Research activity information

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


• Oct. 2019 第11回国際健康長寿フォーラム, 特別貢献賞


• Oct. 2019 第11回国際健康長寿フォーラム, 優秀論文賞


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

  LUO Zhi-Wei

  International society


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


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

  LUO Zhi-Wei

  International society


• Apr. 2017 日本ロボット学会, 会誌編集員に対する感謝状


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

  LUO Zhi-Wei

  計測自動制御学会に関与する学問の発展に多大な功績

  Japan society


• Nov. 2014 第41回日本臨床バイオメカニクス学会, 感謝状


• 2014 日本シミュレーション学会, 日本シミュレーション学会論文賞

  羅志偉


• 2014 計測自動制御学会, 計測自動制御学会SI部門貢献表彰

  羅志偉


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


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


• 2010 神戸大学, 学長表彰


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


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


• 2006 IFAC Congress, IFAC Congress Best Poster Paper Prize


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


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


• Jan. 1989 計測自動制御学会, 学術奨励賞

  羅志偉

• Classification of Properties in Human-like Dialogue Systems Using Generative AI to Adapt to Individual Preferences

  Kaori Abe, Changqin Quan, Sheng Cao, Zhiwei Luo

  As the linguistic capabilities of AI-based dialogue systems improve, their human-likeness is increasing, and their behavior no longer receives a universal evaluation. To better adapt to users, the consideration of individual preferences is required. In this study, the relationships between the properties of a human-like dialogue system and dialogue evaluations were investigated using hierarchical cluster analysis for individual subjects. The dialogue system driven by generative AI communicated with subjects in natural language via voice-based communication and featured a facial expression function. Subjective evaluations of the system and dialogues were conducted through a questionnaire. Based on the analysis results, the system properties were classified into two types: generally and individually relational to a positive evaluation of the dialogue. The former included inspiration, a sense of security, and collaboration, while the latter included a sense of distance, personality, and seriousness. Equipping the former properties is expected to improve dialogues for most users. The latter properties should be adjusted to individuals since they are evaluated based on individual preferences. A design approach in accordance with individuality could be useful for making human-like dialogue systems more comfortable for users.

  MDPI AG, Mar. 2025, Applied Sciences, 15(7) (7), 3466 - 3466

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Sequential Inverse Optimal Control of Discrete-Time Systems

  Sheng Cao, Zhiwei Luo, Changqin Quan

  Mar. 2024, IEEE/CAA Journal of Automatica Sinica, 11(3) (3), 608 - 621

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Online Inverse Optimal Control for Time-Varying Cost Weights

  Sheng Cao, Zhiwei Luo, Changqin Quan

  Feb. 2024, Biomimetics, 9(2) (2), 84, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• せん断破壊先行型高強度鉄筋コンクリート梁の損傷評価

  孫文可, 木村真唯, 羅志偉, 孫玉平

  2024, コンクリート工学会年次論文集, 46(2) (2), 145 - 150, Japanese

  [Refereed]

  Scientific journal


• Sequential Inverse Optimal Control of Discrete System.

  Sheng Cao, Zhiwei Luo, Changqin Quan

  2023, CoDIT, 1924 - 1929

  [Refereed]

  International conference proceedings

  Link to Kobe Univ. Repository (Kernel)


• Real-Time Tension Distribution Design for Cable-Driven Parallel Robot

  Sheng Cao, Zhiwei Luo, Changqin Quan

  In this study, we investigated dynamic control strategies for over-constrained cable-driven robots. In order to control a cable-driven robot, it is essential to address issues that arise from the restriction of cable tension, as well as to the redundancy issues that arise from an over-constrained cable-driven system. To control the amount of tension applied, we introduced a tension function that incorporates the hyperbolic tangent function. In contrast to previous research that required consideration of the relationship between tension constraints and computed control wrench in tension distribution problems, we developed a tension function that incorporates the hyperbolic tangent function, which allows tension to always satisfy tension constraints and eliminates the consideration of constraints at each step. The gradient descent method was applied to this tension function to determine an appropriate distribution of tension for the computed wrench. In order to manage tension distribution optimization for achieving objectives such as energy conservation, we provide a practical method to simultaneously realize the necessary wrench and the appropriate tension distribution. Compared with studies that focus on the complex analysis of the structure matrix to solve the tension distribution problem, the tension distribution issue is handled in a straightforward manner in our method, providing the solutions to other problems, such as discontinuity in the calculated wrench, and requirements of changing the cable’s force level during movement. The simulation results and results of comparison with other methods show the effectiveness of the method.

  MDPI AG, Dec. 2022, Applied Sciences, 13(1) (1), 10 - 10

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• End-to-end deep learning approach for Parkinson’s disease detection from speech signals

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

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

  [Refereed]

  Scientific journal


• Data-driven Dimensional Expression Generation via Encapsulated Variational Auto-Encoders

  Wenjun Bai, Changqin Quan, Zhi-Wei Luo

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

  Springer Science and Business Media LLC, Jan. 2022, Cognitive Computation, 15(4) (4), 1342 - 1354, English

  [Refereed]

  Scientific journal


• Adaptive Impedance Control of A Robot Manipulator Considering Passivity

  孫文可, CAO Sheng, 森耕平, QUAN Changqin, LUO Zhiwei

  Corresponding, Jan. 2022, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2021, Japanese

  Symposium


• 深層学習を用いた地震波の時系列信号による地盤地質推定

  陳 冉, 全 昌勤, 曹 晟, 森 耕平, 羅 志偉

  Corresponding, 2022, 第66回システム制御情報学会研究発表講演会(SCI'22), Japanese

  Symposium


• Mask-based Contour Inpainting for Pose-Guided Human Image Generation

  余 昊聡, 全 昌勤, 曹 晟, 森 耕平, 羅 志偉

  Corresponding, 2022, 第66回システム制御情報学会研究発表講演会(SCI'22), 66, 1138 - 1140, English

  Symposium


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

  田村 正樹, 白川 真, 羅 志偉, 種村 留美

  2022, 認知リハビリテーション, Japanese

  [Refereed]

  Scientific journal


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

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

  2022, Expert Systems with Applications, 195, 116407 - 116407, English

  [Refereed]

  Scientific journal


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

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

  2022, システム制御情報学会論文誌, English

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]

  Scientific journal


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

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

  The Institute of Systems, Control and Information Engineers, 2022, Transactions of the Institute of Systems, Control and Information Engineers, 35(4) (4), 68 - 74, English

  [Refereed]

  Scientific journal


• Design and properties of calcium copper titanate/poly(dimethyl siloxane) dielectric elastomer composites

  Yi-Yang Zhang, Yang Min, Gen-Lin Wang, Zhi-Feng Wang, Jun-Liang Liu, Zhi-Wei Luo, Ming Zhang

  University of Science and Technology Beijing, Sep. 2021, Rare Metals, 40(9) (9), 2627 - 2632, English

  [Refereed]

  Scientific journal


• Manufacturing and characterizing of CCTO/SEBS dielectric elastomer as capacitive strain sensors

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

  Sep. 2021, RARE METALS, English

  [Refereed]

  Scientific journal


• Performance Evaluation of RNN with Hyperbolic Secant in Gate Structure through Application of Parkinson’s Disease Detection

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

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

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

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Structure Construction and Performance Analysis of RNN Aiming for Reduction of Calculation Costs

  Fujita Tomohiro, Luo Zhiwei, Quan Changqin, Mori Kohei

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

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

  [Refereed]

  Scientific journal


• 路上駐車を考慮した交差点の交通シミュレーション

  山本 晃央, 森 耕平, 全 昌勤, 曹 晟, 羅 志偉

  システム制御情報学会, 2021, 第65回システム制御情報学会研究発表講演会(SCI'21), 65, 55 - 57, Japanese

  Symposium


• リカレンスプロットにおける%DETに着目した時系列データ解析

  井川 祥太, 森 耕平, 全 昌勤, 曹 晟, 羅 志偉

  システム制御情報学会, 2021, 第65回システム制御情報学会研究発表講演会(SCI'21), 65, 204 - 209, Japanese

  Symposium


• ヒューマンエラーを考慮したシステムの信頼性解析

  前山 一登, 曹 晟, 森 耕平, 全 昌勤, 羅 志偉

  2021, 第65回システム制御情報学会研究発表講演会(SCI'21), Japanese

  Symposium


• Speech Classification of Parkinson’s Disease Based on Deep Learning of Recurrence Plot

  藤田倫弘, QUAN C. Q., 森耕平, SHENG C., LUO Z. W.

  2021, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 65th, Japanese

  Symposium


• 個別指導塾におけるのマッチングと時間割表への当てはめの接続

  森 耕平, 吉岡 由貴, 羅 志偉

  2021, 第65回システム制御情報学会研究発表講演会(SCI'21), Japanese

  Symposium


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

  程子洋, 全 昌勤, 森 耕平, 曹 晟, 羅 志偉

  Corresponding, 2021, 第65回システム制御情報学会研究発表講演会(SCI'21), English

  Symposium


• OpenPose によるパーキンソン患者の症状識別

  本荘 友毅, 羅 志偉, 森 耕平, 全 昌勤, 曹 晟

  Corresponding, 2021, 第38回センシングフォーラム, Japanese

  Symposium


• Sensing and dynamics analysis of sit-to-stand movement

  塩見竜希, CAO Sheng, 森耕平, QUAN Changqin, LUO Zhiwei

  2021, センシングフォーラム資料(CD-ROM), 38th

  Symposium


• On Characterized Japanese Dialogue Generation

  前田研吾, QUAN Changqin, LUO Zhiwei, 森耕平, CAO Sheng

  2021, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2020, Japanese

  Symposium


• 個別指導塾の時間割作成における離散値の不確かさに対するロバスト性

  吉岡 由貴, 森 耕平, 羅 志偉

  2021, 2020年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

  Research society


• Automated seizure detection system using rhythmic wave analysis for children with altered mental state

  丸山あずさ, 永瀬裕朗, 保多隆裕, 羅志偉

  2021, てんかん研究, 39(2) (2)


• 脳損傷者と健常者における認知的疲労時の脳波の変化と,主観的・客観的計測指標との関連1名ずつの比較

  江尻知穂, 江尻知穂, 羅志偉, 中村圭佑, 塚越千尋, 塚越千尋, 陳冉, 納谷敦夫, 種村留美

  2021, 日本高次脳機能障害学会学術総会プログラム・講演抄録, 45th (CD-ROM)


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

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

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

  [Refereed]

  International conference proceedings


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

  Jun Liu, Chang Wang, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• A Deep Learning Based Method for Parkinson’s Disease Detection Using Dynamic Features of Speech

  Changqin Quan, Kang Ren, Zhiwei Luo

  2021, IEEE Access, 9, 10239 - 10252, English

  [Refereed]

  Scientific journal


• Simplification of RNN and Its Performance Evaluation in Machine Translation

  Fujita Tomohiro, Luo Zhiwei, Quan Changqin, Mori Kohei

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

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

  [Refereed]

  Scientific journal


• バーチャルリアリティ課題を用いたextrapersonal neglectの評価

  田村 正樹, 白川 真, 羅 志偉, 種村 留美

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

  [Refereed]

  Scientific journal


• A Hybrid Deep Learning Model for Protein-Protein Interactions Extraction from Biomedical Literature

  Changqin Quan, Zhiwei Luo, Song Wang

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

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Cluster-wise learning network for multi-person pose estimation

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

  Feb. 2020, PATTERN RECOGNITION, 98, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• RNNにおけるゲート構造と機能解析

  藤田 倫弘, 羅 志偉, 全 昌勤, 森 耕平

  Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

  Symposium


• ニューラルネットワークを用いた Twitter 情報による世論分析

  前田 研吾, 全 昌勤, 羅 志偉, 森 耕平

  Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

  Symposium


• 深層学習を用いた非けいれん性てんかん発作の識別

  小池 智哉, 羅 志偉, 永瀬 裕朗, 丸山 あずさ, 森 耕平, 全 昌勤

  Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

  Symposium


• 全単模性を利用したスケジューリング手法の検討

  吉岡 由貴, 森 耕平, 羅 志偉

  Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

  Symposium


• ロボット技術を用いた上肢運動リハビリテーション

  能勢 拓磨, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉

  Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

  Symposium


• Stiffness Estimation for Spinal Rehabilitation

  東孝幸, CAO Sheng, QUAN Changqin, 森耕平, LUO Zhiwei

  Corresponding, 2020, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2019, Japanese

  Symposium


• 画像認識を用いた株価予測の分析

  小島 一也, 曹 晟, 全 昌勤, 羅 志偉

  2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

  Symposium


• ベクトル場を用いたSLAMの研究

  塩崎 亮, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉

  Corresponding, 2020, 2019年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Japanese

  Symposium


• RNN における性೵向上のための構造解析

  藤田 倫弘, 羅 志偉, 全 昌勤, 森 耕平

  Corresponding, 2020, 第64回システム制御情報学会研究発表講演会 (SCI'20)学生発表賞, Japanese

  Symposium


• 単語の活用に着目した効率的な自然言語生成

  前田 研吾, 全 昌勤, 羅 志偉

  2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), Japanese

  Symposium


• Development of Intelligent Database of Traditional Chinese Medicine

  XU Yakun, 田中成典, 森耕平, CAO Sheng, LUO Zhiwei

  システム制御情報学会, 2020, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 64th, 517 - 519, Japanese


• Harnessing Generated Instance-Specific Neutral Expressions in Facial Expression Classification

  BAI WENJUN, 全 昌勤, 羅 志偉

  2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), English

  Symposium


• Development of Virtual Reality System for Assessment of Unilateral Spatial Neglect

  CAO Sheng, LUO Zhiwei, SHIRAKAWA Makoto, TAMURA Masaki, TANEMURA Rumi

  2020, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 64th, English

  Symposium


• Redundant Impedance Control of Multi Robots

  和田翔太, LUO Zhiwei, CAO Sheng, 森耕平

  Corresponding, 2020, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 64th, Japanese

  Symposium


• 個別指導塾の時間割作成問題における全単模性を利用した探索手法

  吉岡 由貴, 森 耕平, 羅 志偉

  Corresponding, 2020, 第64回システム制御情報学会研究発表講演会 (SCI'20)学生発表賞, Japanese

  Symposium


• Hyperbolic Tangent Function based Tension Distribution Design for Cable-Driven Robot

  CAO Sheng, LUO Zhiwei, MORI Kohei, QUAN Changqin

  2020, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 64th, English

  Symposium


• 下肢リハビリテーションのための身体力学解析

  江藤 恒夫, 羅 志偉, 全 昌勤, 森 耕平, 曹 晟, 藤野 圭司

  Corresponding, 2020, 第64回システム制御情報学会研究発表講演会 (SCI'20), Japanese

  Symposium


• Research on SLAM in dynamic landmark environment

  松永理寛, LUO Zhiwei, CAO Sheng, 森耕平

  Corresponding, 2020, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 64th, Japanese

  Symposium


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

  Zhiwei Luo

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

  [Refereed][Invited]


• Innovation of AI based Health Services for Aging Society

  Zhiwei Luo

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

  [Refereed][Invited]

  International conference proceedings


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

  Jun Liu, Chang Wang, Zhiwei Luo

  2020, Journal of Sound and Vibration, 481

  [Refereed]

  Scientific journal


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

  Jun Liu, Chang Wang, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• Lite Hourglass Network for Multi-person Pose Estimation

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

  2020, MULTIMEDIA MODELING (MMM 2020), PT II, 11962, 226 - 238, English

  [Refereed]

  International conference proceedings


• Qualitative assessment for extrapersonal neglect in patients with stroke using a virtual reality system task

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

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

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


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

  田村 正樹, 白川 真, 羅 志偉, 種村 留美

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

  [Refereed]

  Scientific journal


• A multi-body model for comparative study of cervical traction simulation - comparison between inclined and sitting traction

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

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

  [Refereed]

  Scientific journal


• A multi-body model for comparative study of cervical traction simulation - development, improvement and validation

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

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

  [Refereed]

  Scientific journal


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

  田村 正樹, 白川 真, 羅 志偉, 種村 留美

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

  [Refereed]

  Scientific journal


• Learning Flexible Latent Representations via Encapsulated Variational Encoder

  Wenjun Bai, Changqin Quan, Zhiwei Luo

  AAAI Press, Feb. 2019, Proceedings of the 33rd AAAI Conference on Artificial Intelligence (AAAI 2019), 9913 - 9914, English

  [Refereed]

  International conference proceedings


• 脳卒中後半側空間無視患者の姿勢変化の違いによるVirtual Reality System課題結果の比較 －歩行と座位では無視の変数がどのように異なるのか？－

  田村 正樹, 白川 真, 羅 志偉, 種村 留美

  2019, 第17回日本神経理学療法学術大会 2019

  Symposium


• Learning Optimal Human-Robot Interaction Control Considering Robot’s Passivity

  CAO Sheng, LUO Zhiwei, QUAN Changqin, MORI Kohei

  2019, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 63rd

  Symposium


• テキスト情報処理におけるRNNの構造と性能解析

  藤田 倫弘, 全 昌勤, 羅 志偉

  2019, 第63回システム制御情報学会研究発表講演会 (SCI’19)学生発表賞

  Symposium


• 個別指導塾の講師と生徒のスケジュールを考慮したマッチング問題の前処理

  吉岡 由貴, 森 耕平, 羅 志偉

  2019, 第62回自動制御連合講演会講演論文集

  Symposium


• A Simple Rounding Technique Based on Convex Relaxation in Maximizing Algebraic Connectivity

  森耕平, 程子洋, 羅志偉

  2019, 第62回自動制御連合講演会講演論文集

  Symposium


• 個別指導学習塾の生徒-講師-科目の割当問題の係数行列のtotally unimodularity

  森 耕平, 吉岡 由貴, 羅 志偉

  2019, 第63回システム制御情報学会研究発表講演会 (SCI’19)学生発表賞

  Symposium


• Adaptive Control Design of Multi-robot System with Connection Uncertainty

  CHENG Zi-yang, CAO Sheng, LUO Zhi-wei, MORI Kohei, QUAN Chang-qin

  Corresponding, 2019, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 63rd

  Symposium


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

  Chang Wang, Jun Liu, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• Study of Hepatic Vascular Dynamics Based on Symmetrical Pulsating Perfusion

  Jun Liu, Lanlan Tian, Songli Wang, Zhiwei Luo

  2019, Annals of Transplantation, 24, 214 - 222

  [Refereed]

  Scientific journal


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

  Wenjun Bai, Changqin Quan, Zhiwei Luo

  2019, APPLIED SCIENCES, 9(12) (12)

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Adaptive Generative Initialization in Transfer Learning

  Wenjun Bai, Changqin Quan, Zhi-Wei Luo

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

  [Refereed]

  In book


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

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

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

  [Refereed]

  International conference proceedings


• Uncertainty flow facilitates zero-shot multi-label learning in affective facial analysis

  Wenjun Bai, Changqin Quan, Zhiwei Luo

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

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Coarse-to-fine online learning for hand segmentation in egocentric video

  Ying Zhao, Luo Zhiwei, Changqin Quan

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

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


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

  田村 正樹, 白川 真, 羅 志偉, 種村 留美

  2018, 第16回日本神経理学療法学術大会 2018 (優秀ポスター賞)

  Symposium


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

  田村 正樹, 白川 真, 羅 志偉, 種村 留美

  2018, 第42回日本高次脳機能障害学会学術総会 2018 (優秀ポスター賞), 42nd

  Symposium


• Innovation of Health Robotics for Aging Society

  Zhiwei Luo

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

  [Refereed][Invited]


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

  Dong, D, Wong, L, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• Preparation and Characterizing of PANI/PDMS Elastomer for Artificial Muscles

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

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

  [Refereed]

  International conference proceedings


• Adapted Generative Initialisation in Transfer Learning

  Wenjun Bai, Changqin Quan, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• Hard Label Relaxation in Biased Pictorial Sentiment Discrimination

  Wenjun Bai, Chanqin Quan, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• Alleviating Adversarial Attacks via Convolutional Autoencoder

  Wenjun Bai, Quan Changqin, LUO Zhiwei

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

  [Refereed]

  International conference proceedings


• 非一様な多機能触媒反応系における少数分子成分効果

  中川 正基, 大仲 修平, 羅 志偉, 冨樫 祐一

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

  Scientific journal


• 心拍変動と心拍数を組み合わせたストレス評価に関する検討

  駒澤真人, 板生研一, 羅 志偉

  2017, 第28回人間情報学会

  Symposium


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

  Zhiwei Luo

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

  [Refereed][Invited]

  International conference proceedings


• A Prediction of Permittivity of Dielectric Elastomer using an Equivalent Capacitance Model and its Effect in Material Designing and Manufacturing

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

  2017, JOURNAL OF THE INSTITUTE OF INDUSTRIAL APPLICATIONS ENGINEERS

  [Refereed]

  Scientific journal


• 片脚立位における下肢筋力と膝関節負荷に関する動力学解析

  羅志偉, 栗栖信之, 藤野圭司, 田辺秀樹

  Lead, 2017, 日本臨床整形外科学会学術集会プログラム・抄録集, 30th, Japanese

  [Refereed]

  Symposium


• Hard Label Relaxation in Biased Pictorial Sentiment Discrimination

  Wenjun Bai, Changqin Quan, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• Long-Term Monitoring and Analysis of Age-Related Changes on Autonomic Nervous Function

  Kenichi Itao, Makoto Komazawa, Zhiwei Luo, Hiroyuki Kobayashi

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

  [Refereed]

  Scientific journal


• Development of a cognitive function test using virtual reality technology: examination in healthy participants.

