2022/06/27 更新

写真a

スガノ シゲキ
菅野 重樹
所属
理工学術院 創造理工学部
職名
教授

兼担

  • 附属機関・学校   グローバルエデュケーションセンター

  • 理工学術院   大学院創造理工学研究科

学内研究所等

  • 2021年
    -
    2022年

    データ科学センター   兼任センター員

  • 2020年
    -
    2022年

    理工学術院総合研究所   兼任研究員

  • 1989年
    -
     

    人間総合研究センター   兼任研究員

学歴

  • 1983年04月
    -
    1986年03月

    早稲田大学 大学院   理工学研究科 博士後期課程   機械工学専攻 単位取得退学  

  • 1981年04月
    -
    1983年03月

    早稲田大学 大学院   理工学研究科 修士課程   機械工学専攻  

  • 1977年04月
    -
    1981年03月

    早稲田大学   理工学部   機械工学科  

学位

  • 早稲田大学   工学博士

所属学協会

  •  
     
     

    IEEE Robotics & Automation Soceity

  •  
     
     

    人体科学会

  •  
     
     

    精密工学会

  •  
     
     

    日本人間工学会

  •  
     
     

    ヒューマンインタフェース学会

  •  
     
     

    バイオメカニズム学会

  •  
     
     

    計測自動制御学会

  •  
     
     

    日本機械学会

  •  
     
     

    日本ロボット学会

▼全件表示

 

研究分野

  • 機械力学、メカトロニクス

  • ロボティクス、知能機械システム

  • 知能ロボティクス

研究キーワード

  • 機械知能

論文

  • A situational understanding enhancer based on augmented visual prompts for teleoperation using a multi-monitor system

    Mitsuhiro Kamezaki, Junjie Yang, Ryuya Sato, Hiroyasu Iwata, Shigeki Sugano

    AUTOMATION IN CONSTRUCTION   131  2021年11月

    DOI

  • EPM-MRE: Electropermanent Magnet-Magnetorheological Elastomer for Soft Actuation System and Its Application to Robotic Grasping

    Peizhi Zhang, Mitsuhiro Kamezaki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

    IEEE ROBOTICS AND AUTOMATION LETTERS   6 ( 4 ) 8181 - 8188  2021年10月

     概要を見る

    Conventional soft robotic grippers have been developed based on soft pneumatic actuators or using smart soft materials, but they need external pressure sources, are easily deteriorated or used in millimetric-scale, which leads to increase of the independency, instability, and vulnerability. In this study, we propose an EPM-MRE (Electropermanent Magnet-Magnetorheological elastomer) actuation system, which strengthens the independency and stability of soft actuation by non-contact magnetic force. We established its fundamental principle and investigated parameter design through developing a suction cup as a robotic gripper. We prototyped an EPM-MRE actuated suction cup based on magnetic-charge and tensile modeling as well as optimized the structure of EPM by introducing axisymmetric EPM with frustum pole and suction cup by introducing bi-silicone structure to uniformly activate MRE membrane. The activation of EPM by different current pulses and suction force affected by contact shapes and air gaps were tested. Evaluations showed that the suction cup could be activated with 10 ms and generate a maximum suction force of 9.2 N at a steady state with 0 J energy consumption. In conclusion, the EPM-MRE soft actuation system can be used as a robotic gripper.

    DOI

  • Tool-Use Model to Reproduce the Goal Situations Considering Relationship Among Tools, Objects, Actions and Effects Using Multimodal Deep Neural Networks

    Namiko Saito, Tetsuya Ogata, Hiroki Mori, Shingo Murata, Shigeki Sugano

    Frontiers in Robotics and AI   8  2021年09月

     概要を見る

    We propose a tool-use model that enables a robot to act toward a provided goal. It is important to consider features of the four factors; tools, objects actions, and effects at the same time because they are related to each other and one factor can influence the others. The tool-use model is constructed with deep neural networks (DNNs) using multimodal sensorimotor data; image, force, and joint angle information. To allow the robot to learn tool-use, we collect training data by controlling the robot to perform various object operations using several tools with multiple actions that leads different effects. Then the tool-use model is thereby trained and learns sensorimotor coordination and acquires relationships among tools, objects, actions and effects in its latent space. We can give the robot a task goal by providing an image showing the target placement and orientation of the object. Using the goal image with the tool-use model, the robot detects the features of tools and objects, and determines how to act to reproduce the target effects automatically. Then the robot generates actions adjusting to the real time situations even though the tools and objects are unknown and more complicated than trained ones.

    DOI

  • Development of a Situational Awareness Estimation Model Considering Traffic Environment for Unscheduled Takeover Situations

    Hiroaki Hayashi, Naoki Oka, Mitsuhiro Kamezaki, Shigeki Sugano

    INTERNATIONAL JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS RESEARCH   19 ( 1 ) 167 - 181  2021年04月

     概要を見る

    In semi-autonomous vehicles (SAE level 3) that requires drivers to takeover (TO) the control in critical situations, a system needs to judge if the driver have enough situational awareness (SA) for manual driving. We previously developed a SA estimation system that only used driver's glance data. For deeper understanding of driver's SA, the system needs to evaluate the relevancy between driver's glance and surrounding vehicle and obstacles. In this study, we thus developed a new SA estimation model considering driving-relevant objects and investigated the relationship between parameters. We performed TO experiments in a driving simulator to observe driver's behavior in different position of surrounding vehicles and TO performance such as the smoothness of steering control. We adopted support vector machine to classify obtained dataset into safe and dangerous TO, and the result showed 83% accuracy in leave-one-out cross validation. We found that unscheduled TO led to maneuver error and glance behavior differed from individuals.

    DOI

  • Repeated exposure to tripping like perturbations elicits more precise control and lower toe clearance of the swinging foot during steady walking

    Tamon Miyake, Federica Aprigliano, Shigeki Sugano, Silvestro Micera, Vito Monaco

    Human Movement Science   76  2021年04月

     概要を見る

    Controlling minimum toe clearance (MTC) is considered an important factor in preventing tripping. In the current study, we investigated modifications of neuro-muscular control underlying toe clearance during steady locomotion induced by repeated exposure to tripping-like perturbations of the right swing foot. Fourteen healthy young adults (mean age 26.4 ± 3.1 years) participated in the study. The experimental protocol consisted of three identical trials, each involving three phases: steady walking (baseline), perturbation, and steady walking (post-perturbation). During the perturbation, participants experienced 30 tripping-like perturbations at unexpected timing delivered by a custom-made mechatronic perturbation device. The temporal parameters (cadence and stance phase ), mean, and standard deviation of MTC were computed across approximately 90 strides collected during both baseline and post-perturbation phases, for all trials. The effects of trial (three levels), phase (two levels: baseline and post-perturbation) and foot (two levels: right and left) on the outcome variables were analyzed using a three-way repeated measures analysis of variance. The results revealed that exposure to repeated trip-like perturbations modified MTC toward more precise control and lower toe clearance of the swinging foot, which appeared to reflect both the expectation of potential forthcoming perturbations and a quicker compensatory response in cases of a lack of balance. Moreover, locomotion control enabled subjects to maintain symmetric rhythmic features during post-perturbation steady walking. Finally, the effects of exposure to perturbation quickly disappeared among consecutive trials. %

    DOI PubMed

  • Repeated exposure to tripping like perturbations elicits more precise control and lower toe clearance of the swinging foot during steady walking

    Tamon Miyake, Federica Aprigliano, Shigeki Sugano, Silvestro Micera, Vito Monaco

    HUMAN MOVEMENT SCIENCE   76  2021年04月

     概要を見る

    Controlling minimum toe clearance (MTC) is considered an important factor in preventing tripping. In the current study, we investigated modifications of neuro-muscular control underlying toe clearance during steady locomotion induced by repeated exposure to tripping-like perturbations of the right swing foot. Fourteen healthy young adults (mean age 26.4 +/- 3.1 years) participated in the study. The experimental protocol consisted of three identical trials, each involving three phases: steady walking (baseline), perturbation, and steady walking (post perturbation). During the perturbation, participants experienced 30 tripping-like perturbations at unexpected timing delivered by a custom-made mechatronic perturbation device. The temporal parameters (cadence and stance phase%), mean, and standard deviation of MTC were computed across approximately 90 strides collected during both baseline and post-perturbation phases, for all trials. The effects of trial (three levels), phase (two levels: baseline and post-perturbation) and foot (two levels: right and left) on the outcome variables were analyzed using a three-way repeated measures analysis of variance. The results revealed that exposure to repeated trip-like perturbations modified MTC toward more precise control and lower toe clearance of the swinging foot, which appeared to reflect both the expectation of potential forthcoming perturbations and a quicker compensatory response in cases of a lack of balance. Moreover, locomotion control enabled subjects to maintain symmetric rhythmic features during post-perturbation steady walking. Finally, the effects of exposure to perturbation quickly disappeared among consecutive trials.

    DOI

  • Gait phase detection based on muscle deformation with static standing-based calibration

    Tamon Miyake, Shintaro Yamamoto, Satoshi Hosono, Satoshi Funabashi, Zhengxue Cheng, Cheng Zhang, Emi Tamaki, Shigeki Sugano

    Sensors (Switzerland)   21 ( 4 ) 1 - 16  2021年02月

     概要を見る

    Gait phase detection, which detects foot-contact and foot-off states during walking, is important for various applications, such as synchronous robotic assistance and health monitoring. Gait phase detection systems have been proposed with various wearable devices, sensing inertial, electromyography, or force myography information. In this paper, we present a novel gait phase detection system with static standing-based calibration using muscle deformation information. The gait phase detection algorithm can be calibrated within a short time using muscle deformation data by standing in several postures; it is not necessary to collect data while walking for calibration. A logistic regression algorithm is used as the machine learning algorithm, and the probability output is adjusted based on the angular velocity of the sensor. An experiment is performed with 10 subjects, and the detection accuracy of foot-contact and foot-off states is evaluated using video data for each subject. The median accuracy is approximately 90% during walking based on calibration for 60 s, which shows the feasibility of the static standing-based calibration method using muscle deformation information for foot-contact and foot-off state detection.

    DOI PubMed

  • Gait Phase Detection Based on Muscle Deformation with Static Standing-Based Calibration

    Tamon Miyake, Shintaro Yamamoto, Satoshi Hosono, Satoshi Funabashi, Zhengxue Cheng, Cheng Zhang, Emi Tamaki, Shigeki Sugano

    SENSORS   21 ( 4 )  2021年02月

     概要を見る

    Gait phase detection, which detects foot-contact and foot-off states during walking, is important for various applications, such as synchronous robotic assistance and health monitoring. Gait phase detection systems have been proposed with various wearable devices, sensing inertial, electromyography, or force myography information. In this paper, we present a novel gait phase detection system with static standing-based calibration using muscle deformation information. The gait phase detection algorithm can be calibrated within a short time using muscle deformation data by standing in several postures; it is not necessary to collect data while walking for calibration. A logistic regression algorithm is used as the machine learning algorithm, and the probability output is adjusted based on the angular velocity of the sensor. An experiment is performed with 10 subjects, and the detection accuracy of foot-contact and foot-off states is evaluated using video data for each subject. The median accuracy is approximately 90% during walking based on calibration for 60 s, which shows the feasibility of the static standing-based calibration method using muscle deformation information for foot-contact and foot-off state detection.

    DOI

  • Investigation on image signal receiving performance of photodiodes and solar panel detectors in an underground facility visible light communication system.

    Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Optics express   29 ( 2 ) 692 - 705  2021年01月  [国際誌]

     概要を見る

    For the safety, underground facilities are required to be inspected regularly, especially with image analysis. Traditional wireless and wired transmission techniques have a weakness of limited transmission range in narrow underground environments. In this study, a new image transmission method based on visible light communication (VLC) has been thus proposed. Two types of detectors as an image signal receiver have been tested and discussed in the following experiments. The photodiodes (PDs) are widely used as a common image signal detector in VLC technology, but image signal detection using solar panels (SPs) has not been studied. PDs have a higher sensitivity and faster response time but a limited detection area and high cost. Besides, PDs require the lens to focus light. On the other hand, SPs have much larger optical signal receiving areas and stronger optical signal capture capabilities. They can realize lens-free detection and are inexpensive. These features of PD were firstly verified in experiments with several receiving areas and angles of detectors. The experimental result revealed that PD had better image detection and recovery capabilities than those of SP. Then, we found that a larger receiving area obtained by using double PDs/SPs improved the brightness of the restored image. In a supplementary experiment, the influence of different RGB optical components on VLC, especially the VLC-based image transmission, has been investigated by using two-dimensional Fourier transform frequency analysis. We found that the red optical component significantly increased the intensity and energy of the restored image as the image low-frequency signals were larger than the restored image using ordinary mixed white light, and moreover, the blue optical component decreased the low-frequency part of the image.

    DOI PubMed

  • Investigation of Relationship between Multi-Point Mechanical Stimuli on Shoulder and Overall Pain on Backpack Wearers

    Nenta Wako, Tamon Miyake, Shigeki Sugano

    2021 IEEE/SICE International Symposium on System Integration, SII 2021     363 - 368  2021年01月

     概要を見る

    With the increasing use of backpacks on a daily basis, appropriate assessment of shoulder load, which has adverse effects on the body, has become more important. We focused on nociceptive pain, which is a physiological warning signal, and performed a subjective evaluation of loading conditions. In this study, we investigated the relationship between multi-point mechanical stimuli set at38 measuring points on the shoulder, and overall pain. In the experiment, eight subjects rated their pain levels at 24 loading conditions (combinations of 3 weight, 2 weight-distance, 2 weight-height, and 2 padding conditions) using a pain scale. In the statistical analysis, the overall pain intensities at different loading conditions were compared through ANOVA, and weight and distance from body were confirmed as main contributing factors. In the regression analysis, four different models were used to fit the overall data. A generalized linear model (GLM) with polynomial sigmoid function resulted in the best fit. GLM fitting was also performed on the data after these have been divided into 8 groups based on combinations of distance-height-padding. The independent variables, the selected combinations of loads at the measuring points, differed depending on the loading conditions. For more accurate regression, loads that contribute to the determination of overall pain intensity should be appropriately selected according to the loading conditions. These results can be used to comprehensively evaluate backpack design based on shoulder pain.

    DOI

  • Extraction of Shoulder Parts to Avoid Heavy Load Based on Pain while Walking with Backpack

    Nenta Wako, Tamon Miyake, Shigeki Sugano

    2021 IEEE/SICE International Symposium on System Integration, SII 2021     357 - 362  2021年01月

     概要を見る

    When using a backpack, proper shoulder load reduction is required. We focused on pain (nociceptive pain), which is a warning signal to protect the human body, and we aimed to extract the shoulder parts to avoid heavy loads while walking with a backpack. We set 19 measuring points on each shoulder and 12 measuring points on the lower back. Using three-axis tactile sensors, we then recorded the interface load on the shoulders and lower back under two back panel conditions: general flat panel and panel with lumbar pad. With 180 data for mean load and 150 data for peak load on each measuring point, we confirmed the load distribution and load shift effects using a lumbar pad by comparing the shoulder load and the lower back load. Then, the shoulder load data was normalized by the pain threshold for a single-point pressure stimulus at each measuring point of the subject. The pain threshold was estimated by an approximate expression with a sigmoid function for pain scores, which were collected by subjective evaluation with a pain scale. In statistical analysis, through multiple comparisons (Steel-Dwass test) for the mean values of the normalized shoulder load on each measuring point and its mean value of the entire shoulder, we extracted seven potential high-risk points (coracoid process, medial and lateral part of the clavicle regions, medial and lateral part of the ridgeline of the shoulder, and supraspinatus). Moreover, we observed that high-risk loads remained locally behind a significant reduction of the entire shoulder load with a lumbar pad. These results can be used to improve backpack design for proper loads on the shoulder.

    DOI

  • Feasibility Evaluation of Mixed Reality Obstacles on Treadmill using HoloLens to Elicit Real Obstacle Negotiation

    Tamon Miyake, Mohammed Al-Sada, Tingting Zhong, Wei Wang, Shigeki Sugano

    2021 IEEE/SICE International Symposium on System Integration, SII 2021     756 - 761  2021年01月

     概要を見る

    An ability of visually-guided and anticipatory adjustments of locomotion corresponding to upcoming obstacles is important to avoid trip-induced fall. For establishing gait training based on visually-guided and anticipatory adjustments, techniques reproducing realistic training environment are essential. Although some previous works proposed virtual obstacles using mixed reality, the feasibility of virtual obstacles encouraging people to perform realistic obstacle negotiation on a treadmill, where gait training is usually conducted, is still unclear. In this study, we investigated toe heights when stepping over the obstacle in both cases of virtual and real obstacles during walking on the treadmill. Five participants stepped over two types of mixed reality boxes and real boxes, with box placements close and distant from them. The results generally indicate that the toe heights of the leading foot tended to be similar between mixed reality and real obstacles in cases where the obstacle was located distant from participants, a condition that enabled participants to predict when obstacles approached. However, the toe heights of the trailing foot tended to be lower when stepping over the MR obstacles than the real obstacles. We discuss the feasibility and shortcomings of the future use of MR HMDs as replacement for traditional gait training setup.

