾康, 藤田卓英, 丸茂等, 董屏 羅志偉

    1987, 第3回ソフトウェアコンファレンス

    Symposium

  • 脳損傷者と健常者における認知的疲労時の脳波の変化と,主観的・客観的計測指標との関連1名ずつの比較

    江尻知穂, 江尻知穂, 羅志偉, 中村圭佑, 塚越千尋, 塚越千尋, 陳冉, 納谷敦夫, 種村留美

    2021, 日本高次脳機能障害学会学術総会プログラム・講演抄録, 45th (CD-ROM)

  • 神戸大学 羅・長野研究室のRT-高齢者の介護支援用ロボットの設計・評価技術-

    羅志偉, 羅志偉, 長野明紀

    2008, 日本ロボット学会学術講演会予稿集(CD-ROM), 26th

  • 神戸大学 羅・長野研究室のRT-高齢者の介護支援用ロボットの制御技術-

    羅志偉, 羅志偉, 長野明紀

    2008, 日本ロボット学会学術講演会予稿集(CD-ROM), 26th

  • 四足歩行パターンの適応モデルとロボットへの実装

    伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

    2000, 医用電子と生体工学 特別号, 38

    [Refereed]

    Scientific journal

  • 1ディスク混合感度問題のための修正H∞制御

    渡部慶二, 羅志偉, 伊豆田義人

    1999, 第22回Dynamical System Theory シンポジウム

    Symposium

  • スレーブに部分的な自律性を与えたマスタスレーブシステム

    宮田郁子, 安藤英由樹, 平松誠治, 羅志偉, 加藤厚生

    1999, 電気関係学会東海支部連合大会講演論文集, 1999

  • ユニラテラル?または バイラテラル? テレーマニピュレーションに関する一考察

    羅志偉, 伊藤正美

    Lead, 1998, SICE'98

    Symposium

  • 非線形適応制御の一考察

    伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

    1998, 第27回制御理論シンポジウム

    Symposium

  • Robust Gain Scheduled Control of Distributed Parameter System and It’s Application in Robotics

    Zhiwei LUO, Masami ITO

    Lead, 1998, 第27回制御理論シンポジウム

    Symposium

  • 四足歩行運動における環境適応について

    伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

    1998, 日本機械学会ロボティックス・メカトロニクス講演会‘98講演論文集

    Symposium

  • 作業環境と相互作用を行う生体運動の解析

    太田憲, 羅志偉, 伊藤正美

    1998, 日本機械学会 第10回バイオエンジニアリング講演会講演論文集

    Symposium

  • 動的作業環境におけるテレ―マニピュレーション

    梅沢将実, 羅志偉, 太田憲, 伊藤正美, 加藤厚生

    Corresponding, 1997, 第15回日本ロボット学会学術講演会予稿集

    Symposium

  • 視覚情報に基づくダイナミックキャッチング

    島田磨, 羅志偉, 伊藤正美, 安林幹翁

    1997, 第15回日本ロボット学会学術講演会予稿集

    Symposium

  • 周期的摂動に適応するための脚運動のタイミングの学習

    伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

    1997, 第15回日本ロボット学会学術講演会予稿集

    Symposium

  • 接触作業ロボットのタスクインピーダンス調節について

    今井晋吾, 羅志偉, 本間康正, 伊藤正美, 加藤厚生, 安林幹翁

    Corresponding, 1997, 第15回日本ロボット学会学術講演会予稿集

    Symposium

  • 未知環境における人間の知覚―運動協応

    太田憲, 羅志偉, 伊藤正美

    1997, SICE’97

    Symposium

  • 未知環境における生体の巧みな運動制御

    太田憲, 羅志偉, 伊藤正美

    1996, 第14回日本ロボット学会学術講演会予稿集

    Symposium

  • タスクインピーダンス構造の実現および調節に関する考察

    山本親慶, 羅志偉, 伊藤正美

    Corresponding, 1996, 第14回日本ロボット学会学術講演会予稿集

    Symposium

  • 未知線形Parameter-Varying システムに対するゲインスケジュールド制御

    呉建青, 羅志偉, 山北昌毅, 伊藤宏司

    Corresponding, 1996, 第14回日本ロボット学会学術講演会予稿集

    Symposium

  • Self-Organization of a Redundant Robot Manipulator’s Inverse Kinematic Map using Diffusion Equation

    Zhiwei Luo, Masami Ito

    Lead, 1996, 日本神経回路学会

    Symposium

  • 運動物体捕獲作業のためのロボットの制御方式

    羅志偉, 島田磨, 伊藤正美

    Corresponding, 1996, SICE’96

    Symposium

  • 柔軟局面上でのロボットの接触作業

    呉建青, 羅志偉, 山北昌毅, 伊藤宏司

    Corresponding, 1995, 第13回日本ロボット学会学術講演会予稿集

    Symposium

  • ニューラルネットワークによる冗長マニピュレータの運動学習

    羅志偉, 山北昌毅, 伊藤宏司

    Lead, 1995, 第13回日本ロボット学会学術講演会予稿集

    Symposium

  • 随意運動の制御理論的考察

    羅志偉, 伊藤正美, 小澤利之, 伊藤宏司

    Lead, 1995, SICE’95

    Symposium

  • 拡散方程式を用いた冗長マニピュレータの逆運動学マッピングの並列分散学習

    須山郁夫, 羅志偉, 伊藤宏司

    Corresponding, 1995, SICE’95

    Symposium

  • 複数ロボットによる動的対象物の協調制御 ――分散インピーダンス制御方式とその実験的考察――

    北岸隆史, 羅志偉, 伊藤宏司

    Corresponding, 1995, SICE’95

    Symposium

  • 柔軟対象物上での倣い作業におけるロボットの位置/力の動的制御

    呉建青, 羅志偉, 山北昌毅, 伊藤宏司

    Corresponding, 1995, SICE’95

    Symposium

  • 複数ロボットによる動的対象物の分散インピーダンス制御

    北岸隆史, 羅志偉, 伊藤宏司

    Corresponding, 1995, 第6回自律分散システムシンポジウム

    Symposium

  • 非線形マッピングの自律分散学習と冗長マニピュレータの逆運動学問題への応用

    須山郁夫, 羅志偉, 伊藤宏司

    Corresponding, 1995, 第6回自律分散システムシンポジウム

    Symposium

  • 消費エネルギーを考慮した歩行パターンの生成

    伊藤聡, 湯浅秀男, 羅志偉, 伊藤宏司

    1994, 第12回ロボット学会学術講演会

    Symposium

  • 未知な柔軟対象物に対する位置と力の動的制御

    呉建青, 羅志偉, 山北昌毅, 伊藤宏司

    Corresponding, 1994, 第12回ロボット学会学術講演会

    Symposium

  • Compliance Control Considering a Robot’s Manipulability

    Zhiwei Luo, K. Iwakoshi, M. Yamakita, K. Ito

    Lead, 1994, 第12回ロボット学会学術講演会

    Symposium

  • ベクトル場を用いた未知環境推定と接触作業ロボットへの応用

    服部正, 山北昌毅, 羅志偉, 大塚広幸, 伊藤宏司

    Corresponding, 1994, 第12回ロボット学会学術講演会

    Symposium

MISC

  • 歩行運動におけるリズムの生成とその適応モデル

    伊藤 聡, 湯浅 秀男, 羅 志偉, 伊藤 正美, 柳原 大

    01 Mar. 1999, 形の科学会誌 = Bulletin of the Society for Science on Form, 13 (3), 216 - 216, Japanese

  • テクノロマン・インタビュー 理化学研究所バイオ・ミメティックコントロール研究センター研究チーム 生物の機能を真似て実現する 人を優しく抱き上げるロボット

    羅 志偉, 向井 利春, 筑紫 新

    日本商工経済研究所, Jan. 2007, 商工ジャ-ナル, 33 (1), 76 - 79, Japanese

  • 羅志偉

    2021, システム/制御/情報, 65 (4), 159 - 160

    [Invited]

    Introduction scientific journal

  • 医療・福祉・コミュニケーションロボット 介護リハビリロボット研究開発の体系化

    羅志偉

    2017, ロボット, (236)

  • 豊かな超少子高齢社会を支えるロボット工学技術イノベーション

    羅志偉

    2017, フォトポリマー懇話会講演会, 224th

  • Luo Zhi Wei, MIURA Jun

    The Robotics Society of Japan, 15 Sep. 2009, JRSJ, 27 (7), 703 - 703, Japanese

  • 人に優しい介護支援用ロボットの研究開発

    羅志偉

    2008, 福祉介護機器TECHNOプラス, 1 (8)

  • Vector Field Estimation of Environment Model and its Application to Robot's Contact Tasks

    Zhiwei LUO, K. Ito, M. Yamakita

    Lead, 1995, RIKEN Review (Focused on Brian and Information Science), (9), 43 - 44

    [Refereed]

    Report research institution

  • 豊かな超高齢社会を支えるロボット工学技術イノベーション

    羅 志偉

    2014, WHO WKCフォーラム, 2014 招待講演, English

    [Invited]

    Meeting report

  • ロボットが介護する未来

    羅志偉

    Lead, Aug. 2010, 第13回先端医療の夕べ 「健康・介護予防に関する最新情報」

    Lecture materials

  • 特集2:安全重視のメカトロニクス技術 第4章 未来のロボットの筋肉

    高木賢太郎, 羅志偉

    2007, Design Wave Apr. 2007

    [Invited]

    Introduction commerce magazine

  • 特集2:安全重視のメカトロニクス技術 第1章 命を預かる介護ロボットには何がもとめられるのか

    羅志偉

    Lead, 2007, Design Wave Apr. 2007

    [Invited]

  • 特集2:分散制御システム開発の事例研究 第2章 分散処理を取り入れた自律型ロボット「いもむし」の開発

    平野慎也, 羅志偉, 加藤厚生

    2006, Design Wave Apr. 2006

    [Invited]

    Introduction commerce magazine

  • 特集2:分散制御システム開発の事例研究 第1章 メカトロ・システム機器の進化には分散処理がかかせないーーロボットに学ぶ分散処理の貴のン概念と課題

    羅志偉, 平野慎也

    Lead, 2006, Design Wave Apr. 2006

    [Invited]

    Introduction commerce magazine

  • 深層学習を用いた地震波の時系列信号による地盤地質推定—Estimation of Ground Information from Seismic Time Series Signals using Deep Learning

    陳 冉, 全 昌勤, 曹 晟, 森 耕平, 羅 志偉

    May 2022, システム制御情報学会研究発表講演会講演論文集, 66, 767 - 769, Japanese

  • ヒューマンエラーを考慮したシステムの信頼性解析—Reliability Analysis Considering Human Error

    前山 一登, 曹 晟, 森 耕平, 全 昌勤, 羅 志偉

    システム制御情報学会, May 2021, システム制御情報学会研究発表講演会講演論文集, 65, 471 - 473, Japanese

  • 漢方医薬の知的データベース構築と検索に関する研究開発—Development of Intelligent Database of Traditional Chinese Medicine

    徐 亜坤, 田中 成典, 森 耕平, 曹 晟, 羅 志偉

    システム制御情報学会, May 2020, システム制御情報学会研究発表講演会講演論文集, 64, 517 - 519, Japanese

  • Research on Stock Fluctuation Analysis using Image Processing

    小島一也, LUO Zhiwei, QUAN Changqin, 森耕平, CAO Sheng

    2020, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2019

  • Study of SLAM with Vector Field by Mobile Robot

    塩崎亮, LUO Zhiwei, 森耕平, CAO Sheng

    2020, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2019

Books etc

  • 生活環境と情報認知(第4章、第11章)

    LUO Zhi-Wei

    Joint work, NHK出版, Mar. 2015, Japanese

    Textbook

  • Mobile Robots – Control Architectures, Bio-Interfacing, Navigation, Multi Robot Motion Planning and Operator Training (Chapter 3: Control Strategies of Human Interactive

    DONG Haiwei, LUO Zhiwei

    Joint work, InTech, Dec. 2011, English

    Scholarly book

  • 友だちロボットがやってくる

    羅 志偉

    Single work, くもん出版, Mar. 2009, Japanese

    General book

  • Development of a soft tactile sensor for RI-MAN based on inverse problem analysis

    Zhiwei LUO, T Mitani, A Nagano

    Joint work, JSAEM, 2009, English

    Scholarly book

  • Sparsing of Information Matrix for Practical Application of SLAM for Autonomous Robots

    Haiwei Dong, Zhiwei LUO

    Joint work, Springer, 2008, English

    Others

  • Behavior Design of a Human-Interactive Robot through Parallel Tasks Optimization

    Y Kobayashi, M Onishi, S Hosoe, Zhiwei LUO

    Joint work, Springer, 2008, English

    Others

  • 超五感センサの開発最前線

    ZHIWEI Luo

    Joint work, 株式会社 エヌ・ティー・エス, Nov. 2005, Japanese

    Scholarly book

  • 人間情報学 -快適を科学するー

    羅志偉

    Joint work, 近代科学Digital出版, 2021

  • 生活環境と情報認知〔改訂版〕 (放送大学教材)

    羅志偉

    Joint work, NHK出版, 2020

  • クラウド時代のヘルスケアモニタリングシステム構築と応用《普及版》 (エレクトロニクスシリーズ)

    羅志偉

    Joint work, シーエムシー出版, 2019

  • ロボット制御学ハンドブック

    羅志偉

    Joint editor, 第24章, 近代科学社, 2017

  • Ionic Polymer Metal Composites (IPMCs)

    Kentaro Takagi, Yoshihiro Nakabo, Zhiwei Luo, Kinji Asaka

    Joint work, Phenomenon of spatially growing wave of a snake-like robot: Natural generation of bio-mimetic swimming motion, Royal Society of Chemistry, 2016

  • Soft Actuators:Materials, Modeling, Applications,and Future Perspectives

    Zhiwei Luo

    Joint work, Underwater Soft Robots, Springer, 2014

  • Biomedical Informatics and Technology

    Chenghong Hu, Yoshitada Katagiri, Yoshiko Kato, Zhiwei Luo

    Early Neurological Markers for Unconscious Detection of Bitter and Sour Taste for Investigating Taste Preferences, Springer, 2013

  • HealthCare Monitoring System Design and Applications in Cloud Computing Era

    Zhiwei LUO

    Joint work, シーエムシー出版, 2012

  • Simulation and Modeling Related To Computational Science and Robotics Technology

    Zhiwei LUO

    Joint work, IOS press, 2012

  • Emerging Trends in Mobile Robotics

    Zhiwei LUO

    Joint work, World Scientific, 2010

  • Artificial Muscle Actuators using Electroactive Polymers

    Kentaro Takagi, Kinji Asaka, Gou Nishida, Yoshihiro Nakabo, Zhiwei Luo

    Joint work, Distributed Impedance Model of Ionic Polymer Metal Composite Actuators, Trans Tech Publi-cations Inc, 2009

  • Distributed Autonomous Robotic Systems

    Zhiwei LUO

    Joint work, Springer Press, 2009

  • Distributed Autonomous Robotic Systems

    Zhiwei LUO

    Joint work, Springer Press, 2008

  • Lecture Notes in Control and Information Sciences book series

    Zhiwei LUO

    Joint work, Springer-Verlag Berlin Heidelberg, 2007

  • Biomimetics - Biologically Inspired Technologies

    Zhiwei LUO

    Joint work, Chapter 16: Biomimetic and Biologically Inspired Control, CRC press, 2005

  • Electroactive Polymers in Robotic Applications

    ZHiwei LUO

    Joint work, Springer, 2005

  • Advances in Neural Networks

    LUO Zhiwei

    Springer, 2004

  • Climbing and Walking Robots – CLAWAR2004

    LUO Zhiwei

    Joint work, Springer, 2004

  • Climbing and Walking Robots – CLAWAR2003

    LUO Zhiwei

    Joint work, Professional Engineering Publishing, 2003

  • Climbing and Walking Robots – CLAWAR2001

    LUO Zhiwei

    Joint work, Professional Engineering Publishing, 2001

  • Theory and Practice of Robots and Manipulators

    LUO Zhiwei

    Joint work, Springer-Verlag, 1995

  • Distributed Autonomous Robotic System

    LUO Zhiwei

    Joint work, Springer-Verlag, 1994

Presentations

  • スケールフリー性を持った触媒反応ネットワークにおける分子数の離散性の影響

    OHNAKA Shuhei, LUO Zhi Wei, TOGASHI Yuichi

    2013 Autumn Meeting of the Physical Society of Japan, Sep. 2013, Japanese, The Physical Society of Japan, Tokushima, Japan, Domestic conference

    Poster presentation

  • Research and development of an assessment system for cognitive function using virtual reality

    酒井 弘美, Okahashi, S, 小嶌 麻木, Nagano, A, Luo zhi-wei

    ライフエンジニアリング部門シンポジウム, Sep. 2013, English, Domestic conference

    Oral presentation

  • Virtual Reality技術を用いた高次脳機能評価システムの開発 ‐失語症者を対象とした検討

    小嶌 麻木, 岡橋 さやか, Nagano, A, Luo zhi-wei, 関 啓子

    第14回日本言語聴覚学会, 2013, Japanese, Domestic conference

    Oral presentation

  • Neurophysiological Study of Taste Preference Mechanism

    Chenghong Hu, Yoshitada Katagiri, Yoshiko Kato, Luo zhi-wei

    人間情報学会, 2013, Japanese, Domestic conference

    Oral presentation

  • 生体分子機械の粗視化モデリング手法の検証

    GU Jie, TOGASHI Yuichi, LUO Zhi Wei

    The 4th Annual Meeting of the Japanese Society for Quantitative Biology, Jan. 2012, Japanese, 定量生物学の会, Nagoya, Japan, Domestic conference

    Poster presentation

  • 力学情報のリアルタイムバイオフィードバックを用いたランニング動作訓練システムの開発

    NAGANO Akinoro, KATO Shoichi, LUO Zhi-wei

    第25回日本トレーニング科学会, 2012, Japanese, Domestic conference

    Oral presentation

  • 通信範囲制約を考慮するネットワーク群ロボットシステムの分散制御

    MURAYAMA Toru, NAGANO Akinori, LUO Zhi-wei

    第56 回システム制御情報学会研究発表講演会, 2012, Japanese, Domestic conference

    Oral presentation

  • 促し動作を実現する介護支援用ロボットの力制御に関する研究

    SAKAGUCHI Junya, NAGANO Akinori, LUO Zhi-wei

    第56 回システム制御情報学会研究発表講演会, 2012, Japanese, Domestic conference

    Oral presentation

  • 障害物回避機能を有する移動ロボットのSLAM に関する研究

    SAKAGUCHI Takekazu, NAGANO Akinori, LUO Zhi-wei

    第56 回システム制御情報学会研究発表講演会, 2012, Japanese, Domestic conference

    Oral presentation

  • 視覚フィードバックを用いたランニング障害の予防に関する研究

    IWAO Kazutaka, NAGANO Akinori, LUO Zhi-wei

    第56 回システム制御情報学会研究発表講演会, 2012, Japanese, Domestic conference

    Oral presentation

  • 使用者の意図する歩行・走行速度を実現するインテリジェント・トレッドミルの研究開発

    NAGANO Akinori, IWAO Kazutaka, LUO Zhi-wei

    第22回日本バイオメカニクス学会, 2012, Japanese, Domestic conference

    Oral presentation

  • 効率的な二足歩行のための二重倒立振子パラメータ励振

    HONJO Toyoyuki, NAGANO Akinori, LUO Zhi-wei

    第56 回システム制御情報学会研究発表講演会, 2012, Japanese, Domestic conference

    Oral presentation

  • 近赤外光計測による人間の意思推定に関する研究

    MURASE Yuki, NAGANO Akinori, LUO Zhi-wei

    第56 回システム制御情報学会研究発表講演会, 2012, Japanese, Domestic conference

    Oral presentation

  • 逆ダイナミクス解析による筋力推定を用いたリハビリシステムの開発

    NAKANO Tatsuya, NAGANO Akinori, LUO Zhi-wei

    第56 回システム制御情報学会研究発表講演会, 2012, Japanese, Domestic conference

    Oral presentation

  • Adaptive Control Scheme with Parameter Adaptation - From Human Motor Control to Humanoid Robot Locomotion Control

    DONG Haiwei, LUO Zhiwei

    4th International Conference on Intelligent Robotics and Applications (ICIRA2011), Dec. 2011, English, Aachen, Germany, International conference

    Oral presentation

  • 倒立振子のパラメータ励振原理による効率的な二足動的歩行のための目標軌道設計

    HONJO Toyoyuki, HAYASHI Takeshi, NAGANO Akinori, LUO Zhiwei

    第21回 インテリジェント・システム・シンポジウム, Sep. 2011, Japanese, 日本機械学会 ロボティクス・メカトロニクス部門, 神戸市, Domestic conference

    Oral presentation

  • Distributing Joint Torques to Muscle Forces for Robot Manipulator Control

    DONG Haiwei, LUO Zhiwei, NAGANO Akinori

    第29回 日本ロボット学会学術講演会, Sep. 2011, English, 日本ロボット学会, 東京都江東区, Domestic conference

    Oral presentation

  • Target trajectory design of parametrically excited inverted pendulum for efficient bipedal walking.

    HONJO Toyoyuki, HAYASHI Takeshi, NAGANO Akinori, LUO Zhi-wei

    International Conference on Control, Automation, Robotics and Vision 2011, 2011, English, World Academy of Science, Engineering and Technology, Venice, Italy, International conference

    Oral presentation

  • Adaptive treadmill control by human will

    Haiwei Dong, Zhiwei Luo, Akinori Nagano

    13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Sep. 2010, English, CLAWAR Association, Nagoya, Japan, International conference

    Oral presentation

  • Reduced model adaptive control for carrying human beings with uncertain body dynamics in nursing care

    Haiwei Dong, Zhiwei Luo, Akinori Nagano

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul. 2010, English, IEEE Robotics and Automation Society, Montreal, Canada, International conference

    Oral presentation

  • 時間遅れを有する群ロボットの分散フォーメーション制御

    村山暢, 長野明紀, 羅志偉

    第22回自律分散システム・シンポジウム1/30~1/31, Jan. 2010, Japanese, (社)計測自動制御学会, 名古屋市, Domestic conference

    Oral presentation

  • 群ロボットシステムによる協調型SLAMの構築

    早野真理子, 長野明紀, 羅志偉

    第22回自律分散システム・シンポジウム1/30~1/31, Jan. 2010, Japanese, (社)計測自動制御学会, 名古屋市, Domestic conference

    Oral presentation

  • 移動ロボット群の全方位カメラパラメータと位置の同時推定

    笹原康介, 長野明紀, 羅志偉

    第22回自律分散システム・シンポジウム1/30~1/31, Jan. 2010, Japanese, (社)計測自動制御学会, 名古屋市, Domestic conference

    Oral presentation

  • くりこみ群分子動力学法による流体解析

    柏原裕美, 長野明紀, 羅志偉

    第22回自律分散システム・シンポジウム1/30~1/31, Jan. 2010, Japanese, (社)計測自動制御学会, 名古屋市, Domestic conference

    Oral presentation

  • 時間遅れを有する群ロボットの分散フォーメーション制御.

    MURAYAMA Toru, NAGANO Akinori, LUO Zhi-wei

    第22回自律分散システム・シンポジウム, 2010, Japanese, 計測自動制御学会, 名古屋, Domestic conference

    Oral presentation

  • 姿勢動揺方向の解析を用いた聴覚フィードバック効果の評価.

    NAGANO Akinori, NORITAKE Hisahito, LUO Zhi-wei

    第21回日本バイオメカニクス学会, 2010, Japanese, 日本バイオメカニクス学会, 東京, Domestic conference

    Oral presentation

  • 群ロボットシステムによる協調型 SLAM の構築.

    HAYANO Mariko, NAGANO Akinori, LUO Zhi-wei

    第22回自律分散システム・シンポジウム, 2010, Japanese, 計測自動制御学会, 名古屋, Domestic conference

    Oral presentation

  • 移動ロボット群の全方位カメラパラメータと位置の同時推定.

    SASAHARA Kousuke, NAGANO Akinori, LUO Zhi-wei

    第22回自律分散システム・シンポジウム, 2010, Japanese, 計測自動制御学会, 名古屋, Domestic conference

    Oral presentation

  • バーチャルリアリティ技術を用いた高次脳機能評価システムの開発 ‐第2報‐.

    OKAHASHI Sayaka, OSHIUMI Tatsuo, SAKAI Hiromi, DEMIZU Tomoko, ENDO Hiromi, KOJIMA Maki, SAWA Masumi, NAGAI Shinichi, NAGANO Akinori, LUO Zhi-wei, TANEMURA Rumi, SEKI Keiko

    第34回日本神経心理学会総会, 2010, Japanese, 日本神経心理学会, 京都, Domestic conference

    Oral presentation

  • くりこみ群分子動力学法による流体解析.

    KASHIHARA Yumi, NAGANO Akinori, LUO Zhi-wei

    第22回自律分散システム・シンポジウム, 2010, Japanese, 計測自動制御学会, 名古屋, Domestic conference

    Oral presentation

  • Passive control of a dual-arm cooperative robot.

    KIDO Kousuke, LUO Zhiwei, NAGANO Akinori

    The SICE Annual Conference 2010, 2010, English, The Society of Instrument and Control Engineers, Taipei, International conference

    Oral presentation

  • Derivation of stability conditions of passive dynamic walking.

    HONJO Toyoyuki, NAGANO Akinori, LUO Zhiwei

    13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines., 2010, English, CLAWAR Association, Nagoya, International conference

    Oral presentation

  • A new method of posturography processing: directional change analysis.

    NAGANO Akinori, NORITAKE Hisahito, LUO Zhiwei

    6th World Congress of Biomechanics, 2010, English, World Council of Biomechanics, Singapore, International conference

    Poster presentation

  • 両手協調作業機能のリハビリテーションロボットシステムの開発

    NAGAI Kiyoshi, OKUMURA Makoto, Endo Hiroaki, OKUYAMA Yuji, NAGANO Akinori, LUO Zhi-wei

    第53回システム制御情報学会研究発表講演会, 2009, Japanese, システム制御情報学会, 神戸市, Domestic conference

    Oral presentation

  • 複数台ロボットによる協調型 SLAM の構築

    HAYANO Mariko, NAGANO Akinori, LUO Zhi-wei

    第53回システム制御情報学会研究発表講演会, 2009, Japanese, システム制御情報学会, 神戸市, Domestic conference

    Oral presentation

  • 姿勢維持課題における聴覚フィードバックの影響

    NORITAKE Hisahito, NAGANO Akinori, LUO Zhi-wei

    第53回システム制御情報学会研究発表講演会, 2009, Japanese, システム制御情報学会, 神戸市, Domestic conference

    Oral presentation

  • バーチャル商店街を用いた高次脳機能評価システムの開発

    YAMAMOTO Maki, OKAHASHI Sayaka, DEMIZU Tomoko, ENDO Hiromi, SAKAI Hiromi, OSHIUMI Tatsuo, YAMANAKA Yuki, NAGANO Akinori, SEKI Keiko, LUO Zhi-wei

    全国回復期リハビリテーション病棟連絡協議会第13回研究大会, 2009, Japanese, 全国回復期リハビリテーション病棟連絡協議会, 大阪府, Domestic conference

    Oral presentation

  • バーチャルリアリティ技術を用いた高次脳機能評価システムの開発

    SAKAI Hiromi, OKAHASHI Sayaka, YAMAMOTO Maki, DEMIZU Tomoko, ENDO Hiromi, YAMANAKA Yuki, OSHIUMI Tatsuo, NAGANO Akinori, LUO Zhi-wei, SEKI Keiko

    第48回日本生体医工学会大会, 2009, Japanese, 日本生体医工学会, 東京都, Domestic conference

    Oral presentation

  • パラメタ励振原理を用いた高効率な歩行動作のシミュレーション研究

    NAGANO Akinori, HONJO Toyoyuki, LUO Zhi-wei

    第22回日本トレーニング科学会, 2009, Japanese, 日本トレーニング科学会, 名古屋市, Domestic conference

    Oral presentation

  • くりこみ群分子動力学を用いた気体・流体解析

    KASHIHARA Hiromi, NAGANO Akinori, LUO Zhi-wei

    第23回分子シミュレーション討論会, 2009, Japanese, 分子シミュレーション研究会, 名古屋市, Domestic conference

    Oral presentation

  • Experimental study of parametrically excited dynamic bipedal walker with counterweights

    HAYASHI Takeshi, ASANO Fumihiko, LUO Zhi-wei, NAGANO Akinori, KANEKO K, KATO A

    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, English, IEEE/RSJ, St. Louis, USA, International conference

    Oral presentation

  • 超分散非平衡システムの分子動力学

    柏原 裕美, 長野 明紀, 羅 志偉

    計測自動制御学会 システム・情報部門学術講演会, Nov. 2008, Japanese, 姫路, Domestic conference

    Oral presentation

  • 超分散システムにおける情動伝播のネットワークモデルと安定性解析

    村山 暢, 長野 明紀, 羅 志偉

    計測自動制御学会 システム・情報部門学術講演会, Nov. 2008, Japanese, 姫路, Domestic conference

    Oral presentation

  • SLAM of Multi-Robot System Considering Its Network Topology

    董 海巍, Zhiwei LUO

    計測自動制御学会 システム・情報部門学術講演会, Nov. 2008, English, 姫路, Domestic conference

    Oral presentation

  • 遊脚収縮現象を考慮したロバスト擬似仮想受動歩行

    浅野 文彦, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • 等尺性単収縮における筋力・筋音応答の線形状態空間モデル同定

    高木 賢太郎, 田原 健二, 吉田 守夫, 伊東 保志, 三田 勝己, 羅 志偉

    第23回生体・生理工学シンポジウム, Sep. 2008, Japanese, 名古屋, Domestic conference

    Oral presentation

  • 倒立振子のパラメータ励振原理による動歩行制御

    本城 豊之, 長野 明紀, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • 足圧中心の視覚フィードバックが姿勢制御に与える影響と短期学習効果

    則武 悠人, 長野 明紀, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • 神戸大学 羅・長野研究室のRT-高齢者の介護支援用ロボットの制御技術-,-高齢者の介護支援用ロボットの設計・評価技術-

    羅 志偉, 長野 明紀

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • 上肢協調作業のリハビリテーション支援用ロボットの研究開発

    奥村 允, 永井 潔, 奥山 裕司, 遠藤 洋亮, 長野 明紀, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • 順序関係が無い鞍関節と柔軟な指先を有する2本指ロボットを用いた安定把持制御

    吉田 守夫, 有本 卓, 田原 健二, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • 時間遅れを有するテレマニピュレーションシステムの介在インピーダンス制御の受動性に関する考察

    奥山 裕司, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • 逆問題解析を用いた面状触覚センサの柔軟性と感度に関する考察

    三谷 隆弘, 林 健史, 長野 明紀, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • 介護支援用ロボットシステムの動力学シミュレーション

    永野 洋平, 長野 明紀, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • ロボット分散制御のための適応通信方式

    西村 直人, 長野 明紀, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • バーチャル商店街を用いた高次脳機能評価システム

    山中 優希, 岡橋 さやか, 押海 龍生, 出水 朋子, 遠藤 裕美, 山本 麻木, 酒井 弘美, 長野 明紀, 関 啓子, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • パラメータ励振原理に基づくカウンターウエイトを使用した2脚動歩行機の開発と実験検証

    林 健志, 金子 和晃, 浅野 文彦, 羅 志偉, 平野 慎也, 加藤 厚生

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • ストレッチが姿勢制御に及ぼす影響に関する考察

    岩田 知晃, 長野 明紀, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • State Space Modeling of Ionic Polymer-Metal Composite Actuators based on Electrostress Diffusion Coupling Theory

    T. OSADA, K TAKAGI, Y. HAYAKAWA, Zhiwei LUO, K ASAKA

    IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Sep. 2008, English, IEEE, Nice, France, International conference

    Oral presentation

  • RI-MANの動作制御を行うNIRSを用いたBRIシステムの構築

    岸 悟志, 奥村 允, 山中 優希, 永野 洋平, 長野 明紀, 横田 康成, 羅 志偉

    第26回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference

    Oral presentation

  • Pseudo Virtual Passive Dynamic Walking and Effect of Upper Body as Counterweigh

    F. ASANO, Zhiwei LUO

    IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Sep. 2008, English, IEEE, Nice, France, International conference

    Oral presentation

  • Parametric Excitaion of a Biped Robot as an Inverted Pendulum

    T. HONJO, Zhiwei LUO, A. NAGANO

    IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Sep. 2008, English, IEEE, Nice, France, International conference

    Oral presentation

  • On NIRS-based BRI for a Human-Interactive Robot RI-MAN

    S. KISHI, Zhiwei LUO, A. NAGANO, M. OKUMURA, Y. NAGANO, Y. YAMANAKA

    Joint 4th International Conference on Soft Computing and Intelligent Systems and 9th International Symposium on advanced Intelligent Systems, Sep. 2008, English, 名古屋, International conference

    Oral presentation

  • Efficiency and Symmetry of Ballisitic Gait

    F. ASANO, Zhiwei LUO

    IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Sep. 2008, English, IEEE, Nice, France, International conference