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

  2017, Aging, Neurophysiology and Cognition, 25(4) (4), 561 - 575, English

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


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

  Cao Sheng, LUO Zhi-Wei, Quan Changqin

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

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


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

  Cao Sheng, LUO Zhi-Wei, Quan Changqin

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

  [Refereed]

  Scientific journal


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

  Cao Sheng, LUO Zhi-Wei, Quan Changqin

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

  [Refereed]

  Scientific journal


• Global Path Planning Using Modified Firefly Algorithm

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

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

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


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

  Cao Sheng, LUO Zhi-Wei, Quan Changqin

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

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]

  International conference proceedings


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

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

  2017, Journal of Behavioral and Brain Science, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


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

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

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

  [Refereed]

  International conference proceedings


• Unsupervised online learning for fine-grained hand segmentation in egocentric video

  Ying Zhao, Zhiwei Luo, Changqin Quan

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

  [Refereed]

  International conference proceedings


• Gender differences in muscle forces of lower extremities of healthy young adults during walking

  Haruki Toda, Akinori Nagano, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• Virtual Reality Systemを用いたextrapersonal spaceにおける半側空間無視例の特徴

  田村 正樹, 種村 留美, 白川 真, 羅 志偉

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

  [Refereed]


• Age-related differences in muscle control of the lower extremity for support and propulsion during walking

  Haruki Toda, Akinori Nagano, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• 約20万件の大量の心拍データに基づく自律神経機能と気象との関係

  駒澤真人, 板生研一, 羅 志偉

  2016, 第23回人間情報学会最優秀賞

  Symposium


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

  Okahashi S, Watanabe R, Luo Zhiwei, Futaki T

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

  [Refereed]

  International conference proceedings


• 歩行における下肢筋シナジーの加齢変化

  戸田晴貴, 戸田晴貴, 長野明紀, 羅志偉

  2016, 中国ブロック理学療法士学会抄録誌, 30th


• バーチャルリアリティ技術を用いた買い物課題による高次脳機能検査の開発

  小嶌麻木, 岡橋さやか, 羅志偉, 長野明紀, 酒井 弘美, 関 啓子

  2016, 高次脳機能研究, 36(2) (2), 134 - 141

  [Refereed]

  Scientific journal


• Relations of Subjective Evaluation and Changes in Autonomic Nerve Activity in Massage using Water Massage Bed

  SEKI Akihito, LUO Zhiwei, SHIMOZONO Tomoyuki, MIYATA Kazuaki

  In recent years, water massage bed which can provide full body massage is often used in physiotherapy. Compared to other physiotherapy equipment, water massage bed is particularly useful in the fact that it can directly massage the target area on the subject, thus leads to improvement in relieving muscle strain and provides a psychological relaxation effect. However, there is little research that examines the degree of relaxation effect on the human body caused by the water massage bed. In this study, we use a heart rate sensor to evaluate changes of relaxation before and during the massage. We observed that subjective evaluation is strongly correlated to the heart rate based relaxation analysis. In addition, the result of the subjective evaluation is heavily influenced by the changes in autonomic nerve activity in the first 30 seconds of the massage.

  Japan Society of Kansei Engineering, 2016, Transactions of Japan Society of Kansei Engineering, 15(3) (3), English

  [Refereed]

  Scientific journal


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

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

  2016, Psychology, 7(10) (10)

  [Refereed]

  Scientific journal


• Measurement and Evaluation of the Autonomic Nervous Function in Daily Life

  Makoto Komazawa, Kenichi Itao, Hiroyuki Kobayashi, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• On Human Autonomic Nervous Activity Related to Weather Conditions Based on Big Data Measurement via Smartphone

  Makoto Komazawa, Kenichi Itao, Hiroyuki Kobayashi, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• On Human Autonomic Nervous Activity Related to Behavior, Daily and Regional Changes Based on Big Data Measurement via Smartphone

  Makoto Komazawa, Kenichi Itao, Hiroyuki Kobayashi, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• Phenomenon of spatially growing wave of a snake-like robot: Natural generation of bio-mimetic swimming motion

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

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

  [Refereed]

  In book


• Development of a human friendly walking and running training system

  Yuka Sano, Changqin Quan, Zhiwei Luo

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

  [Refereed]

  Scientific journal


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

  Akihito Seki, Changqin Quan, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


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

  Sheng Cao, Zhiwei Luo, Changqin Quan

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

  [Refereed]

  International conference proceedings


• Objective evaluation of water-bed massage using heart rate sensor and accelerometer

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

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

  [Refereed]

  Scientific journal


• On robotic rehabilitation of human dual arms' coordinative function

  Sheng Cao, Nishida Kazuki, Changqin Quan, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• Comparative Experiment and Dynamic Simulation on Cervical Traction Therapy

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

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

  [Refereed]

  International conference proceedings


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

  Qingyang Yan, Jian Huang, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• Analysis of Human Autonomic Nervous Activity Based on Big Data Measurement Via SmartPhone

  Makoto Komazawa, Kenichi Itao, Hiroyuki Kobayashi, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  International conference proceedings


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

  Toda, H, Nagano, A, Luo, Z

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

  [Refereed]

  Scientific journal


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

  小嶌麻木, 岡橋さやか, 羅志偉, 長野明紀, 酒井弘美, 関啓子

  We developed the Virtual Shopping Test-easy version (VST-e) , a new virtual reality based shopping task, to assess the comprehensive cognitive status of various aphasic patients. The purposes of this study were to examine the application of VST-e to aphasic patients, and to examine the validity and reliability of VST-e. Twenty left hemisphere-damaged stroke patients with aphasia and twenty age and education-matched healthy adults with no brain damage performed VST-e. In this test, after a demonstration with visual information and practice session, the participants were asked to buy two specific items in the virtual shopping mall by touching the PC screen as quickly and correctly as possible. They memorized the content of the shopping list in advance, and used hints on the screen when needed during the performance. The application of VST-e to aphasic patients was examined by comparing VST-e performance between the two groups and by analyzing correlations between VST-e variables and a verbal function test. The criterion-validity of VST-e was examined by analyzing correlations between VST-e variables and conventional neuropsychological tests (RCPM, SDMT, SRT, Symbol Cancellation, Symbol Trails, Design Memory, and Mazes) in the aphasia group. The reliability of VST-e was examined by calculating Cronbachʼs α. The results showed that VST-e performance was lower in the aphasic group than in the healthy group regarding the number of times using hints, the number of times making a turn on the shopping street, and the required time to accomplish one task. VST-e variables correlated significantly with verbal function, intelligence, attention, and executive function. Cronbachʼs α was 0.62. Although VST-e is affected by verbal ability, VST-e has criterionrelated validity and reliability. These results suggest that VST-e can be a useful tool to evaluate general cognitive functions in aphasic patients.

  Japan Society for Higher Brain Dysfunction, 2016, 高次脳機能研究, 36(2) (2), 296-303 - 303, Japanese

  [Refereed]


• 両手協調作業機能のリハビリテーション用ロボットシステム

  LUO Zhi-Wei

  Lead, Jan. 2016, 日本機械学会誌, 119(1166) (1166), 34 - 35, Japanese


• Age and gender differences in the control of vertical ground reaction force by the hip, knee and ankle joints

  Haruki Toda, Akinori Nagano, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• SWUM によるひとかきひとけり中のドルフィンキックタイミングの最適化

  林 勇樹, 本間 正信, 羅志偉

  2015, 日本水泳水中運動学会 2015 年次大会

  Symposium


• 約10万件の大量の心拍データに基づく自律神経機能評価

  駒澤真人, 板生研一, 羅 志偉

  2015, 第22回人間情報学会（最優秀賞）

  Symposium


• スマートフォンのカメラを用いた心拍変動解析システムの開発

  駒澤真人, 板生研一, 羅 志偉

  2015, 第20回人間情報学会

  Symposium


• 認知制御の二重脳機能ネットワークモデル仮説と検証

  施イ, 大谷啓尊, 羅 志偉, 片桐祥雅

  2015, 第20回人間情報学会

  Symposium


• Virtual Reality Systemを用いたextrapersonal spaceにおける半側空間無視例の特徴

  田村 正樹, 種村 留美, 白川 真, 羅 志偉

  2015, 第39回日本高次脳機能障害学会学術総会 2015, 39th

  Symposium


• Robotics for Health Promotion

  Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• 高齢者と若年者における歩行中の大腿四頭筋とハムストリングスの筋活動パターン

  戸田 晴貴, 長野 明紀, 羅志偉

  2015, 第 50 回日本理学療法学術大会,2015, 50th(2) (2)

  [Refereed]

  Symposium


• Brain Activation in Middle-aged Healthy Adults by the Computer-based Cognitive Training Program for Elderly. : An Activation Study Using Functional Near-infrared Spectroscopy (fNIRS)

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

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

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


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

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

  2015, Physiotherapy, 101(1) (1)

  [Refereed]

  Scientific journal


• Optimal Timing of Dolphin Kick during Breaststroke Underwater Swimming Movement

  Yuki Hayashi, Masanobu Homma, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


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

  Shota Terada, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


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

  Sheng Cao, Zhiwei Luo, Changqin Quan

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

  [Refereed]

  International conference proceedings


• Development of Computer-Aided Cognitive Training Program for Elderly and Its Effectiveness through a 6 Months Group Intervention Study

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

  2015, CURRENT ALZHEIMER RESEARCH, 12(6) (6), 553 - 562, English, International magazine

  [Refereed]

  Scientific journal


• Underwater soft robots

  Kentaro Takagi, Zhi-Wei Luo, Kinji Asaka

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

  [Refereed]

  In book


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

  酒井 弘美, 岡橋 さやか, 小嶌 麻木, 長野 明紀, 羅 志偉

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

  [Refereed]


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

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

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

  [Refereed]

  International conference proceedings


• Early Neurological Markers for Unconscious Detection of Bitter and Sour Taste for Investigating Taste Preferences

  Chenghong Hu, Yoshitada Katagiri, Yoshiko Kato, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• 歩行速度の変化による体幹・下肢の加速度の変動性の違い

  戸田 晴貴, 長野 明紀, Luo zhi-wei

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

  Symposium


• 歩行・走行機能の評価と訓練に関する研究

  Luo zhi-wei

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

  [Invited]

  Symposium


• 長時間計測による自律神経機能の加齢変化

  板生研一, 駒澤真人, 堅田洋資, 小林弘幸, Luo zhi-wei

  2014, 第17回人間情報学会(2014), Japanese

  Symposium


• リアルタイムでの心拍解析を⽤いたトレーニングシステムの開発

  佐野 友香, 長野 明紀, Luo zhi-wei

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

  Symposium


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

  Toda H, Nagano A, Luo zhi-wei

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

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]

  International conference proceedings


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

  Katoh S, Cao Sheng, Luo zhi-wei

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

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]


• Biomechanical Measurement and Analysis of Human Two-Step Test

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

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

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  Scientific journal


• 2ステップテストの生体力学解析

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

  2014, 第26 回日本運動器科学会学術集会(2014), 25(2) (2), Japanese

  Symposium


• 2 ステップテストに関する生体力学計測と解析

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

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

  Symposium


• 24時間の心拍変動データ解析による日本人の自律神経機能と年齢の関係

  板生研一, 駒澤真人, 小林弘幸, Luo zhi-wei

  2014, 第19回人間情報学会(2014), Japanese

  Symposium


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

  Sheng Cao, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• Brain Response to Aversive Taste for Investigating Taste Preference

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

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

  [Refereed]

  Scientific journal


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

  Chenghong Hu, Yoshiko Kato, Luo zhi-wei

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

  [Refereed]

  Scientific journal


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

  Chenghong Hu, KATO YOSHIKO, Zhiwei Luo

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

  [Refereed]

  Scientific journal


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

  小嶌 麻木, 岡橋 さやか, 羅 志偉, 長野 明紀, 関 啓子

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

  [Refereed]


• Parametrically excited inverted double pendulum and efficient bipedal walking with an upper body

  Toyoyuki Honjo, Akinori Nagano, Zhi-Wei Luo

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

  [Refereed]

  Scientific journal


• Effects of Discreteness in Numbers of Molecules in Catalytic Networks with a Power-law Degree Distribution

  Onaka Shuhei, Luo Zhiwei, Togashi Yuichi

  The Physical Society of Japan (JPS), Aug. 2013, Meeting abstracts of the Physical Society of Japan, 68(2) (2), 334 - 334, Japanese

  Symposium


• 歩行・走行機能の評価と訓練のためのインテリジェント・トレッドミル

  Nagano, A, Luo Zhi-Wei

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

  [Refereed]

  Scientific journal


• A virtual shopping test for realistic assessment of cognitive function

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

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

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]

  Scientific journal


• Innovation of Health Engineering for Happy Ageing Society

  LUO Zhiwei

  Institute of Systems, Control and Information Engineers, Jan. 2013, Systems, control and information, 57(1) (1), 19 - 24, Japanese


• 遺伝子探索における転写因子分子数の影響

  藤本健太朗, 新海創也, 前島一博, 羅志偉, 冨樫祐一

  2013, 日本物理学会 2013年秋季大会

  Symposium


• 睡眠不足による自律神経機能障害

  施嫕, 片桐祥雅, 川原靖弘, 羅志偉

  2013, 第57回 システム制御情報学会研究発表講演会（SCI'13）, 2013

  Symposium


• A fNIRS research on prefrontal cortex activity response to sweet taste

  Chenghong Hu, Yoshiko Kato, Zhiwei Luo

  2013, 第57回 システム制御情報学会研究発表講演会（SCI'13）, 2013

  Symposium


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

  小嶌麻木, 岡橋さやか, 羅志偉, 長野明紀, 関啓子

  2013, 日本言語聴覚士協会総会・日本言語聴覚学会プログラム・抄録集 2013, 14th

  Symposium


• Neurophysiological Study of Taste Preference Mechanism

  Chenghong Hu, Y. Katagiri, Y. Kato, Luo Zhiwei

  2013, 第15回人間情報学会講演会

  Symposium


• Modulation of Central Fatigue is Dependent on Sound Environment

  Yi Shi, Y. Katagiri, Luo Zhiwei

  2013, 第15回人間情報学会講演会 （最優秀賞）

  Symposium


• Reserch and Development of an Assessment System for Cognitive Function Using Virtual Reality

  Sakai H, Okahashi S, Kojima M, Nagano A, Zhiwei Luo

  2013, Proceedings of Life Engineering Symposium 2013

  [Refereed]

  International conference proceedings


• Performance of Polyurethane Film Actuators with Polydimethylsiloxane Units into the Main Chain or Side Chain

  Takeshi Fukuda, Zhiwei Luo, Aya Ito

  2013, The 7th World Congress on Biomimetics, Artificial Muscles and Nano-Bio(BAMN2013), 2013

  [Refereed]

  International conference proceedings


• ハンマー投のダイナミクスに基づくサイバネティック・トレーニング

  太田憲, 梅垣浩二, 室伏広治, 羅志偉

  2013, バイオメカニクス研究, 17(1) (1)

  [Refereed]


• 視覚フィードバックを用いたランニング障害の予防に関する研究

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

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

  [Refereed]

  Scientific journal


• Research and Development of the Wearable Respiration Sensor

  Yi Shi, Yasuhiro Kawahara, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  International conference proceedings


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

  Sheng Cao, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• Motion Sickness Due to Vibration on Water Massage Bed

  Akihito Seki, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• MD-RMDハイブリッドシミュレーション法の開発

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

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

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

  [Refereed]

  Scientific journal


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

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

  2013, International Neuropsychological Society, English

  [Refereed]

  International conference proceedings


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

  Kazuki Nishida, Zhiwei Luo, Akinori Nagano

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

  [Refereed]

  International conference proceedings


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

  Kosuke Sasahara, Akinori Nagano, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


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

  Haruki Toda, Akinori Nagano, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• Cervical Spine Simulation Model for Traction Therapy Analysis

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

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

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  International conference proceedings


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

  Chenghong Hu, Yoshiko Kato, Luo zhi-wei

  IEEE, 2013, Proc. of IEEE/SICE International Symposium on System Integration, 556 - 561, English

  [Refereed]

  International conference proceedings


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

  Chenghong Hu, Yoshiko Kato, Luo Zhi-wei

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

  [Refereed]

  International conference proceedings


• Accelerating Water Molecular Simulation with RMD

  Yumi Kashihara, Akinori Nagano, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• Formation Control of a Networked Multi-Robot System Considering Limitation of Communication Range

  MURAYAMA Toru, NAGANO Akinori, LUO Zhi-Wei

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

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

  [Refereed]


• Distributed Control Method of Networked Multi-Vehicle System Considering Communication Range

  MURAYAMA Toru, NAGANO Akinori, LUO Zhi-Wei

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

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

  [Refereed]


• Towards Human Promotive System Design and Construction : Reflection from RI-MAN Shock

  LUO Zhiwei

  日本経営工学会, Jul. 2012, 経営システム = Management systems : a journal of Japan Industrial Management Association, 22(2) (2), 91 - 96, Japanese

  [Invited]


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

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

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

  [Refereed]

  Scientific journal


• An adaptive treadmill-style locomotion interface and its application in 3-D interactive virtual market system

  Haiwei Dong, Zhiwei Luo, Akinori Nagano, Nikolaos Mavridis

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

  [Refereed]

  Scientific journal


• バーチャルリアリティ技術を用いた買い物課題による高次脳機能検査の開発

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

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

  [Refereed]

  Scientific journal


• 生体分子機械の粗視化モデリング手法の検証

  GU Jie, TOGASHI Yuichi, LUO Zhi-Wei

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

  Symposium


• 使用者の意図する歩行・走行速度を実現するインテリジェント・トレッドミルの研究開発

  長野 明紀, 巌 和隆, 羅 志偉

  2012, 第２２回日本バイオメカニクス学会, 2012

  Symposium


• 生体分子機械の粗視化モデリング手法の検証

  顧 傑, 冨樫 祐一, 羅 志偉

  2012, 定量生物学の会 第４回年会, 2012

  Symposium


• ポリウレタンフィルムアクチュエータの創製とその特性

  伊藤彩, 福田 武司, 羅 志偉

  2012, 第21回ポリマー材料フォーラム, 2012


• 高次脳機能評価手法を用いた生活環境の評価

  川原靖弘, 施嫕, 片桐祥雅, 羅志偉

  2012, 電子情報通信学会・HCG シンポジウム 2012

  Symposium


• 微小皮膚変位感知型センサーの呼吸モニタリングへの適用

  川原靖弘, 施嫕, 片桐祥雅, 羅志偉

  2012, 第11回人間情報学会

  Symposium


• SOCスコアと生理指標の相関に関する一検討

  川原靖弘, 施嫕, 片桐祥雅, 羅志偉

  2012, 第13回人間情報学会

  Symposium


• 近赤外光計測による人間の意思推定に関する研究

  村瀬 友規, 長野 明紀, 羅 志偉

  2012, 第５６回システム制御情報学会研究発表講演会（SCI'12）

  Symposium


• 逆ダイナミクス解析による筋力推定を用いたリハビリシステムの開発

  中野 達矢, 長野 明紀, 羅 志偉

  2012, 第５６回システム制御情報学会研究発表講演会（SCI'12）

  Symposium


• 障害物回避機能を有する移動ロボットのSLAMに関する研究

  坂口 豪一, 長野 明紀, 羅 志偉

  2012, 第５６回システム制御情報学会研究発表講演会（SCI'12）

  Symposium


• 促し動作を実現する介護支援用ロボットの力制御に関する研究

  坂口 隼哉, 長野 明紀, 羅 志偉

  2012, 第５６回システム制御情報学会研究発表講演会（SCI'12）

  Symposium


• 視覚フィードバックを用いたランニング障害の予防に関する研究

  巌 和隆, 長野 明紀, 羅 志偉

  2012, 第５６回システム制御情報学会研究発表講演会（SCI'12）

  Symposium


• 効率的な二足歩行のための二重倒立振子パラメータ励振

  本城 豊之, 長野 明紀, 羅 志偉

  2012, 第５６回システム制御情報学会研究発表講演会（SCI'12）

  Symposium


• 通信範囲制約を考慮するネットワーク群ロボットシステムの分散制御

  村山 暢, 長野 明紀, 羅 志偉

  Corresponding, 2012, 第５６回システム制御情報学会研究発表講演会（SCI'12）

  Symposium


• 力学情報のリアルタイムバイオフィードバックを用いたランニング動作訓練システムの開発

  長野明紀, 巌和隆, 羅志偉

  2012, 日本トレーニング科学会大会プログラム・抄録集, 25th

  Symposium


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

  Takeshi Fukuda, Z.W. Luo, Aya Ito

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

  [Refereed]

  Scientific journal


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

  Takeshi Fukuda, Z.W. Luo, Aya Ito

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

  [Refereed]

  Scientific journal


• On Renormalization Molecular Dynamics for Micro Fluid Analysis

  柏原裕美, 長野明紀, 羅志偉

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

  [Refereed]

  Scientific journal


• ２脚ロボットの非対称パラメータ励振歩行メカニズム

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

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

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

  [Refereed]

  Scientific journal


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

  Kosuke Sasahara, Akinori Nagano, ZhiWei Luo

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

  [Refereed]

  International conference proceedings


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

  Shingo Kato, Akinori Nagano, Zhi-wei Luo

  2012, JSST2012 International Conference on Simulation Technology, English

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  International conference proceedings


• Hybrid simulation of molecular dynamics and renormalization molecular dynamics.

