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田﨑 勇一大学院工学研究科 機械工学専攻准教授
研究活動情報
■ 論文- Institute of Electrical and Electronics Engineers (IEEE), 2024年11月, IEEE Robotics and Automation Letters, 9(11) (11), 9239 - 9246研究論文（学術雑誌）
- Institute of Electrical and Electronics Engineers (IEEE), 2024年07月, IEEE Transactions on Haptics, 17(3) (3), 319 - 333研究論文（学術雑誌）
- 2024年02月, J. Robotics Mechatronics, 36(1) (1), 49 - 62研究論文（学術雑誌）
- Society of Automotive Engineers of Japan, Inc., 2024年, International Journal of Automotive Engineering, 15(2) (2), 90 - 97研究論文（学術雑誌）
- 2023年12月, Journal of Robotics and Mechatronics, 35(6) (6), 1480 - 1488研究論文（学術雑誌）
- 2023年08月, Robotica, 41(8) (8), 2464 - 2488研究論文（学術雑誌）
- Informa UK Limited, 2023年03月, Advanced Robotics, 37(5) (5), 297 - 297研究論文（学術雑誌）
- 2023年03月, Frontiers Virtual Real., 4研究論文（学術雑誌）
- Informa UK Limited, 2023年02月, Advanced Robotics, 37(5) (5), 298 - 315研究論文（学術雑誌）
- Informa UK Limited, 2023年01月, Advanced Robotics, 1 - 19研究論文（学術雑誌）
- Elsevier BV, 2023年, IFAC-PapersOnLine, 56(2) (2), 5591 - 5596研究論文（学術雑誌）
- 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.一般社団法人 日本機械学会, 2023年, ロボティクス・メカトロニクス講演会講演概要集, 2023, 2A2-D04, 日本語
- 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.一般社団法人 日本機械学会, 2023年, ロボティクス・メカトロニクス講演会講演概要集, 2023, 1A2-B04, 日本語
- 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.一般社団法人 日本機械学会, 2023年, ロボティクス・メカトロニクス講演会講演概要集, 2023, 1A1-H10, 日本語
- 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.一般社団法人 日本機械学会, 2023年, ロボティクス・メカトロニクス講演会講演概要集, 2023, 2P1-A21, 日本語
- 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.一般社団法人 日本機械学会, 2023年, ロボティクス・メカトロニクス講演会講演概要集, 2023, 1A1-B06, 日本語
- 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.一般社団法人 日本機械学会, 2023年, ロボティクス・メカトロニクス講演会講演概要集, 2023, 1A2-H11, 日本語
- IEEE, 2022年11月, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)研究論文（国際会議プロシーディングス）
- IEEE, 2022年11月, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)研究論文（国際会議プロシーディングス）
- IEEE, 2022年10月, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)研究論文（国際会議プロシーディングス）
- Institute of Electrical and Electronics Engineers (IEEE), 2022年10月, IEEE Robotics and Automation Letters, 7(4) (4), 10033 - 10040研究論文（学術雑誌）
- Informa UK Limited, 2022年09月, Advanced Robotics, 37(5) (5), 316 - 328研究論文（学術雑誌）
- 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.一般社団法人 日本機械学会, 2022年, ロボティクス・メカトロニクス講演会講演概要集, 2022, 2P2-B10, 日本語
- 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.一般社団法人 日本機械学会, 2022年, ロボティクス・メカトロニクス講演会講演概要集, 2022, 2P1-O06, 日本語
- 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.一般社団法人 日本機械学会, 2022年, ロボティクス・メカトロニクス講演会講演概要集, 2022, 2P2-B11, 日本語
- Japan Society of Mechanical Engineers, 2022年, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2022, 2P1 - N09研究論文（学術雑誌）
- Japan Society of Mechanical Engineers, 2022年, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2022, 2P1 - O10研究論文（学術雑誌）
- IEEE, 2021年07月, 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)研究論文（国際会議プロシーディングス）
- 自動車の遠隔操縦では視覚情報をカメラ映像に依存しているため，映像品質（解像度とフレームレート）が遠隔操縦の運転操作にどの程度影響を与えるかを明らかにする必要がある．本論文では，さまざまな映像品質設定の下で実車両を用いての遠隔操縦実験を行い，遠隔運転操作への影響を評価した．公益社団法人 自動車技術会, 2021年, 自動車技術会論文集, 52(3) (3), 615 - 620, 日本語
- IEEE, 2021年, IEEE/SICE International Symposium on System Integration(SII), 110 - 115研究論文（国際会議プロシーディングス）
- 2021年, Advanced Robotics, 35(5) (5), 268 - 280研究論文（学術雑誌）
- 一般社団法人 日本機械学会, 2021年, ロボティクス・メカトロニクス講演会講演概要集, 2021, 1P2 - J03, 日本語
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.
研究論文（研究会，シンポジウム資料等） - 一般社団法人 日本機械学会, 2021年, ロボティクス・メカトロニクス講演会講演概要集, 2021, 1P2 - J08, 日本語
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.
研究論文（研究会，シンポジウム資料等） - 一般社団法人 日本機械学会, 2021年, ロボティクス・メカトロニクス講演会講演概要集, 2021, 1A1 - G18, 日本語
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.
研究論文（研究会，シンポジウム資料等） - 一般社団法人 日本機械学会, 2021年, ロボティクス・メカトロニクス講演会講演概要集, 2021, 1A1 - D03, 日本語
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.
研究論文（研究会，シンポジウム資料等） - 一般社団法人 日本機械学会, 2020年, ロボティクス・メカトロニクス講演会講演概要集, 2020, 2A1 - P18, 日本語
This paper presents a wearable fingertip tactile display for rendering of forces by skin deformation to index finger with six-Revolute-Spherical-Spherical(6-RSS) parallel link mechanism. It is composed of a static baseplate and a mobile endplate which are connected by six legs. The baseplate is located on the nail side of the finger and the mobile endplate can move in six-degree-of-freedom(6DoF), with contact-no contact capabilities, by the legs actuated by the motors. At first, we decided the operation range of the endplate on finger pad for rendering of orientation, stiffness, and weight. Secondly, we decided the parameters that include the length of arm and rod, the position where index finger are fixed. Finally, we designed a prototype using the parameters.
- 一般社団法人 日本機械学会, 2020年, ロボティクス・メカトロニクス講演会講演概要集, 2020, 2A2 - N15, 日本語
Both the cutaneous and kinesthetic informations contribute to the stiffness perception. We aim to investigate the contributions of these tactile informations to the stiffness perception on the basis of Young's modulus, which is a materials property indicating the degree of stiffness. In this paper, we constructed a device that can independently present cutaneous and kinesthetic informations. These informations are presented as reaction force and pressure distribution obtained by the Hertzian contact theory, and this integrated device is constructed by combining the devices that present each. In addition, we conducted a subject experiment for the pushing action on a virtual object, and investigated how the contributions of the two tactile informations change depending on the variation in Young's modulus. In the experiment, the subjects ranked the virtual objects according to their stiffness, and the results were analyzed based on the originally defined Similarity between the presented and answered rank.