    Oral presentation

  • Distributed Impedance Model of Ionic Polymer-Metal Composite Actuators

    K. TAKAGI, K ASAKA, G. NISHIDA, Y. NAKABO, Zhiwei LUO

    Advances in Science and Technology, Sep. 2008, English, International conference

    Oral presentation

  • A Novel Information Matrix Sparsification Approach for Practical Implementation of SLAM

    Heiwei Dong, Zhiwei LUO

    第26回日本ロボット学会学術講演会, Sep. 2008, English, 神戸市, Domestic conference

    Oral presentation

  • 受動性を有するロボットの介在インピーダンス遠隔制御

    奥山 裕司, 羅 志偉

    第17回インテリジェント・システム・シンポジウム講演, Aug. 2008, Japanese, 名古屋, Domestic conference

    Oral presentation

  • Recovery of Postural Sway After Static Stretch of The Ankle Joint,

    T Iwata, A Nagano, Zhiwei Luo

    North American Congress on Biomechanics 2008, Aug. 2008, English, Michigan, U.S.A., International conference

    Oral presentation

  • Falling-down Avoidance Control for Acrobat Robot by Q-Learning with Function Approximation

    H. SUZUKI, M. YAMAKITA, Zhiwei LUO, S. HIRANO

    SICE Annual Conference, Aug. 2008, English, SICE, Chofu, Tokyo, International conference

    Oral presentation

  • Multi-Scale Distributed Port-Hamiltonian Representation of Ionic Polymer-Metal Composite

    G. NISHIDA, K. TAKAGI, B. MASCHKE, Zhiwei LUO

    17th World Congress The International Federation of Automatic Control, Jul. 2008, English, International conference

    Oral presentation

  • Modeling and Control of 3-D pinching in Full Variables by Soft Fingers under Non-holonomic Constraints

    M. YOSHIDA, S. ARIMOTO, Zhiwei LUO

    8th World Congress on Computational Mechanics & 5th European Congress on Computational Methods in Applied Sciences and Engineeering, Jul. 2008, English, International conference

    Oral presentation

  • 弾道歩容の性能と対称性

    浅野 文彦, 羅 志偉

    ロボティクス・メカトロニクス講演会2008, Jun. 2008, Japanese, 長野市, Domestic conference

    Oral presentation

  • 擬似仮想受動歩行とその性能-カウンターウェイトとしての上体の効果-

    浅野 文彦, 羅 志偉

    ロボティクス・メカトロニクス講演会2008, Jun. 2008, Japanese, 長野市, Domestic conference

    Oral presentation

  • パラメータ励振原理に基づく2脚動歩行の実験的検証

    林 健志, 金子 和晃, 浅野 文彦, 原田 祐志, 平野 慎也, 羅 志偉, 加藤 厚生

    ロボティクス・メカトロニクス講演会2008, Jun. 2008, Japanese, 長野市, Domestic conference

    Oral presentation

  • Video Restoration with Motion Prediction Based on the Multiresolution Wavelet Analysis

    K. AKIYAMA, Zhiwei LUO, M. ONISHI, S. HOSOE, K. TAJI, Y. UNO

    14th International Conference on Neural Information, Jun. 2008, English, ICONIP, International conference

    Oral presentation

  • Underactuated Virtual Passive Dynamic Walking with an Upper Body

    F. ASANO, Zhiwei LUO

    2008 IEEE International Conference on Robotics and Automation, May 2008, English, IEEE, International conference

    Oral presentation

  • Three-Dimensional Object Manipulation by Two Robot Fingers with Soft Tips and Minimum D.O.F

    M. YOSHIDA, S. ARIMOTO, Zhiwei LUO

    2008 IEEE International Conference on Robotics and Automation, May 2008, English, IEEE, International conference

    Oral presentation

  • On Iterative Learning Control for Simultaneous Force/Position Trajectory Tracking by using a 5 D.O.F. Robotic Thumb under Non-Holonomic Rolling Constraints

    K. TAHARA, S. ARIMOTO, M. SEKIMOTO, M. YOSHIDA, Zhiwei LUO

    2008 IEEE International Conference on Robotics and Automation, May 2008, English, IEEE, International conference

    Oral presentation

  • Asymptotic Stability of Dynamic Bipedal Gait with Constraint on Impact Posture

    F. ASANO, Zhiwei LUO

    2008 IEEE International Conference on Robotics and Automation, May 2008, English, IEEE, International conference

    Oral presentation

  • 変分問題におけるStokes-Dirac構造とポート表現

    西田 豪, 山北 昌毅, 羅 志偉

    第8回制御部門大会, Mar. 2008, Japanese, 京都市, Domestic conference

    Oral presentation

  • Frequency response characteristics of IPMC sensors with current/voltage measurements

    K. TAKAGI, N. KAMAMICHI, B. STOIMEOV, K. ASAKA, T. MUKAI, Zhiwei LUO

    SPIE Vol.6927, Mar. 2008, English, SPIE, International conference

    Oral presentation

  • Behavior Design of Human-interactive Robot by Stochastic Petri-net and Optimal Control

    Y. KOBAYASHI, M. ONISHI, S. HOSOE, Zhiwei LUO

    IEEE SMC International Conference on Distributed Human-Machine Systems 2008, Mar. 2008, English, IEEE, International conference

    Oral presentation

  • Amplitude properties of mechanomyogram with stimulation intensity during single twitch contraction produced by electrical stimulation

    Y. ITOH, K. TAHARA, K. TAKAGI, M. YOSHIDA, Zhiwei LUO, K. AKATAKI, K. MITA

    International Symposium on Biological and Physiological Engineering / The 22nd SICE Symposium on Biological and Physiological Engineering, Jan. 2008, English, International conference

    Oral presentation

  • Sparsing of Information Matrix for Practical Application of SLAM for Autonomous Robots

    Haiwei Dong, Zhiwei LUO

    Distributed Autonomous Robotic Systems, 2008, English, International conference

    Others

  • Distributed Autonomous Robotic Systems

    Yuichi Kobayashi, Masaki Onishi, Shigeyuki Hosoe, Zhiwei LUO

    Distributed Autonomous Robotic Systems, 2008, English, International conference

    Others

  • On a Distributed Parameter Model for Electrical Impedance of Ionic Polymer:

    K.Takagi, Y.Nakabo, Z.W. Luo, K.Asaka

    Proceedings of SPIE Vol.6524:pp.652416-1-652416-8, Mar. 2007, English, -, -, International conference

    Oral presentation

  • Field Port-Lagrangian Representation of Conservation Laws for Variational Symmetries

    G.Nishida, M.Yamakita, Z.W. Luo

    Proceedings of the 45th IEEE Conference on Decision & Control, Dec. 2006, English, -, -, International conference

    Oral presentation

  • On Energy-Efficient and High-Speed Dynamic Biped Locomotion with Semicircular Feet:

    F.Asano, Z.W. Luo

    Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems:, Oct. 2006, English, -, -, International conference

    Oral presentation

  • On Control Mechanism of Human-Like Reaching Movements with Musculo-Skeletal Redundancy:

    K.Tahara, Z.W. Luo, S.Arimoto

    Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2006, English, -, -, International conference

    Oral presentation

  • Modeling of Human-Like Reaching Movements in the Manipulation of Flexible Objects

    M.Svinin, I.Goncharenko, Z.W. Luo, S.Hosoe

    Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems:, Oct. 2006, English, -, -, International conference

    Oral presentation

  • Landing Control of Acrobat Robot by RHC - Experimental Evaluation

    T. Rokusho, M. Yamakita, S. Hirano, Z.W. Luo

    Proceedings of SICE-ICASE International Joint Conference 2006, Oct. 2006, English, -, -, International conference

    Oral presentation

  • Development of Soft Areal Tactile Sensors for Human-Interactive Robots:

    T. Mukai, M. Onishi, S. Hirano, Z.W. Luo

    Proceedings of the 5th IEEE Conference on Sensors 2006, Oct. 2006, English, -, -, International conference

    Oral presentation

  • Development of a Rajiform Swimming Robot using Ionic Polymer Artificial Muscles

    K.Takagi, M.Yamamura, Z.W. Luo, M.Onishi, S.Hirano, K.Asaka, Y.Hayakawa

    Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2006, English, -, -, International conference

    Oral presentation

  • A Soft Human-Interactive Robot RI-MAN

    T. Odashima, M. Onishi, K. Tahara, K. Takagi, F. Asano, Y. Kato, H. Nakashima, Y. Kobayashi, T. Mukai, Z.W. Luo, S. Hosoe

    Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems(Video, Oct. 2006, English, -, -, International conference

    Oral presentation

  • Analysis of System Structure around Degenerate Critical Points

    G.Nishida, H.Nakamura, Z.W. Luo

    Proceedings of SICE-ICASE International Joint Conference 2006, Oct. 2006, English, -, -, International conference

    Oral presentation

  • Self-Localization for Subsystems in Modular Structured Multi-Legged Robot

    T. Odashima, Z.W. Luo

    Proceedings of the 9th International Conference on Climbing and Walking Robots, Sep. 2006, English, -, -, International conference

    Oral presentation

  • Virtual Lagrangian Construction Method for Infinite Dimensional Systems with Homotopy Operators

    G.Nishida, M.Yamakita, Z.W. Luo

    Proceedings of the 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Jul. 2006, English, -, -, International conference

    Oral presentation

  • Global Boundary Connection of Stokes-Dirac Structures for Morse-Smale Flows on Compact Manifolds

    G.Nishida, M.Yamakita, Z.W. Luo

    Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, Jul. 2006, English, -, -, International conference

    Oral presentation

  • Snake-like Swimming Artificial Muscle -A Bio-Mimetic Soft Robot

    Y.Nakabo, K.Takagi, T.Mukai, Z.W. Luo, K.Asaka

    Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles, May 2006, English, -, -, International conference

    Oral presentation

  • On Control Strategy of A Redundant Musculo-Skeletal Arm System:

    K.Tahara, Z.W. Luo, S.Arimoto

    Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles, May 2006, English, -, -, International conference

    Oral presentation

  • Modeling of and Experiments with Skillful Movements in Dynamic Environments

    M.Svinin, I.Goncharenko, Z.W. Luo, S.Hosoe

    Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles, May 2006, English, -, -, International conference

    Oral presentation

  • Integrated Design of IPMC Actuator/Sensor

    M.Yamakita, A.Sera, N.Kamamichi, K.Asaka, Z.W. Luo

    Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May 2006, English, -, International conference

    Oral presentation

  • Bio-Mimetic Study on Pinching Motions of A Dual-Finger Model with Synergistic Actuation of Antagonist Muscles:

    K.Tahara, Z.W. Luo, R.Ozawa, J.H.Bae, S.Arimoto

    Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May 2006, English, -, -, International conference

    Oral presentation

  • Sensor:

    N.Kamamichi, M.Yamakita, K.Asaka, Z.W. Luo

    Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May 2006, English, -, -, International conference

    Oral presentation

  • An Autonomous Ray-Like Swimming Robot with IPMC Artificial Muscle

    M.Yamamura, K.Takagi, Z.W. Luo, K.Asaka, Y.Hayakawa, M.Onishi, S.Hirano

    Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles, May 2006, English, -, -, International conference

    Oral presentation

  • A Distributed Circuit Model for IPMC's Electrical Impedance

    K.Takagi, Y.Nakabo, Z.W. Luo, K.Asaka

    Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles, May 2006, English, -, -, International conference

    Oral presentation

  • An Analysis of Increase of Bending Response in IPMC Dynamics Given Uniform Input

    K.Takagi, Y.Nakabo, Z.W. Luo, T.Mukai, M.Yamamura, Y.Hayakawa

    Proceedings of SPIE Vol.6168, Mar. 2006, English, -, -, International conference

    Oral presentation

  • Restoration of Degraded Moving Image for Predicting a Moving Object

    K.Akiyama, Z.W. Luo, M.Onishi, S.Hosoe

    Proceedings of the First International Conference on Computer Vision Theory and Applications, Feb. 2006, English, -, -, International conference

    Oral presentation

  • Development of An Inchworm-type Searching Robot

    S. Hirano, A. Kato, Z.W. Luo

    Proceedings of the first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Feb. 2006, English, -, -, International conference

    Oral presentation

  • A Snake-Like Swimming Robot Using IPMC Actuator and Verification of Doping Effect

    M.Yamakita, N.Kamamichi, T.Kozuki, K.Asaka, Z.W. Luo

    Proc. of the 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Aug. 2005, English, -, -, International conference

    Oral presentation

  • An Analysis of Reaching Movements in Manipulation of Constrained Dynamic Objects

    M.Svinin, T.Odashima, S.Ohno, Z.W. Luo, S.Hosoe

    Proc. of the 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Aug. 2005, English, -, -, International conference

    Oral presentation

  • On Recent Developments and Autonomous Decentralized Control of Mobile Robot

    Z.W. Luo, T.Odashima, K.Takagi, M.Yamamura, Y.Hayakawa, S.Hirano, A.Kato

    Proc. of the IEEE ROBIO 2005 Workshop, Jul. 2005, English, -, -, International conference

    Oral presentation

  • An Energy Effective Biped Walking Mechanism Based on Parametric Excitation

    F. Asano, Z.W. Luo

    Proc. of the IEEE ROBIO 2005 Workshop, Jul. 2005, English, -, -, International conference

    Oral presentation

  • Limited-angle motor using ionic polymer metal composite

    K.Takagi, Z.W. Luo, K.Asaka, K.Tahara

    Proc. of SPIE (Smart Structures and Materials) Vol.5759, Mar. 2005, English, -, -, International conference

    Oral presentation

  • Task Space Feedback Control for A Two-link Planar Arm Driven by Six Redundant Muscles with Variable Damping and Elastic Properties

    K.Tahara, Z.W. Luo, S.Arimoto, H.Kino

    Proc. of the 2005 IEEE Int. Conf. on Robotics & Automation, 2005, English, -, -, International conference

    Oral presentation

  • Reaching Movements in Dynamic Environments: How do we move flexible objects ?

    M.Svinin, I.Goncharenko, Z.W. Luo, S.Hosoe

    Proc. of the 2005 IEEE Int. Conf. on Robotics & Automation, 2005, English, -, -, International conference

    Oral presentation

  • Parametric Excitation Mechanisms for Dynamic Bipedal Walking

    F. Asano, Z.W. Luo

    Proc. of the 2005 IEEE Int. Conf. on Robotics & Automation, 2005, English, -, -, International conference

    Oral presentation

  • Incremental Motion Compression for Telepresent Walking Subject to Spatial Constraints

    J.B. SU, Z.W. Luo

    Proc. of the 2005 IEEE Int. Conf. on Robotics & Automation, 2005, English, -, -, International conference

    Oral presentation

  • Control of Biped Walking Robot with IPMC Linear Actuator

    M.Yamakita, N.Kamamichi, T. Kozuki, K.Asaka, Z.W. Luo

    Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2005), 2005, English, -, -, International conference

    Oral presentation

  • Dynamic Simulation of Redundant Musculo-skeletal Control System

    K.Tahara, Z.W. Luo, S.Arimoto, H.Kino

    Pro. of the Forth Int. Symposium on Human and Artificial Intelligence Systems, Dec. 2004, English, -, -, International conference

    Oral presentation

  • Unification of Dynamic Gait Generation Methods via Variable Virtual Gravity and Its Control Performance Analysis

    F.Asano, Z.W. Luo, M.Yamakita

    Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct. 2004, English, -, -, International conference

    Oral presentation

  • Modeling and Control for Whole Arm Dynamic Cooperative Manipulation

    F.Asano, Z.W. Luo, K.Tahara, M.Yamakita, S.Hosoe

    Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct. 2004, English, -, -, International conference

    Oral presentation

  • Bio-Mimetic Control for Whole Arm Cooperative Manipulation

    F.Asano, Z.W. Luo, M.Yamakita, K.Tahara, S.Hosoe

    Proc. of the 2004 IEEE Int. Conf. on Systems Man & Cybernetics, Oct. 2004, English, -, -, International conference

    Oral presentation

  • Analysis of Human Movements in Virtual Environments: Dealing with Flexible Objects

    M.Svinin, Y.Masui, Z.W. Luo, S.Hosoe

    Proc. of the 2004 IEEE Int. Conf. on Systems Man & Cybernetics, Oct. 2004, English, -, -, International conference

    Oral presentation

  • On the Optimization Approaches to the Trajectory Formation of Human Movements

    M.Svinin, T.Odashima, Z.W. Luo, S.Hosoe

    Proc. of the CSIMTA:Complex Systems Intelligence and Modern Technological Applications 2004, Sep. 2004, English, -, -, International conference

    Oral presentation

  • On the Dynamic Version of the Minimum Hand Jerk Criterion

    M.Svinin, Y.Masui, Z.W. Luo, S.Hosoe

    Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Sep. 2004, English, -, -, International conference

    Oral presentation

  • Modeling and Dynamic Simulation of Super-redundant Musculo-skeletal System

    K.Tahara, Z.W. Luo, T.Odashima, M.Onishi, F.Asano, A.Kato

    Proc. of the CSIMTA:Complex Systems Intelligence and Modern Technological Applications 2004, Sep. 2004, English, -, -, International conference

    Oral presentation

  • On Optimality of Human Arm Movements

    Z.W. Luo, M.Svinin, K.Ohta, T.Odashima, S.Hosoe

    Proc. of the IEEE Int. Conf. on Robotics and Biomimetics 2004, Aug. 2004, English, -, -, International conference

    Oral presentation

  • Learning Explicit Force Control of a Robot Manipulator Interacting with Unknown Dynamic Environment

    Y.Saitoh, Z.W. Luo, K.Watanabe, E.Muramatsu, S.Fujii

    Proc. of the 6th Asia-Pacific Conf. on Control and Measurement, Aug. 2004, English, -, -, International conference

    Oral presentation

  • Hybrid System Modeling and Control of Multi-contact Hand Manipulation

    Y.Yin, S.Hosoe, T.Sugimoto, F.Asano, Z.W. Luo

    Proc. of the IEEE Int. Conf. on Robotics and Biomimetics 2004, Aug. 2004, English, -, -, International conference

    Oral presentation

  • Full-DOF Calibration-Free Robotic Hand-Eye Coordination Based on Fuzzy Neural Network

    J.Su, Q.Pan, Z.W. Luo

    Advances in Neural Networks - ISNN2004 (Proc. of the Int. Symposium on Neural Networks 2004) part II, Aug. 2004, English, -, -, International conference

    Oral presentation

  • Feedback-error Learning for Explicit Force Control of a Robot Manipulator Interacting with Unknown Dynamic Environment

    Z.W. Luo, S.Fujii, Y.Saitoh, E.Muramatsu, K.Watanabe

    Proc. of the IEEE Int. Conf. on Robotics and Biomimetics 2004, Aug. 2004, English, -, -, International conference

    Oral presentation

  • Dynamic Control and Simulation of Human Musculo-Skeletal Model

    K.Tahara, Z.W. Luo, T.Odashima, M.Onishi, S.Hosoe, A.Kato

    Proc. of SICE Annual Conference, Aug. 2004, English, -, -, International conference

    Oral presentation

  • Toward the Tracking Control of Discrete and Continuous Hybrid Systems

    Y.Yin, S.Hosoe, Z.W. Luo

    Proc. of The 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems:Theory and Applications, Jul. 2004, English, -, -, International conference

    Oral presentation

  • Robotic Uncalibrated Hand-Eye Coordination Based on the Extended State Observer

    J.Su, H.Ma, Z.W. Luo

    Proc. of the 5th Asian Control Conf, Jul. 2004, English, -, -, International conference

    Oral presentation

  • Modeling and Control of Intelligent Robots A General Hybrid System Framework

    Y.Yin, Z.W. Luo, S.Hosoe, Z.Kang

    Proc. of the 5th Asian Control Conf, Jul. 2004, English, -, -, International conference

    Oral presentation

  • Modeling of the electromechanical response of ionic polymer metal composites (IPMC)

    K. Asaka, N. Mori, K. Hayashi, Y. Nakabo, T. Mukai, Z.W. Luo

    Proc. of SPIE's 11th Annual Int. Symposium on Smart Structures / NDE 2004, Mar. 2004, English, -, -, International conference

    Oral presentation

  • Development of Dynamic Human Simulation Platform

    K. Tahara, Z.W. Luo, T. Odashima, A. Kato

    Proc. of HUT-RITS Joint Symposium on Sensory-Motor Coordination in Robotic Manipulation, Mar. 2004, English, -, -, International conference

    Oral presentation

  • Some Extensions of Passive Walking Formula to Active Biped Robots

    F. Asano, Z.W. Luo, M. Yamakita

    Proc. of the 2004 IEEE Int. Conf. on Robotics & Automation, 2004, English, -, -, International conference

    Oral presentation

  • Parameter Identification Method for Piezoelectric Shunt Damping

    K.Takagi, K. Nagase, K. Oshima, Y. Hayakawa, Z.W. Luo

    Proc. of SPIE 2004 (Smart Materials:Nano and Micro-Smart Systems), 2004, English, -, -, International conference

    Oral presentation

  • Optimal Feature Set by Interactive Reinforcement Learning for Image Retrieval

    J.B. Su, Fang Liu, Z.W. Luo

    Proc. of the Int. Symposium on Neural Networks, 2004, English, -, -, International conference

    Oral presentation

  • On Environmental Adaptive Motion Control and Cognitive Manipulation

    Z.W. Luo

    Proc. of Int. Workshop on Fuzzy Systems & Innovational Computing 2004, 2004, English, -, -, International conference

    Oral presentation

  • Immersion-Type 3D Dynamic Simulation Technologies

    Z.W. Luo

    Int. Symposium on Advancement in Information Technology, 2004, English, -, -, International conference

    Oral presentation

  • Does the CNS plan the optimal trajectory of arm movement using dynamic formulation?

    K. Ohta, R. Laboissi`ere, M. Svinin, Z.W. Luo, S. Hosoe

    Neural Control of Movement(NCM)14th Annual Meeting, 2004, English, -, -, International conference

    Oral presentation

  • Development of a soft-actuator with viscoelasticity for the estimation of human muscle dynamics

    K. Ito, K. Mita, Z.W. Luo, K. Akataki, M. Watakabe

    Proc. of The Second Conference on Artificial Muscles, 2004, English, -, -, International conference

    Oral presentation

  • Development of A Dynamic Human Movement Analysis Platform

    K. Tahara, T. Odashima, M. Onishi, F. Asano, Z.W. Luo, S. Hosoe

    Proc. of The Second Conference on Artificial Muscles, 2004, English, -, -, International conference

    Oral presentation

  • Control of Mechanical Impedance of IPMC Linear Actuator with Antagonism Structure

    M. Yamakita, Y. Kaneda, N. Kamamichi, K. Asaka, Z.W. Luo

    Proc. of The Second Conference on Artificial Muscles,, 2004, English, -, -, International conference

    Oral presentation

  • Control of Biped Walking Robots with IPMC Linear Actuator with Re-doping Capability

    M. Yamakita, N. Kamamichi, Y. Kaneda, K. Asaka, Z.W. Luo

    Proc. of The Second Conference on Artificial Muscles, 2004, English, -, -, International conference

    Oral presentation

  • Adjustment of Impedance Center for Passive Interaction between A Robot and Its Environment

    Z.W. Luo, Y. Kishi, F. Asano, S. Hosoe

    Proc. of The Second Conference on Artificial Muscles, 2004, English, -, -, International conference

    Oral presentation

  • 3DImmersion-type Dynamic Simulation Environment for Developing Human Interactive Robot

    M. Onishi, T. Odashima, F. Asano, Z.W. Luo, S. Hosoe

    Video Proc. of the 2004 IEEE Int. Conf. on Robotics & Automation,, 2004, English, -, -, International conference

    Oral presentation

  • Towards Understanding of Human Movements Constrained by the External Environment

    M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

    Proc. of Int. Conference on Intelligent Robots and Systems, Nov. 2003, English, -, -, International conference

    Oral presentation

  • Optimal trajectory of human arm reaching movements in dynamical environments

    K. Ohta, R. Laboissiere, M. Svinin, Z.W. Luo, S. Hosoe

    Proc. of Neuroscience Conference: Symposium on Advances in Computational Motor Control II, Nov. 2003, English, -, -, International conference

    Oral presentation

  • On Novel Hybrid System Control Framework of Intelligent Robots

    Y.J. Yin, Z.W. Luo, S. Hosoe

    Proc. of Int. Conference on Systems Science and Systems Engineering, Nov. 2003, English, -, -, International conference

    Oral presentation

  • Dynamic Modeling and Control for Whole Body Manipulation

    F. Asano, Z.W. Luo, M. Yamakita, S. Hosoe

    Proc. of Int. Conference on Intelligent Robots and Systems, Nov. 2003, English, -, -, International conference

    Oral presentation

  • Optimality of Human Movements in Constrained and Unconstrained Manipulations

    M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

    Proc. of the 2003 IEEE Int. Conference on Systems Man & Cybernetics, Oct. 2003, English, -, -, International conference

    Oral presentation

  • Integration of PC-based 3D Immersion Technology For Bio-mimetic Study of Human Interactive Robotics

    Z.W. Luo, M. Onishi, T. Odashima, K. Oyama, F. Asano, S. Hosoe

    Proc. of the 2003 IEEE Int. Conference on Robotics: Intelligent Systems and Signal Processing, Oct. 2003, English, -, -, International conference

    Oral presentation

  • Immersion Type Virtual Environment for Human-robot Interaction

    T. Odashima, M. Onishi, Z.W. Luo, S. Hosoe

    Proc. of the 2003 IEEE Int. Conference on Systems Man & Cybernetics, Oct. 2003, English, -, -, International conference

    Oral presentation

  • Hybrid Control of Multi-fingered Robot for Dexterous Manipulation Hand

    Y.J. Yin, Z.W. Luo, M. Svinin, S. Hosoe

    Proc. of the 2003 IEEE Int. Conference on Systems Man & Cybernetics, Oct. 2003, English, -, -, International conference

    Oral presentation

  • Adaptive Modular Vector Field Control for Robot Contact Tasks in Uncertain Environment

    Y. Saitoh, Z.W. Luo, K. Watanabe

    Proc. of the 2003 IEEE Int. Conference on Systems Man & Cybernetics, Oct. 2003, English, -, -, International conference

    Oral presentation

  • On the Trajectory Formation of the Human Arm Constrained by the External Environmen

    K. Ohta, M.M.Svinin, Z.W. Luo, S.Hosoe

    Proc. of the 2003 IEEE Int. Conference on Robotics & Automation, Sep. 2003, English, -, -, International conference

    Oral presentation

  • Graph Dependant Sufficient Conditions for Synchronization of Dynamic Network System with Time-Delay

    M. Amano, Z.W. Luo, S. Hosoe

    Proc. of 4th IFAC Workshop on Time Delay Systems (TDS'03), Sep. 2003, English, -, -, International conference

    Oral presentation

  • A unified formulation and solutions to gait generation problems based on passive dynamic walking

    F. Aasano, Z.W. Luo, M. Yamakita

    Proc. of the Sixth Int. Conference on Climbing and Walking Robots and their Supporting Technologies for Mobile, Sep. 2003, English, -, -, International conference

    Oral presentation

  • Response Function of Polymer Electrolyte Actuators

    K. Asaka, Y. Nakabo, T. Mukai, Z. W. Luo

    Proc. of SICE Annual Conference, Aug. 2003, English, -, -, International conference

    Oral presentation

  • Emergent Cooperative Manipulation of a Multi-linked Object

    M. Onishi, T. Odashima, Z.W. Luo

    Proc. of SICE Annual Conference, Aug. 2003, English, -, -, International conference

    Oral presentation

  • Control of Linear Artificial Muscle Actuator Using IPMC

    Y. Kaneda, N. Kamamichi, M. Yamakita, K. Asaka, Z. W. Luo

    Proc. of SICE Annual Conference, Aug. 2003, English, -, -, International conference

    Oral presentation

  • Biped Walking of Passive Dynamic Walker with IPMC Linear Actuator

    N. Kamamichi, Y. Kaneda, M. Yamakita, K. Asaka, Z. W. Luo

    Proc. of SICE Annual Conference, Aug. 2003, English, -, -, International conference

    Oral presentation

  • Passive Impedance Control with Time-varying Impedance Center

    Y. Kishi, Z.W. Luo, F. Asano, S. Hosoe

    Proc. 2003 IEEE Int. Symposium on Computational Intelligence in Robotics and Automation, Jul. 2003, English, -, -, International conference

    Oral presentation

  • On Dynamic Whole Body Manipulation

    F. Asano, Y. Saitoh, K. Watanabe, Z.W. Luo, M. Yamakita

    Proc. 2003 IEEE Int. Symposium on Computational Intelligence in Robotics and Automation, Jul. 2003, English, -, -, International conference

    Oral presentation

  • Development of PC-based 3D Dynamic Human Interactive Robot Simulator

    M. Onishi, T. Odashima, F. Asano, Z.W. Luo

    Proc. 2003 IEEE Int. Symposium on Computational Intelligence in Robotics and Automation, Jul. 2003, English, -, -, International conference

    Oral presentation

  • Dealing with Constraints: Optimal Trajectories of the Constrained Human Arm Movements

    K. Ohta, M. Svinin, Z.W. Luo, S. Hosoe

    Proc.: XVII IMEKO World Congress, Jun. 2003, English, -, -, International conference

    Oral presentation

  • Imitation and Innovation: Reflections on the Development of Intelligent Science and Technology and the Progress of Human Society

    Zhiwei Luo

    2020 Global Smart Education Conference,2020(Keynote Speaker), 2020

    [Invited]

    Invited oral presentation

  • Innovation of AI based Health Services for Aging Society

    Zhiwei Luo

    International Symposium on Artificial Intelligence in Medical Sciences (ISAIMS 2020),2020(Keynote Speaker), 2020

    [Invited]

    Keynote oral presentation

  • Innovation of Health Robotics for Aging Society

    Zhiwei Luo

    The 12th Int. Convention on Rehabilitation Engineering and Assistive Technology (i-CREATe2018 and HCR2018), 2018, Invited Talk, 2018

    [Invited]

    Invited oral presentation

  • 片脚立位における下肢筋力と膝関節負荷に関する動力学解析

    羅 志偉, 栗栖信之, 藤野, 田辺秀樹

    第30回日本臨床整形外科学会,2017, 2017

    [Invited]

    Invited oral presentation

  • 医療福祉分野のロボット工学の現状と課題

    羅 志偉

    第6回日本ロボットリハビリテーション・ケア研究大会 特別講演, 2016

    [Invited]

    Invited oral presentation

  • Health engineering for aging using robotics

    Zhiwei Luo

    WHO Global Forum on Innovations for Ageing Populations, 2013 Invited Talk, 2013

    [Invited]

    Invited oral presentation

  • INNOVATION OF HEALTH ENGINEERING FOR HAPPY AGING SOCIETY

    Zhiwei Luo

    International Conference on Modelling, Identification and Control, 2012 Plenary Talk, 2012

    [Invited]

    Invited oral presentation

  • INNOVATION OF HEALTH ENGINEERING FOR AGING SOCIETY THROUGH INTERPROFESSIONAL COOPERATION

    Zhiwei Luo

    The 6th international conference for Interprofessional Education and Collaborative Practice (ATBH VI), 2012 KEYNOTE LECTURE, 2012

    [Invited]

    Invited oral presentation

  • Innovation On Human Interactive Dynamic Simulation for Health Engineering

    Zhiwei Luo

    JSST 2012(International Conference on Simulation Technology、第 31 回 JSST 年会)特別講演, 2012

    [Invited]

    Invited oral presentation

  • On computational robotics

    Zhiwei Luo

    SiMCRT2011,International Workshop on Simulation and Modeling related to Computational Science and Robotics Technology 2011 Invited Talk, 2011

    [Invited]

    Invited oral presentation

  • Development of Human Care Robots for Aging Society

    Zhiwei Luo

    2011 IPA(International Psychogeriatric Association) 15th International Congress, Plenary Talk, 2011

    [Invited]

    Invited oral presentation

  • 明るい高齢社会を支える介護支援ロボットの開発

    羅 志偉

    神戸市市民講演会, 2009

    [Invited]

    Invited oral presentation

  • ソフトな介護ロボット

    羅 志偉

    第1回こどもサイエンス・カフェ, 2008

    [Invited]

    Invited oral presentation

  • 人間と接するロボットの没入型動力学シミュレーション

    羅 志偉

    計測自動制御学会合同 シンポジウム、招待講演, 2005

    [Invited]

    Invited oral presentation

  • バイオミメテック・ロボテックス

    羅 志偉

    電子情報通信学会東北支部学術講演会 招待講演, 2002

    [Invited]

