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TAZAKI Yuichi
Graduate School of Engineering / Department of Mechanical Engineering
Associate Professor

Researcher basic information

■ Research Keyword
  • Mobile Robot
  • Humanoid Robots
  • Hybrid Systems Theory
■ Research Areas
  • Informatics / Mechanics and mechatronics / Robotics
  • Informatics / Robotics and intelligent systems / Robotics

Research activity information

■ Paper
  • Yuichi Tazaki
    Institute of Electrical and Electronics Engineers (IEEE), Nov. 2024, IEEE Robotics and Automation Letters, 9(11) (11), 9239 - 9246
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Syunsuke Tawa, Hikaru Nagano, Yuichi Tazaki, Yasuyoshi Yokokohji
    Institute of Electrical and Electronics Engineers (IEEE), Jul. 2024, IEEE Transactions on Haptics, 17(3) (3), 319 - 333
    Scientific journal

  • Tatsuya Hashimoto, Yuichi Tazaki, Fumiya Matsuda, Katsumasa Kitajima, Hikaru Nagano, Yasuyoshi Yokokohji
    Feb. 2024, J. Robotics Mechatronics, 36(1) (1), 49 - 62
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Yuichi Tazaki, Ryuta Marumoto, Junji Ohgashira, Hikaru Nagano, Yasuyoshi Yokokohji, Shota Kameoka
    Society of Automotive Engineers of Japan, Inc., 2024, International Journal of Automotive Engineering, 15(2) (2), 90 - 97
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Yuichi Tazaki, Kotaro Wada, Hikaru Nagano, Yasuyoshi Yokokohji
    Dec. 2023, Journal of Robotics and Mechatronics, 35(6) (6), 1480 - 1488
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Takahito Fukuda, Hiroki Dobashi, Hikaru Nagano, Yuichi Tazaki, Raita Katayama, Yasuyoshi Yokokohji
    Aug. 2023, Robotica, 41(8) (8), 2464 - 2488
    Scientific journal

  • Yuichi Tazaki, Kensuke Harada, Masaki Murooka, Adrien Escande
    Informa UK Limited, Mar. 2023, Advanced Robotics, 37(5) (5), 297 - 297
    Scientific journal

  • Minami Takahashi, Hikaru Nagano, Yuichi Tazaki, Yasuyoshi Yokokohji
    Mar. 2023, Frontiers Virtual Real., 4
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Sotaro Katayama, Masaki Murooka, Yuichi Tazaki
    Informa UK Limited, Feb. 2023, Advanced Robotics, 37(5) (5), 298 - 315
    Scientific journal

  • Naoki Mizuno, Yuichi Tazaki, Tatsuya Hashimoto, Yasuyoshi Yokokohji
    Informa UK Limited, Jan. 2023, Advanced Robotics, 1 - 19
    Scientific journal

  • Junji Ohgashira, Yuichi Tazaki, Hikaru Nagano, Yasuyoshi Yokokohji, Shota Kameoka
    Elsevier BV, 2023, IFAC-PapersOnLine, 56(2) (2), 5591 - 5596
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • OHGASHIRA Junji, TAZAKI Yuichi, NAGANO Hikaru, YOKOKOHJI Yasuyoshi, KAMEOKA Shota
    In vehicle teleoperation, reducing instability of driving caused by communication delay is one of important technical problems. This study proposes a passivity-based vehicle teleoperation system that compensates for the delay of visual information presented to the driver. The proposed method applies wave variable transformation to steering angle and yaw rate, and presents modified yaw rate to the driver by altering the viewing direction of camera images. This effectively makes the driver feel that the vehicle responds to his/her steering operation without delay, and consequently over-steering is greatly reduced. The results of experiments using a driving simulator showed that the proposed method greatly improves lateral stability of driving.
    The Japan Society of Mechanical Engineers, 2023, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2023, 2A2-D04, Japanese

  • SHIMAMURA Naotake, KATAYAMA Raita, NAGANO Hikaru, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi
    Hydraulically driven construction robots are expected to play important roles in various situations, such as disaster response by teleoperation, taking advantage of their high power-to-weight ratio and robustness against harsh environments. It is well known that operability and task efficiency in teleoperation can be improved by force feedback. In this paper, we investigate if the fidelity of teleoperation of hydraulically driven construction robots can be improved by force feedback, especially impact force feedback, based on the estimated external load from cylinder pressures and link accelerations. For this purpose, we propose a force scaling method to give the operator the information on external loads properly. The results of subject experiments indicate that the operators can discriminate the hardness of the material easily by the impact force feedback.
    The Japan Society of Mechanical Engineers, 2023, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2023, 1A2-B04, Japanese

  • TANAKA Kei, NAGANO Hikaru, OKAMOTO Shogo, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi
    In this paper, we focus on vibrotactile stimuli for the purpose of changing and amplifying emotions, and evaluate the changes in emotions caused by vibrotactile stimuli converted from music. To construct a system that simultaneously presents music and vibration, we developed a chair-type vibrotactile display and an automatic conversion method of vibrotactile stimuli based on music. The method generates stimuli suitable for tactile perception by shifting the pitch and dividing the music. In an evaluation experiment, we evaluated the changes in the emotions elicited by the music when vibrotactile stimuli were applied using temporal and posterior evaluation methods. The results showed that not only were the emotions strongly caused by the music, but they were also amplified and changed by the presentation of the vibrotactile stimuli.
    The Japan Society of Mechanical Engineers, 2023, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2023, 1A1-H10, Japanese

  • SUZUKI Kenji, YOKOKOHJI Yasuyoshi, TAZAKI Yuichi, NAGANO Hikaru
    In this paper, we designed and developed a passive device suitable for high-speed precise mating operations by robots. The device was designed in consideration of the characteristics of mating tasks and the inertia of the device itself, and was used in combination with an industrial robot for high-speed precise mating tasks. Our robot succeeded in mating tasks under the condition where the conventional methods such as compliance control or RCC device are difficult to perform the task, confirming the effectiveness of our approach.
    The Japan Society of Mechanical Engineers, 2023, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2023, 2P1-A21, Japanese

  • NAGATE Takumi, NAGANO Hikaru, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi
    In this paper, we focused on the possibility that there is an optimal control method for each subtask in excavation operations, and we experimentally investigated the optimal control method for each subtask with respect to the constructed control methods. First, three control methods were implemented for comparison: an angle-velocity method using a joystick, a position-velocity method using a tactile interface, and a position-position method using a haptic interface. Next, an experiment was conducted to compare these methods for each task, and to compare and evaluate the optimal method of operation. The results showed that the position-position method was superior for sagittal plane work, while the angle-velocity and position-velocity methods were superior for swinging work.
    The Japan Society of Mechanical Engineers, 2023, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2023, 1A1-B06, Japanese

  • WATATANI Shun, NAGANO Hikaru, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi
    This paper developed a wearable tactile device with a finger joint angle measurement function and a pressure presentation function to realize an interactive handshake remotely. The measurement experiments conducted in conjunction with the development of the device control system showed that the pressure acting on the palm of the hand was greatly influenced by the other party, while the pressure acting on the fingers was greatly influenced by the self.
    The Japan Society of Mechanical Engineers, 2023, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2023, 1A2-H11, Japanese

  • Yuichi Tazaki
    IEEE, Nov. 2022, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)
    International conference proceedings

  • Satomi Hanasaki, Yuichi Tazaki, Hikaru Nagano, Yasuyoshi Yokokohji
    IEEE, Nov. 2022, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)
    International conference proceedings