- 一般社団法人 日本機械学会, 2020年, ロボティクス・メカトロニクス講演会講演概要集, 2020, 2P1 - P07, 日本語
We proposed a method for constraining the master arm's hand orientation to that of the slave arm in the master-slave teleoperation. In this paper, we propose a new commanding method that switches multiple reference coordinate systems arbitrarily using the constrained hand orientation method. When referring to the basic coordinate system, the master arm is in joystick mode for translation command and in master-slave mode for rotation command. On the other hand, when referring to the hand coordinate system, it is in master-slave mode for translation command and in joystick mode for rotation command. We have verified the effectiveness of the method by experiments with actual equipment, and show the results of the experiments.
- 一般社団法人 日本機械学会, 2020年, ロボティクス・メカトロニクス講演会講演概要集, 2020, 2A1 - P10, 日本語
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.
- Japan Society of Mechanical Engineers, 2019年, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2019, 1A1 - J04研究論文（学術雑誌）
- 2018年, 2018 IEEE-RAS 18th International Conference on Humanoid Robots, 1 - 9, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 一般社団法人 日本機械学会, 2018年, ロボティクス・メカトロニクス講演会講演概要集, 2018(0) (0), 1P2 - M01, 日本語
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.
[査読有り] - 2017年, IEEE Transactions on Intelligent Vehicles, 2(4) (4), 298 - 307, 英語Parking Trajectory Planning Using Multi-resolution State Roadmaps[査読有り]研究論文（学術雑誌）
- 一般社団法人 日本機械学会, 2017年, ロボティクス・メカトロニクス講演会講演概要集, 2017(0) (0), 2A1 - P06, 日本語
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.
[査読有り] - 2017年, Proc. 2017 IEEE, SICE International Symposium on System Integration (SII2017), 411 - 416, 英語[査読有り]研究論文（国際会議プロシーディングス）
- Fuji Press, 2016年08月, Journal of Robotics and Mechatronics, 28(4) (4), 533 - 542, 英語[査読有り]研究論文（学術雑誌）
- This research develops a method for trajectory planning of robotic systems with differential constraints based on hierarchical partitioning of a continuous state space. Unlike conventional roadmaps which is constructed in the configuration space, the proposed state roadmap also includes additional state information, such as velocity and orientation. A bounded domain of the additional state is partitioned into sub-intervals with multiple resolution levels. Each node of a state roadmap consists of a fixed position and an interval of additional state values. A valid transition is defined between a pair of nodes if any combination of additional states, within their respective intervals, produces a trajectory that satisfies a set of safety constraints. In this manner, a trajectory connecting arbitrary start and goal states subject to safety constraints can be obtained by applying a graph search technique on the state roadmap. The hierarchical nature of the state roadmap reduces the computational cost of roadmap construction, the required storage size of computed roadmaps, as well as the computational cost of path planning. The state roadmap method is evaluated in the trajectory planning examples of an omni-directional mobile robot and a car-like robot with collision avoidance and various types of constraints.IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG, 2016年05月, IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E99A(5) (5), 954 - 962, 英語[査読有り]研究論文（学術雑誌）
- 自動車技術会, 2016年, 自動車技術会論文集, 47(6) (6), 1431 - 1437, 日本語運転個性を反映したモデル予測型自動運転システム : 評価関数推定手法の提案[査読有り]研究論文（学術雑誌）
- 2016年, IEEE Intelligent Vehicles Symposium, 800 - 806, 英語Realization of Different Driving Characteristics for Autonomous Drive by Using Model Predictive Control[査読有り]研究論文（国際会議プロシーディングス）
- Realization of Different Driving Characteristics for Autonomous Vehicle by Using Model Predictive ControlThis paper presents a control system for autonomous driving based on MPC in which driving style can be easily modified by changing control parameters. Each of the motion controls for the longitudinal and the lateral direction are formulated as the model predictive control problem. Finally the experimental verification by using driving simulator and a real electric vehicle is performed by implementing MPC on each platform, and it is confirmed that the proposed system can produce a large variety of driving characteristics. The implemented MPC package will also be beneficial to the developers and researchers in various fields other than control engineering field.IEEE, 2016年, 2016 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 722 - 728, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 自動車技術会, 2015年, 自動車技術会論文集, 46(1) (1), 153 - 160, 日本語追従タスクにおける判断の曖昧さ指標を用いた二重副次課題法に基づく車内機器の操作性評価法[査読有り]研究論文（学術雑誌）
- The driver assistance control needs to satisfy the safety and acceptability requirements. These two requirements sometimes may conflict is ilk each other depending on the situation and driver. In order to resolve this problem, this paper proposes a new personalized assistance control scheme based on a model predictive computation of constraint satisfaction. The key idea is to design the real time decision system to decide whether the driver-vehicle model satisfies the safe t constraints or not in the predicted horizon. The lateral motion (collision avoidance task) is particularly focused on, and the validity of the proposed assistance system is verified by sonic examinations using driving simulator.IEEE, 2015年, 2015 IEEE 18TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, 1304 - 1310, 英語[査読有り]研究論文（国際会議プロシーディングス）
- Autonomous Lane Tracking Reflecting Skilled / Un-Skilled Driving CharacteristicsThis paper presents an autonomous lane tracking that reflects different driving characteristics using model predictive control (MPC). We consider that human driver minimizes a cost function depending on his/her skill, experience, and preference on driving. The cost function of MPC can be used to model personal driving characteristics. To identify the parameters of cost function, at first, we analyze the difference of driving characteristics between skilled and un-skilled drivers through experiments of driving behavior on a driving simulator (DS). Next, we introduce "meta-performance indices" that can evaluate human driving data of experiment and results of autonomous driving. These parameters are expected to express the driving characteristics as a group, i.e., not tuned to personal driver. Finally, the validity of the proposed system is verified.IEEE, 2015年, IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 3175 - 3180, 英語[査読有り]研究論文（国際会議プロシーディングス）
- Model Predictive Cooperative Cruise Control In Mixed TrafficThis paper presents cooperative adaptive cruising control of multiple cars in automated/un-automated mixed traffic. In order to take account of un-automated cars, the vehicle maneuver is expressed as a PrARX model that is a continuous approximation of hybrid dynamical system. The PrARX model describes the driver's logical decision making as well as continuous maneuver in a uniform manner. The acceleration inputs of automated vehicles are computed in model predictive control framework where the state equation includes a platoon of automated and un-automated cars coupled with PrARX driver models. For computing assisting outputs in real time, a fast computation method for nonlinear model predictive control based on the continuation technique is employed. Simulation studies of the proposed CACC system indicates that explicit prediction of un-automated cars improves the overall stability of the platoon.IEEE, 2015年, IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 3199 - 3205, 英語[査読有り]研究論文（国際会議プロシーディングス）