  Yumi Kashihara, Akinori Nagano, Zhi-wei Luo

  2012, XXXII Dynamic Days in Europe, English

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  International conference proceedings


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

  KOBAYASHI Yuichi, ONISHI Masaki, HOSOE Shigeyuki, LUO Zhiwei

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

  [Refereed]

  Scientific journal


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

  IWAO Kazutaka, NAGANO Akinori, LUO Zhi-Whi

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

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


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

  Kato Shoichi, Nagano Akinori, Luo Zhiwei

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

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


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

  MURASE Yuki, NAGANO Akinori, LUO Zhi-Wei

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

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


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

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

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

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

  [Refereed]

  International conference proceedings


• Development of human care robots for aging society

  Zhiwei Luo

  Sep. 2011, INTERNATIONAL PSYCHOGERIATRICS, 23, S4 - S5, English


• Effect of visual biofeedback on motor imagery

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

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

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

  Symposium


• Innovation of Health Engineering for Aging Society

  LUO Zhiwei

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

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

  [Invited]

  Symposium


• Hybrid Control of Network Coupled Dynamical System

  MURAYAMA Toru, LUO Zhi-Wei, NAGANO Akinori

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

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

  Symposium


• Efficient dynamic bipedal walking using effects of semicircular feet

  Fumihiko Asano, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• 動的身体運動の計測と解析

  羅志偉

  Lead, 2011, 第38回日本臨床バイオメカニクス学会,教育研修講演

  [Invited]

  Symposium


• Distributing Joint Torques to Muscle Forces for Robot Manipulator Control,

  Haiwei Dong, Zhiwei Luo, Akinori Nagano

  2011, 第２９回日本ロボット学会学術講演会, 9/7～9/9

  Symposium


• 高齢社会の健康を促すロボティクス研究開発

  羅志偉

  Lead, 2011, 計測自動制御学会中部支部第１回静岡地区計測制御研究委員会講演会招待講演,2011

  [Invited]

  Research institution


• 呼吸センシングの生理学的意義とその日常応用

  施嫕, 川原靖弘, 片桐祥雅, 羅志偉

  2011, 第9回人間情報学会

  Symposium


• Renormalization molecular dynamics for micro fluid analysis

  KASHIHARA Yumi, NAGANO Akinori, Zhiwei Luo

  2011, CBI/JSBi 2011 合同大会, 情報計算化学生物学会

  [Refereed]

  International conference proceedings


• Hybrid Control of Networked Multi-Vehicle System Considering Limitation of Communication Range

  Toru Murayama, Akinori Nagano, Zhiwei Luo

  2011, International Conference on Control, Automation, Robotics and Vision 2011, World Academy of Science, Engineering and Technology, Venice, Italy

  [Refereed]

  International conference proceedings


• Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Locomotion Interfaces,

  Haiwei Dong, Jianjun Meng, Zhiwei Luo

  IEEE, 2011, 8th International Conference on Ubiquitous Robots and Ambient Intelligence, 2011, 14 - 19

  [Refereed]

  International conference proceedings


• 健康工学創成に向けて

  羅志偉

  2011, 日本機械学会東海支部講習会資料集, 114th


• Modeling and control of a humanoid robot arm with redundant biarticular muscle torques

  Haiwei Dong, Zhiwei Luo, Akinori Nagano

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

  [Refereed]

  International conference proceedings


• Human factor affects eye movement pattern during riding motorcycle on the mountain

  Haiwei Dong, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


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

  Haiwei Dong, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• Experimental Study of Dynamic Bipedal Walking Based on the Principle of Parametric Excitation with Counterweights

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

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

  [Refereed]

  Scientific journal


• Biomimetic Pinching Movements of a Musculo-Skeletal Dual-Finger Model

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

  2011, ADVANCED ROBOTICS, 25(1-2) (1-2), 175 - 204, English

  [Refereed]

  Scientific journal


• バーチャルリアリティ技術を用いた高次脳機能評価システムの開発(第2報)

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

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

  [Refereed]

  Symposium


• An analysis of directional changes in the center of pressure trajectory during stance

  Akinori Nagano, Hisahito Noritake, Zhi-Wei Luo

  Mar. 2010, GAIT & POSTURE, 31(3) (3), 400 - 402, English, International magazine

  [Refereed]

  Scientific journal


• Editorial: Machine Intelligence for Robotics and Mechatronics.

  Kuniaki Kawabata, Zhi-Wei Luo, Jie Huang

  2010, Journal of Robotics and Mechatronics, 22(4) (4), 417 - 417

  Scientific journal


• 姿勢動揺方向の解析を用いた聴覚フィードバック効果の評価

  長野 明紀, 則武 悠人, 羅 志偉

  2010, 第21回日本バイオメカニクス学会, 2010

  Symposium


• 群ロボットシステムによる協調型SLAMの構築

  早野真理子, 長野明紀, 羅志偉

  2010, 第22回自律分散システム・シンポジウム

  Symposium


• 時間遅れを有する群ロボットの分散フォーメーション制御

  村山 暢, 長野 明紀, 羅 志偉

  2010, 第22回自律分散システム・シンポジウム

  Symposium


• くりこみ群分子動力学法による流体解析

  柏原裕美, 長野明紀, 羅志偉

  2010, 第22回自律分散システム・シンポジウム，1/30～1/31

  Symposium


• 移動ロボット群の全方位カメラパラメータと位置の同時推定

  笹原康介, 長野明紀, 羅志偉

  2010, 第22回自律分散システム・シンポジウム，1/30～1/31

  Symposium


• A new method of posturography processing: directional change analysis

  NAGANO Akinori, NORITAKE Hisahito, LUO Zhiwei

  2010, 6th World Congress of Biomechanics

  [Refereed]

  International conference proceedings


• Derivation of stability conditions of passive dynamic walking

  Toyoyuki Honjo, Zhiwei Luo, Akinori Nagano

  2010, CLAWAR2010

  [Refereed]

  International conference proceedings


• Passive Control of A Dual-Arm Cooperative Robot

  Kosuke Kido, Zhiwei Luo, Akinori Nagano

  2010, SICE Annual Conference 2010

  [Refereed]

  International conference proceedings


• Robust Falling-down Avoidance Control for Acrobat Robot Using Switching Controller

  Yusuke Yashiro, Masaki Yamakita, Shinya Hirano, Zhiwei Luo

  2010, SICE Annual Conference 2010

  [Refereed]

  International conference proceedings


• Analysis of hammer movement based on a parametrically excited pendulum model

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

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

  [Refereed]

  International conference proceedings


• Novel Information Matrix Sparsification Approach for Practical Implementation of Simultaneous Localization and Mapping

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

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

  [Refereed]

  Scientific journal


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

  Haiwei Dong, Tatuo Oshiumi, Akinori Nagano, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


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

  Haiwei Dong, Zhiwei Luo, Akinori Nagano

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

  [Refereed]

  International conference proceedings


• ADAPTIVE TREADMILL CONTROL BY HUMAN WILL

  Haiwei Dong, Zhiwei Luo, Akironi Nagano

  2010, CLAWAR2010, English

  [Refereed]

  International conference proceedings


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

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

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

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

  Symposium


• カウンターウエイトを用いた2脚パラメータ励振歩行

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

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

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

  [Refereed]

  Scientific journal


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

  Haiwei Dong, Zhiwei Luo, Akinori Nagano

  2010, Journal of Robotics and Mechatronics, Vol. 22(4) (4), 418 - 429, English

  [Refereed]

  Scientific journal


• 音刺激のバイオフィードバックによる姿勢保持課題の遂行支援.

  NORITAKE Hisahito, NAGANO Akinori, LUO Zhi-wei

  Institute of Systems, Control and Information Engineers, 2010, システム/制御/情報, Vol. 54, No. 8, 320-326(8) (8), 320 - 326, Japanese


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

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

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

  Research institution


• Application of biomechanical simulation in nursing activity – towards a new adaptive strategy of lifting up human body.

  DONG Haiwei, LUO Zhi-wei, NAGANO Akinori

  日本バイオメカニクス学会, 2010, バイオメカニクス研究, Vol. 14, No. 1, pp. 52-60(1) (1), 52 - 60, English


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

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

  Dec. 2009, ROBOTICA, 27(7) (7), 1063 - 1073, English

  [Refereed]

  Scientific journal


• Asymptotically stable biped gait generation based on stability principle of rimless wheel

  Fumihiko Asano, Zhi-Wei Luo

  Oct. 2009, ROBOTICA, 27(6) (6), 949 - 958, English

  [Refereed]

  Scientific journal


• Restoration of degraded moving image for predicting a moving object

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

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

  [Refereed]

  Scientific journal


• バーチャル商店街を用いた高次脳機能評価システムの開発

  山本 麻木, 岡橋 さやか, 出水 朋子, 遠藤 裕美, 酒井 弘美, 押海 龍生, 山中 優希, 長野 明紀, 関 啓子, 羅 志偉

  2009, 全国回復期リハビリテーション病棟連絡協議会第13回研究大会, 2009年

  Symposium


• バーチャルリアリティ技術を用いた高次脳機能評価システムの開発

  酒井弘美, 岡橋さやか, 山本麻木, 出水朋子, 遠藤裕美, 山中優希, 押海龍生, 長野明紀, LUO Zhiwei, 関啓子

  2009, 日本生体医工学会大会プログラム・論文集(CD-ROM) 2009年

  Symposium


• 環境適応ロボットシステム,

  羅志偉

  Lead, 2009, 日本知能情報ファジィ学会 2009,招待講演

  [Invited]

  Symposium


• 群ロボット制御のグラフ理論

  羅志偉

  Lead, 2009, 第53回システム制御情報学会研究発表講演会 招待講演

  [Invited]

  Symposium


• 複数台ロボットによる協調型SLAM の構築

  早野真理子, 長野明紀, 羅志偉

  2009, 第53回システム制御情報学会研究発表講演会

  Symposium


• 姿勢維持課題における聴覚フィードバックの影響

  則武悠人, 長野明紀, 羅志偉

  2009, 第53回システム制御情報学会研究発表講演会

  Symposium


• 両手協調作業機能のリハビリテーション用ロボットシステムの開発

  永井潔, 奥村允, 遠藤洋亮, 奥山裕司, 長野明紀, 羅志偉

  2009, 第53回システム制御情報学会研究発表講演会

  Symposium


• 高齢社会を支える介護支援用ロボットの研究開発

  羅志偉

  2009, 都市問題研究, 61(8) (8)


• パラメタ励振原理を用いた高効率な歩行動作のシミュレーション研究

  長野明紀, 本城豊之, 羅志偉

  2009, 日本トレーニング科学会大会プログラム・抄録集, 22nd

  Symposium


• くりこみ群分子動力学を用いた気体・流体解析

  柏原裕美, 長野明紀, 羅志偉

  2009, 分子シミュレーション討論会講演要旨集, 23rd

  Symposium


• Distributed parameter system modeling of IPMC actuators with the electro-stress diffusion coupling theory

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

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

  [Refereed]

  International conference proceedings


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

  Zhiwei Luo, Takahiro Mttani, Akinori Nagano

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

  [Refereed]

  International conference proceedings


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

  Haiwei Dong, Zhiwei Luo

  2009, DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8, 295 - 304, English

  [Refereed]

  International conference proceedings


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

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

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

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

  Symposium


• 遊脚収縮現象を考慮したロバスト擬似仮想受動歩行

  浅野 文彦, 羅 志偉

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

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

  [Refereed]

  Scientific journal


• 人と接するロボットのための並列タスク設計への最適化によるアプローチ

  小林 祐一, 大西 正輝, 細江 繁幸, 羅 志偉

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

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

  [Refereed]

  Scientific journal


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

  Haiwei Dong, Thiwei Luo, Weidong Chen

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

  [Refereed]

  International conference proceedings


• On Efficiency and Optimality of Asymmetric Dynamic Bipedal Gait

  Fumihiko Asano, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• On control of reaching movements for musculo-skeletal redundant arm model

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

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

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]

  International conference proceedings


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

  Yuichi Kobayashi, Masaki Onishi, Shigeyuki Hosoe, Zhiwei Luo

  2009, DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8, 565 - +, English

  [Refereed]

  International conference proceedings


• Energy-Efficient and High-speed Dynamic Biped Locomotion Based on Principle of Parametric Excitation

  Fumihiko Asano, Zhi-Wei Luo

  Dec. 2008, IEEE TRANSACTIONS ON ROBOTICS, 24(6) (6), 1289 - 1301, English

  [Refereed]

  Scientific journal


• 股関節二分機構を用いて上体を付加した劣駆動2脚ロボットの動歩行解析

  浅野 文彦, 羅 志偉

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

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

  [Refereed]

  Scientific journal


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

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

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

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

  Symposium


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

  田原 健二, 有本 卓, 吉田 守夫, Zhiwei LUO

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

  [Refereed]

  Scientific journal


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

  浅野 文彦, Zhiwei LUO, 山北 昌毅

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

  [Refereed]

  Scientific journal


• 人体を外側から扱うロボットの設計－人と接するロボットRI-MANの研究開発を通して得られた知見－

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

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

  [Refereed]


• Development of the tactile sensor system of a human-interactive robot "RI-MAN"

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

  Apr. 2008, IEEE TRANSACTIONS ON ROBOTICS, 24(2) (2), 505 - 512, English

  [Refereed]

  Scientific journal


• Aspects of Global Nonlinear Control Theory

  LUO Zhiwei

  Institute of Systems, Control and Information Engineers, Mar. 2008, Systems, control and information, 52(3) (3), 71 - 71, Japanese


• 超分散非平衡システムの分子動力学，

  柏原 裕美, 長野 明紀, 羅 志偉

  2008, 計測自動制御学会 システム・情報部門学術講演会 2008 講演論文集，pp.243-246，Nov．2008

  Symposium


• SLAM of Multi-Robot System Considering Its Network Topology

  董 海巍, Zhiwei Luo

  2008, 計測自動制御学会 システム・情報部門学術講演会 2008 講演論文集，pp.247-248，Nov．2008

  Symposium


• 超分散システムにおける情動伝播のネットワークモデルと安定性解析

  村山 暢, 長野明紀, 羅志偉

  2008, 計測自動制御学会 システム・情報部門学術講演会 2008 講演論文集，pp.249-250，Nov．2008

  Symposium


• 遊脚収縮現象を考慮したロバスト擬似仮想受動歩行

  浅野 文彦, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，3B1-05, Sep. 2008

  Symposium


• ストレッチが姿勢制御に及ぼす影響に関する考察

  岩田 知晃, 長野 明紀, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，1I2-05, Sep. 2008

  Symposium


• 上肢協調作業のリハビリテーション支援用ロボットの研究開発

  奥村 允, 永井 潔, 奥山 裕司, 遠藤 洋亮, 長野 明紀, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，3K2-06, Sep. 2008

  Symposium


• 時間遅れを有するテレマニピュレーションシステムの介在インピーダンス制御の受動性に関する考察

  奥山 裕司, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，3C3-03, Sep. 2008

  Symposium


• RI-MANの動作制御を行うNIRSを用いたBRIシステムの構築

  岸 悟志, 奥村 允, 山中 優希, 永野 洋平, 長野 明紀, 横田 康成, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，3L3-04, Sep. 2008

  Symposium


• 介護支援用ロボットシステムの動力学シミュレーション

  永野 洋平, 長野 明紀, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，3K1-06, Sep. 2008

  Symposium


• ロボット分散制御のための適応通信方式

  西村 直人, 長野 明紀, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，3O2-05, Sep. 2008

  Symposium


• 足圧中心の視覚フィードバックが姿勢制御に与える影響と短期学習効果

  則武 悠人, 長野 明紀, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，3O2-05, Sep. 2008

  Symposium


• パラメータ励振原理に基づくカウンターウエイトを使用した2脚動歩行機の開発と実験検証

  林 健志, 金子 和晃, 浅野 文彦, 羅 志偉, 平野 慎也, 加藤 厚生

  2008, 第26回日本ロボット学会学術講演会予稿集，1O1-03, Sep. 2008

  Symposium


• 倒立振子のパラメータ励振原理による動歩行制御

  本城 豊之, 長野 明紀, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，1O3-03, Sep. 2008

  Symposium


• 逆問題解析を用いた面状触覚センサの柔軟性と感度に関する考察

  三谷 隆弘, 林 健史, 長野 明紀, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，3L1-04, Sep. 2008

  Symposium


• バーチャル商店街を用いた高次脳機能評価システム

  山中 優希, 岡橋 さやか, 押海 龍生, 出水 朋子, 遠藤 裕美, 山本 麻木, 酒井 弘美, 長野 明紀, 関 啓子, 羅 志偉

  2008, 第26回日本ロボット学会学術講演会予稿集，3L3-02, Sep. 2008

  Symposium


• A Novel Information Matrix Sparsification Approach for Practical Implementation of SLAM

  Heiwei Dong, Zhiwei Luo

  2008, 第26回日本ロボット学会学術講演会予稿集，2C2-01, Sep. 2008, English

  Symposium


• Object Pinch by Two Robot Fingers with Soft Tips and Orderless Saddle-joint Actuations

  吉田守夫, 有本卓, 有本卓, 田原健二, 田原健二, LUO Zhi-Wei, LUO Zhi-Wei

  2008, 日本ロボット学会学術講演会予稿集(CD-ROM), 26th

  Symposium


• 擬似仮想受動歩行とその性能－カウンターウェイトとしての上体の効果－

  浅野 文彦, 羅 志偉

  2008, ロボティクス・メカトロニクス講演会2008 講演論文集，pp.1P1-B08(1)-1P1-B08(4), June 2008

  Symposium


• 弾道歩容の性能と対称性

  浅野 文彦, 羅 志偉

  2008, ロボティクス・メカトロニクス講演会2008 講演論文集，pp.1P1-B07(1)-1P1-B07(4), June 2008

  Symposium


• 変分問題におけるStokes-Dirac構造とポート表現

  西田 豪, 山北 昌毅, 羅 志偉

  2008, 第8回制御部門大会，pp.05241-1-05241-8, March 2008

  Symposium


• Amplitude properties of mechanomyogram with stimulation intensity during single twitch contraction produced by electrical stimulation,

  Y.Itoh, K.Tahara, K.Takagi, M.Yoshida, Zhiwei Luo, K.Akataki, K.Mita

  2008, Proceedings of the International Symposium on Biological and Physiological Engineering / The 22nd SICE Symposium on Biological and Physiological Engineering,, 94 - 95

  [Refereed]

  International conference proceedings


• Behavior Design of Human-interactive Robot by Stochastic Petri-net and Optimal Control

  Y.Kobayashi, M.Onishi, S.Hosoe, Zhiwei Luo

  2008, Proceedings of the IEEE SMC International Conference on Distributed Human-Machine Systems 2008, 69 - 76