    DOI

  • Toward Health-Related Accident Prevention: Symptom Detection and Intervention Based on Driver Monitoring and Verbal Interaction

    Hiroaki Hayashi, Mitsuhiro Kamezaki, Shigeki Sugano

    IEEE OPEN JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS   2   240 - 253  2021年

     概要を見る

    Professional drivers are required to safely transport passengers and/or properties of customers to their destinations, so they must keep being mentally and physically healthy. Health problems will largely affect driving performance and sometimes cause loss of consciousness, which results in injury, death, and heavy compensation. Conventional systems can detect the loss of consciousness or urgently stop the vehicle to prevent accidents, but detection of symptoms of diseases and providing support before the driver loses consciousness is more reasonable. It is challenging to earlier detect symptoms with high confidence. Toward solving these problems, we propose a new method with a multi-sensor based driver monitoring system to detect cues of symptoms quickly and a verbal interaction system to confirm the internal state of the driver based on the monitoring results to reduce false positives. There is almost no data that records abnormal conditions while driving and tests with unhealthy participants are dangerous and ethically unacceptable, so we developed a system with pseudo-symptom data and did outlier detection only with normal driving data. From data collection experiments, we defined the confidence level derived from cue signs. The results of evaluation experiments showed that the proposed system worked well in pseudo headache and drowsiness detection scenarios. We found that signs of drowsiness varied with individual drivers, so the multi-sensor based driver monitoring system was proved to be effective. Moreover, we found that there were individual differences in how the cue signs appeared, so we can propose an online re-training method to make the system adapt to individual drivers.

    DOI

  • Investigation on image signal receiving performance of photodiodes and solar panel detectors in an underground facility visible light communication system

    Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    OPTICS EXPRESS   29 ( 2 ) 692 - 705  2021年01月

     概要を見る

    For the safety, underground facilities are required to be inspected regularly, especially with image analysis. Traditional wireless and wired transmission techniques have a weakness of limited transmission range in narrow underground environments. In this study, a new image transmission method based on visible light communication (VLC) has been thus proposed. Two types of detectors as an image signal receiver have been tested and discussed in the following experiments. The photodiodes (PDs) are widely used as a common image signal detector in VLC technology, but image signal detection using solar panels (SPs) has not been studied. PDs have a higher sensitivity and faster response time but a limited detection area and high cost. Besides, PDs require the lens to focus light. On the other hand, SPs have much larger optical signal receiving areas and stronger optical signal capture capabilities. They can realize lens-free detection and are inexpensive. These features of PD were firstly verified in experiments with several receiving areas and angles of detectors. The experimental result revealed that PD had better image detection and recovery capabilities than those of SP. Then, we tbund that a larger receiving area obtained by using double PDs/SPs improved the brightness of the restored image. In a supplementary experiment, the influence of different RGB optical components on VLC, especially the VLC-based image transmission, has been investigated by using two-dimensional Fourier transform frequency analysis. We found that the red optical component significantly increased the intensity and energy of the restored image as the image low-frequency signals were larger than the restored image using ordinary mixed white light, and moreover, the blue optical component decreased the low-frequency part of the image. (C) 2021 Optical Society of America under the terms of the OSA Open Access Publishing Agreement

    DOI

  • EPM-MRE: Electropermanent Magnet-Magnetorheological Elastomer for Soft Actuation System and Its Application to Robotic Grasping.

    Peizhi Zhang, Mitsuhiro Kamezaki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

    IEEE Robotics Autom. Lett.   6 ( 4 ) 8181 - 8188  2021年

    DOI

  • Development of a Situational Awareness Estimation Model Considering Traffic Environment for Unscheduled Takeover Situations.

    Hiroaki Hayashi, Naoki Oka, Mitsuhiro Kamezaki, Shigeki Sugano

    Int. J. Intell. Transp. Syst. Res.   19 ( 1 ) 167 - 181  2021年

    DOI

  • How to select and use tools : Active Perception of Target Objects Using Multimodal Deep Learning

    Namiko Saito, Tetsuya Ogata, Satoshi Funabashi, Hiroki Mori, Shigeki Sugano

    IEEE Robotics and Automation Letters     1 - 1  2021年

    DOI

  • Environmental camera placements for skilled operators in unmanned construction

    Ryuya Sato, Mitsuhiro Kamezaki, Mitsuru Yamada, Takeshi Hashimoto, Shigeki Sugano, Hiroyasu Iwata

    AUTOMATION IN CONSTRUCTION   119  2020年11月

     概要を見る

    Work efficiency of unmanned construction is 40% lower than that of on-board operation because of lack of visual information. Despite previous researches to acquire external views using drones and image processing, finding out optimum and allowable camera placements on actual construction machinery for chosen scenario and machine has been difficult. This work therefore documents the derivation of optimum and allowable camera placements with skilled subjects and using an actual construction machinery for digging and releasing tasks. The experimental results indicate an optimum pan angle of 90 degrees, allowable pan angles of 60 degrees-90 degrees and allowable tilt angles of > 45 degrees during digging, and allowable pan angles of 45 degrees-135 degrees, an optimum tilt angle of 90 degrees, and al-lowable tilt angles of 60 degrees-90 degrees during releasing. These results can be referred to the camera placements for unmanned construction sites to improve work efficiency. We will derive the camera placements for other scenarios.

    DOI

  • Characterization of shoulder load for backpack shoulder strap design based on the relationship between interface pressure and shoulder pain

    Nenta Wako, Tamon Miyake, Shigeki Sugano

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics   2020-November   30 - 35  2020年11月

     概要を見る

    With the increasing use of backpacks in recent years, proper reduction of shoulder load has become essential. We focused on nociceptive pain, which is a physiological warning signal, and performed subjective evaluation as an index to determine appropriate loading. In this paper, we investigated the relationship between a single-point pressure stimulus on the shoulder and pain and characterized pain sensitivity for each region of the shoulder. In the experiment, seven subjects rated their pain level upon stimulation using a pain scale. In data analysis, the rating scores were revised to an equivalence scale, and the relation between the pain score and stimulus intensity was approximated by a sigmoid function. Moreover, pain thresholds were estimated by approximate expression and classified into four sensitivity levels after normalizing. Combining the measurement points, we proposed characterization mapping of pain sensitivity and showed the pain sensitivity level at each measurement point. The results of pain rating for the strongest stimulus in the experiment, characterization mapping, and the results of pain sensitivity at each measurement point were anatomically matched. As such, we clarified the shoulder regions that can actively support load and those that should avoid loading. These results can be used to evaluate and improve backpack strap design.

    DOI

  • A Study on the Elongation Behaviour of Synthetic Fibre Ropes under Cyclic Loading

    Deoraj Asane, Alexander Schmitz, Yushi Wang, Shigeki Sugano

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)    2020年10月

    DOI

  • Gait training robot with intermittent force application based on prediction of minimum toe clearance

    Tamon Miyake, Masakatsu G. Fujie, Shigeki Sugano

    IEEE International Conference on Intelligent Robots and Systems     3416 - 3422  2020年10月

     概要を見る

    Adaptive assistance of gait training robots has been determined to improve gait performance through motion assistance. An important control role during walking is to avoid tripping by controlling minimum toe clearance (MTC), which is an indicator of tripping risk, to avoid its decrease among gait cycles. No conventional gait training robots can adjust assistance timing based on MTC. In this paper, we propose a system that applies force intermittently based on the MTC prediction algorithm to encourage people to avoid lowering the MTC. This prediction algorithm is based on a radial basis function network, the input data of which include the angles, angular velocities, and angular accelerations of the hip, knee, and ankle joints in the sagittal and coronal planes at toe-off. The cable-driven system that can switch between assistance and non-assistance modes applies force when the predicted MTC is lower than the mean value. Nine participants were asked to walk on a treadmill, and we tested the effect of the system. The MTC data before, during, and after the assistance phase were analyzed for 120 s. The results showed that the minimum and first quartile values of MTC could be increased after the assistance phase.

    DOI

  • Programming Stepwise Motility into a Sheet of Paper Using Inkjet Printing

    Hiroki Shigemune, Shingo Maeda, Eiji Iwase, Shuji Hashimoto, Shigeki Sugano, Hideyuki Sawada

    Advanced Intelligent Systems     2000153 - 2000153  2020年10月

    DOI

  • End-to-End Tactile Feedback Loop: From Soft Sensor Skin Over Deep GRU-Autoencoders to Tactile Stimulation

    Andreas Geier, Rawleigh Tucker, Sophon Somlor, Hideyuki Sawada, Shigeki Sugano

    IEEE Robotics and Automation Letters   5 ( 4 ) 6467 - 6474  2020年10月

    DOI

  • Gait event detection based on inter-joint coordination using only angular information

    Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

    Advanced Robotics   34 ( 18 ) 1190 - 1200  2020年09月

     概要を見る

    The detection of gait events with wearable sensors is necessary for a robotic system interacting with walking people. Conventional gait phase detection methods are based on machine learning. However, this method cannot detect a gait event every gait cycle because it is difficult to extract characteristic points. Additionally, using only angular information for detection is beneficial because angular information is needed for the control and evaluation of the robots. This paper proposes a novel algorithm for the detection of heel contact and toe-off using the inter-joint coordination of the hip, knee, and ankle joints that has a lower-dimensional structure. The proposed algorithm derives the four planes in the angular space and finds the switching points of the planes. Seven participants walked on force plates that measured the force of the foot against the floor. The error was less than 0.035 s when the gait events were detected after calculating planes using the first gait datum. The change in the patterns of the inter-joint coordination reflected the change in gait phases. Although the data were calculated offline, the results show that the heel contact and toe-off could be detected as soon as the angles were sensed once the planes were derived.

    DOI

  • Gait event detection based on inter-joint coordination using only angular information

    Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

    ADVANCED ROBOTICS   34 ( 18 ) 1190 - 1200  2020年09月

     概要を見る

    The detection of gait events with wearable sensors is necessary for a robotic system interacting with walking people. Conventional gait phase detection methods are based on machine learning. However, this method cannot detect a gait event every gait cycle because it is difficult to extract characteristic points. Additionally, using only angular information for detection is beneficial because angular information is needed for the control and evaluation of the robots. This paper proposes a novel algorithm for the detection of heel contact and toe-off using the inter-joint coordination of the hip, knee, and ankle joints that has a lower-dimensional structure. The proposed algorithm derives the four planes in the angular space and finds the switching points of the planes. Seven participants walked on force plates that measured the force of the foot against the floor. The error was less than 0.035 s when the gait events were detected after calculating planes using the first gait datum. The change in the patterns of the inter-joint coordination reflected the change in gait phases. Although the data were calculated offline, the results show that the heel contact and toe-off could be detected as soon as the angles were sensed once the planes were derived.

    DOI

  • A Basic Framework of View Systems Allowing Teleoperators to Pre-Acquire Spatial Knowledge from Survey and Route Perspectives

    Ryuya Sato, Mitsuhiro Kamezaki, Shigeki Sugano, Hiroyasu Iwata

    PRESENCE-VIRTUAL AND AUGMENTED REALITY   27 ( 3 ) 309 - 332  2020年07月

     概要を見る

    One of the most important problems in teleoperation of heavy machinery is that the work efficiency of teleoperation is lower than half that of a typical boarding operation. This difference is primarily caused by operators' difficulty in creating mental representations (i.e., cognitive maps) of work sites. Operators have two opportunities to acquire information, namely before work and during work, because the introduction of teleoperation requires about one week. Therefore, we have developed a view system to be used before work to provide environmental information concerning work sites on the basis of human spatial cognition. Cognitive maps can be built by acquiring knowledge from two perspectives-the survey perspective and the route perspective. We display an external view from any viewpoint to acquire knowledge from a survey perspective and a view from an operator's viewpoint, which can be modified by the operator's intention to acquire knowledge from the route perspective. Experimental results using a simulator suggested that a proposed view system could help operators acquire cognitive maps, which may lead to a decrease in task time, the number of stops, and the moving distance and an increase in speed during grasping.

    DOI

  • Preliminary study of a separative shared control scheme focusing on control-authority and attention allocation for multi-limb disaster response robots

    Mitsuhiro Kamezaki, Takahiro Katano, Kui Chen, Tatsuzo Ishida, Shigeki Sugano

    ADVANCED ROBOTICS   34 ( 9 ) 575 - 591  2020年05月

     概要を見る

    We previously developed a four-arm, four-flipper disaster response robot called OCTOPUS to perform complex tasks at severe disaster sites. Its 22 degrees of freedom (DOF) enable advanced mobility and workability, but requires a minimum of two operators to control it. Considering the limitations of the current automated systems and the need to reduce human resources, it is practical to control OCTOPUS through a shared control. This entails a human-automation (HA) control system that independently allocates control authority between a human and automated system so as to simultaneously cover all DOF in what we call 'separative shared control'. To establish an HA control system, control authority allocation (CAA) must be carefully designed. We first performed experiments with a human-human (HH) control system using a VR simulator. We determined four tasks and five CAAs and then selected the optimum CAA by analyzing the results. We then developed an HA control system utilizing the selected CAA that replaces either human operator with a simple automated system. We compared the performance of the HH and HA control systems in the above four tasks using the VR simulator and found that the HA achieved less workload and higher subjective usability than the HH.

    DOI

  • 料理ロボットのための道具の選択・使用深層学習モデル – 道具と食材の配置に応じた料理のよそい動作の実現

    斎藤菜美子, 呉雨恒, 尾形哲也, 森裕紀, 王丹阳, 陽品駒, 菅野重樹

    情報処理学会第82回全国大会     5U-08  2020年03月

  • Autonomous Mobile Robot Moving Through Static Crowd: Arm with One DOF and Hand with Involute Shape to Maneuver Human Position

    Noriaki Imaoka, Kazuma Kitazawa, Mitsuhiro Kamezaki, Shigeki Sugano, Takeshi Ando

    Journal of Robotics and Mechatronics   32 ( 1 )  2020年02月  [査読有り]

  • Development of an Abnormal Sign Detection System based on Driver Monitoring and Voice Interaction for Preventing Medical-Condition-Caused Car Accidents

    Hiroaki Hayashi, Mitsuhiro Kamezaki, Naoki Oka, Shigeki Sugano

    2020 IEEE 23RD INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC)    2020年

     概要を見る

    The number of medical-condition-caused car accidents (MCCCAs) in transport industry (bus, truck, and taxi) recently increases. MCCCAs including cerebrovascular and cardiovascular disease lead to loss of consciousness, thus result in injury and loss of life, and heavy compensation payment. Toward this problem, conventional systems detect closing of eyes, and fallen down state as to prevent car collisions. However, the support is taken after driver losing consciousness. To prevent MCCCAs, it is important to find out abnormal signs before driver losing consciousness. It is challenging to detect abnormal signs not only early but also with high confidence level (CL). This paper proposes a novel method that multi-modally monitors driver to detect abnormal signs which can be cues for estimating a driving-disable state in future and performs voice interaction based on the result of monitoring to clarify the internal state of the driver. Considering no data of abnormal signs, this study developed the system using normal data and pseudo abnormal data, and method of outlier detection was used for abnormal signs detection. As results of experiment, we found the relationship between cue signs and CL, and the proposed system can detect 'sleepiness' state with accuracy of 80%. Voice interaction system did not increase driver's mental demand.

  • A Prototype Power Transmission System with Backdrivability and Responsiveness using Magnetorheological Fluid Direction Converter and Clutch

    Zhuoyi He, Mitsuhiro Kamezaki, Peizhi Zhang, Sahil Shembekar, Ryuichiro Tsunoda, Shigeki Sugano

    2020 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     3702 - 3707  2020年

     概要を見る

    Transmission systems that enable speed, torque, and direction conversion with high responsiveness and backdrivability are strongly required for higher performance robotic systems. Engagement states can be changed by clutches, but traditional clutches cannot change the direction and provide sufficient backdrivability. On the other hand, direction conversion can be realized by gear box such as bevel gears, but its backdrivability is poor. Thus, we newly develop a prototype transmission system with backdrivablity and responsiveness integrating clutch and direction converter using magnetorheological fluid (MRF). MRF is a functional fluid consisted of magnetic particles and carrier fluids which can change its viscosity rapidly and continuously according to the strength of magnetic field. MRF clutch consists of driving and driven shaft connected by vanes and coils for controlling MRF. MRF direction converter consists of bevel gears, brake, and MRF for reversing the output direction. In addition to traditional functions, such as speed and torque conversion, the proposed power transmission system provides five working modes: forward direction, reverse direction, and three kinds of free, according to states of the MRF clutch, MRF direction converter, and brake. Preliminary experiments revealed that the proposed transmission system could adequately realize implemented functions.

  • A Robust Driver's Gaze Zone Classification using a Single Camera for Self-occlusions and Non-aligned Head and Eyes Direction Driving Situations

    Catherine Lollett, Hiroaki Hayashi, Mitsuhiro Kamezaki, Shigeki Sugano

    2020 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     4302 - 4308  2020年

     概要を見る

    Distracted driving is one of the most common causes of traffic accidents around the world. Recognizing the driver's gaze direction during a maneuver could be an essential step for avoiding the matter mentioned above. Thus, we propose a gaze zone classification system that serves as a base of supporting systems for driver's situation awareness. However, the challenge is to estimate the driver's gaze inside not ideal scenarios, specifically in this work, scenarios where may occur self-occlusions or non-aligned head and eyes direction of the driver. Firstly, towards solving miss classifications during self-occlusions scenarios, we designed a novel protocol where a 3D full facial geometry reconstruction of the driver from a single 2D image is made using the state-of-the-art method PRNet. To solve the miss classification when the driver's head and eyes direction are not aligned, eyes and head information are extracted. After this, based on a mix of different data pre-processing and deep learning methods, we achieved a robust classifier in situations where self-occlusions or non-aligned head and eyes direction of the driver occur. Our results from the experiments explicitly measure and show that the proposed method can make an accurate classification for the two before-mentioned problems. Moreover, we demonstrate that our model generalizes new drivers while being a portable and extensible system, making it easy-adaptable for various automobiles.