    Invited oral presentation

  • Mask-based contour inpainting for pose-guided human image generation

    余 昊聡, 全 昌勤, 曹 晟, 森 耕平, 羅 志偉

    第66回システム制御情報学会研究発表講演会(SCI'22), 2022, English

  • 深層学習を用いた地震波の時系列信号による地盤地質推定

    陳 冉, 全 昌勤, 曹 晟, 森 耕平, 羅 志偉

    第66回システム制御情報学会研究発表講演会(SCI'22), 2022, Japanese

  • 受動性を考慮したロボットの適応インピーダンス制御

    孫 文可, 曹 晟, 森 耕平, 全 昌勤, 羅 志偉

    2021年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2022, Japanese

  • OpenPose によるパーキンソン患者の症状識別

    本荘 友毅, 羅 志偉, 森 耕平, 全 昌勤, 曹 晟

    第38回センシングフォーラム, 2021, Japanese

  • 個別指導塾におけるのマッチングと時間割表への当てはめの接続

    森 耕平, 吉岡 由貴, 羅 志偉

    第65回システム制御情報学会研究発表講演会(SCI'21), 2021, Japanese

  • リカレンスプロットを用いた深層学習によるパーキンソン患者の音声識別

    藤田 倫弘, 全 昌勤, 森 耕平, 曹 晟, 羅 志偉

    第65回システム制御情報学会研究発表講演会(SCI'21) (学生発表賞), 2021, Japanese

  • ヒューマンエラーを考慮したシステムの信頼性解析

    前山 一登, 曹 晟, 森 耕平, 全 昌勤, 羅 志偉

    第65回システム制御情報学会研究発表講演会(SCI'21), 2021, Japanese

  • リカレンスプロットにおける%DETに着目した時系列データ解析

    井川 祥太, 森 耕平, 全 昌勤, 曹 晟, 羅 志偉

    第65回システム制御情報学会研究発表講演会(SCI'21), 2021, Japanese

  • 路上駐車を考慮した交差点の交通シミュレーション

    山本 晃央, 森 耕平, 全 昌勤, 曹 晟, 羅 志偉

    第65回システム制御情報学会研究発表講演会(SCI'21), 2021, Japanese

  • 個別指導塾の時間割作成における離散値の不確かさに対するロバスト性

    吉岡 由貴, 森 耕平, 羅 志偉

    2020年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, 2021, Japanese

  • キャラクタ性を有する日本語対話生成に関する研究開発

    前田 研吾, 全 昌勤, 羅 志偉, 森 耕平, 曹 晟

    2020年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, 2021, Japanese

  • 座位から立位への動作の計測と動力学解析

    塩見 竜希, 曹 晟, 森 耕平, 全 昌勤, 羅 志偉

    第38回センシングフォーラム, 2021

  • Research on Consensus State of Multi-agent System with Event-triggered Controller

    程子洋, 全 昌勤, 森 耕平, 曹 晟, 羅 志偉

    第65回システム制御情報学会研究発表講演会(SCI'21), 2021, English

  • 動的ランドマーク環境における SLAM に関する研究

    松永 理寛, 曹 晟, 羅 志偉, 森 耕平

    第64回システム制御情報学会研究発表講演会 (SCI'20), 2020, Japanese

  • 下肢リハビリテーションのための身体力学解析

    江藤 恒夫, 羅 志偉, 全 昌勤, 森 耕平, 曹 晟, 藤野 圭司

    第64回システム制御情報学会研究発表講演会 (SCI'20), 2020, Japanese

  • Hyperbolic Tangent Function based Tension Distribution Design for Cable-Driven Robot

    曹 晟, 羅 志偉, 全 昌勤, 森 耕平

    第64回システム制御情報学会研究発表講演会 (SCI'20), 2020, English

  • 個別指導塾の時間割作成問題における全単模性を利用した探索手法

    吉岡 由貴, 森 耕平, 羅 志偉

    第64回システム制御情報学会研究発表講演会 (SCI'20)学生発表賞, 2020, Japanese

  • 協調作業を行う群ロボットの冗長インピーダンス制御

    和田 翔太, 羅 志偉, 森 耕平, 曹 晟

    第64回システム制御情報学会研究発表講演会 (SCI'20), 2020, Japanese

  • Development of Virtual Reality System for Assessment of Unilateral Spatial Neglet

    Sheng Cao, Zhiwei Luo, Makoto Shirakawa, Masaki Tamura, Rumi Tanemura

    第64回システム制御情報学会研究発表講演会 (SCI'20), 2020, English

  • Harnessing Generated Instance-Specific Neutral Expressions in Facial Expression Classification

    BAI WENJUN, 全 昌勤, 羅 志偉

    第64回システム制御情報学会研究発表講演会 (SCI'20), 2020, English

  • 漢方医薬の知的データベース構築と検索に関する研究開

    徐 亜坤, 田中 成典, 森 耕平, 曹 晟, 羅 志偉

    第64回システム制御情報学会研究発表講演会 (SCI'20), 2020, Japanese

  • 単語の活用に着目した効率的な自然言語生成

    前田 研吾, 全 昌勤, 羅 志偉

    第64回システム制御情報学会研究発表講演会 (SCI'20), 2020, Japanese

  • RNN における性೵向上のための構造解析

    藤田 倫弘, 羅 志偉, 全 昌勤, 森 耕平

    第64回システム制御情報学会研究発表講演会 (SCI'20)学生発表賞, 2020, Japanese

  • Learning Flexible Latent Representations via Encapsulated Variational Encoder

    Wenjun Bai, Changqin Quan, Zhiwei Luo

    Proceedings of the 33rd AAAI Conference on Artificial Intelligence (AAAI 2019), Feb. 2019, English

  • 脳卒中後半側空間無視患者の姿勢変化の違いによるVirtual Reality System課題結果の比較 -歩行と座位では無視の変数がどのように異なるのか?-

    田村 正樹, 白川 真, 羅 志偉, 種村 留美

    第17回日本神経理学療法学術大会 2019, 2019

  • Adaptive Control Design of Multi-robot System with Connection Uncertainty

    程 子洋, 曹 晟, 羅 志偉, 森 耕平, 全 昌勤

    第63回システム制御情報学会研究発表講演会 (SCI’19), 2019

  • 個別指導学習塾の生徒-講師-科目の割当問題の係数行列のtotally unimodularity

    森 耕平, 吉岡 由貴, 羅 志偉

    第63回システム制御情報学会研究発表講演会 (SCI’19)学生発表賞, 2019

  • A Simple Rounding Technique Based on Convex Relaxation in Maximizing Algebraic Connectivity

    森耕平, 程子洋, 羅志偉

    第62回自動制御連合講演会講演論文集, 2019

  • 個別指導塾の講師と生徒のスケジュールを考慮したマッチング問題の前処理

    吉岡 由貴, 森 耕平, 羅 志偉

    第62回自動制御連合講演会講演論文集, 2019

  • テキスト情報処理におけるRNNの構造と性能解析

    藤田 倫弘, 全 昌勤, 羅 志偉

    第63回システム制御情報学会研究発表講演会 (SCI’19)学生発表賞, 2019

  • Learning Optimal Human-Robot Interaction Control Considering Robot's Passivity

    曹 晟, 羅 志偉, 全 昌勤, 森 耕平

    第63回システム制御情報学会研究発表講演会 (SCI’19), 2019

  • Improvement of Multi-body Simulation Model for Comparative Study of Cervical Traction Therapy – Comparison between Inclined and Sitting Traction

    L. K, F. Wong, LUO Zhi-Wei, N. Kurusu, K. Fujino

    Proc. of 2018 IEEE International Conference on Robotics and Biomimetics, Dec. 2018, English, IEEE, A computer simulation model was developed to study the behavior of the cervical spine during cervical traction therapy in inclined and sitting traction positions. The model improved upon an old model with additional components to represent the behavior of the intervertebral discs and the posterior ligaments. The simulation result of the new model was compared against the cervical traction data from a radiographic experiment in both positions. The simulation results of the old model and new model were compared to illustrate the improvement. Using the new model, we compared the timing response of cervical traction in the inclined and sitting positions.

  • Adapted Generative Initialisation in Transfer Learning

    Wenjun Bai, Changqin Quan, Zhiwei Luo

    Proceedings of the 17th IEEE-ACIS International Conference on Computer and Information Science (ICIS 2018), 2018, English

  • Virtual Reality Systemを用いたExtrapersonal neglectの評価-無視空間に乖離が生じた一症例-

    田村 正樹, 白川 真, 羅 志偉, 種村 留美

    第42回日本高次脳機能障害学会学術総会 2018 (優秀ポスター賞), 2018

  • Virtual Reality Systemを用いたトレッドミル歩行下でのExtrapersonal Neglectの評価-Pilot Studyによる無視の質的特徴-

    田村 正樹, 白川 真, 羅 志偉, 種村 留美

    第16回日本神経理学療法学術大会 2018 (優秀ポスター賞), 2018

  • Hard Label Relaxation in Biased Pictorial Sentiment Discrimination

    Wenjun Bai, Chanqin Quan, Zhiwei Luo

    Proceedings of the 12th International Conference on Natural Language Processing and Knowledge Engineering, Dec. 2017, English

  • Alleviating Adversarial Attacks via Convolutional Autoencoder

    Wenjun Bai, Quan Changqin, LUO Zhiwei

    Proceedings of the 18th IEEE ACIS International Conference on Software Engineering, Artificial Intelligence, Networking and Parallel, Jun. 2017, English

  • Unsupervised online learning for fine-grained hand segmentation in egocentric video

    Ying Zhao, Zhiwei Luo, Changqin Quan

    2017 14TH CONFERENCE ON COMPUTER AND ROBOT VISION (CRV 2017), 2017, English, IEEE, Hand segmentation is one of the most fundamental and crucial steps for egocentric human-computer interaction. The special egocentric view brings new challenges to hand segmentation task, such as the unpredictable environmental conditions. The performance of traditional hand segmentation methods depend on abundant manually labeled training data. However, these approaches do not appropriately capture the whole properties of egocentric human-computer interaction for neglecting the user-specific context. It is only necessary to build a personalized hand model of the active user. Based on this observation, we propose an online-learning hand segmentation approach without using manually labeled data for training. Our approach consists of top-down classifications and bottom-up optimizations. More specifically, we divide the segmentation task into three parts, a frame-level hand detection which detects the presence of the interactive hand using motion saliency and initializes hand masks for online learning, a superpixel-level hand classification which coarsely segments hand regions from which stable samples are selected for next level, and a pixel-level hand classification which produces a fine-grained hand segmentation. Based on the pixel-level classification result, we update the hand appearance model and optimize the upper layer classifier and detector. This online-learning strategy makes our approach robust to varying illumination conditions and hand appearances. Experimental results demonstrate the robustness of our approach.

  • Aided sit to stand transfer by assistive robot and wearable sensors

    Daqian Yang, Ming Zhou, Jian Huang, Zhaohui Yang, Xiaoqiang Yu, LUO Zhi-Wei

    IEEE 2017 2nd International Conference on Advanced Robotics and Mechatronics, 2017, English

  • Demodulation method for distorted carrier of visible light communication in indoor positioning for autonomous robots

    Wang Ke, Cheng Jingjing, LUO Zhi-Wei, Huang Zhen

    IEEE 2017 2nd International Conference on Advanced Robotics and Mechatronics, 2017, English

  • Global Path Planning Using Modified Firefly Algorithm

    Xiaochao Chen, Ming Zhou, Jian Huang, LUO Zhi-Wei

    IEEE 2017 International Symposium on Micro-Nano Mechatronics and Human Science (MHS 2017), 2017, English

  • Virtual Reality Technology for Evaluating Cognitivr Function of Human Subjects with Aphasia

    Zhiwei Luo

    Language Technology and Human Well-being, International Language and Culture Forum 2017(Invited Talk), 2017

    [Invited]

  • 心拍変動と心拍数を組み合わせたストレス評価に関する検討

    駒澤真人, 板生研一, 羅 志偉

    第28回人間情報学会, 2017

  • Virtual Reality Systemを用いたextrapersonal spaceにおける半側空間無視例の特徴

    田村 正樹, 種村 留美, 白川 真, 羅 志偉

    高次脳機能研究, Mar. 2016, Japanese, (一社)日本高次脳機能障害学会

  • A Novel Approach for Assessing Prospective Memory using Immersive Virtual Reality Task

    Dong Dong, Lawrence K. F. Wong, Zhiwei Luo, Changqin Quan

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, English, IEEE, Prospective memory can maintain our ability to living independently, which is important for our daily lives. Evaluation of prospective memory can be reflecting the severity of cognitive ability regression. Previous studies developed slide-based task and living-based task to evaluate prospective memory performance in different conditions. However, as a new technology that can provide a more realistic environment, immersive virtual reality is not yet used in this area. Our study first uses immersive virtual reality technology to develop a more real-life like test environment. As a result, by comparing with slide-based task, our VR task can show some potential to evaluate the perspective memory in daily life condition more accurately.

  • Analysis of Human Autonomic Nervous Activity Based on Big Data Measurement Via SmartPhone

    Makoto Komazawa, Kenichi Itao, Hiroyuki Kobayashi, Zhiwei Luo

    2016 IEEE 14TH INTL CONF ON DEPENDABLE, AUTONOMIC AND SECURE COMPUTING, 14TH INTL CONF ON PERVASIVE INTELLIGENCE AND COMPUTING, 2ND INTL CONF ON BIG DATA INTELLIGENCE AND COMPUTING AND CYBER SCIENCE AND TECHNOLOGY CONGRESS (DASC/PICOM/DATACOM/CYBERSC, 2016, English, IEEE, This study used a large amount of autonomic nervous system data to investigate the relationship between autonomic nervous system and activity, day of the week, and region. Data was measured via a heart rate variability analysis system that utilizes the camera of smartphones [8]. This system was developed by the authors during previous research. As for as the relationship between autonomic nervous system and activity, total power and sympathetic nervous activity were found to rise after waking, while during leisure time, it was found that total power rises and sympathetic nervous activity is inhibited. Concerning the relationship between autonomic nervous system and day of the week, it was found that total power decreases from the middle through the latter part of the week (namely, Wednesday, Thursday, and Friday), while it rises on Saturday. What's more, sympathetic nervous activity is suppressed on Saturday. Regarding the relationship between autonomic nervous system and region, it was found that total power is lower in the Kanto region than in others. Regarding weather conditions, the results showed a trend in which a significant decrease was seen in sympathetic nervous activity the higher the temperature. In addition, a significant increase was seen in the sympathetic nervous system the higher the atmospheric pressure. Lastly, a significant decrease was seen in the sympathetic nervous system the more precipitation there was. These results accord with prior research and with human biological phenomena, and we were able to use big data to statistically demonstrate our hypothesis.

  • Human-Robot Coordination Stability for Fall Detection and Prevention Using Cane Robot

    Qingyang Yan, Jian Huang, Zhiwei Luo

    2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS), 2016, English, IEEE, A cane-type walking-aid robot with a ball joint is developed for assisting old people's walking. Considering both the overturn of robot and the stability of human user, this paper presents a new concept of Human-Robot Coordination Stability (HRCS) which can describe the stability of the integrated human-robot system during the user operating the cane robot. HRCS is characterized by a stability region generated from the user's stability measured by posture information and the robot stability obtained by Force-Angle (FA) measure method. If the human-robot system runs out of the stability region, the fall tendency is then detected. To guarantee the safety of both the user and robot, a fall prevention control strategy is also proposed. The fall prevention control is executed to ensure the system staying in the stability region when any fall tendency is detected. Finally, we conducted experiments in real cane robot and the results illustrate the validity of the fall detection and prevention method.

  • Comparative Experiment and Dynamic Simulation on Cervical Traction Therapy

    Lawrence K. F. Wong, Zhiwei Luo, Nobuyuki Kurusu, Keiji Fujino

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, English, IEEE, This study aims to verify the accuracy of a cervical traction therapy simulation model by comparing the intervertebral separations of six normal male adults when traction applied to their cervical spines. The subjects were tested on two mechanical traction devices, representing the inclined and sitting positions. Radiographic images of their cervical spines were taken before, during and after traction. The observed changes of the cervical spine were used as input to adjust parameters of the traction therapy model, which contains a cervical spine built with springs and dampers and two traction devices in inclined and sitting positions. A series of traction forces and traction angles were applied to the model to simulate the actual parameters used in the experiment and the new model was used to evaluate the two traction positions. The result suggests that inclined position not only creates greater intervertebral separations on the posterior sides, it also provides a more accurate and smoother transition when switching between different traction angles.

  • Passive Velocity Field Control of a Redundant Cable-Driven Robot with Tension Limitations

    Sheng Cao, Zhiwei Luo, Changqin Quan

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, English, IEEE, This paper proposes a novel dynamic control approach for a cable driven robot with high redundant actuation and cable tension limitations to perform tracking task while interacting with environment. In order for a cable-driven exoskeleton robot to execute the task smoothly and safely, it is necessary to consider the tracking motion performance as well as passivity when interacting with the environment under the conditions of the actuation cables' redundancy and the pulling limitation. With the additional consideration of the maximum limitation of the cable tension, cable-driven robot actually can only apply a certain range of feasible wrench on the external environment, which makes the task executed by robot be restricted. In order to make designed wrench be feasible and keep the desired trajectory tracking ability, we present a new control method by extending passive velocity field control (PVFC) method considering tracking stability and passivity. The approach augmented a higher dimensional virtual flywheel dynamics in a specific orthogonal complement space of the cable's actuation space. After the final adjustment of the designed wrench with respect to the cable's constraint, this method is capable of driving the cable robot to complete the trajectory tracking task and realize the passivity.

  • Non-contact, Real-time Monitoring of Heart Rate with a Webcam with Application during Water-Bed Massage

    Akihito Seki, Changqin Quan, Zhiwei Luo

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, English, IEEE, Techniques for measuring physiological signals are gathering a lot of attention in recent years. In many cases, the techniques require to make direct contact between the physiological signal sensors with the subject's skin. Several studies were proposed to measure heart rate (HR) with standard web cameras under the condition that the subject is keeping the quiescent state. In this paper, we propose a new technique for measuring HR which allows the subject head movements during water-bed massage. For comparison purpose, HR was measured simultaneously using an electrocardiography (ECG) device during all sessions of the experiment. The result shows that our proposed technique is able to improve the accuracy of HR measurement and reduce the processing time to nearly one-third of the existing method. Our approach could be beneficial for applications that require real-time HR monitoring during subject's head is moving.

  • Eyeblink rate during a virtual shopping game performance for cognitive rehabilitation

    Okahashi S, Watanabe R, Luo Zhiwei, Futaki T

    The 11th International Conf. on Disability, Virtual Reality and Associated Technologies 2016, 2016

  • 歩行における下肢筋シナジーの加齢変化

    戸田晴貴, 戸田晴貴, 長野明紀, 羅志偉

    中国ブロック理学療法士学会抄録誌, 2016

  • 約20万件の大量の心拍データに基づく自律神経機能と気象との関係

    駒澤真人, 板生研一, 羅 志偉

    第23回人間情報学会最優秀賞, 2016

  • Robotics for Health Promotion

    Zhiwei Luo

    Proc. of 2015 IEEE Int. Conf. on Mechatronics and Automation, 2015 Keynote Speech, 2015

  • Development of Computer-Aided Cognitive Training Program for Elderly and Its Effectiveness through a 6 Months Group Intervention Study

    Tsunehiro Otsuka, Rumi Tanemura, Kazue Noda, Toru Nagao, Hiroshi Sakai, Zhi-Wei Luo

    CURRENT ALZHEIMER RESEARCH, 2015, English, BENTHAM SCIENCE PUBL LTD, Since the increasing population of aging, cognitive training is focused as one of the non-pharmacological preventive approach of cognitive decline. Although the accumulation of the knowledge, they hardly reflect to the programs for clinical use. We developed a task set named "Atama-no-dojo," designed to activate multiple cognitive functions and enhance motivational incentives. The objective of our study is to confirm the effect of our program through a 6 months group intervention program. The intervention program conducted in a day service center for 6 months in the duration of 45 minutes per day, 4 days per month for a total of 25 sessions. Participants worked to the tasks on the screen all together with filling in the answering sheet. Neuropsychological tests, SF36 and GDS were assessed at pre-/post-intervention periods. Participants filled in a questionnaire about impression to the program at the last training session. Fourteen women (82.2 +/- 2.9 years old) were analyzed and significant changes were found in the improvement of memory, attention, inhibition, GDS and some items of SF36. All participants recognized the program as fun and wanted to continue. Some of the participants' positive impressions to the program correlated to cognitive improvement. The improved cognitive functions by 6 months intervention of "Atama-no-dojo" were mainly related to prefrontal cortex and the motivational incentives seemed supported the effect of task contents. We recognized the importance of task difficulty setting and motivational incentives to reduce frustration from working on difficult tasks and enhance the effects of improvement from activating brain function.

  • Estimation of an Object's Physical Parameter by Force Sensors of a Dual-arm Robot

    Sheng Cao, Zhiwei Luo, Changqin Quan

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, English, IEEE, We are developing a Nursing-Care Robot in order to reduce the load in physical nursing care. The concept of this robot is to promote the cared persons by the robot to activate their own motion ability as long as possible. This may lead to the improvement of the cared person's movement volition and movement abilities. In order to realize safe and human friendly robot care tasks, full body manipulation is an important technology, for which it is necessary to estimate the subject's center of gravity from the contact positions and forces with the robot's two arms. In this paper, we estimate the center of gravity of object based on the contact point and the contact force estimated by force sensor on both robot arms. The position of gravity center is important to realize care tasks stably. We performed experiments and simulations for the single point contact and dual points contact cases using a cylindrical object. As a result, it is found that although some errors were recognized in the experiments compared with the simulations, the relations between the contact positions and such errors were observed. Such experimental error mainly comes from the difference of shape between the real robot and the model of the robot in simulation. As the future work, we have to improve the robot model so as to get better estimated information.

  • Wearable EEG-based Human Intention Detection and Its Application in Human Care-Robot Systems

    Shota Terada, Zhiwei Luo

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 2015, English, IEEE, This research developed a wearable EEG-based brain robot interface (WE-BRI) which detects the human subject's intention using steady-state visual evoked potential (SSVEP) and is applied in the food care tasks of robots. In detail, five types of visual stimuli with different frequencies are displayed on the different locations of a PC monitor. The human subject can select his/her intended food by focusing on a related specific visual stimulus for several seconds. A wearable EEG sensor then measures the subject's EEG and followed by on line frequency analysis. From the frequency analysis, the robot can detect the human subject's intention within limited time and can perform the task to move the related food to the subject. In this research, 5 health subjects are tested using this WE-BRI. It is found that in order to increase the success rate of intention detection, the subject should focus on a specific visual stimulus for more than 4 seconds. The highest success rate of the detection can reach to 92%. The developed WE-BRI is also expected to be applied in wider range of robotic human care tasks.

  • Optimal Timing of Dolphin Kick during Breaststroke Underwater Swimming Movement

    Yuki Hayashi, Masanobu Homma, Zhiwei Luo

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, English, IEEE, This research studies optimal swimming movement, specifically it focuses on the optimal kick timing during dolphin style swimming. In the rule of Breast Stroke Style, it is allowed to hit one dolphin kick during underwater movement. Until December 2014, we couldn't do dolphin kick before hands start to move. Now, dolphin kick can be performed at any time by the rule amendment. In this research, we modeled this style of movement and searched for optimum timing of dolphin kick. We used computational simulation model called SWUM (SWimming hUman Model). From the simulation results, we got the conclusion that we should do dolphin kick 0.4 seconds faster than hands move. In addition, we indicate the timing affects the body posture. These results agree with the current top swimmer's timing.

  • 高齢者と若年者における歩行中の大腿四頭筋とハムストリングスの筋活動パターン

    戸田 晴貴, 長野 明紀, 羅志偉

    第 50 回日本理学療法学術大会,2015, 2015

  • Virtual Reality Systemを用いたextrapersonal spaceにおける半側空間無視例の特徴

    田村 正樹, 種村 留美, 白川 真, 羅 志偉

    第39回日本高次脳機能障害学会学術総会 2015, 2015

  • 認知制御の二重脳機能ネットワークモデル仮説と検証

    施イ, 大谷啓尊, 羅 志偉, 片桐祥雅

    第20回人間情報学会, 2015

  • スマートフォンのカメラを用いた心拍変動解析システムの開発

    駒澤真人, 板生研一, 羅 志偉

    第20回人間情報学会, 2015

  • 約10万件の大量の心拍データに基づく自律神経機能評価

    駒澤真人, 板生研一, 羅 志偉

    第22回人間情報学会(最優秀賞), 2015

  • SWUM によるひとかきひとけり中のドルフィンキックタイミングの最適化

    林 勇樹, 本間 正信, 羅志偉

    日本水泳水中運動学会 2015 年次大会, 2015

  • バーチャルリアリティ技術を用いた高次脳機能評価システムの開発 健常者における年齢の影響

    酒井 弘美, 岡橋 さやか, 小嶌 麻木, 長野 明紀, 羅 志偉

    日本作業療法学会抄録集, Jun. 2014, Japanese, (一社)日本作業療法士協会

  • 歩行・走行機能の評価と訓練に関する研究

    Luo zhi-wei

    第41回日本臨床バイオメカニクス学会学術集会(2014), 2014, Japanese

    [Invited]

  • 豊かな超高齢社会を支えるロボット工学技術イノベーション

    羅 志偉

    WHO WKCフォーラム, 2014 招待講演, 2014, English

    [Invited]

  • On Energy-based Robust Passive Impedance Control of a Robot Manipulator

    Sheng Cao, Zhi-Wei Luo

    INTERNATIONAL CONFERENCE ON MECHANISM SCIENCE AND CONTROL ENGINEERING (MSCE 2014), 2014, English, DESTECH PUBLICATIONS, INC, Passivity is an important requirement for a robot to interact with human or other dynamic environments stably and safely as in robotic rehabilitations. Considering the time-varying objective impedance center, under the condition that the robot's dynamics is known, previous research has already proposed a passive impedance control approach which adjusts a scaling parameter of the robot's desired velocity with respect to the robot's mechanic energy so as to maintain the robot's passivity. In this research, we future take into account of the robot's dynamical model uncertainties and propose a robust passive impedance control. Computer simulations of a 2-link manipulator interacting with a dynamic wall show the effectiveness of our robust control approach.

  • 24時間の心拍変動データ解析による日本人の自律神経機能と年齢の関係

    板生研一, 駒澤真人, 小林弘幸, Luo zhi-wei

    第19回人間情報学会(2014), 2014, Japanese

  • 2 ステップテストに関する生体力学計測と解析

    溝口 貴大, 曹 晟, 栗栖 伸之, 藤野 圭司, 長野 明紀, Luo zhi-wei

    第58回システム制御情報学会研究発表講演会(2014), 2014, Japanese

  • 2ステップテストの生体力学解析

    溝口 貴大, 曹 晟, 栗栖 伸之, 藤野 圭司, 長野 明紀, Luo zhi-wei

    第26 回日本運動器科学会学術集会(2014), 2014, Japanese

  • Assessment of convalescent brain-damaged patients using a virtual shopping test with different task difficulties

    Okahashi S, Mizumoto H, Komae A, Ueno K, Yokoyama M, Nagano A, Seki K, Futaki T, Luo zhi-wei

    Proceedings of 10th International Conference on Disability, Virtual Reality and Associated Technologies(2014), 2014, English

  • Biomechanical Measurement and Analysis of Human Two-Step Test

    Takahiro Mizoguchi, Sheng Cao, Zhiwei Luo, Keiji Fujino, Nobuyuki Kurusu

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, 2014, English, IEEE, Two-Step Test is now widely used to evaluate the locomotion ability of human in Japanese biomechanical clinical hospitals. It is a test in which Two-Step Value is calculated by dividing a subject's height by the maximum distance of his/her two steps of walking. The test was developed by Hirano and Muranaga in 2003 to conveniently predict human's walking ability and is shown to have high relations with the other existing human locomotion evaluation approaches. However, this test has not been studied so far from the viewpoint of biomechanics. This study examined and analyzed the Two-Step Test using motion capture and musculoskeletal model. Based on the analysis results, we clarified many differences between subjects with different two step values.

  • Development of assessment system for cognitive function using virtual reality: the effect of age in healthy volunteers

    Sakai H, Okahashi S, Kojima M, Nagano A, Luo zhi-wei

    Proceedings of 16th International Congress of the World Federation of Occupational Therapists(2014), 2014, English

  • Development of Human Interface in Immersion Type 3D Dynamic Simulator

    Katoh S, Cao Sheng, Luo zhi-wei

    Proceedings of The 2nd International Conference on Maintenance Science and Technology (ICMST2014), 2014, English

  • Dynamic Simulation of Cervical Traction Therapy: Comparison between Sitting and Inclined Positions

    Lawrence K. F. Wong, Zhiwei Luo, Nobuyuki Kurusu

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, 2014, English, IEEE, This research describes the construction of a mechanical cervical traction therapy simulation using a physics software engine. The model consisted of an anatomically correct human skeleton and two types of mechanical traction devices, each representing a unique traction position. While most of the movement in the skeleton simulation model was represented by simple hinges and ball-socket joints, the cervical spine was controlled by a spring-damper model to try to mimic its actual behavior in the human body. By varying the traction force, traction angle, and traction position in the simulation, the efficacy of the sitting and inclined traction was evaluated by comparing the anterior and posterior intervertebral separations each achieved. The simulation results suggested that the inclined position creates greater intervertebral separations on both the anterior and posterior sides than the sitting position. Our findings may serve as a reference for practitioners and medical equipment designers where cervical traction therapy is applied.

  • Variability of walking motions in healthy elderly as a function of walking speed

    Toda H, Nagano A, Luo zhi-wei

    Proceedings of 9th Australasian Biomechanics Conference(2014), 2014, English

  • リアルタイムでの心拍解析を⽤いたトレーニングシステムの開発

    佐野 友香, 長野 明紀, Luo zhi-wei

    第58回システム制御情報学会研究発表講演会(2014), 2014, Japanese

  • 長時間計測による自律神経機能の加齢変化

    板生研一, 駒澤真人, 堅田洋資, 小林弘幸, Luo zhi-wei

    第17回人間情報学会(2014), 2014, Japanese

  • 歩行速度の変化による体幹・下肢の加速度の変動性の違い

    戸田 晴貴, 長野 明紀, Luo zhi-wei

    第49会日本理学療法学術大会(2014), 2014, Japanese

  • Early Neurological Markers for Unconscious Detection of Bitter and Sour Taste for Investigating Taste Preferences

    Chenghong Hu, Yoshitada Katagiri, Yoshiko Kato, Zhiwei Luo

    Communications in Computer and Information Science, 2014, English, Springer Verlag, To clarify the intrinsic food preference mechanism, we investigated neurophysiological responses to unpleasant gustatory stimuli using electroencephalogram (EEG) and near-infrared hemoencepalogram (NIR-HEG) simultaneously. A conventional delayed response task paradigm was performed in the experiment. Results showed excessive evoked EEG potentials in both bitter and sour responses, but not in purified water which was a control condition. Therefore we suggested that these potentials would be only attributed to gustatory stimuli. As these potentials appeared before P3, we considered that they are unconscious electrophysiological early markers for attention. We also identified contingent negative variation (CNV) in a late stage for sour stimulus and corresponding clear P3. In addition, NIR-HEG responses showed a rise for every stimulus and, in particular, bitterness gave larger rise than sourness. In spite of limitation to timing accuracy of taste presentations, the early markers found in this study could be fundamentals for investigating individual food preference. © Springer-Verlag Berlin Heidelberg 2014.

  • Accelerating Water Molecular Simulation with RMD

    Yumi Kashihara, Akinori Nagano, Zhiwei Luo

    FOURTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS, MODELLING AND SIMULATION (ISMS 2013), 2013, English, IEEE, Molecular Dynamics method(MD) has been used for simulations of the structure and dynamics of soft matter, biological molecules, fluid and more. However, the calculation cost has been a major bottleneck. Coarse-grained molecular dynamics is one of the most popular methods to accelerate the simulation, and this method is especially used for simulations of biological molecules. Though water is usually used as the solvent in the simulation of biological molecules, it takes a lot of computational cost to simulate the water because of its coulomb force and three-dimensional structure. In this study, we propose the new coarse-grained method for water molecular simulation based of Renormalization Molecular Dynamics method(RMD). We derive the radial distribution functions at 298[K] and at 220[K] to compare with results of all-atom MD. Then, we got similar results with all-atom MD simulation and it was 24 times faster than all-atom MD.

  • An FNIRS Study of Taste Cortical Areas in Human Brain: Sweetness and Sourness

    Chenghong Hu, Yoshiko Kato, Luo zhi-wei

    Proc. of IEEE/SICE International Symposium on System Integration, 2013, English

  • An intelligent treadmill system for running training: control of belt speed and biofeedback

    Nagano, A, Kato, S, Iwao, K, Luo zhi-wei

    31st Conference of the International Society of Biomechanics in Sports, 2013, English

  • Cervical Spine Simulation Model for Traction Therapy Analysis

    Wong Lawrence KF, Luo zhi-wei, Kurusu Nobuyuki, Fujino Keiji

    Proc. of IEEE/SICE International Symposium on System Integration, 2013, English, IEEE, This research describes the construction of a biomechanical simulation model of the cervical spine for traction therapy analysis. By building a 3D computer model of the musculoskeletal cervical spine region using a physics-based software environment, we were able to calculate and visualize the changes of the cervical vertebrae and intervertebral discs due to external traction applied during a traction therapy. Since the mechanical parameters of the simulation, such as bone sizes and masses, can be easily adjusted in the computer model, it allows us to match the simulation based on actual data from patient in the traction therapy.

