研究者紹介システム

田﨑 勇一
タザキ ユウイチ
大学院工学研究科 機械工学専攻
准教授
機械工学関係
Last Updated :2022/06/29

研究者情報

所属

  • 【主配置】

    大学院工学研究科 機械工学専攻
  • 【配置】

    工学部 機械工学科

学位

  • 博士(工学), 東京工業大学
  • 屋外活動可能な自律移動ロボットに関する研究

授業科目

ジャンル

  • 科学・技術 / 工学

コメントテーマ

  • 移動ロボット
  • 自動駐車システム
  • 二足歩行ロボット
  • 前方車追従

研究活動

研究キーワード

  • 移動ロボット
  • 人型ロボット
  • ハイブリッドシステム理論

研究分野

  • 情報通信 / 機械力学、メカトロニクス / ロボット工学
  • 情報通信 / ロボティクス、知能機械システム / ロボット工学

論文

  • 田原 幹久, 永野 光, 田崎 勇一, 横小路 泰義

    This paper presents a wearable fingertip tactile display for rendering of forces by skin deformation to index finger with six-Revolute-Spherical-Spherical(6-RSS) parallel link mechanism. It is composed of a static baseplate and a mobile endplate which are connected by six legs. The baseplate is located on the nail side of the finger and the mobile endplate can move in six-degree-of-freedom(6DoF), with contact-no contact capabilities, by the legs actuated by the motors. At first, we decided the operation range of the endplate on finger pad for rendering of orientation, stiffness, and weight. Secondly, we decided the parameters that include the length of arm and rod, the position where index finger are fixed. Finally, we designed a prototype using the parameters.

    一般社団法人 日本機械学会, 2020年, ロボティクス・メカトロニクス講演会講演概要集, 2020, 2A1 - P18, 日本語

  • 木下 祐樹, 永野 光, 佐瀬 一弥, 昆陽 雅司, 田崎 勇一, 横小路 泰義

    Both the cutaneous and kinesthetic informations contribute to the stiffness perception. We aim to investigate the contributions of these tactile informations to the stiffness perception on the basis of Young's modulus, which is a materials property indicating the degree of stiffness. In this paper, we constructed a device that can independently present cutaneous and kinesthetic informations. These informations are presented as reaction force and pressure distribution obtained by the Hertzian contact theory, and this integrated device is constructed by combining the devices that present each. In addition, we conducted a subject experiment for the pushing action on a virtual object, and investigated how the contributions of the two tactile informations change depending on the variation in Young's modulus. In the experiment, the subjects ranked the virtual objects according to their stiffness, and the results were analyzed based on the originally defined Similarity between the presented and answered rank.

    一般社団法人 日本機械学会, 2020年, ロボティクス・メカトロニクス講演会講演概要集, 2020, 2A2 - N15, 日本語

  • 辻 廣樹, 片山 雷太, 永野 光, 田崎 勇一, 横小路 泰義

    We proposed a method for constraining the master arm's hand orientation to that of the slave arm in the master-slave teleoperation. In this paper, we propose a new commanding method that switches multiple reference coordinate systems arbitrarily using the constrained hand orientation method. When referring to the basic coordinate system, the master arm is in joystick mode for translation command and in master-slave mode for rotation command. On the other hand, when referring to the hand coordinate system, it is in master-slave mode for translation command and in joystick mode for rotation command. We have verified the effectiveness of the method by experiments with actual equipment, and show the results of the experiments.

    一般社団法人 日本機械学会, 2020年, ロボティクス・メカトロニクス講演会講演概要集, 2020, 2P1 - P07, 日本語

  • 田和 隼輔, 永野 光, 田崎 勇一, 横小路 泰義

    In this study, we construct a method to present the movement of an object at a position away from the body in order to provide experiences having higher presence and improve operability. We present a sense of object movement using lightweight and inexpensive vibrators, so we give Phantom Sensation, one of the tactile illusions. In previous studies, it showed a sense of object movement between vibrators, so we propose new algorithm for extending Phantom Sensation. The best algorithm was considered through experiments in which the participants felt a sense of object movement by the presented stimulus after training with each algorithm.

    一般社団法人 日本機械学会, 2020年, ロボティクス・メカトロニクス講演会講演概要集, 2020, 2A1 - P10, 日本語

  • Gwanwoo Kim, Hiroki Kuribayashi, Yuichi Tazaki, Yasuyoshi Yokokohji

    2018年, 2018 IEEE-RAS 18th International Conference on Humanoid Robots, 1 - 9, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • 田中 謙伍, 田崎 勇一, 横小路 泰義

    We have been investigating a new performance evaluation method for remote control robots focusing on the "sense of unity". In the previous report, we examined whether or not it is possible to evaluate how much the operator has the "sense of unity" with the remote robot by using the Crossmodal Congruency Effect (CCE). In this report, we examined the influence of the required forces to operate the master arm on the maneuverability of the remote control system experimentally and compared the obtained results with CCE. Although the experimental result did not show much influence of the required forces on the maneuverability of the remote control system, it suggests that CCE can be an operability index for remote control robots.

    一般社団法人 日本機械学会, 2018年, ロボティクス・メカトロニクス講演会講演概要集, 2018 (0), 1P2 - M01, 日本語

    [査読有り]

  • Parking Trajectory Planning Using Multi-resolution State Roadmaps

    Y. Tazaki, H. Okuda, T. Suzuki

    2017年, IEEE Transactions on Intelligent Vehicles, 2 (4), 298 - 307, 英語

    [査読有り]

    研究論文(学術雑誌)

  • 岡田 大貴, 横小路 泰義, 田崎 勇一, 吉灘 裕, 中村 晋也, 倉鋪 圭太

    This paper shows the result of demonstration of the force feedback method for the single arm type construction robot. The external load is estimated from cylinder pressures and displayed to the operator through a haptic device. In this experiment, however, it was difficult to estimate impulsive forces when the end effector collides with the environment because the angular acceleration was not measured accurately. In order to improve the accuracy of the load estimation, we propose a new method where the angular acceleration is measured accurately by acceleration sensors. From the experiment, we confirmed that the impulsive forces can be estimated more accurately by the new method.

    一般社団法人 日本機械学会, 2017年, ロボティクス・メカトロニクス講演会講演概要集, 2017 (0), 2A1 - P06, 日本語

    [査読有り]

  • Yuichi Tazaki, Yuki Miyauchi, Yasuyoshi Yokokohji

    2017年, Proc. 2017 IEEE, SICE International Symposium on System Integration (SII2017), 411 - 416, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Kouta Goto, 田﨑 勇一, Tatsuya Suzuki

    Fuji Press, 2016年08月, Journal of Robotics and Mechatronics, 28 (4), 533 - 542, 英語

    [査読有り]

    研究論文(学術雑誌)

  • Yuichi Tazaki, Jingyu Xiang, Tatsuya Suzuki, Blaine Levedahl

    This research develops a method for trajectory planning of robotic systems with differential constraints based on hierarchical partitioning of a continuous state space. Unlike conventional roadmaps which is constructed in the configuration space, the proposed state roadmap also includes additional state information, such as velocity and orientation. A bounded domain of the additional state is partitioned into sub-intervals with multiple resolution levels. Each node of a state roadmap consists of a fixed position and an interval of additional state values. A valid transition is defined between a pair of nodes if any combination of additional states, within their respective intervals, produces a trajectory that satisfies a set of safety constraints. In this manner, a trajectory connecting arbitrary start and goal states subject to safety constraints can be obtained by applying a graph search technique on the state roadmap. The hierarchical nature of the state roadmap reduces the computational cost of roadmap construction, the required storage size of computed roadmaps, as well as the computational cost of path planning. The state roadmap method is evaluated in the trajectory planning examples of an omni-directional mobile robot and a car-like robot with collision avoidance and various types of constraints.

    IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG, 2016年05月, IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E99A (5), 954 - 962, 英語

    [査読有り]

    研究論文(学術雑誌)

  • 運転個性を反映したモデル予測型自動運転システム : 評価関数推定手法の提案

    古賀 あやめ, 奥田 裕之, 田崎 勇一, 鈴木 達也, 原口 健太郎, 康 子博

    2016年, 自動車技術会論文集, 47 (6), 1431 - 1437, 日本語

    [査読有り]

    研究論文(学術雑誌)

  • Realization of Different Driving Characteristics for Autonomous Drive by Using Model Predictive Control

    A. Koga, H. Okuda, Y. Tazaki, T. Suzuki, K. Haraguchi, Z. Kang

    2016年, IEEE Intelligent Vehicles Symposium, 800 - 806, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Realization of Different Driving Characteristics for Autonomous Vehicle by Using Model Predictive Control

    Ayame Koga, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki, Kentaro Haraguchi, Zibo Kang

    This paper presents a control system for autonomous driving based on MPC in which driving style can be easily modified by changing control parameters. Each of the motion controls for the longitudinal and the lateral direction are formulated as the model predictive control problem. Finally the experimental verification by using driving simulator and a real electric vehicle is performed by implementing MPC on each platform, and it is confirmed that the proposed system can produce a large variety of driving characteristics. The implemented MPC package will also be beneficial to the developers and researchers in various fields other than control engineering field.

    IEEE, 2016年, 2016 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 722 - 728, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • 追従タスクにおける判断の曖昧さ指標を用いた二重副次課題法に基づく車内機器の操作性評価法

    奥田裕之, 近藤悠太, 田崎勇一

    2015年, 自動車技術会論文集, 46 (1), 153 - 160, 日本語

    [査読有り]

    研究論文(学術雑誌)

  • Takuma Yamaguchi, Jumpei Tatebe, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki, Takafumi Ito, Kenji Muto

    The driver assistance control needs to satisfy the safety and acceptability requirements. These two requirements sometimes may conflict is ilk each other depending on the situation and driver. In order to resolve this problem, this paper proposes a new personalized assistance control scheme based on a model predictive computation of constraint satisfaction. The key idea is to design the real time decision system to decide whether the driver-vehicle model satisfies the safe t constraints or not in the predicted horizon. The lateral motion (collision avoidance task) is particularly focused on, and the validity of the proposed assistance system is verified by sonic examinations using driving simulator.

    IEEE, 2015年, 2015 IEEE 18TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, 1304 - 1310, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Autonomous Lane Tracking Reflecting Skilled / Un-Skilled Driving Characteristics

    Ayame Koga, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki, Blaine Levedahl, Kentaro Haraguchi, Zibo Kang

    This paper presents an autonomous lane tracking that reflects different driving characteristics using model predictive control (MPC). We consider that human driver minimizes a cost function depending on his/her skill, experience, and preference on driving. The cost function of MPC can be used to model personal driving characteristics. To identify the parameters of cost function, at first, we analyze the difference of driving characteristics between skilled and un-skilled drivers through experiments of driving behavior on a driving simulator (DS). Next, we introduce "meta-performance indices" that can evaluate human driving data of experiment and results of autonomous driving. These parameters are expected to express the driving characteristics as a group, i.e., not tuned to personal driver. Finally, the validity of the proposed system is verified.

    IEEE, 2015年, IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 3175 - 3180, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Model Predictive Cooperative Cruise Control In Mixed Traffic

    Hyuntai Chin, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki

    This paper presents cooperative adaptive cruising control of multiple cars in automated/un-automated mixed traffic. In order to take account of un-automated cars, the vehicle maneuver is expressed as a PrARX model that is a continuous approximation of hybrid dynamical system. The PrARX model describes the driver's logical decision making as well as continuous maneuver in a uniform manner. The acceleration inputs of automated vehicles are computed in model predictive control framework where the state equation includes a platoon of automated and un-automated cars coupled with PrARX driver models. For computing assisting outputs in real time, a fast computation method for nonlinear model predictive control based on the continuation technique is employed. Simulation studies of the proposed CACC system indicates that explicit prediction of un-automated cars improves the overall stability of the platoon.

    IEEE, 2015年, IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 3199 - 3205, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Yuichi Tazaki, Tatsuya Suzuki

    This paper presents a trajectory-planning method for multibody systems. Trajectory planning of a multibody system is formulated as a constraint-solving problem on a set of variables expressing the motion of the multibody system over a finite-time interval. Constraints express the dynamics of rigid bodies, kinematic conditions of joints, various range limitations, as well as achievement of tasks, and they can be assigned different priority levels. The prioritized constraint-solving problem is then treated under the framework of lexicographical goal programming, where the local optimality of the problem is characterized in terms of Pareto efficiency condition. Based on this observation, an algorithm that iteratively updates the variables toward a locally optimal solution is derived. The proposed method is evaluated in simulation examples.

    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2014年10月, IEEE TRANSACTIONS ON ROBOTICS, 30 (5), 1227 - 1234, 英語

    [査読有り]

    研究論文(学術雑誌)

  • Jingyu Xiang, Yuichi Tazaki, Shinkichi Inagaki, Tatsuya Suzuki

    This paper presents a method that allows simultaneous map building and path planning for mobile robots in unknown environments. A graphical representation of a workspace in variable resolutions is constructed using measurement data obtained by omnidirectional distance sensors. At the same time, a search for a feasible path to the target destination is executed using the constructed graph map. The proposed method is evaluated by performing simulations and experiments using an omnidirectional mobile robot equipped with laser range finders. (c) 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(4): 59-69, 2014; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22493

    WILEY-BLACKWELL, 2014年03月, ELECTRICAL ENGINEERING IN JAPAN, 186 (4), 59 - 69, 英語

    [査読有り]

    研究論文(学術雑誌)

  • Model Predictive Driver Assistance Control for Cooperative Cruise based on Hybrid System Driver Model

    Hiroyuki Okuda, Xiaolin Guo, Yuichi Tazaki, Tatsuya Suzuki, Blaine Levedahl

    This paper presents a driver assisting system for coorperative cruising of multiple cars. In order to account for personal difference of individual drivers, each driver's vehicle following skill on expressways is identified as a PrARX model, a continuous approximation of hybrid dynamical system. The PrARX model describes the driver's logical decision making as well as continuous maneuvering in a uniform manner. The assisting acceleration is computed in the framework of model predictive control, where the plant model is a platoon of cars coupled with PrARX driver models. For computing assisting outputs in real time, a fast computation method for nonlinear model predictive control based on the continuation technique is employed. The proposed assisting system is tested in numerical simulations and on a driving simulator with a real human driver. The high speed calculation of the Homotopy method is also proved by comparison to the conventional method. Finally, the advantage of global optimization for cooperative safety is confirmed by comparing its control performance with the local optimization for individual safety.