  • Development of a Vacuum Suction Cup by Applying Magnetorheological Elastomers for Objects with Flat Surfaces

    Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

    2020 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     777 - 782  2020年

     概要を見る

    In this paper, we present a suction cup by applying magnetorheological elastomers (MREs) that can be used for the wall climbing robot and picking application. MRE is a smart material in which the ferromagnetic particles are dispersed in the elastomer. In conventional research, MREs are often used as a vibration absorber, since the physical or mechanical properties can be altered upon the application of a magnetic field. In this paper, we focus on the expansion of the use of MRE material. When the magnetic field is added, the MRE will be attracted to the magnetic generator due to the ferromagnetic particles inside. The basic mathematical model between magnetic force and elasticity is discussed by us, which supports the working principle of building MRE suction cup. The MRE suction cup contains a permanent magnetic field generator unit and a MRE membrane unit. A servo motor is used to control the ON/OFF of the magnetic generator, so that the MRE membrane can be activated and deactivated. In this prototype, we focus on picking objects with flat surfaces as the first attempt. The proposed suction cup can achieve appropriate suction force, low noise, energy-saving. In this paper, the operation method of MREs, the design of the suction cup, and the evaluation of the prototype are conducted.

  • An Experimental Analysis of Pipe Inspection using Solar Panel Receiver for Visible Light Communication and Energy Harvesting

    Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    2020 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     1848 - 1853  2020年

     概要を見る

    The maintenance of water pipelines is quite essential since the leakage, deformation, and damage can bring fatal problems to the stable supply and safe use of water resource. In our former study, the transmission approach of information (image, sensor data, etc.) from water pipe based on visible light relay communication technology has been proposed since the visible light has less signal attenuation, stronger anti-electromagnetic interference capability, and smaller bit error ratio (BER) than traditional wireless solutions in the water pipe. However, each inspection sensor in the pipe is still powered by the battery, and thus, the operation time of the sensor is severely restricted by the battery consumption. Solar panel has been introduced in the visible light communication (VLC) technology due to its large signal receiving area and higher efficiency than traditional photodiode (PD) receivers. In this study, the performance of the solar panel receiver for VLC and energy harvesting (EH) has been analyzed. Since the LED owns low irradiation energy for energy harvesting, the received power of solar panel is low. To solve these problems, a solution by using sunlight for EH and LED light for VLC was proposed. We performed several experiments to evaluate the energy harvesting based on current and voltage, and VLC quality based on waveform and BER. The results indicated that the hybrid transmission method could increase the receiving current of solar panel with less influence on the VLC quality.

  • A Robust Driver's Gaze Zone Classification using a Single Camera for Self-occlusions and Non-aligned Head and Eyes Direction Driving Situations.

    Catherine Lollett, Hiroaki Hayashi, Mitsuhiro Kamezaki, Shigeki Sugano

        4302 - 4308  2020年

    DOI

  • A Prototype Power Transmission System with Backdrivability and Responsiveness using Magnetorheological Fluid Direction Converter and Clutch.

    Zhuoyi He, Mitsuhiro Kamezaki, Peizhi Zhang, Sahil Shembekar, Ryuichiro Tsunoda, Shigeki Sugano

        3702 - 3707  2020年

    DOI

  • An Experimental Analysis of Pipe Inspection using Solar Panel Receiver for Visible Light Communication and Energy Harvesting.

    Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yama-guchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

        1848 - 1853  2020年

    DOI

  • Development of a Vacuum Suction Cup by Applying Magnetorheological Elastomers for Objects with Flat Surfaces.

    Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

        777 - 782  2020年

    DOI

  • A Basic Framework of View Systems Allowing Teleoperators to Pre-Acquire Spatial Knowledge from Survey and Route Perspectives.

    Ryuya Sato, Mitsuhiro Kamezaki, Shigeki Sugano, Hiroyasu Iwata

    Presence Teleoperators Virtual Environ.   27 ( 3 ) 309 - 332  2020年

    DOI

  • Preliminary study of a separative shared control scheme focusing on control-authority and attention allocation for multi-limb disaster response robots.

    Mitsuhiro Kamezaki, Takahiro Katano, Kui Chen, Tatsuzo Ishida, Shigeki Sugano

    Adv. Robotics   34 ( 9 ) 575 - 591  2020年

    DOI

  • Wiping 3D-objects using Deep Learning Model based on Image/Force/Joint Information.

    Namiko Saito, Danyang Wang, Tetsuya Ogata, Hiroki Mori, Shigeki Sugano

        10152 - 10157  2020年

    DOI

  • Variable In-Hand Manipulations for Tactile-Driven Robot Hand via CNN-LSTM.

    Satoshi Funabashi, Shun Ogasa, Tomoki Isobe, Tetsuya Ogata, Alexander Schmitz, Tito Pradhono Tomo, Shigeki Sugano

        9472 - 9479  2020年

    DOI

  • Stable In-Grasp Manipulation with a Low-Cost Robot Hand by Using 3-Axis Tactile Sensors with a CNN.

    Satoshi Funabashi, Tomoki Isobe, Shun Ogasa, Tetsuya Ogata, Alexander Schmitz, Tito Pradhono Tomo, Shigeki Sugano

        9166 - 9173  2020年

    DOI

  • Cognitive Untunneling Multi-View System for Teleoperators of Heavy Machines Based on Visual Momentum and Saliency

    Ryuya Sato, Mitsuhiro Kamezaki, Satoshi Niuchi, Shigeki Sugano, Hiroyasu Iwata

    Automation in Construction   110   1 - 9  2019年12月  [査読有り]

    DOI

  • Human-Centered Intervention Based on Tactical-Level Input in Unscheduled Takeover Scenarios for Highly-Automated Vehicles

    Mitsuhiro Kamezaki, Horyaki Hayashi, Udara Eshen Manawadu, Shigeki Sugano

    International Journal of Intelligent Transportatin Systems Research (IJIT)     1 - 10  2019年12月  [査読有り]

    DOI

  • A Visible Light Relay Image Transmission System for Water Pipe Inspection

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Proceeding of 1st Workshop on Optical Wireless Communication for Smart City     57 - 59  2019年12月  [査読有り]

  • Achieving Human–Robot Collaboration with Dynamic Goal Inference by Gradient Descent

    Shingo Murata, Wataru Masuda, Jiayi Chen, Hiroaki Arie, Tetsuya Ogata, Shigeki Sugano

    In Proceedings of the 26th International Conference on Neural Information Processing (ICONIP 2019)     579 - 590  2019年12月  [査読有り]

    DOI

  • Real-time Liquid Pouring Motion Generation: End-to-End Sensorimotor Coordination for Unknown Liquid Dynamics Trained with Deep Neural Networks

    Namiko Saito, Nguyen Ba Dai, Tetsuya Ogata, Hiroki Mori, Shigeki Sugano

    Proceeding of IEEE International Conference on Robotics and Biomimetics (Robio 2019)     1077 - 1082  2019年12月  [査読有り]

    DOI

  • Computational Design of Zero-Stiffness Mechanisms

    Takuto takahashi, Hiroshi G. Okuno, Takuto Takahashi, Shigeki Sugano, Stelian Coros, Bernhard Thomaszewski

    Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2019)    2019年11月  [査読有り]

  • A Preliminary Experimental Analysis of In-Pipe Image Transmission Based on Visible Light Relay Communication

    Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Sensors   19 ( 21 ) 1 - 20  2019年11月  [査読有り]

    DOI

  • Development of self-healing linear actuator unit using thermoplastic resin

    Shota Miyake, Shusnuke Nagahama, Shigeki Sugano

    Advanced Robotics   33 ( 23 ) 1235 - 1247  2019年11月  [査読有り]

  • Computational Design of Statically Balanced Planar Spring Mechanisms

    Takuto Takahashi, Jonas Zehnder, Hiroshi G. Okuno, Shigeki Sugano, Stelian Coros, Bernhard Thmaszewski

    IEEE Robotics and Automation Letters   4 ( 4 ) 4438 - 4444  2019年10月  [査読有り]

    DOI

  • 無人化施工における奥行感の把握が必要な手先作業時における外部カメラの最適・好適配置の実験的導出

    佐藤隆哉, 亀?允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

    第19回建設ロボットシンポジウム論文集(SCR2019)     1 - 6  2019年10月  [査読有り]

  • Prediction Algorithm of Parameters of Toe Clearance in the Swing Phase

    Tamon Miyake, Masakatsu G. Fujie, Shigeki Sugano

    APPLIED BIONICS AND BIOMECHANICS   2019  2019年08月

     概要を見る

    The adaptive control of gait training robots is aimed at improving the gait performance by assisting motion. In conventional robotics, it has not been possible to adjust the robotic parameters by predicting the toe motion, which is considered a tripping risk indicator. The prediction of toe clearance during walking can decrease the risk of tripping. In this paper, we propose a novel method of predicting toe clearance that uses a radial basis function network. The input data were the angles, angular velocities, and angular accelerations of the hip, knee, and ankle joints in the sagittal plane at the beginning of the swing phase. In the experiments, seven subjects walked on a treadmill for 360 s. The radial basis function network was trained with gait data ranging from 20 to 200 data points and tested with 100 data points. The root mean square error between the true and predicted values was 3.28 mm for the maximum toe clearance in the earlier swing phase and 2.30 mm for the minimum toe clearance in the later swing phase. Moreover, using gait data of other five subjects, the root mean square error between the true and predicted values was 4.04 mm for the maximum toe clearance and 2.88 mm for the minimum toe clearance when the walking velocity changed. This provided higher prediction accuracy compared with existing methods. The proposed algorithm used the information of joint movements at the start of the swing phase and could predict both the future maximum and minimum toe clearances within the same swing phase.

    DOI

  • Looking Back and Ahead: Adaptation and Planning by Gradient Descent

    Shingo Murata, Hiroki Sawa, Shigeki Sugano, Tetsuya Ogata

    In Proceedings of the Ninth Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob 2019)     151 - 156  2019年08月  [査読有り]

    DOI

  • 無人化施工の掘削・リリース作業における側面カメラの最適および好適配置の実験的導出

    佐藤隆哉, 亀?允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

    日本機械学会論文集   85 ( 876 ) 1 - 12  2019年08月  [査読有り]

    DOI

  • Development of Anti-Sedimentation Magnetorheological Fluids and Its Implementation to MRF Damper

    Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

    Proceedings of 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2019)     400 - 405  2019年07月  [査読有り]

  • A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-by Scenario

    Mitsuhiro Kamezaki, Ayano Kobayashi, Yuta Yokoyama, Hayato Yanagawa, Moondeep Shrestha, Shigeki Sugano

    International Journal of Social Robotics   1 ( 1 ) 1 - 22  2019年07月  [査読有り]

    DOI

  • Soft Magnetic Powdery Sensor for Tactile Sensing

    Shunsuke Nagahama, Kayo Migita, Shigeki Sugano

    Sensors   19 ( 12 ) E2677  2019年06月  [査読有り]

  • A Driver Situational Awareness Estimation System Based on Standard Glance Model for Unscheduled Takeover Situations

    Hiroaki Hayashi, Mitsuhiro Kamezaki, Udara E. Manawadu, Takahiro Kawano, Takaaki Ema, Tomoya Tomita, Lollett Catherine, Shigeki Sugano

    Proceedings of 2019 IEEE Intelligent Vehicles Symposium (IV 2019)     718 - 723  2019年06月  [査読有り]

  • A Coordinated Wheeled Gas Pipeline Robot Chain System Based on Visible Light Communication and Illuminace Assessment

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Sensors   19 ( 10 ) 1 - 20  2019年05月  [査読有り]

    DOI

  • A Life-linkage Services Platform Supporting Diverse Lifestyles based on Individual Demands

    Namiko Saito, Peizhi Zhang, Tamon Miyake, Shigeki Sugano, Kinji Mori

    Proceedings - 2019 IEEE 14th International Symposium on Autonomous Decentralized Systems, ISADS 2019    2019年04月

     概要を見る

    Although conventional service providers are independent from each other when attending most of the population, demanded services are changing along with the social structure. Especially in the case of Taiwan, the number of co-working families has been increasing, and self-employed households occupy a large proportion of all working forms. Due to their diverse lifestyles and work styles, services that are suitable for personal objectives and that optimize the use of time are required. To meet this demand, it is important to connect people and city facilities to make it easier to provide suitable services. Based on those backgrounds, an innovated personal service platform in Taiwan is proposed, focusing on three factors, including time, place and personal information to connect people and city service facilities. Among various kinds of services, we targets services purchased in cities such as sales, mobility services, health services, government services and so on. It aims to link these services flexibly and dynamically to achieve personal objectives according to each situation. And, it can provide suitable services for a variety of every-day living situations. With this system, people can increase satisfaction and free time, improving life quality while making the economy more dynamic.

    DOI

  • Development of Human-Like Driving Decision Making Model based on Human Brain Mechanism.

    Tsuyoshi Sakuma, Satoshi Miura, Tomoyuki Miyashita, Masakatsu G. Fujie, Shigeki Sugano

    IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, January 14-16, 2019     770 - 775  2019年04月  [査読有り]

    DOI

  • Development of Anti-Sedimentation Magnetorheological Fluids and Preliminary Evaluation

    Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

    Proceedings of 2019 IEEE-RAS International Conference on Soft Robotics (Robosoft2019),     1 - 2  2019年04月  [査読有り]

  • 重機の遠隔操作性向上のためのマルチカメラ最適配置に関する研究−第二報 掘削・配置作業におけるパン・チルト角が及ぼす作業効率への影響の実験的検証−

    佐藤隆哉, 亀?允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

    第24回ロボティクスシンポジア予稿集     1 - 6  2019年03月  [査読有り]

  • One-DOF Wire-Driven Robot Assisting Both Hip and Knee Flexion Motion

    Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

    JOURNAL OF ROBOTICS AND MECHATRONICS   31 ( 1 ) 135 - 142  2019年02月

     概要を見る

    Gait assistance robots are used to improve gait performance ability or perform gait motion with an assistance for several articular motions. The sparing use of a gait assistance robot to decrease the duration of the robot's assistance is important for keeping the ability to perform a movement when the robot assists walking. In previous research, methods of ensuring a compliance mechanism and control method have been studied, and assistance for articular motions has been conducted independently using actuators corresponding to each articular motion. In this paper, we propose a wire-driven gait assistance robot to aid both hip and knee articular flexion motions by applying just one force to assist motion in the swing phase. We focused on a force that assists hip and knee flexion motion, and designed a robot with a compensation mechanism for the wire length. We used an assistance timing detection method for the robot, conducting tensile force control based on information from the hip, knee, and ankle angles. We carried out an experiment to investigate the controlled performance of the proposed robot and the effect on hip and knee angular velocity. We confirmed that the proposed robotic system can aid both hip and knee articular motion with just one force application.

    DOI

  • Development of driving intention prediction system based on human cognitive mechanism

    Tsuyoshi Sakuma, Satoshi Miura, Tomoyuki Miyashita, Masakatsu G. Fujie, Shigeki Sugano

    2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018     573 - 578  2019年01月

     概要を見る

    © 2018 IEEE. The advance of driving assistance technologies such as Electronic Stability Control (ESC) or auto break system, drivers are released from complicated driving tasks. On the other hand, there is concern that it reduces pleasure feelings of a driver if these system's behaviors are different from the driver's intention. To avoid such problem, it is important to evaluate the driver's intention and decision-making process, and design the assistance system to fit it. Although methods such as sensory subjective evaluation are commonly used, the human cognitive mechanism design behind them is not yet fully understood. In this paper, we introduce a novel method for evaluating driver's decision-making process based on the numerical simulation of the driver's behavior. By using this method, the assistance system can substitute the driver appropriately and driver can accept the system's maneuver because which is same as the driver's intention. As an example of this method we evaluate the relationship between decision-making timing and estimation time length of the driver's model. One possible method to simulate the driver's decision-making is machine learning. Reinforcement learning has been studied for simulating the human's brain function to learn and decide as action and state model. We used machine learning to create the reinforcement learning driver model, and a simple vehicle simulation model which are combined as a human-vehicle model. We used the simple vehicle and driver model because the aim of this research is to investigate whether the driver's decision-making process can be simulated or not. Then the model is simulated to learn to drive on a highway with 3 lanes and other vehicles. The simulated driver made some single lane change to pass a slower vehicle in front or to go out from highway at an interchange. Results showed that the decision-making timing depend on the estimation time of the reinforcement learning model. We exposed that the model behaves similar to general driver's behavior when the estimation time was settled as 7sec which is derived from human brain's cognitive mechanism. In conclusion, our simulation model based on human cognitive mechanism can simulate the driver's lane change decision-making behavior adequately.