  [Refereed]

  International conference proceedings


• Modeling and Control of 3-D pinching in Full Variables by Soft Fingers under Non-holonomic Constraints

  M.Yoshida, S.Arimoto, Zhiwei Luo

  2008, 8th World Congress on Computational Mechanics & 5th European Congress on Computational Methods in Applied Sciences and Engineeering, Jul. 2008

  [Refereed]

  International conference proceedings


• Multi-Scale Distributed Port-Hamiltonian Representation of Ionic Polymer-Metal Composite

  G.Nishida, K.Takagi, B.Maschke, Zhiwei Luo

  2008, Proceedings of the 17th World Congress The International Federation of Automatic Control,, 2300 - 2305

  [Refereed]

  International conference proceedings


• On NIRS-based BRI for a Human-Interactive Robot RI-MAN

  S.Kishi, Zhiwei Luo, A.Nagano, M.Okumura, Y.Nagano, Y.Yamanaka

  2008, Joint 4th International Conference on Soft Computing and Intelligent Systems and 9th International Symposium on advanced Intelligent Systems

  [Refereed]

  International conference proceedings


• Falling-down Avoidance Control for Acrobat Robot by Q-Learning with Function Approximation,

  H.Suzuki, M.Yamakita, Zhiwei Luo, S.Hirano

  2008, Proceedings of the SICE Annual Conference 2008

  [Refereed]

  International conference proceedings


• RECOVERY OF POSTURAL SWAY AFTER STATIC STRETCH OF THE ANKLE JOINT

  Tomoaki Iwata, Akinori Nagano, Zhiwei Luo

  2008, North American Congress on Biomechanics 2008

  [Refereed]

  International conference proceedings


• 神戸大学 羅・長野研究室のRT-高齢者の介護支援用ロボットの設計・評価技術-

  羅志偉, 羅志偉, 長野明紀

  2008, 日本ロボット学会学術講演会予稿集(CD-ROM), 26th


• 神戸大学 羅・長野研究室のRT-高齢者の介護支援用ロボットの制御技術-

  羅志偉, 羅志偉, 長野明紀

  2008, 日本ロボット学会学術講演会予稿集(CD-ROM), 26th


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

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

  2008, 生体・生理工学シンポジウム論文集, 23rd

  Symposium


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

  Morio Yoshida, Suguru Arimoto, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• State space modeling of ionic polymer-metal composite actuators based on electrostress diffusion coupling theory

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

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

  [Refereed]

  International conference proceedings


• Distributed impedance model of ionic polymer-metal composite actuators

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

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

  [Refereed]

  International conference proceedings


• Efficiency and Symmetry of Ballisitic Gait

  Fumihiko Asano, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• Frequency response characteristics of IPMC sensors with current/voltage measurements

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

  2008, ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2008, 6927, English

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  International conference proceedings


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

  Fumihiko Asano, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• Underactuated virtual passive dynamic walking with an upper body

  Fumihiko Asano, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• On iterative learning control for simultaneous force/position trajectory tracking by using a 5 DOF robotic thumb under non-holonomic rolling constraints

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

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

  [Refereed]

  International conference proceedings


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

  Fumihiko Asano, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• Parametric Excitation of a Biped Robot as an Inverted Pendulum

  Toyoyuki Honjo, Zhi-Wei Luo, Akinori Nagano

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

  [Refereed]

  International conference proceedings


• 触覚情報を用いた全身マニピュレーションの実現

  大西 正輝, 小田島 正, 向井 利春, Zhiwei LUO

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

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

  [Refereed]

  Scientific journal


• 2本指筋骨格冗長モデルによるピンチング動作

  田原 健二, Zhiwei LUO, 小澤 隆太, 有本 卓

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

  [Refereed]

  Scientific journal


• On Graph-dependent Dynamics of Network Coupled Dynamic Systems

  LUO Zhi-Wei, HOSOE Shigeyuki, AMANO Masaki

  The Society of Instrument and Control Engineers, Nov. 2007, Journal of The Society of Instrument and Control Engineers, 46(11) (11), 847 - 852, Japanese


• On Design and Control of Human Friendly Care Robots

  LUO Zhiwei

  Institute of Systems, Control and Information Engineers, Oct. 2007, Systems, control and information, 51(10) (10), 458 - 463, Japanese


• A mixed logic dynamical modeling formulation and optimal control of intelligent robots

  Yingjie Yin, Shigeyuki Hosoe, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• Motion Analysis of a Rescue Robot ReBo fourth Type

  KURACHI Kentaro, YOSHIMI Keiji, HIRANO Sinya, Luo Z. W., KATO Atsuo

  In recent years, many disasters that depend on the great earthquakes were reported in our country. Therefore, we are developing a rescue robot that searches for the victim cooped in the collapsed house. Our robot has no wheel and no extremity. It moves by bending traveling waves on its body. The third machine of our robot achieved some basic motions that are straight progress, rotating motion and climbing hill. This paper describes for the process of development from prototype machine to the third machine, and then for the analysis of some measured motions about third machine.

  Aichi Institute of Technology, Aug. 2007, Bulletin of Research Institute for Industrial Technology, 9, 41 - 46, Japanese


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

  ASANO Fumihiko, LUO Zhi-Wei

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

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

  Symposium


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

  ASANO Fumihiko, LUO Zhi-Wei

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

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

  Symposium


• Control of Combined IPMC Actuator with 2 Variously Doped Films : Experimental Evaluation.

  Hyatt Nakadoi, Masaki Yamakita, Akio Sera, Kinji Asaka, Zhiwei Luo, Kazuhiko Ito

  IEEE, 2007, Proceedings of the IEEE International Conference on Control Applications(CCA), 1589 - 1594

  International conference proceedings


• 偏微分制御理論とその応用，

  西田 豪, 榎本 隆二, 羅 志偉

  2007, 第7回制御部門大会，pp.81-2-5-1-81-2-5-6, March 2007

  Symposium


• 仮想受動歩行の駆動力学と特異点問題について，

  浅野 文彦, 羅 志偉

  2007, 第12回ロボティクスシンポジア予稿集，pp.202-207, March 2007

  Symposium


• 力学的エネルギー平衡に基づく漸近安定歩容生成，

  浅野 文彦, 羅 志偉

  2007, ロボティクス・メカトロニクス講演会2007 講演論文集，pp.1P1-E04(1)-1P1-E04(4), May 2007

  Symposium


• 膝関節駆動によるパラメータ励振に基づく2脚歩容生成，

  原田 祐志, 浅野 文彦, 羅 志偉, 田地 宏一, 宇野 洋二

  2007, ロボティクス・メカトロニクス講演会2007 講演論文集，pp.1P1-F02(1)-1P1-F02(4), May 2007

  Symposium


• 受動性を有するロボットの介在インピーダンス遠隔制御，

  奥山 裕司, 羅 志偉

  2007, 第17回インテリジェント・システム・シンポジウム講演論文集，pp.477-480, Aug. 2007

  Symposium


• 人間と接するロボットの安全安心な設計と動作評価方式，

  永野 洋平, 羅 志偉, 大西 正輝

  2007, 第17回インテリジェント・システム・シンポジウム講演論文集，pp.481-484, Aug. 2007

  Symposium


• 人と接するロボットのための認識・対話設計法－Petri-netと最適制御からのアプローチ，

  小林 祐一, 大西 正輝, 細江 繁幸, 羅 志偉

  2007, 第25回日本ロボット学会学術講演会予稿集，1E36, Sep. 2007

  Symposium


• 上体を有する劣駆動2 脚ロボットの動歩行解析－股関節二分機構を用いた高効率動歩行の実現－，

  浅野 文彦, 羅 志偉

  2007, 第25回日本ロボット学会学術講演会予稿集，1G31, Sep. 2007

  Symposium


• 柔軟拇指ロボットを用いた繰返し学習による接触力・位置の同時軌道追従制御，

  田原 健二, 有本 卓, 関本 昌紘, 吉田 守夫, 羅 志偉

  2007, 第25回日本ロボット学会学術講演会予稿集，2M11, Sep. 2007

  Symposium


• 2本指ロボットによるピンチングに関係する3次元転がり拘束の導出，

  吉田 守夫, 有本 卓, 羅 志偉

  2007, 第25回日本ロボット学会学術講演会予稿集，2M12, Sep. 2007

  Symposium


• 転がり拘束を介した不動化のためのTestbed Problem，

  吉田 守夫, 有本 卓, J.H.Bae, 羅 志偉

  2007, 第25回日本ロボット学会学術講演会予稿集，2M17, Sep. 2007

  Symposium


• IPMCセンサの周波数応答特性I: 電圧/電流計測の実験的検証，

  釜道 紀浩, B.Stoimenov, 高木 賢太郎, 安積 欣志, 向井 利春, 羅 志偉

  2007, 第25回日本ロボット学会学術講演会予稿集，3I13, Sep. 2007

  Symposium


• IPMCセンサの周波数応答特性II: モデルによる検討

  高木 賢太郎, 釜道 紀浩, B.Stoimenov, 安積 欣志, 羅 志偉, 向井 利春

  2007, 第25回日本ロボット学会学術講演会予稿集，3I14, Sep. 2007

  Symposium


• 応力緩和現象を考慮したIPMCアクチュエータの線形分布定数モデル，

  高木 賢太郎, 長田 高明, 安積 欣志, 羅 志偉

  2007, 第8回 SICE システムインテグレーション部門 講演会論文集，pp.225-226, Dec. 2007

  Symposium


• 衝突姿勢拘束を考慮した動的歩容の漸近安定性，

  浅野 文彦, 羅 志偉

  2007, 第8回 SICE システムインテグレーション部門 講演会論文集，pp.259-260, Dec. 2007

  Symposium


• 柔軟な指先を有するロボット指一対によるスピニングを許した重力下での3次元ピンチング，

  吉田 守夫, 有本 卓, 羅 志偉

  2007, 第8回 SICE システムインテグレーション部門 講演会論文集，pp.683-684, Dec. 2007

  Symposium


• 人と接するソフトロボットのための反射を考慮した階層型ネットワーク，

  平野 慎也, 大西 正輝, 向井 利春, 羅 志偉, 細江 繁幸

  2007, 第8回 SICE システムインテグレーション部門 講演会論文集，pp.1240-1241, Dec. 2007

  Symposium


• Petri-netを用いた人と接するロボットのための並列タスク設計法

  小林 祐一, 大西 正輝, 細江 繁幸, 羅 志偉

  2007, 第8回 SICE システムインテグレーション部門 講演会論文集，pp.1242-1243, Dec. 2007

  Symposium


• Experimental Verifications on Control and Sensing of Bucky Gel Actuator/Sensor,

  N.Kamamichi, M.Yamakita, K.Asaka, Zhiwei Luo, T.Mukai

  IEEE, 2007, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1172 - 1177

  [Refereed]

  International conference proceedings


• Port-based Energy Balance on Compact Manifolds,

  G.Nishida, R.Enomoto, M.Yamakita, Zhiwei Luo

  2007, Reprint of the 7th IFAC Symposium on Nonlinear Control Systems, 491 - 496

  [Refereed]

  International conference proceedings


• Time-Varying Port-Representation of Dissipative Structures with Gauge Transformations

  G.Nishida, M.Yamakita, Zhiwei Luo

  2007, Proceedings of the European Control Conference 2007, 4819 - 4828

  [Refereed]

  International conference proceedings


• Integrated Actuator-Sensor System on Patterned IPMC Film : Consideration of Electoric Interference,

  H.Nakadoi, A.Sera, M.Yamakita, K.Asaka, Zhiwei Luo, K.Ito

  2007, Proceedings of the 4th IEEE International Conference on Mechatronics

  [Refereed]

  International conference proceedings


• Virtual Lagrangian Construction Method for Infinite-Dimensional Systems with Homotopy Operators

  G.Nishida, M.Yamakita, ZhiweiLuo

  2007, Lecture Notes in Control and Information Sciences, 366, 75 - 86

  [Refereed]

  International conference proceedings


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

  Gou Nishida, Masaki Yamakita, Zhi-wei Luo

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

  [Refereed]

  International conference proceedings


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

  Gou Nishida, Masaki Yamakita, Zhi-wei Luo

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

  [Refereed]

  International conference proceedings


• On control for "Blind Touching" by human-like thumb robots

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

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

  [Refereed]

  International conference proceedings


• Dynamic State Sapce Representation with Electrostress Diffusion Coupling Model for IPMC Actuator

  OSADA Takaaki, TAKAGI Kentaro, HAYAKAWA Yoshikazu, LUO Zhiwei

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

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

  [Refereed]

  Symposium


• Stable grasp of a 2D rigid object through rolling with soft fingers

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

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

  [Refereed]

  International conference proceedings


• On NIRS-based brain-robot interface

  Makoto Okujrnura, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


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

  Fumihiko Asano, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• Dynamic analyses of underactuated virtual passive dynamic walking

  Fumihiko Asano, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• Parametric excitation approaches to efficient dynamic bipedal walking

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

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

  [Refereed]

  International conference proceedings


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

  Fumihiko Asano, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• On a distributed parameter model for electrical impedance of ionic polymer

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

  2007, ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2007, 6524, English

  [Refereed]

  International conference proceedings


• Generation of human care behaviors by interactive robot RI-MAN

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

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

  [Refereed]

  International conference proceedings


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

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

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

  [Refereed]

  Scientific journal


• 半円足の転がり効果を利用した劣駆動仮想受動歩行-(II)性能解析と冗長モデルへの拡張-

  ASANO Fumihiko, Zhiwei LUO

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

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

  [Refereed]

  Scientific journal


• 半円足の転がり効果を利用した劣駆動仮想受動歩行-(I)コンパス型モデルの駆動力学-

  ASANO Fumihiko, Zhiwei LUO

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

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

  [Refereed]

  Scientific journal


• 運動物体予測を用いた劣化動画像復元:

  AKIYAMA Kei, Zhiwei LUO, ONISHI Masaki, HOSOE Shigeyuki

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

  [Refereed]

  Scientific journal


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

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

  2007, ADVANCED ROBOTICS, 21(1-2) (1-2), 65 - 85, English

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]

  International conference proceedings


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

  ODASHIMA Tadashi, LUO Zhiwei

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

  Symposium


• Development A Human-Interactive Robot RI-MAN

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

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

  Symposium


• On Body Cognitive Function of RI-MAN

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

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

  Symposium


• Development of functionally distrubuted sensor network for rescue

  HADA Yasushi, HIRANO Shinya, KAWABATA Kuniaki, LUO Zhiwei, KAETSU Hayato, ASAMA Hajime

  In this paper, we functionally distributed sensor network for rescue. It consists of base Rescue-Communicators with global mesh network, and client Rescue-Terminals with local hub network. Rescue-Terminals have microphone, speakers, network and cheap CPU, and gather victims' voice in rubble. Rescue-Communicator accumulates and shares the voices to other Communicators with mesh network. The functionally layered system allows to reduce the total system cost and network congestion compared to many Communicators with one mesh network.

  The Japan Society of Mechanical Engineers, Sep. 2006, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 16, 339 - 340, Japanese

  Symposium


• An immersion-type 3D dynamic simulation environment for developing human interactive robot systems

  Masaki Onishi, Tadashi Odashima, Zhiwei Luo, Shigeyuki Hosoe

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

  [Refereed]

  Scientific journal


• Modeling and Analysis of Incremental Bending Phenomenon of a Snake-Like Underwater Robot using IPMC

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

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

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

  [Refereed]

  Scientific journal


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

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

  Aug. 2006, IEEE TRANSACTIONS ON ROBOTICS, 22(4) (4), 724 - 739, English

  [Refereed]

  Scientific journal


• Cognitive integrated motion generation for environmental adaptive robots

  Masaki Onishi, Tadashi Odashima, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• A Development of Intellectual Rescue Robot

  HATTORI Tsuyoshi, HIRANO Shinya, LUO Z.W., KATO Atsuo

  This paper describes on a first step development of self controlled rescue robot. In recent years, we were suffered from serious disaster caused by earthquakes, so we have to take all possible measure against large earthquakes. Many seismologists say some big earthquakes will occur within next thirty years, and then several active studies of rescue robots are developing now. Generally an operator of robot is required special operating skill, but in the field of disaster it will be difficult to look for a skilled operator. Therefore we are developing self controlled rescue robot works for finding a person under the collapsed building. In this study we intend to give some intelligence to our hand made rescue robot AIT-ReBo.1.As first step of that we achieved self configuration control to continue progressive motion of ReBo.1 when it turns over on its side using G-sensor. TV camera image on console display get from ReBo.1 is waving with progressive motion of it because it makes bending traveling wave on its body for propagation, then we made holding image system by synchronous selection of movie frame with TV camera angle. By the holding image system, we can see arbitrary angle images, and even if ReBo.1 turn over on its side we can see vertical images. Usually, the console operators intend to search sufferer in dark area on the camera images, then we made aerial brightness control imaging system.

  Aichi Institute of Technology, Jun. 2006, Bulletin of Research Institute for Industrial Technology, 8, 65 - 70, Japanese


• エネルギー効率に優れた歩行メカニズムを求めて，

  浅野 文彦, 羅 志偉

  2006, 第6回 制御部門大会 資料Vol.1，pp.65-68, May 2006

  Symposium


• 保存則のポート表現による変分対称性崩壊の境界検出，

  西田 豪, 羅 志偉, 山北 昌毅

  2006, 第6回 制御部門大会 資料Vol.2，pp.917-922, June 2006

  Symposium


• コンパクト多様体上のエネルギー平衡の解析，

  西田 豪, 羅 志偉, 山北 昌毅

  2006, 第6回 制御部門大会 資料Vol.2，pp.923-928, June 2006

  Symposium


• バッキーゲル素子のセンサ機能の検証，

  釜道 紀浩, 山北 昌毅, 安積 欣志, 向井 利春, 羅 志偉

  2006, 第24回日本ロボット学会学術講演会予稿集，1A22, Sep. 2006

  Symposium


• バッキーゲルアクチュエータの電気インピーダンス，

  高木 賢太郎, 釜道 紀浩, 羅 志偉, 安積 欣志

  2006, 第24回日本ロボット学会学術講演会予稿集，1A23, Sep. 2006

  Symposium


• パラメータ励振による高効率2脚歩行ロボットの開発，

  林 健志, 浅野 文彦, 羅 志偉, 平野 慎也, 加藤 厚生

  2006, 第24回日本ロボット学会学術講演会予稿集，1F14, Sep. 2006

  Symposium


• 足のころがり効果を利用した劣駆動仮想受動歩行，

  浅野 文彦, 羅 志偉

  2006, 第24回日本ロボット学会学術講演会予稿集，1F22, Sep. 2006

  Symposium


• 分散型多脚歩行系における脚モジュールの自己位置同定，

  小田島 正, 羅 志偉

  2006, 第24回日本ロボット学会学術講演会予稿集，2F24, Sep. 2006

  Symposium


• On Dynamic Pinching Movements of A Musculo-Skeletal Fingers Model

  田原健二, LUO Zhi-Wei, LUO Zhi-Wei, 小澤隆太, BAE Ji-Hun, 有本卓, 有本卓

  2006, 日本ロボット学会学術講演会予稿集(CD-ROM), 24th

  Symposium


• 弱制御Lyapunov関数を用いた非線形系の漸近安定化可能性，

  西田 豪, 中村 文一, 山下 裕, 羅 志偉

  2006, 第35回制御理論シンポジウム資料，pp.63-66, Sep. 2006

  Symposium


• Stokes-Dirac構造と指数定理，

  西田 豪, 中村 文一, 山下 裕, 羅 志偉

  2006, 第35回制御理論シンポジウム資料，pp.391-396, Sep. 2006

  Symposium


• 特異値分解法を用いた筋力と筋音の時間応答解析，

  高木 賢太郎, 田原 健二, 伊東 保志, 三田 勝己, 羅 志偉

  2006, 第21回生体・生理工学シンポジウム論文集，pp.355-358, Nov. 2006

  Symposium


• 2脚動歩行における半円足のエネルギー損失に対する効果，

  浅野 文彦, 羅 志偉

  2006, 第49回自動制御連合講演会講演論文集，pp.SU8-3-1-1-SU8-3-1-4, Nov. 2006

  Symposium


• 仮想拘束を用いた二足歩行ロボットの動的制御，

  原田 祐志, 羅 志偉, 浅野 文彦, 田地 宏一, 宇野 洋二

  2006, 第49回自動制御連合講演会講演論文集，pp.SU8-3-2-1-SU8-3-2-4, Nov. 2006

  Symposium


• 仮想拘束を用いた劣駆動システムの適応制御，

  山村 雅紀, 羅 志偉, 早川 義一

  2006, 第49回自動制御連合講演会講演論文集，pp.SU8-3-3-1-SU8-3-3-4, Nov. 2006

  Symposium


• On the relation between the co-contraction of antagonist muscles and the hand viscosity based on “Virtual Spring-Damper Hypothesis”