  • Contribution of Lower Extremity Joint Moment on Ground Reaction Force during Walking in Elderly and Younger People

    Haruki Toda, Akinori Nagano, Zhiwei Luo

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2013, English, IEEE, Antero-posterior ground reaction forces are the driving forces affecting walking speed. This study examined the relation between hip, knee, and ankle joint moment and the production of antero-posterior ground reaction forces during walking in the elderly and younger individuals. Forty elderly people, >= 65 years old, and 40 younger people, 20 to 29 years old, participated in this study. Gait analyses involved measurement of the ground reaction forces as well as calculation of hip, knee, and ankle joint moment. A stepwise linear regression analysis determined joint moment that can predict the amplitude of the antero-posterior ground reaction force. Extension moment during early stance of the knee was related to the posterior component of ground reaction force in elderly men, whereas hip and knee joint moments were related to the generation of the antero-posterior ground reaction forces in younger men. Moment of the hip and ankle were related to these forces in the elderly women. On the other hand, moment of the knee was related to generation of these forces in young women. Our results suggest differences between the elderly and the younger individuals with regard to the joints used for production of the antero-posterior ground reaction forces.

  • Cooperative Stochastic Position Estimation of Multiple Mobile Robots Equipped with Omnidirectional Cameras

    Kosuke Sasahara, Akinori Nagano, Zhiwei Luo

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2013, English, IEEE, This paper proposes the cooperative position estimation of a group of mobile robots, which performs disaster relief tasks in a wide area. When searching the wide area, it becomes important to know a robot's position correctly. However, each mobile robot is impossible to know its own position correctly. Therefor each mobile robot estimates its position from the data of sensor equipped on it. Generally, the sensor data is incorrect since there is sensor noise, etc. This research considers two types of the sensor data error from omnidirectional camera. One is the error of white noise of the image captured by omnidirectional camera and so on. Another is the error of a position and posture between two omnidirectional cameras. To solve the error of latter case, we proposed a self- position estimation algorithm for multiple mobile robots using two omnidirectional cameras and an accelerometer. On the other hand, to solve the error of the former case, this paper proposed an algorithm of cooperative position estimation for multiple mobile robots. In this algorithm, each mobile robot uses two omnidirectional cameras to observe the surrounding mobile robot and get the relative position between mobile robots. Each mobile robot estimates its position with only measurement data of each other mobile robots. The algorithm is based on a Bayesian filtering. Simulations of the proposed cooperative position estimation algorithm for multiple mobile robots are performed. The results show that position estimation is possible by using only measurement value from each other robot.

  • Development of a Robot System for Rehabilitation of Upper Limbs Cooperative Movement Functions

    Kazuki Nishida, Zhiwei Luo, Akinori Nagano

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2013, English, IEEE, Upper limbs cooperative movement functions are very important in our everyday life. Due to many kinds of brain diseases, people usually reduced or even lost their half side of body activities, which made it difficult to realize cooperative movements between right and left limbs. In this research, we developed a novel robot system, integrated with virtual reality technologies to perform rehabilitation of upper limbs cooperative movement functions, such as to realize simultaneous upper limbs motions or to cooperatively catch and setting a common object in 3D space. Three types of rehabilitation movements are designed so that the subject can train their each arm along as well as cooperative movements with game style. The motion trajectories as well as the contact forces with objects of the subjects are automatically recorded so as to evaluate the performance of rehabilitation.

  • Motion Sickness Due to Vibration on Water Massage Bed

    Akihito Seki, Zhiwei Luo

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2013, English, IEEE, In recent years, water massage bed which can provide full body massage effect is often used in physiotherapy. Compared to other physiotherapy equipment, water massage bed is particularly useful in the fact that it can directly massage the destined area on the subject, thus leads to improvement in relieving muscle strain and provides a psychological relaxation effect. However, motion sickness symptoms such as dizziness or nausea have been reported as side effects after using the bed. In this study, we evaluate the massage effect on the human body by measuring and analyzing the mechanical movements of the body during the massage using an accelerometer and a laser range finder.

  • On Energy-based Robust Passive Control of a Robot Manipulator

    Sheng Cao, Zhiwei Luo

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2013, English, IEEE, This research proposes a novel robust passive control approach for a robot manipulator with model uncertainties to interact with its dynamic environment by considering the robot's mechanic energy. Here, we analyze the robot's robust passivity as seen from its environment. By adjusting a scaling parameter of the robot's desired velocity with respect to the robot's mechanic energy, we propose our robust passive control approach. We also perform computer simulations to show the effectiveness of our approach. In the simulation, we studied three cases where the robot has no model error, or its model has errors. As the results, it is found that the previous robust position tracking control may loss passivity to the external force. However, by adjust the robot's desired velocity as in our approach, we can realize the robot's passivity even when the robot has mode errors. The applications of our control approach are expected be used in those robots that are required to make safe physical interaction with human.

  • Realtime biofeedback of the mechanical stress on the legs during running

    Nagano, A, Iwao, K, Luo zhi-wei

    24th Congress of the International Society of Biomechanics., 2013, English

  • Research and Development of the Wearable Respiration Sensor

    Yi Shi, Yasuhiro Kawahara, Zhiwei Luo

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2013, English, IEEE, In our society, we cannot avoid facing the problem of burdening the huge stress which occurs in our daily life. It is very dangerous if people under the colossal pressure all the time because it may lead to diseases. There are plenty of ways can help people to reduce the stress condition and as common sense, deep breath is one of the ways. Because people cannot notice the respiration condition all the time in daily life, a wearable respiration sensor is needed to help people to monitor the respiration condition. A sensor which is a kind of polymer sheet used in the experiment and from which get the information we need. According to the results of the experiment, the respiration rate, the relationship between output of the voltage and ventilation, the method separating the status of people including sitting, standing, walking and sleeping was known. These consequences have already supplied enough information help to judge the condition of the subjects and evaluate whether they had any problems.

  • Performance of Polyurethane Film Actuators with Polydimethylsiloxane Units into the Main Chain or Side Chain

    Takeshi Fukuda, Zhiwei Luo, Aya Ito

    The 7th World Congress on Biomimetics, Artificial Muscles and Nano-Bio(BAMN2013), 2013, 2013

  • Modulation of Central Fatigue is Dependent on Sound Environment

    Yi Shi, Y. Katagiri, Luo Zhiwei

    第15回人間情報学会講演会 (最優秀賞), 2013

  • Virtual Reality技術を用いた高次脳機能評価システムの開発―失語症者を対象とした検討―

    小嶌麻木, 岡橋さやか, 羅志偉, 長野明紀, 関啓子

    日本言語聴覚士協会総会・日本言語聴覚学会プログラム・抄録集 2013, 2013

  • A fNIRS research on prefrontal cortex activity response to sweet taste

    Chenghong Hu, Yoshiko Kato, Zhiwei Luo

    第57回 システム制御情報学会研究発表講演会(SCI'13), 2013, 2013

  • 睡眠不足による自律神経機能障害

    施嫕, 片桐祥雅, 川原靖弘, 羅志偉

    第57回 システム制御情報学会研究発表講演会(SCI'13), 2013, 2013

  • 遺伝子探索における転写因子分子数の影響

    藤本健太朗, 新海創也, 前島一博, 羅志偉, 冨樫祐一

    日本物理学会 2013年秋季大会, 2013

  • 生体分子機械の粗視化モデリング手法の検証

    GU Jie, TOGASHI Yuichi, LUO Zhi-Wei

    第56回システム制御情報学会研究発表講演会 講演論文集, May 2012, Japanese, システム制御情報学会

  • Development of An Adaptive Cognitive Training Method Using Near-InfraRed Spectroscopy

    Yuki Murase, Shinichi Nagai, Akinori Nagano, Zhi-Wei Luo

    6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS, 2012, English, IEEE, Recently, the numbers of physically handicapped persons and higher brain dysfunctions are increasing in our super-aging society. Rehabilitative training or cognitive training has been studied. Now, more and more studies show that the motivation is important for the effect of such trainings. We focused on the brain function measurement and the technique of Brain-Computer Interface(BCI). We hypothesized that brain activity can be used as new indicators to set an appropriate task difficulty for patients. We measured the subjects' brain activities during tasks using Near-InfraRed Spectroscopy (NIRS). We found that difficult or easy tasks can be determined by the brain activities. We developed a system that changes the difficulty level of the task according to the results of the discrimination of brain activities during tasks. The system can be beneficial for patients to perform cognitive training more effectively.

  • Hybrid simulation of molecular dynamics and renormalization molecular dynamics.

    Yumi Kashihara, Akinori Nagano, Zhi-wei Luo

    XXXII Dynamic Days in Europe, 2012, English

  • Motion Planning of Networked Multi-Vehicle System with Hybrid Measurement Model

    Toru Murayama, Akinori Nagano, Kenneth Ho, Zhi-Wei Luo

    2012 8TH INTERNATIONAL CONFERENCE ON COMPUTING AND NETWORKING TECHNOLOGY (ICCNT, INC, ICCIS AND ICMIC), 2012, English, IEEE, This paper presents a new motion planning method of a multi-vehicle system in which vehicles can mutually measure the location of other vehicles when distances between vehicles are close. The mutual measurement method reduces uncertainty of location estimation by providing additional information. We propose a motion planning method based on the existence of maximal distance of mutual measurement. We formulate a multi-vehicle system with some disturbance and a new hybrid measurement model. The new model is a hybrid of maximal distance of mutual measurement and Kalman filter. The receding horizon control method is shown to be applicable to the new hybrid measurement model. We demonstrate the validity of our new hybrid measurement model in computer simulation.

  • Research and development for assessment of cognitive function with immersive virtual reality system.

    Shingo Kato, Akinori Nagano, Zhi-wei Luo

    JSST2012 International Conference on Simulation Technology, 2012, English

  • The Self-position Estimate Algorithm of the Multiple Mobile Robots which Equipped Two Omnidirectional Cameras and An Accelerometer

    Kosuke Sasahara, Akinori Nagano, ZhiWei Luo

    2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2012, English, IEEE, This paper proposes a self-position estimate algorithm for the multiple mobile robots, each robot uses two omnidirectional cameras and an accelerometer. In recent years, in Japan, the Great East Japan Earthquake and large-scale disasters have occurred frequently. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable. Then, this research has developed the searching robot group system with two or more mobile robots. In this research, the searching robot equips two omnidirectional cameras and an accelerometer. In order to perform distance measurement using two omnidirectional cameras, each parameter of an omnidirectional camera and the position and posture between two omnidirectional cameras have to be calibrated in advance. If there are few mobile robots, the calibration time of each omnidirectional camera does not pose a problem. However, if the calibration is separately performed when using two or more robots in a disaster site etc., it will take huge calibration time. Then, this paper proposed the algorithm which estimates a mobile robot's position and the parameter of the position and posture between two omnidirectional cameras simultaneously. The algorithm proposed in this paper extended Nonlinear Transformation (NLT) Method. This paper conducted the simulation experiment to check the validity of the proposed algorithm. In some simulation experiments, one mobile robot moves and observes the circumference of another mobile robot which has stopped at a certain place. This paper verified whether the mobile robot can estimate position using the measurement value when the number of observation times becomes 10 times in pi/18 of observation intervals. The result of the simulation shows the effectiveness of the algorithm.

  • 障害物回避機能を有する移動ロボットのSLAMに関する研究

    坂口 豪一, 長野 明紀, 羅 志偉

    第56回システム制御情報学会研究発表講演会(SCI'12), 2012

  • SOCスコアと生理指標の相関に関する一検討

    川原靖弘, 施嫕, 片桐祥雅, 羅志偉

    第13回人間情報学会, 2012

  • 微小皮膚変位感知型センサーの呼吸モニタリングへの適用

    川原靖弘, 施嫕, 片桐祥雅, 羅志偉

    第11回人間情報学会, 2012

  • 高次脳機能評価手法を用いた生活環境の評価

    川原靖弘, 施嫕, 片桐祥雅, 羅志偉

    電子情報通信学会・HCG シンポジウム 2012, 2012

  • ポリウレタンフィルムアクチュエータの創製とその特性

    伊藤彩, 福田 武司, 羅 志偉

    第21回ポリマー材料フォーラム, 2012, 2012

  • 1A2-1 Target Trajectory Design of Parametrically Excited Inverted Pendulum for Efficient Bipedal Walking

    HONJO Toyoyuki, HAYASHI Takeshi, NAGANO Akinori, LUO Zhi-Wei

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 01 Sep. 2011, Japanese, The Japan Society of Mechanical Engineers, In the study of efficient bipedal walking, the center of robot's total mass have been treated as an inverted pendulum. We have studied control methods in which this inverted pendulum follows the target trajectory of parametric excitation. In this paper, we propose a new target trajectory design method for efficient bipedal walking. This target trajectory was represented by a product of two sigmoid functions. We analyzed the relationship between parameters of target trajectory and energy efficiency. As a result, we found that the gentle rising and falling of the target trajectory contributed to energy efficiency via numerical simulations of an inverted pendulum and a bipedal robot. Then, we achieved efficient dynamic walking used by proposed target trajectory.

  • 1A2-3 Estimation of Human Emotion Using Near-Infrared Spectroscopy

    MURASE Yuki, NAGANO Akinori, LUO Zhi-Wei

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 01 Sep. 2011, Japanese, The Japan Society of Mechanical Engineers, Recently, Brain-Computer Interface (BCI) has been studied by many researchers. In this study, brain activity of the frontal lobe was measured using Near-Infrared Spectroscopy (NIRS) when the subject feels comfortable or uncomfortable. Specifically, two kinds of emotion were classified by combination of five features and three discriminant analyses when the subject looked at the pictures in the screen. Presented pictures were three types: Figure, Color and Image task. As a result, maximum discrimination rate was 85% when training data were identical to the test data. Average discrimination rate was 10% lower when training data were different from test data. Discrimination rates varied by combination of features and discriminant analyses.

  • 1A2-5 Estimation of Walking Intention and Development of Adaptive Walking Training System

    Kato Shoichi, Nagano Akinori, Luo Zhiwei

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 01 Sep. 2011, Japanese, The Japan Society of Mechanical Engineers, For evaluation and training of motor function, we developed a system which estimates human walking intention and trains human walking. We used treadmill with built-in force plates, and measure floor reaction force. From the force measurement, the intention of the subject was estimated. We find the linearity between the walking speed and the impulse of the horizontal reaction force when the ground was kicked in walking. Based on this characteristic, the speed of the treadmill was adjusted according to the subject's intention. As future tasks, it is necessary to further develop the system so that the individual variation can be solved.

  • 1A2-4 Identification of Ankle Viscoelasticity During Quiet Upright Stance

    IWAO Kazutaka, NAGANO Akinori, LUO Zhi-Whi

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 01 Sep. 2011, Japanese, The Japan Society of Mechanical Engineers, Nowadays, aging is rapidly proceeding in Japan. We can predict that there will be many accidents of falls of the elderly. So we pay attention to the prevention of falling. In this paper, we model quiet posture with simple inverted pendulum model and identify ankle viscoelasticity during quiet stance using sway of the center of pressure measured by force plate. We examined the change of ankle viscoelasticity when the subject's visual conditions were changed or the ankles were stretched. Visual conditions were open eyes, closed eyes, and biofeedback of the center of pressure. While we found that sway of center of pressure increased as the result of change of visual conditions and ankle joints stretching, we found that ankle viscoelasticity did not change.

  • Innovation of Health Engineering for Aging Society

    LUO Zhiwei

    IEICE technical report, 18 Jul. 2011, Japanese, The Institute of Electronics, Information and Communication Engineers, Development of Health Industry is important for supporting the aging society. For which, the solid scientific foundation --- Health Engineering --- should be established, that not only based on present medical science, bioscience, health science, but also should include advanced electric engineering, information technology as well as robotics. This can contribute to the scientific health management, heath promotion, health prediction, care support, rehabilitation as well as the scientific evaluation of human's health so as to improve their social activities.

    [Invited]

  • Hybrid Control of Network Coupled Dynamical System

    MURAYAMA Toru, LUO Zhi-Wei, NAGANO Akinori

    IEICE technical report, 18 Jul. 2011, Japanese, The Institute of Electronics, Information and Communication Engineers, We report a hybrid control method of a network coupled system. A network coupled system is a coupled system whose subsystems interact through network, and the network structure is expressed as graph. Espesially we regard the graph as controllable states in our research, and we control the graph and subsystems' states simultane ously. Because the graph is a discrete state, we formulate a network coupled system as a hybrid dynamical system and show the control method.

  • Effect of visual biofeedback on motor imagery

    NAGAI Shinichi, MURASE Yuki, SEKI Keiko, NAGANO Akinori, LUO Zhiwei

    IEICE technical report, 18 Jul. 2011, Japanese, The Institute of Electronics, Information and Communication Engineers, The motor imagery of the body is frequently used for the BCI or rehabilitation. However, it is reported that the brain activation by motor imagery is lower than the brain activation by motor execution, and it is more difficult to use the motor imagery for the BCI or rehabilitation than the motor execution. This is because the subject is not given real-time sensory feedback when the motor imagery task is performed. We used the technique of biofeedback to solve this problem. Biofeedback is a technique that trains people to control bodily processes with equipments. We measured the brain activation during motor imagery with NIRS, and usually presented the measured brain activity to the subject. Finally, the brain activation by motor imagery approached that by motor execution, and we suggest that we can use the brain activation by motor imagery for the BCI or rehabilitation.

  • 高齢社会の健康を促すロボティクス研究開発

    羅志偉

    計測自動制御学会中部支部第1回静岡地区計測制御研究委員会講演会招待講演,2011, 2011

    [Invited]

  • 動的身体運動の計測と解析

    羅志偉

    第38回日本臨床バイオメカニクス学会,教育研修講演, 2011

    [Invited]

  • 健康工学創成に向けて

    羅志偉

    日本機械学会東海支部講習会資料集, 2011

  • Human factor affects eye movement pattern during riding motorcycle on the mountain

    Haiwei Dong, Zhiwei Luo

    PETMEI'11 - Proceedings of the 1st International Workshop on Pervasive Eye Tracking and Mobile Eye-Based Interaction, 2011, English, Human's eyes are of great importance in the process of perception, cognition, movement, etc. as about 80% of information about the surrounding world comes from vision. Through analyzing the pattern of eye movement, we can make it clear how human accomplish everyday life with eyes. As human lives in the communities which are artificial environments, various man-made signs, objects and surrounding people have influence on human, particularly on eye movement pattern. To fully understand the eye movement pattern, we have to consider the human factors. This paper focuses on clarifying eye movement pattern during riding motorcycle on the mountain. We use a mobile eye mark tracking system to record the eye motion and the front view. By referring the recorded movie, eye mark analysis and fixation point analysis verify the influence from human factor. In addition, we provide suggestions to promote safe riding. © 2011 ACM.

  • Modeling and control of a humanoid robot arm with redundant biarticular muscle torques

    Haiwei Dong, Zhiwei Luo, Akinori Nagano

    Proceedings of the 2nd IASTED International Conference on Robotics, Robo 2011, 2011, English, Human's body is quite flexible because of high redundancy. Compared with the existing control schemes of robot manipulator, human's upper limb has better performance in movement and robustness in fault tolerance. This paper addresses the problem of controlling a upper-limb like humanoid robot arm actuated by muscles. Specifically, we built a humanoid robot arm based on a real human's anthropological parameters. Biarticular muscles were added as actuators. The proposed adaptive control scheme tolerates the modeling error the parameter adaptation scheme identifies the timevarying arm parameters in real-time. The computed torques acting on joints are distributed to corresponding muscle forces. The control and adaptation methods were verified by an arm simulation in bend-stretch movement.

  • Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Locomotion Interfaces,

    Haiwei Dong, Jianjun Meng, Zhiwei Luo

    8th International Conference on Ubiquitous Robots and Ambient Intelligence, 2011, 2011

  • Hybrid Control of Networked Multi-Vehicle System Considering Limitation of Communication Range

    Toru Murayama, Akinori Nagano, Zhiwei Luo

    International Conference on Control, Automation, Robotics and Vision 2011, World Academy of Science, Engineering and Technology, Venice, Italy, 2011

  • Renormalization molecular dynamics for micro fluid analysis

    KASHIHARA Yumi, NAGANO Akinori, Zhiwei Luo

    CBI/JSBi 2011 合同大会, 情報計算化学生物学会, 2011

  • 呼吸センシングの生理学的意義とその日常応用

    施嫕, 川原靖弘, 片桐祥雅, 羅志偉

    第9回人間情報学会, 2011

  • バーチャルリアリティ技術を用いた高次脳機能評価システムの開発(第2報)

    岡橋 さやか, 押海 龍生, 酒井 弘美, 出水 朋子, 遠藤 裕美, 山本 麻木, 澤 真澄, 永井 伸一, 長野 明紀, 羅 志偉, 種村 留美, 関 啓子

    日本神経心理学会総会プログラム・予稿集, Aug. 2010, Japanese, 日本神経心理学会

  • B26 Mathematical analysis of hammer movement based on a parametrically excited double pendulum

    OHTA Ken, UMEGAKI Koji, MUROFUSHI Koji, LUO Zhi Wei

    The Proceedings of the Symposium on sports and human dynamics, 2010, Japanese, The Japan Society of Mechanical Engineers, The motions of a hammer are commonly regarded as a circular movement which a hammer undergoes around a turning human body. The distance of a throw depends on the speed of the hammer and the angle of its trajectory at the instant of release. The speed of the hammer increases gradually during preliminary winds and turns. During each turn the hammer rises up toward the high point of the trajectory and passes through the low point. Our interest in this study was to understand the mechanism of acceleration of the hammer in terms of parametrical excitation. The motions of hammer were analyzed to examine our theory using double pendulum model.

  • ADAPTIVE TREADMILL CONTROL BY HUMAN WILL

    Haiwei Dong, Zhiwei Luo, Akironi Nagano

    CLAWAR2010, 2010, English, WORLD SCIENTIFIC PUBL CO PTE LTD, Nowadays treadmill's control has become more and more popular in many fields, such as athletic exercise, rehabitation training, computer game, and so on. In the previous treadmill usage, the subject passively follows the speed of treadmill. However, in many application cases, the treadmill control strategy by human will is very desirable. Focusing on this problem, in this paper, by analyzing the formula of center of pressure (COP) and simulation results, a key index which indicates the intended walking speed was found. Based on the experiment data, a new model of intended walking speed was established, and further calibrated by least-squares regression technology. The new treadmill control strategy proposed in this paper was built with the intended walking speed model. The treadmill experiment shows that our approach is able to control the treadmill velocity smoothly, which verifies the validity.

  • Reduced Model Adaptive Force Control for Carrying Human Beings with Uncertain Body Dynamics in Nursing Care

    Haiwei Dong, Zhiwei Luo, Akinori Nagano

    2010 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2010, English, IEEE, As the human society steps into the aging society, robots play more and more important roles in our daily life, especially in nursing activities. As we all know, the human body has numerous joints and each joint has at least one degree of freedom. Hence, changing the attitude of human body is very complex. In this paper, we consider the human body as a redundant system and only interested parts of the joint states are controlled. The new strategy proposed in this paper is able to life up the human body to the pre-defined position and posture while ragardless of individual differences. In addition, the convergence analysis, including tracking time analysis and tracking error analysis, is also given. The approach is simulated by lifting a skeleton human model with two robot arms, which verifies the efficiency and effectiveness of the approach.

  • Development of a 3D Interactive Virtual Market System with Adaptive Treadmill Control

    Haiwei Dong, Tatuo Oshiumi, Akinori Nagano, Zhiwei Luo

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, English, IEEE, As the computer vision and virtual reality (VR) technology become mature nowadays, there is a huge potential to connect VR with the real world. In this paper, a 3D interactive VR system with adaptive treadmill control is developed. The subject walks on the treadmill at will. Interaction force between feet and treadmill are measured to estimate the subject's intended walking speed. The treadmill belt velocity and 3D display adjust to the walking pace according to the subject's walking intention, which makes the subject feel that he (or her) is walking in the real market. The experiment shows that the control results are smooth, which verifies the validity of the whole system.

  • Analysis of hammer movement based on a parametrically excited pendulum model

    Ken Ohta, Koji Umegaki, Koji Murofushi, Zhi Wei Luo

    ENGINEERING OF SPORT 8: ENGINEERING EMOTION - 8TH CONFERENCE OF THE INTERNATIONAL SPORTS ENGINEERING ASSOCIATION (ISEA), 2010, English, ELSEVIER SCIENCE BV, Motions of the hammer were analyzed to understand the mechanism of acceleration with a hula-hoop model using an energy pumping mechanism. The condition that makes the time derivative of the energy positive is derived as energy pumping for hammer. The condition is expressed in terms of the tugging force times velocity to pump the hammer energy. In this study, motions of the hammer were analyzed and numerical experiments were performed to examine the validity of the theory. (C) 2010 Published by Elsevier Ltd.

  • Robust Falling-down Avoidance Control for Acrobat Robot Using Switching Controller

    Yusuke Yashiro, Masaki Yamakita, Shinya Hirano, Zhiwei Luo

    SICE Annual Conference 2010, 2010

  • Passive Control of A Dual-Arm Cooperative Robot

    Kosuke Kido, Zhiwei Luo, Akinori Nagano

    SICE Annual Conference 2010, 2010

  • Derivation of stability conditions of passive dynamic walking

    Toyoyuki Honjo, Zhiwei Luo, Akinori Nagano

    CLAWAR2010, 2010

  • A new method of posturography processing: directional change analysis

    NAGANO Akinori, NORITAKE Hisahito, LUO Zhiwei

    6th World Congress of Biomechanics, 2010

  • 姿勢動揺方向の解析を用いた聴覚フィードバック効果の評価

    長野 明紀, 則武 悠人, 羅 志偉

    第21回日本バイオメカニクス学会, 2010, 2010

  • Restoration of degraded moving image for predicting a moving object

    Kei Akiyama, Zhi-Wei Luo, Masaki Onishi, Shigeyuki Hosoe

    Electronics and Communications in Japan, Feb. 2009, English, Iterative optimal calculation methods have been proposed for degraded static image restoration based on the multiresolution wavelet decomposition. However, it is quite difficult to apply these methods to process moving images due to the high computational cost. In this paper, we propose an effective restoration method for degraded moving images by modeling the motion of moving object and predicting the future object position. We verified our method by computer simulations and experiments to show that our method can achieve favorable results. © 2009 Wiley Periodicals, Inc.

  • 群ロボット制御のグラフ理論

    羅志偉

    第53回システム制御情報学会研究発表講演会 招待講演, 2009

    [Invited]

  • 環境適応ロボットシステム,

    羅志偉

    日本知能情報ファジィ学会 2009,招待講演, 2009

    [Invited]

  • Behavior Design of a Human-Interactive Robot through Parallel Tasks Optimization

    Yuichi Kobayashi, Masaki Onishi, Shigeyuki Hosoe, Zhiwei Luo

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8, 2009, English, SPRINGER-VERLAG BERLIN, Robots that interact with humans are required to achieve multiple simultaneous tasks such as carrying objects, collision avoidance and conversation with human, in real time. This paper presents a design framework of the control and the recognition processes to meet the requirement by considering stochastic behavior of humans. The proposed designing method first introduces petri-net. The petri-net formulation is converted to Markov decision processes and dealt with in optimal control framework. Two tasks of safety confirmation and conversation tasks are implemented. Tasks that normally tend to be designed by integrating many if-then rules can be dealt with in a systematic manner in the proposed framework. The proposed method was verified by simulations and experiments using RI-MAN.

  • Experimental Study of A Parametrically Excited Dynamic Bipedal Walker with Counterweights

    Takeshi Hayashi, Fumihiko Asano, Zhi-Wei Luo, Akinori Nagano, Kazuaki Kaneko, Atsuo Kato

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, English, IEEE, This paper reports some interesting results on our experimental study of parametrically excited dynamic bipedal walking. We describe the details of the walking machine that has telescopic legs, semicircular feet, free hip-joint and counterweights. The walker can sustain stable dynamic walking on level ground based on mechanical energy restoration in accordance with the principle of parametric excitation utilizing the effects of semicircular feet and counterweights. Results of numerical analysis of the effect of the counterweights on the gait efficiency are also described.

  • On Efficiency and Optimality of Asymmetric Dynamic Bipedal Gait

    Fumihiko Asano, Zhi-Wei Luo

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, English, IEEE, Period-doubling bifurcation and chaotic behavior are interesting phenomena in limit cycle walking. Their mechanisms are very complicated and their roles in dynamic biped locomotion are still unclear. This paper then investigates how the gait efficiency changes with the asymmetrization through analysis of a simple rimless wheel model. We mathematically show that the symmetric configuration gives the optimal solution when the mean value of the inter-leg angles is constant in terms of kinetic energy. This is derived from two magnitude relations of the energy-loss coefficient and restored mechanical energy. We also show that the symmetric gait is not always optimal from another viewpoint.

  • Sparsing of Information Matrix for Practical Application of a Robot's SLAM

    Haiwei Dong, Thiwei Luo, Weidong Chen

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, English, IEEE, Mobile robot could navigate in unknown environment autonomously with the help of Simultaneous Localization and Mapping (SLAM). Recently, SLAM based on information matrix enjoys much popularity since it is naturally sparse. However, the computational burden related to information matrix balloons with respect to the increase of the mapped landmarks. In this paper, by considering the features of information matrix, we present a novel method which wipes off nearly half of the elements in information matrix. The errors that come from sparsification decrease apparently by loop-closure. Furthermore, the relationship between sparsification and SLAM accuracy is analyzed theoretically. A large scale simulation and experiment conducted on a real robot suggest that the technique is effective for a robot's SLAM in real-world applications.

  • B-43 Analysis of Hammer Movement Based on Pendulum Model

    OHTA Ken, UMEGAKI Koji, MUROFUSHI Koji, LUO Zhi Wei

    The Proceedings of Joint Symposium: Symposium on Sports Engineering, Symposium on Human Dynamics, 2009, Japanese, The Japan Society of Mechanical Engineers, The motions of hammer were analyzed to understand the mechanism of acceleration using variable-length pendulum and hula-hoop model using energy pumping mechanism. The condition that makes the time derivative of the energy positive is derived as energy pumping for hammer. The condition is expressed in terms of tugging force times velocity to pump hammer energy and tangential acceleration on the handle. In this study, motions of hammer were analyzed and numerical experiments were performed to examine the validity of the theory.

  • Sparsing of Information Matrix for Practical Application of SLAM for Autonomous Robots

    Haiwei Dong, Zhiwei Luo

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8, 2009, English, SPRINGER-VERLAG BERLIN, As simultaneously localization and mapping (SLAM) is the basis for autonomous robots to realize high level task, it has become a key issue in mobile robotics field to propose a practical SLAM approach for a large scale environment. By analyzing the features of information matrix, this paper presents a novel method to enhance practicability of simultaneous localization and mapping (SLAM) by changing information matrix into a sparse matrix. A large scale environment simulation shows that our sparsification method is highly efficient with the increase of landmarks while maintaining accuracy. Outdoor experiment verifies the promising future of our approach for the application into the real-world.

  • Distributed parameter system modeling of IPMC actuators with the electro-stress diffusion coupling theory

    Kentaro Takagi, Takaaki Osada, Kinji Asaka, Yoshikazu Hayakawa, Zhi-Wei Luo

    Proceedings of SPIE - The International Society for Optical Engineering, 2009, English, Toward the construction of the unified model of ionic polymer actuators, this paper discusses the system modeling with the electro-stress diffusion coupling theory. The theory can explain the differences of the relaxation phenomenon of polymer electrolytes with respect to the various counter ion species in the polymer. In addition to the mechanical system which employs a simple beam model, the electrical system and the electro-mechanical coupling systems are also represented by partial differential equations. The electrical system is modeled based on the non-uniform distributed circuit which represents the electrode roughness. The electro-mechanical coupling system is derived from the electro-stress diffusion coupling theory. The overall system is represented by a statespace equation with a feedback structure. The comparisons between the simulation result and the experimental result show the validity of the model. © 2009 SPIE.

  • 両手協調作業機能のリハビリテーション用ロボットシステムの開発

    永井潔, 奥村允, 遠藤洋亮, 奥山裕司, 長野明紀, 羅志偉

    第53回システム制御情報学会研究発表講演会, 2009

  • 複数台ロボットによる協調型SLAM の構築

    早野真理子, 長野明紀, 羅志偉

    第53回システム制御情報学会研究発表講演会, 2009

  • 1P1-B14 Experimental Study of Dynamic Bipedal Walking Based on Principle of Parametric Excitation

    HAYASHI Takeshi, KANEKO Kazuaki, ASANO Fumihiko, HARATA Yuji, HIRANO Shinya, LUO Zhi-Wei, KATO Atsuo

    ロボティクス・メカトロニクス講演会講演概要集, 06 Jun. 2008, Japanese, The Japan Society of Mechanical Engineers, This paper reports some interesting results on our experimental case study of parametrically excited dynamic bipedal walking. We describe the detailed specifications of the final walking machine that has telescopic legs, semicircular feet, free hip-joint, and counterweights. The walker finally succeeded in sustaining stable dynamic walking on level ground in accordance with the principle of parametric excitation utilizing the effects of semicircular feet and counterweights. We also conducted numerical analysis to examine the change of gait descriptors with respect to the physical parameters, and the results show that the counterweights are effective for improvement of the gait efficiency.