    DOI

  • One-DOF wire-driven robot assisting both hip and knee flexion motion

    Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

    Journal of Robotics and Mechatronics   31 ( 1 ) 135 - 142  2019年

     概要を見る

    Gait assistance robots are used to improve gait performance ability or perform gait motion with an assistance for several articular motions. The sparing use of a gait assistance robot to decrease the duration of the robot’s assistance is important for keeping the ability to perform a movement when the robot assists walking. In previous research, methods of ensuring a compliance mechanism and control method have been studied, and assistance for articular motions has been conducted independently using actuators corresponding to each articular motion. In this paper, we propose a wire-driven gait assistance robot to aid both hip and knee articular flexion motions by applying just one force to assist motion in the swing phase. We focused on a force that assists hip and knee flexion motion, and designed a robot with a compensation mechanism for the wire length. We used an assistance timing detection method for the robot, conducting tensile force control based on information from the hip, knee, and ankle angles. We carried out an experiment to investigate the controlled performance of the proposed robot and the effect on hip and knee angular velocity. We confirmed that the proposed robotic system can aid both hip and knee articular motion with just one force application.

    DOI

  • Prediction algorithm of parameters of toe clearance in the swing phase

    Tamon Miyake, Masakatsu G. Fujie, Shigeki Sugano

    Applied Bionics and Biomechanics   2019  2019年

     概要を見る

    The adaptive control of gait training robots is aimed at improving the gait performance by assisting motion. In conventional robotics, it has not been possible to adjust the robotic parameters by predicting the toe motion, which is considered a tripping risk indicator. The prediction of toe clearance during walking can decrease the risk of tripping. In this paper, we propose a novel method of predicting toe clearance that uses a radial basis function network. The input data were the angles, angular velocities, and angular accelerations of the hip, knee, and ankle joints in the sagittal plane at the beginning of the swing phase. In the experiments, seven subjects walked on a treadmill for 360 s. The radial basis function network was trained with gait data ranging from 20 to 200 data points and tested with 100 data points. The root mean square error between the true and predicted values was 3.28 mm for the maximum toe clearance in the earlier swing phase and 2.30 mm for the minimum toe clearance in the later swing phase. Moreover, using gait data of other five subjects, the root mean square error between the true and predicted values was 4.04 mm for the maximum toe clearance and 2.88 mm for the minimum toe clearance when the walking velocity changed. This provided higher prediction accuracy compared with existing methods. The proposed algorithm used the information of joint movements at the start of the swing phase and could predict both the future maximum and minimum toe clearances within the same swing phase.

    DOI

  • A Life-linkage Services Platform Supporting Diverse Lifestyles based on Individual Demands

    Namiko Saito, Peizhi Zhang, Tamon Miyake, Shigeki Sugano, Kinji Mori

    2019 IEEE 14TH INTERNATIONAL SYMPOSIUM ON AUTONOMOUS DECENTRALIZED SYSTEM (ISADS)     9 - 14  2019年

     概要を見る

    Although conventional service providers are independent from each other when attending most of the population, demanded services are changing along with the social structure. Especially in the case of Taiwan, the number of co-working families has been increasing, and self-employed households occupy a large proportion of all working forms. Due to their diverse lifestyles and work styles, services that are suitable for personal objectives and that optimize the use of time are required. To meet this demand, it is important to connect people and city facilities to make it easier to provide suitable services. Based on those backgrounds, an innovated personal service platform in Taiwan is proposed, focusing on three factors, including time, place and personal information to connect people and city service facilities. Among various kinds of services, we targets services purchased in cities such as sales, mobility services, health services, government services and so on. It aims to link these services flexibly and dynamically to achieve personal objectives according to each situation. And, it can provide suitable services for a variety of every-day living situations. With this system, people can increase satisfaction and free time, improving life quality while making the economy more dynamic.

  • Development of virtual pipe simulation system for inspection robot design

    Satoshi Miura, Kazuya Kawamura, Masakatsu Fujie, Shigeki Sugano, Tomoyuki Miyashita

    Proceedings of the International Conference on Engineering Design, ICED   2019-August   3611 - 3620  2019年  [査読有り]

     概要を見る

    © 2019 Design Society. All rights reserved. Pipe inspection robots have been developed to reduce the cost and time required for gas pipe inspection. However, these robots have been developed using a scrap and build method and are not used in practice. In this paper, we propose a method of virtual pipe inspection simulation to clarify the parameters that are important in increasing the robot's ease of use. This paper presents the results obtained by a feasibility study with regard to pipe simulation. We developed a virtual pipe by simulating eight actual turns of an external gas pipe, and a robot equipped with camera at the tip. In the experiments, three individuals working in the field of gas inspection carried out the operation. We obtained questionnaire, time, and brain activity data. The results revealed various important points that must be considered in practical simulation and robot design. In conclusion, the virtual pipe simulation can be useful in developing the design of a pipe inspection robot.

    DOI

  • A Preliminary Experimental Study on Control Technology of Pipeline Robots based on Visible Light Communication

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Proceedings of 2019 IEEE/SICE International Conference on System Integration (SII 2019),     22 - 27  2019年01月  [査読有り]

  • Derivation of an Optimum and Allowable Range of Pan and Tilt Angles in External Sideway Views for Grasping and Placing Tasks in Unmanned Construction Based on Human Object Recognition

    Ryuya Sato, Mitsuhiro Kamezaki, Satoshi Niuchi, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of 2019 IEEE/SICE International Conference on System Integration (SII 2019),     776 - 781  2019年01月  [査読有り]

  • Experimental Investigation of Optimum and Allowable Range of Side Views for Teleoperated Digging and Release Works by Using Actual Construction Machinery

    Ryuya Sato, Mitsuhiro Kamezaki, Mitsuru Yamada, Takeshi Hashimoto, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of 2019 IEEE/SICE International Conference on System Integration (SII 2019),     794 - 798  2019年01月  [査読有り]

  • Morphology-Specific Convolutional Neural Networks for Tactile Object Recognition with a Multi-Fingered Hand

    Satoshi Funabashi, Gang Yan, Andreas Geier, Alexander Schmitz, Tetsuya Ogata, Shigeki Sugano

    IEEE International Conference on Robotics and Automation (ICRA 2019)     57 - 63  2019年  [査読有り]

    DOI

  • Morphology-Speci?c Stepwise Learning of In-Hand Manipulation with a Four-Fingered Hand

    Satoshi Funabashi, Alexander Schmitz, Shun Ogasa, Shigeki Sugano

    IEEE Transactions on Industrial Informatics    2019年01月  [査読有り]

    DOI

  • Compound locomotion control system combining crawling and walking for multi-crawler multi-arm robot to adapt unstructured and unknown terrain

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    ROBOMECH Journal   5 ( 1 )  2018年12月  [査読有り]

     概要を見る

    How to improve task performance and how to control a robot in extreme environments when just a few sensors can be used to obtain environmental information are two of the problems for disaster response robots (DRRs). Compared with conventional DRRs, multi-arm multi-flipper crawler type robot (MAMFR) have high mobility and task-execution capabilities. Because, crawler robots and quadruped robots have complementary advantages in locomotion, therefore we have the vision to combine both of these advantages in MAMFR. Usually, MAMFR (like four-arm four-flipper robot OCTOPUS) was designed for working in extreme environments such as that with heavy smoke and fog. Therefore it is a quite necessary requirement that DRR should have the ability to work in the situation even if vision and laser sensors are not available. To maximize terrains adaption ability, self-balancing capability, and obstacle getting over capability in unstructured disaster site, as well as reduce the difficulty of robot control, we proposed a semi-autonomous control system to realize this compound locomotion method for MAMFRs. In this control strategy, robot can explore the terrain and obtain basic information about the surrounding by its structure and internal sensors, such as encoder and inertial measurement unit. Except that control system also can recognize the relative positional relationship between robot and surrounding environment through its arms and crawlers state when robot moving. Because the control rules is simple but effective, and each part can adjust its own state automatically according to robot state and explored terrain, MRMFRs have better terrain adaptability and stability. Experimental results with a virtual reality simulator indicated that the designed control system significantly improved stability and mobility of robot in tasks, it also indicated that robot can adapt complex terrain when controlled by designed control system.

    DOI

  • Printed self-oscillatory mechanism inspired by an electric bell

    Hiroki Shigemune, Shingo Maeda, Akihiro Imai, Shuji Hashimoto, Shigeki Sugano, Hideyuki Sawada

    MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science   MHS ( 2018 ) 109 - 110  2018年12月  [査読有り]

     概要を見る

    © 2018 IEEE. In this paper, we propose a printed self-oscillatory mechanism inspired by an electric bell. We have proposed paper mechatronics to make a robot with printing methods. In the paper mechatronics, we also aim to fabricate a controller with printing methods. We attempt to obtain a control signal from a mechanism. An electric bell generates an oscillatory signal with a coupling mechanism between a coil and a magnet. We develop a printed electric bell on a paper with printing methods. We propose the design of the electric bell which can be fabricated on a sheet of paper. The coil and the wiring were printed on the paper, and the device was fabricated by folding the paper. We demonstrate that the device oscillates for 23 min by applying a 0.5 A of constant current. The design is scalable to be applied for microsystems with using printing methods.

    DOI

  • Tool-use Model Considering Tool Selection by a Robot using Deep Learning

    Namiko Saito, Kitae Kim, Shingo Murata, Tetsuya Ogata, Shigeki Sugano

    In Proceedings of the 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids 2018)     814 - 819  2018年11月  [査読有り]

    DOI

  • Evaluation of Compensatory Movement by Shoulder Joint Torque during Gain Adjustment of a Powered Prosthetic Wrist Joint

    Akira Kato, Haruno Nagumo, Miyake Tamon, Masakatsu G. Fujie, Shigeki Sugano

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2018-July   1891 - 1894  2018年10月

     概要を見る

    Powered prostheses with low degree of freedom (DoF) have been developed for people with disabilities to assist daily tasks. These prostheses neglect the user's compensatory movements caused by the low degree of freedom. We assume that the movements can be reduced by well-designed controller of the devices. This paper explores an optimal control gain of the powered prosthesis to prevent the user from compensatory movements through experiments. In the experiments, we developed 1-DoF hand prosthesis with a position-controlled servo, which includes the constant gain as a feed-forward term. The compensatory movements are regarded as a joint torque at a shoulder (abduction/adduction). 4 intact subjects performed a pick-and-place task, using the prosthesis with several control gains. The empirical results show that there was the optimal gain for each subject, which reduces their compensatory movement.

    DOI PubMed

  • Prediction of Minimum Toe Clearance with a Radial Basis Function Network at the Start of the Swing Phase

    Tamon Miyake, G. Masakatsu Fujie, Shigeki Sugano

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2018-July   1664 - 1667  2018年10月

     概要を見る

    Prediction of minimum toe clearance (MTC) during walking can decrease the risk of tripping. In this paper, we proposed a novel MTC prediction method using a radial basis function network. Input data were the angles, angular velocities, and angular accelerations of the hip, knee, and ankle joints in the sagittal plane at the start of the swing phase. In experiments, five subjects walked on a treadmill for 360 s. The radial basis function network was trained with 60 s of gait data and tested with the remaining 300 s of gait data. The root mean square error between the true and predicted MTC values was lower than 2.79 mm in all subjects.

    DOI PubMed

  • An Automatic Tracked Robot Chain System for Gas Pipeline Inspection and Maintenance Based on Wireless Relay Communication

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018)     3978 - 3983  2018年10月  [査読有り]

  • Machine Learning Based Skill-level Classification for Personal Mobility Devices Using Only Operational Characteristics

    Yifan Huang, Mitsuhiro Kamezaki, Taiga Mori, Udara E. Manawadu, Tatsuya Ishihara, Masahiro Nakano, Kohjun Koshiji, Naoki Higo, Toshimitsu Tubaki, Shigeki Sugano

    Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018),     5469 - 5476  2018年10月  [査読有り]

  • A Preliminary Investigation into Human Motion Reaction Against a Robot’s Forearm Contact

    Moondeep C. Shrestha, Mitsuhiro Kamezaki, Yusuke Tsuburaya, Ryosuke Kono, Shigeki Sugano

    Workshop on From freezing to jostling robots: Current challenges and new paradigms for safe robot navigation in dense crowds, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018)     1 - 2  2018年10月  [査読有り]

  • Utilizing Robot’s Forearm Contact for Handling Space Constraints in Congested Environment

    Mitsuhiro Kamezaki, Moondeep C. Shrestha, Yusuke Tsuburaya, Ryosuke Kono, Shigeki Sugano

    Workshop on From freezing to jostling robots: Current challenges and new paradigms for safe robot navigation in dense crowds, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018)     1 - 2  2018年10月  [査読有り]

  • Dielectric elastomer actuators with carbon nanotube electrodes painted with a soft brush

    Hiroki Shigemune, Shigeki Sugano, Jun Nishitani, Masayuki Yamauchi, Naoki Hosoya, Shuji Hashimoto, Shingo Maeda

    Actuators   7 ( 51 ) 1 - 11  2018年09月  [査読有り]

     概要を見る

    © 2018 by the authors. Licensee MDPI, Basel, Switzerland. We propose a simple methodology to paint carbon nanotube (CNT) powder with a soft brush onto an elastomer. A large deformation of dielectric elastomer actuator (DEA) occurs according to the small constraint of the electrodes. Uniform painting with a soft brush leads to a stable deformation, as demonstrated by the results of multiple trials. Unexpectedly, painting with a soft brush results in aligned materials on the elastomer. The oriented materials demonstrate anisotropic mechanical and electronic properties. This simple methodology should help realize innovative DEA applications.

    DOI

  • Dynamic Motion Generation by Flexible-Joint Robot based on Deep Learning using Images

    Yuheng Wu, Kuniyuki Takahashi, Hiroki Yamada, Kitae Kim, Shingo Murata, Shigeki Sugano, Tetsuya Ogata

    In Proceedings of the Eighth Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob 2018)     169 - 174  2018年09月  [査読有り]

    DOI

  • Detecting Features of Tools, Objects, and Actions from Effects in a Robot using Deep Learning

    Namiko Saito, Kitae Kim, Shingo Murata, Tetsuya Ogata, Shigeki Sugano

    In Proceedings of the Eighth Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob 2018)     91 - 96  2018年09月  [査読有り]

    DOI

  • ダンプトラックの燃費向上・長寿命化に向けた状態抽出に関する基礎検討

    山下真司, 亀?允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

    第18回建設ロボットシンポジウム論文集(SCR2018)     1 - 6  2018年09月  [査読有り]

  • A Preliminary Study of a Control Framework for Forearm Contact During Robot Navigation

    Moondeep Shrestha, Mitsuhiro Kamezaki, Yusuke Tsuburaya, Tomoya Onishi, Ayano Kobayashi, Ryuosuke Kono, Shigeki Sugano

    Proceedings of 2018 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2018)     410 - 415  2018年08月  [査読有り]

  • A Communicating Directional Intent in Robot Navigation using Projection Indicators

    Moondeep Shrestha, Tomoya Onishi, Ayano Kobayashi, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of 2018 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2018)     746 - 751  2018年08月  [査読有り]

  • Tactical-Level Input with Multimodal Feedback for Unscheduled Takeover Situations in Human-Centered Automated Vehicles

    Udara E. Manawadu, Takaaki Ema, Hiroaki Hayashi, Takahiro Kawano, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018)     1 - 6  2018年07月  [査読有り]

  • Modeling and Simulation of FLC-based Navigation Algorithm for Small Gas Pipeline Inspection Robot

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018)     1 - 6  2018年07月  [査読有り]

  • Preliminary Design of a Pseudo-Inertia Adjustable Mechanism Based on Bidirectional Releasing of Stored Kinetic Energy

    Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Shan He, Gonzalo Aguirre Dominguez, Shigeki Sugano

    Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018)     1 - 6  2018年07月  [査読有り]

  • 高度自動運転車における半自動制御のための相互作用型力触覚インタフェースの提案

    亀?允啓, マナワドゥ ウダーラ, 河野陽大, 石川雅晃, 菅野重樹

    日本機械学会論文集   84 ( 864 ) 1 - 13  2018年07月  [査読有り]

    DOI

  • Multiclass Classification of Driver Perceived Workload Using Long Short-Term Memory based Recurrent Neural Network

    Udara E. Manawadu, Takahiro Kawano, Shingo Murata, Mitsuhiro Kamezaki, Junya Muramatsu, Shigeki Sugano

    Proceedings of 2018 IEEE Intelligent Vehicles Symposium (IV 2018),     2009 - 2014  2018年06月  [査読有り]

  • Human-Agent Collaborative Control in Automated Vehicles for Takeover Situations in Dynamic Unstructured Urban Environments

    Udara E. Manawadu, Mitsuhiro Kamezaki, Shigeki Sugano

    Workshop on Robot Teammates Operating in Dynamic, Unstructured Environments (RT-DUNE), 2018 IEEE International Conference on Robotics and Automation (ICRA2018)     1 - 2  2018年05月  [査読有り]

  • Swinging paper actuator driven by conduction electrohydrodynamics

    Hiroki Shigemune, Shigeki Sugano, Hideyuki Sawada, Shuji Hashimoto, Yu Kuwajima, Yuki Matsushita, Shingo Maeda, Vito Cacucciolo, Matteo Cianchetti, Cecilia Laschi

    2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017   2018-January   379 - 384  2018年03月  [査読有り]

     概要を見る

    © 2017 IEEE. Paper mechatronics has been proposed as a concept to fabricate robots with printing methods in our previous studies. Actuators fabricated by printing on a sheet material can be low-cost and lightweight. In this paper, we propose a swinging paper actuator driven by conduction Electrohydrodynamics (EHD). EHD is a phenomenon that generates flow by applying voltage to a dielectric liquid. The EHD flow is generated by the applied voltage in a wiring made by silver ink printed with an inkjet printer. The silver wiring was printed on a sheet of paper, and the paper with the wiring was folded manually to form its structure. We explored the possibility to manufacture EHD actuators by using the printing techniques developed in paper mechatronics. We expected to obtain high performance from the generated actuators due to the light weight of the paper printed structures. Finally, we succeeded in activating the swinging actuator by applying the high voltage to the paper electrode. We applied sine and square inputs, and investigated several characteristics. We found conditions to obtain the largest displacement in our situation. The swinging actuator proves a new concept to incorporate two alluring researches which are printed paper actuator and EHD phenomenon.