    IEEE, 2014年, 2014 AMERICAN CONTROL CONFERENCE (ACC), 4630 - 4636, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Trajectory Planning for Automated Parking Using Multi-resolution State Roadmap Considering Non-holonomic Constraints

    Hiroshi Fuji, Jingyu Xiang, Yuichi Tazaki, Blaine Levedahl, Tatsuya Suzuki

    This paper presents a trajectory planning method for automated parking. The proposed method constructs a state roadmap in which each node contains not only position but also orientation information of the vehicle. The roadmap is constructed by dividing the orientation space in multiple resolutions considering the non-holonomic constraints of the vehicle and the collision-avoidance constraints between the vehicle and the boundary of the parking environment. Using the state roadmap, a complex parking trajectory composed of both forward and reverse motions can be computed with small online computation cost. The proposed method is evaluated in both numerical simulations and an experiment using an electric vehicle.

    IEEE, 2014年, 2014 IEEE INTELLIGENT VEHICLES SYMPOSIUM PROCEEDINGS, 407 - 413, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Multi-robot Scheduling and Trajectory Planning Using State Roadmap

    Yuichi Tazaki, Tatsuya Suzuki

    This paper proposes a scheduling and trajectory planning method that constructs collision-free and optimized trajectories for a team of multiple robots. The proposed method consists of path planning and scheduling. First, each robot performs path planning using a state roadmap. Using a state roadmap, each robot can find a path that navigates the robot to the destination without collisions with static obstacles. Second, the scheduler adjusts the departing times and the velocities at the via-points of all robots to avoid collisions between the robots and to minimize the sum of arrival times of the robots. The proposed method is evaluated through simulations.

    IEEE, 2014年, 2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE), 1272 - 1277, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Path Planning of Mobile Robots Considering Position Uncertainty and Cost of Observation

    Y. Tazaki, T. Suzuki

    2014年, SICE Journal of Control, Measurement, and System Integration, 7 (3), 183 - 190, 英語

    [査読有り]

    研究論文(学術雑誌)

  • Hitoshi Terai, Kazuhisa Miwa, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki, Kazuaki Kojima, Junya Morita, Akihiro Maehigashi, Kazuya Takeda

    2013年08月, Proceedings of the 35th Annual Meeting of the Cognitive Science Society, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • マルチボディシステムの拘束ベース多目的軌道計画

    田崎勇一, 鈴木周一, 鈴木達也

    2013年06月, 日本ロボット学会誌, 31 (5), 508 - 516, 日本語

    [査読有り]

    研究論文(学術雑誌)

  • 移動ロボットの走行安全性に基づく可変分解能速度マップ生成

    項警宇, 田崎勇一, 鈴木達也

    2013年05月, 電気学会論文誌C分冊, 133 (5), 1029 - 1040, 日本語

    [査読有り]

    研究論文(学術雑誌)

  • Hiroyuki Okuda, Norimitsu Ikami, Tatsuya Suzuki, Yuichi Tazaki, Kazuya Takeda

    This paper proposes a probability-weighted autoregressive exogenous (PrARX) model wherein the multiple ARX models are composed of the probabilistic weighting functions. This model can represent both the motion-control and decision-making aspects of the driving behavior. As the probabilistic weighting function, a "softmax" function is introduced. Then, the parameter estimation problem for the proposed model is formulated as a single optimization problem. The "soft" partition defined by the PrARX model can represent the decision-making characteristics of the driver with vagueness. This vagueness can be quantified by introducing the "decision entropy." In addition, it can be easily extended to the online estimation scheme due to its small computational cost. Finally, the proposed model is applied to the modeling of the vehicle-following task, and the usefulness of the model is verified and discussed.

    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2013年03月, IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 14 (1), 98 - 112, 英語

    [査読有り]

    研究論文(学術雑誌)

  • 個人適合型ポテンシャル法に基づく障害物回避アシスト制御

    奥田裕之, 能登紀泰, 田崎勇一, 鈴木達也

    2013年, 自動車技術会論文集, 44 (3), 895 - 901, 日本語

    [査読有り]

    研究論文(学術雑誌)

  • 排他機構を組み込んだコンセンサス制御による協調的自動駐車システム

    能登紀泰, 奥田裕之, 田崎勇一

    2013年, 計測自動制御学会論文集, 49 (11), 986 - 993, 日本語

    [査読有り]

    研究論文(学術雑誌)

  • An Experimental Study on Longitudinal Driving Assistance based on Model Predictive Control

    Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki

    This paper presents a novel personalized driver assistance system(PDAS) based on the model predictive control(MPC) together with a continuous/discrete hybrid dynamical system model of the driving behavior. First of all, the driving behavior is identified as the piecewise ARX model. Then, it is explicitly embedded in the optimization problem for finding the optimal assisting output. Since the driving behavior includes some binary variables, the optimization problem is formulated as the mixed integer programming. Some adaptation mechanism to accommodate to the change of the situation is particularly discussed. Finally, the proposed scheme is tested by using the real vehicle wherein the real-time assisting control based on MPC is implemented.

    IEEE, 2013年, 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 183 - 188, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Fast Computation of Model Predictive Driver Assistance Based on Hybrid System Behavior Model

    H. Okuda, X. Guo, Y. Tazaki

    2013年, SICE Annual Conference, 1429 - 1430, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Kazuma Kato, Yuichi Tazaki, Tatsuya Suzuki, Blaine Levedahl, Hiroyuki Okuda

    This research develops a metric for the evaluation of an automobile driver's distraction based on a mathematical driving behavior model. Driving data was collected in a driving simulator. The primary task was to maintain a constant following distance behind a lead vehicle. The secondary task, which brings about the distraction, is to operate the in-car touch panel. A PrARX model is used to describe the vehicle-following behavior. In the PrARX model, the weighting parameter represents the driver's logical decision making and the auto-regressive exogenous models characterize the driver's continuous-time motion control behavior. By calculating the entropy of the PrARX model, the driver's distraction, which is considered a degradation of decision-making ability, is assessed in a quantitative manner.

    IEEE, 2013年, 2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013), 1912 - 1917, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Jingyu Xiang, Yuichi Tazaki, Tatsuya Suzuki, Blaine Levedahl

    This research develops a new roadmap method for autonomous vehicles based on variable-resolution partitioning of a continuous state-time space. Unlike conventional roadmaps, which include position information only, the proposed roadmap also includes velocity and time information. Each node of the proposed roadmap contains position and velocity information and is the same as a Variable-resolution Velocity Roadmap (VVR). Each directed link of the proposed roadmap has a range of time values, where the time ranges are determined by variable-resolution partitioning of the time space. An ordered pair of nodes is connected by a directed link within a time region if any combination of their velocity and time values is within the acceptable range of the nodes and produces a trajectory satisfying a set of safety constraints. In this manner, a possible trajectory, with transit time, connecting an arbitrary starting node and destination node is obtained by applying a graph search technique on the proposed roadmap. The proposed method is demonstrated through simulations. © 2013 IEEE.