  田原健二, 有本卓, 有本卓, LUO Z.W., LUO Z.W., 関本昌紘

  2006, 自動制御連合講演会(CD-ROM), 49th

  Symposium


• Field-port-Lagrange 系における非可逆なエネルギー流の一般化，

  西田 豪, 山北 昌毅, 羅 志偉

  2006, 第49回自動制御連合講演会講演論文集，pp.SU8-3-5-1-SU8-3-5-6, Nov. 2006


• 圧電素子を用いた受動的制振のためのモデル化とパラメータ同定，

  高木 賢太郎, 羅 志偉

  2006, 第49回自動制御連合講演会講演論文集，pp.SU8-3-6-1-SU8-3-6-4, Nov. 2006

  Symposium


• 人と接するロボットRI-MANの認識・行動調停法のための人間-ロボット対話のモデル化

  小林 祐一, 大西 正輝, 細江 繁幸, 中島 弘道, 羅 志偉

  2006, HAIシンポジウム2006，pp.1D-2-1-1D-2-6, Dec. 2006

  Symposium


• 冗長系による劣駆動仮想受動歩行について，

  浅野 文彦, 羅 志偉

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.1-2, Dec. 2006

  Symposium


• パラメータ励振による高効率2脚歩行ロボットの制御実験，

  林 健志, 浅野 文彦, 羅 志偉, 平野 慎也, 加藤 厚生

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.21-22, Dec. 2006

  Symposium


• イオンドーピングによるIPMCアクチュエータの電気インピーダンス変化について，

  高木 賢太郎, 中坊 嘉宏, 羅 志偉, 安積 欣志

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.177-178, Dec. 2006

  Symposium


• 電気的干渉を考慮したIPMCアクチュエータセンサ併合系の構築，

  中土井 隼人, 瀬良 暁雄, 山北 昌毅, 安積 欣志, 羅 志偉

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.185-186, Dec. 2006

  Symposium


• 優しいRI-MANの環境適応機能創生，

  羅 志偉

  Lead, 2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.1156-1157, Dec. 2006

  [Invited]

  Symposium


• 人と接するソフトロボット"RI-MAN"のための複合階層型分散制御ネットワークの構築，

  平野 慎也, 小田島 正, 大西 正輝, 田原 健二, 高木 賢太郎, 向井 利春, 羅 志偉

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.1158-1159, Dec. 2006

  Symposium


• 人と接するロボットRI-MANのための認識・行動調停法，

  小林 祐一, 大西 正輝, 細江 繁幸, 中島 弘道, 羅 志偉

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.1160-1161, Dec. 2006

  Symposium


• 人と接するソフトロボットRI-MANの没入型三次元動力学シミュレータの開発，

  伊藤 寿典, 大西 正輝, 小田島 正, 羅 志偉, 加藤 厚生

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.1164-1165, Dec. 2006

  Symposium


• 人と接するロボットRI-MANによる抱き上げ動作の実現，

  大西 正輝, 小田島 正, 向井 利春, 羅 志偉

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.1166-1167, Dec. 2006

  Symposium


• 人を抱え上げるロボットに求められる機構上の工夫とその実装，

  小田島 正, 田原 健二, 羅 志偉

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.1168-1169, Dec. 2006

  Symposium


• 人と接するロボット"RI-MAN"の触覚システム開発，

  向井 利春, 大西 正輝, 小田島 正, 平野 慎也, 羅 志偉

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.1170-1171, Dec. 2006

  Symposium


• 拇指ロボットの3 次元回転接触を利用した"Blind Touching"の実現，

  田原 健二, 有本 卓, 羅 志偉, 吉田 守夫

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.1174-1175, Dec. 2006

  Symposium


• ロボットプログラミング用グラフィカルシミュレーションシステムの開発，

  伊藤 理貴, 水野 直樹, 伊藤 雅則, 光畑 幸史, 小田島 正, 羅 志偉

  2006, 第7回 SICE システムインテグレーション部門 講演会論文集，pp.1269-1270, Dec. 2006

  Symposium


• A Snake-like Swimming Robot Using IPMC Actuator/Sensor,

  N.Kamamichi, M.Yamakita, K.Asaka, Zhiwei Luo

  IEEE, 2006, Proc. of IEEE Int. Conf. on Robotics & Automation（ICRA), 1812 - 1817

  [Refereed]

  International conference proceedings


• Snake-like Swimming Artificial Muscle -A Bio-Mimetic Soft Robot-,

  Y.Nakabo, K.Takagi, T.Mukai, Zhiwei Luo, K.Asaka

  2006, Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles -

  [Refereed]

  International conference proceedings


• On Control Strategy of A Redundant Musculo-Skeletal Arm System,

  K.Tahara, Zhiwei Luo, S.Arimoto

  2006, Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles -

  [Refereed]

  International conference proceedings


• Modeling of and Experiments with Skillful Movements in Dynamic Environments

  M.Svinin, I.Goncharenko, Zhiwei Luo, S.Hosoe

  2006, Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles -

  [Refereed]

  International conference proceedings


• A Distributed Circuit Model for IPMC's Electrical Impedance,

  K.Takagi, Y.Nakabo, Zhiwei Luo, K.Asaka

  2006, Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles

  [Refereed]

  International conference proceedings


• An Autonomous Ray-Like Swimming Robot with IPMC Artificial Muscle,

  M.Yamamura, K.Takagi, Zhiwei Luo, K.Asaka, Y.Hayakawa, M.Onishi, S.Hirano

  2006, Proceedings of the Third Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles

  [Refereed]

  International conference proceedings


• Global Boundary Connection of Stokes-Dirac Structures for Morse-Smale Flows on Compact Manifolds

  G.Nishida, M.Yamakita, Zhiwei Luo

  2006, Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, 515 - 520

  [Refereed]

  International conference proceedings


• Self-Localization for Subsystems in Modular Structured Multi-Legged Robot,

  T.Odashima, Zhiwei Luo

  2006, Proceedings of the 9th International Conference on Climbing and Walking Robots, 573 - 578

  [Refereed]

  International conference proceedings


• Modeling of Human-Like Reaching Movements in the Manipulation of Flexible Objects,

  M.Svinin, I.Goncharenko, Zhiwei Luo, S.Hosoe

  IEEE, 2006, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 549 - 555

  [Refereed]

  International conference proceedings


• A Soft Human-Interactive Robot RI-MAN,

  T.Odashima, M.Onishi, K.Tahara, K.Takagi, F.Asano, Y.Kato, H.Nakashima, Y.Kobayashi, T.Mukai, Zhiwei Luo, S.Hosoe

  IEEE, 2006, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) (Video)

  [Refereed]

  International conference proceedings


• Landing Control of Acrobat Robot by RHC - Experimental Evaluation -,

  T.Rokusho, M.Yamakita, S.Hirano, Zhiwei Luo

  2006, Proceedings of SICE-ICASE International Joint Conference 2006, 4808 - 4813

  [Refereed]

  International conference proceedings


• Field Port-Lagrangian Representation of Conservation Laws for Variational Symmetries,

  G.Nishida, M.Yamakita, Zhiwei Luo

  IEEE, 2006, Proc of the IEEE Conf. on Decision & Control(CDC), 5875 - 5881

  [Refereed]

  International conference proceedings


• On Biomimetic Robotics

  Zhiwei Luo

  Lead, 2006, Proc. of International Symposium on Advanced Robotics and Machine Intelligence, 2006

  [Refereed][Invited]


• On dynamic control mechanisms of redundant human musculo-skeletal system

  Kenji Tahara, Zhi-Wei Luo

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

  [Refereed]

  In book


• Analysis of system structure around degenerate critical points

  Gou Nishida, Hisakazu Nakamura, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• Virtual Lagrangian Construction Method for Infinite Dimensional Systems with Homotopy Operators

  G.Nishida, M.Yamakita, Zhiwei Luo

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

  International conference proceedings


• On control mechanism of human-like reaching movements with musculo-skeletal redundancy

  Kenji Tahara, Zhi-Wei Luo, Suguru Arimoto

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

  [Refereed]

  International conference proceedings


• Bio-mimetic study on pinching motions of a dual-finger model with synergistic actuation of antagonist muscles

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

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

  [Refereed]

  International conference proceedings


• An analysis of increase of bending response in IPMC dynamics given uniform input

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

  2006, SMART STRUCTURES AND MATERIALS 2006: ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD), 6168, English

  [Refereed]

  International conference proceedings


• Integrated design of IPMC actuator/sensor

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

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

  [Refereed]

  International conference proceedings


• Development of an inchworm-type searching robot

  Shinya Hirano, Atsuo Kato, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


• Development of a rajiform swimming robot using ionic polymer artificial muscles

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

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

  [Refereed]

  International conference proceedings


• Restoration of degraded moving image for predicting a moving object

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

  2006, VISAPP 2006: PROCEEDINGS OF THE FIRST INTERNATIONAL CONFERENCE ON COMPUTER VISION THEORY AND APPLICATIONS, VOL 1, 72 - +, English

  [Refereed]

  International conference proceedings


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

  Fumihiko Asano, Zhi-Wei Luo

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

  [Refereed]

  International conference proceedings


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

  Toshiharu Mukai, Masaki Onishi, Shinya Hirano, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


• 時間遅れを有するネットワーク結合同定システムのグラフ構造と同期条件

  AMANO Masateru, Zhiwei LUO, HOSOE Shigeyuki

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

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

  [Refereed]

  Scientific journal


• 筋肉の非線形特性を考慮した冗長多関節筋骨格システムのリーチング動作

  TAHARA Kenji, Zhiwei LUO, ARIMOTO Suguru

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

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

  [Refereed]

  Scientific journal


• 階層型分散制御構造を用いた多脚歩行系における行動規範型歩行制御

  ODASHIMA Tadashi, Zhiwei LUO

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

  [Refereed]

  Scientific journal


• イモムシ型探索ロボットの開発

  HIRANO Shinya, Zhiwei LUO, KATO Atsuo

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

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

  [Refereed]

  Scientific journal


• Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm

  K Tahara, ZW Luo, S Arimoto, H Kino

  Nov. 2005, JOURNAL OF ROBOTIC SYSTEMS, 22(11) (11), 639 - 651, English

  [Refereed]

  Scientific journal


• Optimal trajectory formation of human reaching movement in crank-rotation task

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

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

  [Refereed]

  Scientific journal


• On the dynamic version of the minimum hand jerk criterion

  M Svinin, Y Masui, ZW Luo, S Hosoe

  Nov. 2005, JOURNAL OF ROBOTIC SYSTEMS, 22(11) (11), 661 - 676, English

  [Refereed]

  Scientific journal


• 力学的エネルギー回復に基づく動的歩容生成と制御

  ASANO Fumihiko, Zhiwei LUO, YAMAKITA Masaki

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

  [Refereed]

  Scientific journal


• パラメータ励振に基づく伸縮脚ロボットの動的歩行制御

  ASANO Fumihiko, Zhiwei LUO

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

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

  [Refereed]

  Scientific journal


• Local computation of optical flow using a silicon retina

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

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

  [Refereed]

  Scientific journal


• Biped gait generation and control based on a unified property of passive dynamic walking

  F Asano, ZW Luo, M Yamakita

  Aug. 2005, IEEE TRANSACTIONS ON ROBOTICS, 21(4) (4), 754 - 762, English

  [Refereed]

  Scientific journal


• 未知の動的環境におけるロボットの2自由度適応力追従制御

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

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

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

  [Refereed]

  Scientific journal


• 環境と接するロボットの感覚運動統合による動作模倣

  ONISHI Masaki, ODASHIMA Tadashi, Zhiwei LUO

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

  [Refereed]

  Scientific journal


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

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

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

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

  [Refereed]

  Scientific journal


• Restoration of Blurred Moving Image for Abstracting A Moving Object

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

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

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

  Symposium


• 人間と接するロボット開発のための没入型三次元動力学シミュレーション環境

  MASAKI Onishi, TADASHI Odashima, ZHIWEI Luo, SHIGEYUKI Hosoe

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

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

  [Refereed]

  Scientific journal


• 没入型動的インタラクションシステム

  大西 正輝, 小田島 正, 羅 志偉, 細江 繁幸

  Corresponding, 2005, 計測自動制御学会第67回パターン計測部会研究会資料, 19 - 25


• 筋冗長多リンク系によるリーチング動作について

  田原 健二, 羅 志偉, 有本 卓

  2005, 第6回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• 腰上下動によるパラメータ励振に基づく2脚動歩行の実現

  浅野 文彦, 羅 志偉

  2005, 第6回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• IPMCアクチュエータの電気インピーダンス

  高木 賢太郎, 中坊 嘉宏, 羅 志偉, 安積 欣志, 早川 義一, 山村 雅紀

  2005, 第6回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• IPMCアクチュエータ/センサを用いたヘビ型ロボットの自励駆動

  釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

  2005, 第6回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• IPMCアクチュエータ/センサの統合システム設計に関する研究 ～異種ドーピングされたIPMCアクチュエータの複合による高機能化～

  瀬良 暁雄, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

  2005, 第6回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• 触覚情報を用いたソフトロボットによる全身マニピュレーション

  大西 正輝, 向井 利春, 浅野 文彦, 小田島 正, 田原 健二, 高木 賢太郎, 羅 志偉, 平野 慎也

  2005, 第6回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• ロボットに装着した曲面状触覚センサによるフィードバック制御の実現

  向井 利春, 大西 正輝, 平野 慎也, 羅 志偉

  2005, 第6回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• 人と接するロボットのためのソフトウェアアーキテクチャ

  小林 祐一, 大西 正輝, 中島 弘道, 羅 志偉, 細江 繁幸

  2005, 第6回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• 人と接するロボットに求められる機能とは

  小田島 正, 田原 健二, 高木 賢太郎, 平野 慎也, 大西 正輝, 浅野 文彦, 加藤 陽, 中島 弘道, 小林 祐一, 向井 利春, 羅 志偉, 細江 繁幸

  2005, 第6回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• 圧電素子を用いたスイッチングLRシャントダンピング

  高木 賢太郎, 長瀬 賢二, 大嶋 和彦, 早川 義一, 羅 志偉, 市川 浩幸

  2005, 第48回自動制御連合講演会講演論文集

  Symposium


• 触覚情報を用いたロボットの動的マニピュレーション

  大西 正輝, 浅野 文彦, 向井 利春, 小田島 正, 田原 健二, 高木 賢太郎, 羅 志偉

  2005, 第23回日本ロボット学会学術講演会予稿集

  Symposium


• On Adaptive Gravity Compensation for Reaching of A Musculo-redundant System

  田原健二, LUO Zhi-Wei, 有本卓, 有本卓, 木野仁

  2005, 日本ロボット学会学術講演会予稿集(CD-ROM), 23rd

  Symposium


• 抱え上げ動作検証用ロボットアームの開発

  小田島 正, 田原 健二, 大西 正輝, 高木 賢太郎, 浅野 文彦, 向井 利春, 羅 志偉

  2005, 第23回日本ロボット学会学術講演会予稿集

  Symposium


• 2脚動歩行における支持脚駆動のパラメータ励振効果

  浅野 文彦, 羅 志偉

  2005, 第23回日本ロボット学会学術講演会予稿集

  Symposium


• 人間と対話するロボットのためのQoSを考慮した複数認識プロセスの調停法

  小林 祐一, 大西 正輝, 羅 志偉, 細江 繁幸

  2005, 第23回日本ロボット学会学術講演会予稿集

  Symposium


• IPMCセンサ/アクチュエータの統合的システム設計に関する研究

  瀬良 彰雄, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

  2005, 第23回日本ロボット学会学術講演会予稿集

  Symposium


• IPMCアクチュエータを用いたRajiform 推進型水中ロボットの開発

  山村 雅紀, 高木 賢太郎, 羅 志偉, 安積 欣志, 早川 義一, 大西 正輝, 平野 慎也

  2005, 第23回日本ロボット学会学術講演会予稿集

  Symposium


• Increase of Bending Response in IPMC Dynamics Given Uniform Input II Analysis of Dynamic Motion of IPMC Actuators using Simple Beam Model

  高木賢太郎, 中坊嘉宏, 中坊嘉宏, LUO Zhi-Wei, 向井利春, 山村雅紀, 早川義一, 安積欣志, 安積欣志

  2005, 日本ロボット学会学術講演会予稿集(CD-ROM), 23rd

  Symposium


• 一定進行波入力によるIPMCの屈曲振幅増大現象とその力学I：人工筋肉を用いたヘビ型水中推進ロボットの屈曲形状解析

  中坊 嘉宏, 高木 賢太郎, 向井 利春, 羅 志偉, 安積 欣志

  2005, 第23回日本ロボット学会学術講演会予稿集

  Symposium


• IPMCアクチュエータの運動による特性の適応可能性について

  山北 昌毅, 釜道 紀浩, 羅 志偉, 安積 欣志

  2005, 第49回システム制御情報学会研究発表講演会講演論文集, 523 - 524

  Symposium


• 環境適応ロボットのバイオミメティック制御

  羅 志偉

  Lead, 2005, 第5回計測自動制御学会制御部門大会資料, 37 - 40

  [Invited]

  Symposium


• 多脚歩行系における分散型力分配問題解決の一手法

  小田島 正, 羅 志偉

  2005, 第17回自律分散システム・シンポジウム資料, 93 - 98

  Symposium


• An Energy Effective Biped Walking Mechanism Based on Parametric Excitation

  F.Asano, Z.W.Luo

  2005, Proc. of the IEEE ROBIO 2005 Workshop, 53 - 58

  [Refereed]

  International conference proceedings


• On Recent Developments and Autonomous Decentralized Control of Mobile Robot

  Zhiwei LUO, T.Odashima, K.Takagi, M.Yamamura, Y.Hayakawa, S.Hirano, A.Kato

  Lead, 2005, Proc. of the IEEE ROBIO 2005 Workshop,, 19 - 22

  [Refereed]

  International conference proceedings


• Control of Biped Walking Robot with IPMC Linear Actuator

  M.Yamakita, N.Kamamichi, T. Kozuki, K.Asaka, Z.W. Luo

  2005, Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2005).

  [Refereed]

  International conference proceedings


• A Snake-Like Swimming Robot Using IPMC Actuator and Verification of Doping Effect

  M.Yamakita, N.Kamamichi, T.Kozuki, K.Asaka, Z.W.Luo

  IEEE, 2005, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3333 - 3338

  [Refereed]

  International conference proceedings


• Incremental Motion Compression for Telepresent Walking Subject to Spatial Constraints

  J.B. Su, Z.W.Luo

  IEEE, 2005, Proc. of IEEE Int. Conf. on Robotics & Automation（ICRA), 69 - 74

  [Refereed]

  International conference proceedings


• An Analysis of Reaching Movements in Manipulation of Constrained Dynamic Objects

  M.Svinin, T.Odashima, S.Ohno, Z.W.Luo, S.Hosoe

  IEEE, 2005, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1885 - 1891

  [Refereed]

  International conference proceedings


• Parameter identification method for piezoelectric shunt damping

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

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

  [Refereed]

  International conference proceedings


• Sensory-motor control of a muscle redundant arm for reaching movements - Convergence analysis and gravity compensation

  K Tahara, ZW Luo, S Arimoto, H Kino

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

  [Refereed]

  International conference proceedings


• Limited-angle motor using ionic polymer-metal composite

  K Takagi, ZW Luo, K Asaka, K Tahara

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

  [Refereed]

  International conference proceedings


• Task-space feedback control for a two-link arm driven by six muscles with variable damping and elastic properties

  K Tahara, ZW Luo, S Arimoto, H Kino

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

  [Refereed]

  International conference proceedings


• Cognitive Integrated Motion Generation for Environmental Adaptive Robots

  Masaki Onishi, Tadashi Odashima, Zhiwei Luo

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

  [Refereed]

  Scientific journal


• Parametric excitation mechanisms for dynamic bipedal walking

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

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

  [Refereed]

  International conference proceedings


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

  F Asano, ZW Luo, M Yamakita, S Hosoe

  2005, ADVANCED ROBOTICS, 19(9) (9), 929 - 950, English

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]

  International conference proceedings


• ヒトのクランク回転作業の最適運動規範

  太田憲, M.Svinin, 羅志偉, 細江繁幸

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

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


• Optimal trajectory formation of constrained human arm reaching movements

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

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

  [Refereed]

  Scientific journal


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

  Asano F, Luo Z, Yamakita M

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


• Bio-Mimetic Control for Whole Arm Cooperative Manipulation

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

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


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

  Tahara K, Lou Z, Kato A

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


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

  Masui Y, svinin Mikhail, Luo Z, Hosoe S

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


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

  Abe N, Luo Z. W, Hosoe S

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


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

  Tanaka H, Luo Z. W, Hosoe S

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


• Dynamic Gait Generation Based on Mechanical Energy Restoration by Telescopic Leg Motion

  Asano F, Hyon S, Luo Z, Emura T

  The Japan Society of Mechanical Engineers, Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 31 - 31, Japanese


• A novel gait generation for biped walking robots based on mechanical energy constraint

  F Asano, M Yamakita, N Kamamichi, ZW Luo

  Jun. 2004, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 20(3) (3), 565 - 573, English

  [Refereed]

  Scientific journal


• Construction of intellectual control system of autonomous, electric wheelchair(Faculty of Engineering:Department of Electronic Engineering)

  KAWAI Koji, HIRAMATU Seiji, LUO Zhiwei, KATO Atsuo

  Recently, aging society becomes serious problem. In this research, pays attention to the wheelchair from among welfare and medical equipment which is "Foot" for the physically handicapped person and the senior citizen. The following two systems were constructed for that User Interface which can single-step wheelchair certainly and easily and Autonomous running and obstacle avoidance function to reduce complex operation. We use indoors camera (global camera) and camera on the wheelchair (local part camera) in a different usage. The operator clicks the global camera image projected onto the operator computer for the display and converts the chick point to local coordinate system by operator's computer. Then computed rate vector to reach the target point and transmit to the autonomous wheelchair. The note type computer that loaded wheelchair controls wheelchair to tend target point along to the rate vector. In this time, the local camera always monitor safety area forward of the wheelchair. If wheelchair invades no safety areas, wheelchair is stopped. This system was conferred by experiment to control wheelchair using global and local camera information.