    DOI

  • 重機の遠隔操作性向上のためのマルチカメラ最適配置に関する研究-第一報 パン・チルト角による作業性への影響の検証-

    仁内智志, 亀﨑允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

    第23回ロボティクスシンポジア予稿集     1 - 6  2018年03月  [査読有り]

  • RNNを備えた二台ロボット間インタラクションの複雑性解析

    澤弘樹, 山田竜郎, 村田真悟, 森裕紀, 尾形哲也, 菅野重樹

    情報処理学会第80回全国大会, 予稿集     5N-07  2018年03月

  • Simultaneous printing of multiple origami structures

    Hiroki Shigemune, Shigeki Sugano, Shingo Maeda, Shuji Hashimoto

    MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science   2018-January   1 - 2  2018年02月  [査読有り]

     概要を見る

    © 2017 IEEE. We developed a self-folding method of a printed paper. The paper self-folds along the printed line with a desktop inkjet printer to get 3D structure. In this paper, we introduce a method to fabricate multiple 3D structures simultaneously. Multiple development designs were arranged on A4 sized paper, and the A4 sized paper is printed to self-fold multiple developments. The proposed method has an advantage especially in small scale, because when design of the development is smaller, more numbers of structures can place in A4 sized paper and construct. Plenty of small and light 3D structures are fabricated simultaneously with low-cost. The feature has good affinity with swarm robotics, and many paper robots may locomote using their own structural intelligence obtained by the self-folding.

    DOI

  • 昇降段の支援に向けた拡張現実感による錯視誘発システムの開発

    福本 亮太, 三浦 智, 岡村 尚美, 藤江 正克, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2018   2A1 - B15  2018年

     概要を見る

    <p>Fall in stair is a serious problem. The misidentification of the stair height is one of the cause of fall. This paper presents an optical illusion induction system with augmented reality for support of ascending and descending stairs. The head-mounted display shows the vertical on the stair edge when ascending or horizontal line on the stair surface when descending. Human showed the AR system to perceive the stair higher when ascending or narrower when descending than actual. We constructed the model of the foot clearance by optical illusion based on the contrast sensitive function approximated with Gaussian function. In experiment, 10 participants climb and descend with AR system while we measured the foot trajectory. As a result, the coefficient of determination is over 0.7 when ascending, over 0.6 when descending in all participants. Furthermore, the toe height is significant higher during AR system than before in ascending (p<0.05). And, the horizontal toe distance is significant lower during AR system than before in descending (p<0.05). We concluded that the AR system make the participants perceive the optical illusion so the foot clearance increased enough.</p>

    DOI CiNii

  • Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot

    Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

    MECHANICAL ENGINEERING JOURNAL   5 ( 4 )  2018年

     概要を見る

    We propose an effective timing of intermittent force application by a gait assistance robot with a wire-driven system to increase the toe trajectory throughout the swing phase. We tested different timings of force application at the shank, employing the short-term assistance of the robot to increase toe clearance throughout the swing phase. The force was applied to the shank to generate knee flexion torque because the shank motion generated by the knee flexion motion makes the largest contribution to toe clearance. Four timings of the force application were considered: when starting knee flexion before toe-off, when lifting the foot, while maintaining knee flexion after toe-off, and when finishing knee flexion after toe-off. Furthermore, we evaluated changes in the toe trajectory and articular angles of the lower limb for each timing condition. We used a timing detection method for the robot conducting tensile force control based on information from the hip, knee, and ankle angles. For all participants, an increase in the knee flexion angle in the early swing phase due to the force application increased the toe clearance throughout the swing phase. We thus conclude that force application when the user begins lifting their toe is effective in increasing toe clearance throughout the swing phase.

    DOI

  • Rethinking Self-driving: Multi-task Knowledge for Better Generalization and Accident Explanation Ability.

    Zhihao Li, Toshiyuki Motoyoshi, Kazuma Sasaki, Tetsuya Ogata, Shigeki Sugano

    CoRR   abs/1809.11100  2018年

  • A prototype of a small tracked robot for gas pipeline inspection and maintenance

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Ryoichi Toriumi, Shigeki Sugano

    Advances in Intelligent Systems and Computing   722   137 - 142  2018年  [査読有り]

     概要を見る

    The gas pipeline networks cover approximately 200,000, km in urban region in Japan. The risk caused by severe leakage, cracking, or corrosion will lead to a big accidence for human. Therefore, the gas pipeline robots for regular inspection and maintenance are very essential for the safe operation and supply of gas. In this paper, as a fundamental study of pipeline inspection robots, a new small wireless tracked robot for gas pipeline inspection and maintenance has been developed. Due to robot’s special kinematics, it is capable of moving in straight pipe, turn at elbow and also climb the inclined pipe flexibly and efficiently. Compared with previous robots, it owns two working modes: self-navigation (automated control) and manual control mode for pipeline inspection. Moreover, a preliminary experiment has been implemented with a typical M-pipeline in 10, cm diameter/4, m length. The experiment results revealed that self-navigation could improve the efficiency of inspection.

    DOI

  • Usability test in different types of control-authority allocations for multi-operator single-robot system OCTOPUS

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Masatoshi Seki, Ken Ichiryu, Tatsuzo Ishida, Shigeki Sugano

    Advances in Intelligent Systems and Computing   607   675 - 685  2018年  [査読有り]

     概要を見る

    Four-arm four-flipper disaster response robot called OCTOPUS, which has 26 degrees of freedom (DOF), has been developed to engage in complex disaster response work. OCTOPUS adopts a multi-operator single-robot (MOSR) control system, and two operators manually control the robot. The pattern of control-authority allocation (CAA) for two operators largely affects performance of MOSR systems, so this study conducts usability tests in various CAAs, and derives a reasonable CAA pattern. So far, there are no uniform standard allocation rules for flippers and crawlers in multi-limb robots like OCTOPUS, therefore we specify five CAA patterns for investigation. Three fundamental tasks that whole body of the robot must be cooperatively controlled were conducted to test the usability in each CAA pattern. From the results of analysis, we found that pattern 1, which one operator controls front two arms, flippers, and crawlers, and another operator controls remaining back parts, had best scores for all tasks, as well as pattern 2 had the best distribution of workload between two operators.

    DOI

  • Continuous Wrist Joint Control Using Muscle Deformation Measured on Forearm Skin

    Kato A, Hirabayashi M, Matsurnoto Y, Nakashima Y, Kobayashi Y, Fujie M.G, Sugano S

    Proceedings - IEEE International Conference on Robotics and Automation     1818 - 1824  2018年  [査読有り]

    DOI

  • Estimating driver workload with systematically varying traffic complexity using machine learning: Experimental design

    Udara E. Manawadu, Takahiro Kawano, Shingo Murata, Mitsuhiro Kamezaki, Shigeki Sugano

    Advances in Intelligent Systems and Computing   722   106 - 111  2018年  [査読有り]

     概要を見る

    Traffic complexity is one of the factors affecting driver workload. In order to study the relationship between traffic complexity levels and workload, a designed experiment is required, especially to vary traffic flow parameters systematically in a simulated environment. This paper describes the experimental design of a simulator study for developing a computational model to estimate the behavior of driver workload based on traffic complexity. Driving simulators allow creating and testing different traffic scenarios and manipulating independent variables to improve the quality of data, as compared to real world experiments. Physiological responses such as heart rate, skin conductance, and pupil size have been found to be related to workload. By adapting a data-driven method, we integrated electrocardiography sensors, electro-dermal activity sensors, and eye-tracker to acquire driver physiological signals and gaze information. Preliminary results show a positive correlation between traffic complexity levels and corresponding physiological responses, performance, and subjective measures.

    DOI

  • Intermittent Force Application of Wire-Driven Gait Training Robot to Encourage User to Learn an Induced Gait.

    Tamon Miyake,Array, Masakatsu G. Fujie, Shigeki Sugano

    IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, December 12-15, 2018     433 - 438  2018年  [査読有り]

    DOI

  • Investigation of Effective Intensity of Static Stretching Exercise Based on Spring-Pot Viscoelastic Model: Intensity Based on Maximum Tolerance Joint Torque Affects Viscoelastic Ratio of Muscle During Static Stretching.

    Naomi Okamura, Ritaro Kasai, Yo Kobayashi, Shigeki Sugano, Masakatsu, G. Fujie

    IEEE International Conference on Real-time Computing and Robotics, RCAR 2018, Kandima, Maldives, August 1-5, 2018     433 - 438  2018年  [査読有り]

    DOI

  • Estimating wrist joint angle with limited skin deformation information

    Akira Kato, Yuya Matsumoto, Ryu Kato, Yo Kobayashi, Hiroshi Yokoi, Masakatsu G. Fujie, Shigeki Sugano

    Journal of Biomechanical Science and Engineering   13 ( 2 )  2018年  [査読有り]

     概要を見る

    Ascertaining a person's motion intentions through muscle activity is important for controlling various assistive devices for people with disabilities. Several techniques have been proposed for estimating the extent of intended joint angle motion using skin deformation information derived from muscle contractions. The objective of this study is to verify our signal processing procedure for estimating intended wrist joint angle with skin deformation information in able-bodied subjects and subjects with an upper-limb amputation. Skin deformation was measured with a tactile sensor consisting of 48 distance sensors over a large measurement area. The root-mean-square error (RMSE) of the measured and estimated angles are evaluated offline using multiple linear regression in one individual with an upper-limb amputation and five able-bodied participants. In all tests, subjects undertook a wrist flexion and extension task guided by visual feedback, measured in real time. Sensors are selected in descending order of the standard deviation of each sensor's value. Strong relationships occur between the position and displacement of the area of greatest skin deformation and the intended wrist joint angle in all subjects. The minimum RMSE was 8.19° for the individual with an upper-limb amputation using 48 sensors as input, and 2.24° for able-bodied individuals using 16 sensors. One-way repeated-measures analysis of variance showed that at least 16 sensors are needed to reliably record skin deformation. Skin deformation analyzed with multiple linear regression is a plausible means of estimating intended wrist joint angle in persons with an upperlimb amputation. Even when a limited number of sensors (≥16) are used, continuous joint angle can be estimated reliably. These findings will inform the design of assistive devices that must noninvasively determine muscle activity.

    DOI

  • Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands

    Tomo, T.P, Schmitz, A, Wong, W.K, Kristanto, H, Somlor, S, Hwang, J, Jamone, L, Sugano, S

    IEEE Robotics and Automation Letters   3   124 - 131  2018年  [査読有り]

    DOI

  • Evaluation of Series Clutch Actuators With a High Torque-to-Weight Ratio for Open-Loop Torque Control and Collision Safety

    Wang, Y, Schmitz, A, Kobayashi, K, Alvarez Lopez, J.A, Matsuo, Y, Sakamoto, Y, Sugano, S

    IEEE Robotics and Automation Letters   3   297 - 304  2018年  [査読有り]

  • Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation

    Wang, W, Wei, C, Suga, Y, Kuo, C, Schmitz, A, Sugano, S

    IEEE Robotics and Automation Letters   3   187 - 194  2018年  [査読有り]

    DOI

  • Effective Input Order of Dynamics Learning Tree

    C. Kim, S. Hama, R. Hirai, K. Takahashi, H. Yamada, T. Ogata, S. Sugano

    Advanced Robotics   32 ( 3 ) 122 - 136  2018年  [査読有り]

    DOI

  • Learning to Achieve Different Levels of Adaptability for Human?Robot Collaboration Utilizing a Neuro-dynamical System

    S. Murata, Y. Li, H. Arie, T. Ogata, Sugano

    IEEE Transactions on Cognitive and Developmental Systems   10 ( 3 ) 1 - 14  2018年01月  [査読有り]

  • An Adjustable Force Sensitive Sensor with an Electromagnet for a Soft, Distributed, Digital 3-Axis Skin Sensor

    Holgado, A.C, Alvarez Lopez, J.A, Schmitz, A, Tomo, T.P, Somlor, S, Jamone, L, Sugano, S

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)    2018年  [査読有り]

    DOI

  • Object Recognition Through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors

    Funabashi, S, Morikuni, S, Geier, A, Schmitz, A, Ogasa, S, Tomo, T.P, Somlor, S, Sugano. S

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)     2589 - 2595  2018年  [査読有り]

    DOI

  • A New Silicone Structure for uSkin - a Soft, Distributed, Digital 3-axis Skin Sensor - and its Integration on the Humanoid Robot iCub

    Tomo, T.P, Regoli, M, Schmitz, A, Natale, L, Kristanto, H, Somlor, S, Metta, G, Sugano, S

    IEEE Robotics and Automation Letters (RA-L)   3 ( 4 ) 2584 - 2591  2018年  [査読有り]

    DOI

  • A Wearable Three-Axis Tactile Sensor for Human Fingertips

    Kristanto, H, Sathe, P, Schmitz, A, Tomo, T. P, Somlor, S, Sugano, S

    IEEE Robotics and Automation Letters (RA-L)   3 ( 4 ) 4313 - 4320  2018年  [査読有り]

    DOI

  • Development of a capacitive-type 6-axis force-torque sensor

    S. Somlor, A. Schmitz, H. Jinsun, T. P. Tomo, S. Sugano

    Proceedings of IEEE Sensors   2017-   1 - 3  2017年12月  [査読有り]

     概要を見る

    Force sensing is a crucial task for robots, especially when end effectors such as fingers and hands need to interact with unknown environments
    to sense such forces, a force-torque (F/T) sensor is an essential component. In this paper, we propose a small-sized 6-axis F/T sensor with a novel arrangement of 12 transducers using the force transducer we have previously developed. The copper beryllium used in our sensor reduces hysteresis in each transducer. Additionally, the sensor provides digital output via I2C bus to reduce the susceptibility to noise, and reduce the number of required wires. Sensor characteristics such as its sensitivity, signal-to-noise ratio, linearity, and hysteresis are determined. More importantly, we showed that our sensor can detect and measure the 6-axis F/T.

    DOI

  • A semi-autonomous compound motion pattern using multi-flipper and multi-arm for unstructured terrain traversal

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    IEEE International Conference on Intelligent Robots and Systems   2017-   2704 - 2709  2017年12月  [査読有り]

     概要を見る

    Disaster response crawler robot OCTOPUS has four arms and four flippers for better adaptability to disaster environments. To further improve the robot mobility and terrain adaptability in unstructured terrain, we propose a new locomotion control method called compound motion pattern (CMP) for multi-limb robots like OCTOPUS. This hybrid locomotion by cooperating the arms and flippers would be effective to adapt to the unstructured terrain due to combining the advantages of crawling and walking. As a preliminary study on CMP, we proposed a fundamental and conceptual CMP while clarifying problems in constructing CMP, and developed a semi-autonomous control system for realizing the CMP. Electrically-driven OCTOPUS was used to verify the reliability and correctness of CMP. Results of experiments on climbing a step indicate that the proposed control system could obtain relatively accurate terrain information and the CMP enabled the robot to climb the step. We thus confirmed that the proposed CMP would be effective to increase terrain adaptability of robot in unstructured environment, and it would be a useful locomotion method for advanced disaster response robots.

    DOI

  • A Reliable Communication and Localization Method for Gas Pipeline Robot Chain based on RSSI Theory,

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Ryoichi Toriumi, Shigeki Sugano

    Proceedings of 2017 IEEE/SICE International Conference on System Integration (SII 2017)     1 - 6  2017年12月  [査読有り]

  • Compound Manipulation Mode for Improving Task-Ability of Multi-Arm Multi-Flipper Crawler Robot

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Yusuke Uehara, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    Proceedings of 2017 IEEE/SICE International Conference on System Integration (SII 2017)     1 - 6  2017年12月  [査読有り]

  • Synthesis of high-strength and electronically conductive triple network gels with self-healing properties by the restraint method

    Shunsuke Nagahama, Kayo Migita, Shigeki Sugano

    2017 IEEE 17th International Conference on Nanotechnology, NANO 2017     752 - 754  2017年11月  [査読有り]

     概要を見る

    In this study, we synthesized a self-healing electrically conductive gel based on Agar/hydrophobically associated polyacrylamide (HPAAm) by a restraint-assisted method. Recently, self-healing conductive materials based on such gels have been widely researched. However, as gels are generally weak, the gel-based materials are also often low in strength. Therefore, in this study, we applied the restraint method for adding pyrrole to Agar/HPAAm, which is a self-healing high-strength gel. The synthesized product was a high-strength conductive gel with self-healing abilities. Tensile tests confirmed that the swelling of the synthesized gel caused a low tensile breaking stress. Additionally, electrical conductivity measurements showed that the conductivity was increased by the addition of polypyrrole. These measurements were also carried out after the gel underwent self-healing. 30% of the strength and 54% of the conductivity of the undamaged gel were recovered, indicating the good self-healing performance of the gel proposed in this research.