- This paper presents a trajectory-planning method for multibody systems. Trajectory planning of a multibody system is formulated as a constraint-solving problem on a set of variables expressing the motion of the multibody system over a finite-time interval. Constraints express the dynamics of rigid bodies, kinematic conditions of joints, various range limitations, as well as achievement of tasks, and they can be assigned different priority levels. The prioritized constraint-solving problem is then treated under the framework of lexicographical goal programming, where the local optimality of the problem is characterized in terms of Pareto efficiency condition. Based on this observation, an algorithm that iteratively updates the variables toward a locally optimal solution is derived. The proposed method is evaluated in simulation examples.IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2014年10月, IEEE TRANSACTIONS ON ROBOTICS, 30(5) (5), 1227 - 1234, 英語[査読有り]研究論文（学術雑誌）
- 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.22493WILEY-BLACKWELL, 2014年03月, ELECTRICAL ENGINEERING IN JAPAN, 186(4) (4), 59 - 69, 英語[査読有り]研究論文（学術雑誌）
- 公益社団法人 計測自動制御学会, 2014年, 計測と制御, 53(12) (12), 1105 - 1110, 日本語
- Model Predictive Driver Assistance Control for Cooperative Cruise based on Hybrid System Driver ModelThis paper presents a driver assisting system for coorperative cruising of multiple cars. In order to account for personal difference of individual drivers, each driver's vehicle following skill on expressways is identified as a PrARX model, a continuous approximation of hybrid dynamical system. The PrARX model describes the driver's logical decision making as well as continuous maneuvering in a uniform manner. The assisting acceleration is computed in the framework of model predictive control, where the plant model is a platoon of cars coupled with PrARX driver models. For computing assisting outputs in real time, a fast computation method for nonlinear model predictive control based on the continuation technique is employed. The proposed assisting system is tested in numerical simulations and on a driving simulator with a real human driver. The high speed calculation of the Homotopy method is also proved by comparison to the conventional method. Finally, the advantage of global optimization for cooperative safety is confirmed by comparing its control performance with the local optimization for individual safety.IEEE, 2014年, 2014 AMERICAN CONTROL CONFERENCE (ACC), 4630 - 4636, 英語[査読有り]研究論文（国際会議プロシーディングス）
- Trajectory Planning for Automated Parking Using Multi-resolution State Roadmap Considering Non-holonomic ConstraintsThis paper presents a trajectory planning method for automated parking. The proposed method constructs a state roadmap in which each node contains not only position but also orientation information of the vehicle. The roadmap is constructed by dividing the orientation space in multiple resolutions considering the non-holonomic constraints of the vehicle and the collision-avoidance constraints between the vehicle and the boundary of the parking environment. Using the state roadmap, a complex parking trajectory composed of both forward and reverse motions can be computed with small online computation cost. The proposed method is evaluated in both numerical simulations and an experiment using an electric vehicle.IEEE, 2014年, 2014 IEEE INTELLIGENT VEHICLES SYMPOSIUM PROCEEDINGS, 407 - 413, 英語[査読有り]研究論文（国際会議プロシーディングス）
- Multi-robot Scheduling and Trajectory Planning Using State RoadmapThis paper proposes a scheduling and trajectory planning method that constructs collision-free and optimized trajectories for a team of multiple robots. The proposed method consists of path planning and scheduling. First, each robot performs path planning using a state roadmap. Using a state roadmap, each robot can find a path that navigates the robot to the destination without collisions with static obstacles. Second, the scheduler adjusts the departing times and the velocities at the via-points of all robots to avoid collisions between the robots and to minimize the sum of arrival times of the robots. The proposed method is evaluated through simulations.IEEE, 2014年, 2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE), 1272 - 1277, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 2014年, SICE Journal of Control, Measurement, and System Integration, 7(3) (3), 183 - 190, 英語Path Planning of Mobile Robots Considering Position Uncertainty and Cost of Observation[査読有り]研究論文（学術雑誌）
- 2013年08月, Proceedings of the 35th Annual Meeting of the Cognitive Science Society, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 2013年06月, 日本ロボット学会誌, 31(5) (5), 508 - 516, 日本語マルチボディシステムの拘束ベース多目的軌道計画[査読有り]研究論文（学術雑誌）
- 2013年05月, 電気学会論文誌C分冊, 133(5) (5), 1029 - 1040, 日本語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[査読有り]研究論文（学術雑誌）
- This paper proposes a probability-weighted autoregressive exogenous (PrARX) model wherein the multiple ARX models are composed of the probabilistic weighting functions. This model can represent both the motion-control and decision-making aspects of the driving behavior. As the probabilistic weighting function, a "softmax" function is introduced. Then, the parameter estimation problem for the proposed model is formulated as a single optimization problem. The "soft" partition defined by the PrARX model can represent the decision-making characteristics of the driver with vagueness. This vagueness can be quantified by introducing the "decision entropy." In addition, it can be easily extended to the online estimation scheme due to its small computational cost. Finally, the proposed model is applied to the modeling of the vehicle-following task, and the usefulness of the model is verified and discussed.IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2013年03月, IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 14(1) (1), 98 - 112, 英語[査読有り]研究論文（学術雑誌）
- 自動車技術会, 2013年, 自動車技術会論文集, 44(3) (3), 895 - 901, 日本語個人適合型ポテンシャル法に基づく障害物回避アシスト制御[査読有り]研究論文（学術雑誌）
- 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.公益社団法人 計測自動制御学会, 2013年, 計測自動制御学会論文集, 49(11) (11), 986 - 993, 日本語[査読有り]研究論文（学術雑誌）
- An Experimental Study on Longitudinal Driving Assistance based on Model Predictive ControlThis paper presents a novel personalized driver assistance system(PDAS) based on the model predictive control(MPC) together with a continuous/discrete hybrid dynamical system model of the driving behavior. First of all, the driving behavior is identified as the piecewise ARX model. Then, it is explicitly embedded in the optimization problem for finding the optimal assisting output. Since the driving behavior includes some binary variables, the optimization problem is formulated as the mixed integer programming. Some adaptation mechanism to accommodate to the change of the situation is particularly discussed. Finally, the proposed scheme is tested by using the real vehicle wherein the real-time assisting control based on MPC is implemented.IEEE, 2013年, 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 183 - 188, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 2013年, SICE Annual Conference, 1429 - 1430, 英語Fast Computation of Model Predictive Driver Assistance Based on Hybrid System Behavior Model[査読有り]研究論文（国際会議プロシーディングス）
- This research develops a metric for the evaluation of an automobile driver's distraction based on a mathematical driving behavior model. Driving data was collected in a driving simulator. The primary task was to maintain a constant following distance behind a lead vehicle. The secondary task, which brings about the distraction, is to operate the in-car touch panel. A PrARX model is used to describe the vehicle-following behavior. In the PrARX model, the weighting parameter represents the driver's logical decision making and the auto-regressive exogenous models characterize the driver's continuous-time motion control behavior. By calculating the entropy of the PrARX model, the driver's distraction, which is considered a degradation of decision-making ability, is assessed in a quantitative manner.IEEE, 2013年, 2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013), 1912 - 1917, 英語[査読有り]研究論文（国際会議プロシーディングス）