  Aichi Institute of Technology, Mar. 2004, Bulletin of Aichi Institute of Technology. Part B, 39, 21 - 27, Japanese

  [Refereed]


• IPMC linear actuator with re-doping capability and its application to biped walking robot

  Masaki Yamakita, Norihiro Kamamichi, Yasuaki Kaneda, Kinji Asaka, Zhi-Wei Luo

  IFAC Secretariat, 2004, IFAC Proceedings Volumes (IFAC-PapersOnline), 37(14) (14), 353 - 358, English

  International conference proceedings


• イオン導電性高分子を用いた有限回転型人工筋アクチュエータ

  高木 賢太郎, 羅 志偉, 安積 欣志, 田原 健二

  2004, 第5回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• 再ドーピング可能なIPMCアクチュエータを用いた水上蛇型ロボットの開発

  瀬良 暁雄, 金田 泰昌, 山北 昌毅, 安積 欣志, 羅 志偉

  2004, 第5回 SICE システムインテグレーション部門 講演会論文集

  Symposium


• Human-Machine Interactive Reinforcement Learning for Image Retrieval

  J.Su, F.Liu, Zhiwei Luo

  2004, 第5回 SICE システムインテグレーション部門 講演会論文集


• IPMC直動アクチュエータを用いた歩行ロボットの制御

  小築 隆博, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

  2004, 第22回日本ロボット学会学術講演会予稿集

  Symposium


• Performance Analysis for Uncalibrated Hand-Eye Coordination with Neural Networks

  J. Su, Zhiwei Luo

  2004, 第22回日本ロボット学会学術講演会予稿集

  Symposium


• 環境との相互作用を行うロボットの身まね学習方式

  大西 正輝, 小田島 正, 羅 志偉

  2004, 第22回日本ロボット学会学術講演会予稿集

  Symposium


• 複雑な環境で活動する組み替え可能なレスキューロボットの研究開発

  平野 慎也, 服部 剛史, 羅 志偉, 加藤 厚生

  2004, 第22回日本ロボット学会学術講演会予稿集

  Symposium


• 動的環境での人間上肢運動の軌道解析

  増井 洋平, M. Svinin, 羅 志偉, 細江 繁幸

  2004, 第22回日本ロボット学会学術講演会予稿集

  Symposium


• Explicit Force Adaptive Control of a Robot Manipulator Interacting with Unknown Dynamic Environment

  Y. Saitoh, Zhiwei Luo, S. Fujii, E. Muramatsu, K. Watanabe

  2004, 第22回日本ロボット学会学術講演会予稿集

  Symposium


• 随意運動と反射の統合に基づく全身マニピュレーションの実現

  浅野 文彦, 羅 志偉, 山北 昌毅, 細江 繁幸

  2004, 第22回日本ロボット学会学術講演会予稿集

  Symposium


• ハイブリッドシステム制御による接触モード遷移を伴うハンドマニピュレーション

  尹 英杰, 杉本 隆幸, 細江 繁幸, 浅野 文彦, 羅 志偉

  2004, 第22回日本ロボット学会学術講演会予稿集

  Symposium


• パラメータ励振現象に基づく伸縮脚ロボットの動的歩行制御

  浅野 文彦, 玄 相昊, 羅 志偉, 江村 超

  2004, 第22回日本ロボット学会学術講演会予稿集

  Symposium


• 認識情報を考慮した模倣動作生成によるロボット制御

  大西 正輝, 小田島 正, 羅 志偉

  2004, 画像の認識・理解シンポジウム(MIRU2004)論文集, 422 - 427

  Symposium


• On Recent Bio-mimetic Studies of Environmental Adaptive Manipulations

  Zhiwei Luo

  2004, Ritsumeikan ISERP(Institute of Science and Engineering Research Project) Symposium on Intelligent Control of Multi-Fingered Hands by Sensory Feedback, 69 - 74

  Symposium


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

  大西 正輝, 小田島 正, 羅 志偉, 細江 繁幸

  Corresponding, 2004, 電子情報通信学会技術研究報告, 7 - 12

  Symposium


• Robotic Uncalibrated Hand-Eye Coordination Based on the Extended State Observer

  J.Su, H.Ma, Z.W.Luo

  2004, Proc. of the 5th Asian Control Conf.2004, 988 - 995

  [Refereed]

  International conference proceedings


• Modeling and Control of Intelligent Robots A General Hybrid System Framework

  Y.Yin, Z.W.Luo, S.Hosoe, Z.Kang

  2004, Proc. of the 5th Asian Control Conf.

  [Refereed]

  International conference proceedings


• Toward the Tracking Control of Discrete and Continuous Hybrid Systems

  Y.Yin, S.Hosoe, Z.W.Luo

  2004, Proc. of The 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications, 688 - 693

  [Refereed]

  International conference proceedings


• Does the CNS plan the optimal trajectory of arm movement using dynamic formulation?

  K. Ohta, R. Laboissi`ere, M. Svinin, Z.W. Luo, S. Hosoe

  2004, Neural Control of Movement（NCM）14th Annual Meeting, 2004.

  [Refereed]

  International conference proceedings


• Immersion-Type 3D Dynamic Simulation Technologies

  Z.W. Luo

  Lead, 2004, Int. Symposium on Advancement in Information Technology, 2004.

  [Refereed][Invited]

  Symposium


• On Environmental Adaptive Motion Control and Cognitive Manipulation

  Z.W. Luo

  Lead, 2004, Proc. of Int. Workshop on Fuzzy Systems & Innovational Computing 2004 (FIC2004).

  [Refereed][Invited]

  International conference proceedings


• Development of a soft-actuator with viscoelasticity for the estimation of human muscle dynamics

  K. Ito, K. Mita, Z.W. Luo, K. Akataki, M. Watakabe

  2004, Proc. of The Second Conf. on Artificial Muscles, 2004.

  [Refereed]

  International conference proceedings


• Control of Biped Walking Robots with IPMC Linear Actuator with Re-doping Capability

  M. Yamakita, N. Kamamichi, Y. Kaneda, K. Asaka, Z.W. Luo

  2004, Proc. of The Second Conf. on Artificial Muscles, 2004.

  [Refereed]

  International conference proceedings


• Control of Mechanical Impedance of IPMC Linear Actuator with Antagonism Structure

  M. Yamakita, Y. Kaneda, N. Kamamichi, K. Asaka, Z.W. Luo

  2004, Proc. of The Second Conf. on Artificial Muscles, 2004.

  [Refereed]

  International conference proceedings


• Development of A Dynamic Human Movement Analysis Platform

  K. Tahara, T. Odashima, M. Onishi, F. Asano, Z.W. Luo, S. Hosoe

  2004, Proc. of The Second Conf. on Artificial Muscles, 2004.

  [Refereed]

  International conference proceedings


• Adjustment of Impedance Center for Passive Interaction between A Robot and Its Environment

  Z.W. Luo, Y. Kishi, F. Asano, S. Hosoe

  2004, Proc. of The Second Conf. on Artificial Muscles, 2004.

  [Refereed]

  International conference proceedings


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

  F.Asano, Z.W. Luo, M.Yamakita

  IEEE, 2004, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3865 - 3870

  [Refereed]

  International conference proceedings


• Modeling and Control for Whole Arm Dynamic Cooperative Manipulation

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

  Corresponding, IEEE, 2004, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3282 - 3287

  [Refereed]

  International conference proceedings


• On the Dynamic Version of the Minimum Hand Jerk Criterion

  M.Svinin, Y.Masui, Z.W.Luo, S.Hosoe

  IEEE, 2004, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 174 - 179

  [Refereed]

  International conference proceedings


• On the Optimization Approaches to the Trajectory Formation of Human Movements

  M.Svinin, T.Odashima, Zhiwei LUO, S.Hosoe:

  2004, Proc. of the CSIMTA, Complex Systems Intelligence and Modern Technological Applications 2004,, 628 - 633

  [Refereed]

  International conference proceedings


• Modeling and Dynamic Simulation of Super-redundant Musculo-skeletal System

  K.Tahara, Z.W.Luo, T.Odashima, M.Onishi, F.Asano, A.Kato

  Corresponding, 2004, Proc. of the CSIMTA, Complex Systems Intelligence and Modern Technological Applications 2004,, 503 - 508

  [Refereed]

  International conference proceedings


• Analysis of Human Movements in Virtual Environments: Dealing with Flexible Objects

  M.Svinin, Y.Masui, Z.W.Luo, S.Hosoe

  IEEE, 2004, Proc. of the 2004 IEEE Int. Conf. on Systems Man & Cybernetics, 298 - 2923

  [Refereed]

  International conference proceedings


• Bio-Mimetic Control for Whole Arm Cooperative Manipulation

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

  Corresponding, IEEE, 2004, Proc. of the 2004 IEEE Int. Conf. on Systems Man & Cybernetics, 704 - 709

  [Refereed]

  International conference proceedings


• 3DImmersion-type Dynamic Simulation Environment for Developing Human Interactive Robot

  M. Onishi, T. Odashima, F. Asano, Z.W. Luo, S. Hosoe

  Corresponding, 2004, Video Proc. of the 2004 IEEE Int. Conf. on Robotics & Automation, 2004.

  [Refereed]

  International conference proceedings


• Some Extensions of Passive Walking Formula to Active Biped Robots

  F. Asano, Z.W. Luo, M. Yamakita

  Corresponding, IEEE, 2004, Proc. of IEEE Int. Conf. on Robotics & Automation（ICRA), 3797 - 3802

  [Refereed]

  International conference proceedings


• Development of Dynamic Human Simulation Platform

  K. Tahara, Z.W. Luo, T. Odashima, A. Kato

  2004, Proc. of HUT-RITS Joint Symposium on Sensory-Motor Coordination in Robotic Manipulation, 2004., 81 - 84

  [Refereed]

  International conference proceedings


• Modeling of the electromechanical response of ionic polymer metal composites (IPMC)

  K. Asaka, N. Mori, K. Hayashi, Y. Nakabo, T. Mukai, Z.W. Luo

  2004, Proc. of SPIE's 11th Annual Int. Symposium on Smart Structures / NDE 2004

  [Refereed]

  International conference proceedings


• Learning Explicit Force Control of a Robot Manipulator Interacting with Unknown Dynamic Environment

  Y.Saitoh, Z.W.Luo, K.Watanabe, E.Muramatsu, S.Fujii

  Corresponding, 2004, Proc. of the 6th Asia-Pacific Conf. on Control and Measurement, 2004., 153 - 159

  [Refereed]

  International conference proceedings


• Full-DOF Calibration-Free Robotic Hand-Eye Coordination Based on Fuzzy Neural Network

  J.Su, Q.Pan, Z.W.Luo

  Springer, 2004, Advances in Neural Networks - ISNN2004 (Proc. of the Int. Symposium on Neural Networks 2004) part II, 7 - 12

  [Refereed]

  International conference proceedings


• Feedback-error Learning for Explicit Force Control of a Robot Manipulator Interacting with Unknown Dynamic Environment

  Z.W.Luo, S.Fujii, Y.Saitoh, E.Muramatsu, K.Watanabe

  Lead, IEEE, 2004, Proc. of the IEEE Int. Conf. on Robotics and Biomimetics 2004, 262 - 267

  [Refereed]

  International conference proceedings


• On Optimality of Human Arm Movements

  Z.W.Luo, M.Svinin, K.Ohta, T.Odashima, S.Hosoe

  Lead, IEEE, 2004, Proc. of the IEEE Int. Conf. on Robotics and Biomimetics 2004, 256 - 261

  [Refereed]

  International conference proceedings


• Hybrid System Modeling and Control of Multi-contact Hand Manipulation

  Y.Yin, S.Hosoe, T.Sugimoto, F.Asano, Z.W.Luo

  IEEE, 2004, Proc. of the IEEE Int. Conf. on Robotics and Biomimetics 2004, 107 - 112

  [Refereed]

  International conference proceedings


• Dynamic Simulation of Redundant Musculo-skeletal Control System

  K.Tahara, Z.W.Luo, S.Arimoto, H.Kino

  Corresponding, 2004, Pro. of the Forth Int. Symposium on Human and Artificial Intelligence Systems, 155 - 160

  [Refereed]

  International conference proceedings


• Optimal Feature Set by Interactive Reinforcement Learning for Image Retrieval

  J.B. Su, Fang Liu, Z.W.Luo

  Springer, 2004, Proc. of the Int. Symposium on Neural Networks, 2004., 813 - 818

  [Refereed]

  International conference proceedings


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

  Y.Saitoh, Zhiwei LUO, K.Watanabe

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

  [Refereed]

  Scientific journal


• Dynamic control and simulation of human musculo-skeletal model

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

  2004, SICE 2004 ANNUAL CONFERENCE, VOLS 1-3, 2395 - 2398, English

  [Refereed]

  International conference proceedings


• 受動歩行を規範とした二足ロボットの歩容生成と制御

  ASANO Fumihiko, Zhiwei LUO, YAMAKITA Masaki

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

  [Refereed]

  Scientific journal


• シリコン網膜を用いたオプティカルフローの局所計算方式

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

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

  [Refereed]

  Scientific journal


• Graph-Dependent Sufficient Conditions for Synchronization of Network Coupled System with Time-delay

  AMANO Masateru, Zhiwei LUO, HOSOE Shigeyuki

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

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

  [Refereed]

  Scientific journal


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

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

  2004, ADVANCED ROBOTICS, 18(4) (4), 383 - 399, English

  [Refereed]

  Scientific journal


• Erratum: Stability analysis and design of automatic frequency control system for in vivo EPR spectroscopy (vol 46, pg 1209, 2001)

  H Hirata, ZW Luo

  May 2003, MAGNETIC RESONANCE IN MEDICINE, 49(5) (5), 977 - 977, English

  [Refereed]


• Local computation of optical flow for Silicon Retina

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

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

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


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

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

  A method for estimating the characteristics of an automatic matching control (AMC) system for in vivo electron paramagnetic resonance (EPR) spectroscopy is described. AMC is also known as automatic coupling control (ACC) and is used to compensate for perturbation due to movement of the subject animal. The open-loop function of the AMC system is derived and the characteristics (gain, phase margin, steady-state error, system bandwidth, and disturbance rejection) of the system are examined. The proposed method is supported by experimental findings. The frequency response of perturbation due to the movement of an anesthetized rat was measured with a 1.1-GHz continuous-wave EPR spectrometer. Disturbance rejection with the AMC system was also considered for respiratory motion and the heartbeat of the anesthetized rat, and these perturbations were reduced by about 40 dB in the power spectrum of the output of the diode detector in the spectrometer.

  Feb. 2003, Magnetic Resonance in Medicine,, Vol.50:pp223-227(1) (1), 223 - 7, English, International magazine

  [Refereed]

  Scientific journal


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

  Yohei Saitoh, Zhiwei Luo, Keiji Watanabe

  IEEE, 2003, Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 4, 3645 - 3650, English

  International conference proceedings


• 多自由度ロボットのネットワーク制御システム

  大西 正輝, 小田島 正, 小林 祐一, 浅野 文彦, 羅 志偉, 細江 繁幸

  2003, 第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集

  Symposium


• 身体の動的運動計測による筋骨格モデルの動力学シミュレーション

  田原 健二, 羅 志偉, 加藤 厚生

  2003, 第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集

  Symposium


• Formulation of Dexterous Hand Manipulation via Hybrid System Control Approach

  尹 英杰, 羅 志偉, 細江 繁幸

  2003, 第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集

  Symposium


• IPMCを用いた拮抗型直動人工筋アクチュエータの可変メカニカルインピーダンス

  山北 昌毅, 羅 志偉, 釜道 紀浩, 金田 泰昌, 安積 欣志

  2003, 第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集

  Symposium


• 再ドーピング可能な直動人工筋アクチュエータと歩行ロボットへの応用

  山北 昌毅, 釜道 紀浩, 金田 泰昌, 安積 欣志, 羅 志偉

  2003, 第4回SICEシステムインテグレーション部門学術講演会(SI2003)講演論文集

  Symposium


• バイオ分野における制御工学

  細江 繁幸, 羅 志偉

  2003, 第46回自動制御連合講演会講演論文集, 1267 - 1270

  Symposium


• 環境適応ロボットの視覚モジュールの機能開発

  秋山 圭, 羅 志偉, 大西 正輝, 八木 哲也, 細江 繁幸

  2003, 第21回日本ロボット学会学術講演会予稿集

  Symposium


• 人との力学的な相互作用を行うソフトアクチュエータの開発

  伊藤 晋彦, 三田 勝己, 羅 志偉

  2003, 第21回日本ロボット学会学術講演会予稿集

  Symposium


• 環境適応ロボットにおける分散型汎用コントローラの開発

  平野 慎也, 羅 志偉, 小田島 正, 加藤 厚生

  2003, 第21回日本ロボット学会学術講演会予稿集

  Symposium


• 環境と力学的相互作用を行う人間のモーションキャプチャシステムの構築

  小田島 正, 大山 浩市, 羅 志偉, 細江 繁幸

  2003, 第21回日本ロボット学会学術講演会予稿集

  Symposium


• 環境適応ロボット開発のための三次元動力学シミュレータ

  大西 正輝, 小田島 正, 羅 志偉, 細江 繁幸

  2003, 第21回日本ロボット学会学術講演会予稿集

  Symposium


• ハイブリッドシステム制御による巧みなハンドマニピュレーション

  尹 英杰, 羅 志偉, 細江 繁幸

  2003, 第21回日本ロボット学会学術講演会予稿集

  Symposium


• 環境による拘束下での人間上肢運動の軌道生成と解析

  太田 憲, M. シビニン, 羅 志偉, 細江 繁幸

  2003, 第21回日本ロボット学会学術講演会予稿集

  Symposium


• イオン導電性高分子を用いた直動アクチュエータの開発 －等価定常ゲイン向上のための非線形特性の導入－

  金田 泰昌, 釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

  2003, 第21回日本ロボット学会学術講演会予稿集

  Symposium


• 受動歩行規範型歩容生成問題の定式化 (I) 力学原理と制御系設計

  浅野 文彦, 羅 志偉, 山北 昌毅

  2003, 第21回日本ロボット学会学術講演会予稿集

  Symposium


• 受動歩行規範型歩容生成問題の定式化 (II) 膝関節モデルへの拡張

  浅野 文彦, 羅 志偉, 山北 昌毅

  2003, 第21回日本ロボット学会学術講演会予稿集


• New Trends on Bio-mimetic System Control

  Zhiwei Luo

  Lead, 2003, 第47回システム制御情報学会研究発表講演会講演論文集, 45 - 48

  [Invited]