  • 超分散非平衡システムの分子動力学,

    柏原 裕美, 長野 明紀, 羅 志偉

    計測自動制御学会 システム・情報部門学術講演会 2008 講演論文集,pp.243-246,Nov.2008, 2008

  • Parametric Excitation of a Biped Robot as an Inverted Pendulum

    Toyoyuki Honjo, Zhi-Wei Luo, Akinori Nagano

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008, English, IEEE, For stable gait generation on the level floor, restoring mechanical energy lost by heel-strike collision at the ground is necessary. Parametric excitation principle is one of the solutions. Harata et al. applied this principle to a knee actuated robot to achieve parametric excitation by bending and extending the knee, and succeeded in generating a sustainable biped gait by computer simulation. Although only the dynamics of the swing-leg was considered in the method, the stance-leg's dynamics also affects the swing-leg's dynamics. Therefore we considered the whole dynamics of the robot in this paper. Therefore, we dealt with the robot's center of mass as an inverted pendulum and achieved stable gait generation by parametric excitation of the inverted pendulum. The resultant energy efficiency was increased significantly.

  • Pseudo Virtual Passive Dynamic Walking and Effect of Upper Body as Counterweight

    Fumihiko Asano, Zhi-Wei Luo

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008, English, IEEE, This paper investigates the effect of an upper body on efficient dynamic bipedal walking utilizing its natural dynamics. We introduce an upper body as a one-link torso and add it to a simple biped model by means of a bisecting hip mechanism (BHM). We first mathematically analyze the effect of the upper body with the BHM as a counterweight and discuss how it affects natural swinging motion of the swing leg. Second, we propose a simple method for generating efficient dynamic bipedal gait imitating the property of virtual passive dynamic walking, and numerically analyze the gait efficiency. Simulation results show that the walking system exhibits period-doubling bifurcation, and we discuss how the efficiency changes in the multiple-period gait.

  • On iterative learning control for simultaneous force/position trajectory tracking by using a 5 DOF robotic thumb under non-holonomic rolling constraints

    Kenji Tahara, Suguru Arimoto, Masahiro Sekimoto, Morio Yoshida, Zhi-Wei Luo

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, English, IEEE, This paper proposes an iterative learning control method for simultaneous force/position tracking tasks by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. In our previous works, "blind touching", which is defined as a point-to-point control scheme for the robot to realize a desired contact position and a contact force simultaneously without any external sensing, have proposed. In this paper, an iterative learning control manner to realize a desired continuous trajectory of the center of the contact point together with a desired contact force on the task plane is proposed. The usefulness of this learning control method is demonstrated by showing results of computer simulations.

  • Underactuated virtual passive dynamic walking with an upper body

    Fumihiko Asano, Zhi-Wei Luo

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, English, IEEE, Achieving energy-efficient dynamic walking has become one of the main subjects of research on robotic bipedal locomotion. Approaches based on passive-dynamic walkers can accomplish bipedal locomotion. However, passive dynamic walking has only been studied with the legs, and the effect of an upper body has not been clarified. This paper investigates the effect of an upper body on the efficiency and stability of dynamic bipedal locomotion based on observations. We first investigated a suitable upper body, which was a simple 1-link torso with a bisecting hip mechanism that would not destroy natural dynamics of the biped model. Second, we analyzed the robot's driving mechanism and chose underactuated virtual passive dynamic walking as the method for generating an efficient dynamic gait. We confirmed that efficient dynamic walking was possible with a specific resistance of 0.01 and investigated the effect of the physical parameters of the upper body through numerical simulations.

  • Asymptotic stability of dynamic bipedal gait with constraint on impact posture

    Fumihiko Asano, Zhi-Wei Luo

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, English, IEEE, This paper studies the efficiency and asymptotic stability of a dynamic bipedal gait with a constraint on the impact posture. First, we generate a gait by using tracking control to achieve the desired trajectory of the hip-joint angle, and show that there is a trade-off between efficiency and robustness through a numerical simulation. Second, we investigate the asymptotic stability of the gait from the mechanical energy balance viewpoint, and discuss the importance of the control input properties. Furthermore, we point out that there is a feedback in mechanical energy in the discrete walking system, and it is difficult to detect a stable 2-period gait.

  • Video restoration with motion prediction based on the multiresolution wavelet analysis

    Kei Akiyama, Zhi-wei Luo, Masaki Onishi, Shigeyuki Hosoe, Kouichi Taji, Yoji Uno

    NEURAL INFORMATION PROCESSING, PART II, 2008, English, SPRINGER-VERLAG BERLIN, We propose a novel method for image sequence restorations. It is based on the wavelet domain image restoration method proposed by Belge et al. for static images [1]. In this paper, by combining the iteration procedure in the Belge's method with the renewing process for sequentially given images and by employing Kalman filer for predicting the foreground movement of the images in the wavelet domain, considerable reduction of the computational cost is shown to be achievable. This is verified by computer simulations on artificially degraded images.

  • Distributed impedance model of ionic polymer-metal composite actuators

    Kentaro Takagi, Kinji Asaka, Gou Nishida, Yoshihiro Nakabo, Zhi-Wei Luo

    CIMTEC 2008 - Proceedings of the 3rd International Conference on Smart Materials, Structures and Systems - Artificial Muscle Actuators using Electroactive Polymers, 2008, English, Trans Tech Publications Ltd, This paper discusses a distributed system modeling of the electrical impedance of ionic polymer-metal composites from the point of view of the electrode roughness. A diffusion-like equation is derived from the distributed circuit model which represents the fractal-like distribution of the polymer-electrode interface. The port-Hamiltonian representation of the system is also shown. In the experiment, the frequency response of the impedance is measured under various conditions. © 2008 Trans Tech Publications, Switzerland.

  • State space modeling of ionic polymer-metal composite actuators based on electrostress diffusion coupling theory

    Takaaki Osada, Kentaro Takagi, Yoshikazu Hayakawa, Zhi-Wei Luo, Kinji Asaka

    2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2008, English, IEEE, Ionic polymer-metal composite (IPMC) actuators are expected as artificial muscles for bio-mimetic soft robots. The IPMC gel first bends quickly and then bends back slowly when a constant voltage is applied to the sample. The latter phenomenon, referred to as the stress relaxation, can be modeled by electrostress diffusion coupling theory. The theory can predict the behavior of the actuator for the different species of counterions. In order to describe the actuator dynamics as a system with inputs and outputs, this paper proposes a linear state space model based on the electrostress diffusion coupling theory. The model consists of the three systems, the electrical, the electro-mechanical, and the mechanical systems. The results of the simulation and the experiment demonstrate the validity of the model. ©2008 IEEE.

  • Three-dimensional object manipulation by two robot fingers with soft tips and minimum DOF

    Morio Yoshida, Suguru Arimoto, Zhi-Wei Luo

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, English, IEEE, This paper shows through faithfully deriving Paffian forms of 3-D rolling contact constraints that 3-D pinching can be stabilized by using a pair of robot fingers with a hemispherical soft tip and minimum degrees of freedom under the gravity effect. The proposed control input is based on fingers-thumb opposition without using object information or external sensing. Stability analysis of the closed-loop dynamics is presented by using a Lyapunov method. Finally, for the sake of confirmation of effectiveness of the proposed control signals, numerical simulations are carried out.

  • RECOVERY OF POSTURAL SWAY AFTER STATIC STRETCH OF THE ANKLE JOINT

    Tomoaki Iwata, Akinori Nagano, Zhiwei Luo

    North American Congress on Biomechanics 2008, 2008

  • Falling-down Avoidance Control for Acrobat Robot by Q-Learning with Function Approximation,

    H.Suzuki, M.Yamakita, Zhiwei Luo, S.Hirano

    Proceedings of the SICE Annual Conference 2008, 2008

  • Amplitude properties of mechanomyogram with stimulation intensity during single twitch contraction produced by electrical stimulation,

    Y.Itoh, K.Tahara, K.Takagi, M.Yoshida, Zhiwei Luo, K.Akataki, K.Mita

    Proceedings of the International Symposium on Biological and Physiological Engineering / The 22nd SICE Symposium on Biological and Physiological Engineering,, 2008

  • 神戸大学 羅・長野研究室のRT-高齢者の介護支援用ロボットの制御技術-

    羅志偉, 羅志偉, 長野明紀

    日本ロボット学会学術講演会予稿集(CD-ROM), 2008

  • 神戸大学 羅・長野研究室のRT-高齢者の介護支援用ロボットの設計・評価技術-

    羅志偉, 羅志偉, 長野明紀

    日本ロボット学会学術講演会予稿集(CD-ROM), 2008

  • 介護福祉ロボット工学の現状と課題

    羅 志偉

    国際次世代ロボットフェア ICRT JAPAN 2008(基調講演), 2008

    [Invited]

    Invited oral presentation

  • 1P1-E02 Role of Passive Knee-joints from Mechanical Energy Cycle Point of View

    ASANO Fumihiko, LUO Zhi-Wei

    ロボティクス・メカトロニクス講演会講演概要集, 11 May 2007, Japanese, The Japan Society of Mechanical Engineers, This paper investigates the roles of passive knee-joints in dynamic biped locomotion systems from the viewpoint of mechanical energy cycle. We introduce two planar biped walking models for analyses; one is with semicircular feet and the other is with flat feet. Viscosity at knee-joint is considered as a function to distribute mechanical energy dissipation and its effect on walking speed is numerically investigated. The analysis results and properties of the two models are compared, and the importance of mechanical energy dissipation in dynamic biped locomotion is discussed.

  • 1P1-E03 Asymmetric Shape of Semicircular Feet and Its Effect on Gait Performance

    ASANO Fumihiko, LUO Zhi-Wei

    ロボティクス・メカトロニクス講演会講演概要集, 11 May 2007, Japanese, The Japan Society of Mechanical Engineers, The authors have clarified the mechanisms and importance of semicircular feet on dynamic biped locomotion. This paper then investigates the effect of asymmetric shape of semicircular feet on biped walking speed. The rolling effect acts as the virtual ankle-joint torque during the stance phase; the heel-side effect propels the robot's center of mass (CoM) forward during the first-half of cycle, whereas the toe-side effect forces CoM backward during the second-half of cycle. The feet on the other hand reduce energy-dissipation caused by heel-strikes at instants of transition. These properties can be adjusted by changing the foot radius. The question then yields of which effect is more crucial for gait generation. Underactuated virtual passive dynamic walking is considered to generate a biped gait and its parametric studies are performed to clarify the mechanisms of semicircular feet with various foot radius.

  • Biped gait generation based on parametric excitation by Knee-joint actuation

    Yuji Harata, Fumihiko Asano, Zhi-Wei Luo, Kouichi Taji, Yoji Uno

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, English, IEEE, Restoring mechanical energy lost by heel-strike collisions is necessary for stable gait generation. One principle to realize this is parametric excitation. Recently, Asano et al. applied this principle to a biped robot with telescopic-legs, and succeeded in generating a sustainable biped gait by computer simulation. In this paper, we deal with a model of a biped robot that has not only semicircular feet but also actuated knees. Though this robot has no actuator at the hip, knee actuators can sustain gait by parametric excitation. We first verify that an actuated knee can cause parametric excitation, and then show by computer simulation that the proposed biped robot can walk continuously with actuated knees only.

  • Generation of human care behaviors by interactive robot RI-MAN

    Masaki Onishi, ZhiWei Luo, Tadashi Odashima, Shinya Hirano, Kenji Tahara, Toshiharu Mukai

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, English, IEEE, Recently, active researches have been performed to increase a robot's intelligence so as to realize the dexterous tasks in complex environment such as in the street or homes. However, since the skillful human-like task ability is so difficult to be formulated for the robot, not only the analytical and theoretical control researches but also the direct human motion mimetic approach is necessary. In this paper, we propose that to realize the environmental interactive tasks, such as human care tasks, it is insufficient to replay the human motion along. We show a novel motion generation approach to integrate the cognitive information into the mimic of human motions so as to realize the final complex task by the robot.

  • On a distributed parameter model for electrical impedance of ionic polymer

    Kentaro Takagi, Yoshihiro Nakabo, Zhi-Wei Luo, Kinji Asaka

    ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2007, 2007, English, SPIE-INT SOC OPTICAL ENGINEERING, From the observation of the measured frequency response, the electrical impedance of IPMC has the characteristics of a distributed parameter system. Especially in the case of TEA ion, we found that the frequency response cannot be approximated by a simple ideal capacitor or even by low-order transfer functions. In this study, we discuss a black-box circuit modeling of the electrical system of IPMC from the point of view of the frequency response. We employ some models whose transfer functions are not rational. One of such models is a distributed circuit (transmission line). Another is a black-box circuit model with a distributed parameter element (constant phase element). Both transfer functions consist of square root of W. In the experiment, the electrical impedance of an IPMC (gold plated Nafion) is measured under some conditions such as electrode clamp sizes and two cation species, Na ion and TEA ion. Froi.-n the result, we found that the electrode clamp condition less affects the measured impedance. However, we observed that the impedance highly depends on the cation species. From the experimental frequency response, the parameters of the model are identified. Larger resistance and smaller capacitive element are identified in TEA case than those in Na case. The identified parameters are consistent with the physical intuition that TEA ion movement is slower than Na ion.

  • Asymptotically stable gait generation for biped robot based on mechanical energy balance

    Fumihiko Asano, Zhi-Wei Luo

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, English, IEEE, This paper investigates dynamic bipedal gait and its stability from the mechanical energy balance point of view. The equilibrium points at impact in a dynamic gait are uniquely and systematically determined by two constraint conditions; one is the constraint on restored mechanical energy, the other is the constraint on impact posture. The dynamic gait then becomes always asymptotically stable around the equilibrium points, and this is shown by a simple recurrence formula of the pre-impact kinetic energy. The validity of the method is numerically confirmed via gait generation by virtual passive dynamic walking.

  • Parametric excitation approaches to efficient dynamic bipedal walking

    Fumihiko Asano, Takeshi Hayashi, Zhi-Wei Luo, Shinya Hirano, Atsuo Kato

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, English, IEEE, Traditionally, an inverted pendulum has been used as a reduced biped locomotion system, whereas this paper proposes a different approach. The essence of dynamic biped gait generation is mechanical energy restoration, and parametric excitation approach is a good idea for it Our novel approach does not require any rotational actuation and thus enables to be free from the constraint of zero moment point (ZMP). This paper considers some basic methods of parametric excitation and shows that energy-efficient biped locomotion can achieved very easily without taking the ZMP condition into account. We then conduct parametric studies by adjusting the control and physical parameters, and determine how well the basic gait perform by introducing some performance indices.

  • Dynamic analyses of underactuated virtual passive dynamic walking

    Fumihiko Asano, Zhi-Wei Luo

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, English, IEEE, Realization of an energy-efficient and high-speed dynamic walking has come to be one of the main subjects in the research area of robotic biped locomotion, and passive dynamic walking has been widely attracted as a clue to solve the problem. It has been empirically known that the effect of convex curve shape of foot, which characterizes passive-dynamic walkers, is important to increase walking speed. This paper then investigates the driving mechanism of compass-like biped robots and the rolling effect of semicircular feet are mainly investigated. We first analyze the mechanism of a planar fully-actuated compass-like biped model to clarify the importance of ankle-joint torque introducing generalized virtual gravity concept. In the second, a planar underactuated biped model with semicircular feet is introduced and we show that virtual passive dynamic walking by hip-joint torque only can be realized based on the rolling effect. We then compare with a flat feet model through linear approximation, and show that the rolling effect is equivalent to its virtual ankle-joint torque. Throughout this paper, we provide novel insights into how ZMP-free robots can generate a dynamic bipedal gait.

  • The effect of semicircular feet on energy dissipation by heel-strike in dynamic biped locomotion

    Fumihiko Asano, Zhi-Wei Luo

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, English, IEEE, This paper investigates the effect of semicircular feet on dynamic bipedal walking. It has been clarified in [3] that underactuated virtual passive dynamic walking can be realized by using the rolling effect, which acts as the ankle-joint torque virtually. It has been also shown that, throughout parameter studies, the rolling effect dramatically increases the stable domain of limit cycles. Now that the effect of semicircular feet during stance phase has been discussed, this paper then focuses the effect on mechanical energy dissipation by heel-strike. It is theoretically clarified that, through modeling and analysis of an inelastic collision, increasing walking speed is achieved not by the rolling effect during stance phase but by the effect of reducing mechanical energy dissipation by heel-strike.

  • On NIRS-based brain-robot interface

    Makoto Okujrnura, Zhiwei Luo

    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, English, IEEE, Constructing of flexible and intelligent human-robot interface that can catch the human intention correctly and lead to the success of the required tasks in complex environment by a robot has become a new challenging research subject. In this research, we proposed to apply NIRS (Near Infrared Spectroscopy) to measure the brain activities during the free body motion, we aim to use it as an interface to control the motion of robots directly in the near future. In detail, two basic types of experiments of a human subject are performed so as to distinguish the human brain activities in different tasks, one is the thinking task and another is during the subject's body motions. For each type of experiment, we also set two different tasks. For the thinking experiment, we studied the tasks when the human subject is performing mathematic calculations and puzzles. For the experiment during body motions, we studied finger tapping and tongue extension tasks. As a result, although we couldn't found the difference of the right and left brain activities in the different thinking experiments, we successfully caught the difference of brain activities for different body motions, which left us the possibility of MRS as an important technology in constructing the brain-robot interface.

  • Stable grasp of a 2D rigid object through rolling with soft fingers

    Morio Yoshida, Suguni Arimoto, Ji-Hun Bae, Zhi-Wei Luo

    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, English, IEEE, This paper first proposes a testbed problem of control for dynamic grasp or immobilization of a 2D rigid object for the sake of gaining a physical insight into stable grasp of an object by soft fingers. Such a problem may play a principal role in understanding the methodology of sensory feedback stabilization similarly to the role of "inverted pendulum on a cart" problems in stabilization and control of mechanical systems. Second a class of coordinated control signals is proposed and shown to be effective for realizing stable grasp of a 2D rigid object in a blind manner without using the knowledge of object kinematics or external sensings. It is shown that rolling contact constraints around the centers of contact areas between soft finger-tips and object surfaces treated as nonholonomic constraints play an essential role in stabilization of a dynamic grasp with forceltorque balance.

  • 633 Dynamic State Sapce Representation with Electrostress Diffusion Coupling Model for IPMC Actuator

    OSADA Takaaki, TAKAGI Kentaro, HAYAKAWA Yoshikazu, LUO Zhiwei

    The Proceedings of the Dynamics & Design Conference, 2007, Japanese, The Japan Society of Mechanical Engineers, IPMC(ionic polymer-metal composite) actuator is one of the soft actuators to be expected as artificial muscles for small robots. The IPMC gel first bends quickly and then bends back slowly when a constant potential is applied to the sample. The latter phenomenon, reffered to as stress relaxation, is modeled by Electrostress Diffusion Coupling Model. We propose a dynamic state space model including stress relaxation. The result of the experiment demonstrates the validity of the model.

  • On control for "Blind Touching" by human-like thumb robots

    Kenji Tahara, Suguru Arimoto, Zhi-Wei Luo, Morio Yoshida

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, English, IEEE, Human can pinch or grasp and manipulate an object stably and dexterously. Accomplishment of such tasks is contributed from human hand's configuration, called "Fingers-thumb opposability". This opposability of the thumb against other digits is specific and granted to only human among primates. When we use a cell phone, or change a TV's channel using a remote controller, we grasp it by a palm and digits other than the thumb, and push buttons using the thumb quickly, without looking the buttons. These kinds of thumb's movement seem to be one of the most intelligent movements in a human. Therefore, execution of such touching tasks without visual or tactile sensing is called in this paper "Blind Touching". The goal of this research is to realize human-like "Blind Touching" by means of a 5 D.O.F. thumb robot model with soft and hemispherical finger-tip. To do this, we formulate a simultaneous contact position and touching force control by using 3-Dimensional rolling contact with the task plane. First, dynamics of the 5 D.O.F. thumb robot model with hemispherical soft finger-tip under rolling constraints is derived. Then, a sensory-motor control law without vision, force or tactile sensing is proposed. Some numerical simulations show that the desired contact position and touching force can be attained by the proposed control scheme. A theoretical proof of convergence to the desired state is also presented.

  • Port-representation of bi-Hamiltonian structure for infinite-dimensional symmetry

    Gou Nishida, Masaki Yamakita, Zhi-wei Luo

    PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2007, English, IEEE, In this paper, the port-representation of conservation laws is extended to a wider class of symmetries, the infinite-dimensional symmetry expressed by the bi-Hamiltonian system. It is known from Noether's theorem that a conservation law is associated with an invariant property called a symmetry. In certain cases, the symmetry appears in a system as a hidden infinite-dimensional structure. Such a structure can be defined by using a recursive operator consisting of a Hamiltonian pair and is called a bi-Hamiltonian structure. The bi-Hamiltonian structure induces a hierarchical set of conservation laws. This concept can be used for reducing a system possessing a bi-Hamiltonian structure to simpler port-representations of the conservation laws. Finally, a boundary observer for symmetry destruction is shown.

  • Field port-Lagrangian systems with degenerate Lagrangian and external forces

    Gou Nishida, Masaki Yamakita, Zhi-wei Luo

    PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2007, English, IEEE, The relation between a port-representation and an infinite-dimensional Euler-Lagrange equation has previously been studied before by the authors. The formal form is called a field port-Lagrangian system. However, this system was considered under the condition that the Lagraneian was regular and the case of a degenerate Lagrangian was not explicitly shown. This paper presents a more general framework for the field port-Lagrangian system from the viewpoint of the treatment of degenerate Lagrangian and external forces.

  • Virtual Lagrangian Construction Method for Infinite-Dimensional Systems with Homotopy Operators

    G.Nishida, M.Yamakita, ZhiweiLuo

    Lecture Notes in Control and Information Sciences, 2007

  • Integrated Actuator-Sensor System on Patterned IPMC Film : Consideration of Electoric Interference,

    H.Nakadoi, A.Sera, M.Yamakita, K.Asaka, Zhiwei Luo, K.Ito

    Proceedings of the 4th IEEE International Conference on Mechatronics, 2007

  • Time-Varying Port-Representation of Dissipative Structures with Gauge Transformations

    G.Nishida, M.Yamakita, Zhiwei Luo

    Proceedings of the European Control Conference 2007, 2007

  • Port-based Energy Balance on Compact Manifolds,

    G.Nishida, R.Enomoto, M.Yamakita, Zhiwei Luo

    Reprint of the 7th IFAC Symposium on Nonlinear Control Systems, 2007

  • Experimental Verifications on Control and Sensing of Bucky Gel Actuator/Sensor,

    N.Kamamichi, M.Yamakita, K.Asaka, Zhiwei Luo, T.Mukai

    Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007

  • Petri-netを用いた人と接するロボットのための並列タスク設計法

    小林 祐一, 大西 正輝, 細江 繁幸, 羅 志偉

    第8回 SICE システムインテグレーション部門 講演会論文集,pp.1242-1243, Dec. 2007, 2007

  • 人と接するソフトロボットのための反射を考慮した階層型ネットワーク,

    平野 慎也, 大西 正輝, 向井 利春, 羅 志偉, 細江 繁幸

    第8回 SICE システムインテグレーション部門 講演会論文集,pp.1240-1241, Dec. 2007, 2007

  • 柔軟な指先を有するロボット指一対によるスピニングを許した重力下での3次元ピンチング,

    吉田 守夫, 有本 卓, 羅 志偉

    第8回 SICE システムインテグレーション部門 講演会論文集,pp.683-684, Dec. 2007, 2007

  • 衝突姿勢拘束を考慮した動的歩容の漸近安定性,

    浅野 文彦, 羅 志偉

    第8回 SICE システムインテグレーション部門 講演会論文集,pp.259-260, Dec. 2007, 2007

  • 応力緩和現象を考慮したIPMCアクチュエータの線形分布定数モデル,

    高木 賢太郎, 長田 高明, 安積 欣志, 羅 志偉

    第8回 SICE システムインテグレーション部門 講演会論文集,pp.225-226, Dec. 2007, 2007

  • IPMCセンサの周波数応答特性II: モデルによる検討

    高木 賢太郎, 釜道 紀浩, B.Stoimenov, 安積 欣志, 羅 志偉, 向井 利春

    第25回日本ロボット学会学術講演会予稿集,3I14, Sep. 2007, 2007

  • IPMCセンサの周波数応答特性I: 電圧/電流計測の実験的検証,

    釜道 紀浩, B.Stoimenov, 高木 賢太郎, 安積 欣志, 向井 利春, 羅 志偉

    第25回日本ロボット学会学術講演会予稿集,3I13, Sep. 2007, 2007

  • 転がり拘束を介した不動化のためのTestbed Problem,

    吉田 守夫, 有本 卓, J.H.Bae, 羅 志偉

    第25回日本ロボット学会学術講演会予稿集,2M17, Sep. 2007, 2007

  • 2本指ロボットによるピンチングに関係する3次元転がり拘束の導出,

    吉田 守夫, 有本 卓, 羅 志偉

    第25回日本ロボット学会学術講演会予稿集,2M12, Sep. 2007, 2007

  • 柔軟拇指ロボットを用いた繰返し学習による接触力・位置の同時軌道追従制御,

    田原 健二, 有本 卓, 関本 昌紘, 吉田 守夫, 羅 志偉

    第25回日本ロボット学会学術講演会予稿集,2M11, Sep. 2007, 2007

  • 上体を有する劣駆動2 脚ロボットの動歩行解析-股関節二分機構を用いた高効率動歩行の実現-,

    浅野 文彦, 羅 志偉

    第25回日本ロボット学会学術講演会予稿集,1G31, Sep. 2007, 2007

  • 人と接するロボットのための認識・対話設計法-Petri-netと最適制御からのアプローチ,

    小林 祐一, 大西 正輝, 細江 繁幸, 羅 志偉

    第25回日本ロボット学会学術講演会予稿集,1E36, Sep. 2007, 2007

  • 人間と接するロボットの安全安心な設計と動作評価方式,

    永野 洋平, 羅 志偉, 大西 正輝

    第17回インテリジェント・システム・シンポジウム講演論文集,pp.481-484, Aug. 2007, 2007

  • 受動性を有するロボットの介在インピーダンス遠隔制御,

    奥山 裕司, 羅 志偉

    第17回インテリジェント・システム・シンポジウム講演論文集,pp.477-480, Aug. 2007, 2007

  • 膝関節駆動によるパラメータ励振に基づく2脚歩容生成,

    原田 祐志, 浅野 文彦, 羅 志偉, 田地 宏一, 宇野 洋二

    ロボティクス・メカトロニクス講演会2007 講演論文集,pp.1P1-F02(1)-1P1-F02(4), May 2007, 2007

  • 力学的エネルギー平衡に基づく漸近安定歩容生成,

    浅野 文彦, 羅 志偉

    ロボティクス・メカトロニクス講演会2007 講演論文集,pp.1P1-E04(1)-1P1-E04(4), May 2007, 2007

  • 仮想受動歩行の駆動力学と特異点問題について,

    浅野 文彦, 羅 志偉

    第12回ロボティクスシンポジア予稿集,pp.202-207, March 2007, 2007

  • 偏微分制御理論とその応用,

    西田 豪, 榎本 隆二, 羅 志偉

    第7回制御部門大会,pp.81-2-5-1-81-2-5-6, March 2007, 2007

  • ヒトに優しい介護支援ロボットの設計と評価

    羅 志偉

    FIT2007 第6回情報科学技術フォーラム, 2007 招待講演, 2007

    [Invited]

    Invited oral presentation

  • Development of functionally distrubuted sensor network for rescue

    HADA Yasushi, HIRANO Shinya, KAWABATA Kuniaki, LUO Zhiwei, KAETSU Hayato, ASAMA Hajime

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 25 Sep. 2006, Japanese, The Japan Society of Mechanical Engineers, In this paper, we functionally distributed sensor network for rescue. It consists of base Rescue-Communicators with global mesh network, and client Rescue-Terminals with local hub network. Rescue-Terminals have microphone, speakers, network and cheap CPU, and gather victims' voice in rubble. Rescue-Communicator accumulates and shares the voices to other Communicators with mesh network. The functionally layered system allows to reduce the total system cost and network congestion compared to many Communicators with one mesh network.

  • On Body Cognitive Function of RI-MAN

    ONISHI Masaki, ODASHIMA Tadashi, MUKAI Toshiharu, LUO Zhi-Wei

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 25 Sep. 2006, Japanese, The Japan Society of Mechanical Engineers

  • Development A Human-Interactive Robot RI-MAN

    ODASHIMA Tadashi, ONISHI Masaki, TAHARA Kenji, MUKAI Toshiharu, HIRANO Shinya, LUO Zhiwei

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 25 Sep. 2006, Japanese, The Japan Society of Mechanical Engineers

  • Estimation of the Allocated Positions by Subsystems in Modular Multi-Legged Robot

    ODASHIMA Tadashi, LUO Zhiwei

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 25 Sep. 2006, Japanese, The Japan Society of Mechanical Engineers

  • On Biomimetic Robotics

    Zhiwei Luo

    Proc. of International Symposium on Advanced Robotics and Machine Intelligence, 2006, 2006

    [Invited]

  • 分散型多脚歩行系における脚モジュールの自己位置同定,

    小田島 正, 羅 志偉

    第24回日本ロボット学会学術講演会予稿集,2F24, Sep. 2006, 2006

  • 足のころがり効果を利用した劣駆動仮想受動歩行,

    浅野 文彦, 羅 志偉

    第24回日本ロボット学会学術講演会予稿集,1F22, Sep. 2006, 2006

  • パラメータ励振による高効率2脚歩行ロボットの開発,

    林 健志, 浅野 文彦, 羅 志偉, 平野 慎也, 加藤 厚生

    第24回日本ロボット学会学術講演会予稿集,1F14, Sep. 2006, 2006

  • バッキーゲルアクチュエータの電気インピーダンス,

    高木 賢太郎, 釜道 紀浩, 羅 志偉, 安積 欣志

    第24回日本ロボット学会学術講演会予稿集,1A23, Sep. 2006, 2006

  • バッキーゲル素子のセンサ機能の検証,

    釜道 紀浩, 山北 昌毅, 安積 欣志, 向井 利春, 羅 志偉

    第24回日本ロボット学会学術講演会予稿集,1A22, Sep. 2006, 2006

  • コンパクト多様体上のエネルギー平衡の解析,

    西田 豪, 羅 志偉, 山北 昌毅

    第6回 制御部門大会 資料Vol.2,pp.923-928, June 2006, 2006

  • 保存則のポート表現による変分対称性崩壊の境界検出,

    西田 豪, 羅 志偉, 山北 昌毅

    第6回 制御部門大会 資料Vol.2,pp.917-922, June 2006, 2006

  • エネルギー効率に優れた歩行メカニズムを求めて,

    浅野 文彦, 羅 志偉

    第6回 制御部門大会 資料Vol.1,pp.65-68, May 2006, 2006

  • On energy-efficient and high speed dynamic biped locomotion with semicircular feet

    Fumihiko Asano, Zhi-Wei Luo

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, English, IEEE, This paper investigates effectiveness of semicircular feet on dynamic biped locomotion. We first introduce the simplest biped model with semicircular feet and show its level walking by hip-joint actuation. In the second, parameter study is performed by adjusting the physical and control parameters. Throughout numerical analysis, it is shown that the semicircular feet dramatically increases the walking speed and the stable domain. By the effect of the rolling, energy-efficient and high-speed dynamic biped locomotion on a level can be realized easily without ankle-joint actuation nor concerning the zero moment point condition.

  • Restoration of degraded moving image for predicting a moving object

    Kei Akiyama, Zhi-wei Luo, Masaki Onishi, Shigeyuki Hosoe

    VISAPP 2006: PROCEEDINGS OF THE FIRST INTERNATIONAL CONFERENCE ON COMPUTER VISION THEORY AND APPLICATIONS, VOL 1, 2006, English, INSTICC-INST SYST TECHNOLOGIES INFORMATION CONTROL & COMMUNICATION, Iterative optimal calculation methods have been proposed for restoration of degraded static image based on wavelet multiresolution decomposition. However, it is quite difficult to apply these methods to process moving images due to the high computation cost. In this paper, we propose an effective restoration method for degraded moving image by modeling the motion of a moving object and predicting the future object position. We verified our method by computer simulations and an experiment to show that our method can reduce the computation time.

  • Development of a rajiform swimming robot using ionic polymer artificial muscles

    Kentaro Takagi, Masanori Yamamura, Zhi-Wei Luo, Masaki Onishi, Shinya Hirano, Kinji Asaka, Yoshikazu Hayakawa

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, English, IEEE, Ionic polymer-metal composite (IPMC), which is one of the electro-active polymer actuators, is expected as artificial muscles for robots. An interesting property of IPMC is that it requires water to work, therefore it is suitable for underwater robots. In this paper, we developed an underwater robot which mimics rajiform swimming, that is the swimming form of a ray fish. Fins are designed using sixteen IPMCs. For autonomous operation, miniaturization of the electrical devices such as a micro controllers and small amplifiers are performed. A simple traveling wave control input is employed to generate moment on the fin. In the experiment, propulsion speed is measured under various control parameters. Furthermore, incremental wave of the fin is observed although the amplitude of the control input is spatially uniform. We also discuss this phenomenon from the point of view of interaction between elasticity of the actuator and fluid dynamics.