  • Naotake Shimamura, Raita Katayama, Hikaru Nagano, Yuichi Tazaki, Yasuyoshi Yokokohji
    IEEE, Oct. 2022, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    International conference proceedings

  • Yuichi Tazaki
    Institute of Electrical and Electronics Engineers (IEEE), Oct. 2022, IEEE Robotics and Automation Letters, 7(4) (4), 10033 - 10040
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Yuichi Tazaki, Satomi Hanasaki, Soh Yukizaki, Yugo Mitazono, Hikaru Nagano, Yasuyoshi Yokokohji
    Informa UK Limited, Sep. 2022, Advanced Robotics, 37(5) (5), 316 - 328
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • JUNHUI Kang, NAGANO Hikaru, SASE Kazuya, KONYO Masashi, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi
    This paper developed 6Dof finger-mounted kinesthetic display for rendering force and torque cues simultaneously. The display is a modified model of the basic 6RSS parallel link mechanism by improving with redundant rotational joints. Comparative experiments show that the operating range of the improved model was larger than that of the basic model.
    The Japan Society of Mechanical Engineers, 2022, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2022, 2P2-B10, Japanese

  • KANDA Taiga, NAGANO Hikaru, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi
    We have constructed a haptic display system using a vibrotactile array that presents multi-point vibrotactile stimuli around the waist and a computational model that controls vibration amplitude according to 2D position information. Using this system, we have conducted 2 experiments. The first evaluated the difference in percieved sensitivity of vibrotactile stimulation through a vibrotactile calibration experiment. Results suggests sensitivity of vibrotactile stimulation around the waist is symmetric about the longitudinal axis. Sensitivity adjustment gains were calculated and used in the second experiment. The second evaluated the effect of sensitivity adjustment around the waist on the presentation of 2D position information. Results suggests sensitivity adjustment improves 2D position presentation in some cases.
    The Japan Society of Mechanical Engineers, 2022, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2022, 2P1-O06, Japanese

  • TAWA Syunsuke, NAGANO Hikaru, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi
    This paper constructed a tactile display system using multi-point vibrotactile stimuli on the head and waist and computational model that continuously controls the amplitude of multi-point vibration according to three-dimensional position information. Through experiments using the constructed system, the presentation performance in the dimensions of depth, orientation, and height is evaluated. As a result, the system was able to present 3D positional information, and its effectiveness was demonstrated.
    The Japan Society of Mechanical Engineers, 2022, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2022, 2P2-B11, Japanese

  • Katsuya MAEZONO, Hikaru NAGANO, Yuichi TAZAKI, Yasuyoshi YOKOKOHJI
    Japan Society of Mechanical Engineers, 2022, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2022, 2P1 - N09
    Scientific journal

  • Minami TAKAHASHI, Hikaru NAGANO, Yuichi TAZAKI, Yasuyoshi YOKOKOHJI
    Japan Society of Mechanical Engineers, 2022, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2022, 2P1 - O10
    Scientific journal

  • Yuichi Tazaki
    IEEE, Jul. 2021, 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)
    International conference proceedings
    Link to Kobe Univ. Repository (Kernel)

  • Isozumi Takumi, Tazaki Yuichi, Nagano Hikaru, Yokokohji Yasuyoshi, Kameoka Shouta
    In recent years, autonomous driving has been actively studied, but it is difficult to deal with irregular situations such as accident and construction sites. In such situations, remote driving technology is expected to serve as a backup for autnomous driving systems. Most remote driving relies on camera images as a major source of visual information. Therefore, it is important to investigate which characteristics of visual information (e.g., frame rate and image resolution) affect performance. In this paper, we conducted remote driving experiments of a real-scale automobile under various visual quality settings and investigated the effect on remote driving behavior.
    Society of Automotive Engineers of Japan, 2021, Transactions of Society of Automotive Engineers of Japan, 52(3) (3), 615 - 620, Japanese

  • Hiroki Tsuji, Raita Katayama, Hikaru Nagano, Yuichi Tazaki, Yasuyoshi Yokokohji
    IEEE, 2021, IEEE/SICE International Symposium on System Integration(SII), 110 - 115
    International conference proceedings

  • Syunsuke Tawa, Hikaru Nagano, Yuichi Tazaki, Yasuyoshi Yokokohji
    2021, Advanced Robotics, 35(5) (5), 268 - 280
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Katsuya MAEZONO, Hikaru NAGANO, Yuichi TAZAKI, Yasuyoshi YOKOKOHJI

    In this study, we aim to reproduce the friction sensation felt when tracing an object with a fingertip by modeling the skin vibrations that occur when touching the object. We focus on stick-slip vibration as the target of the vibration to be modeled. In order to model the stick-slip vibration according to the normal force and velocity of the fingertip, we constructed a device to simultaneously measure the skin vibration, normal force and tangential force, and conducted measurement experiments. From the measured vibration waveforms, we extracted the feature values that characterize the vibration and analyzed the relationship between the normal force and the tracing speed. A model of the maximum amplitude of the vibration was constructed from the obtained results. The model of the maximum amplitude was found to be highly accurate under several conditions.

    Japan Society of Mechanical Engineers, 2021, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2021, 1P2 - J03, Japanese
    Symposium

  • Taiga KANDA, Hikaru NAGANO, Yuichi TAZAKI, Yasuyoshi YOKOKOHJI

    While there are many papers that focuses on transmitting location information such as distance and direction information of a single object using wearable vibrotactile devices, there are none that focuses on transmitting location information of multiple objects. In this paper, we conducted experiments to find out whether humans can understand and recognize information of the number of multiple moving objects (1～4) transmitted via vibrotactile stimulation. To do so, we built a vibrotactile waist belt and constructed an algorithm that changes vibration amplitude depending on the distance and direction of the target objects. As a result, we found that by using our method, participants have the tendency to be able to understand up to 3 moving objects.

    Japan Society of Mechanical Engineers, 2021, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2021, 1P2 - J08, Japanese
    Symposium

  • Kotaro WADA, Yuichi TAZAKI, Hikaru NAGANO, Yasuyoshi YOKOKOHJI

    In this paper, we propose a method for mapping a pose graph map using proximity points as feature points by integrating multiple observation data. In this method, remove quasi-static objects which changes location or existence for each observation data, and avoid incorrect removal of static objects, for improve the accuracy of localization. In addition, we confirme that the proposed method can remove quasi-static objects, by mapping the actually observed data. In addition, the accuracy of localization by the map constructed by the proposed method is compared with the accuracy of one without removing quasi-static objects, to show the usefulness of the proposed method.

    Japan Society of Mechanical Engineers, 2021, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2021, 1A1 - G18, Japanese
    Symposium

  • Satomi HANASAKI, Yuichi TAZAKI, Hikaru NAGANO, Yasuyoshi YOKOKOHJI

    In this paper, we propose a bipedal trajectory planning method to realize fast and human-like walking. Based on existing studies on the center-of-mass trajectory of human walking, we design swing leg trajectory to reduce the lateral fluctuation of the center-of-mass trajectory of a humanoid robot. Generated trajectory was evaluated simulation and proved that proposed method can walk faster than previous methods. The simulation results also imply that proposed method is better than previous method at walking stability.

    Japan Society of Mechanical Engineers, 2021, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2021, 1A1 - D03, Japanese
    Symposium

  • TAHARA Mikihisa, NAGANO Hikaru, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi

    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.

    The Japan Society of Mechanical Engineers, 2020, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2020, 2A1 - P18, Japanese

  • KINOSHITA Yuki, NAGANO Hikaru, SASE Kazuya, KONYO Masashi, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi

    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.