  Symposium


• Development of Artificial Muscle Actuator Using Ionic Polymer with its Application to Biped Walking Robots

  M. Yamakita, N. Kamamichi, Y. Kaneda, K. Asaka, Z.W. Luo

  2003, SPIE's 10th Annual Int. Symposium on Smart Structures / NDE 2003

  [Refereed]

  International conference proceedings


• On Recent Bio-mimetic Studies of Legged Locomotion ---Diversity, Adaptability and Energy Consumption for Hexapod, Quadruped and Biped

  Z.W. Luo, T. Odashima, F. Asano, S. Hosoe

  Lead, 2003, Proc. of Int;Symposium on Adaptive;Motion of Animals;Machines, WeP-III

  [Refereed]

  International conference proceedings


• Dealing with Constraints: Optimal Trajectories of the Constrained Human Arm Movements

  K. Ohta, M. Svinin, Z.W. Luo, S. Hosoe

  2003, Proc., XVII IMEKO World Congress,2003, 2059 - 2064

  [Refereed]

  International conference proceedings


• Emergent Cooperative Manipulation of a Multi-linked Object

  M. Onishi, T. Odashima, Z.W. Luo

  Corresponding, 2003, Proc. of SICE Annual Conf., 2003, 2700 - 2703

  [Refereed]

  International conference proceedings


• Response Function of Polymer Electrolyte Actuators

  K. Asaka, Y. Nakabo, T. Mukai, Z. W. Luo

  2003, Proc. of SICE Annual Conf. 2003, 2650 - 2653

  [Refereed]

  International conference proceedings


• Control of Linear Artificial Muscle Actuator Using IPMC

  Y. Kaneda, N. Kamamichi, M. Yamakita, K. Asaka, Z. W. Luo

  Corresponding, 2003, Proc. of SICE Annual Conf.,2003, 218 - 223

  [Refereed]

  International conference proceedings


• Biped Walking of Passive Dynamic Walker with IPMC Linear Actuator

  N. Kamamichi, Y. Kaneda, M. Yamakita, K. Asaka, Z. W. Luo

  2003, Proc. of SICE Annual Conf.,2003, 212 - 217

  [Refereed]

  International conference proceedings


• Passive Impedance Control with Time-varying Impedance Center

  Y. Kishi, Z.W. Luo, F. Asano, S. Hosoe

  Corresponding, IEEE, 2003, Proc. 2003 IEEE Int. Symposium on Computational Intelligence in Robotics and Automation, 1207 - 1212

  [Refereed]

  International conference proceedings


• On Dynamic Whole Body Manipulation

  F. Asano, Y. Saitoh, K. Watanabe, Z.W. Luo, M. Yamakita

  Corresponding, IEEE, 2003, Proc. 2003 IEEE Int. Symposium on Computational Intelligence in Robotics and Automation,, 1201 - 1206

  [Refereed]

  International conference proceedings


• Graph Dependant Sufficient Conditions for Synchronization of Dynamic Network System with Time-Delay,

  M. Amano, Z.W. Luo, S. Hosoe

  2003, Proc. of 4th IFAC Workshop on Time Delay Systems (TDS'03), Sep. 2003.

  [Refereed]

  International conference proceedings


• A unified formulation and solutions to gait generation problems based on passive dynamic walking

  F. Aasano, Z.W. Luo, M. Yamakita

  2003, Proc. of the Sixth Int. Conf. on Climbing and Walking Robots and their Supporting Technologies for Mobile, 451 - 458

  [Refereed]

  International conference proceedings


• On the Trajectory Formation of the Human Arm Constrained by the External Environment

  K. Ohta, M.M.Svinin, Z.W.Luo, S.Hosoe

  IEEE, 2003, Proc. of IEEE Int. Conf. on Robotics & Automation（ICRA), 2884 - 2891

  [Refereed]

  International conference proceedings


• Immersion Type Virtual Environment for Human-robot Interaction

  T. Odashima, M. Onishi, Z.W. Luo, S. Hosoe

  IEEE, 2003, Proc. of the 2003 IEEE Int. Conf. on Systems Man & Cybernetics,, 3651 - 3656

  [Refereed]

  International conference proceedings


• Hybrid Control of Multi-fingered Robot for Dexterous Manipulation Hand,

  Y.J. Yin, Z.W. Luo, M. Svinin, S. Hosoe

  IEEE, 2003, Proc. of the 2003 IEEE Int. Conf. on Systems Man & Cybernetics, 3639 - 3644

  [Refereed]

  International conference proceedings


• Optimality of Human Movements in Constrained and Unconstrained Manipulations,

  M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

  IEEE, 2003, Proc. of the 2003 IEEE Int. Conf. on Systems Man & Cybernetics, 3625 - 3632

  [Refereed]

  International conference proceedings


• Integration of PC-based 3D Immersion Technology For Bio-mimetic Study of Human Interactive Robotics

  Z.W. Luo, M. Onishi, T. Odashima, K. Oyama, F. Asano, S. Hosoe

  Lead, 2003, Proc. of the 2003 IEEE Int. Conf. on Robotics, Intelligent Systems and Signal Processing, 13 - 18

  [Refereed]

  International conference proceedings


• Optimal trajectory of human arm reaching movements in dynamical environments,

  K. Ohta, R. Laboissiere, M. Svinin, Z.W. Luo, S. Hosoe

  Corresponding, 2003, Proc. of Neuroscience Conf., Symposium on Advances in Computational Motor Control II, 2003

  [Refereed]

  International conference proceedings


• Dynamic Modeling and Control for Whole Body Manipulation

  F. Asano, Z.W. Luo, M. Yamakita, S. Hosoe

  Corresponding, IEEE, 2003, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2637 - 2644

  [Refereed]

  International conference proceedings


• Towards Understanding of Human Movements Constrained by the External Environment

  M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

  IEEE, 2003, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2637 - 2644

  [Refereed]

  International conference proceedings


• On Novel Hybrid System Control Framework of Intelligent Robots,

  Y.J. Yin, Z.W. Luo, S. Hosoe

  2003, Proc. of Int. Conf. on Systems Science and Systems Engineering, 535 - 540

  [Refereed]

  International conference proceedings


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

  T. Odashima, Zhiwei Luo, S. Hosoe

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

  [Refereed]

  Scientific journal


• Development of PC-based 3D dynamic human interactive robot simulator

  Masaki Onishi, Tadashi Odashima, Fumihiko Asano, Zhiwei Luo

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

  [Refereed]

  International conference proceedings


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

  Y Saitoh, ZW Luo, K Watanabe

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

  [Refereed]

  International conference proceedings


• Optimal Trajectory Formation of Crank Rotation Task

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

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


• 摩擦特性を考慮した動的フルボディ・マニピュレーション

  浅野 文彦, 羅 志偉, 山北 昌毅, 細江 繁幸

  2002, 自動制御連合講演会

  Symposium


• 直動人工筋アクチュエータの開発と歩行ロボットへの応用

  釜道 紀浩, 山北 昌毅, 安積 欣志, 羅 志偉

  2002, 自動制御連合講演会

  Symposium


• 拡散学習に基づくマニピュレータ最適制御の空間汎化

  浅黄 義昭, 羅 志偉, 渡辺 慶二

  2002, 自動制御連合講演会

  Symposium


• 生物の制御構造を模した階層型多脚歩行系

  小田島 正, 羅 志偉, 岸 泰生, 田中 宏幸

  2002, SICE SI2002 講演論文集

  Symposium


• 人間と接するロボット開発のための三次元動力学シミュレーション環境

  小田島 正, 大西 正輝, 浅野 文彦, 羅 志偉

  2002, SICE SI2002 講演論文集

  Symposium


• Environmental Adaptive PVFC for a Robot Manipulator

  Y. Saitoh, Z.W. Luo, K. Watanabe

  2002, Proc. of SICE Annual Conf. 2002

  [Refereed]

  International conference proceedings


• A Study on the Stable Grasping by a Redundant Multi-Fingered Robot Hand

  K. Kumazaki, M. Svinin, Z.W. Luo, T. Odashima, S. Hosoe

  Corresponding, 2002, Proc. of SICE Annual Conf. 2002

  [Refereed]

  International conference proceedings


• Adaptive Visual Tracking System under Changing Lighting Environment

  N. Abe, Z.W. Luo, K. Akiyama, T. Yagi, S. Hosoe

  2002, Proc. of SICE Annual Conf. 2002, 1539 - 1540

  [Refereed]

  International conference proceedings


• Virtual Impedance Control for Preshaping of a Robot Hand

  Z.W. Luo, T. Ito, N. Sugimoto, T. Odashima, S. Hosoe

  2002, Proc. of SICE Annual Conf. 2002

  [Refereed]

  International conference proceedings


• Teaching of Locomotion for a Multi-legged Robot based on Sound Perception

  H. Tanaka, Z.W. Luo, T. Odashima, S. Hosoe

  Corresponding, 2002, Proc. of SICE Annual Conf. 2002

  [Refereed]

  International conference proceedings


• Extended State Observer Based Technique for Control of Robot Systems

  Y. Huang, Z.W. Luo, M. Svinin, T. Odashima, S. Hosoe

  2002, Proc. of the 4th World Congress on Intelligent Control and Automation, 2807 - 2811

  [Refereed]

  International conference proceedings


• Stabilization of Acrobat Robot in Upright Position on a Horizontal Bar

  M. Yamakita, T. Yonemura, Y. Michitsuji, Z.W. Luo

  IEEE, 2002, Proc. of IEEE Int. Conf. on Robotics & Automation（ICRA), 3093 - 3098

  [Refereed]

  International conference proceedings


• On the Stiffness and Stiffness Control of Redundant Manipulators

  M. Svinin, S. Hosoe, M. Uchiyama, Z.W. Luo

  IEEE, 2002, Proc. of IEEE Int. Conf. on Robotics & Automation(ICRA), 2393 - 2399

  [Refereed]

  International conference proceedings


• Dealing with Constraints: the Synthesis of Optimal Human Movements Constrained by the External Environment

  K. Ohta, M. Svinin, Z.W. Luo, S. Hosoe

  2002, The 4th Int. Workshop on Emergent Synthesis, 183 - 188

  [Refereed]

  International conference proceedings


• Relation between IMC Parameterization and Generalized Stabilizer

  K. Watanabe, G. Izuta, Z.W. Luo, Y. Asagi

  2002, Proc. of Asian Control Conf., 2002., 495 - 500

  [Refereed]

  International conference proceedings


• A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraint

  F. Asano, M. Yamakita, N. Kamamichi, Z.W. Luo

  Corresponding, IEEE, 2002, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2637 - 2644

  [Refereed]

  International conference proceedings


• A Design of an Extended State Observer for the Motion/Force Control of Constrained Robotic Systems

  Y. Huang, M. Svinin, Z.W. Luo, S. Hosoe

  2002, Proc. of the ICASE/SICE Workshop -Intelligent Control and Systems114, 2002., 114 - 119

  [Refereed]

  International conference proceedings


• Model Following Type PVFC for Variable Dynamic Bipedal Walking

  F. Asano, M. Yamakita, Z.W. Luo

  2002, Proc. of the ICASE/SICE Workshop -Intelligent Control and Systems, 2002., 310 - 314

  [Refereed]

  International conference proceedings


• Stability analysis and design of automatic frequency control system for in vivo EPR spectroscopy

  H Hirata, ZW Luo

  Dec. 2001, MAGNETIC RESONANCE IN MEDICINE, 46(6) (6), 1209 - 1215, English

  [Refereed]

  Scientific journal


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

  IZUTA Guido, WATANABE Keiji, LUO Zhi Wei

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


• 拘束条件下でのヒトの運動の最適軌道

  太田憲, M. Svinin, 羅志偉, 細江繁幸

  2001, 計測自動制御学会システムインテグレーション部門学術講演会（SI2001)

  Symposium


• A Novel Decentralized Control System for Multi-legged Robot

  T. Odashima, Z.W. Luo, S. Hosoe

  Corresponding, 2001, VIDEO Proc. of IEEE Int. Conf. on Robotics and Automation

  [Refereed]

  International conference proceedings


• Decentralized Control Design of Network Robotic System with Time-varying Communication Delay

  Z.W. Luo, M. Amano, K. Watanabe, S.Hosoe

  Lead, 2001, Proc. of SICE/ICASE Joint workshop on Control Theory and Applications, 79 - 82

  [Refereed][Invited]

  International conference proceedings


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

  T. Odashima, Z.W. Luo, S. Hosoe

  2001, Proc. of 4th Int. Conf. on Climbing and Walking Robot,2001., 105 - 112

  [Refereed]

  International conference proceedings


• Diffusion-Based Spatial Generalization of Optimal Motor Control

  Z.W. Luo, H. Ando, S. Hosoe, K. Watanabe, A. Kato

  Lead, 2001, Proc. 5th World Multi-Conf. on Systemics, Cybernetics, and Informatics, 15, 251 - 256

  [Refereed]

  International conference proceedings


• Hierarchical Control System for Hexapod Robot Using Base Motion Vector Fields

  T. Odashima, Z.W. Luo, S. Hosoe

  Corresponding, 2001, Proc. 5th World Multi-Conf. on Systemics, Cybernetics, and Informatics, 15, 257 - 262

  [Refereed]

  International conference proceedings


• A Hierarchical Approach for Environmental Adaptive Locomotion Control of Multi-legged Robot

  T. Odashima, Z.W. Luo, S. Hosoe

  Corresponding, 2001, Proc. of the 6th Int. Symposium on Artificial Life and Robotics, 458 - 461

  [Refereed]

  International conference proceedings


• Reinforcement learning approach to acquisition of motion patterns for autonomous robotic systems

  M. Svinin, Z.W. Luo, S. Hosoe

  2001, Proc. 5th World Multi-Conf. on Systemics, Cybernetics, and Informatics, 263 - 268

  [Refereed]

  International conference proceedings


• Analysis of human movements in crank rotation task

  K. Ohta, M. Svinin, Z.W. Luo, S. Hosoe

  2001, 3rd Int. Symposium on Progress in Motor Control: From Basic Science to Application,

  [Refereed]

  International conference proceedings


• Mathematical analysis of the crank turning task

  M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

  2001, Proc. 1st Int. Symposium on Measurement, Analysis and Modeling of Human Functions, 346 - 352

  [Refereed]

  International conference proceedings


• Understanding of human movements in crank rotation

  M. Svinin, K. Ohta, Z.W. Luo, S. Hosoe

  IEEE, 2001, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2105 - 2110

  [Refereed]

  International conference proceedings


• Spatial Generalization of Optimal Control for Robot Manipulators.

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

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

  [Refereed]

  Scientific journal


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

  ODASHIMA Tadashi, YUASA Hideo, LUO Zhi-wei

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

  [Refereed]


• 四足歩行パターンの適応モデルとロボットへの実装

  伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

  2000, 医用電子と生体工学 特別号, 38

  [Refereed]

  Scientific journal


• Robust Pole Placement with Widely Adjustable Parameters

  K. Watanabe, Z.W. Luo, G. Izuta

  IEEE, 2000, Proc of the IEEE Conf. on Decision & Control(CDC), 4086 - 4091

  [Refereed]

  International conference proceedings


• Modified H-inf Control for Mixed Sensitivity Problem

  K. Watanabe, Z.W. Luo, Guido Izuta

  2000, Proc. of the 3rd Asian Control Conf. 2000., 256 - 261

  [Refereed]

  International conference proceedings


• Spatial generalization of optimal control for robot manipulators

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

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

  [Refereed]

  International conference proceedings


• Emergent Generation of Gait Pattern for a Myriapod Robot system Based on Energy Consumption

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

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

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

  [Refereed]


• Development of a quadrupedal robot adapting to environmental changes

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

  Jun. 1999, Advanced Robotics, 13(3) (3), 263 - 264, English

  [Refereed]

  Scientific journal


• Quadrupedal Robot System Adapting to Environmental Changes

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

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

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

  [Refereed]

  Scientific journal


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

  OHTA Ken, LUO Zhi-Wei

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

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


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

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

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

  [Refereed]


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

  ANDO Hideyuki, LUO Zhi-Wei, ITO Masami

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

  [Refereed]

  Research institution


• １ディスク混合感度問題のための修正H∞制御

  渡部慶二, 羅志偉, 伊豆田義人

  1999, 第22回Dynamical System Theory シンポジウム

  Symposium


• Robust Gain Scheduled Position/Force Hybrid Control for a Robot Manipulator Interacting with Uncertain Flexible Environment

  Z.W. Luo, M. Ito

  Lead, 1999, Proc. of 14th IFAC World Congress, 235 - 240

  [Refereed]

  International conference proceedings


• Emergent Generation of Gait Pattern for a Myriapod Robot System based on Energy Consumption

  T. Odashima, H. Yuasa, Z.W. Luo

  1999, Proc. of 1999 IEEE Hong Kong Symposium on Robotics and Control

  [Refereed]

  International conference proceedings


• Parallel Decentralized Computation of Inverse Kinematics Map for a Redundant Robot Manipulator

  H. Ando, Z.W. Luo, A. Kato

  Corresponding, 1999, Proc. of 1999 IEEE Hong Kong Symposium on Robotics and Control

  [Refereed]

  International conference proceedings


• Suboptimal control of linear systems with state time-delay

  G.Y. Tang, Z.W. Luo

  1999, Proc. of 1999 IEEE Int. Conf. on Systems Man & Cybernetics., 104 - 109

  [Refereed]

  International conference proceedings


• スレーブに部分的な自律性を与えたマスタスレーブシステム

  宮田郁子, 安藤英由樹, 平松誠治, 羅志偉, 加藤厚生

  1999, 電気関係学会東海支部連合大会講演論文集, 1999


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

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

  1999, Artificial Life and Robotics, 3(2) (2), 97 - 101

  [Refereed]

  Scientific journal


• A Model of Adaptation to Environmental Changes in Rhythmic Movements

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

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

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

  [Refereed]


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

  OHTA Ken, LUO Zhi-Wei, ITO Masami

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

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

  [Refereed]

  Scientific journal


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

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

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

  [Refereed]


• ユニラテラル？または バイラテラル？ テレーマニピュレーションに関する一考察

  羅志偉, 伊藤正美

  Lead, 1998, SICE'98

  Symposium


• 非線形適応制御の一考察

  伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

  1998, 第27回制御理論シンポジウム

  Symposium


• Robust Gain Scheduled Control of Distributed Parameter System and It’s Application in Robotics

  Zhiwei LUO, Masami ITO

  Lead, 1998, 第27回制御理論シンポジウム

  Symposium


• 四足歩行運動における環境適応について

  伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

  1998, 日本機械学会ロボティックス・メカトロニクス講演会‘９８講演論文集

  Symposium


• 作業環境と相互作用を行う生体運動の解析

  太田憲, 羅志偉, 伊藤正美

  1998, 日本機械学会 第10回バイオエンジニアリング講演会講演論文集

  Symposium


• Adaptive Behavior of Quadrupted Walking Robot under Periodic Perturbation

  S. Ito, H. Yuasa, Z.W. Luo, M. Ito, D. Yanagihara

  1998, Proc. of Fifth Int. Conf. of the Society for Adaptive Behavior

  [Refereed]

  International conference proceedings


• Realization of Human Task Skill in Dynamic Tele-manipulation

  Z.W. Luo, K. Ohta, M. Ito

  Lead, 1998, Proc. of 1998 ISIC/CIRA/ISAS on Bio-mimetic Robotics

  [Refereed]

  International conference proceedings


• Unilateral? or Bilateral? ---New Research on Dynamic Tele-manipulation

  Z.W. Luo, M. Ito

  Lead, 1998, Proc. of 1998 Int. Conf. on Mechatronic Technology

  [Refereed]

  International conference proceedings


• 複数ロボットによる動的対象物の分散協調制御

  羅志偉

  Lead, 1998, 電気学会技術報告, 700, 10 - 12

  [Refereed]

  Symposium


• 動的作業環境におけるテレーマニピュレーションの研究

  梅沢将実, 羅 志偉, 加藤厚生, 伊藤正美

  1998, 愛知工業大学研究報告, 33, 17 - 21

  [Refereed]

  Research institution


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

  Zhiwei LUO, Masami Ito

  Lead, 1998, Biological Cybernetics, 79(4) (4), 279 - 289

  [Refereed]

  Scientific journal


• A Mathematical Model of Adaptive Behavior in Quadruped Locomotion

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

  1998, Biological Cybernetics, 78(5) (5), 337 - 347

  [Refereed]

  Scientific journal


• Analysis of Human Movement in Dynamical Environment Constrained by Geometry

  OHTA Ken, LUO Zhi-Wei, ITO Masami

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

  Symposium


• Gain Scheduled Control of Manipulators for Contact Tasks on Uncertain Flexible Objects

  WU Jianqing, LUO Zhiwei, YAMAKITA Masaki, ITO Koji

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

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

  [Refereed]


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

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

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

  [Refereed]


• 動的作業環境におけるテレ―マニピュレーション

  梅沢将実, 羅志偉, 太田憲, 伊藤正美, 加藤厚生

  Corresponding, 1997, 第15回日本ロボット学会学術講演会予稿集

  Symposium


• 視覚情報に基づくダイナミックキャッチング

  島田磨, 羅志偉, 伊藤正美, 安林幹翁

  1997, 第15回日本ロボット学会学術講演会予稿集

  Symposium


• 周期的摂動に適応するための脚運動のタイミングの学習

  伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

  1997, 第15回日本ロボット学会学術講演会予稿集

  Symposium


• 接触作業ロボットのタスクインピーダンス調節について

  今井晋吾, 羅志偉, 本間康正, 伊藤正美, 加藤厚生, 安林幹翁

  Corresponding, 1997, 第15回日本ロボット学会学術講演会予稿集

  Symposium


• 未知環境における人間の知覚―運動協応

  太田憲, 羅志偉, 伊藤正美

  1997, SICE’97

  Symposium


• Adaptability of Human Movement in Unknown Dynamical Environments

  K. Ohta, Z.W. Luo, M. Ito

  1997, Proc. of 1997 American Control Conf., 2249 - 2250

  [Refereed]

  International conference proceedings


• Human Perceptual-Motor Coordination in Unknown Dynamical Environments

  K. Ohta, Z.W. Luo, M. Ito

  Corresponding, 1997, Proc. of 1997 IEEE Int. Conf. on Systems Man & Cybernetics, 459 - 462

  [Refereed]

  International conference proceedings


• A Mathematical Model of Adaptation in Rhythmic Motion to Environmental Changes

  S. Ito, H. Yuasa, Z.W. Luo, M. Ito, D. Yanagihara

  1997, Proc. of 1997 IEEE Int. Conf. on Systems Man & Cybernetics, 275 - 280

  [Refereed]

  International conference proceedings


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

  S. Ito, H. Yuasa, Z.W. Luo, M. Ito, D. Yanagihara

  1997, Proc. of 3rd Int. Symposium on Artificial Life and Robotics (AROB III'98), 1997.