- This research develops a new roadmap method for autonomous vehicles based on variable-resolution partitioning of a continuous state-time space. Unlike conventional roadmaps, which include position information only, the proposed roadmap also includes velocity and time information. Each node of the proposed roadmap contains position and velocity information and is the same as a Variable-resolution Velocity Roadmap (VVR). Each directed link of the proposed roadmap has a range of time values, where the time ranges are determined by variable-resolution partitioning of the time space. An ordered pair of nodes is connected by a directed link within a time region if any combination of their velocity and time values is within the acceptable range of the nodes and produces a trajectory satisfying a set of safety constraints. In this manner, a possible trajectory, with transit time, connecting an arbitrary starting node and destination node is obtained by applying a graph search technique on the proposed roadmap. The proposed method is demonstrated through simulations. © 2013 IEEE.Institute of Electrical and Electronics Engineers Inc., 2013年, Proceedings of the IEEE Conference on Decision and Control, 2281 - 2287, 英語[査読有り]研究論文（国際会議プロシーディングス）
- This research develops a new roadmap method for autonomous mobile robots based on variable-resolution partitioning of continuous state space. Unlike conventional roadmaps which include position information only, the proposed roadmap also includes velocity information. Each node of the proposed roadmap consists of a fixed position and a range of velocity values, where velocity ranges are determined by variable-resolution partitioning of velocity space. An ordered pair of nodes are connected by a directed link if any combination of velocity values within the ranges represented by the nodes produce a trajectory satisfying a set of safety constraints. In this manner, an executable trajectory connecting arbitrary starting node and destination node is obtained by applying a graph search technique on the proposed roadmap. The proposed method is evaluated through simulations. © 2013 The Institute of Electrical Engineers of Japan.Institute of Electrical Engineers of Japan, 2013年, IEEJ Transactions on Electronics, Information and Systems, 133(5) (5), 18 - 1040, 英語[査読有り]研究論文（学術雑誌）
- We constructed an innovative experimental platform to study cross-situational consistency in driving behavior, conducted behavioral experiments, and reported the data obtained in the experiment. To discuss cross-situational consistency, we separated situations in which people use some systems to conduct tasks into three independent conceptual factors: environment, context, and system. We report the experimental results with the following systems: a laboratory system with a gaming controller and steering/pedal controllers and a real system, COMS an instrumented vehicle. The results are summarized as follows. 1) The individual behaviors in each system were stable, and consistency was retained. 2) The consistency of the behaviors was also confirmed when the participants drove using different interfaces in identical systems. 3) However, only slight correlation was observed across different systems in a specific situation where a strong high-order cognitive constraint (i.e., rapid driving) and a weak low-order cognitive constraint (driving with easy handling toward a straight-line course) were given. © 2012 - IOS Press and the authors. All rights reserved.2012年, Work, 41(SUPPL.1) (SUPPL.1), 1471 - 1476研究論文（国際会議プロシーディングス）
- 2012年, 電気学会論文誌D分冊, 132(8) (8), 808 - 816, 日本語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[査読有り]研究論文（学術雑誌）
- Steering Assisting System for Obstacle Avoidance Based on Personalized Potential FieldThis paper presents the identification technique of the personalized potential map to design the obstacle avoidance assisting control. First of all, the personalized potential map, which is considered to represent the driver's risk feeling to environment is learned by using the obstacle avoidance driving data. Next, the reference path is calculated with gradient method considering the vehicle dynamics from identified potential field, and the avoidance assisting system is realized so as to track on the obtained path. Finally, the validity of the proposed assisting system is verified.IEEE, 2012年, 2012 15TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), 1702 - 1707, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 2012年, 19th ITS World Congress, 英語Evaluation of Decision-Making Ability in Car Driving while Operating Interior Devices Based on Probability-Weighted ARX Models[査読有り]研究論文（国際会議プロシーディングス）
- Variable-resolution State Roadmap Generation Considering Safety Constraints for Car-like RobotThis research develops a new graph-map method for autonomous car-like mobile robots based on variable-resolution division of space. Unlike conventional roadmaps, which include position information only, the proposed graph-map also includes orientation information of the car-like robot. In this manner, the robot is able to plan a path in detail. The orientation information of each node is not a fixed value but a range. The range is constructed by dividing the orientation space using variable-resolution, which is obtained from the surrounding situation of links that connect to the node. Finally, the proposed method is evaluated through simulations.IEEE, 2012年, PROCEEDINGS 2012 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 3069 - 3074, 英語[査読有り]研究論文（国際会議プロシーディングス）
- Variable-resolution Velocity Roadmap Generation Considering Safety Constraints for Mobile RobotsThis research develops a new roadmap method for autonomous mobile robots based on variable-resolution partitioning of a continuous state space. Unlike conventional roadmaps, which include position information only, the proposed roadmap also includes velocity information. Each node of the proposed roadmap consists of a fixed position and a range of velocity values, where the velocity ranges are determined by variable-resolution partitioning of the velocity space. An ordered pair of nodes is connected by a directed link if any combination of their velocity values is within the acceptable range of the nodes and produces a trajectory satisfying a set of safety constraints. In this manner, a possible trajectory connecting an arbitrary starting node and destination node is obtained by applying a graph search technique on the proposed roadmap. The proposed method is evaluated through simulations.IEEE, 2012年, 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), 854 - 859, 英語[査読有り]研究論文（国際会議プロシーディングス）
- This paper presents a method that allows simultaneous map building and path planning for mobile robots in unknown environments. A graphical representation of a workspace in variable resolutions is constructed using measurement data obtained by omnidirectional distance sensors. At the same time, a search for a feasible path to the target destination is executed using the constructed graph map. The proposed method is evaluated by performing simulations and experiments using an omni directional mobile robot equipped with laser range finders. © 2012 The Institute of Electrical Engineers of Japan.2012年, IEEJ Transactions on Industry Applications, 132(8) (8), 5 - 816, 日本語[査読有り]研究論文（学術雑誌）
- 2011年, SICE Annual Conference, 589 - 594, 英語Supervisory Control of Periodic Stepping Motion of a Bipedal Robot[査読有り]研究論文（国際会議プロシーディングス）
- 2011年, SICE Annual Conference, 476 - 481, 英語Obstacle Avoidance Assisting System Based on Personalized Potential Field[査読有り]研究論文（国際会議プロシーディングス）
- Recently, there has been a growing demand for the design principle of assisting system. This paper presents a new framework of the assisting system design based on a continuous/discrete hybrid system model of the driving behavior and the model predictive control scheme. First of all, the driving behavior is identified as the piecewise ARX model, then it is explicitly embedded in the optimization problem as one of the constraints. Since the driving behavior includes some logical variables, the optimization problem is formulated as the mixed integer programming. The model predictive assisting control is realized by solving the optimization problem in real time. In addition, some adaptation mechanism to accommodate the change of the situation is discussed and verified. © 2011 IEEE.2011年, Proceedings of 2011 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2011, 199 - 204, 英語[査読有り]研究論文（国際会議プロシーディングス）