    The Japan Society of Mechanical Engineers, 2020, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2020, 2A2 - N15, Japanese

  • TSUJI Hiroki, KATAYAMA Raita, NAGANO Hikaru, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi

    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.

    The Japan Society of Mechanical Engineers, 2020, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2020, 2P1 - P07, Japanese

  • TAWA Syunsuke, NAGANO Hikaru, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi

    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.

    The Japan Society of Mechanical Engineers, 2020, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2020, 2A1 - P10, Japanese

  • Yuichi TAZAKI
    Japan Society of Mechanical Engineers, 2019, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2019, 1A1 - J04
    Scientific journal

  • Gwanwoo Kim, Hiroki Kuribayashi, Yuichi Tazaki, Yasuyoshi Yokokohji
    2018, 2018 IEEE-RAS 18th International Conference on Humanoid Robots, 1 - 9, English
    [Refereed]
    International conference proceedings

  • TANAKA Kengo, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi

    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.

    The Japan Society of Mechanical Engineers, 2018, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2018(0) (0), 1P2 - M01, Japanese
    [Refereed]

  • Parking Trajectory Planning Using Multi-resolution State Roadmaps
    Y. Tazaki, H. Okuda, T. Suzuki
    2017, IEEE Transactions on Intelligent Vehicles, 2(4) (4), 298 - 307, English
    [Refereed]
    Scientific journal

  • OKADA Taiki, YOKOKOHJI Yasuyoshi, TAZAKI Yuichi, YOSHINADA Hiroshi, NAKAMURA Shinya, KURASHIKI Keita

    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.

    The Japan Society of Mechanical Engineers, 2017, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017(0) (0), 2A1 - P06, Japanese
    [Refereed]

  • Yuichi Tazaki, Yuki Miyauchi, Yasuyoshi Yokokohji
    2017, Proc. 2017 IEEE, SICE International Symposium on System Integration (SII2017), 411 - 416, English
    [Refereed]
    International conference proceedings

  • Kouta Goto, TAZAKI YUICHI, Tatsuya Suzuki
    Fuji Press, Aug. 2016, Journal of Robotics and Mechatronics, 28(4) (4), 533 - 542, English
    [Refereed]
    Scientific journal

  • 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, May 2016, IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E99A(5) (5), 954 - 962, English
    [Refereed]
    Scientific journal

  • Personalized Autonomous Driving Using Model Predictive Control : Parameter Estimation of Personalized Cost Function
    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
    自動車技術会, 2016, 自動車技術会論文集, 47(6) (6), 1431 - 1437, Japanese
    [Refereed]
    Scientific journal

  • 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, IEEE Intelligent Vehicles Symposium, 800 - 806, English
    [Refereed]
    International conference proceedings

  • 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, 2016 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 722 - 728, English
    [Refereed]
    International conference proceedings

  • Usability Evaluation Technique of HMI Based on Bidirectional Primary-Secondary Task Method Using Driver's Decision Vagueness Index in Vehicle Following
    奥田裕之, 近藤悠太, 田崎勇一
    自動車技術会, 2015, 自動車技術会論文集, 46(1) (1), 153 - 160, Japanese
    [Refereed]
    Scientific journal

  • 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, 2015 IEEE 18TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, 1304 - 1310, English
    [Refereed]
    International conference proceedings

  • 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, IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 3175 - 3180, English
    [Refereed]
    International conference proceedings

  • 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, IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 3199 - 3205, English
    [Refereed]
    International conference proceedings

  • 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, Oct. 2014, IEEE TRANSACTIONS ON ROBOTICS, 30(5) (5), 1227 - 1234, English
    [Refereed]
    Scientific journal

  • 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, Mar. 2014, ELECTRICAL ENGINEERING IN JAPAN, 186(4) (4), 59 - 69, English
    [Refereed]
    Scientific journal

  • TAZAKI Yuichi, SUZUKI Tatsuya
    The Society of Instrument and Control Engineers, 2014, Journal of The Society of Instrument and Control Engineers, 53(12) (12), 1105 - 1110, Japanese

  • 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, 2014 AMERICAN CONTROL CONFERENCE (ACC), 4630 - 4636, English
    [Refereed]
    International conference proceedings

  • 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, 2014 IEEE INTELLIGENT VEHICLES SYMPOSIUM PROCEEDINGS, 407 - 413, English
    [Refereed]
    International conference proceedings

  • 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, 2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE), 1272 - 1277, English
    [Refereed]
    International conference proceedings

  • Path Planning of Mobile Robots Considering Position Uncertainty and Cost of Observation
    Y. Tazaki, T. Suzuki
    2014, SICE Journal of Control, Measurement, and System Integration, 7(3) (3), 183 - 190, English
    [Refereed]
    Scientific journal

  • Hitoshi Terai, Kazuhisa Miwa, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki, Kazuaki Kojima, Junya Morita, Akihiro Maehigashi, Kazuya Takeda
    Aug. 2013, Proceedings of the 35th Annual Meeting of the Cognitive Science Society, English
    [Refereed]
    International conference proceedings

  • 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
    Jun. 2013, 日本ロボット学会誌, 31(5) (5), 508 - 516, Japanese
    [Refereed]
    Scientific journal

  • 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
    May 2013, 電気学会論文誌C分冊, 133(5) (5), 1029 - 1040, Japanese
    [Refereed]
    Scientific journal

  • 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, Mar. 2013, IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 14(1) (1), 98 - 112, English
    [Refereed]
    Scientific journal

  • Identification of Personalized Potential Field and Its Application to Obstacle Avoidance Assisting Control
    奥田裕之, 能登紀泰, 田崎勇一, 鈴木達也
    自動車技術会, 2013, 自動車技術会論文集, 44(3) (3), 895 - 901, Japanese
    [Refereed]
    Scientific journal

  • NOTO Noriyasu, OKUDA Hiroyuki, TAZAKI Yuichi, SUZUKI Tatsuya, HAYAKAWA Soichiro, MITA Seiichi, KATAYAMA Masaaki, OBINATA Goro
    A cooperative parking system based on consensus control and mutual exclusion mechanism is developed. The system incorporates the idea of consensus control that has been actively studied in the field of multi-agent control in order to balance the amount of time required for parking. Moreover, the notion of exclusive region is newly introduced to avoid collisions at junctions. The system is evaluated through large-scale simulations and field tests in which multiple personal electric vehicles share position and velocity information via wireless communication network.
    The Society of Instrument and Control Engineers, 2013, Transactions of the Society of Instrument and Control Engineers, 49(11) (11), 986 - 993, Japanese
    [Refereed]
    Scientific journal

  • 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, 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 183 - 188, English
    [Refereed]
    International conference proceedings

  • Fast Computation of Model Predictive Driver Assistance Based on Hybrid System Behavior Model
    H. Okuda, X. Guo, Y. Tazaki
    2013, SICE Annual Conference, 1429 - 1430, English
    [Refereed]
    International conference proceedings

  • 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, 2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013), 1912 - 1917, English
    [Refereed]
    International conference proceedings

  • 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, Proceedings of the IEEE Conference on Decision and Control, 2281 - 2287, English
    [Refereed]
    International conference proceedings

  • 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, IEEJ Transactions on Electronics, Information and Systems, 133(5) (5), 18 - 1040, English
    [Refereed]
    Scientific journal

  • 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, Work, 41(SUPPL.1) (SUPPL.1), 1471 - 1476
    International conference proceedings