    DOI

  • A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Yusuke Uehara, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference     181 - 186  2017年10月  [査読有り]

     概要を見る

    This paper proposes a basic near-environmental recognition framework based on groping for risk-tolerance disaster response robot (DRR). In extreme disaster sites, including high radiation and heavy smog, external sensors such as cameras and laser range finders do not work properly, and such sensors may be broken in accidents in the tasks. It is hoped that DRRs can continue to perform tasks, even if the external sensors cannot work, and at least, they can safely evacuate from the site. In this preliminary study, for recognizing near environments without using external sensors, we proposed a groping method. In this method, a robot actively touches the environment using arms or other movable parts, records the contact information, and then reconstructs a three-dimensional local map around the robot by the detected information, e.g., robot arm's position and reactive force. The proposed groping system can recognize the existence of three situations, such as an object, step, and pit, and those geometry, by exploring the designated space using arms. The groping strategy was designed considering both robot specification, time limitation, and required resolution. Experiments were performed using four-arm and four-crawler robot OCTOPUS. The results indicate that the proposed framework could recognize step, pit, and object, and calculate the position and size of the object, and confirm that the robot successfully removed the object on the basis of groped data.

    DOI

  • A Pre-offering View System for Teleoperators of Heavy Machines to Acquire Cognitive Maps

    Ryuya Sato, Mitsuhiro Kamezaki, Satoshi Niuchi, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics 2017 (SSRR 2017)     61 - 66  2017年10月  [査読有り]

  • Experimental Characterization of a Magnetorheological Damper with Multiple Cylindrical Passages and Toroidal Magnetic Field Generator

    Mitsuhiro Kamezaki, Peizhi Zhang, Kenshiro Otsuki, Shan He, Gonzalo Aguirre Dominguez, Shigeki Sugano

    Proceedings of the 10th JFPS International Symposiums on Fluid Power (JFPS2017)     1 - 6  2017年10月  [査読有り]

  • Exploiting the slip behavior of friction based clutches for safer adjustable torque limiters

    Yushi Wang, Alexander Schmitz, Kento Kobayashi, Javier Alejandro Alvarez Lopez, Wei Wang, Yuki Matsuo, Yoshihiro Sakamoto, Shigeki Sugano

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM     1346 - 1351  2017年08月  [査読有り]

     概要を見る

    Torque limiters are a proven way to enhance the safety in robots. To further increase the safety, adjustable torque limits depending on the task and the joint configuration (joint angles, velocity, acceleration) would be preferable. Friction clutches can be used as adjustable torque limiters (ATL). In contact free motion the ATL can be set with torque limits higher than the required torque, thereby not influencing the position tracking performance. At an impact, the torque is intrinsically limited, enhancing the safety. Furthermore, depending on the implementation, friction clutches have another relevant property. They can have different torque limits for static and kinetic friction: When the static torque limit is exceeded (as it would be the case in an incidental contact situation), the clutch starts slipping, and the torque output automatically decreases, thereby reducing the forces in a quasi-static contact, as defined in ISO/TS 15066:2016. The current paper implements and profiles an ATL, which exhibits a kinetic torque limit of only 50.4% of the static torque limit at 10rpm. This ensures both an adjustable torque limit fitting to the task requirement and a lower but not zero torque after impact for enhanced safety. Impact experiments validate the safety benefits outlined above.

    DOI

  • Change detection technique for muscle tone during static stretching by continuous muscle viscoelasticity monitoring using wearable indentation tester

    Naomi Okamura, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

    IEEE International Conference on Rehabilitation Robotics     1686 - 1691  2017年08月  [査読有り]

     概要を見る

    Static stretching is widely performed to decrease muscle tone as a part of rehabilitation protocols. Finding out the optimal duration of static stretching is important to minimize the time required for rehabilitation therapy and it would be helpful for maintaining the patient's motivation towards daily rehabilitation tasks. Several studies have been conducted for the evaluation of static stretching
    however, the recommended duration of static stretching varies widely between 15-30 s in general, because the traditional methods for the assessment of muscle tone do not monitor the continuous change in the target muscle's state. We have developed a method to monitor the viscoelasticity of one muscle continuously during static stretching, using a wearable indentation tester. In this study, we investigated a suitable signal processing method to detect the time required to change the muscle tone, utilizing the data collected using a wearable indentation tester. By calculating a viscoelastic index with a certain time window, we confirmed that the stretching duration required to bring about a decrease in muscle tone could be obtained with an accuracy in the order of 1 s.

    DOI PubMed

  • Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance

    Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

    IEEE International Conference on Rehabilitation Robotics     320 - 325  2017年08月  [査読有り]

     概要を見る

    Gait training robots are useful for changing gait patterns and decreasing risk of trip. Previous research has reported that decreasing duration of the assistance or guidance of the robot is beneficial for efficient gait training. Although robotic intermittent control method for assisting joint motion has been established, the effect of the robot intervention timing on change of toe clearance is unclear. In this paper, we tested different timings of applying torque to the knee, employing the intermittent control of a gait training robot to increase toe clearance throughout the swing phase. We focused on knee flexion motion and designed a gait training robot that can apply flexion torque to the knee with a wire-driven system. We used a method of timing detecting for the robot conducting torque control based on information from the hip, knee, and ankle angles to establish a non-time dependent parameter that can be used to adapt to gait change, such as gait speed. We carried out an experiment in which the conditions were four time points: starting the swing phase, lifting the foot, maintaining knee flexion, and finishing knee flexion. The results show that applying flexion torque to the knee at the time point when people start lifting their toe is effective for increasing toe clearance in the whole swing phase.

    DOI PubMed

  • Development of a Prototype Electrically-Driven Four-Arm Four-Flipper Disaster Response Robot OCTOPUS

    Mitsuhiro Kamezaki, Kui Chen, Kohga Azuma, Takahiro Katano, Taisei Kaneko, Tatsuzo Ishida, Masayuki Nakayama, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    Proceedings of 2017 IEEE Conference on Control Technology and Applications (CCTA 2017)     1019 - 1024  2017年08月  [査読有り]

  • A multimodal human-machine interface enabling situation-Adaptive control inputs for highly automated vehicles

    Udara E. Manawadu, Mitsuhiro Kamezaki, Masaaki Ishikawa, Takahiro Kawano, Shigeki Sugano

    IEEE Intelligent Vehicles Symposium, Proceedings     1195 - 1200  2017年07月  [査読有り]

     概要を見る

    Intelligent vehicles operating in different levels of automation require the driver to fully or partially conduct the dynamic driving task (DDT) and to conduct fallback performance of the DDT, during a trip. Such vehicles create the need for novel human-machine interfaces (HMIs) designed to conduct high-level vehicle control tasks. Multimodal interfaces (MMIs) have advantages such as improved recognition, faster interaction, and situation-Adaptability, over unimodal interfaces. In this study, we developed and evaluated a MMI system with three input modalities
    touchscreen, hand-gesture, and haptic to input tactical-level control commands (e.g. lane-changing, overtaking, and parking). We conducted driving experiments in a driving simulator to evaluate the effectiveness of the MMI system. The results show that multimodal HMI significantly reduced the driver workload, improved the efficiency of interaction, and minimized input errors compared with unimodal interfaces. Moreover, we discovered relationships between input types and modalities: location-based inputs-Touchscreen interface, time-critical inputs-haptic interface. The results proved the functional advantages and effectiveness of multimodal interface system over its unimodal components for conducting tactical-level driving tasks.

    DOI

  • Condition-Based Less-Error Data Selection for Robust and Accurate Mass Measurement in Large-Scale Hydraulic Manipulators

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT   66 ( 7 ) 1820 - 1830  2017年07月  [査読有り]

     概要を見る

    This paper proposes a practical scheme for measuring the mass of an object grasped by the end-effector of a large-scale hydraulic manipulator. Such a measurement system requires high accuracy and robustness considering the nonlinearity and uncertainty in hydraulic pressure-based force measurement during rigorous outdoor work. It is thus difficult to precisely model system behaviors and completely remove error force components (white-box modeling) under such conditions, so our scheme adopts a less-error data selection approach to relatively improving the accuracy and reliability of the measurand (gray-box modeling). It first removes dominant error forces, i.e., gravity and dynamic friction forces, then defines the on-load state by evaluating measurement conditions to omit data in indeterminate conditions, then extracts data during the object-grasp state identified by a grasp motion model and removes high-frequency components by a simple low-pass filter, and finally integrates data from multiple sensors using the posture-based priority and averages all selected data. Evaluation experiments were conducted using an instrumented hydraulic arm. Results indicate that our scheme can precisely measures the mass of the grasped object under various detection conditions with fewer errors.

    DOI

  • Investigation on Effect of Angular Deviation from Perpendicular Line to Lateral View Camera on Work Efficiency for Teleoperated Construction Machines

    Satoshi Niuchi, Mitsuhiro Kamezaki, Ryuya Sato, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of 2017 International Symposium on Automation and Robotics in Construction (ISARC2017)     1 - 2  2017年07月  [査読有り]

  • Pre-offering Work-Site Views to Acquire Spatial Knowledge from Survey and Route Perspective for Advanced Teleoperation of Construction Machines

    Ryuya Sato, Mitsuhiro Kamezaki, Satoshi Niuchi, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of 2017 International Symposium on Automation and Robotics in Construction (ISARC2017),     1 - 2  2017年07月  [査読有り]

  • Tool-body assimilation model considering grasping motion through deep learning

    Kuniyuki Takahashi, Kitae Kim, Tetsuya Ogata, Shigeki Sugano

    ROBOTICS AND AUTONOMOUS SYSTEMS   91   115 - 127  2017年05月  [査読有り]

     概要を見る

    We propose a tool-body assimilation model that considers grasping during motor babbling for using tools. A robot with tool-use skills can be useful in human robot symbiosis because this allows the robot to expand its task performing abilities. Past studies that included tool-body assimilation approaches were mainly focused on obtaining the functions of the tools, and demonstrated the robot starting its motions with a tool pre-attached to the robot. This implies that the robot would not be able to decide whether and where to grasp the tool. In real life environments, robots would need to consider the possibilities of tool grasping positions, and then grasp the tool. To address these issues, the robot performs motor babbling by grasping and nongrasping the tools to learn the robot's body model and tool functions. In addition, the robot grasps various parts of the tools to learn different tool functions from different grasping positions. The motion experiences are learned using deep learning. In model evaluation, the robot manipulates an object task without tools, and with several tools of different shapes. The robot generates motions after being shown the initial state and a target image, by deciding whether and where to grasp the tool. Therefore, the robot is capable of generating the correct motion and grasping decision when the initial state and a target image are provided to the robot. (C) 2017 The Authors. Published by Elsevier B.V.

    DOI

  • Proposal and Preliminary Feasibility Study of a Novel Toroidal Magnetorheological Piston

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Shigeki Sugano

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   22 ( 2 ) 657 - 668  2017年04月  [査読有り]

     概要を見る

    A new magnetorheological piston head design inspired by toroidal electromagnets was proposed in previouswork as an alternative to conventional annular dampers. A prototype with a circular valve array integrated inside the piston head was built and tested to measure its passive performance. The mechanical, electromagnetic, and hydraulic models used in the new design were explained, and the relevant parameters of the actuator were analyzed to construct a mathematical model to estimate its performance. These works showed the feasibility of the concept and its potential as an alternative to current damper technology, but lacked a baseline for comparison. This paper reviews and widens this groundwork. It adds a magnetic finite element method study to address the previously found leakage, and a new set of experiments, including a force controller, to compare its performance against a conventional annular piston head. The new findings show how the current force limitations can be overcome by striking a balance between the coil space and the size of electromagnet cores to achieve the performance of current dampers. They also highlight its potential in force control applications to provide a wider range of customization options, such as number and size of holes, electromagnets, and coils, and a better use of the active area of the gap.

    DOI

  • Learning to Perceive the World as Probabilistic or Deterministic via Interaction With Others: A Neuro-Robotics Experiment

    Shingo Murata, Yuichi Yamashita, Hiroaki Arie, Tetsuya Ogata, Shigeki Sugano, Jun Tani

    IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS   28 ( 4 ) 830 - 848  2017年04月  [査読有り]

     概要を見る

    We suggest that different behavior generation schemes, such as sensory reflex behavior and intentional proactive behavior, can be developed by a newly proposed dynamic neural network model, named stochastic multiple timescale recurrent neural network (S-MTRNN). The model learns to predict subsequent sensory inputs, generating both their means and their uncertainty levels in terms of variance (or inverse precision) by utilizing its multiple timescale property. This model was employed in robotics learning experiments in which one robot controlled by the S-MTRNN was required to interact with another robot under the condition of uncertainty about the other's behavior. The experimental results show that self-organized and sensory reflex behavior-based on probabilistic prediction-emerges when learning proceeds without a precise specification of initial conditions. In contrast, intentional proactive behavior with deterministic predictions emerges when precise initial conditions are available. The results also showed that, in situations where unanticipated behavior of the other robot was perceived, the behavioral context was revised adequately by adaptation of the internal neural dynamics to respond to sensory inputs during sensory reflex behavior generation. On the other hand, during intentional proactive behavior generation, an error regression scheme by which the internal neural activity was modified in the direction of minimizing prediction errors was needed for adequately revising the behavioral context. These results indicate that two different ways of treating uncertainty about perceptual events in learning, namely, probabilistic modeling and deterministic modeling, contribute to the development of different dynamic neuronal structures governing the two types of behavior generation schemes.

    DOI

  • Printed Paper Robot Driven by Electrostatic Actuator

    Hiroki Shigemune, Shingo Maeda, Vito Cacucciolo, Yoshitaka Iwata, Eiji Iwase, Shuji Hashimoto, Shigeki Sugano

    IEEE Robotics and Automation Letters   2 ( 2 ) 1001 - 1007  2017年04月  [査読有り]

     概要を見る

    © 2017 IEEE. Effective design and fabrication of 3-D electronic circuits are among the most pressing issues for future engineering. Although a variety of flexible devices have been developed, most of them are still designed two-dimensionally. In this letter, we introduce a novel idea to fabricate a 3-D wiring board. We produced the 3-D wiring board from one desktop inkjet printer by printing conductive pattern and a 2-D pattern to induce self-folding. We printed silver ink onto a paper to realize the conductive trace. Meanwhile, a 3-D structure was constructed with self-folding induced by water-based ink printed from the same printer. The paper with the silver ink self-folds along the printed line. The printed silver ink is sufficiently thin to be flexible. Even if the silver ink is already printed, the paper can self-fold or self-bend to consist the 3-D wiring board. A paper scratch driven robot was developed using this method. The robot traveled 56 mm in 15 s according to the vibration induced by the electrostatic force of the printed electrode. The size of the robot is 30 × 15 × 10 mm. This work proposes a new method to design 3-D wiring board, and shows extended possibilities for printed paper mechatronics.

    DOI

  • Wayang robot with gamelan music pattern recognition

    Tito Pradhono Tomo, Alexander Schmitz, Guillermo Enriquez, Shuji Hashimoto, Shigeki Sugano

    Journal of Robotics and Mechatronics   29 ( 1 ) 137 - 145  2017年02月  [査読有り]

     概要を見る

    This paper proposes a way to protect endangered wayang puppet theater, an intangible cultural heritage from Indonesia, by turning a robot into a puppeteer successor. We developed a seven degrees-offreedom (DOF) manipulator to actuate the sticks attached to the wayang puppet body and hands. The robot can imitate 8 distinct human puppeteer’smanipulations. Furthermore, we developed a gamelan music pattern recognition, towards a robot that can perform based on the gamelan music. In the offline experiment, we extracted energy (time domain), spectral rolloff, 13 Mel-frequency cepstral coefficients (MFCCs), and the harmonic ratio from 5 s long clips, every 0.025 s, with a window length of 1 s, for a total of 2576 features. Two classifiers (3 layers feed-forward neural network (FNN) and multi-class Support Vector Machine (SVM)) were compared. The SVMclassifier outperformed the FNN classifier with a recognition rate of 96.4%for identifying the three different gamelan music patterns.

    DOI

  • 神経回路モデルを用いた感覚不確実性の予測による状況変化に対する適応的行動生成

    増田 航, 村田 真悟, 富岡 咲希, 尾形 哲也, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2017   1P2 - N08  2017年

     概要を見る

    <p>Robots working in the real environment need to respond to necessary sensory inputs. However, if the sensory inputs are not necessary for action generation, robots need to stably generate action without being affected by unnecessary sensory inputs. To realize such adaptive action generation against situational changes, robots should automatically decide how much sensory inputs are necessary for action generation. In this research, we propose a method which automatically decides the ratio of actual and predicted sensory inputs based on predicted sensory uncertainty. As a result of robot experiments, the robot with proposed mechanism could conduct adaptive action generation against situational changes.</p>

    DOI CiNii

  • Preliminary Measurement and Analysis of Microwave Transmission Attenuation in Small Gas Pipeline

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Shigeki Sugano, Minoru Konno, Ryoichi Toriumi

    2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)     342 - 347  2017年  [査読有り]

     概要を見る

    The gas pipelines need to be inspected in the case of existence of pipeline's inner problems. Usually, inspection for leakage of gas pipeline has been carried out by wired probes or wired robots equipped with a CCD camera. However, the above inspection approaches are restricted by the cable in the pipe. This study thus focuses on an inspection approach based on microwave communication. However, obtaining the transmission properties (i.e., transmission loss, RSSI (received signal strength indication), maximum transmission distance, etc) in gas pipeline is crucial to determine which frequency is feasible to the further development. In this paper, a communication system for microwave communication in 2.4 and 5.8 GHz band is developed. Then, the transmission loss and RSSI of these microwaves in 2.5 x 100 cm (straight), 5 x 100cm (straight) and 5 x 200cm M-type curved steel gas pipe (with L-junctions) are then measured. The experimental results revealed that the microwave in 2.4 GHz band owns much stronger communication capability in complicated gas pipeline in consideration of few transmission loss, and three approximate linear functions could be modeled on the basis of the measured data.