    Institute of Electrical and Electronics Engineers Inc., 2013年, Proceedings of the IEEE Conference on Decision and Control, 2281 - 2287, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Jingyu Xiang, Yuichi Tazaki, Tatsuya Suzuki

    This research develops a new roadmap method for autonomous mobile robots based on variable-resolution partitioning of continuous state space. Unlike conventional roadmaps which include position information only, the proposed roadmap also includes velocity information. Each node of the proposed roadmap consists of a fixed position and a range of velocity values, where velocity ranges are determined by variable-resolution partitioning of velocity space. An ordered pair of nodes are connected by a directed link if any combination of velocity values within the ranges represented by the nodes produce a trajectory satisfying a set of safety constraints. In this manner, an executable trajectory connecting arbitrary starting node and destination node is obtained by applying a graph search technique on the proposed roadmap. The proposed method is evaluated through simulations. © 2013 The Institute of Electrical Engineers of Japan.

    Institute of Electrical Engineers of Japan, 2013年, IEEJ Transactions on Electronics, Information and Systems, 133 (5), 18 - 1040, 英語

    [査読有り]

    研究論文(学術雑誌)

  • 未知環境下の移動ロボットによる可変分解能グラフ地図の自律生成

    項警宇, 田崎勇一

    2012年, 電気学会論文誌D分冊, 132 (8), 808 - 816, 日本語

    [査読有り]

    研究論文(学術雑誌)

  • Steering Assisting System for Obstacle Avoidance Based on Personalized Potential Field

    Noriyasu Noto, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki

    This paper presents the identification technique of the personalized potential map to design the obstacle avoidance assisting control. First of all, the personalized potential map, which is considered to represent the driver's risk feeling to environment is learned by using the obstacle avoidance driving data. Next, the reference path is calculated with gradient method considering the vehicle dynamics from identified potential field, and the avoidance assisting system is realized so as to track on the obtained path. Finally, the validity of the proposed assisting system is verified.

    IEEE, 2012年, 2012 15TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), 1702 - 1707, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Evaluation of Decision-Making Ability in Car Driving while Operating Interior Devices Based on Probability-Weighted ARX Models

    Y. Kondo, H. Okuda, Y. Tazaki

    2012年, 19th ITS World Congress, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Variable-resolution State Roadmap Generation Considering Safety Constraints for Car-like Robot

    Jingyu Xiang, Yuichi Tazaki, Tatsuya Suzuki, B. Levedahl

    This research develops a new graph-map method for autonomous car-like mobile robots based on variable-resolution division of space. Unlike conventional roadmaps, which include position information only, the proposed graph-map also includes orientation information of the car-like robot. In this manner, the robot is able to plan a path in detail. The orientation information of each node is not a fixed value but a range. The range is constructed by dividing the orientation space using variable-resolution, which is obtained from the surrounding situation of links that connect to the node. Finally, the proposed method is evaluated through simulations.

    IEEE, 2012年, PROCEEDINGS 2012 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 3069 - 3074, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Variable-resolution Velocity Roadmap Generation Considering Safety Constraints for Mobile Robots

    Jingyu Xiang, Yuichi Tazaki, Tatsuya Suzuki, B. Levedahl

    This research develops a new roadmap method for autonomous mobile robots based on variable-resolution partitioning of a continuous state space. Unlike conventional roadmaps, which include position information only, the proposed roadmap also includes velocity information. Each node of the proposed roadmap consists of a fixed position and a range of velocity values, where the velocity ranges are determined by variable-resolution partitioning of the velocity space. An ordered pair of nodes is connected by a directed link if any combination of their velocity values is within the acceptable range of the nodes and produces a trajectory satisfying a set of safety constraints. In this manner, a possible trajectory connecting an arbitrary starting node and destination node is obtained by applying a graph search technique on the proposed roadmap. The proposed method is evaluated through simulations.

    IEEE, 2012年, 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), 854 - 859, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Jingyu Xiang, Yuichi Tazaki, Shinkichi Inagaki, Tatsuya Suzuki

    This paper presents a method that allows simultaneous map building and path planning for mobile robots in unknown environments. A graphical representation of a workspace in variable resolutions is constructed using measurement data obtained by omnidirectional distance sensors. At the same time, a search for a feasible path to the target destination is executed using the constructed graph map. The proposed method is evaluated by performing simulations and experiments using an omni directional mobile robot equipped with laser range finders. © 2012 The Institute of Electrical Engineers of Japan.

    2012年, IEEJ Transactions on Industry Applications, 132 (8), 5 - 816, 日本語

    [査読有り]

    研究論文(学術雑誌)

  • H. Terai, K. Miwa, H. Okuda, Y. Tazaki, T. Suzuki, K. Kojima, J. Morita, A. Maehigashi, K. Takeda

    We constructed an innovative experimental platform to study cross-situational consistency in driving behavior, conducted behavioral experiments, and reported the data obtained in the experiment. To discuss cross-situational consistency, we separated situations in which people use some systems to conduct tasks into three independent conceptual factors: environment, context, and system. We report the experimental results with the following systems: a laboratory system with a gaming controller and steering/pedal controllers and a real system, COMS an instrumented vehicle. The results are summarized as follows. 1) The individual behaviors in each system were stable, and consistency was retained. 2) The consistency of the behaviors was also confirmed when the participants drove using different interfaces in identical systems. 3) However, only slight correlation was observed across different systems in a specific situation where a strong high-order cognitive constraint (i.e., rapid driving) and a weak low-order cognitive constraint (driving with easy handling toward a straight-line course) were given. © 2012 - IOS Press and the authors. All rights reserved.

    2012年, Work, 41 (SUPPL.1), 1471 - 1476

    研究論文(国際会議プロシーディングス)

  • Supervisory Control of Periodic Stepping Motion of a Bipedal Robot

    H. Urahama, Y. Tazaki, T. Suzuki

    2011年, SICE Annual Conference, 589 - 594, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Obstacle Avoidance Assisting System Based on Personalized Potential Field

    N. Noto, H. Okuda, Y. Tazaki

    2011年, SICE Annual Conference, 476 - 481, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Hiroyuki Okuda, Koji Mikami, Yuichi Tazaki, Tatsuya Suzuki, Naohiko Tsuru, Kazuyoshi Isaji

    Recently, there has been a growing demand for the design principle of assisting system. This paper presents a new framework of the assisting system design based on a continuous/discrete hybrid system model of the driving behavior and the model predictive control scheme. First of all, the driving behavior is identified as the piecewise ARX model, then it is explicitly embedded in the optimization problem as one of the constraints. Since the driving behavior includes some logical variables, the optimization problem is formulated as the mixed integer programming. The model predictive assisting control is realized by solving the optimization problem in real time. In addition, some adaptation mechanism to accommodate the change of the situation is discussed and verified. © 2011 IEEE.