  • 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, 電気学会論文誌D分冊, 132(8) (8), 808 - 816, Japanese
    [Refereed]
    Scientific journal

  • 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, 2012 15TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), 1702 - 1707, English
    [Refereed]
    International conference proceedings

  • 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, 19th ITS World Congress, English
    [Refereed]
    International conference proceedings

  • 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, PROCEEDINGS 2012 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 3069 - 3074, English
    [Refereed]
    International conference proceedings

  • 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, 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), 854 - 859, English
    [Refereed]
    International conference proceedings

  • 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, IEEJ Transactions on Industry Applications, 132(8) (8), 5 - 816, Japanese
    [Refereed]
    Scientific journal

  • Supervisory Control of Periodic Stepping Motion of a Bipedal Robot
    H. Urahama, Y. Tazaki, T. Suzuki
    2011, SICE Annual Conference, 589 - 594, English
    [Refereed]
    International conference proceedings

  • Obstacle Avoidance Assisting System Based on Personalized Potential Field
    N. Noto, H. Okuda, Y. Tazaki
    2011, SICE Annual Conference, 476 - 481, English
    [Refereed]
    International conference proceedings

  • 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, Proceedings of 2011 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2011, 199 - 204, English
    [Refereed]
    International conference proceedings

  • 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, 2011 14TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), 1874 - 1879, English
    [Refereed]
    International conference proceedings

  • 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, IEEE-RAS International Conference on Humanoid Robots, 596 - 601, English
    [Refereed]
    International conference proceedings

  • Yuichi Tazaki, Jun-Ichi Imura
    This paper presents a method that computes an approximate solution to a class of optimal control problems in arbitrary precision based on a discrete abstraction technique. Using a discrete abstract model, one can obtain upper and lower bounds on the optimal cost of an optimal control problem. By making use of this property, the method initially constructs a coarse discrete model, and then it gradually increases the resolution of discretization to tighten the bound on the optimal cost until the required precision is satisfied. The effectiveness of the method is demonstrated in a path-planning problem on a 2D plane. ©2010 IEEE.
    Institute of Electrical and Electronics Engineers Inc., 2010, Proceedings of the IEEE Conference on Decision and Control, 5905 - 5910, English
    International conference proceedings

  • 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, 計測自動制御学会産業論文集, 9(5) (5), 29 - 36, Japanese
    [Refereed]
    Scientific journal

  • 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, 2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 890 - 895, English
    [Refereed]
    International conference proceedings

  • TAZAKI Yuichi, IMURA Jun-ichi
    In this paper, a new control method for a planar bipedal robot, which we call here Graph-based Model Predictive Control, is proposed. This method consists of two phases: the graph construction phase and the realtime control phase. In the graph construction phase, a directed graph on the state space of the control target is constructed off line. In the realtime control phase, the controller drives the state of the control target so as to make it move through graph nodes connected by directed edges. By tracing directed edges, a model predictive control is achieved in some sense. Moreover, since the directed graph is constructed in advance, the realtime computational cost is dramatically reduced compared with the ordinary MPC. In addition, by constructing multiple directed graphs based on different cost functions, one can design multiple motions and switching trajectories among them in a uniform way. The proposed method is applied to the speed changing control problem of a bipedal walker on a 2-dimensional plane and its effectiveness is verified by numerical simulation.
    The Robotics Society of Japan, Jul. 2006, JRSJ, 24(5) (5), 663 - 671, Japanese

■ MISC
  • Development of robot technology to contribute to 1F decommissioning (2) Development of remote operation assist trajectory planning for decommissioning robot
    橋本達矢, 水野直希, 田崎勇一, 横小路泰義
    2024, ΑΤΟΜΟΣ, 66(3) (3)

  • Highly Accurate Navigation Technology for Unmanned Vehicles through Human-Machine Cooperation
    木内裕介, 北島克将, 亀尾成寿, 杉本喜一, 田崎勇一, 横小路泰義
    2022, 三菱重工技報(Web), 59(3) (3)

  • 歩行との滑らかな遷移を可能にする人型ロボットの走行軌道計画
    花崎仁実, 田崎勇一, 永野光, 横小路泰義
    2022, 日本ロボット学会学術講演会予稿集(CD-ROM), 40th

  • 近接点を特徴点として持つ地図のロバストなポーズグラフ最適化
    和田鼓太郎, 田崎勇一, 永野光, 横小路泰義
    2022, 日本ロボット学会学術講演会予稿集(CD-ROM), 40th

  • 計画軌道への誘導と自動干渉回避によるマニピュレータ遠隔操作支援システムの有効性評価
    松田郁也, 田崎勇一, 永野光, 横小路泰義
    2022, 日本ロボット学会学術講演会予稿集(CD-ROM), 40th

  • 食料雑貨をピッキングするための二指型ロボットハンドの汎用性の検証
    長谷川拓飛, 片山雷太, 永野光, 田崎勇一, 横小路泰義
    2022, 日本ロボット学会学術講演会予稿集(CD-ROM), 40th

  • Experimental Evaluation of Video Quality Necessary for Remote Driving
    五十住巧, 田崎勇一, 永野光, 横小路泰義, 亀岡翔太
    2021, 自動車技術会論文集(Web), 52(3) (3)

  • 加速度センサの数と配置の変更による油圧駆動ロボットの手先負荷力推定精度向上
    島村直武, 永野光, 田崎勇一, 横小路泰義
    2021, 日本ロボット学会学術講演会予稿集(CD-ROM), 39th

  • Pre-verification of self-alignment operation on the target part by a parallel-stick-fingered hand by physics simulation
    山崎俊太郎, 永野光, 田崎勇一, 横小路泰義
    2021, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 22nd

  • Effectiveness of End-Point Compliance and Macro-Micro Mechanism for Jigless High-Precision Assembly
    鈴木健司, 横小路泰義, 田崎勇一, 永野光
    2021, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 22nd

  • Haptic support system for teleoperation based on similarity between current and pre-recorded trajectories
    西野智貴, 永野光, 田崎勇一, 横小路泰義
    2021, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 22nd

  • Yuichi Tazaki, Yasuyoshi Yokokohji
    In this paper, an autonomous navigation method that utilizes proximity points of 3D range data is proposed for use in mobile robots. Some useful geometric properties of proximity points are derived, and a computationally efficient algorithm for extracting such points from 3D pointclouds is presented. Unlike previously proposed keypoints, the proximity point does not require any computationally expensive analysis of the local curvature, and is useful for detecting reliable keypoints in an environment where objects with definite curvatures such as edges and flat surfaces are scarce. Moreover, a particle-filter-based self-localization method that uses proximity points for a similarity measure of observation is presented. The proposed method was implemented in a real mobile robot system, and its performance was tested in an outdoor experiment conducted during Nakanoshima Challenge 2019.
    Lead, FUJI TECHNOLOGY PRESS LTD, Dec. 2020, Journal of Robotics and Mechatronics, 32(6) (6), 1183 - 1192, English
    [Refereed]
    Report scientific journal

  • Y. Tazaki, M. Murooka
    Lead, Informa UK Limited, 08 Aug. 2020, Advanced Robotics, 1 - 10, English
    [Refereed]
    Report scientific journal

  • Design of parallel mechanism for macro/micro robot suitable for direct teaching and playback of assembly task
    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, 20 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, 1183 - 1189, Japanese

  • Trajectory Planning of Biped Walking Robots Capable of Gait Switching
    湯浅秀将, 田崎勇一, 横小路泰義
    2020, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2020