- Online Parameter Estimation of Driving Behavior Using Probability-Weighted ARX ModelsThe dynamical characteristics of driving behavior may change due to various reasons, such as the increase of experience, fatigue, and change of driving condition. In the design of a driver-assisting system that exploits a mathematical model of the driving behavior, the online adaptation mechanism for the driving behavior model must be developed and implemented. This paper presents an online parameter estimation scheme for the Probability weighted ARX (PrARX) model, which is a class of a hybrid dynamical system model, and is known to capture the complex characteristics of the driving behavior together with an explicit understanding of the drivers' motion control and decision making aspects. Since the parameter estimation for the PrARX model is originally based on a steepest descent manner, it is quite natural to extend it to the online version. The proposed method is first demonstrated using artificial data, and then applied to the online modeling of the driving behavior.IEEE, 2011年, 2011 14TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), 1874 - 1879, 英語[査読有り]研究論文（国際会議プロシーディングス）
- This paper presents a motion planning technique capable of scheduling multiple sub-tasks that can be achieved in different orders and at various timings. A robotic motion is defined as a timed event sequence of multi-body dynamical system. Schedules of the motion planning is determined by robotic mechanism and motion requirements. Motion planning problem including task scheduling is then formulated as a class of constrained optimization problems, which can be solved efficiently by means of an iterative algorithm that exploits the sparsity of the multi-body system. The proposed method is demonstrated in object-catching tasks of a standing humanoid in numerical simulation. © 2011 IEEE.2011年, IEEE-RAS International Conference on Humanoid Robots, 596 - 601, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 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年, Proceedings of the IEEE Conference on Decision and Control, 5905 - 5910, 英語研究論文（国際会議プロシーディングス）
- 2010年, 計測自動制御学会産業論文集, 9(5) (5), 29 - 36, 日本語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[査読有り]研究論文（学術雑誌）
- Model Predictive Assisting Control of Vehicle Following Task Based on Driver ModelA personalized driver assisting system that makes use of the driver's behavior model is developed. As a model of driving behavior, the Probability-weighted ARX (PrARX) model, a type of hybrid dynamical system models, is introduced. A PrARX model that describes the driver's vehicle-following skill on expressways is identified using a simple gradient descent algorithm from actual driving data collected on a driving simulator. The obtained PrARX model describes the driver's logical decision making as well as continuous maneuver in a uniform manner. Finally, the optimization of the braking assist is formulated as a mixed-integer linear programming (MILP) problem using the identified driver model, and computed online in the model predictive control framework.IEEE, 2010年, 2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 890 - 895, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 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, 2006年07月, 日本ロボット学会誌 = Journal of Robotics Society of Japan, 24(5) (5), 663 - 671, 日本語
- 2024年, ΑΤΟΜΟΣ, 66(3) (3)1F廃炉に貢献するロボット技術開発 2.廃炉ロボットの遠隔操作を支援する軌道計画の開発
- 2022年, 三菱重工技報(Web), 59(3) (3)人-機械協調による無人車両の精密ナビゲーション技術
- 2022年, 日本ロボット学会学術講演会予稿集(CD-ROM), 40th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
- 2022年, 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
- 2022年, 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
- 2022年, 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
- 2021年, 自動車技術会論文集(Web), 52(3) (3)自動車の遠隔操縦に求められる映像品質に関する実験的評価
- 2021年, 日本ロボット学会学術講演会予稿集(CD-ROM), 39th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
- 2021年, 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平行スティック型ハンドによる対象部品のセルフアライメント操作の物理シミュレーションによる事前検証
- 2021年, 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治具レスでの精密嵌め合い作業のための手先コンプライアンスとマクロ・マイクロ機構の有効性の検討
- 2021年, 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事前軌道と操縦軌道の類似性に基づく力覚的遠隔操縦支援
- 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.FUJI TECHNOLOGY PRESS LTD, 2020年12月, Journal of Robotics and Mechatronics, 32(6) (6), 1183 - 1192, 英語[査読有り]速報，短報，研究ノート等（学術雑誌）
- Informa UK Limited, 2020年08月08日, Advanced Robotics, 1 - 10, 英語[査読有り]速報，短報，研究ノート等（学術雑誌）
- システム制御情報学会, 2020年05月20日, システム制御情報学会研究発表講演会講演論文集, 64, 1183 - 1189, 日本語組立作業の直接教示と再生に適したマクロ・マイクロ型ロボット用パラレル機構の設計
- 2020年, 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歩容の遷移を含む二足歩行ロボットの軌道計画
- 2020年, 日本ロボット学会学術講演会予稿集(CD-ROM), 38th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
- 2020年, 日本ロボット学会誌, 38(10) (10)可捕領域の事前計算を用いた2足ロボットの実時間着地修正
- 2020年, 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狭隘環境における遠隔作業ロボットのための軌道提示に基づく操作支援の有効性評価
- 2020年, 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組立作業の直接教示と再生に適したマクロ・マイクロロボットの運動学シミュレーション環境の構築
- 2020年, 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ロボットによる精密組立の事前検証のためのシミュレーション手法に関する研究
- 2020年, 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自動車の遠隔操縦に求められる映像品質に関する実験的評価
- 2020年, 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建設機械の遠隔操縦における作業能率の向上とオペレータの負担軽減のための操縦インターフェースに関する研究
- レーザー学会, 2019年11月, レーザー研究 = The review of laser engineering : レーザー学会誌, 47(11) (11), 624 - 629, 日本語災害対応ロボットで利用されるフォトニクス技術 (｢フォトニクス技術で進化するロボット : ロボットフォトニクス｣特集号)
- IEEE, 2019年10月, 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 英語[査読有り]研究発表ペーパー・要旨（国際会議）
- 2019年, 日本ロボット学会学術講演会予稿集(CD-ROM), 37th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
- 2019年, 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
- 2019年, 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
- 2019年, 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
- 2019年, 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
- 2019年, 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
- 2019年, 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
- 2019年, 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
- 2019年, 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
- 一般社団法人 日本機械学会, 2019年, ロボティクス・メカトロニクス講演会講演概要集, 2019(0) (0), 2A1 - B09, 日本語
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.
- 2018年, 自動車技術会大会学術講演会講演予稿集(CD-ROM), 2018自動車の遠隔操縦に求められる通信および映像品質に関する実験的評価
- 2018年, 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
- 2018年, 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
- 2018年, 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
- 2018年, 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
- 2018年, 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
- 2018年, 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
- 2018年, 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
- 2018年, 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
- 一般社団法人 日本機械学会, 2018年, ロボティクス・メカトロニクス講演会講演概要集, 2018(0) (0), 2A2 - H08, 日本語
In conventional fall avoidance control, the center-of-mass is kept at a constant height in order to linearize the equation of motion. Such a restriction, however, can only be applied under limited circumstances, and it is not possible to cope with vertical disturbances. In this research, we propose a method for generating a center-of-mass trajectory to avoid falling over uneven terrain based on a nonlinear inverted pendulum model. Moreover, regions of valid foot-steps are derived analytically and incorporated into trajectory generation. The effectiveness of the proposed method is evaluated in numerical simulations of a humanoid robot model.