  • Mixing actual and predicted sensory states based on uncertainty estimation for flexible and robust robot behavior

    Shingo Murata, Wataru Masuda, Saki Tomioka, Tetsuya Ogata, Shigeki Sugano

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   10613   11 - 18  2017年  [査読有り]

     概要を見る

    In this paper, we propose a method to dynamically modulate the input state of recurrent neural networks (RNNs) so as to realize flexible and robust robot behavior. We employ the so-called stochastic continuous-time RNN (S-CTRNN), which can learn to predict the mean and variance (or uncertainty) of subsequent sensorimotor information. Our proposed method uses this estimated uncertainty to determine a mixture ratio for combining actual and predicted sensory states of network input. The method is evaluated by conducting a robot learning experiment in which a robot is required to perform a sensory-dependent task and a sensory-independent task. The sensory-dependent task requires the robot to incorporate meaningful sensory information, and the sensory-independent task requires the robot to ignore irrelevant sensory information. Experimental results demonstrate that a robot controlled by our proposed method exhibits flexible and robust behavior, which results from dynamic modulation of the network input on the basis of the estimated uncertainty of actual sensory states.

    DOI

  • Similarity evaluation of multiple muscles hardness change due to static stretching using wearable indentation testers: A pilot study.

    Naomi Okamura,Array, Masakatsu G. Fujie, Shigeki Sugano

    IEEE International Conference on Cyborg and Bionic Systems, CBS 2017, Beijing, China, October 17-19, 2017     18 - 23  2017年  [査読有り]

    DOI

  • Probabilistic neural network applied to eye tracking control to alter the direction of an endoscopic manipulator

    Yang Cao, Satoshi Miura, Quanquan Liu, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

    Mechanical Engineering Journal   4   1 - 15  2017年  [査読有り]

    DOI

  • Repeatable Folding Task by Humanoid Robot Worker using Deep Learning

    P. Yang, K. Sasaki, K. Suzuki, K. Kase, S. Sugano, T. Ogata

    IEEE Robotics and Automation Letters   2 ( 2 ) 397 - 403  2017年  [査読有り]

    DOI

  • Dynamic motion learning for multi-DOF flexible-joint robots using active-passive motor babbling through deep learning

    Kuniyuki Takahashi, Tetsuya Ogata, Jun Nakanishi, Gordon Cheng, Shigeki Sugano

    ADVANCED ROBOTICS   31 ( 18 ) 1002 - 1015  2017年  [査読有り]

     概要を見る

    This paper proposes a learning strategy for robots with flexible joints having multi-degrees of freedom in order to achieve dynamic motion tasks. In spite of there being several potential benefits of flexible-joint robots such as exploitation of intrinsic dynamics and passive adaptation to environmental changes with mechanical compliance, controlling such robots is challenging because of increased complexity of their dynamics. To achieve dynamic movements, we introduce a two-phase learning framework of the body dynamics of the robot using a recurrent neural network motivated by a deep learning strategy. The proposed methodology comprises a pre-training phase with motor babbling and a fine-tuning phase with additional learning of the target tasks. In the pre-training phase, we consider active and passive exploratory motions for efficient acquisition of body dynamics. In the fine-tuning phase, the learned body dynamics are adjusted for specific tasks. We demonstrate the effectiveness of the proposed methodology in achieving dynamic tasks involving constrained movement requiring interactions with the environment on a simulated robot model and an actual PR2 robot both of which have a compliantly actuated seven degree-of-freedom arm. The results illustrate a reduction in the required number of training iterations for task learning and generalization capabilities for untrained situations.

    DOI

  • Closed Loop Trajectory Optimization Based on Reverse Time Tree

    Chyon Hae Kim, Shigeki Sugano

    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS   14 ( 6 ) 1404 - 1412  2016年12月  [査読有り]

     概要を見る

    This paper addresses the general methods for creating the approximately optimal closed loop stabilization controllers that depend on given rigid body systems. The optimal stabilization controllers calculate the optimal force (torque) inputs that depend on the current states of the systems. In this paper, a creation method for approximately optimal controllers named closed loop optimizer based on reverse time tree (CLO-RTT) is proposed. In the open loop optimization phase, this method creates approximately optimal open loop solutions using rapid semi-optimal motion planning (RASMO). In the closed loop optimization phase, this method selects a solution from the RTT according to the measured current state of a system. The proposed method was validated in the time optimal stabilization problem of a double inverted pendulum model. The proposed method successfully stabilized the model quickly. When the resolution of RASMO was higher, the motion time was shorter.

    DOI

  • An image processing method for changing endoscope direction based on pupil movement

    Yang Cao, Satoshi Miura, Quanquan Liu, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G Fujie

    ROBOMECH Journal   3 ( 1 )  2016年12月  [査読有り]

    DOI

  • Achieving Different Levels of Adaptability for Human?Robot Collaboration Utilizing a Neuro-Dynamical System

    Yuxi Li, Shingo Murata, Hiroaki Arie, Tetsuya Ogata, Shigeki Sugano

    The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)     1 - 6  2016年10月  [査読有り]

  • Tree Based Trajectory Optimization Based on Local Linearity of Continuous Non-Linear Dynamics

    Chyon Hae Kim, Shigeki Sugano

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   61 ( 9 ) 2610 - 2617  2016年09月  [査読有り]

     概要を見る

    This technical note addresses a tradeoff in the tree based trajectory optimization algorithms for open-loop optimal control problem of rigid body system. In this technical note, linear prediction based uniform state sampling method (LPUSS), which relaxes the tradeoff between solutions' quality and computational efficiency, is proposed on the basis of the local linearity of motion equations. LPUSS has a lower calculation order than randomized kinodynamic planning (RKP) and rapid semi-optimal motion planning (RASMO). In the validation using multi degree-of-freedom (DOF) under actuated manipulator models, the solutions' quality and the computational efficiency of LPUSS were better than those of RKP and RASMO. LPUSS finished the optimization for the 6 DOF model within 40 minutes. This was the world's first success of the optimization of the swing up motion of a 6 DOF under actuated manipulator model.

    DOI

  • Non-verbal Cues and Expressiveness; Motion Planning and Navigation in Human-Centered Environments

    Moondeep Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of 2016 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2016)    2016年08月  [査読有り]

  • Communicating Directional Intent in Robot Navigation using Projection and Display Indicators

    Moondeep Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of 2016 IEEE International Symposium on Robot and Human Interactive Communication, (RO-MAN2016)     415 - 416  2016年08月  [査読有り]

  • Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor

    Tito Pradhono Tomo, Sophon Somlor, Alexander Schmitz, Lorenzo Jamone, Weijie Huang, Harris Kristanto, Shigeki Sugano

    SENSORS   16 ( 4 ) 11 pages  2016年04月  [査読有り]

     概要を見る

    This paper presents an easy means to produce a 3-axis Hall effect-based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.

    DOI

  • 遠隔操作オペレータの環境把握性を高める非映像化情報の可視化と推奨注視映像への誘導

    亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

    第21回ロボティクスシンポジア予稿集     1 - 6  2016年03月  [査読有り]

  • 遠隔操作オペレータの環境把握性を高める非映像化情報の可視化と推奨注視映像への誘導

    亀?允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

    第21回ロボティクスシンポジア予稿集     50 - 55  2016年03月  [査読有り]

  • Improving IMES Localization Accuracy by Integrating Dead Reckoning Information

    Kenjiro Fujii, Hiroaki Arie, Wei Wang, Yuto Kaneko, Yoshihiro Sakamoto, Alexander Schmitz, Shigeki Sugano

    SENSORS   16 ( 2 ) 21 pages  2016年02月  [査読有り]

     概要を見る

    Indoor positioning remains an open problem, because it is difficult to achieve satisfactory accuracy within an indoor environment using current radio-based localization technology. In this study, we investigate the use of Indoor Messaging System (IMES) radio for high-accuracy indoor positioning. A hybrid positioning method combining IMES radio strength information and pedestrian dead reckoning information is proposed in order to improve IMES localization accuracy. For understanding the carrier noise ratio versus distance relation for IMES radio, the signal propagation of IMES radio is modeled and identified. Then, trilateration and extended Kalman filtering methods using the radio propagation model are developed for position estimation. These methods are evaluated through robot localization and pedestrian localization experiments. The experimental results show that the proposed hybrid positioning method achieved average estimation errors of 217 and 1846 mm in robot localization and pedestrian localization, respectively. In addition, in order to examine the reason for the positioning accuracy of pedestrian localization being much lower than that of robot localization, the influence of the human body on the radio propagation is experimentally evaluated. The result suggests that the influence of the human body can be modeled.

    DOI

  • Executing optimized throwing motion on robot arm with free joint

    Chyon Hae Kim, Shigeki Sugano

    ADVANCED ROBOTICS   30 ( 24 ) 1571 - 1578  2016年  [査読有り]

     概要を見る

    We address the throwing motion optimization for robot. In order to pursue the best throwing motion, we may need heuristics/intuition free methods. We propose a throwing method that is composed of rapid semi-optimal motion-planning and output zeroing method. So as to execute the optimized trajectories in real rigid body systems, we need some compensations for the noises around the optimized trajectories. We introduce a compensation method for the optimized throwing motions of a robot arm with a free joint. To validate the effectiveness of the proposed method, we conducted a throwing experiment using a two-link arm. As a result of the experiment, the robot arm threw a ball with 63.7 km/h, which was the best record through the past experiments of this arm.

    DOI

  • Analysis of Operation Strategy in a Multi-Operator Control System for Four-Arm Disaster Response Robot OCTOPUS

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     514 - 519  2016年  [査読有り]

     概要を見る

    Disaster response robot with four arms and flippers OCTOPUS has high mobility and task-execution capabilities. Owing to the higher number of degrees of freedom, OCTOPUS is controlled by two operators, however this kind of robots is inherently difficult to be operated. To design easy-to-use human machine interfaces and intelligent control systems, we need to analyze and quantify a reasonable operation strategy in multi-operator control systems. Thus, three different types of essential disaster response tasks were conducted by using OCTOPUS and we analyzed results of operations and work performance, by focusing on each operator and each pair. As the results, we derived basic operation strategies as follow; operators with higher number of simultaneously-operated joints (Ns) can control OCTOPUS more smoothly, and pairs with higher rate of cooperated operations (Rc) can finish tasks more efficiently. We also found that Ns and Rc can be used to quantify operational skills. Revealed strategies and parameters could be useful to design new human-machine interface and intelligent control system.

  • A Combined Approach of Doppler and Carrier-based Hyperbolic Positioning with a Multi-channel GPS-pseudolite for Indoor Localization of Robots

    Kenjiro Fujii, Ryosuke Yonezawa, Yoshihiro Sakamoto, Alexander Schmitz, Shigeki Sugano

    2016 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION (IPIN)    2016年  [査読有り]

     概要を見る

    A combined method of Doppler positioning and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite is proposed for indoor localization. This method uses carrier-phase output from a GPS/pseudolite receiver. The carrier-phase observable is precise but does not provide range information between the pseudolite and receiver antennas necessary for position calculation. This is because of the existence of carrier ambiguity. This problem can be solved by using the proposed combined method. In the present work, the positioning theory is established and experimentally evaluated with actual devices including a robot. The experimental result shows that a positioning accuracy of more than 10 cm is achievable.

  • Wrist Joint Angle Estimation by Means of Muscle Bulge Based on Deformation of the Forearm Skin Surface

    Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

    2016 WORLD AUTOMATION CONGRESS (WAC)    2016年  [査読有り]

     概要を見る

    The objective of this paper is to develop a method to estimate the wrist joint angle based on the deformation of the forearm skin surface during muscle contraction. We have focused on the longitudinal movement of the muscle bulge along the forearm. We previously confirmed a one-to-one relationship between the movement of the muscle bulge and the wrist joint angle, and validated the feasibility of the estimation of the joint angle using this relationship. However, the relationship between the movement of the muscle bulge and the wrist joint was previously difficult to perform because of the misalignment of the sensor on the muscle. Here we use a tactile sensor that can measure three-dimensional data on the forearm skin surface to map the muscle bulge location. We measured a large 32 x 96 mm area on the forearm skin with 48 skin distance sensors. We calculated x and y components of the barycentric coordinates from the measured data. We observed a one-to-one relationship between the y-component of the barycentric coordinate from the distribution of the movement of the muscle bulge on the forearm skin surface. We then calculated the RMSE between the measured and estimated wrist joint angle using our joint angle estimation algorithm. We found that the RMSE from our technique was greater than from the conventional method. While we validated the feasibility of our estimation method further research is required to reduce our estimation error by improving the extraction and interpretation of our sensor data.

  • Fundamental Development of a Virtual Reality Simulator for Four-Arm Disaster Rescue Robot OCTOPUS

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Junjie Yang, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     721 - 726  2016年  [査読有り]

     概要を見る

    This paper presents a virtual reality (VR) simulator for four-arm disaster response robot OCTOPUS, which has high capable of both mobility and workability. OCTOPUS has 26 degrees of freedom (DOF) and is currently teleoperated by two operators, so it is quite difficult to operate OCTOPUS. Thus, we developed a VR simulator for training operation, developing operator support system and control strategy. Compared with actual robot and environment, VR simulator can reproduce them at low cost and high efficiency. The VR simulator consists of VR environment and human-machine interface such as operation-input and video-and sound-output, based on robot operation system (ROS) and Gazebo. To enhance work performance, we implement indicators and data collection functions. Four tasks such as rough terrain passing, high-step climbing, obstacle stepping over, and object transport were conducted to evaluate OCTOPUS itself and our VR simulator. The results indicate that operators could complete all the tasks but the success rate differed in tasks. Smooth and stable operations increased the work performance, but sudden change and oscillation of operation degraded it. Cooperating multi-joint adequately is quite important to execute task more efficiently.

  • Relation between Magnitude of Applied Torque during Pre-Swing Phase and Toe Clearance Change to Prevent Trip of Elderly People

    Taman Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     2448 - 2453  2016年  [査読有り]

     概要を見る

    Elderly people are at risk of falling because of their low toe clearance. Gait training to improve toe clearance could be instrumental in avoiding tripping. We propose using a gait-training robot that applies torque during the pre-swing phase to achieve this goal. It is still possible to revert to their original trajectory after the training, however, depending on the magnitude of the applied torque. We investigated the relation between the magnitude of the applied torque and the change in toe clearance before and after application of torque. We developed a robot and carried out an experiment in which a motor pulls a string embedded on the robotic frame worn by the participants, thereby applying torque during the pre-swing phase. The experimental task included walking on a treadmill for 50 s. We applied torque to the knee during the pre-swing phase for 20 s. The phases before and after applying torque were 15-s normal walking phases with no interference from the robot. We compared toe clearance during the phases before and after applying torque. We found that the toe clearance increased after applying a torque of 8 Nm. We were thus able to verify the influence of torque on toe clearance.

    DOI

  • Joint Angle Estimation using the Distribution of the Muscle Bulge on the Forearm Skin Surface of an Upper Limb Amputee

    Akira Kato, Yuya Matsumoto, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     1490 - 1495  2016年  [査読有り]

     概要を見る

    A novel joint angle estimation method is proposed using a new bio-signal for an amputee subject. We used the muscle bulge movement on the forearm skin surface as a new bio-signal for estimating the extent of motion in a previous study. We found that it is feasible to estimate the intended wrist joint angle using the distribution of the muscle bulge for intact subjects. Thus, in the present paper, we validate the feasibility of our method for an amputee. In applying our method to an amputee subject, we improved our distance sensor device so that it can accommodate the position of the muscle, which is variable for an amputee subject. In addition, we improved the algorithm that estimates the wrist joint angle using linear multiple regression for calculating the relationship between the intended wrist joint angle and the distribution of the muscle bulge. As a result, we found that the distribution of the muscle bulge changes for the amputee as for intact subjects. The movement of the position of the muscle bulge on the forearm skin corresponded to the extent of the intended wrist joint angle. According to the result of the estimation of the wrist joint angle, the root-mean-square error of the estimated angle with respect to the measured angle for the amputee was slightly larger than the error for intact subjects. Nevertheless, the root-mean-square error for the amputee was smaller than that when employing the previous method for intact subjects. Finally, it is feasible to use the muscle bulge movement on the forearm skin to estimate the intended wrist joint angle for the upper limb amputee.

    DOI

  • Design of Four-Arm Four-Crawler Disaster Response Robot OCTOPUS

    Mitsuhiro Kamezaki, Hiroyuki Ishii, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Yo Kobayashi, Kenji Hashimoto, Shigeki Sugano, Atsuo Takanishi, Masakatsu G. Fujie, Shuji Hashimoto, Hiroshi Yamakawa

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     2840 - 2845  2016年  [査読有り]

     概要を見る

    We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.