  • 物体ごとの把持姿勢を考慮したピッキング作業のための汎用ロボットハンドの設計
    津田達也, 永野光, 田崎勇一, 横小路泰義
    2020, 日本ロボット学会学術講演会予稿集(CD-ROM), 38th

  • Real-time Step Adaptation for Bipedal Robots Utilizing Pre-computation of Capture Regions
    田崎勇一, 栗林拓輝, 横小路泰義
    2020, 日本ロボット学会誌, 38(10) (10)

  • Experimental Validation of Operator-Assisting System Based on Trajectory Display for Teleoperation in Cluttered Environments
    橋本俊治, 田崎勇一, 永野光, 横小路泰義
    2020, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st

  • Construction of a simulation environment for macro/micro robot suitable for direct teaching and replaying of assembly tasks
    橋本佳典, 永野光, 田崎勇一, 横小路泰義
    2020, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st

  • Precision assembly simulation for re-verification of jig-less assembly by a robot
    吉田知正, 永野光, 田崎勇一, 横小路泰義
    2020, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st

  • Experimental Evaluation of Video Quality Required for Remote Control of Automobiles
    五十住巧, 田崎勇一, 永野光, 横小路泰義, 亀岡翔太
    2020, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st

  • Research on the Operater Interfase for the Teleoperated Construction Robot to Improve Efficiency and Reduce Operator’s Burden
    大西亮賛, 永野光, 田崎勇一, 横小路泰義
    2020, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 21st

  • Photonics Technologies used in Disaster Response Robots
    横小路 泰義, 田崎 勇一
    レーザー学会, Nov. 2019, レーザー研究 = The review of laser engineering : レーザー学会誌, 47(11) (11), 624 - 629, Japanese

  • Yuichi Tazaki
    Lead, IEEE, Oct. 2019, 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), English
    [Refereed]
    Summary international conference

  • マスタ・スレーブ方式の遠隔操縦における接続の繰り返しに伴う手先姿勢誤差の修正法の提案と評価
    辻廣樹, 片山雷太, 永野光, 田崎勇一, 横小路泰義
    2019, 日本ロボット学会学術講演会予稿集(CD-ROM), 37th

  • 時間・空間的非線形要素を考慮したフィードバック変調器による油圧駆動マニピュレータの高精度軌道制御
    竹内優佳子, 田崎勇一, 永野光, 横小路泰義
    2019, 日本ロボット学会学術講演会予稿集(CD-ROM), 37th

  • ピッキング作業時の要求仕様を考慮した閉リンク機構を有するロボットハンドの設計
    津田達也, 白土浩司, 永野光, 田崎勇一, 横小路泰義
    2019, 日本ロボット学会学術講演会予稿集(CD-ROM), 37th

  • 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, 永野光, 田崎勇一, 横小路泰義
    2019, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20th

  • 自動車の遠隔操縦における予測表示を用いた通信遅延補償システムの提案
    田中宏樹, 田崎勇一, 横小路泰義, 亀岡翔太
    2019, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20th

  • 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の機構設計
    橋本佳典, 永野光, 田崎勇一, 横小路泰義
    2019, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20th

  • ビジョンセンサを併用した平行スティック四指汎用ハンドによるギヤユニットの冶具レス組立
    福田崇人, 土橋宏規, 田崎勇一, 永野光, 横小路泰義
    2019, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20th

  • 直接教示動作の統計的性質に基づいたロボットへの柔軟物体操作スキルの移植
    倉光祐之介, 永野光, 田崎勇一, 横小路泰義
    2019, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20th

  • 移動ロボット群の観測情報の共有による環境探索の効率化
    西口弘太郎, 田崎勇一, 横小路泰義
    2019, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20th

  • SASAGAWA Masaki, TANAKA Kengo, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi

    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.

    The Japan Society of Mechanical Engineers, 2019, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2019(0) (0), 2A1 - B09, Japanese

  • 自動車の遠隔操縦に求められる通信および映像品質に関する実験的評価
    中田周作, 田崎勇一, 横小路泰義, 亀岡翔太, 吉桑義雄
    2018, 自動車技術会大会学術講演会講演予稿集(CD-ROM), 2018

  • 自動車の遠隔操縦システムの開発
    亀岡翔太, 吉桑義雄, 田崎勇一, 横小路泰義
    2018, 自動車技術会大会学術講演会講演予稿集(CD-ROM), 2018

  • 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, 田崎勇一, 横小路泰義
    2018, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 19th

  • 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, 田崎勇一, 横小路泰義
    2018, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 19th

  • 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, 田崎勇一, 横小路泰義
    2018, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 19th

  • 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, 田崎勇一, 横小路泰義
    2018, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 19th

  • 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, 田崎勇一, 横小路泰義
    2018, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 19th

  • 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, 田崎勇一, 横小路泰義
    2018, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 19th

  • 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, 田崎勇一, 横小路泰義
    2018, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 19th

  • KURIBAYASHI Hiroki, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi

    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.

    The Japan Society of Mechanical Engineers, 2018, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2018(0) (0), 2A2 - H08, Japanese

  • ARAKI Ryoji, OKADA Taiki, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi, YOSHINADA Hiroshi, NAKAMURA Shinya, KURASHIKI Keita

    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.

    The Japan Society of Mechanical Engineers, 2018, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2018(0) (0), 2A1 - J05, Japanese

  • 人型ロボットの運動計画
    田﨑 勇一
    2018, 日本ロボット学会誌, 36(2) (2), 122 - 127, Japanese
    [Invited]
    Introduction scientific journal

  • OKUDA Hiroyuki, TAZAKI Yuichi, SUZUKI Tatsuya
    The Society of Instrument and Control Engineers, 2018, Journal of The Society of Instrument and Control Engineers, 57(3) (3), 185 - 192, Japanese
    [Invited]
    Introduction scientific journal

  • Laboratory Introduction: Complex Mechanical Systems Laboratory, Department of Mechanical Engineering, Graduate School of Engineering, Kobe University
    YOKOKOHJI YASUYOSHI, TAZAKI YUICHI
    一般社団法人日本ロボット工業会, Sep. 2017, Robot (Journal of Japan Robot Association), 238, 68 - 70, Japanese
    Others

  • 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, 田崎勇一, 横小路泰義
    2017, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 18th

  • 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, 田崎勇一, 横小路泰義
    2017, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 18th

  • 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, 田崎勇一, 横小路泰義
    2017, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 18th

  • 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
    KIM Gwanwoo, 田崎勇一, 横小路泰義
    2017, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 18th

  • 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, 田崎勇一, 横小路泰義
    2017, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 18th

  • KATAYAMA Raita, YOKOKOHJI Yasuyoshi, TAZAKI Yuichi

    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.

    The Japan Society of Mechanical Engineers, 2017, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017(0) (0), 2P1 - R07, Japanese

  • KIM Gwanwoo, TAZAKI Yuichi, YOKOKOHJI Yasuyoshi

    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.