    2011年, Proceedings of 2011 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2011, 199 - 204, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Online Parameter Estimation of Driving Behavior Using Probability-Weighted ARX Models

    Norimitsu Ikami, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki, Kazuya Takeda

    The dynamical characteristics of driving behavior may change due to various reasons, such as the increase of experience, fatigue, and change of driving condition. In the design of a driver-assisting system that exploits a mathematical model of the driving behavior, the online adaptation mechanism for the driving behavior model must be developed and implemented. This paper presents an online parameter estimation scheme for the Probability weighted ARX (PrARX) model, which is a class of a hybrid dynamical system model, and is known to capture the complex characteristics of the driving behavior together with an explicit understanding of the drivers' motion control and decision making aspects. Since the parameter estimation for the PrARX model is originally based on a steepest descent manner, it is quite natural to extend it to the online version. The proposed method is first demonstrated using artificial data, and then applied to the online modeling of the driving behavior.

    IEEE, 2011年, 2011 14TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), 1874 - 1879, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Shuichi Suzuki, Yuichi Tazaki, Tatsuya Suzuki

    This paper presents a motion planning technique capable of scheduling multiple sub-tasks that can be achieved in different orders and at various timings. A robotic motion is defined as a timed event sequence of multi-body dynamical system. Schedules of the motion planning is determined by robotic mechanism and motion requirements. Motion planning problem including task scheduling is then formulated as a class of constrained optimization problems, which can be solved efficiently by means of an iterative algorithm that exploits the sparsity of the multi-body system. The proposed method is demonstrated in object-catching tasks of a standing humanoid in numerical simulation. © 2011 IEEE.

    2011年, IEEE-RAS International Conference on Humanoid Robots, 596 - 601, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • ハイブリッドシステム論による前方車追従行動におけるモデル予測型アシスト制御の実現

    三上晃司, 奥田裕之, 鈴木達也, 田崎勇一

    2010年, 計測自動制御学会産業論文集, 9 (5), 29 - 36, 日本語

    [査読有り]

    研究論文(学術雑誌)

  • Model Predictive Assisting Control of Vehicle Following Task Based on Driver Model

    Koji Mikami, Hiroyuki Okuda, Shun Taguchi, Yuichi Tazaki, Tatsuya Suzuki

    A personalized driver assisting system that makes use of the driver's behavior model is developed. As a model of driving behavior, the Probability-weighted ARX (PrARX) model, a type of hybrid dynamical system models, is introduced. A PrARX model that describes the driver's vehicle-following skill on expressways is identified using a simple gradient descent algorithm from actual driving data collected on a driving simulator. The obtained PrARX model describes the driver's logical decision making as well as continuous maneuver in a uniform manner. Finally, the optimization of the braking assist is formulated as a mixed-integer linear programming (MILP) problem using the identified driver model, and computed online in the model predictive control framework.

    IEEE, 2010年, 2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 890 - 895, 英語

    [査読有り]

    研究論文(国際会議プロシーディングス)

  • Yuichi Tazaki

    IEEE, 2021年07月19日, 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)

    研究論文(国際会議プロシーディングス)

  • 前薗 克哉, 永野 光, 田崎 勇一, 横小路 泰義

    Japan Society of Mechanical Engineers, 2021年, ロボティクス・メカトロニクス講演会講演概要集, 2021, 1P2 - J03

    研究論文(研究会,シンポジウム資料等)

  • 神田 大河, 永野 光, 田崎 勇一, 横小路 泰義

    Japan Society of Mechanical Engineers, 2021年, ロボティクス・メカトロニクス講演会講演概要集, 2021, 1P2 - J08

    研究論文(研究会,シンポジウム資料等)

  • 和田 鼓太郎, 田崎 勇一, 永野 光, 横小路 泰義

    Japan Society of Mechanical Engineers, 2021年, ロボティクス・メカトロニクス講演会講演概要集, 2021, 1A1 - G18

    研究論文(研究会,シンポジウム資料等)

  • 花崎 仁実, 田崎 勇一, 永野 光, 横小路 泰義

    Japan Society of Mechanical Engineers, 2021年, ロボティクス・メカトロニクス講演会講演概要集, 2021, 1A1 - D03

    研究論文(研究会,シンポジウム資料等)

  • 田崎 勇一, 鈴木 達也

    公益社団法人 計測自動制御学会, 2014年, 計測と制御, 53 (12), 1105 - 1110, 日本語

MISC

  • Outdoor Autonomous Navigation Utilizing Proximity Points of 3D Pointcloud

    Yuichi Tazaki, Yasuyoshi Yokokohji

    2020年12月, Journal of Robotics and Mechatronics, 32 (6), 英語

    [査読有り]

    速報,短報,研究ノート等(学術雑誌)

  • Y. Tazaki, M. Murooka

    Informa UK Limited, 2020年08月08日, Advanced Robotics, 1 - 10, 英語

    [査読有り]

    速報,短報,研究ノート等(学術雑誌)

  • 組立作業の直接教示と再生に適したマクロ・マイクロ型ロボット用パラレル機構の設計

    橋本 佳典, 永野 光, 田崎 勇一, 横小路 泰義

    システム制御情報学会, 2020年05月20日, システム制御情報学会研究発表講演会講演論文集, 64, 1183 - 1189, 日本語

  • 災害対応ロボットで利用されるフォトニクス技術 (「フォトニクス技術で進化するロボット : ロボットフォトニクス」特集号)

    横小路 泰義, 田崎 勇一

    レーザー学会, 2019年11月, レーザー研究 = The review of laser engineering : レーザー学会誌, 47 (11), 624 - 629, 日本語

  • Yuichi Tazaki

    IEEE, 2019年10月, 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 英語

    [査読有り]

    研究発表ペーパー・要旨(国際会議)

  • 笹川 雅希, 田中 謙伍, 田崎 勇一, 横小路 泰義

    In this paper, we propose maneuverability index focusing on the "sense of unity" as a new performance evaluation method for remote control systems. We used the Crossmodal Congruency Effect (CCE) for the quantitative evaluation of the "sense of unity". We verified the validity as a maneuverability index of "sense of unity" evaluated by CCE. We compared the measured CCEs between the systems which are different in terms of operation force of the master device and camera view orientation of the remote environment. As a result, task performance and "sense of unity" results were consistent. It was suggested that "sense of unity" could be used as an appropriate maneuverability index. Finally, we propose a method to compensate for a bias effect of CCE due to the appearance similarity of target objects to human hand.

    一般社団法人 日本機械学会, 2019年, ロボティクス・メカトロニクス講演会講演概要集, 2019 (0), 2A1 - B09, 日本語

  • 栗林 拓輝, 田崎 勇一, 横小路 泰義

    In conventional fall avoidance control, the center-of-mass is kept at a constant height in order to linearize the equation of motion. Such a restriction, however, can only be applied under limited circumstances, and it is not possible to cope with vertical disturbances. In this research, we propose a method for generating a center-of-mass trajectory to avoid falling over uneven terrain based on a nonlinear inverted pendulum model. Moreover, regions of valid foot-steps are derived analytically and incorporated into trajectory generation. The effectiveness of the proposed method is evaluated in numerical simulations of a humanoid robot model.