- 一般社団法人 日本機械学会, 2018年, ロボティクス・メカトロニクス講演会講演概要集, 2018(0) (0), 2A1 - J05, 日本語
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.
- 2018年, 日本ロボット学会誌, 36(2) (2), 122 - 127, 日本語人型ロボットの運動計画[招待有り]記事・総説・解説・論説等（学術雑誌）
- 公益社団法人 計測自動制御学会, 2018年, 計測と制御, 57(3) (3), 185 - 192, 日本語[招待有り]記事・総説・解説・論説等（学術雑誌）
- 一般社団法人日本ロボット工業会, 2017年09月, ロボット, 238, 68 - 70, 日本語研究室紹介：神戸大学大学院 工学研究科 機械工学専攻 複雑系機械工学研究室その他
- 2017年, 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
- 2017年, 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
- 2017年, 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
- 2017年, 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
- 2017年, 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
- 一般社団法人 日本機械学会, 2017年, ロボティクス・メカトロニクス講演会講演概要集, 2017(0) (0), 2P1 - R07, 日本語
We proposed a new teleoperation control method by using a master control device with small working space. The proposed method sets the slave velocity based on the master velocity. Changing the slave velocity by the master velocity, the operator can control the slave arm freely and intuitively using a small working space master device. In this paper, we propose a new scale conversion method that are expected to be better than the previously proposed. The new scale conversion methods determine the position scale directly based on the master velocity. We tested the new scale conversion method and the result of experiment is shown.
- 一般社団法人 日本機械学会, 2017年, ロボティクス・メカトロニクス講演会講演概要集, 2017(0) (0), 1A1 - P07, 日本語
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.
- 1P1-J04 環境のトポロジー変化に対してロバストな自律移動ロボットのナビゲーション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.一般社団法人日本機械学会, 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P1 - J04(1)"-"1P1-J04(4)", 日本語
- 1P2-B04 実時間軌道計画による多方向の外乱に対する二足ロボットの転倒回避In the presence of humans, biped robots must avoid falling because falling down can lead to serious accidents. This paper presents a fall avoidance control method for biped robots under unknown disturbances that is based on real-time trajectory planning. First, a biped robot is modeled as an inverted pendulum. The robot generates in real time the trajectories of its center of mass and center of pressure, taking into account the dynamics and kinematics of the robot and the direction and magnitude of disturbances. By using the planning result, the robot returns to its stationary state after taking a few steps without falling. The experimental results show the effectiveness of the proposed method.一般社団法人日本機械学会, 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P2 - B04(1)"-"1P2-B04(4)", 日本語
- 自動車技術会, 2015年03月, 自動車技術会論文集, 46(2) (2), 527 - 531, 日本語高速道路における追越し行動におけるプリミティブタスクの切り換え条件推定
- 招待講演 自動車システムにおける協調制御技術 (高信頼制御通信)本稿では,自動車制御における協調制御技術について,システム制御の視点から具体例を交えて紹介する.まず第一に,協調制御の一つの考え方であるコンセンサス制御を紹介し,それを複数台の協調駐車制御に応用した事例を紹介する.第二に,ドライバの運転行動モデルを用いたモデル予測制御を協調的隊列走行に拡張した事例について紹介し,最後に将来的に実車で実現するにあたって無線通信技術に求められる事柄について述べる.一般社団法人電子情報通信学会, 2015年01月15日, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 114(388) (388), 19 - 24, 日本語
- 2015年, 日本ロボット学会誌, 33(10) (10), 773 - 778, 日本語トポロジカルな地図表現を用いた移動ロボットのナビゲーション[招待有り]記事・総説・解説・論説等（学術雑誌）
- 1P2-P05 接触遷移グラフを用いたロボットアームの搬送作業のタスクスケジューリング(動作計画と制御の新展開(2))This paper presents a method for scheduling carrying tasks of a robotic arm using a contact transition graph. This method generates a task sequence to achieve the objective work-environmental state focused on the contact state of an environment. Objects in contact state are moved together as an object is carried. A task sequence of a robotic arm is determined by solving a shortest path problem of the state transition system of the contact states of work environment. The motion trajectory of a robotic arm is generated by planning a trajectory based on the task sequence.一般社団法人日本機械学会, 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014, "1P2 - P05(1)"-"1P2-P05(4)", 日本語
- 1A1-R03 小型二足ロボットの動力学を考慮した軌道計画による歩行制御(脚移動ロボット)This paper proposes a walking control method for small-sized biped robot by using trajectory planning. First, for analyzing a walking motion of biped robot, we regard it as the three-dimensional inverted pendulum. Then, we plan the trajectory of the center of mass and many foot places during walking in consideration of kinematics and kinetics in relation to the analyzing result. By using the trajectory result, a walking control system for small-sized biped robot is configured. And to confirm the effectiveness of the control system, experimental results of walking control of the 12 d.o.f biped robot are shown.一般社団法人日本機械学会, 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014, "1A1 - R03(1)"-"1A1-R03(4)", 日本語
- 2A1-W06 マルチロボットの位置の不確かさを考慮したフォーメーション制御(複数ロボットの協調制御)This research proposes a method of reaching destinations for multi mobile robots by giving a formation under position uncertainty. These robots can measure 4 distances between a robot and a landmark and between robots by using 1 transmitter and 2 receiver which are located on themselves. Positions of robots, which can move and measure distances, are estimated by using extended kalman filter. And a sequence evaluation of robots formation use a variance-covariance matrix for considering position uncertainty and collision avoidance. A evaluation consider not these two points but distances between robots and their own destinations.一般社団法人日本機械学会, 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014, "2A1 - W06(1)"-"2A1-W06(4)", 日本語
- 2014年, 日本ロボット学会誌, 32(6) (6), 519 - 524, 日本語多分解能状態空間ロードマップ法による軌道計画[招待有り]記事・総説・解説・論説等（学術雑誌）
- 1A2-A06 可変分解能ロードマップによるマルチロボットのスケジューリングと軌道計画(複数ロボットの協調制御)This paper proposes a motion planning method that constructs collision-free and optimized trajectories for multi-robot. The proposed method performs two planning. First, each robot performs path planning using Variable-resolution Velocity Roadmap(VVR). VVR includes position information and velocity information. Using VVR, each robot can find a path that navigates the robot to the destination in shortest time while avoiding static obstacles. Second, the scheduler adjusts the departing times and the velocities at the via-points of all robots to avoid collisions between the robots and to minimize the sum of arrival times of the robots. The proposed method is evaluated through simulations.一般社団法人日本機械学会, 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013, "1A2 - A06(1)"-"1A2-A06(4)", 日本語