    The Japan Society of Mechanical Engineers, 2017, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017(0) (0), 1A1 - P07, Japanese

  • 1P1-J04 Navigation of Autonomous Mobile Robot that is Robust against Topological Change of Environment
    KAMEI Rihiro, TAZAKI Yuichi, SUZUKI Tatsuya
    In this paper we present a robust navigation method under static environment, where there are unknown obstacles, using a topological map based on Generalized Voronoi Diagrams (GVD). By getting observation information by Laser Range Finder (LRF), the mobile robot can be navigated in the topological map. In case that unknown obstacles are recognized, robust navigation is done by considering its topological effect. We assume that topological changes by unknown obstacles are classified in two patterns. One is that there is an unknown obstacle "in a crossroad". The other is "on a passage". Every time the mobile robot encounters an unknown obstacle, the algorithm classifies a local topological change in one of two patterns. Based on the pattern classified, the algorithm plans a local alternate path. An experiment in the indoor environment by the mobile robot shows the good performance of the algorithm for navigation.
    The Japan Society of Mechanical Engineers, 17 May 2015, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P1 - J04(1)"-"1P1-J04(4)", Japanese

  • 1P2-B04 Fall Avoidance for Biped Robots under Disturbances from Different Directions Based on Real-time Trajectory Planning
    KOJIO Yuta, GOTO Kouta, TAZAKI Yuichi, SUZUKI Tatsuya
    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.
    The Japan Society of Mechanical Engineers, 17 May 2015, 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)", Japanese

  • Estimation of Switching Condition between Primitive Tasks of Overtaking Behavior on Highway
    奥田 裕之, 鐙 陽介, 田崎 勇一
    自動車技術会, Mar. 2015, 自動車技術会論文集, 46(2) (2), 527 - 531, Japanese

  • Cooperative Control in Vehicle Systems
    SUZUKI Tatsuya, TAZAKI Yuichi, OKUDA Hiroyuki
    This article presents case studies of cooperative control of vehicles. First of all, the cooperative parking control based on a consensus control is introduced. Second, the cooperative adaptive cruise control which explicitly involves the driver model is explained. Finally, some requirements for the wireless communication system are discussed from viewpoint of control technology.
    The Institute of Electronics, Information and Communication Engineers, 15 Jan. 2015, IEICE technical report. RCC, Reliable communication and control, 114(388) (388), 19 - 24, Japanese

  • 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, 日本ロボット学会誌, 33(10) (10), 773 - 778, Japanese
    [Invited]
    Introduction scientific journal

  • 1P2-P05 Task Scheduling for Carrying Task of Robotic Arm Using Contact Transition Graph(New Control Theory and Motion Control (2))
    ISHII Masato, TAZAKI Yuichi, SUZUKI Tatsuya
    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.
    The Japan Society of Mechanical Engineers, 24 May 2014, 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)", Japanese

  • 1A1-R03 Trajectory Generation and Control of Small-Sized Bipedal Walker(Walking Robot)
    GOTO Kouta, TAZAKI Yuichi, SUZUKI Tatsuya
    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.
    The Japan Society of Mechanical Engineers, 24 May 2014, 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)", Japanese

  • 2A1-W06 Formation Control Considering Uncertainty of Positions of Multi Mobile Robots(Cooperation Control of Multi Robots)
    TAKASHIMA Koichi, TAZAKI Yuichi, SUZUKI Tatsuya
    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.
    The Japan Society of Mechanical Engineers, 24 May 2014, 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)", Japanese

  • 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, 日本ロボット学会誌, 32(6) (6), 519 - 524, Japanese
    [Invited]
    Introduction scientific journal

  • 1A2-A06 Multi-Robot Scheduling and Trajectory Planning Using Variable-Resolution Roadmap(Cooperation Control of Multi Robots)
    YAMADA Takayuki, XIANG Jingyu, TAZAKI Yuichi, SUZUKI Tatsuya
    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.
    The Japan Society of Mechanical Engineers, 22 May 2013, 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)", Japanese

  • 2P1-L02 Generating Dance Motions for Robot Arm based on Multi-Objective Trajectory Planning(New Control Theory and Motion Control)
    ISHII Masato, TAZAKI Yuichi, SUZUKI Tatsuya
    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.
    The Japan Society of Mechanical Engineers, 22 May 2013, 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)", Japanese

  • 2P1-R17 Automated Parking System Using Variable-resolution State Roadmap Considering Nonholonomic Constraints of Car-like Robot(Wheeled Robot/Tracked Vehicle (3))
    FUJI Hiroshi, XIANG Jingyu, TAZAKI Yuichi, SUZUKI Tatsuya, OKUDA Hiroyuki
    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.
    The Japan Society of Mechanical Engineers, 22 May 2013, 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)", Japanese

  • 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, 計測と制御, 52(4) (4), 329 - 335, Japanese
    [Invited]
    Introduction scientific journal

  • 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
    Dec. 2012, 日本ロボット学会誌, 30(9) (9), 841 - 848, Japanese
    Introduction scientific journal

  • 1P1-E04 Variable-resolution Kinoch namic Roadmap Generation Considering Safety Constraints for Mobile Robot(Car Robotics)
    XIANG Jingyu, TAZAKI Yuichi, SUZUKI Tatsuya
    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.
    The Japan Society of Mechanical Engineers, 27 May 2012, 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)", Japanese

  • 1A2-U07 Accelration of Computation using Homotopy Method in Model Predictive Assisting Control System including Driver Model(Cooperation between Human and Machine(2))
    GUO Xiaolin, OKUDA Hiroyuki, TAZAKI Yuichi, SUZUKI Tatsuya
    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).
    The Japan Society of Mechanical Engineers, 27 May 2012, 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)", Japanese

  • Towards Mathematical Foundation of Cyber-Physical Systems
    TAZAKI Yuichi
    This article introduces Cyber-Physical System (CPS), which is attracting growing attention in recent years. The first half provides an overview of recent trends in CPS research and summarizes a number of key requirements on CPS theory. The second half briefly introduces two examples, map construction for autonomous mobile robots and motion planning of large-scale robotic systems, from the view point of CPS.
    The Institute of Electronics, Information and Communication Engineers, 26 Jan. 2012, Mathematical Systems Science and its Applications : IEICE technical report, 111(405) (405), 69 - 72, Japanese

  • 2A2-D02 Periodic Motion Control of a Bipedal Robot Using an Event-Driven Model(Walking Robot)
    URAHAMA Hidehiro, TAZAKI Yuichi, SUZUKI Tatsuya
    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.
    The Japan Society of Mechanical Engineers, 26 May 2011, 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)", Japanese

  • 2A1-Q07 Model Predictive Collision Avoidance Assisting Control Based on Hybrid System Model(Robotics in the automotive)
    TORII Takehito, MIKAMI Koji, OKUDA Hiroyuki, TAZAKI Yuichi, SUZUKI Tatsuya, TAKEDA Kazuya
    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.
    The Japan Society of Mechanical Engineers, 26 May 2011, 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)", Japanese

  • 2A1-O05 Visibility-Guided Autonomous Graph-map Construction of Mobile Robots(Localization and Mapping)
    XIANG Jingyu, TAZAKI Yuichi, INAGAKI Shinkichi, SUZUKI Tatsuya
    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.
    The Japan Society of Mechanical Engineers, 26 May 2011, 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)", Japanese

  • 2A1-E05 Model Predictive Assisting Control Using Driver Model of Following Behavior Based on Probability Weighted ARX Model
    OKUDA Hiroyuki, IKAMI Norimitsu, MIKAMI Koji, TAZAKI Yuichi, SUZUKI Tatsuya
    This paper presents a personalized driver assisting system that makes use of the driver's behavior model. The Probability-weighted ARX (PrARX) model which is a type of hybrid dynamical system models is introduced as a model of driving behavior. 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.
    The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "2A1 - E05(1)"-"2A1-E05(4)", Japanese