  [Refereed]

  International conference proceedings


• For the new development of a bio-mimetic control theory.

  羅志偉

  Lead, 1997, 日本機械学会東海支部総会講演会講演論文集, 46th

  [Invited]


• Control Design of Robot for Compliant Manipulation on Uncertain Flexible Objects.

  羅志偉, 呉建青, 山北昌毅, 伊藤宏司

  Corresponding, 1997, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997(Vol.A) (Vol.A)

  Symposium


• 未知な柔軟曲面上での倣い作業におけるマニピュレータの動的位置／力制御

  呉建青, 羅 志偉, 山北正毅, 伊藤宏司

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

  [Refereed]

  Scientific journal


• On cooperative manipulation of dynamic objects

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

  Nov. 1996, Advanced Robotics, 10(6) (6), 621 - 636, English

  [Refereed]

  Scientific journal


• Adaptive hybrid control of manipulators on uncertain flexible objects

  WU JIANQING, LUO ZHIWEI, YAMAKITA MASAKI, ITO KOJI

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

  [Refereed]

  Scientific journal


• 「巧みな運動制御」の機械による実現をめざして

  羅 志偉, 伊藤 正美

  養賢堂, Mar. 1996, 機械の研究, 48(3) (3), 332 - 337, Japanese


• Nonlinear robust control for robot compliant manipulation on dynamic environments

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

  Mar. 1996, Advanced Robotics, 10(2) (2), 213 - 227, English

  [Refereed]

  Scientific journal


• 未知環境における生体の巧みな運動制御

  太田憲, 羅志偉, 伊藤正美

  1996, 第14回日本ロボット学会学術講演会予稿集

  Symposium


• タスクインピーダンス構造の実現および調節に関する考察

  山本親慶, 羅志偉, 伊藤正美

  Corresponding, 1996, 第14回日本ロボット学会学術講演会予稿集

  Symposium


• 未知線形Parameter-Varying システムに対するゲインスケジュールド制御

  呉建青, 羅志偉, 山北昌毅, 伊藤宏司

  Corresponding, 1996, 第14回日本ロボット学会学術講演会予稿集

  Symposium


• Self-Organization of a Redundant Robot Manipulator’s Inverse Kinematic Map using Diffusion Equation

  Zhiwei Luo, Masami Ito

  Lead, 1996, 日本神経回路学会

  Symposium


• 運動物体捕獲作業のためのロボットの制御方式

  羅志偉, 島田磨, 伊藤正美

  Corresponding, 1996, SICE’96

  Symposium


• Gain Scheduled Control for Robot manipulator's Contact Tasks on Flexible Environments

  J.Q. Wu, Z.W. Luo, K. Ito

  Corresponding, 1996, Proc. of 4th Int. workshop on Advanced Motion Control,, 512 - 517

  [Refereed]

  International conference proceedings


• Adaptive Hybrid Control for a Robot Manipulator Interacting with Uncertain Flexible Environments

  J.Q. Wu, Z.W. Luo, M. Yamakita, K. Ito

  Corresponding, 1996, Proc. of 13th IFAC World Congress, 235 - 240

  [Refereed]

  International conference proceedings


• Gain Scheduled Control of Robot manipulators for Contact Tasks on Uncertain Flexible Objects

  J.Q. Wu, Z.W. Luo, M. Yamakita, K. Ito

  Corresponding, 1996, Proc. of IEEE Int. Conf. of Systems Man & Cybernetics, 41 - 46

  [Refereed]

  International conference proceedings


• Dynamic Cooperative Manipulation of Flexible Objects

  Z.W. Luo, K.Ito, M.Ito

  Lead, 1996, Proc. of 1996 Japan-USA Symp. on Flexible Automation, 229 - 232

  [Refereed]

  International conference proceedings


• Potential Field Representation of Environment Model and its Application to Robot's Force/Position Hybrid Control

  M. Yamakita, Z.W. Luo, K. Ito

  1996, Proc. of 1996 IEEE Conf. on Emerging Technologies and Factory Automation, 316 - 321

  [Refereed]

  International conference proceedings


• 柔軟局面上でのロボットの接触作業

  呉建青, 羅志偉, 山北昌毅, 伊藤宏司

  Corresponding, 1995, 第13回日本ロボット学会学術講演会予稿集

  Symposium


• ニューラルネットワークによる冗長マニピュレータの運動学習

  羅志偉, 山北昌毅, 伊藤宏司

  Lead, 1995, 第13回日本ロボット学会学術講演会予稿集

  Symposium


• 随意運動の制御理論的考察

  羅志偉, 伊藤正美, 小澤利之, 伊藤宏司

  Lead, 1995, SICE’95

  Symposium


• 拡散方程式を用いた冗長マニピュレータの逆運動学マッピングの並列分散学習

  須山郁夫, 羅志偉, 伊藤宏司

  Corresponding, 1995, SICE’95

  Symposium


• 複数ロボットによる動的対象物の協調制御 ――分散インピーダンス制御方式とその実験的考察――

  北岸隆史, 羅志偉, 伊藤宏司

  Corresponding, 1995, SICE’95

  Symposium


• 柔軟対象物上での倣い作業におけるロボットの位置/力の動的制御

  呉建青, 羅志偉, 山北昌毅, 伊藤宏司

  Corresponding, 1995, SICE’95

  Symposium


• 複数ロボットによる動的対象物の分散インピーダンス制御

  北岸隆史, 羅志偉, 伊藤宏司

  Corresponding, 1995, 第6回自律分散システムシンポジウム

  Symposium


• 非線形マッピングの自律分散学習と冗長マニピュレータの逆運動学問題への応用

  須山郁夫, 羅志偉, 伊藤宏司

  Corresponding, 1995, 第6回自律分散システムシンポジウム

  Symposium


• Robot manipulator's Contact Tasks on Uncertain Flexible Objects

  J.Q. Wu, Z.W. Luo, M. Yamakita, K. Ito

  Corresponding, 1995, Proc. of 10th Korea Automatic Control Conf. (KACC'95), 460 - 463

  [Refereed]

  International conference proceedings


• Estimation of Environment Models Using Vector Field and its Application to Robot's Contact Tasks

  Z.W. Luo, K. Ito, M. Yamakita

  Lead, IEEE, 1995, Proc. of IEEE Int. Conf. on Neural Networks, 2546 - 2549

  [Refereed]

  International conference proceedings


• Learning and control of biolocomotion.

  小沢利之, 伊藤正美, 羅志偉, 伊藤宏司

  1995, 電気関係学会東海支部連合大会講演論文集, 1995


• Compliance Control Considering a Robot's Manipulability

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

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

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

  [Refereed]


• 消費エネルギーを考慮した歩行パターンの生成

  伊藤聡, 湯浅秀男, 羅志偉, 伊藤宏司

  1994, 第12回ロボット学会学術講演会

  Symposium


• 未知な柔軟対象物に対する位置と力の動的制御

  呉建青, 羅志偉, 山北昌毅, 伊藤宏司

  Corresponding, 1994, 第12回ロボット学会学術講演会

  Symposium


• Compliance Control Considering a Robot's Manipulability

  LUO Z.-W.

  Lead, 1994, 第12回ロボット学会学術講演会, 1, 53 - 54

  Symposium


• ベクトル場を用いた未知環境推定と接触作業ロボットへの応用

  服部正, 山北昌毅, 羅志偉, 大塚広幸, 伊藤宏司

  Corresponding, 1994, 第12回ロボット学会学術講演会

  Symposium


• ベクトル場の自己組織化と接触作業ロボットへの応用

  大塚広幸, 羅志偉, 山北昌毅, 伊藤宏司

  Corresponding, 1994, 第5回自律分散システムシンポジウム

  Symposium


• Optimum Order Formation in Autonomous Decentralized System

  Zhiwei Luo, J. Arakawa, K. Ito, M. Ito, H. Yuasa

  Lead, 1994, 第5回自律分散システムシンポジウム

  Symposium


• Self-Organization of an Uniformly Distributed Visuo-Motor Map through Controlling the Spatial Variation

  Z.W. Luo, K. Asada, M. Yamakita, K. Ito

  Lead, Springer, 1994, Proc. of 2nd Int. Symposium on Distributed Autonomous Robotic Systems, 279 - 288

  [Refereed]

  International conference proceedings


• Compliance Control of an EMG-Controlled Prosthetic Forearm Using Ultrasonic Motors

  K. Ito, M. Pecson, Z.W. Luo, M. Yamakita, A. Kato, T. Aoyama, M. Ito

  IEEE, 1994, Proc. of Int. Joint Conf. on Intelligent Robots and Systems(IROS), 1816 - 1823

  [Refereed]

  International conference proceedings


• On Cooperative Manipulation of Dynamic Object

  Z.W. Luo, Y. Uematsu, K.Ito, A.Kato, M.Ito

  Lead, IEEE, 1994, Proc. of Int. Joint Conf. on Intelligent Robots and Systems(IROS), 1064 - 1071

  [Refereed]

  International conference proceedings


• Compliance Control of Direct Drive Manipulator Using Ultrasonic Motor

  A. Kato, N. Kondo, H. Narita, K. Ito, Z.W. Luo

  1994, Proc. of 10th CISM-IFToMM Symp. on Theory and Practice of Robots and Manipulators, 125 - 130

  [Refereed]

  International conference proceedings


• ベクトル場を用いた未知環境推定と接触作業ロボットへの応用

  服部正, 山北昌毅, 羅志偉, 大塚広幸, 伊藤宏司

  1994, 電気関係学会東海支部連合大会講演論文集, 1994


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

  LUO Zhi-Wei, TAKAHASHI Hideki, ITO Masami

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

  [Refereed]


• 自律分散システムの最適化について

  羅志偉, 伊藤宏司, 伊藤正美, 湯浅秀男

  Lead, 1993, 日本機械学会第3回FANシンポジウム

  Symposium


• 複数のロボットによる動的な対象物の協調制御

  植松義貴, 羅志偉, 伊藤宏司

  Corresponding, 1993, 第3回ロボットシンポジウム

  Symposium


• Cooperative Compliant Manipulation of Dynamical Environments by Multiple Robotic Systems

  Zhiwei Luo, Koji Ito, Masami Ito

  Lead, 1993, 第4回自律分散システムシンポジウム

  Symposium


• 動的な対象物に対する複数ロボットの自律協調制御とその実験

  植松義貴, 羅志偉, 伊藤宏司

  1993, 第11回日本ロボット学会学術講演会

  Symposium


• Optimum Coordination of Nonlinear Dynamic Systems with Its Application to Robot Locomotion

  Z.W. Luo, K. Ito, M. Ito, H. Yuasa

  Lead, 1993, Proc. of Int. Symposium on Nonlinear Theory and Its Applications, 995 - 996

  [Refereed]

  International conference proceedings


• Compliance Control of an Ultrasonic Motor Powered Prosthetic Forearm

  M. Pecson, K. Ito, Z.W. Luo, A. Kato, T. Aoyama, M. Ito

  1993, Proc. of IEEE Int. Workshop on Robots and Human Communication (Ro-Man'93), 90 - 95

  [Refereed]

  International conference proceedings


• Robust Nonlinear Control for Robot Compliant Manipulation on Dynamical Environments

  Z.W. Luo, K. Ito, A. Kato, M. Ito

  1993, Proc. of Int. Symposium on Measurement and Control in Robotics (ISMCR'93)

  [Refereed]

  International conference proceedings


• Multiple Robot Manipulators' Cooperative Compliant Manipulation on Dynamical Environments

  Z.W. Luo, K. Ito, M. Ito

  Lead, IEEE, 1993, Proc. of Int. Joint Conf. on Intelligent Robots and Systems (IROS), 1927 - 1934

  [Refereed]

  International conference proceedings


• Self-organization of an upper limb motion pattern by neural network.

  大塚宏幸, 羅志偉, 伊藤宏司

  1993, バイオメカニズム学術講演会予稿集, 14th

  Symposium


• Identification of position and force control measures for a human in both hands cooperative motions.

  渡辺泰弘, 羅志偉, 伊藤宏司

  1993, バイオメカニズム学術講演会予稿集, 14th

  Symposium


• Coordination control of an object by multiple manipulators.

  植松義貴, 羅志偉, 伊藤宏司

  1993, バイオメカニズム学術講演会予稿集, 14th

  Symposium


• Compliance control of an ultrasonic motor drive artificial arm.

  PECSON M G, 羅志偉, 伊藤宏司, 加藤厚生

  1993, バイオメカニズム学術講演会予稿集, 14th

  Symposium


• Control Design of Robot for Compliant Manipulation on Dynamic Environments

  Zhiwei LUO, Masami ITO

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

  [Refereed]

  Scientific journal


• パラメータ調節による接触作業ロボットの非線形制御

  高橋秀樹, 羅志偉, 伊藤正美

  Corresponding, 1992, 第21回制御理論シンポジウム

  Symposium


• Robust Nonlinear Control Design of Robot for Compliant Manipulation on Dynamical Environments

  Z.W. Luo, H. Takahashi, K. Ito, A. Kato, M. Ito

  Lead, 1992, Proc. of SICE'92, Int. session, 991 - 994

  [Refereed]

  International conference proceedings


• 接触作業ロボットのロバスト制御

  羅志偉, 伊藤正美

  Lead, 1991, 第20回制御理論シンポジウム

  Symposium


• Control Design of Robot for Compliant Manipulation on Dynamic Environment

  Z.W. Luo, M. Ito

  Lead, IEEE Computer Society, 1991, Proc. of IEEE Int. Conf. on Robotics & Automation（ICRA), 42 - 47

  [Refereed]

  International conference proceedings


• A Bilinear Model for Joint Impedance Control in Contact Tasks

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

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

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

  [Refereed]


• On Adaptation of Robot to Dynamic Environment in Compliant Manipulation

  Luo Zhi-wei, KATO Atsuo, ITO Masami

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

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

  [Refereed]


• Hierarchical Control of Multi-Degree of Freedom Manipulators for Compliant Manipulation.

  LUO Zhi-wei, TAKAHASHI Hideki, ITO Masami

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

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

  [Refereed]


• 多自由度マニピュレータのコンプライアントマニピュレーション

  羅志偉, 高橋秀樹, 伊藤正美

  Lead, 1990, 第8回日本ロボット学会学術講演会

  Symposium


• 関節インピーダンス調節の双線形モデル

  羅志偉, 伊藤正美, 加藤厚生

  Lead, 1990, 第8回日本ロボット学会学術講演会

  Symposium


• ロボットのコンプライアントマニピュレーション

  羅志偉, 伊藤正美

  Lead, 1990, 日本機械学会ロボティックス・メカトロニクス講演会

  Symposium


• 動的作業環境に対するロボットの適応制御について

  羅志偉, 伊藤正美

  Lead, 1990, 第19回制御理論シンポジウム

  Symposium


• On Control Design for Robot Compliant Manipulation

  LUO Zhi-wei, ITO Masami

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

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

  [Refereed]


• コンプライアントマニピュレーションのためのロボットの適応制御

  羅志偉, 大滝和宏, 伊藤正美, 加藤厚生

  Lead, 1989, 第７回日本ロボット学会学術講演会

  Symposium


• 接触作業ロボットの制御設計方針について

  羅志偉, 伊藤正美

  Lead, 1989, 第７回日本ロボット学会学術講演会

  Symposium


• ロボットの接触作業の制御について

  羅志偉, 伊藤正美

  Lead, 1989, 第2回ロボットシステム技術研究会資料

  Symposium


• コンプライアントマニピュレーションのためのロボットインピーダンスの設計

  羅志偉, 伊藤正美

  1989, SICE89

  Symposium


• ロボットの接触作業に関する制御理論

  羅志偉, 伊藤正美

  Lead, 1989, 第18回制御理論シンポジウム

  Symposium


• On Impedance Adjustment in Compliant Motion Control

  M. Ito, Z.W. Luo

  1989, Proc. of The 1st China-Japan Joint Symposium on Systems, Control Theory and its Application, 1989.

  [Refereed]

  International conference proceedings


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

  Luo Zhiwei, Kato Atsuo

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

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

  [Refereed]

  Research institution


• 一般化インピーダンス制御

  羅志偉, 伊藤正美, 細江繁幸

  Lead, 1988, 第11回Dynamical System Theory シンポジウム

  Symposium


• ロボットの一般化インピーダンス制御について

  羅志偉, 伊藤正美

  Lead, 1988, 第６回日本ロボット学会学術講演会

  Symposium


• 可変粘弾性アクチュエータの研究

  加藤厚生, 伊藤正美, 羅志偉

  1988, 第32回システムと制御研究発表講演会

  Symposium


• Bilinear model of the musculoskeletal system and visco-elastic characteristics of a pneumatic type rubber artificial muscle.

  加藤厚生, 伊藤宏司, 伊藤正美, 羅志偉

  1988, 電気学会システム・制御研究会資料, SC-88(1-10) (1-10)

  Symposium


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

  加藤 厚生, 羅 志偉

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

  [Refereed]

  Scientific journal


• 筋骨格系の双線形モデルとゴム人工筋の粘弾性特性

  加藤厚生, 伊藤宏司, 伊藤正美, 羅志偉, 伊藤晋彦, 国枝和彦, 近藤隆, 原田幸英

  1987, 第5回日本ロボット学会学術講演会, 657 - 658

  Symposium


• Z08用トークンリングLANのシステムプログラム

  加藤厚生, 石井宏之, 小林寿史, 長尾康, 藤田卓英, 丸茂等, 董屏 羅志偉

  1987, 第3回ソフトウェアコンファレンス

  Symposium


• Measurement of Stride During Human Walking

  A. Kato, Z.W. Luo

  1987, Proc. of 26th SICE Annual Conf., Int. Session, 1987., 1105 - 1108

  [Refereed]

  International conference proceedings


• A consideration and development of LAN to construct for CAI.

  加藤厚生, 青木徹彦, 羅志偉

  1987, 電子情報通信学会技術研究報告, 87(79) (79)


• HDLC手順によるトークンリング方式LANの開発

  加藤厚生, 青木徹彦, 董 屏, 羅 志偉

  1987, 愛知工業大学研究報告, 22, 19 - 25

  [Refereed]

  Research institution