- 2P1-L02 多目的軌道計画器を用いたロボットアームの舞踊動作の生成と実機評価(動作計画と制御の新展開)This paper presents a method for generating dance motion for a robot arm focusing on prioritized key poses. Key poses are stop poses that represent primary features of dance motion. In some cases, for example at a fast tempo, achieving all key poses becomes difficult due to physical limitation of the robot. In such cases, the robot must take important key poses selectively. Dance motion is generated with multi-objective trajectory planning method and planned on-line in the model predictive control framework. Finally, proposed method have realized dance motion on a robot arm PA10.一般社団法人日本機械学会, 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013, "2P1 - L02(1)"-"2P1-L02(4)", 日本語
- 2P1-R17 車両型ロボットのノンホロノミック特性を考慮した可変分解能ロードマップによる自動駐車システム(車輪型/クローラ型移動ロボット(3))This research proposes an automated parking system for a car-like robot which uses a roadmap where every node has not only position but also orientation information of the robot. In the proposed roadmap, the orientation of the robot is not expressed as a fixed value but as range of values. The roadmap is constructed by dividing the orientation space in variable resolutions considering the non-holonomic constraints of the robot and collision-avoidance constraints between the robot and surrounding obstacles. The proposed method evaluated both in numerical simulations and in an experiment using a real electric vehicle.一般社団法人日本機械学会, 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013, "2P1 - R17(1)"-"2P1-R17(4)", 日本語
- 2013年, 計測と制御, 52(4) (4), 329 - 335, 日本語ハイブリッドシステムの解析と制御～離散抽象化と連続近似の視点から～[招待有り]記事・総説・解説・論説等（学術雑誌）
- 2012年12月, 日本ロボット学会誌, 30(9) (9), 841 - 848, 日本語動作行動開発のための物理エンジンSpringhead記事・総説・解説・論説等（学術雑誌）
- 1P1-E04 走行安全性制約に基づく可変分解能グラフ地図生成(【交通・物流部門】カー・ロボティクス)This research develops a new graph-map method for autonomous mobile robots based on variable-resolution dividing space. Unlike conventional roadmaps, which include position information only, the proposed graph-map also includes direction information. In this manner, the robot is able to plan a path in detail. Direction information of each node is not a fixed value but a range, which is constructed by dividing direction space based on variable-resolution according to a surrounding situation of links connected to the node. Finally, the proposed method is evaluated through simulations.一般社団法人日本機械学会, 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012, "1P1 - E04(1)"-"1P1-E04(4)", 日本語
- 1A2-U07 運転行動予測型支援制御系における支援量最適化計算の連続変形法を用いた高速化(人間機械協調(2))This paper presents a personalized driver assisting system that makes use of the driver's behavior model. First, a PrARX model that describes the driver's vehicle following skill on expressways is identified using a simple gradient algorithm from actual driving data collected on a driving simulator. The obtained PrARX model describes the driver's logical decision making as well as continuous maneuver in a uniform manner. Second, the optimization of the assisting output is formulated by Homotopy method using the identified driver model, and computed online in the model predictive control framework. Thirdly, the proposed as siting system is tested in driving simulator and the usefulness is verified. Finally, the high speed of the calculation by Homotopy method is proved by comparing to the conventional method(MILP).一般社団法人日本機械学会, 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012, "1A2 - U07(1)"-"1A2-U07(4)", 日本語
- サイバーフィジカルシステムの数理 (システム数理と応用)本稿では近年注目を集めているサイバーフィジカルシステム(Cyber-Physical System;CPS)について紹介する.前半では近年の研究動向を俯瞰しつつCPSの理論に求められる特性について議論する.後半では具体的なトピックとして筆者らが取り組んでいる自律移動ロボットの地図生成と多自由度ロボットの動作計画の2テーマをCPSの観点から紹介する.一般社団法人電子情報通信学会, 2012年01月26日, 電子情報通信学会技術研究報告 : 信学技報, 111(405) (405), 69 - 72, 日本語
- 2A2-D02 事象駆動型モデルを用いた二足ロボットの周期運動制御(脚移動ロボット)This paper proposes a modeling method for periodic motion of bipedal robots using an event-driven model. Conventional models that are widely employed in the trajectory planning of bipedal locomotion have one shortcoming: namely, the transition of robot's dynamics which is seen in locomotion is not considered. This makes the design of a trajectory tracking controller, which is responsible of absorbing the difference between the model and the actual robot's dynamics, quite complicated. Motivated by this background, a new model which reduces complexity of periodic motion control system is proposed. To capture both the discrete and continuous features of bipedal periodic motion, the model takes the form of event-driven model. Supervisory control of the model is adapted to the control system, and then it is utilized for stepping motion control and demonstorates the value of the model.一般社団法人日本機械学会, 2011年05月26日, ロボティクス・メカトロニクス講演会講演概要集, 2011, "2A2 - D02(1)"-"2A2-D02(4)", 日本語
- 2A1-Q07 ハイブリッドシステムモデルに基づくモデル予測型前方車追突回避アシストシステムの設計(【交通・物流部門】自動車分野におけるロボティクス)This paper presents verifications of proposed personalized assisting control using an actual car. A single-seated small electric vehicle is used to log driver's behavior in vehicle following tasks. Driver model is expressed as a PieceWise AutoRegressive eXogeneous(PWARX) model widely recognized as hybrid dynamical system. First, the braking assistance system with the model is designed and examined on a driving simulator. The optimum assisting control is based on model predictive control and given by solving Mixed Integer Programming(MIP) on-line. After implementation of the assistance system on the electric vehicle, it is aimed to verify the effect by comparing actual car's and simulated results.一般社団法人日本機械学会, 2011年05月26日, ロボティクス・メカトロニクス講演会講演概要集, 2011, "2A1 - Q07(1)"-"2A1-Q07(4)", 日本語
- 2A1-O05 可視性に基づく移動ロボットの自律的グラフ地図生成(移動ロボットの自己位置推定と地図構築)The complete coverage of the entire unknown environment by autonomous mobile robot is needed in map building, navigation and exploration. This paper addresses on autonomous graph-map construction of mobile robot in unknown environment based on visibility of surrounding region. Because of obstacles in the workspace and the limit of the sensor performance, the region observing by sensor once is limited. Then robot should make view points to observe the unobserved region. In this paper, we show that the mobile robot can construct graph-map, using omni-directional distance sensor, of the entire unknown environment by repeating the movement and the observation toward the blind spot in the observed area.一般社団法人日本機械学会, 2011年05月26日, ロボティクス・メカトロニクス講演会講演概要集, 2011, "2A1 - O05(1)"-"2A1-O05(4)", 日本語