  • 2A1-E08 Estimation of Operator's Intention based on Multi-Mode Particle Filterwith Gaussian Mixture Model
    Shimakura Satoshi, Tazaki Yuuichi, INAGAKI Shinkichi, SUZUKI Tatsuya
    This paper presents a new model to predict an operator's intention in man-machine system based on the multi-mode particle filter wherein a Gaussian mixture model (GMM) is embedded as the observation model. In the proposed model, each prediction model in the particle filter corresponds to each primitive motion generated by the operator. The operator's intention can be predicted by calculating the likelihood of each model in real-time. In addition, the advantage of using GMM is to be able to represent a nonlinear and/or nonstationary relationship between the state of the particle filter and the observation signal measured from the sensor. This advantage is more emphasized when the model is applied to the prediction of human complex behavior and when the observation order is less than that of dynamical state. The usefulness of the proposed model is demonstrated by applying to a manipulating behavior for the carrier machine.
    The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "2A1 - E08(1)"-"2A1-E08(4)", Japanese

  • 1A2-E27 Efficient Exploration for Localization of Omnidirectional Mobile Robots using Particle Filter
    YAMASHITA Ryo, XIANG Jingyu, TAZAKI Yuichi, INAGAKI Shinkichi, SUZUKI Tatsuya
    This paper presents an efficient exploration strategy for the self-localization of omnidirectional mobile robots based on particle filtering. It is a challenging task to identify the robot's global position in a workspace based only on local sensory information, especially if there exist multiple locations where similar measurement signals are obtained. A popular existing technique called Active Localization, which chooses the next action so as to minimize the entropy of the expected posterior distribution of the robot's position, cannot be directly applied to particle-based localization, since entropy cannot be evaluated easily when a probability distribution is expressed by particles. Instead, in the proposed method, the robot moves to a position where the variance of" the expected measurement signal is maximized. The variance of a particle distribution is easy to compute and therefore the proposed method is well suited to particle-based localization. The proposed technique is tested in an in-door environment.
    The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1A2 - E27(1)"-"1A2-E27(4)", Japanese

  • Semi-optimal Control for Obstacle Avoidance under Observation Information Constraints
    SAITO Mamoru, TAZAKI Yuichi, IMURA Jun-ichi
    計測自動制御学会, 30 Nov. 2008, 計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers, 44(11) (11), 911 - 918, Japanese

■ Lectures, oral presentations, etc.
  • 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, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The Robotics and Mechatronics Conference 2019, Jun. 2019, Japanese, 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, International Conference Center Hiroshima, Domestic conference
    Poster presentation

  • 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, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 19th SICE System Integration Division Annual Conference, Dec. 2018, Japanese, 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, Domestic conference
    Poster presentation

  • Study on complementary clarification of object propertiesand robot hand functions for grasping Part 2; design of robot hand assuming handling of medicines at pharmacy
    吉田 裕貴, 白土 浩司, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 19th SICE System Integration Division Annual Conference, Dec. 2018, Japanese, 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, Domestic conference
    Poster presentation

  • Autonomous map generation by two robots based on consensus method
    天竺 航, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 19th SICE System Integration Division Annual Conference, Dec. 2018, Japanese, 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, Domestic conference
    Poster presentation

  • Develpoment of a general purpose robot hand for picking tasks based on the functional analysis of human hands
    津田 達也, 高松 駿太, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 19th SICE System Integration Division Annual Conference, Dec. 2018, Japanese, 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, Domestic conference
    Poster presentation

  • High-precision Trajectory Control of Hydraulically Driven Robotswith Feedback Modulator Using Improved Quantization Map
    竹内 優佳子, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 19th SICE System Integration Division Annual Conference, Dec. 2018, Japanese, 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, Domestic conference
    Poster presentation

  • A study on visual presentation method for the sense of depth of environment in a remote control system
    笹川 雅希, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 19th SICE System Integration Division Annual Conference, Dec. 2018, Japanese, 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, Domestic conference
    Poster presentation

  • Investigation of maneuverability index for remote control robots focusing on the "sense of unity" The 3rd Report: Influence of camera orientation on maneuverability
    田中 謙伍, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 19th SICE System Integration Division Annual Conference, Dec. 2018, Japanese, 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, Domestic conference
    Poster presentation

  • External force estimation of a hydraulically-driven robot in the disaster area for high fidelity teleoperation
    荒木 亮次, 岡田 大貴, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI, 吉灘 裕, 中村 晋也, 倉鋪 圭太
    ROBOMECH2018, Jun. 2018, Japanese, 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, Domestic conference
    Poster presentation

  • Trajectory Generation for Fall Avoidance of Bipedal Robots Considering Vertical Center-of-Mass Motion
    栗林 拓輝, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    ROBOMECH2018, Jun. 2018, Japanese, 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, Domestic conference
    Poster presentation

  • Investigation of maneuverability index for remote control robots focusing on the "sense of unity" The 2nd Report: Influence of the required forces for master arm operation on the maneuverability
    田中 謙伍, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    ROBOMECH2018, Jun. 2018, Japanese, 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, Domestic conference
    Poster presentation

  • 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, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    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), Mar. 2018, Japanese, 文部科学省, 富岡文化交流センター学びの森, Domestic conference
    Poster presentation

  • 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, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 18th SICE System Integration Division Annual Conference, Dec. 2017, Japanese, 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, SENDAI INTERNATIONAL CENTER, Domestic conference
    Poster presentation

  • 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, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 18th SICE System Integration Division Annual Conference, Dec. 2017, Japanese, 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, SENDAI INTERNATIONAL CENTER, Domestic conference
    Poster presentation

  • 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, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 18th SICE System Integration Division Annual Conference, Dec. 2017, Japanese, 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, SENDAI INTERNATIONAL CENTER, Domestic conference
    Poster presentation

  • 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, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 18th SICE System Integration Division Annual Conference, Dec. 2017, Japanese, 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, SENDAI INTERNATIONAL CENTER, Domestic conference
    Poster presentation

  • 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, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    The 18th SICE System Integration Division Annual Conference, Dec. 2017, Japanese, 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, SENDAI INTERNATIONAL CENTER, Domestic conference
    Poster presentation

  • 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, YOKOKOHJI YASUYOSHI, TAZAKI YUICHI
    ROBOMECH2017, May 2017, Japanese, 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, BIG PALETTE FUKUSHIMA, Domestic conference
    Poster presentation

  • 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, YOKOKOHJI YASUYOSHI, TAZAKI YUICHI, 吉灘 裕, 中村 晋也, 倉鋪 圭太
    ROBOMECH2017, May 2017, Japanese, 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, BIG PALETTE FUKUSHIMA, Domestic conference
    Poster presentation

  • 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, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    ROBOMECH2017, May 2017, Japanese, 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, BIG PALETTE FUKUSHIMA, Domestic conference
    Poster presentation

  • 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, TAZAKI YUICHI, YOKOKOHJI YASUYOSHI
    ROBOMECH2017, May 2017, Japanese, 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, BIG PALETTE FUKUSHIMA, Domestic conference
    Poster presentation