  • Development of an inchworm-type searching robot

    Shinya Hirano, Atsuo Kato, Zhi-Wei Luo

    2006 1ST IEEE RAS-EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, VOLS 1-3, 2006, English, IEEE, This paper describes an inchworm-type robot that we developed for the application of disaster relief, specially for searching victim. The robot we called AIT-ReBo1 has two types of modules, one is the head module that is equipped at the terminal of the robot's body with a small wireless camera and wireless network functions to communicate with outside, another module is the joint that has two rotational and a linear driven degrees of freedom with a decentralized controller module and energy source in a compact form. We pay attention to moving mechanism and realized the motion patterns such as moving straight, side and rotational movements like an inchworm by the progressive wave in body without using any wheels, or crawlers and legs. This robot has already successfully debut at the AICHI EXPO 2005 and stably played for about one month.

  • Integrated design of IPMC actuator/sensor

    Masaki Yamakita, Akio Sera, Norihiro Kamamichi, Kinji Asaka, Zhi-Wei Luo

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, English, IEEE, We are studying about robotic application of Ionic Polymer-Metal Composite (IPMC). The characteristics of IPMC highly depend on the type of counter-ions, and it is considered that the performance of the actuators can be improved by combining the actuators with several types of counter-ions and applying an integrated control. IPMC has also a sensor function, as the IPMC film generates electromotive force when it is deformed. It has possibility to be integrated into IPMC actuator with soft actuation. In this paper, we consider an integrated design of IPMC actuator/sensor, and investigate a control of the combined IPMC actuators using H-infinity control and the construction of IPMC sensor system.

  • An analysis of increase of bending response in IPMC dynamics given uniform input

    Kentaro Takagi, Yoshihiro Nakabo, Zhi-Wei Luo, Toshiharu Mukai, Masanori Yamamura, Yoshikazu Hayakawa

    SMART STRUCTURES AND MATERIALS 2006: ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD), 2006, English, SPIE-INT SOC OPTICAL ENGINEERING, It is found from the locomotion of snake-like underwater robot using Ionic Polymer-Metal Composite (IPMC) as its actuator that, although we specify the same amplitude of driven voltages to each segmented IPMC unit, the resultant bending amplitudes along the body's progressive waves change from small to large toward the robot's tail. To analyze this phenomenon, which is also observed in locomotions of slender fishes, we discuss the modeling and analysis of bending motions of IPMC actuators using the Euler-Bernoulli beam theory. Eigenfunction expansion technique is used to solve the model of a partial differential equation. The envelope curve can be drawn by the obtained solution, and simulation results reappear the same phenomenon. Deflection of the real robot is measured by video camera and laser beam. Experimental results verifies the validity of the proposed model. Parameter identification is also performed with measured data.

  • Bio-mimetic study on pinching motions of a dual-finger model with synergistic actuation of antagonist muscles

    Kenji Tahara, Zhi-Wei Luo, Ryuta Ozawa, Ji-Hun Bae, Suguru Arimoto

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, English, IEEE, In this paper, we study co-activation of digitorum muscles while perform stable pinching and posture regulation tasks of an object by using dual fingers. The fingers have 2 D.O.F. joints and are actuated by nonlinear redundant digitorum muscles to mimic human-like pinching movements. Firstly, we illustrate the kinematics and the dynamics of the overall system, which consider not only the fingers and an object, but also three muscles for each finger to actuate the finger links. Secondly, we consider nonlinear muscle property based on several physiological studies, and propose sensory-motor control rule to the muscles in order to realize stable pinching simultaneously with posture regulation by introducing internal force term induced by co-activation between flexor digitorums and extensor digitorums to modulate the damping factor in joint space. We verify our study by numerical simulations and conclude that this dual fingers system can realize human-like stable pinching and posture regulation.

  • On control mechanism of human-like reaching movements with musculo-skeletal redundancy

    Kenji Tahara, Zhi-Wei Luo, Suguru Arimoto

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, English, IEEE, This paper focuses on a sensory-motor control mechanism in human reaching movements from the perspective of robotics. By formulating a musculo-skeletal redundant system which takes into account a nonlinear muscle property and performing numerical simulations, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect coming from nonlinear property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six monoarticular muscles and three biarticular muscles model whose movements are limited within a horizontal plane. Secondly, the nonlinear muscle property coming from a physiological study based on Hill's muscle model, is taken into consideration. This nonlinearity makes it possible to modulate the damping effect in joint-space by considering the internal force generated by the redundant muscles. By utilizing this feature, the end-point converges to the desired point using only simple task-space feedback control scheme, even thought the system owns both the joint and muscle redundancies. Finally, we illustrate numerical simulations to show the effectiveness of the control scheme, and suggest one of the direction to study brain-motor control mechanism of human movements.

  • Analysis of system structure around degenerate critical points

    Gou Nishida, Hisakazu Nakamura, Zhiwei Luo

    2006 SICE-ICASE International Joint Conference, Vols 1-13, 2006, English, IEEE, In this paper, we will state the new problem of system structures around degenerate critical points in the viewpoint of control engineering. Then, two fundamental schemes are presented to construct a weak Lyapunov function systematically. The procedures are based on the following deformations. One of them is a collapsing residual singularity defined by the formal local coordinate of Thom's splitting lemma. The other is a blowing-up for the resolution of singularity.

  • On dynamic control mechanisms of redundant human musculo-skeletal system

    Kenji Tahara, Zhi-Wei Luo

    Advances in Robot Control: From Everyday Physics to Human-Like Movements, 2006, English, Springer Berlin Heidelberg, This chapter deals with modeling of human-like reaching and pinching movements. For the reaching movements, we construct a two-link planar arm model with six redundant muscles. A simple task-space feedback control scheme, taking into account internal forces induced by the redundant and nonlinear muscles, is proposed for this model. Numerical simulations show that our sensory-motor control can realize human-like reaching movements. The effect of gravity is also studied here and a method for the gravity compensation on the muscle input signal level is introduced. The stability of this method is proved and its effectiveness is shown through numerical simulations. For the pinching movements, realized by the index finger and the thumb, the co-contraction between the flexor and extensor digitorum muscles is analyzed. It is shown that an internal force term can be generated by the redundant muscles to modulate a damping factor in the joint space. Numerical simulations show that the co-contraction of each digitorums makes it possible to realize human-like pinching movements. Our results suggest that the central nervous system (CNS) does not need to calculate complex mathematical models based on the inverse dynamics or on the planning of optimal trajectories. Conversely, the human motor functions can be realized through the sensory-motor control by exploiting the passivity, nonlinearity and the redundancy of the musculo-skeletal systems. © 2006 Springer.

  • Field Port-Lagrangian Representation of Conservation Laws for Variational Symmetries,

    G.Nishida, M.Yamakita, Zhiwei Luo

    Proceedings of the 45th IEEE Conference on Decision & Control, 2006

  • Landing Control of Acrobat Robot by RHC - Experimental Evaluation -,

    T.Rokusho, M.Yamakita, S.Hirano, Zhiwei Luo

    Proceedings of SICE-ICASE International Joint Conference 2006, 2006

  • A Soft Human-Interactive Robot RI-MAN,

    T.Odashima, M.Onishi, K.Tahara, K.Takagi, F.Asano, Y.Kato, H.Nakashima, Y.Kobayashi, T.Mukai, Zhiwei Luo, S.Hosoe

    Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems(Video), 2006

  • Modeling of Human-Like Reaching Movements in the Manipulation of Flexible Objects,

    M.Svinin, I.Goncharenko, Zhiwei Luo, S.Hosoe

    Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

  • Self-Localization for Subsystems in Modular Structured Multi-Legged Robot,

    T.Odashima, Zhiwei Luo

    Proceedings of the 9th International Conference on Climbing and Walking Robots, 2006

  • An Autonomous Ray-Like Swimming Robot with IPMC Artificial Muscle,

    M.Yamamura, K.Takagi, Zhiwei Luo, K.Asaka, Y.Hayakawa, M.Onishi, S.Hirano

    Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles, 2006

  • A Distributed Circuit Model for IPMC's Electrical Impedance,

    K.Takagi, Y.Nakabo, Zhiwei Luo, K.Asaka

    Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles, 2006

  • On Control Strategy of A Redundant Musculo-Skeletal Arm System,

    K.Tahara, Zhiwei Luo, S.Arimoto

    Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles -, 2006

  • Snake-like Swimming Artificial Muscle -A Bio-Mimetic Soft Robot-,

    Y.Nakabo, K.Takagi, T.Mukai, Zhiwei Luo, K.Asaka

    Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles -, 2006

  • A Snake-like Swimming Robot Using IPMC Actuator/Sensor,

    N.Kamamichi, M.Yamakita, K.Asaka, Zhiwei Luo

    Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

  • ロボットプログラミング用グラフィカルシミュレーションシステムの開発,

    伊藤 理貴, 水野 直樹, 伊藤 雅則, 光畑 幸史, 小田島 正, 羅 志偉

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.1269-1270, Dec. 2006, 2006

  • 拇指ロボットの3 次元回転接触を利用した"Blind Touching"の実現,

    田原 健二, 有本 卓, 羅 志偉, 吉田 守夫

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.1174-1175, Dec. 2006, 2006

  • 人と接するロボット"RI-MAN"の触覚システム開発,

    向井 利春, 大西 正輝, 小田島 正, 平野 慎也, 羅 志偉

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.1170-1171, Dec. 2006, 2006

  • 人を抱え上げるロボットに求められる機構上の工夫とその実装,

    小田島 正, 田原 健二, 羅 志偉

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.1168-1169, Dec. 2006, 2006

  • 人と接するロボットRI-MANによる抱き上げ動作の実現,

    大西 正輝, 小田島 正, 向井 利春, 羅 志偉

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.1166-1167, Dec. 2006, 2006

  • 人と接するソフトロボットRI-MANの没入型三次元動力学シミュレータの開発,

    伊藤 寿典, 大西 正輝, 小田島 正, 羅 志偉, 加藤 厚生

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.1164-1165, Dec. 2006, 2006

  • 人と接するロボットRI-MANのための認識・行動調停法,

    小林 祐一, 大西 正輝, 細江 繁幸, 中島 弘道, 羅 志偉

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.1160-1161, Dec. 2006, 2006

  • 人と接するソフトロボット"RI-MAN"のための複合階層型分散制御ネットワークの構築,

    平野 慎也, 小田島 正, 大西 正輝, 田原 健二, 高木 賢太郎, 向井 利春, 羅 志偉

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.1158-1159, Dec. 2006, 2006

  • 優しいRI-MANの環境適応機能創生,

    羅 志偉

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.1156-1157, Dec. 2006, 2006

    [Invited]

  • 電気的干渉を考慮したIPMCアクチュエータセンサ併合系の構築,

    中土井 隼人, 瀬良 暁雄, 山北 昌毅, 安積 欣志, 羅 志偉

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.185-186, Dec. 2006, 2006

  • イオンドーピングによるIPMCアクチュエータの電気インピーダンス変化について,

    高木 賢太郎, 中坊 嘉宏, 羅 志偉, 安積 欣志

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.177-178, Dec. 2006, 2006

  • パラメータ励振による高効率2脚歩行ロボットの制御実験,

    林 健志, 浅野 文彦, 羅 志偉, 平野 慎也, 加藤 厚生

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.21-22, Dec. 2006, 2006

  • 冗長系による劣駆動仮想受動歩行について,

    浅野 文彦, 羅 志偉

    第7回 SICE システムインテグレーション部門 講演会論文集,pp.1-2, Dec. 2006, 2006

  • 人と接するロボットRI-MANの認識・行動調停法のための人間-ロボット対話のモデル化

    小林 祐一, 大西 正輝, 細江 繁幸, 中島 弘道, 羅 志偉

    HAIシンポジウム2006,pp.1D-2-1-1D-2-6, Dec. 2006, 2006

  • 圧電素子を用いた受動的制振のためのモデル化とパラメータ同定,

    高木 賢太郎, 羅 志偉

    第49回自動制御連合講演会講演論文集,pp.SU8-3-6-1-SU8-3-6-4, Nov. 2006, 2006

  • Field-port-Lagrange 系における非可逆なエネルギー流の一般化,

    西田 豪, 山北 昌毅, 羅 志偉

    第49回自動制御連合講演会講演論文集,pp.SU8-3-5-1-SU8-3-5-6, Nov. 2006, 2006

  • “仮想バネ・ダンパー仮説”に基づいた筋内力と手先粘性の関係に関する考察,

    田原 健二, 有本 卓, 羅 志偉, 関本 昌紘

    第49回自動制御連合講演会講演論文集,pp.SU8-3-4-1-SU8-3-4-2, Nov. 2006, 2006

  • 仮想拘束を用いた劣駆動システムの適応制御,

    山村 雅紀, 羅 志偉, 早川 義一

    第49回自動制御連合講演会講演論文集,pp.SU8-3-3-1-SU8-3-3-4, Nov. 2006, 2006

  • 仮想拘束を用いた二足歩行ロボットの動的制御,

    原田 祐志, 羅 志偉, 浅野 文彦, 田地 宏一, 宇野 洋二

    第49回自動制御連合講演会講演論文集,pp.SU8-3-2-1-SU8-3-2-4, Nov. 2006, 2006

  • 2脚動歩行における半円足のエネルギー損失に対する効果,

    浅野 文彦, 羅 志偉

    第49回自動制御連合講演会講演論文集,pp.SU8-3-1-1-SU8-3-1-4, Nov. 2006, 2006

  • 特異値分解法を用いた筋力と筋音の時間応答解析,

    高木 賢太郎, 田原 健二, 伊東 保志, 三田 勝己, 羅 志偉

    第21回生体・生理工学シンポジウム論文集,pp.355-358, Nov. 2006, 2006

  • Stokes-Dirac構造と指数定理,

    西田 豪, 中村 文一, 山下 裕, 羅 志偉

    第35回制御理論シンポジウム資料,pp.391-396, Sep. 2006, 2006

  • 弱制御Lyapunov関数を用いた非線形系の漸近安定化可能性,

    西田 豪, 中村 文一, 山下 裕, 羅 志偉

    第35回制御理論シンポジウム資料,pp.63-66, Sep. 2006, 2006

  • 筋骨格冗長指モデルによるピンチング動作の実現,

    田原 健二, 羅 志偉, 小澤 隆太, 裵 芝薫, 有本 卓

    第24回日本ロボット学会学術講演会予稿集,3C17, Sep. 2006, 2006

  • Limited-angle motor using ionic polymer-metal composite

    K Takagi, ZW Luo, K Asaka, K Tahara

    Smart Structures and Materials 2005: Electroactive Polymer Actuators and Devices( EAPAD), 2005, English, SPIE-INT SOC OPTICAL ENGINEERING, The essential motion of the ionic polymer-metal composite (IPMC) is bending, therefore some mechanisms are expected to transform from the bending to other required motions. Motivated by the motion of a spiral spring, we discovered that the bending of the ionic polymer could be directly transformed to the limited angle rotation. We introduce the model of the rotary actuator, which consists of mechanical, electrical and electromechanical dynamics. The motion of the rotary actuator is demonstrated in the experiment. The stationary properties are measured and the parameters of the dynamical model are identified, which are also validated by experiments.

  • Sensory-motor control of a muscle redundant arm for reaching movements - Convergence analysis and gravity compensation

    K Tahara, ZW Luo, S Arimoto, H Kino

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, 2005, English, IEEE, In this paper, we study the sensory motor control mechanism in human reaching movements by considering the redundant muscle dynamics. We first formulate the kinematics and dynamics of a two-link arm model with six muscles, and introduce the nonlinear muscle dynamics based on the biological understanding. Secondly, we show the stability of the system by using intrinsic muscle characteristics and La Salle's invariance theorem. From this result and the numerical simulations, we propose that the reaching movement can be regulated by the internal forces of the redundant muscles, in detail, the muscle's internal forces can be used to control the damping of the joints. In addition, human can compensate the gravity by using antigravity muscles. To realize this effect in the arm, we propose the gravity compensation method at the muscle input level from the viewpoint of robotics. We present the result of numerical simulation to verify the usefulness of this compensation method.

  • Parameter identification method for piezoelectric shunt damping

    Kentaro Takagi, Kenji Nagase, Kazuhiko Oshima, Yoshikazu Hayakawa, Zhi-Wei Luo

    Proceedings of SPIE - The International Society for Optical Engineering, 2005, English, Piezoelectric shunt damping is a method to reduce structural vibration by shunting a piezoelectric element with an electrical circuit. This paper proposes a method to identify the physical parameters that are required to design piezoelectric shunt damping systems. Employing self-sensing actuator methodology, the proposed method requires no additional sensor or actuator other than a simple bridge circuit. The parameters can be identified from a transfer function simply by linear least squares method. To demonstrate the validity of the proposed method, the shunt damping of the steel plate with the piezoelectric ceramic is performed based on the identified parameters.

  • Dynamic Gait Generation Based on Mechanical Energy Restoration by Telescopic Leg Motion

    Asano F, Hyon S, Luo Z, Emura T

    ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese, The Japan Society of Mechanical Engineers

  • Tele-cooperative Control of A Dual-Arm Robot Using Mixed Reality Technology

    Tanaka H, Luo Z. W, Hosoe S

    ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese, The Japan Society of Mechanical Engineers

  • Self-organizatoin of Visuo-motor Coordination for Redundant D.O.F. System

    Abe N, Luo Z. W, Hosoe S

    ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese, The Japan Society of Mechanical Engineers

  • Prediction of human movements using dynamic version of the minimum hand jerk criterion

    Masui Y, svinin Mikhail, Luo Z, Hosoe S

    ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese, The Japan Society of Mechanical Engineers

  • Development of A Dynamic Simulator by using Musculo-Skeletal Model

    Tahara K, Lou Z, Kato A

    ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese, The Japan Society of Mechanical Engineers

  • Bio-Mimetic Control for Whole Arm Cooperative Manipulation

    Asano F, Luo Z, Yamakita M, Tahara K, Hosoe S

    ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese, The Japan Society of Mechanical Engineers

  • Unification of Gait Generation Methods via Variable Virtual Gravity and Its Control Performance Analysis

    Asano F, Luo Z, Yamakita M

    ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese, The Japan Society of Mechanical Engineers

  • Dynamic control and simulation of human musculo-skeletal model

    K Tahara, ZW Luo, T Odashima, M Onishi, S Hosoe, A Kato

    SICE 2004 ANNUAL CONFERENCE, VOLS 1-3, 2004, English, SOC INSTRUMENT CONTROL ENGINEERS JAPAN, In this paper, we propose a dynamic human motion simulator to clarify and obtain the natural movement as human carries out. This system consists of a 3D motion capturing system, which has 6 high-speed cameras, 8 force plates, 10 3-axis accelerometers and 32 EMG sensors. To reconstruct the human's complex movement in VR space, a dynamic simulation model of human muscle-skeletal body is constructed. This model has 100 segments of born and has totally 105 D.O.F. in whole body, and also 300 muscles are included in this model. These muscles have the properties of stiffness, damping and contractive force generation. This platform makes it possible for construct human dynamic motion control functions more precisely and is thus useful for bio-mimetic robots. By using the super-redundant human body model, we are studying the brain motor control functions through the dynamic simulations.

  • Hybrid Control of Multi-fingered Robot for Dexterous Manipulation Hand,

    Y.J. Yin, Z.W. Luo, M. Svinin, S. Hosoe

    Proc. of the 2003 IEEE Int. Conf. on Systems Man & Cybernetics, 2003

  • On the Trajectory Formation of the Human Arm Constrained by the External Environment

    K. Ohta, M.M.Svinin, Z.W.Luo, S.Hosoe

    Proc. of the 2003 IEEE Int. Conf. on Robotics & Automation,, 2003

  • Graph Dependant Sufficient Conditions for Synchronization of Dynamic Network System with Time-Delay,

    M. Amano, Z.W. Luo, S. Hosoe

    Proc. of 4th IFAC Workshop on Time Delay Systems (TDS'03), Sep. 2003., 2003

  • On Recent Bio-mimetic Studies of Legged Locomotion ---Diversity, Adaptability and Energy Consumption for Hexapod, Quadruped and Biped

    Z.W. Luo, T. Odashima, F. Asano, S. Hosoe

    Proc. of Int;Symposium on Adaptive;Motion of Animals;Machines, WeP-III, 2003

  • Development of Artificial Muscle Actuator Using Ionic Polymer with its Application to Biped Walking Robots

    M. Yamakita, N. Kamamichi, Y. Kaneda, K. Asaka, Z.W. Luo

    SPIE's 10th Annual Int. Symposium on Smart Structures / NDE 2003, 2003

  • Optimal Trajectory Formation of Crank Rotation Task

    OHTA Ken, SVININ Mikhail, LUO Zhi-Wei, HOSOE Shigeyuki, TAMURA Toshiyo

    生体・生理工学シンポジウム論文集, 09 Sep. 2002, Japanese

  • A Design of an Extended State Observer for the Motion/Force Control of Constrained Robotic Systems

    Y. Huang, M. Svinin, Z.W. Luo, S. Hosoe

    Proc. of the ICASE/SICE Workshop -Intelligent Control and Systems114, 2002., 2002

  • A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraint

    F. Asano, M. Yamakita, N. Kamamichi, Z.W. Luo

    Proc. of Int. Conf. on Intelligent Robots and Systems (IROS’02), 2002., 2002

  • Relation between IMC Parameterization and Generalized Stabilizer

    K. Watanabe, G. Izuta, Z.W. Luo, Y. Asagi

    Proc. of Asian Control Conf., 2002., 2002

  • Dealing with Constraints: the Synthesis of Optimal Human Movements Constrained by the External Environment

    K. Ohta, M. Svinin, Z.W. Luo, S. Hosoe

    The 4th Int. Workshop on Emergent Synthesis, 2002

  • On the Stiffness and Stiffness Control of Redundant Manipulators

    M. Svinin, S. Hosoe, M. Uchiyama, Z.W. Luo

    Proc. of IEEE Int. Conf. on Robotics & Automation, 2002

  • Stabilization of Acrobat Robot in Upright Position on a Horizontal Bar

    M. Yamakita, T. Yonemura, Y. Michitsuji, Z.W. Luo

    Proc. of IEEE Int. Conf. on Robotics & Automation, 2002

  • Extended State Observer Based Technique for Control of Robot Systems

    Y. Huang, Z.W. Luo, M. Svinin, T. Odashima, S. Hosoe

    Proc. of the 4th World Congress on Intelligent Control and Automation, 2002

  • Teaching of Locomotion for a Multi-legged Robot based on Sound Perception

    H. Tanaka, Z.W. Luo, T. Odashima, S. Hosoe

    Proc. of SICE Annual Conf. 2002, 2002

  • Virtual Impedance Control for Preshaping of a Robot Hand

    Z.W. Luo, T. Ito, N. Sugimoto, T. Odashima, S. Hosoe

    Proc. of SICE Annual Conf. 2002, 2002

  • Adaptive Visual Tracking System under Changing Lighting Environment

    N. Abe, Z.W. Luo, K. Akiyama, T. Yagi, S. Hosoe

    Proc. of SICE Annual Conf. 2002, 2002

  • A Study on the Stable Grasping by a Redundant Multi-Fingered Robot Hand

    K. Kumazaki, M. Svinin, Z.W. Luo, T. Odashima, S. Hosoe

    Proc. of SICE Annual Conf. 2002, 2002

  • Environmental Adaptive PVFC for a Robot Manipulator

    Y. Saitoh, Z.W. Luo, K. Watanabe

    Proc. of SICE Annual Conf. 2002, 2002

  • Understanding of human movements in crank rotation

    M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2001

  • Mathematical analysis of the crank turning task

    M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

    Proc. 1st Int. Symposium on Measurement, Analysis and Modeling of Human Functions, 2001

  • Analysis of human movements in crank rotation task

    K. Ohta, M. Svinin, Z.W. Luo, S. Hosoe

    3rd Int. Symposium on Progress in Motor Control: From Basic Science to Application,, 2001

  • Reinforcement learning approach to acquisition of motion patterns for autonomous robotic systems

    M. Svinin, Z.W. Luo, S. Hosoe

    Proc. 5th World Multi-Conf. on Systemics, Cybernetics, and Informatics, 2001

  • A Hierarchical Approach for Environmental Adaptive Locomotion Control of Multi-legged Robot

    T. Odashima, Z.W. Luo, S. Hosoe

    Proc. of the 6th Int. Symposium on Artificial Life and Robotics, 2001

  • Hierarchical Control System for Hexapod Robot Using Base Motion Vector Fields

    T. Odashima, Z.W. Luo, S. Hosoe

    Proc. 5th World Multi-Conf. on Systemics, Cybernetics, and Informatics, 2001

  • Diffusion-Based Spatial Generalization of Optimal Motor Control

    Z.W. Luo, H. Ando, S. Hosoe, K. Watanabe, A. Kato

    Proc. 5th World Multi-Conf. on Systemics, Cybernetics, and Informatics, 2001

  • Hierarchical control structure of a multi-legged robot for environmental adaptive locomotion

    T. Odashima, Z.W. Luo, S. Hosoe

    Proc. of 4th Int. Conf. on Climbing and Walking Robot,2001., 2001

  • Decentralized Control Design of Network Robotic System with Time-varying Communication Delay

    Z.W. Luo, M. Amano, K. Watanabe, S.Hosoe

    Proc. of SICE/ICASE Joint workshop on Control Theory and Applications, 2001

    [Invited]

  • A Novel Decentralized Control System for Multi-legged Robot

    T. Odashima, Z.W. Luo, S. Hosoe

    VIDEO Proc. of IEEE Int. Conf. on Robotics and Automation, 2001

  • An autonomous decentralized gait patterns generation algorithm considering the system's extendibility : Utilization of progressive wave on torus space

    ODASHIMA Tadashi, YUASA Hideo, LUO Zhi-wei

    自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 21 Jan. 2000, Japanese

  • Spatial generalization of optimal control for robot manipulators

    Zhiwei Luo, Hideyuki Ando, Shigeyuki Hosoe, Keiji Watanabe, Atsuo Kato

    IECON Proceedings (Industrial Electronics Conference), 2000, English, IEEE Computer Society, This paper presents a diffusion-based learning approach to generalize optimal control of a robot manipulator over a bounded work space. Generally, optimal control requires to solve a two point boundary value problem with respect to increase and decrease of time and is very difficult to be solved analytically. In our approach, we first assume that, for some sets of initial and desired terminal conditions of the robot's positions we already have the numerical optimal solutions (for example, using some complex numerical computation techniques). Then by using radial basis Junction network, we parameterize these control inputs by a set of weight matrixes. Finally, we apply our diffusion-based algorithm to generalize these weight matrixes for different terminal position conditions. This approach greatly reduced computation cost for the robot to find its optimal control. In addition, since diffusion-based algorithm is a parallel distributed learning approach which only requires local interaction between the nodes of a learning network (a lattice), it can be realized by resent IC hardware technology easily. Computer simulations of a 2 D.O.F. planner robot arm show the effectiveness of our approach.

  • Modified H-inf Control for Mixed Sensitivity Problem

    K. Watanabe, Z.W. Luo, Guido Izuta

    Proc. of the 3rd Asian Control Conf. 2000., 2000

  • Robust Pole Placement with Widely Adjustable Parameters

    K. Watanabe, Z.W. Luo, G. Izuta

    Proc. of 39th IEEE Conf. On CDC, 2000., 2000

  • Parallel Decentralize Computation Architecture for Calculating an Inverse Map of a Redundant System

    ANDO Hideyuki, LUO Zhi-Wei, ITO Masami

    自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 18 Jan. 1999, Japanese

  • Gait pattern generation of a myriapod robot system based on energy consumption

    ODASHIMA Tadashi, YUASA Hideo, LUO Zhi-wei, ITO Masami

    自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 18 Jan. 1999, Japanese

  • スレーブに部分的な自律性を与えたマスタスレーブシステム

    宮田郁子, 安藤英由樹, 平松誠治, 羅志偉, 加藤厚生

    電気関係学会東海支部連合大会講演論文集, 1999

  • Suboptimal control of linear systems with state time-delay

    G.Y. Tang, Z.W. Luo

    Proc. of 1999 IEEE Int. Conf. on Systems Man & Cybernetics., 1999

  • Parallel Decentralized Computation of Inverse Kinematics Map for a Redundant Robot Manipulator

    H. Ando, Z.W. Luo, A. Kato

    Proc. of 1999 IEEE Hong Kong Symposium on Robotics and Control, 1999

  • Emergent Generation of Gait Pattern for a Myriapod Robot System based on Energy Consumption

    T. Odashima, H. Yuasa, Z.W. Luo

    Proc. of 1999 IEEE Hong Kong Symposium on Robotics and Control, 1999

  • Robust Gain Scheduled Position/Force Hybrid Control for a Robot Manipulator Interacting with Uncertain Flexible Environment

    Z.W. Luo, M. Ito

    Proc. of 14th IFAC World Congress, 1999

  • Development of a quadruped walking robot system that can adapt to periodic perturbation

    ITO Satoshi, YUASA Hideo, LUO Zhi-wei, ITO Masami, YANAGIHARA Dai

    自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 20 Jan. 1998, Japanese

  • Unilateral? or Bilateral? ---New Research on Dynamic Tele-manipulation

    Z.W. Luo, M. Ito

    Proc. of 1998 Int. Conf. on Mechatronic Technology, 1998

  • Realization of Human Task Skill in Dynamic Tele-manipulation

    Z.W. Luo, K. Ohta, M. Ito

    Proc. of 1998 ISIC/CIRA/ISAS on Bio-mimetic Robotics, 1998

  • Adaptive Behavior of Quadrupted Walking Robot under Periodic Perturbation

    S. Ito, H. Yuasa, Z.W. Luo, M. Ito, D. Yanagihara

    Proc. of Fifth Int. Conf. of the Society for Adaptive Behavior, 1998

  • Analysis of Human Movement in Dynamical Environment Constrained by Geometry

    OHTA Ken, LUO Zhi-Wei, ITO Masami

    生体・生理工学シンポジウム論文集, 04 Sep. 1997, Japanese

  • On Adaptation of Rhythmic Movements to Environmental Variation : A Mathematical Study

    ITO Satoshi, YUASA Hideo, LUO Zhi-wei, ITO Masami

    自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 16 Jan. 1997, Japanese

  • For the new development of a bio-mimetic control theory.

    羅志偉

    日本機械学会東海支部総会講演会講演論文集, 1997

  • Adaptive Locomotion to Periodic Perturbation -- Adaptation Mechanism with Coupling of Oscillator and Link Dynamics

    S. Ito, H. Yuasa, Z.W. Luo, M. Ito, D. Yanagihara

    Proc. of 3rd Int. Symposium on Artificial Life and Robotics (AROB III'98), 1997., 1997

  • A Mathematical Model of Adaptation in Rhythmic Motion to Environmental Changes

    S. Ito, H. Yuasa, Z.W. Luo, M. Ito, D. Yanagihara

    Proc. of 1997 IEEE Int. Conf. on Systems Man & Cybernetics, 1997

  • Human Perceptual-Motor Coordination in Unknown Dynamical Environments

    K. Ohta, Z.W. Luo, M. Ito

    Proc. of 1997 IEEE Int. Conf. on Systems Man & Cybernetics, 1997

  • Adaptability of Human Movement in Unknown Dynamical Environments

    K. Ohta, Z.W. Luo, M. Ito

    Proc. of 1997 American Control Conf., 1997

  • Potential Field Representation of Environment Model and its Application to Robot's Force/Position Hybrid Control

    M. Yamakita, Z.W. Luo, K. Ito

    Proc. of 1996 IEEE Conf. on Emerging Technologies and Factory Automation, 1996

  • Dynamic Cooperative Manipulation of Flexible Objects

    Z.W. Luo, K.Ito, M.Ito

    Proc. of 1996 Japan-USA Symp. on Flexible Automation, 1996

  • Gain Scheduled Control of Robot manipulators for Contact Tasks on Uncertain Flexible Objects

    J.Q. Wu, Z.W. Luo, M. Yamakita, K. Ito

    Proc. of IEEE Int. Conf. of Systems Man & Cybernetics, 1996

  • Adaptive Hybrid Control for a Robot Manipulator Interacting with Uncertain Flexible Environments

    J.Q. Wu, Z.W. Luo, M. Yamakita, K. Ito

    Proc. of 13th IFAC World Congress, 1996

  • Gain Scheduled Control for Robot manipulator's Contact Tasks on Flexible Environments

    J.Q. Wu, Z.W. Luo, K. Ito

    Proc. of 4th Int. workshop on Advanced Motion Control,, 1996

  • Estimation of Environment Models Using Vector Field and its Application to Robot's Contact Tasks

    Z.W. Luo, K. Ito, M. Yamakita

    Proc. of IEEE Int. Conf. on Neural Networks, 1995

  • Robot manipulator's Contact Tasks on Uncertain Flexible Objects

    J.Q. Wu, Z.W. Luo, M. Yamakita, K. Ito

    Proc. of 10th Korea Automatic Control Conf. (KACC'95), 1995

  • Learning and control of biolocomotion.