    一般社団法人 日本機械学会, 2018年, ロボティクス・メカトロニクス講演会講演概要集, 2018 (0), 2A2 - H08, 日本語

  • 荒木 亮次, 岡田 大貴, 田崎 勇一, 横小路 泰義, 吉灘 裕, 中村 晋也, 倉鋪 圭太

    This paper shows the results of the force feedback experiment using the double arm type construction robot. The external load is estimated from cylinder pressures and displayed to the operator through a haptic device. We conducted a force feedback experiment based on the estimated external forces. Although the operator could recognize static forces when the robot end-effector contacts the environment continuously, s/he could not feel impulsive forces at the moment of collision with the environment. This was because we didn't consider the acceleration of links at the moment of collision. In this report, we propose a new method to estimate external forces, where the motions of the robot arm are measured more accurately with accelerometers. We then conducted an experiment of force feedback with the proposed method by using the double arm type construction robot. It was shown that the operator could feel the impulsive forces clearly with the proposed method.

    一般社団法人 日本機械学会, 2018年, ロボティクス・メカトロニクス講演会講演概要集, 2018 (0), 2A1 - J05, 日本語

  • 人型ロボットの運動計画

    田﨑 勇一

    2018年, 日本ロボット学会誌, 36 (2), 122 - 127, 日本語

    [招待有り]

    記事・総説・解説・論説等(学術雑誌)

  • 円滑な交通を実現する車両間調和のため制御技術

    奥田裕之, 田崎勇一, 鈴木達也

    2018年, 計測と制御, 57 (3), 185 - 192, 日本語

    [招待有り]

    記事・総説・解説・論説等(学術雑誌)

  • 研究室紹介:神戸大学大学院 工学研究科 機械工学専攻 複雑系機械工学研究室

    横小路 泰義, 田﨑 勇一

    一般社団法人日本ロボット工業会, 2017年09月, ロボット, 238, 68 - 70, 日本語

    その他

  • 片山 雷太, 横小路 泰義, 田崎 勇一

    We proposed a new teleoperation control method by using a master control device with small working space. The proposed method sets the slave velocity based on the master velocity. Changing the slave velocity by the master velocity, the operator can control the slave arm freely and intuitively using a small working space master device. In this paper, we propose a new scale conversion method that are expected to be better than the previously proposed. The new scale conversion methods determine the position scale directly based on the master velocity. We tested the new scale conversion method and the result of experiment is shown.

    一般社団法人 日本機械学会, 2017年, ロボティクス・メカトロニクス講演会講演概要集, 2017 (0), 2P1 - R07, 日本語

  • KIM GWANWOO, 田崎 勇一, 横小路 泰義

    Humanoid robots should be able to keep balance for any direction of disturbance. N-step capturability framework was proposed for fall avoidance that involves a number of steps. But it did not consider collision between the support leg and the swing leg in its analysis. For this reason, the conventional capturability analysis cannot be applied for a case in which a robot is pushed in sideways. In this paper, we analyze sideways legged locomotion in terms of capturability. Based on this capturability, we propose the sideways legged locomotion for fall avoidance. The proposed method is validated through numerical simulation. The simulated robot was able to recover from predetermined sideways pushes. It was also found that robots can be able to recover from larger disturbance with variable step length.

    一般社団法人 日本機械学会, 2017年, ロボティクス・メカトロニクス講演会講演概要集, 2017 (0), 1A1 - P07, 日本語

  • トポロジカルな地図表現を用いた移動ロボットのナビゲーション

    田﨑 勇一

    2015年, 日本ロボット学会誌, 33 (10), 773 - 778, 日本語

    [招待有り]

    記事・総説・解説・論説等(学術雑誌)

  • 1P2-P05 接触遷移グラフを用いたロボットアームの搬送作業のタスクスケジューリング(動作計画と制御の新展開(2))

    石井 雅人, 田崎 勇一, 鈴木 達也

    This paper presents a method for scheduling carrying tasks of a robotic arm using a contact transition graph. This method generates a task sequence to achieve the objective work-environmental state focused on the contact state of an environment. Objects in contact state are moved together as an object is carried. A task sequence of a robotic arm is determined by solving a shortest path problem of the state transition system of the contact states of work environment. The motion trajectory of a robotic arm is generated by planning a trajectory based on the task sequence.

    一般社団法人日本機械学会, 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014, "1P2 - P05(1)"-"1P2-P05(4)", 日本語

  • 1A1-R03 小型二足ロボットの動力学を考慮した軌道計画による歩行制御(脚移動ロボット)

    後藤 光太, 田崎 勇一, 鈴木 達也

    This paper proposes a walking control method for small-sized biped robot by using trajectory planning. First, for analyzing a walking motion of biped robot, we regard it as the three-dimensional inverted pendulum. Then, we plan the trajectory of the center of mass and many foot places during walking in consideration of kinematics and kinetics in relation to the analyzing result. By using the trajectory result, a walking control system for small-sized biped robot is configured. And to confirm the effectiveness of the control system, experimental results of walking control of the 12 d.o.f biped robot are shown.

    一般社団法人日本機械学会, 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014, "1A1 - R03(1)"-"1A1-R03(4)", 日本語

  • 2A1-W06 マルチロボットの位置の不確かさを考慮したフォーメーション制御(複数ロボットの協調制御)

    高島 航一, 田崎 勇一, 鈴木 達也

    This research proposes a method of reaching destinations for multi mobile robots by giving a formation under position uncertainty. These robots can measure 4 distances between a robot and a landmark and between robots by using 1 transmitter and 2 receiver which are located on themselves. Positions of robots, which can move and measure distances, are estimated by using extended kalman filter. And a sequence evaluation of robots formation use a variance-covariance matrix for considering position uncertainty and collision avoidance. A evaluation consider not these two points but distances between robots and their own destinations.

    一般社団法人日本機械学会, 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014, "2A1 - W06(1)"-"2A1-W06(4)", 日本語

  • 多分解能状態空間ロードマップ法による軌道計画

    田﨑 勇一

    2014年, 日本ロボット学会誌, 32 (6), 519 - 524, 日本語

    [招待有り]

    記事・総説・解説・論説等(学術雑誌)

  • 1A2-A06 可変分解能ロードマップによるマルチロボットのスケジューリングと軌道計画(複数ロボットの協調制御)

    山田 貴之, 項 警宇, 田崎 勇一, 鈴木 達也

    This paper proposes a motion planning method that constructs collision-free and optimized trajectories for multi-robot. The proposed method performs two planning. First, each robot performs path planning using Variable-resolution Velocity Roadmap(VVR). VVR includes position information and velocity information. Using VVR, each robot can find a path that navigates the robot to the destination in shortest time while avoiding static obstacles. Second, the scheduler adjusts the departing times and the velocities at the via-points of all robots to avoid collisions between the robots and to minimize the sum of arrival times of the robots. The proposed method is evaluated through simulations.

    一般社団法人日本機械学会, 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013, "1A2 - A06(1)"-"1A2-A06(4)", 日本語

  • 2P1-L02 多目的軌道計画器を用いたロボットアームの舞踊動作の生成と実機評価(動作計画と制御の新展開)

    石井 雅人, 田崎 勇一, 鈴木 達也

    This paper presents a method for generating dance motion for a robot arm focusing on prioritized key poses. Key poses are stop poses that represent primary features of dance motion. In some cases, for example at a fast tempo, achieving all key poses becomes difficult due to physical limitation of the robot. In such cases, the robot must take important key poses selectively. Dance motion is generated with multi-objective trajectory planning method and planned on-line in the model predictive control framework. Finally, proposed method have realized dance motion on a robot arm PA10.