■ Research Themes
  • 遠隔駆動式マニピュレータの手先性能を最適化する液圧パワートレインの設計原理の解明
    玄 相昊, 田崎 勇一, 織田 健吾
    日本学術振興会, 科学研究費助成事業, 基盤研究(B), 立命館大学, 01 Apr. 2021 - 31 Mar. 2025
    過酷な作業現場で長時間の器用な力仕事を行うマニピュレータの性能を高めるにあたり、駆動源を手先から離して置ける液圧駆動（水圧や油圧駆動）が有望である。本研究は、大小容量の各種ポンプとバルブをマトリクスで有機的に複合した液圧回路によって、手先の性能を最適化することを目的としている。具体的に、手先が発揮できる力と速度の大きさ、分解能、動特性にフォーカスした液圧複合回路の構成法を明らかにし、その能力を最大限に活かす制御アルゴリズムならびにアクチュエータ配置方法を理論的に導くことがゴールである。
    初年度は代表者らが過去の科研費プロジェクトで提案した増圧型の液圧複合回路（H2SB）をベースに、多軸化を念頭に置いたシステム要素の選定と回路構成をシミュレーションを用いて検討した。サーボ弁をシリンダーに直結することで、最終段での高応答な方向切替と絞り機能を確保したうえで、サーボ弁内で無駄な絞り捨てが生じないよう、マトリクスの出力流量と圧力を制御する回路形態を検討した。マトリクスの「節」に配置するバルブについては、単純なOn/Off弁とした。
    検討を重ねた結果、On/Off弁と共通流路を備えた新しい「モジュラー油圧回路」を発明し、2軸シリアルマニピュレータをターゲットにした制御アルゴリズムを導出することができた。実際に油圧回路を構成し、保有するロボットマニピュレータに適用した結果、手先位置軌道追従制御実験において有効性を証明することができた。出版実績は特許出願1件、国際会議論文2件、国内学会発表2件である。

  • Responsive contact motion generation for humanoid robots
    田崎 勇一, 玄 相昊
    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), Kobe University, 01 Apr. 2021 - 31 Mar. 2024
    計画初年度である本年度は，研究課題である多点接触運動の即応的生成手法の確立を目指し，接触を伴う運動の計画手法に関する理論的検討を進めた．第一に，二足歩行ロボットの転倒回避制御に関し，事前に計算・記憶した転倒回避運動データベースを利用した実時間制御手法を開発し，シミュレーションにて評価を行った．これについては本計画以前からの継続研究であったこともあり，国際会議での発表につなげることができた．本手法は高性能の計算機を用いてデータベースを事前構築しておけば，様々なロボットプラットフォーム（シミュレーション・実機問わず）に容易に移植が可能であることから幅広い活用が期待できる． 第二に，多点接触を伴う運動計画に関して，動的計画法にもとづく従来の最適制御手法を基礎とし，接触の時系列が局所的に変化した際の最適コストの変化を効率的に計算する方法に基づく新たな計画手法を開発した．本手法は従来の計画手法と比較して計算速度に優れており，計画に要する時間を秒のオーダからミリ秒のオーダへ大きく低減できる．本結果については国内会議で発表した他，改良版を国際会議に投稿準備を進めている． 第三に，手法の実機検証へ向けたパラレルリンク式二足歩行ロボットの開発を進めた．ハードウェアレベルのくみ上げは7割方完了し，電装系や制御ソフトウェアの開発を進めている．次年度以降には主に転倒回避制御の検証用プラットフォームとして活用する予定である．他方，当初計画していたほど研究分担者との緊密な連携をとって進めることができなかった． この点は次年度以降へ向けた反省点である．

  • 横小路 泰義
    科学研究費補助金／基盤研究(B), Apr. 2017 - Mar. 2020
    Competitive research funding

  • 田崎 勇一
    学術研究助成基金助成金／基盤研究(C), Apr. 2017 - Mar. 2020
    Competitive research funding

  • 知能化自動車のためのスーパーバイザ型協調制御とその実証
    鈴木竜也
    科学研究費補助金／基盤研究(B), Apr. 2016 - Mar. 2018
    Competitive research funding

  • 田崎 勇一
    学術研究助成基金助成金／若手研究(B), Apr. 2014 - Mar. 2017
    Competitive research funding

  • 多自由度ロボットの環境との干渉回避を考慮した軌道計画に関する研究
    田﨑 勇一
    三菱重工株式会社, 平成28年度廃炉・汚染水対策事業費補助金（燃料デブリ・炉内構造物の取り出し基盤技術の高度化）, 2017, Principal investigator
    Competitive research funding

  • Robot Motion Planning Based on Multi-Body Models
    TAZAKI Yuichi
    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Young Scientists (B), Nagoya University, 2011 - 2012
    The objective of this research is to develop a motion planning method for robots with many degrees of freedom in order to improve the autonomy of intelligent robots, and to reduce human operation cost and magnify the range of application. A robot and a workspace is expressed as a multi-body model, and trajectory planning of a multi-body model under several tasks with different priority levels is considered. Some basic principles of such a problem are studied and an efficient solution algorithm is proposed. Concrete topics studied during the grant period includes: treatment of non-convex constraints such as collision avoidance, scheduling of serial and parallel tasks, control of real robot based on real-time motion planning, and the development of software library for the proposed motion planning method.

  • Design of Behavior Assistance Control based on Hybrid System Theory
    SUZUKI Tatsuya, INAGAKI Shinkichi, TAZAKI Yuichi
    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), Nagoya University, 2010 - 2012
    This research has developed a new framework of the assisting system design based on a hybrid system description of the behavior model. In particular, a piecewise ARX model was used to represent the human behavior. Then, the design problem of the assistance control is formulated as an online optimization problem. By using the developed framework, the decision making mechanism is shared between human and machine. The usefulness is demonstrated by applying driving behavior.

  • Development of Motion Planning Method for Multi-DOF Robots Based on Distributed Architecture and Discrete Modeling
    TAZAKI Yuichi
    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Research Activity Start-up, Nagoya University, 2009 - 2010
    This research aims at the development of control methods for autonomous robots with large degrees of freedom, founded on distributed architecture and discrete modeling of dynamical systems. Motion planning based on the discretization of configuration space is able to cope with complex environments but it is applicable only to relatively small dimensions. Hierarchical architecture, which is widely accepted in the control of large-scale systems, is not able to fully exploit the multi-DOF characteristic of the robot. The goal of research is to develop a new control framework which combines the advantages of both discrete modeling and distributed control.

  • ハイブリッドシステム制御理論に基づく歩行ロボットの多目的制御手法の開発
    田崎 勇一
    日本学術振興会, 科学研究費助成事業, 特別研究員奨励費, 東京工業大学, 2007 - 2008
    動的システムの離散近似とは,微分方程式等で記述されるシステムを有限オートマトン形式で近似表減する手法である.離散近似は非線形性や非凸性を有する制御対象に対して大域的な制御を実現する上で非常に有効な手段である. 本年度は,昨年度の研究成果(離散近似の最適制御・相互結合系への適用)を3件の国際会議にて発表した。また、昨年度に考案した非一様な離散化を可能とする反復細分化アルゴリズムをより一般的なものへの拡張した.この結果は国際会議へ投稿、採択された. また,本年度はHonda Research Institute Europe(ドイツ)に1年間滞在し,研究交流を行った.同研究所における研究において,ヒューマノイドロボットなどの大規模系の制御では離散近似だけでは不足であるという考えに到り,新たに分散制御に基づく多自由度ロボットの多目的制御手法を考案した.本手法は,1つの多自由度ロボットを小さなパーツの集合と見なし,各パーツの制御を担当する小さなエージェントを割り当てる.エージェントが適切に協調することにより,全体に1つのロボットとして整合性のとれた動作が生成される.提案手法は現在までに単純な手先位置制御や反力生成に適用され、動力学シミュレーションおよび同研究所が保有するヒューマノイドロボットASIMOを用いて検証された.本結果は国際会議へ投稿済である.今後は離散近似の手法と組み合わせることでより複雑な制御問題へ適用されることが期待される.

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