    小沢利之, 伊藤正美, 羅志偉, 伊藤宏司

    電気関係学会東海支部連合大会講演論文集, 1995

  • Compliance Control of Direct Drive Manipulator Using Ultrasonic Motor

    A. Kato, N. Kondo, H. Narita, K. Ito, Z.W. Luo

    Proc. of 10th CISM-IFToMM Symp. on Theory and Practice of Robots and Manipulators, 1994

  • On Cooperative Manipulation of Dynamic Object

    Z.W. Luo, Y. Uematsu, K.Ito, A.Kato, M.Ito

    Proc. of Int. Joint Conf. on Intelligent Robots and Systems(IROS), 1994

  • Compliance Control of an EMG-Controlled Prosthetic Forearm Using Ultrasonic Motors

    K. Ito, M. Pecson, Z.W. Luo, M. Yamakita, A. Kato, T. Aoyama, M. Ito

    Proc. of Int. Joint Conf. on Intelligent Robots and Systems(IROS), 1994

  • Self-Organization of an Uniformly Distributed Visuo-Motor Map through Controlling the Spatial Variation

    Z.W. Luo, K. Asada, M. Yamakita, K. Ito

    Proc. of 2nd Int. Symposium on Distributed Autonomous Robotic Systems, 1994

  • ベクトル場を用いた未知環境推定と接触作業ロボットへの応用

    服部正, 山北昌毅, 羅志偉, 大塚広幸, 伊藤宏司

    電気関係学会東海支部連合大会講演論文集, 1994

  • Compliance control of an ultrasonic motor drive artificial arm.

    PECSON M G, 羅志偉, 伊藤宏司, 加藤厚生

    バイオメカニズム学術講演会予稿集, 1993

  • Coordination control of an object by multiple manipulators.

    植松義貴, 羅志偉, 伊藤宏司

    バイオメカニズム学術講演会予稿集, 1993

  • Identification of position and force control measures for a human in both hands cooperative motions.

    渡辺泰弘, 羅志偉, 伊藤宏司

    バイオメカニズム学術講演会予稿集, 1993

  • Self-organization of an upper limb motion pattern by neural network.

    大塚宏幸, 羅志偉, 伊藤宏司

    バイオメカニズム学術講演会予稿集, 1993

  • Multiple Robot Manipulators' Cooperative Compliant Manipulation on Dynamical Environments

    Z.W. Luo, K. Ito, M. Ito

    Proc. of Int. Joint Conf. on Intelligent Robots and Systems (IROS'93), 1993

  • Robust Nonlinear Control for Robot Compliant Manipulation on Dynamical Environments

    Z.W. Luo, K. Ito, A. Kato, M. Ito

    Proc. of Int. Symposium on Measurement and Control in Robotics (ISMCR'93), 1993

  • Compliance Control of an Ultrasonic Motor Powered Prosthetic Forearm

    M. Pecson, K. Ito, Z.W. Luo, A. Kato, T. Aoyama, M. Ito

    Proc. of IEEE Int. Workshop on Robots and Human Communication (Ro-Man'93), 1993

  • Optimum Coordination of Nonlinear Dynamic Systems with Its Application to Robot Locomotion

    Z.W. Luo, K. Ito, M. Ito, H. Yuasa

    Proc. of Int. Symposium on Nonlinear Theory and Its Applications, 1993

  • Robust Nonlinear Control Design of Robot for Compliant Manipulation on Dynamical Environments

    Z.W. Luo, H. Takahashi, K. Ito, A. Kato, M. Ito

    Proc. of SICE'92, Int. session, 1992

  • Control Design of Robot for Compliant Manipulation on Dynamic Environment

    Z.W. Luo, M. Ito

    Proc. of 1991 IEEE Int. Conf. on Robotics & Automation, 1991., 1991

  • On Impedance Adjustment in Compliant Motion Control

    M. Ito, Z.W. Luo

    Proc. of The 1st China-Japan Joint Symposium on Systems, Control Theory and its Application, 1989., 1989

  • Bilinear model of the musculoskeletal system and visco-elastic characteristics of a pneumatic type rubber artificial muscle.

    加藤厚生, 伊藤宏司, 伊藤正美, 羅志偉

    電気学会システム・制御研究会資料, 1988

  • Measurement of Stride During Human Walking

    A. Kato, Z.W. Luo

    Proc. of 26th SICE Annual Conf., Int. Session, 1987., 1987

  • 没入型動的インタラクションシステム

    大西 正輝, 小田島 正, 羅 志偉, 細江 繁幸

    計測自動制御学会第67回パターン計測部会研究会資料, 2005

  • 筋冗長多リンク系によるリーチング動作について

    田原 健二, 羅 志偉, 有本 卓

    第6回 SICE システムインテグレーション部門 講演会論文集, 2005

  • 腰上下動によるパラメータ励振に基づく2脚動歩行の実現

    浅野 文彦, 羅 志偉

    第6回 SICE システムインテグレーション部門 講演会論文集, 2005

  • IPMCアクチュエータの電気インピーダンス

    高木 賢太郎, 中坊 嘉宏, 羅 志偉, 安積 欣志, 早川 義一, 山村 雅紀

    第6回 SICE システムインテグレーション部門 講演会論文集, 2005

  • IPMCアクチュエータ/センサを用いたヘビ型ロボットの自励駆動

    釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    第6回 SICE システムインテグレーション部門 講演会論文集, 2005

  • IPMCアクチュエータ/センサの統合システム設計に関する研究 ~異種ドーピングされたIPMCアクチュエータの複合による高機能化~

    瀬良 暁雄, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    第6回 SICE システムインテグレーション部門 講演会論文集, 2005

  • 触覚情報を用いたソフトロボットによる全身マニピュレーション

    大西 正輝, 向井 利春, 浅野 文彦, 小田島 正, 田原 健二, 高木 賢太郎, 羅 志偉, 平野 慎也

    第6回 SICE システムインテグレーション部門 講演会論文集, 2005

  • ロボットに装着した曲面状触覚センサによるフィードバック制御の実現

    向井 利春, 大西 正輝, 平野 慎也, 羅 志偉

    第6回 SICE システムインテグレーション部門 講演会論文集, 2005

  • 人と接するロボットのためのソフトウェアアーキテクチャ

    小林 祐一, 大西 正輝, 中島 弘道, 羅 志偉, 細江 繁幸

    第6回 SICE システムインテグレーション部門 講演会論文集, 2005

  • 人と接するロボットに求められる機能とは

    小田島 正, 田原 健二, 高木 賢太郎, 平野 慎也, 大西 正輝, 浅野 文彦, 加藤 陽, 中島 弘道, 小林 祐一, 向井 利春, 羅 志偉, 細江 繁幸

    第6回 SICE システムインテグレーション部門 講演会論文集, 2005

  • 圧電素子を用いたスイッチングLRシャントダンピング

    高木 賢太郎, 長瀬 賢二, 大嶋 和彦, 早川 義一, 羅 志偉, 市川 浩幸

    第48回自動制御連合講演会講演論文集, 2005

  • 触覚情報を用いたロボットの動的マニピュレーション

    大西 正輝, 浅野 文彦, 向井 利春, 小田島 正, 田原 健二, 高木 賢太郎, 羅 志偉

    第23回日本ロボット学会学術講演会予稿集, 2005

  • リーチング運動を行う冗長筋骨格系の適応重力補償について

    田原 健二, 羅 志偉, 有本 卓, 木野 仁

    第23回日本ロボット学会学術講演会予稿集, 2005

  • 抱え上げ動作検証用ロボットアームの開発

    小田島 正, 田原 健二, 大西 正輝, 高木 賢太郎, 浅野 文彦, 向井 利春, 羅 志偉

    第23回日本ロボット学会学術講演会予稿集, 2005

  • 2脚動歩行における支持脚駆動のパラメータ励振効果

    浅野 文彦, 羅 志偉

    第23回日本ロボット学会学術講演会予稿集, 2005

  • 人間と対話するロボットのためのQoSを考慮した複数認識プロセスの調停法

    小林 祐一, 大西 正輝, 羅 志偉, 細江 繁幸

    第23回日本ロボット学会学術講演会予稿集, 2005

  • IPMCセンサ/アクチュエータの統合的システム設計に関する研究

    瀬良 彰雄, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    第23回日本ロボット学会学術講演会予稿集, 2005

  • IPMCアクチュエータを用いたRajiform 推進型水中ロボットの開発

    山村 雅紀, 高木 賢太郎, 羅 志偉, 安積 欣志, 早川 義一, 大西 正輝, 平野 慎也

    第23回日本ロボット学会学術講演会予稿集, 2005

  • 一定進行波入力によるIPMCの屈曲振幅増大現象とその力学II:単純梁モデルによる力学解析

    高木 賢太郎, 中坊 嘉宏, 羅 志偉, 向井 利春, 山村 雅紀, 早川 義一, 安積 欣志

    第23回日本ロボット学会学術講演会予稿集, 2005

  • 一定進行波入力によるIPMCの屈曲振幅増大現象とその力学I:人工筋肉を用いたヘビ型水中推進ロボットの屈曲形状解析

    中坊 嘉宏, 高木 賢太郎, 向井 利春, 羅 志偉, 安積 欣志

    第23回日本ロボット学会学術講演会予稿集, 2005

  • IPMCアクチュエータの運動による特性の適応可能性について

    山北 昌毅, 釜道 紀浩, 羅 志偉, 安積 欣志

    第49回システム制御情報学会研究発表講演会講演論文集, 2005

  • 環境適応ロボットのバイオミメティック制御

    羅 志偉

    第5回計測自動制御学会制御部門大会資料, 2005

    [Invited]

  • 多脚歩行系における分散型力分配問題解決の一手法

    小田島 正, 羅 志偉

    第17回自律分散システム・シンポジウム資料, 2005

  • イオン導電性高分子を用いた有限回転型人工筋アクチュエータ

    高木 賢太郎, 羅 志偉, 安積 欣志, 田原 健二

    第5回 SICE システムインテグレーション部門 講演会論文集, 2004

  • 再ドーピング可能なIPMCアクチュエータを用いた水上蛇型ロボットの開発

    瀬良 暁雄, 金田 泰昌, 山北 昌毅, 安積 欣志, 羅 志偉

    第5回 SICE システムインテグレーション部門 講演会論文集, 2004

  • Human-Machine Interactive Reinforcement Learning for Image Retrieval

    J.Su, F.Liu, Zhiwei Luo

    第5回 SICE システムインテグレーション部門 講演会論文集, 2004

  • IPMC直動アクチュエータを用いた歩行ロボットの制御

    小築 隆博, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    第22回日本ロボット学会学術講演会予稿集, 2004

  • Performance Analysis for Uncalibrated Hand-Eye Coordination with Neural Networks

    J. Su, Zhiwei Luo

    第22回日本ロボット学会学術講演会予稿集, 2004

  • 環境との相互作用を行うロボットの身まね学習方式

    大西 正輝, 小田島 正, 羅 志偉

    第22回日本ロボット学会学術講演会予稿集, 2004

  • 複雑な環境で活動する組み替え可能なレスキューロボットの研究開発

    平野 慎也, 服部 剛史, 羅 志偉, 加藤 厚生

    第22回日本ロボット学会学術講演会予稿集, 2004

  • 動的環境での人間上肢運動の軌道解析

    増井 洋平, M. Svinin, 羅 志偉, 細江 繁幸

    第22回日本ロボット学会学術講演会予稿集, 2004

  • Explicit Force Adaptive Control of a Robot Manipulator Interacting with Unknown Dynamic Environment

    Y. Saitoh, Zhiwei Luo, S. Fujii, E. Muramatsu, K. Watanabe

    第22回日本ロボット学会学術講演会予稿集, 2004

  • 随意運動と反射の統合に基づく全身マニピュレーションの実現

    浅野 文彦, 羅 志偉, 山北 昌毅, 細江 繁幸

    第22回日本ロボット学会学術講演会予稿集, 2004

  • ハイブリッドシステム制御による接触モード遷移を伴うハンドマニピュレーション

    尹 英杰, 杉本 隆幸, 細江 繁幸, 浅野 文彦, 羅 志偉

    第22回日本ロボット学会学術講演会予稿集, 2004

  • パラメータ励振現象に基づく伸縮脚ロボットの動的歩行制御

    浅野 文彦, 玄 相昊, 羅 志偉, 江村 超

    第22回日本ロボット学会学術講演会予稿集, 2004

  • 認識情報を考慮した模倣動作生成によるロボット制御

    大西 正輝, 小田島 正, 羅 志偉

    画像の認識・理解シンポジウム(MIRU2004)論文集, 2004

  • 多自由度ロボットのネットワーク制御システム

    大西 正輝, 小田島 正, 小林 祐一, 浅野 文彦, 羅 志偉, 細江 繁幸

    第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集, 2003

  • 身体の動的運動計測による筋骨格モデルの動力学シミュレーション

    田原 健二, 羅 志偉, 加藤 厚生

    第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集, 2003

  • Formulation of Dexterous Hand Manipulation via Hybrid System Control Approach

    尹 英杰, 羅 志偉, 細江 繁幸

    第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集, 2003

  • IPMCを用いた拮抗型直動人工筋アクチュエータの可変メカニカルインピーダンス

    山北 昌毅, 羅 志偉, 釜道 紀浩, 金田 泰昌, 安積 欣志

    第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集, 2003

  • 再ドーピング可能な直動人工筋アクチュエータと歩行ロボットへの応用

    山北 昌毅, 釜道 紀浩, 金田 泰昌, 安積 欣志, 羅 志偉

    第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集, 2003

  • バイオ分野における制御工学

    細江 繁幸, 羅 志偉

    第46回自動制御連合講演会講演論文集, 2003

  • 環境適応ロボットの視覚モジュールの機能開発

    秋山 圭, 羅 志偉, 大西 正輝, 八木 哲也, 細江 繁幸

    第21回日本ロボット学会学術講演会予稿集, 2003

  • 人との力学的な相互作用を行うソフトアクチュエータの開発

    伊藤 晋彦, 三田 勝己, 羅 志偉

    第21回日本ロボット学会学術講演会予稿集, 2003

  • 環境適応ロボットにおける分散型汎用コントローラの開発

    平野 慎也, 羅 志偉, 小田島 正, 加藤 厚生

    第21回日本ロボット学会学術講演会予稿集, 2003

  • 環境と力学的相互作用を行う人間のモーションキャプチャシステムの構築

    小田島 正, 大山 浩市, 羅 志偉, 細江 繁幸

    第21回日本ロボット学会学術講演会予稿集, 2003

  • 環境適応ロボット開発のための三次元動力学シミュレータ

    大西 正輝, 小田島 正, 羅 志偉, 細江 繁幸

    第21回日本ロボット学会学術講演会予稿集, 2003

  • ハイブリッドシステム制御による巧みなハンドマニピュレーション

    尹 英杰, 羅 志偉, 細江 繁幸

    第21回日本ロボット学会学術講演会予稿集, 2003

  • 環境による拘束下での人間上肢運動の軌道生成と解析

    太田 憲, M. シビニン, 羅 志偉, 細江 繁幸

    第21回日本ロボット学会学術講演会予稿集, 2003

  • イオン導電性高分子を用いた直動アクチュエータの開発 -等価定常ゲイン向上のための非線形特性の導入-

    金田 泰昌, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    第21回日本ロボット学会学術講演会予稿集, 2003

  • 受動歩行規範型歩容生成問題の定式化 (I) 力学原理と制御系設計

    浅野 文彦, 羅 志偉, 山北 昌毅

    第21回日本ロボット学会学術講演会予稿集, 2003

  • 受動歩行規範型歩容生成問題の定式化 (II) 膝関節モデルへの拡張

    浅野 文彦, 羅 志偉, 山北 昌毅

    第21回日本ロボット学会学術講演会予稿集, 2003

  • New Trends on Bio-mimetic System Control

    Zhiwei Luo

    第47回システム制御情報学会研究発表講演会講演論文集, 2003

    [Invited]

  • 摩擦特性を考慮した動的フルボディ・マニピュレーション

    浅野 文彦, 羅 志偉, 山北 昌毅, 細江 繁幸

    自動制御連合講演会, 2002

  • 直動人工筋アクチュエータの開発と歩行ロボットへの応用

    釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

    自動制御連合講演会, 2002

  • 拡散学習に基づくマニピュレータ最適制御の空間汎化

    浅黄 義昭, 羅 志偉, 渡辺 慶二

    自動制御連合講演会, 2002

  • 生物の制御構造を模した階層型多脚歩行系

    小田島 正, 羅 志偉, 岸 泰生, 田中 宏幸

    SICE SI2002 講演論文集, 2002

  • 人間と接するロボット開発のための三次元動力学シミュレーション環境

    小田島 正, 大西 正輝, 浅野 文彦, 羅 志偉

    SICE SI2002 講演論文集, 2002

  • ベクトル場の自己組織化と接触作業ロボットへの応用

    大塚広幸, 羅志偉, 山北昌毅, 伊藤宏司

    第5回自律分散システムシンポジウム, 1994

  • Optimum Order Formation in Autonomous Decentralized System

    Zhiwei Luo, J. Arakawa, K. Ito, M. Ito, H. Yuasa

    第5回自律分散システムシンポジウム, 1994

  • 自律分散システムの最適化について

    羅志偉, 伊藤宏司, 伊藤正美, 湯浅秀男

    日本機械学会第3回FANシンポジウム, 1993

  • 複数のロボットによる動的な対象物の協調制御

    植松義貴, 羅志偉, 伊藤宏司

    第3回ロボットシンポジウム, 1993

  • Cooperative Compliant Manipulation of Dynamical Environments by Multiple Robotic Systems

    Zhiwei Luo, Koji Ito, Masami Ito

    第4回自律分散システムシンポジウム, 1993

  • 動的な対象物に対する複数ロボットの自律協調制御とその実験

    植松義貴, 羅志偉, 伊藤宏司

    第11回日本ロボット学会学術講演会, 1993

  • パラメータ調節による接触作業ロボットの非線形制御

    高橋秀樹, 羅志偉, 伊藤正美

    第21回制御理論シンポジウム, 1992

  • 接触作業ロボットのロバスト制御

    羅志偉, 伊藤正美

    第20回制御理論シンポジウム, 1991

  • A Bilinear Model for Joint Impedance Control in Contact Tasks

    LUO Zhi-wei, ITO Koji, ITO Masami, KATO Atsuo

    Transactions of the Society of Instrument and Control Engineers, 1991, The Society of Instrument and Control Engineers, This paper studies on a bilinear model for joint impedance control in contact tasks. It is proved that in order for robot to operate on dynamic objects smoothly without any oscillation, adjustment of the antagonist coactivation is useful.

  • On Adaptation of Robot to Dynamic Environment in Compliant Manipulation

    Luo Zhi-wei, KATO Atsuo, ITO Masami

    Transactions of the Society of Instrument and Control Engineers, 1991, The Society of Instrument and Control Engineers, This paper studies on the control of robot to perform compliant manipulation on unknown dynamic environments. Compliant manipulation fundamentally requires robot to adapt for environment dynamics. For robot manipulators to be succeeded in performing such manipulation, it's already known that control of position or force alone is inadequate. Focused on the input-output responses of both position and force of the robot control system, we have proposed a model matching approach. In this approach, both for the selection of reference model and the design of force feedback compensator, the accurate information on environment dynamics was needed. However practically, in most of the robot's contact tasks, we never know the environment dynamics or only know the bounds of its parameters before exiting the task.
    In this paper, by studying the most unfavourable environment dynamics for robot's compliance, the digital simulator for continuous linear dynamic environment, we try to give out an algorithm for robot manipulators to adapt for the unknown environment dynamics autonomously during the manipulation. A setup of experimental system of one degree of freedom robot and environment has also been made to study various of control approaches for robot's pushing manipulation on dynamic environment. Experiment results show the effectiveness of our design approach.

  • Hierarchical Control of Multi-Degree of Freedom Manipulators for Compliant Manipulation.

    LUO Zhi-wei, TAKAHASHI Hideki, ITO Masami

    JRSJ, 1991, Japanese, The Robotics Society of Japan, In this paper, we study on hierarchical control structure of multi-D. O. F. manipulator to perform compliant manipulation on dynamic objects. We propose that in order to realize the real time fast computation of the joint control torques, it is better to calculate the joints angle terms with low sampling frequency at high level, and compute the lefted control torques including joints velocities and linear compensation with high sampling frequency at low level. Such hierarchical structure is demonstrated by the simulation of a 2-D. O. F arm pushing on a dynamic door. Simulation results also shows the effectiveness of the model matching method that was used in the linear force feedback compensator design, compared with impedance control.

  • ロボットのコンプライアントマニピュレーション

    羅志偉, 伊藤正美

    日本機械学会ロボティックス・メカトロニクス講演会, 1990

  • 動的作業環境に対するロボットの適応制御について

    羅志偉, 伊藤正美

    第19回制御理論シンポジウム, 1990

  • 多自由度マニピュレータのコンプライアントマニピュレーション

    羅志偉, 高橋秀樹, 伊藤正美

    第8回日本ロボット学会学術講演会, 1990

  • 関節インピーダンス調節の双線形モデル

    羅志偉, 伊藤正美, 加藤厚生

    第8回日本ロボット学会学術講演会, 1990

  • コンプライアントマニピュレーションのためのロボットの適応制御

    羅志偉, 大滝和宏, 伊藤正美, 加藤厚生

    第7回日本ロボット学会学術講演会, 1989

  • 接触作業ロボットの制御設計方針について

    羅志偉, 伊藤正美

    第7回日本ロボット学会学術講演会, 1989

  • ロボットの接触作業の制御について

    羅志偉, 伊藤正美

    第2回ロボットシステム技術研究会資料, 1989

  • ロボットの接触作業に関する制御理論

    羅志偉, 伊藤正美

    第18回制御理論シンポジウム, 1989

  • 一般化インピーダンス制御

    羅志偉, 伊藤正美, 細江繁幸

    第11回Dynamical System Theory シンポジウム, 1988

  • ロボットの一般化インピーダンス制御について

    羅志偉, 伊藤正美

    第6回日本ロボット学会学術講演会, 1988

  • 可変粘弾性アクチュエータの研究

    加藤厚生, 伊藤正美, 羅志偉

    第32回システムと制御研究発表講演会, 1988

  • 筋骨格系の双線形モデルとゴム人工筋の粘弾性特性

    加藤厚生, 伊藤宏司, 伊藤正美, 羅志偉, 伊藤晋彦, 国枝和彦, 近藤隆, 原田幸英

    第5回日本ロボット学会学術講演会, 1987

  • Z08用トークンリングLANのシステムプログラム

    加藤厚生, 石井宏之, 小林寿史, 長尾康, 藤田卓英, 丸茂等, 董屏 羅志偉

    第3回ソフトウェアコンファレンス, 1987

  • ロボットが介護する未来

    羅志偉

    第13回先端医療の夕べ 「健康・介護予防に関する最新情報」, Aug. 2010

  • 1ディスク混合感度問題のための修正H∞制御

    渡部慶二, 羅志偉, 伊豆田義人

    第22回Dynamical System Theory シンポジウム, 1999

  • ユニラテラル?または バイラテラル? テレーマニピュレーションに関する一考察

    羅志偉, 伊藤正美

    SICE'98, 1998

  • 非線形適応制御の一考察

    伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

    第27回制御理論シンポジウム, 1998

  • Robust Gain Scheduled Control of Distributed Parameter System and It’s Application in Robotics

    Zhiwei LUO, Masami ITO

    第27回制御理論シンポジウム, 1998

  • 四足歩行運動における環境適応について

    伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

    日本機械学会ロボティックス・メカトロニクス講演会‘98講演論文集, 1998

  • 作業環境と相互作用を行う生体運動の解析

    太田憲, 羅志偉, 伊藤正美

    日本機械学会 第10回バイオエンジニアリング講演会講演論文集, 1998

  • 動的作業環境におけるテレ―マニピュレーション

    梅沢将実, 羅志偉, 太田憲, 伊藤正美, 加藤厚生

    第15回日本ロボット学会学術講演会予稿集, 1997

  • 視覚情報に基づくダイナミックキャッチング

    島田磨, 羅志偉, 伊藤正美, 安林幹翁

    第15回日本ロボット学会学術講演会予稿集, 1997

  • 周期的摂動に適応するための脚運動のタイミングの学習

    伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

    第15回日本ロボット学会学術講演会予稿集, 1997

  • 接触作業ロボットのタスクインピーダンス調節について

    今井晋吾, 羅志偉, 本間康正, 伊藤正美, 加藤厚生, 安林幹翁

    第15回日本ロボット学会学術講演会予稿集, 1997

  • 未知環境における人間の知覚―運動協応

    太田憲, 羅志偉, 伊藤正樹

    SICE’97, 1997

  • Control Design of Robot for Compliant Manipulation on Uncertain Flexible Objects.

    羅志偉, 呉建青, 山北昌毅, 伊藤宏司

    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, 1997

  • 未知環境における生体の巧みな運動制御

    太田憲, 羅志偉, 伊藤正美

    第14回日本ロボット学会学術講演会予稿集, 1996

  • タスクインピーダンス構造の実現および調節に関する考察

    山本親慶, 羅志偉, 伊藤正美

    第14回日本ロボット学会学術講演会予稿集, 1996

  • 未知線形Parameter-Varying システムに対するゲインスケジュールド制御

    呉建青, 羅志偉, 山北昌毅, 伊藤宏司

    第14回日本ロボット学会学術講演会予稿集, 1996

  • Self-Organization of a Redundant Robot Manipulator’s Inverse Kinematic Map using Diffusion Equation

    Zhiwei Luo, Masami Ito

    日本神経回路学会, 1996

  • 運動物体捕獲作業のためのロボットの制御方式

    羅志偉, 島田磨, 伊藤正美

    SICE’96, 1996

  • 複数ロボットによる動的対象物の分散インピーダンス制御

    北岸隆史, 羅志偉, 伊藤宏司

    第6回自律分散システムシンポジウム, 1995

  • 非線形マッピングの自律分散学習と冗長マニピュレータの逆運動学問題への応用

    須山郁夫, 羅志偉, 伊藤宏司

    第6回自律分散システムシンポジウム, 1995

  • 柔軟局面上でのロボットの接触作業

    呉建青, 羅志偉, 山北昌毅, 伊藤宏司

    第13回日本ロボット学会学術講演会予稿集, 1995

  • ニューラルネットワークによる冗長マニピュレータの運動学習

    羅志偉, 山北昌毅, 伊藤宏司

    第13回日本ロボット学会学術講演会予稿集, 1995

  • 随意運動の制御理論的考察

    羅志偉, 伊藤正美, 小澤利之, 伊藤宏司

    SICE’95, 1995

  • 拡散方程式を用いた冗長マニピュレータの逆運動学マッピングの並列分散学習

    須山郁夫, 羅志偉, 伊藤宏司

    SICE’95, 1995

  • 複数ロボットによる動的対象物の協調制御 ――分散インピーダンス制御方式とその実験的考察――

    北岸隆史, 羅志偉, 伊藤宏司

    SICE’95, 1995

  • 柔軟対象物上での倣い作業におけるロボットの位置/力の動的制御

    呉建青, 羅志偉, 山北昌毅, 伊藤宏司

    SICE’95, 1995

  • 消費エネルギーを考慮した歩行パターンの生成

    伊藤聡, 湯浅秀男, 羅志偉, 伊藤宏司

    第12回ロボット学会学術講演会, 1994

  • 未知な柔軟対象物に対する位置と力の動的制御

    呉建青, 羅志偉, 山北昌毅, 伊藤宏司

    第12回ロボット学会学術講演会, 1994

  • Compliance Control Considering a Robot’s Manipulability

    Zhiwei Luo, K. Iwakoshi, M. Yamakita, K. Ito

    第12回ロボット学会学術講演会, 1994

  • Research on Self-triggered Controller for Finite-time Consensus of Multi-agent System

    Ziyang Cheng, Changqin Quan, Kohei Mori, Sheng Cao, Zhiwei Luo

    Proc. of International Conference on Electrical, Computer, Communications and Mechatronics Engineering (IEEE ICECCME), 2021, 2021, English

  • Lite Hourglass Network for Multi-person Pose Estimation

    Ying Zhao, Zhiwei Luo, Changqin Quan, Dianchao Liu, Gang Wang

    MULTIMEDIA MODELING (MMM 2020), PT II, 2020, English, SPRINGER INTERNATIONAL PUBLISHING AG, Recent multi-person pose estimation networks rely on sequential downsampling and upsampling procedures to capture multi-scale features and stacking basic modules to reassess local and global contexts. However, the network parameters become huge and difficult to be trained under limited computational resource. Motived by this observation, we design a lite version of Hourglass module that uses hybrid convolution blocks to reduce the number of parameters while maintaining performance. The hybrid convolution block builds multi-context paths with dilated convolutions with different rates which not only reduces the number of parameters but also enlarges the receptive field. Moreover, due to the limitation of heatmap representation, the networks need extra and non-differentiable post-processing to convert heatmaps to keypoint coordinates. Therefore, we propose a simple and efficient operation based on integral loss to fill this gap specifically for bottom-up pose estimation methods. We demonstrate that the proposed approach achieves better performance than the baseline methods on the challenge benchmark MSCOCO dataset for multi-person pose estimation.

  • ベクトル場を用いたSLAMの研究

    塩崎 亮, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉

    2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, 2020, Japanese

  • 画像認識を用いた株価予測の分析

    小島 一也, 曹 晟, 全 昌勤, 羅 志偉

    2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, 2020, Japanese

  • 脊椎リハビリテーションのためのstiffness推定

    東 孝幸, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉

    2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, 2020, Japanese

  • ロボット技術を用いた上肢運動リハビリテーション

    能勢 拓磨, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉

    2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, 2020, Japanese

  • 全単模性を利用したスケジューリング手法の検討

    吉岡 由貴, 森 耕平, 羅 志偉

    2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, 2020, Japanese

  • 深層学習を用いた非けいれん性てんかん発作の識別

    小池 智哉, 羅 志偉, 永瀬 裕朗, 丸山 あずさ, 森 耕平, 全 昌勤

    2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, 2020, Japanese

  • ニューラルネットワークを用いた Twitter 情報による世論分析

    前田 研吾, 全 昌勤, 羅 志偉, 森 耕平

    2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, 2020, Japanese

  • RNNにおけるゲート構造と機能解析

    藤田 倫弘, 羅 志偉, 全 昌勤, 森 耕平

    2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, 2020, Japanese

  • Preparation and Characterizing of PANI/PDMS Elastomer for Artificial Muscles

    Yiyang Zhang, Jie Zhang, Genlin Wang, Ming Zhang, Zhiwei Luo

    5TH ANNUAL INTERNATIONAL CONFERENCE ON MATERIAL SCIENCE AND ENVIRONMENTAL ENGINEERING (MSEE2017), 2018, English, IOP PUBLISHING LTD, A dielectric elastomer has been synthesized using organic soluble PANI and PDMS through solution blending method for applications as artificial muscles. The dielectric constant of PANI/PDMS composite reached 4.82 with a filling amount of 0.8 wt.%, which was 2.24 times of pure silicone, due to the dipole polarization in matrix network and electron polarization in conductive polyaniline. The actuated strain of 0.8w.t % PANI/PDMS was 16.57% compared to 8.52% of pure silicone at an electric field of 10V/mu m, and can be applied as a soft actuator.

Association Memberships

  • 計測自動制御学会、日本ロボット学会、システム制御情報学会、日本神経回路学会、人間情報学会、IEEE

Research Projects

  • 羅 志偉

    特別研究員奨励費, Apr. 2018 - Mar. 2021, Principal investigator

    Competitive research funding

  • 羅 志偉

    特別研究員奨励費, Apr. 2016 - Mar. 2019, Principal investigator

    Competitive research funding

  • 羅 志偉

    特別研究員奨励費, Apr. 2016 - Mar. 2019, Principal investigator

    Competitive research funding

  • 羅 志偉

    科学研究費補助金/基盤研究(A), 2009 - 2011, Principal investigator

    Competitive research funding

  • Elucidation of pathophysiology and trigger of AESD using EEG, inflammatory markers, and cerebral blood flow analysis.

    永瀬 裕朗, 羅 志偉, 篠原 正和

    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), Grant-in-Aid for Scientific Research (C), Kobe University, 01 Apr. 2021 - 31 Mar. 2025

  • Nagano Akinori, YOSHIOKA Shinsuke, ISAKA Tadao, FUKASHIRO Senshi, LUO Zhi-wei

    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research, Grant-in-Aid for Challenging Exploratory Research, 01 Apr. 2013 - 31 Mar. 2016

    The purpose of this study was (1) to develop a system of markerless motion capture using a smart phone and a tablet computer, (2) to enable real time kinematic analysis, (3) to utilize the data obtained using wearable inertia sensors for motion analysis and (4) to develop a motion database for real time assessment of the obtained data. We successfully developed software and hardware systems to accomplish these goals.