    一般社団法人日本機械学会, 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013, "2P1 - L02(1)"-"2P1-L02(4)", 日本語

  • 2P1-R17 車両型ロボットのノンホロノミック特性を考慮した可変分解能ロードマップによる自動駐車システム(車輪型/クローラ型移動ロボット(3))

    藤 紘至, 項 警宇, 田崎 勇一, 鈴木 達也, 奥田 裕之

    This research proposes an automated parking system for a car-like robot which uses a roadmap where every node has not only position but also orientation information of the robot. In the proposed roadmap, the orientation of the robot is not expressed as a fixed value but as range of values. The roadmap is constructed by dividing the orientation space in variable resolutions considering the non-holonomic constraints of the robot and collision-avoidance constraints between the robot and surrounding obstacles. The proposed method evaluated both in numerical simulations and in an experiment using a real electric vehicle.

    一般社団法人日本機械学会, 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013, "2P1 - R17(1)"-"2P1-R17(4)", 日本語

  • ハイブリッドシステムの解析と制御~離散抽象化と連続近似の視点から~

    田崎勇一, 鈴木達也

    2013年, 計測と制御, 52 (4), 329 - 335, 日本語

    [招待有り]

    記事・総説・解説・論説等(学術雑誌)

  • 動作行動開発のための物理エンジンSpringhead

    長谷川晶一, 三武裕玄, 田崎勇一

    2012年12月, 日本ロボット学会誌, 30 (9), 841 - 848, 日本語

    記事・総説・解説・論説等(学術雑誌)

  • 1P1-E04 走行安全性制約に基づく可変分解能グラフ地図生成(【交通・物流部門】カー・ロボティクス)

    項 警宇, 田崎 勇一, 鈴木 達也

    This research develops a new graph-map method for autonomous mobile robots based on variable-resolution dividing space. Unlike conventional roadmaps, which include position information only, the proposed graph-map also includes direction information. In this manner, the robot is able to plan a path in detail. Direction information of each node is not a fixed value but a range, which is constructed by dividing direction space based on variable-resolution according to a surrounding situation of links connected to the node. Finally, the proposed method is evaluated through simulations.

    一般社団法人日本機械学会, 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012, "1P1 - E04(1)"-"1P1-E04(4)", 日本語

  • 1A2-U07 運転行動予測型支援制御系における支援量最適化計算の連続変形法を用いた高速化(人間機械協調(2))

    郭 暁琳, 奥田 裕之, 田崎 勇一, 鈴木 達也

    This paper presents a personalized driver assisting system that makes use of the driver's behavior model. First, a PrARX model that describes the driver's vehicle following skill on expressways is identified using a simple gradient algorithm from actual driving data collected on a driving simulator. The obtained PrARX model describes the driver's logical decision making as well as continuous maneuver in a uniform manner. Second, the optimization of the assisting output is formulated by Homotopy method using the identified driver model, and computed online in the model predictive control framework. Thirdly, the proposed as siting system is tested in driving simulator and the usefulness is verified. Finally, the high speed of the calculation by Homotopy method is proved by comparing to the conventional method(MILP).

    一般社団法人日本機械学会, 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012, "1A2 - U07(1)"-"1A2-U07(4)", 日本語

  • サイバーフィジカルシステムの数理 (システム数理と応用)

    田崎 勇一

    本稿では近年注目を集めているサイバーフィジカルシステム(Cyber-Physical System;CPS)について紹介する.前半では近年の研究動向を俯瞰しつつCPSの理論に求められる特性について議論する.後半では具体的なトピックとして筆者らが取り組んでいる自律移動ロボットの地図生成と多自由度ロボットの動作計画の2テーマをCPSの観点から紹介する.

    一般社団法人電子情報通信学会, 2012年01月26日, 電子情報通信学会技術研究報告 : 信学技報, 111 (405), 69 - 72, 日本語

  • 2A2-D02 事象駆動型モデルを用いた二足ロボットの周期運動制御(脚移動ロボット)

    浦濱 英広, 田崎 勇一, 鈴木 達也

    This paper proposes a modeling method for periodic motion of bipedal robots using an event-driven model. Conventional models that are widely employed in the trajectory planning of bipedal locomotion have one shortcoming: namely, the transition of robot's dynamics which is seen in locomotion is not considered. This makes the design of a trajectory tracking controller, which is responsible of absorbing the difference between the model and the actual robot's dynamics, quite complicated. Motivated by this background, a new model which reduces complexity of periodic motion control system is proposed. To capture both the discrete and continuous features of bipedal periodic motion, the model takes the form of event-driven model. Supervisory control of the model is adapted to the control system, and then it is utilized for stepping motion control and demonstorates the value of the model.

    一般社団法人日本機械学会, 2011年05月26日, ロボティクス・メカトロニクス講演会講演概要集, 2011, "2A2 - D02(1)"-"2A2-D02(4)", 日本語

  • 2A1-Q07 ハイブリッドシステムモデルに基づくモデル予測型前方車追突回避アシストシステムの設計(【交通・物流部門】自動車分野におけるロボティクス)

    鳥居 武仁, 三上 晃司, 奥田 裕之, 田崎 勇一, 鈴木 達也, 武田 一哉

    This paper presents verifications of proposed personalized assisting control using an actual car. A single-seated small electric vehicle is used to log driver's behavior in vehicle following tasks. Driver model is expressed as a PieceWise AutoRegressive eXogeneous(PWARX) model widely recognized as hybrid dynamical system. First, the braking assistance system with the model is designed and examined on a driving simulator. The optimum assisting control is based on model predictive control and given by solving Mixed Integer Programming(MIP) on-line. After implementation of the assistance system on the electric vehicle, it is aimed to verify the effect by comparing actual car's and simulated results.

    一般社団法人日本機械学会, 2011年05月26日, ロボティクス・メカトロニクス講演会講演概要集, 2011, "2A1 - Q07(1)"-"2A1-Q07(4)", 日本語

  • 2A1-O05 可視性に基づく移動ロボットの自律的グラフ地図生成(移動ロボットの自己位置推定と地図構築)

    項 警宇, 田崎 勇一, 稲垣 伸吉, 鈴木 達也

    The complete coverage of the entire unknown environment by autonomous mobile robot is needed in map building, navigation and exploration. This paper addresses on autonomous graph-map construction of mobile robot in unknown environment based on visibility of surrounding region. Because of obstacles in the workspace and the limit of the sensor performance, the region observing by sensor once is limited. Then robot should make view points to observe the unobserved region. In this paper, we show that the mobile robot can construct graph-map, using omni-directional distance sensor, of the entire unknown environment by repeating the movement and the observation toward the blind spot in the observed area.

    一般社団法人日本機械学会, 2011年05月26日, ロボティクス・メカトロニクス講演会講演概要集, 2011, "2A1 - O05(1)"-"2A1-O05(4)", 日本語

  • 高速道路における追越し行動におけるプリミティブタスクの切り換え条件推定

    奥田 裕之, 鐙 陽介, 田崎 勇一

    自動車技術会, 2015年03月, 自動車技術会論文集, 46 (2), 527 - 531, 日本語

  • 1P2-B04 実時間軌道計画による多方向の外乱に対する二足ロボットの転倒回避

    小椎尾 侑多, 後藤 光太, 田崎 勇一, 鈴木 達也

    In the presence of humans, biped robots must avoid falling because falling down can lead to serious accidents. This paper presents a fall avoidance control method for biped robots under unknown disturbances that is based on real-time trajectory planning. First, a biped robot is modeled as an inverted pendulum. The robot generates in real time the trajectories of its center of mass and center of pressure, taking into account the dynamics and kinematics of the robot and the direction and magnitude of disturbances. By using the planning result, the robot returns to its stationary state after taking a few steps without falling. The experimental results show the effectiveness of the proposed method.