- 2A1-E05 確率重み付きARXモデルに基づく追従行動モデルを用いたモデル予測型ブレーキアシストシステムの提案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.一般社団法人日本機械学会, 2010年, 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)", 日本語
- 2A1-E08 GMMを用いた複数予測モデル型パーティクルフィルタによる意図推定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.一般社団法人日本機械学会, 2010年, 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)", 日本語
- 1A2-E27 パーティクルフィルタを用いた全方向移動ロボットの自己位置同定における効率的な探索法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.一般社団法人日本機械学会, 2010年, 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)", 日本語
- 計測自動制御学会, 2008年11月30日, 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, 日本語観測情報量制約下での障害物回避における準最適制御
- ロボティクス・メカトロニクス講演会2019, 2019年06月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 広島国際会議場, 国内会議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ポスター発表
- 第19回計測自動制御学会システムインテグレーション部門講演会, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 大阪工業大学 梅田キャンパス, 国内会議踵接地・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ポスター発表
- 第19回計測自動制御学会システムインテグレーション部門講演会, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 大阪工業大学 梅田キャンパス, 国内会議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ポスター発表
- 第19回計測自動制御学会システムインテグレーション部門講演会, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 大阪工業大学 梅田キャンパス, 国内会議二機のロボットによる合意形成に基づく自律地図生成ポスター発表
- 第19回計測自動制御学会システムインテグレーション部門講演会, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 大阪工業大学 梅田キャンパス, 国内会議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ポスター発表
- 第19回計測自動制御学会システムインテグレーション部門講演会, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 大阪工業大学 梅田キャンパス, 国内会議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ポスター発表
- 第19回計測自動制御学会システムインテグレーション部門講演会, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 大阪工業大学 梅田キャンパス, 国内会議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ポスター発表
- 第19回計測自動制御学会システムインテグレーション部門講演会, 2018年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 大阪工業大学 梅田キャンパス, 国内会議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ポスター発表
- ロボティクス・メカトロニクス講演会2018, 2018年06月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 北九州国際コンベンションゾーン, 国内会議災害対応油圧駆動ロボットの高臨場感遠隔操縦のための手先負荷力推定ポスター発表
- ロボティクス・メカトロニクス講演会2018, 2018年06月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 北九州国際コンベンションゾーン, 国内会議鉛直方向の重心運動を考慮した二足ロボットの転倒回避軌道生成ポスター発表
- ロボティクス・メカトロニクス講演会2018, 2018年06月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 北九州国際コンベンションゾーン, 国内会議遠隔操縦ロボットとの「一体感」に着目した操作性指標の検討 第2報：マスタアームの操作に要する力が操作性に及ぼす影響の評価ポスター発表
- 第3回次世代イニシアチブ廃炉技術カンファレンス(NDEC-3), 2018年03月, 日本語, 文部科学省, 富岡文化交流センター学びの森, 国内会議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ポスター発表
- 第18回計測自動制御学会システムインテグレーション部門講演会, 2017年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 仙台国際センター, 国内会議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ポスター発表
- 第18回計測自動制御学会システムインテグレーション部門講演会, 2017年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 仙台国際センター, 国内会議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ポスター発表
- 第18回計測自動制御学会システムインテグレーション部門講演会, 2017年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 仙台国際センター, 国内会議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ポスター発表
- 第18回計測自動制御学会システムインテグレーション部門講演会, 2017年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 仙台国際センター, 国内会議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ポスター発表
- 第18回計測自動制御学会システムインテグレーション部門講演会, 2017年12月, 日本語, 公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門, 仙台国際センター, 国内会議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ポスター発表
- ロボティクス・メカトロニクス講演会2017, 2017年05月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, ビックパレットふくしま, 国内会議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ポスター発表
- ロボティクス・メカトロニクス講演会2017, 2017年05月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, ビックパレットふくしま, 国内会議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ポスター発表
- ロボティクス・メカトロニクス講演会2017, 2017年05月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, ビックパレットふくしま, 国内会議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ポスター発表
- ロボティクス・メカトロニクス講演会2017, 2017年05月, 日本語, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, ビックパレットふくしま, 国内会議近接点特徴量を用いた屋外環境におけるループ検出ポスター発表
- 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, 2021年04月01日 - 2025年03月31日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。 - 日本学術振興会, 科学研究費助成事業, 基盤研究(B), 神戸大学, 2021年04月01日 - 2024年03月31日人型ロボットの即応的接触運動生成の理論構築と実機検証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．
- 科学研究費補助金／基盤研究(B), 2017年04月 - 2020年03月競争的資金
- 学術研究助成基金助成金／基盤研究(C), 2017年04月 - 2020年03月競争的資金
- 科学研究費補助金／基盤研究(B), 2016年04月 - 2018年03月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競争的資金
- 学術研究助成基金助成金／若手研究(B), 2014年04月 - 2017年03月競争的資金
- 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年, 研究代表者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競争的資金
- 日本学術振興会, 科学研究費助成事業, 若手研究(B), 名古屋大学, 2011年 - 2012年マルチボディモデルに基づく多自由度ロボットの動作計画本研究は知能ロボットの自律性の向上による人的コストの低減や利用可能分野の拡大を目指し，多自由度ロボットの動作計画手法の開発を行った．ロボットおよび作業環境をマルチボディモデルで表現し，異なる優先度を与えられた複数のタスクを達成するようなマルチボディの軌道計画問題を対象とし，その基本原理を明らかにするとともに有効な計画アルゴリズムを提案した．具体的な項目としては，干渉回避などの非凸制約の取り扱い，複数のタスクを順序的あるいは並列的に実行するスケジューリング，リアルタイム動作計画による実機の制御およびソフトウェアライブラリの整備に取り組んだ．
- 日本学術振興会, 科学研究費助成事業, 基盤研究(B), 名古屋大学, 2010年 - 2012年ハイブリッドシステム論に基づく行動支援制御系の設計連続/離散のハイブリッドシステムモデルに基づくシステム同定論に立脚した判断・動作統合型の行動モデリング手法をベースとして、 「判断」「動作」の各フェーズで複合的な行動支援を行う支援制御器のための制御系設計論を構築した。具体的には、判断と動作の自動抽出技術に立脚し、行動モデルを構築、支援制御器と人間が同じモード遷移構造(判断特性)を共有する「判断特性共有型」の行動支援制御系を提案した。この設計思想のもと、オンライン最適化に基づくモデル予測型の行動支援制御系を構築し、自動車運転行動への適用を通してその有用性を立証した。
- 日本学術振興会, 科学研究費助成事業, 研究活動スタート支援, 名古屋大学, 2009年 - 2010年分散アーキテクチャと離散モデリングによる多自由度ロボットの行動計画手法の開発本研究は動的システムの分散制御アーキテクチャと離散モデリングから成る自律的多自由度ロボットの制御手法の実現を目指す.空間の離散化による行動計画は複雑な環境に対応可能だが比較的低次元の問題にしか適用できない.一方,現在広く受け入れられている階層型制御は大規模系に対して有利である反面,ロボット本来の多自由度性をフルに活かすことができない.そこで本研究では,離散近似手法とマルチエージェントのコンセプトに基づく分散制御を融合させることにより両者の利点を合わせ持つ新しい制御手法を開発する.
- 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年 - 2008年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.