  • OHTA Ken, LUO Zhiwei

    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), Grant-in-Aid for Scientific Research (B), 2010 - 2012

    Explicit instruction by verbal communication does not guaranteethat the learner can physically execute the skill. To overcome this problem, we proposed anidea of Cybernetic Training. In this paradigm, we put the scientific instruction behindmathematical m

  • Study on principle of optimal control for energy-efficient walking systems

    ASANO Fumihiko, LUO Zhi-Wei

    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), Grant-in-Aid for Scientific Research (B), The Institute of Physical and Chemical Research, 2006 - 2007

    We have studied robotic biped gait generation based on its dynamics and improvement of the gait efficiency theoretically and experimentally. It is empirically known that the convex curve of the foot, which characterizes passive-dynamic walkers, has important effects on increasing the walking speed. We mathematically clarified the effects of semicircular feet; acting as the virtual ankle-joint torque during the stance phase and reducing the energy dissipation caused by heel strikes, and confirmed that they dramatically improve the gait efficiency through numerical simulations. Parametrically excited dynamic bipedal walking is also our main research subject. We finally completed an experimental walking machine and succeeded its stable level walking by adjusting the physical and control parameters. The experimental result was highly-appraised internationally. In the theoretical investigation, we have considered to achieve parametrically excitation by actuating the knee joint, and successfully applied the effect to level gait generation. We further proposed several advanced methods; parametric excitation based on up-and-down motion of robot's center of mass and ornithoid walking by inverse knee-joint bending, and compared their gait efficiency. Furthermore, we have investigated the gait stability of limit cycle walkers from the viewpoint of mechanical energy balance. We then identified the conditions necessary to systematically achieve this energy balance and clarified their physical meanings. We also considered applying a bisecting hip mechanism (BHM) for adding an upper body to passive-dynamic walkers without destroying their natural dynamics. By clarifying the robot's driving mechanism incorporating the BHM, we successfully achieved its efficient level dynamic walking. Throughout our investigations, we provided novel insights and deep understandings into how energy-efficient and ZMP-free robots can generate a dynamic bipedal gait.

  • テレ-マニピュレーションにおける作業スキルの伝達に関する研究

    羅 志偉

    日本学術振興会, 科学研究費助成事業 奨励研究(A), 奨励研究(A), 山形大学, 2000 - 2000

    人間が直接入れない空間、例えば、宇宙や海底、原子炉などといった極限作業環境、または最近の在宅リハビリテーション、在宅介護などの人間の生活空間、力や形状などスケール的に人間と整合しない環境、人間による直接な作業が複雑かつ困難な動的作業環境で望ましい作業を実現するために、テレ-マニピュレーションは極めて重要な技術である。 本研究はテレ-マニピュレーション研究の原点に戻って、人間の巧みな作業スキルをいかに機械に伝え、高度な高速運動作業を実現するようにマスター・スレーブロボットを制御するかについて検討した。前年度における基礎研究調査、実験準備の基で、本年度は、テレ-マニピュレーションに関する更なる理論考察を行い、詳細な実験検証を行った。その結果、以下の成果を得た: 1)双腕協調作業のテレ-マニピュレーション実験を行い、通信時間遅れが時変である場合の安定化制御設計と実験検証を行い、その研究成果を第18回日本ロボット学会学術講演会で発表し、大いに注目された。 2)テレ-マニピュレーションシステムを人間・機械系として捉え、システム制御設計と人間の作業能力との関係を分析し、操作者の高度な臨場感を得るための多自由度視覚提示システムを作成し、良好な実験結果を得ることができた。この研究成果も第39回計測自動制御学会学術講演会及び計測自動制御学会システムインテグレーション部門学術講演会で発表した。 今後は、本研究で得られた成果の実応用を期待している。

  • Analysis and Control of Human Movement Coupling with Nonholinomic Environment - With application to teleoperation System of Nonholonomic Space Robot -

    NARIKIYO Tatsuo, OHTA Ken, LUO Zhi-wei

    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), Grant-in-Aid for Scientific Research (C), Toyota Technologycal Institute, 1998 - 1999

    In recent years, space has been attracting great interest as a new application field on robotics. There are many researches on artificial satellite equipped with several manipulators, which can freely fly on orbit around the earth and work on space station. On the other hand, master-slave teleoperation system also has been used to assist the operator to perform complex and uncertain tasks in space. The system consists of master manipulator with fixed base located in space station or on ground and Slave manipulator working in space. In this study, we analyzed and designed the master-slave teleoperation control system for the free flying space robot. The proposed control system ensures accurate tracking of slave robot upon the master robot and the stabilization of slave robot's base. In order to design this control system we introdduced originally an attitude reaction force. By assuming the passivity of human operator and working environment, the stability of whole system has been guaranteed by the check of passivity. In order to check the contro performnace of the propose teleoperation control system we made the real-time simulator for teleoperation. We have shown the validity of proposed scheme and performance of system via simulations and experiments used the real-time simulator.

  • 拡散方程式を用いた自律ロボットの感覚/運動マップの自己組織化

    羅 志偉

    日本学術振興会, 科学研究費助成事業 奨励研究(A), 奨励研究(A), 理化学研究所, 1996 - 1996

    今までのロボットシステムはティーチングプレィバック方式や、プログラミング方式など、人間のきめ細かな作業計画と教示に頼っている。これとは対照的に、生物システムは自己組織化することによって、巧みな運動機能を自律的に獲得している。生体運動の多様性・柔軟性に注目するとき、まず驚くことは、身体の冗長な運動自由度を作業に応じて柔軟に使いこなせる点である。本研究では、ロボットの自律性の向上を目指して、生体の感覚/運動系の自己組織化機能に学び、冗長ロボットの感覚/運動マップを形成する新しい自己組織化方式を提案した。この方式は拡散方程式を用いて、より少ない試行動作でかつ各ニューロン間の局所的な相互作用で、感覚/運動マップを学習できるという利点を持っている。また、形成されたマップの数理的な性質についても調べ、実際のロボットに応用する場合の有効範囲、存在する問題点などを検討した。 その結果、以下のような成果を得た. [1]:生体の自己組織化現象に関する従来視覚や聴覚などの研究実験結果、また数理的な考察を参照にして,拡散方程式をロボットの感覚/運動マップの自己組織化に応用する方式を提案し、また、できたマップの性質と問題点を明確にした。 [2]:上で得た自己組織化アルゴリズムを、いろいろな形を持つロボットを想定して、計算機上でシミュレーションによる確認を行った。具体的には、平面3リンクのマニピュレータによるシュミレーションを行い、ロボットの初期姿勢条件および境界条件がマップの形成に与える影響について検討した。

  • ベクトル場による未知環境のモデル化と接触作業ロボットへの応用

    羅 志偉

    日本学術振興会, 科学研究費助成事業 奨励研究(A), 奨励研究(A), 理化学研究所, 1995 - 1995

    黒板に文字を書く、ドアを開く、機械部品を組み立てる、紙コップを掴む、そして、薄板を曲げるなどといった作業は、すべて外部環境との機械的な接触、相互作用を伴う作業である。こうした接触作業について、人間は、今までのどのロボットよりも、まして、どんな動物よりも、上手に作業をこなすことができる。これは、人間の冗長な運動自由度に由来するものが大きいということはだれでも否定できないが、もっと根本的には、人間の知的な環境適応能力に起因することが大きいのではないかと考えられる。Mussa-Ivaldiらは蛙の生体実験を行い,蛙の神経-筋による骨格系の運動制御系が幾つかの平衡点を持つ基底場(基本モジュール)の線形結合で構成されることを明らかにしている.これに対して,本研究では,ロボットが接触作業を行う場合、ロボットの制御に用いる環境モデルもベクトル場でより有効に表現できることを主張し,接触作業実験による考察を与えた.その結果、以下のような成果を得た. a)基底場の線形結合でベクトル場を近似する理論について考察し、接触作業ロボットによる環境モデルのベクトル場表現とその推定問題に拡張した. b)ロボットの手先に力センサを装備し,未知な環境の何点で接触を行い,得られた接触力ベクトル情報と関節角度情報を統合し,全作業空間の環境に関する接触力のベクトル場を形成する実験を行い、未知環境のモデルを獲得できることを確認した. c)以上で得られた環境の法線ベクトル場モデルをロボットの位置/力ハイブリッド制御に利用し、未知な環境(剛体および柔軟物体)上でならい作業を有効に実行できたことを確認した.

  • DEVELOPMENT OF EMG CONTROLLED PROSTHETIC FOREARM USING ULTRASONICMOTORS

    ITO Koji, KATAYAMA Masazumi, MITA Katsumi, NISHIOKA Kenichi, AOYAMA Takashi, KATO Atsuo

    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Developmental Scientific Research (B), Grant-in-Aid for Developmental Scientific Research (B), TOYOHASHI UNIVERSITY OF TECHNOLOGY, 1993 - 1995

    In developing an artificial device, eg. a prosthetic forearm, which is used by a person to overcome disability, the following points have to be considered : (1) its manipulability should be simple and casy ; (2) its appearance should be physically similar to the actual limb ; (3) its weight should be light ; (4) its operating noise should be negligible, or nearly negligible ; and, (5) its power supply should be small and lightweight, In addition, the capability of the prosthctic device to mimic the response of the actual limb with respect to voluntary motor commands and to environmental loads should be addressed. We developed an EMG controlled prosthetic forearm with three degrees of freedom actuated by small size ultrasonic motors. Its weight is less than 700 g and the size is the same as the adult's forearm. The conventional prosthetic arm using DC motors produces a motion noise. So the reduction of the motion noise was one of the big problems to be soleved. Since our prosthetic forearm uses ultrasonic motors, it produces no motion noise. In addtion, the amputee can control six kinds of motions i. e. pronation and supnation of the forarm, flection and extension of the wrist, and grasping and hand-opening. The interface between the amputee and the prosthetic forearm was designed on the basis of the fact that the amputee still preserves the phantom limb motor map after amputation. It can discriminate the amputee's intended motion among six kinds of motions using the EMG signals from the remained muscles and also produce the command signals to control the prosthetic arm. Consequently, the amputee is able to manipulate the prosthetic arm as he intends and hes control load is relieved sharply.

  • ベクトル場の自己組織化理論とロボットのハイブリッド制御への応用

    羅 志偉

    日本学術振興会, 科学研究費助成事業 奨励研究(A), 奨励研究(A), 理化学研究所, 1994 - 1994

    現在の生産現場で活用されているロボットは教示された動作しかできず,不確実で複雑な作業環境や作業条件の変更には適切に対処できない.一方,生体は複雑な環境においても,神経系の自己組織化によって環境認識から運動制御までの機能を自律的に獲得し,環境に適応した行動を実現できる.Mussa-Ivaldらの生体実験によれば,蛙の神経筋による骨格系の運動制御が幾つかの平衡点を持つ基底場の線形結合で構成されるベクトル場によって行われている.このような生体の高度な運動機能を解明し,人工的に実現するすることを目指して,本研究は,ベクトル場の近似理論を解析し,接触作業ロボットへの応用を試みた.その結果、以下のような成果を得た. 1)基底場の線形結合でサンプルベクトルからベクトル場の近似理論を考察し、接触作業ロボットによる環境モデルのベクトル場表現とその推定問題に拡張した. 2)ロボットの手先に力センサを装備し,未知な環境の何点で接触を行い,得られた接触力ベクトル情報と関節角度情報を統合し,全作業空間の環境に関する接触力のベクトル場を自己組織的に形成する実験を行い、未知環境のモデルを獲得できることを確認した. 3)以上で得られた環境の法線ベクトル場モデルをロボットの位置/力ハイブリッド制御に利用し、未知な剛体環境におけるロボットの接触作業を有効に実行できた.

  • 筋骨格系のバイオメカニクスと運動機能に関する研究

    伊藤 宏司, 羅 志偉

    日本学術振興会, 科学研究費助成事業 重点領域研究, 重点領域研究, 豊橋技術科学大学, 1993 - 1993

    “歩く",“走る",“跳ぶ",といった身体全体の動きから,“まわす",“つまむ"といったマニピュレーションまで,我々が日常行っているさまざまな運動は,筋骨格系という多自由度のリンク機構を外部環境との相互作用のもとで適応的に制御することにより実現されている.たとえば,ボールや箱などを両手で操作する場合,物体の位置・姿勢制御とそれにかかる力(内力)の制御を同時に行う必要がある.特にボールのように変形する物体(ここでは,動的対象物と呼ぶ)の場合は,手先・関節・筋のインピーダンス設定と両上肢の冗長自由度拘束が重要な役割を果たす。本研究では,運動目的および対象物動特性と上肢インピーダンス・プランニングとの関係を解析し,マニピュレーション作業における人間の制御方策を明らかにすることを目的としている. 本年度は基礎実験として,手首関節により剛体および動的対象物を左右に移動させる実験を行った(肘は台に固定).右へ60mm移動させた時の両手首屈筋・伸筋のEMGを測定した.剛体対象物に対しては,対象物を右に駆動するため右手伸筋,左手屈筋のみが活動するのに対して,動的対象物では,左右手首関節の屈筋・伸筋が同時に活動することが明らかになった.屈筋・伸筋の同時活動は対象物の駆動には寄与しない.これは被験者が手首関節の運動インピーダンスを意図的に大きくして制御していることを意味する.また,対象物の粘性が小さい場合は,同時活動の振幅レベルがさらに大きくなる.このことは被験者が対象物の動特性に応じて手首関節のインピーダンスを調節していることを意味する.この調節原理が筋の双線形モデルを組み込んだ協調制御モデルで説明できることを示した.

  • 随意運動のプログラミング・制御とインピーダンス調節

    伊藤 宏司, 羅 志偉

    日本学術振興会, 科学研究費助成事業 重点領域研究, 重点領域研究, 豊橋技術科学大学, 1993 - 1993

    身体の巧みな運動/行動は、筋骨格系・脊髄のインピーダンス可変機構、およびそれらを操る高度な内部制御機構に支えられている.そこでは、フィードバックを主体とするサーボ制御や適応制御の上位機構として、外部環境の特性やそれらとの相互作用を表現した内部モデルが制御機構に組み込まれている.随意運動のプログラミングと制御にとって、これらの内部モデルの形成とそれに基づくフィードフォワード制御機構が本質的な役割を果たしていると考えられる. 本年度は、両手協調動作における手先インピーダンス調節を取り上げた.ボールや箱のような物体を両手で操作する場合、物体の位置・姿勢制御とそれにかかる力(内力)の制御を同時に行う必要がある.特にボールのように変形する物体(ここでは、動的対象物と呼ぶ)の場合は、手先・関節・筋のインピーダンス設定と両上肢の冗長自由度拘束が重要な役割を果たす.基礎実験として、手首関節により剛体および動的対象物を左右に移動させる実験を行った(肘は台に固定).右へ60mm移動させた時の両手首屈筋・伸筋のEMGを測定した.剛体対象物に対しては、対象物を右に駆動するため右手伸筋、左手屈筋のみが活動するのに対して、動的対象物では,左右手首関節の屈筋・伸筋が同時に活動することが明らかになった.屈筋・伸筋の同時活動は対象物の駆動には寄与しない.これは被験者が手首関節の運動インピーダンスを意図的に大きくして制御していることを意味する.また、対象物の粘性が小さい場合は、同時活動の振幅レベルがさらに大きくなる.このことは被験者が対象物の動特性に応じて手首関節のインピーダンスを調節していることを意味する。この調節原理が筋の双線形モデルを組み込んだ協調制御モデルで説明できることを示した.

  • 動的な作業環境における複数アームの自律協調制御

    羅 志偉

    日本学術振興会, 科学研究費助成事業 奨励研究(A), 奨励研究(A), 豊橋技術科学大学, 1993 - 1993

    近年、複数ロボットの協調制御に関する研究が活発に展開されてきている.しかし、そのほとんどは操作対象物を剛体とし、アーム間の静的な力学関係を制御するための手法の開発に限定されている.しかし、私達の日常生活の中では、紙コップをもって水を飲んだり、豆腐や玉子を操作することもできる。このようなマニピュレーションを実現するため、本研究では、動的な(外力により容易に変形する)作業環境または操作対象物に対して、複数のロボットアームが接触作業を行なうための協調制御策を解析した.その結果、以下のような成果を得た. 1)複数アームと動的な環境の相互作用に関する運動方程式を定式化し、作業要求(位置制御、接触力、内分配分)と協調制御の関係を明確にした. 2)協調制御を実現するための各アーム制御系の動作帯域を解析し、これらの帯域幅を調節するのに必要なアームの制御法をモデルマッチングに基づき求めた. 3)2台のロボットアームの手先に力センサを装着し、上記の制御法に基づき動的な対象物の運搬制御実験を行ない、良好な結果を得て、有効性を確認した. 4)人による動的な対象物の両手協調制御実験を行なった.両手先の接触力、位置情報、並びに手首関節の筋電位(EMG)から被験者がどのような帯域幅と内力配分で協調制御を行なっているかを解析した.その結果、被験者が対象物の機械的インピーダンス特性に応じて、手首関節のインピーダンスをあらかじめ調節して位置制御を行なっていることが明らかになった.すなわち、フィードバック制御だけでなく、環境の内部モデルに基づくフィードフォワード制御の重要性が示され、今後のロボットアームの協調制御を考察するうえで有用な知見を得ることができた.

  • "The study on Impedance Regulation and Cooperative Control for Human Movements"

    ITO Koji, TSUJI Toshio, LUO Zhi-Wei

    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for General Scientific Research (B), Grant-in-Aid for General Scientific Research (B), 1991 - 1993

    Advanced animals, including man, have a very high ability to voluntarily behave and move. Therefore, before the movement is actually output as a pattern of muscular activity, the programming of considerably complex behaviors and movements must be executed in advance. A variety of problems must be solved, for example, until the time pattern of muscular contraction is finally induced from the purpose of, such as, trying to drink water. In the present research, the following items were picked up from the variety of problems of human movements. 1)The relation between the mechanical mechanism of musculo-skeletal system and the regulation of motor impedance. 2)How are the operational and joint impedances of human body and limbs controlled corresponding to the voluntarily movements and object's impedance. 3)The pattern generation for human movements via motor impedance control. Though we got many interesting results, one of them has revealed that humans dexterously adjust hand force and hand impedance based on the nature of the task. Also, optimal use of impedance regulating mechanism featured by concurrent activities of the flexor and extensor of the muscles is achieved to set impedance at the wrist joint for the given task. This process of control defines the posture of redundant arm while allowing manipulatability of the hand be properly maintained. It also provides the hand with robustness against, or makes it less vulnerable to, external disturbances.

  • 工学と保健学・医学の学際連携による斬新な「健康工学」創成

    羅志偉

    概算要求 特別経費:, 国際的に卓越した教育研究拠点機能の充実, 神戸大学, Apr. 2010 - Mar. 2013, Principal investigator

  • 高度知能化総合介護支援システム技術の研究開発

    羅志偉

    知的クラスター創成事業, 神戸大学, Apr. 2008 - Mar. 2010

Industrial Property Rights

  • エラスティックフレキシブルセンサ

    LUO Zhi-Wei

    特願2013-191027, 13 Sep. 2013, 大学長, 特許6165002, 30 Jun. 2017

    Patent right

  • 肩関節機構及びこれを備えたロボット

    LUO Zhi-Wei, 長野 明紀

    特願2012-235821, 25 Oct. 2012, 大学長, 特許6099356, 03 Mar. 2017

    Patent right

  • 足首インピーダンスの測定方法

    LUO Zhi-Wei

    特願2011-219185, 03 Oct. 2011, 大学長, 特許5884221, 19 Feb. 2016

    Patent right

  • 足首インピーダンスの測定装置

    LUO Zhi-Wei, 林 健志

    特願2010-225939, 05 Oct. 2010, 大学長, 特許5594689, 15 Aug. 2014

    Patent right

  • 高分子アクチュエータ

    福田武司, 伊藤彩 安西弘行, 羅志偉

    特願2013-252927, 06 Dec. 2013, 特許6284758, 09 Feb. 2018

    Patent right

  • 高分子アクチュエータ

    福田武司, 鈴木彩, 太田貴啓, 南方伸之, 羅志偉

    特願2014-65271, 27 Mar. 2014, 特許6276624, 19 Jan. 2018

    Patent right

  • センサ

    重藤純一, 福田武司, 安西弘行, 羅志偉

    特願2013-4666, 15 Jan. 2013, 特許6222930, 13 Oct. 2017

    Patent right

  • 曲げセンサー

    重藤純一, 福田武司, 小野洋明, 羅志偉

    特願2013-174591, 26 Aug. 2013, 特許6192436, 18 Aug. 2017

    Patent right

  • センサーの製造方法

    重藤純一, 福田武司, 安西弘行, 羅志偉

    特願2013-174595, 26 Aug. 2013, 特許6141721, 12 May 2017

    Patent right

  • 触覚センサー

    重藤純一, 福田武司, 小野洋明, 羅志偉

    特願2012-232006, 26 Aug. 2013, 特許6141720, 12 May 2017

    Patent right

  • センサとその製造方法

    重藤純一, 福田武司, 小野洋明, 羅志偉

    特願2013-4662, 15 Jan. 2013, 特許6097081, 24 Feb. 2017

    Patent right

  • センサ機能付き統合型ソフトアクチュエータ

    山北昌毅, 安積欣志, 羅志偉

    特願2006-148152, 29 May 2006, 特許5114722, 26 Oct. 2012

    Patent right

  • 二足歩行ロボットとその歩行制御方法

    浅野文彦, 羅志

    特願2004-339737, 25 Nov. 2004, 特許4707372, 25 Mar. 2011

    Patent right

  • 有限回転型高分子アクチュエータ

    高木賢太郎, 羅志偉, 安積欣志, 田原健二

    特願2004-319391, 02 Nov. 2004, 特許4699007, 11 Mar. 2011

    Patent right

  • 身まねロボットシステムとその身まね動作制御方法

    大西正輝, 小田島正, 羅志偉

    特願2005-8578, 17 Jan. 2005, 特許4463120, 26 Feb. 2010

    Patent right

  • 直動人工筋アクチュエータおよび直動人工筋アクチュエータの製造方法

    山北 昌毅, 釜道紀浩, 羅志偉 安積欣志

    2003-109575, 14 Apr. 2003, 特許4385091, 09 Oct. 2009

    Patent right

  • 光センサ用感度調節方法、光センサ用感度調節装置、ビジュアルトラッキング制御方法及びビジュアルトラッキング制御装置

    羅志偉

    特願2003-27648, 04 Feb. 2003, 独立行政法人理化学研究所, 特許4340805, 17 Jul. 2009

    Patent right

Social Contribution

  • 神戸市 介護リハビリロボット産業化支援サポートチーム サポートメンバー

    神戸市

    2019

  • 厚生労働省 介護・医療等ロボットの普及・実用化促進事業 審査委員

    Commentator, 2015

  • 神戸医療産業都市 医療機器等事業化促進プラットフォーム委員会 委員

    2013

  • 健康科学推進会議 初代議長、顧問

    2011

  • 神戸医療産業都市構想一般公開 「神戸大学一日出張研究室」 毎年

    神戸市

    2010 - 2020

  • 平成24年度福祉用具適正ガイドライン検討委員会

    神戸市

    2012

  • 厚生労働省老人保健事業推進費等補助金老人保健健康増進等事業 骨粗鬆症による骨折のリハビリテーションにおける福祉用具の適正な利用の促進に関する調査研究

    神戸市

    2011

  • ドラえもんの科学みらい展 アドバイザー

    日本科学未来館

    2010 - 2012

  • 介護支援ロボット開発研究会 委員長

    (財)新産業創造研究機構

    Jul. 2009 - Mar. 2010

  • 神戸RT構想産業化検討会議 委員

    神戸市産業振興局

    2009

Media Coverage

  • ティールーム:新産業創成へ
    日刊工業新聞, Jul. 2012

    Paper

  • 社説
    毎日新聞, Feb. 2010

    Paper

  • 寄り添って「心」動かす
    神戸新聞(夕刊), Jan. 2010

    Paper

  • 脳の活動でロボット操縦
    日本経済新聞, 2008

    Paper

  • 日本の工業
    ホプラディア情報館, 2008

    Paper

  • Horizon Scan Report 2007 Towards a Future Oriented Policy and Knowledge Agenda
    HORIZON scan,, Jan. 2008

    Paper

  • 理研の最前線:生物の運動機能模倣
    日刊工業新聞, Jan. 2007

    Paper

  • テクノロマン・インタビュー
    商工ジャーナル, Jan. 2007

    Paper

  • Robots: Ils assurent!
    SCIENCE & VIE, p.31, Jan. 2007

    Paper

  • Le nouveau Japon
    GEO, Jan. 2007

    Paper

  • テクノロジー・イラストレイティッド
    Newton, 2007

    Paper

  • ロボット大集合
    こども写真ひゃっか, 2007

    Paper

  • 第三の家族-長寿社会をもっと豊かに
    あいち2007, 2007

    PR

  • Hightech, pflegen
    Demenz, 2007

    Paper

  • 社説 ロボットも介護の一助に
    中日新聞, Dec. 2006

    Paper

  • Best Inventions 2006
    TIME, Nov. 2006

    Paper

  • 健康寿命長く新技術後押し
    日本経済新聞 1面, Nov. 2006

    Paper

  • 科学進歩ビックリスクープ!!
    チャレンジ4年生 わくわく発見BOOK, Oct. 2006

    Paper

  • IEEE Fellows Survey
    IEEE Spectrum, Oct. 2006

    Paper

  • ワールドビジネスサテライト
    テレビ愛知(テレビ東京系列), Oct. 2006

    Media report

  • キャリアブレイン
    メディカルTV, Oct. 2006

    Media report

  • スーパーニュース
    東海テレビ(フジテレビ系列), Oct. 2006

    Media report

  • 人型介護支援ロボット
    日経産業新聞, Oct. 2006

    Paper

  • ロボットと生活疑似体験
    日本経済新聞, Oct. 2006

  • ニュースな銘柄
    日経マネー, pp.7-8, No.280, Jun. 2006

    Paper

  • 最近・家づくり事情
    Memo 男の部屋 p.124, Vol.6, Jun. 2006

    Paper

  • 父と娘の日常会話
    ロボコンマガジン, Jun. 2006

    Paper

  • 少子高齢化社会の役割焦点
    フジサンケイ ビジネスアイ, Jun. 2006

    Paper

  • 少子高齢化社会で
    日経産業新聞, Jun. 2006

    Paper

  • 知のロボットがやってくる
    日経産業新聞, Jun. 2006

    Paper

  • 日本ど真ん中の研究開発拠点
    日本経済新聞 全面, Jun. 2006

    Paper

  • 人を優しく抱くことができる触覚のあるロボット
    子供の科学, p.21, 5月号, May 2006

    Paper

  • 人と暮らせるロボ
    DIME, p.112, 5月2日号, May 2006

    Paper

  • 東海の先端技術
    中部財界, 第49巻, 第5号, pp.28-29, May 2006

    Paper

  • 最新業界トピックス
    businessSEEK, Leopalace21, p.5, Vol.15, Apr. 2006

    Paper

  • Entertainment Watch
    GyaO, Apr. 2006

    Internet

  • 人を抱き上げるロボット開発
    教育学術新聞, Apr. 2006

    Paper

  • 視点 開発進む介護用ロボット
    日刊工業新聞, Apr. 2006

    Paper

  • 夕歩道
    中日新聞 1面, Apr. 2006

    Paper

  • ひと:羅志偉
    毎日新聞, Mar. 2006

    Paper

  • Japan und die Roboter
    in Asient, Mar. 2006

    Paper

  • MAN'S NEW BEST FRIEND?
    TIME, Mar. 2006

    Paper

  • ユーガッタ!
    CBCテレビ, Mar. 2006

    Media report

  • マイユウ!
    テレビ愛知, Mar. 2006

    Media report

  • ほっとイブニング
    NHK総合, Mar. 2006

    Media report

  • スーパーニュース
    東海テレビ, Mar. 2006

    Media report

  • NHK総合ニュース
    NHK, Mar. 2006

    Media report

  • ニュースプラスワン
    中京テレビ, Mar. 2006

    Media report

  • おはよう日本
    NHK総合, Mar. 2006

  • 特選朝いちどですか!, メ~テレ
    名古屋テレビ, Mar. 2006

    Media report

  • おめざめワイド
    中京テレビ, Mar. 2006

    Media report

  • UP!, メ~テレ
    名古屋テレビ, Mar. 2006

    Media report

  • スーパーニュース
    フジテレビ, Mar. 2006

    Media report

  • スーパーニュース
    東海テレビ, Mar. 2006

    Media report

  • 介護ロボット誕生
    日本農業新聞, Mar. 2006

    Paper

  • 人を抱き上げるロボ
    フジサンイケイ ビジネスアイ, Mar. 2006

    Paper

  • 人も物も落としません
    日経産業新聞, Mar. 2006

    Paper

  • 理研が人形抱き上げロボ
    日刊工業新聞, Mar. 2006

  • 腕で人を抱くロボット開発
    中部経済新聞, Mar. 2006

    Paper

  • 優しく抱けます
    日本経済新聞, Mar. 2006

    Paper

  • 介護ロボ初めの一歩
    中日新聞 1面, Mar. 2006

    Paper

  • 介護に期待 抱っこロボ
    毎日新聞 1面, Mar. 2006

    Paper

  • 抱っこロボ登場
    読売新聞, Mar. 2006

    Paper

  • 中日春秋
    中日新聞 1面, Mar. 2006

    Paper

  • 人を抱き上げられるロボット
    化学工業日報, Mar. 2006

    Paper

  • 筆洗
    東京新聞 1面, Mar. 2006

    Paper

  • さわって「もち肌」ロボ
    朝日新聞 1面, Feb. 2006

    Paper

  • サイエンス ナウ
    ジュニアサイエンティスト p.19, No.5, 2006

    Paper

  • News Review
    Bionics 第3巻, 第6号, 2006

    Paper

  • Wohliges Gurren
    Wirtschafts Woche, 2006

    Paper

  • 未来に向かって進化するロボット
    ロボットマスター, 2006

    Paper

  • 最新ロボット登場
    安全衛生のひろば, 2006

    Paper

  • 介護最前線
    ふれあいの輪, 2006

    Paper

  • 100人の学者が教えます!これが正解アカデミー
    フジテレビジオン放送, Mar. 2013

    Media report

Academic Contribution

  • 第65回システム制御情報学会研究発表講演会 (SCI'21) 組織委員会 副委員長

    第65回システム制御情報学会研究発表講演会 (SCI'21) 組織委員会 副委員長

    2021

  • 第64回システム制御情報学会研究発表講演会 (SCI'20) 実行委員会 委員長

    第64回システム制御情報学会研究発表講演会 (SCI'20) 実行委員会 委員長

    2020

    Competition etc

  • 計測自動制御学会 関西支部 支部長 (2020)

    計測自動制御学会 関西支部 支部長 (2020)

    2020

    Academic society etc

  • 計測自動制御学会 フェロー

    計測自動制御学会 フェロー

    2016

  • 日本ロボット学会 会誌・論文誌 編集委員

    日本ロボット学会 会誌・論文誌 編集委員

    2015

    Academic society etc

  • 人間情報学会 理事

    人間情報学会 理事

    2014

    Academic society etc

  • 2013 IEEE/SICE International Symposium on System Integration (SII2013) General Chair

    2013 IEEE/SICE International Symposium on System Integration (SII2013) General Chair

    2013

  • SICE Annual Conference 2010 Award & Support Co-Chair

    SICE Annual Conference 2010 Award & Support Co-Chair

    2010

    Competition etc

  • 2009 IEEE Int. Conference on Robotics and Automation, Social Activities Chair

    2009 IEEE Int. Conference on Robotics and Automation, Social Activities Chair

    2009

  • IEEE Transactions on Robotics, Associate Editor、2008

    IEEE Transactions on Robotics, Associate Editor、2008

    2008

    Academic society etc

  • システム制御情報学会 理事、評議員 (2009)

    システム制御情報学会 理事、評議員 (2009)

    2009

    Academic society etc

  • 第26回日本ロボット学会学術講演会 プログラム委員会 委員長

    第26回日本ロボット学会学術講演会 プログラム委員会 委員長

    2008

    Competition etc

  • システム制御情報学会 会誌・論文誌 編集委員 (2007-2009)

    システム制御情報学会 会誌・論文誌 編集委員 (2007-2009)

    2007

  • The 7th Asia-Pacific Conference on Control and Measurement, Program Chair

    The 7th Asia-Pacific Conference on Control and Measurement, Program Chair

    2005

    Academic society etc

  • 第二回人工筋肉国際会議 副会長 2004

    第二回人工筋肉国際会議 副会長 2004

    2004

  • 文部科学省 日本技術文化WG 幹事

    文部科学省 日本技術文化WG 幹事

    2003

    Academic research

  • 日本機械学会ロボメカ部門東北地方委員会 副委員長

    日本機械学会ロボメカ部門東北地方委員会 副委員長

    2000

    Academic society etc

  • 計測自動制御学会 中部支部 理事

    計測自動制御学会 中部支部 理事

    2002

  • International Symposium on Artificial Intelligence in Medical Sciences 2020, Vice Chair

    International Symposium on Artificial Intelligence in Medical Sciences 2020, Vice Chair

    2020

  • Frontiers in Bioengineering and Biotechnology, Guest Associate Editor

    Frontiers in Bioengineering and Biotechnology, Guest Associate Editor

    2020

    Review

  • 第29回日本医学会総会 実行委員会 公開展示担当委員会 委員

    第29回日本医学会総会 実行委員会 公開展示担当委員会 委員

    第29回日本医学会総会

    2015

    Exhibition

  • 計測自動制御学会 中部支部 理事

    計測自動制御学会 中部支部 理事

    1998

  • The University of Western Australia, The School of Computer Science and Software Engineering 評価委員

    The University of Western Australia, The School of Computer Science and Software Engineering 評価委員

    The University of Western Australia

    Nov. 2013

  • 計測自動制御学会 代議員

    計測自動制御学会 代議員

    計測自動制御学会

    2021 - 2022

    Academic society etc