    一般社団法人日本機械学会, 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P2 - B04(1)"-"1P2-B04(4)", 日本語

講演・口頭発表等

  • 遠隔操縦システムとの「一体感」に着目した操作性指標の提案とその妥当性の検証

    笹川 雅希, 田中 謙伍, 田﨑 勇一, 横小路 泰義

    ロボティクス・メカトロニクス講演会2019, 2019年06月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 広島国際会議場, 国内会議

    ポスター発表

  • 踵接地・つま先離地を行う二足歩行ロボットの軌道計画とシミュレーションによるエネルギー効率の評価

    片岡 俊, 田﨑 勇一, 横小路 泰義

    第19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, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 大阪工業大学 梅田キャンパス, 国内会議

    ポスター発表

  • 物体が有する把持に関わる性質とロボットハンドによる把持に必要な機能との相補的解明法に関する研究 第2報 特定の作業場面を想定した汎用ロボットハンドの設計

    吉田 裕貴, 白土 浩司, 田﨑 勇一, 横小路 泰義

    第19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, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 大阪工業大学 梅田キャンパス, 国内会議

    ポスター発表

  • 二機のロボットによる合意形成に基づく自律地図生成

    天竺 航, 田﨑 勇一, 横小路 泰義

    第19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, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 大阪工業大学 梅田キャンパス, 国内会議

    ポスター発表

  • 人の手の機能解析に基づくピッキング作業のための汎用ロボットハンド開発

    津田 達也, 高松 駿太, 田﨑 勇一, 横小路 泰義

    第19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, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 大阪工業大学 梅田キャンパス, 国内会議

    ポスター発表

  • 改良型量子化マップを用いたフィードバック変調器による油圧駆動ロボットの高精度軌道制御

    竹内 優佳子, 田﨑 勇一, 横小路 泰義

    第19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, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 大阪工業大学 梅田キャンパス, 国内会議

    ポスター発表

  • 遠隔操縦システムにおける環境の奥行き感獲得のための視覚提示手法に関する研究

    笹川 雅希, 田﨑 勇一, 横小路 泰義

    第19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, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 大阪工業大学 梅田キャンパス, 国内会議

    ポスター発表

  • 遠隔操縦システムとの「一体感」に着目した操作性指標の検討 第3報:カメラの向きが操作性に及ぼす影響の評価

    田中 謙伍, 田﨑 勇一, 横小路 泰義

    第19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, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 大阪工業大学 梅田キャンパス, 国内会議

    ポスター発表

  • 災害対応油圧駆動ロボットの高臨場感遠隔操縦のための手先負荷力推定

    荒木 亮次, 岡田 大貴, 田﨑 勇一, 横小路 泰義, 吉灘 裕, 中村 晋也, 倉鋪 圭太

    ロボティクス・メカトロニクス講演会2018, 2018年06月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 北九州国際コンベンションゾーン, 国内会議

    ポスター発表

  • 鉛直方向の重心運動を考慮した二足ロボットの転倒回避軌道生成

    栗林 拓輝, 田﨑 勇一, 横小路 泰義

    ロボティクス・メカトロニクス講演会2018, 2018年06月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 北九州国際コンベンションゾーン, 国内会議

    ポスター発表

  • 遠隔操縦ロボットとの「一体感」に着目した操作性指標の検討 第2報:マスタアームの操作に要する力が操作性に及ぼす影響の評価

    田中 謙伍, 田﨑 勇一, 横小路 泰義

    ロボティクス・メカトロニクス講演会2018, 2018年06月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 北九州国際コンベンションゾーン, 国内会議

    ポスター発表

  • 頭部運動を伴った遠隔操縦における一体感実現のための視覚提示許容誤差の推定

    田中 水輝, 田﨑 勇一, 横小路 泰義

    第3回次世代イニシアチブ廃炉技術カンファレンス(NDEC-3), 2018年03月, 日本語, 文部科学省, 富岡文化交流センター学びの森, 国内会議

    ポスター発表

  • 物体が有する把持に関わる性質とロボットハンドによる把持に必要な機能との相補的解明法に関する研究

    吉田 裕貴, 高松 駿太, 田﨑 勇一, 横小路 泰義

    第18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, 2017年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 仙台国際センター, 国内会議

    ポスター発表

  • 踏み出し量と所要時間の関係性を考慮した二足歩行ロボットの転倒回避

    金 寛佑, 田﨑 勇一, 横小路 泰義

    第18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, 2017年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 仙台国際センター, 国内会議

    ポスター発表

  • 三次元点群の近接点特徴を用いた走行データからの複数ループ検出

    沢田 雄介, 田﨑 勇一, 横小路 泰義

    第18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, 2017年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 仙台国際センター, 国内会議

    ポスター発表

  • 災害対応を目的とした複腕油圧駆動ロボットの操縦インタフェースに関する研究

    荒木 亮次, 岡田 大貴, 田﨑 勇一, 横小路 泰義

    第18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, 2017年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 仙台国際センター, 国内会議

    ポスター発表

  • 遠隔操縦における頭部運動下での一体感実現のための視覚提示許容誤差の推定

    田中 水輝, 田﨑 勇一, 横小路 泰義

    第18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, 2017年12月, 日本語, 公益社団法人 計測自動制御学会 SI(システムインテグレーション)部門, 仙台国際センター, 国内会議

    ポスター発表

  • 動作範囲に制限のあるマスタアームによる直感的遠隔操縦法の検討 第3報 新たなマスタ・スレーブ間の速度マッピング手法についての検証

    片山 雷太, 横小路 泰義, 田﨑 勇一

    ロボティクス・メカトロニクス講演会2017, 2017年05月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, ビックパレットふくしま, 国内会議

    ポスター発表

  • 多自由度油圧駆動ロボットのシリンダ圧に基づく手先負荷力推定による力覚フィードバック

    岡田 大貴, 横小路 泰義, 田﨑 勇一, 吉灘 裕, 中村 晋也, 倉鋪 圭太

    ロボティクス・メカトロニクス講演会2017, 2017年05月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, ビックパレットふくしま, 国内会議

    ポスター発表

  • 側面方向の外乱に対するCapturabilityに基づく二足ロボットの転倒回避

    Kim Gwanwoo, 田﨑 勇一, 横小路 泰義

    ロボティクス・メカトロニクス講演会2017, 2017年05月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, ビックパレットふくしま, 国内会議

    ポスター発表

  • 近接点特徴量を用いた屋外環境におけるループ検出

    宮内 勇貴, 田﨑 勇一, 横小路 泰義

    ロボティクス・メカトロニクス講演会2017, 2017年05月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, ビックパレットふくしま, 国内会議

    ポスター発表

共同研究・競争的資金等の研究課題