    DOI

  • Relationship between Magnitude of Applied Torque in Pre-Swing Phase and Gait Change for Prevention of Trip in Elderly People

    Tamon Miyake, Mariko Tsukune, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

    2016 38TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2016   6154 - 6157  2016年  [査読有り]

     概要を見る

    Elderly people are at risk of tripping because of their narrow range of articular motion. To avoid tripping, gait training that improves their range of articular motion would be beneficial. In this study we propose a gait-training robot that applies a torque during the pre-swing phase to achieve this goal. We investigated the relationship between magnitude of applied torque and change in the range of knee-articular motion while walking before and after the application of this torque. We developed a wearable robot and carried out an experiment on human participants in which a motor pulls a string embedded on the robotic frame, applying torque in the pre-swing phase for a period of 20 [s]. Before and after applying torque the participant walked normally for 15 [s] without interference from the robot. We found that knee flexion angle increased after applying the torque if the torque was within the range of approximately 6-8 [Nm]. Therefore, we were able to verify that a new range of knee articular motion can be learned through application of torque.

    DOI PubMed

  • Pupil Variation Applied to the Eye Tracking Control of an Endoscopic Manipulator.

    Yang Cao 0006, Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G. Fujie

    IEEE Robotics Autom. Lett.   1 ( 1 ) 531 - 538  2016年  [査読有り]

    DOI

  • Pupil Variation for Use in Zoom Control

    Yang Cao, Yo Kobayashi, Satoshi Miura, Kazuya Kawamura, Masakatsu G. Fujie, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)     479 - 484  2016年  [査読有り]

     概要を見る

    We are developing an endoscopic manipulator control system based on eye tracking, which uses pupil variation to improve control performance. In this paper, we propose a new approach for the control of camera zoom for an endoscopic manipulator using pupil variation, which has not been previously attempted. Before using pupil variation for the zoom function, we observed how pupil variation was related to controlling the timing for zooming in or out while a surgeon performed suturing tasks. After we confirmed the potential application for zoom control based on the variation of the size of pupil, we developed a zoom judge algorithm and integrated it into our endoscopic manipulator control system. We set up an experimental task to evaluate our proposal, and conclude that pupil variation has a significant effect on adjusting the zoom magnification for the endoscopic manipulator. Moreover, it shows better performance than zoom control by pedal input.

    DOI

  • 操作入力量ヒストグラムの波形整形に基づく基本入出力ゲインの自動調整システム

    亀?允啓, 岩田浩康, 菅野重樹

    日本ロボット学会誌   Vol. 34 ( No. 1 ) 56 - 64  2016年01月  [査読有り]

    DOI

  • Intent Communication in Navigation through the Use of Light and Screen Indicators

    Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Erika Uno, Hayato Yanagawa, Yuta Yokoyama, Mitsuhiro Kamezaki, Alexander Schmitz, Shigeki Sugano

    ELEVENTH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN ROBOT INTERACTION (HRI'16)     523 - 524  2016年  [査読有り]

     概要を見る

    Human's ability to perceive intent plays a crucial role in achieving smooth and efficient navigation. At the present state, even with the state-of-the-art anthropomorphic robots, displaying human-like non-verbal communication (kinesics) is a challenging task. This poses a significant difficulty in performing legible navigation behavior for robots. In this paper, we look into light (turn indicator) and screen (arrow indicator) indicators as a means of overcoming the shortcomings of the robot's non-verbal communication abilities. Our results show a statistically significant improvement in perceived comfort, predictability, and performance with the use of light indicators.

    DOI

  • SNR Modeling and Material Dependency Test of a Low-cost and Simple to Fabricate 3D Force Sensor for Soft Robotics

    Tito Pradhono Tomo, Wai Keat Wong, Alexander Schmitz, Harris Kristanto, Sophon Somlor, Jinsun Hwang, Shigeki Sugano

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     428 - 433  2016年  [査読有り]

     概要を見る

    This paper presents a low cost, easy to produce, small tactile sensor system, that can be embedded in a soft material and limited space. In the current implementation, we use a Hall-effect sensor and a magnet to measure the force. One sensor module can measure 3D force vector and temperature. This chip is planted inside a 55 x 55 x 8 mm of the silicon layer. The module has I2C digital output, requiring only four wires for each module. The experiment shows that the signal to noise ratio (SNR) for this module is relatively high, 21.4658 dB when 20g load is applied. The experiment also indicates that the sensor module measured loads differently depending on the type of material that is in contact.

    DOI

  • Development of Robotic Fingertip Morphology for Enhanced Manipulation Stability

    Keung Or, Alexander Schmitz, Satoshi Funabashi, Mami Tomura, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     25 - 30  2016年  [査読有り]

     概要を見る

    This study aims to develop a fingertip in order to improve the manipulation performance of posture interpolation control for a multifingered robot hand.Increasing the contact area between the fingertips and object is one solution for improving grasping and manipulation stability.A reasonable fingertip shape design and material selection can increase the contact area.In this paper, we compare an anthropomorphic shape to a cylindrical body with a semispherical tip.In order to test the practical property such as contact area size of our proposed fingertip, a pressure experiment was conducted for comparing the two fingertip shapes under different workloads. Finally, we installed the fingertips on a commercial available robot hand Allegro Hand.Two tasks were conducted for evaluating our proposed fingertip with posture interpolation control. The results show that our proposed fingertip could improve manipulation performance by comparing the success rate in both the experiments.

    DOI

  • Position-Force Combination Control with Passive Flexibility for Versatile In-Hand Manipulation Based on Posture Interpolation

    Keung Or, Mami Tomura, Alexander Schmitz, Satoshi Funabashi, Shigeki Sugano

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)     2542 - 2547  2016年  [査読有り]

     概要を見る

    In-hand manipulation is often needed to accomplish a practical task after grasping an object. In-hand manipulation of variously sized and shaped objects in multi-fingered hands without dropping the object is challenging. In this paper we suggest a combined strategy of force control and passive adaptation through soft fingertips with simple interpolation control to achieve in-hand manipulation between various postures and with various objects. While passive compliance can be achieved in numerous ways, this paper uses soft skin, as it does not require complex mechanisms and was easy to integrate in the robot hand (Allegro hand). Softness has proven to significantly ease object grasping, and the current paper shows the importance of softness also for in-hand manipulation. In particular, the simple interpolation strategy between various postures is successful when combined with soft fingertips, with or without force control, but fails with hard fingertips. Objects of varying size, shape and hardness were reliably manipulated. While the soft fingertips enabled good results in our experiments, a sufficiently precise definition of the postures and object size was required. When combining the interpolation control with a force control strategy, bigger errors in defining the posture and object size are possible, without deforming or dropping the object, and the resultant force is lower. As a result, we achieved robust in -hand manipulation between various postures and with objects of different size, shape and hardness.

    DOI

  • A Study on Fingertip Designs and their Influences on Performing Stable Prehension for Robot Hands

    Keung Or, Shu Morikuni, Shun Ogasa, Satoshi Funabashi, Alexander Schmitz, Shigeki Sugano

    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     772 - 777  2016年  [査読有り]

     概要を見る

    This research aims to clarify and analyze potential factors in fingertip designs and conditions which may affect prehension performances in addition to the control strategy. In this paper, four factors of fingertip designs and conditions are considered: hardness, thickness of the skin, shape and the surface friction condition of the fingertip. Six fingertips were made in order to compare these factors and their influences on grasp stability under different conditions (high and low workload). An evaluation experiment was conducted in order to investigate how the proposed properties affect the grasping performance under different workloads. Results show an unexpected effectiveness of the soft skin grasping performance compared to less deformable materials, even with reduced friction; also the orientation of the fingertips significantly affects the grasping performance in the case of anthropomorphic fingertips. These results can be useful for designing a new robot hand and a control strategy, which can potentially lead to a better stability and efficient performance.

    DOI

  • A Modular, Distributed, Soft, 3-Axis Sensor System for Robot Hands

    Tito Pradhono Tomo, Wai Keat Wong, Alexander Schmitz, Harris Kristanto, Alexandre Sarazin, Lorenzo Jamone, Sophon Somlor, Shigeki Sugano

    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     454 - 460  2016年  [査読有り]

     概要を見る

    Integrating distributed sensors in the skin of robot hands is challenging, as the space is limited. This paper presents a dense and small tactile sensor system that can be installed on robotic hands. In the current implementation, the system is constituted by modules that are 26mm long and 27mm wide and they have been successfully integrated on the internal side of each finger phalange of the commercially available Allegro Hand (except the fingertips). Each sensor module contains 16 tri-axial taxels; each taxel is able to measure the applied 3D force vector using a Hall effect sensor and a magnet. The sensor modules are 4mm high, including the printed circuit board (PCB) with the sensors and the soft silicone with the magnets. The back of the PCB is flat without any components mounted, which eases the integration. Each sensor has I2C digital output, and each sensor module is connected to four I2C buses, requiring only seven wires for each module. The tri-axial taxels are close to each other (4.7 mm from the center of one taxel to the next), but experiments proved that independent force vectors can be measured and that the crosstalk is limited.

    DOI

  • Development of a dipping wire method to improve the abrasion resistance of a plastic wire

    Shunsuke Nagahama, Junichi Tanabe, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)     743 - 748  2016年  [査読有り]

     概要を見る

    In this study, the concept of a self-repairing wire for tendon-driven robots was proposed. A wire in a tendon-driven robot is worn by friction between the tendon and pulley and also between the tendon and guide rail. A worn tendon may lead to breakage of the tendon and makes it difficult to control the robot. In this study, a method to continuously protect the wire surface was proposed to inhibit tendon abrasion. A polymer layer was formed around the catalyst by coating the surface of the wire with a catalyst and supplying liquid resin to the surface. The layer protected the wire from abrasion and the wire re-formed itself when it was worn by abrasion. Specifically, when the wire was abraded, the catalysts reacted with the liquid resin to re-form the coating. In the study, three experiments were conducted and the results confirmed that the wire was protected from abrasion by re-coating itself.

    DOI

  • Body Model Transition by Tool Grasping During Motor Babbling Using Deep Learning and RNN

    Kuniyuki Takahashi, Hadi Tjandra, Tetsuya Ogata, Shigeki Sugano

    ARTIFICIAL NEURAL NETWORKS AND MACHINE LEARNING - ICANN 2016, PT I   9886   166 - 174  2016年  [査読有り]

     概要を見る

    We propose a method of tool use considering the transition process of a body model from not grasping to grasping a tool using a single model. In our previous research, we proposed a tool-body assimilation model in which a robot autonomously learns tool functions using a deep neural network (DNN) and recurrent neural network (RNN) through experiences of motor babbling. However, the robot started its motion already holding the tools. In real-life situations, the robot would make decisions regarding grasping (handling) or not grasping (manipulating) a tool. To achieve this, the robot performs motor babbling without the tool pre-attached to the hand with the same motion twice, in which the robot handles the tool or manipulates without graping it. To evaluate the model, we have the robot generate motions with showing the initial and target states. As a result, the robot could generate the correct motions with grasping decisions.

    DOI

  • Emergence of Interactive Behaviors between Two Robots by Prediction Error Minimization Mechanism

    Yiwen Chen, Shingo Murata, Hiroaki Arie, Tetsuya Ogata, Jun Tani, Shigeki Sugano

    2016 JOINT IEEE INTERNATIONAL CONFERENCE ON DEVELOPMENT AND LEARNING AND EPIGENETIC ROBOTICS (ICDL-EPIROB)     302 - 307  2016年  [査読有り]

     概要を見る

    This study demonstrates that the prediction error minimization (PEM) mechanism can account for the emergence of reciprocal interaction between two cognitive agents. During interactive processes, alternation of forming and deforming interactions may be triggered by various internal and external causes. We focus in particular on external causes derived from a dynamic and uncertain environment. Two small humanoid robots controlled by an identical dynamic neural network model using the PEM mechanism were trained to achieve a set of coherent ball-playing interactions between them. The two robots predict each other in a top-down way while they try to minimize the prediction errors derived from the unstable ball dynamics or the external cause in a bottom-up way by using the PEM mechanism. The experimental results showed that switching among the set of trained interactive ball plays between the two robots appears spontaneously. The analysis clarified how each complementary behavior can be generated via mutual adaptation between the two robots by undertaking top-down and bottom-up interaction in each individual dynamic neural network model by using the PEM mechanism.

    DOI

  • Analysis of Imitative Interactions between Humans and a Robot with a Neuro-dynamical System

    Shingo Murata, Kai Hirano, Hiroaki Arie, Shigeki Sugano, Tetsuya Ogata

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     343 - 348  2016年  [査読有り]

     概要を見る

    Human communicative behavior is both dynamic and bidirectional. This study aims to analyze such behavior by conducting imitative interactions between human subjects and a humanoid robot that has a neuro-dynamical system. For this purpose, we take a robot-centered approach in which the change in robot performance according to difference in human partner is analyzed, rather than adopting the typical human-centered approach. A small humanoid robot equipped with a neuro-dynamical system learns imitative arm movement patterns and interacts with humans after the learning process. We analyze the interactive phenomena by different methods, including principal component analysis and use of a recurrence plot. Through this analysis, we demonstrate that different classes of interactions can be observed in the contextual dynamics of the neuro-dynamical system.

    DOI

  • A Haptic Feedback Driver-Vehicle Interface for Controlling Lateral and Longitudinal Motions of Autonomous Vehicles

    Udara E. Manawadu, Mitsuhiro Kamezaki, Masaaki Ishikawa, Takahiro Kawano, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     119 - 124  2016年  [査読有り]

     概要を見る

    Autonomous vehicles will significantly change the existing driver-vehicle relationship, since only a destination input from the human driver will suffice. However, reduced degree of human-control could result in lack of driving pleasure and excitement. Thus, we proposed a method to increase the flexibility in controlling of an autonomous vehicle by allowing the driver to control its lateral and longitudinal motions with a time lag. We first derived a set of vehicle movements to improve driver experience and related them to a set of control functions that the driver can input. We then created two types of driver-vehicle interfaces (DVIs) for vehicle control; a haptic interface with kinesthetic and tactile feedback, and a hand-gesture interface with augmented reality feedback. The joystick-type haptic interface provides feedback on driver input by dynamically varying its degrees of freedom through controlling the current supplied to axis motors, and through vibration motors. The gesture interface is based on Leap Motion controller and provides visual feedback to driver. We conducted driving experiments in a VR simulator using twenty drivers to evaluate the effectiveness of these DVIs. The results showed that haptic interface significantly reduced the average input time and input error, and drivers preferred the haptic interface due to its ability to provide immediate, active, and passive feedback.

    DOI

  • A Hand Gesture based Driver-Vehicle Interface to Control Lateral and Longitudinal Motions of an Autonomous Vehicle

    Udara E. Manawadu, Mitsuhiro Kamezaki, Masaaki Ishikawa, Takahiro Kawano, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     1785 - 1790  2016年  [査読有り]

     概要を見る

    Autonomous vehicles would make the future roads safer by keeping the human driver out of the loop. However, reduced degree of human-control could result in loss of the feeling of driving for some drivers. Therefore, in this study we proposed a method of interaction between the driver and autonomous vehicle by allowing the driver to control the vehicle's lateral and longitudinal motions. We adopted hand gestures as input modality because it can reduce driver's visual and cognitive demands. We first derived seven fundamental vehicle maneuvers to improve driver experience, and related them to seven independent hand gestures. We then created a hand gesture interface to control an autonomous vehicle, using Leap Motion as the gesture recognition platform. We conducted driving experiments involving twenty drivers in a virtual reality driving simulator to investigate the effectiveness of this interface for vehicle control. We evaluated the driving experience and drivers' opinions regarding the gestural interface. The results proved that semi-autonomous controlling using the hand gesture interface significantly reduced drivers' perceived work-load.

    DOI

  • Gaze Pattern Analysis in Multi-Display Systems for Teleoperated Disaster Response Robots

    Ryuya Sato, Mitsuhiro Kamezaki, Shigeki Sugano, Hiroyasu Iwata

    2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     3534 - 3539  2016年  [査読有り]

     概要を見る

    In unmanned construction, work efficiency is lower than that in manned construction due to lack of visual information. Thus, we previously developed an autonomous camera control system to provide various visual information suited to work states through multiple displays. However, that system increased the cognitive load on operators, and required them to have much experience to choose appropriate views for various situations. Next, we should investigate the degree of effectiveness for each view in a certain state. Thus, in this study, we analyzed gaze patterns to clarify which are the displays that operators often watch in work states, i.e., moving, grasping, transport, and releasing. We then derived which gaze patterns have higher work performance, including time efficiency and safeness. We clustered gaze patterns using Ward's method, which is a criterion applied in hierarchical clustering. To evaluate the objective of this study, we conducted experiments involving debris transport tasks, using a virtual reality simulator. The results indicated that gaze patterns differed in operators and we found that better time efficiency related to specific gaze patterns for each work state.

    DOI

  • Design Optimisation and Performance Evaluation of a Toroidal Magnetorheological Hydraulic Piston Head

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Shan He, Somlor Sophon, Alexander Schmitz, Shigeki Sugano

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)     350 - 355  2016年  [査読有り]

     概要を見る

    The advantages of mechanical compliance have driven the development of devices using new smart materials. A new kind of magnetorheological piston based on a toroidal array of magnetorheological valves, has been previously tested to prove its feasibility. However, being an initial prototype its potential was still limited by its complex design, and low output force. This study presents the revisions done to the design with several improvements targeting key performance parameters. An improved annular piston design is also introduced as comparison with conventional devices. The toroidal and annular piston head prototypes are built and tested, and their force performance compared with the previous iteration. The experimental results show an overall performance improvement of the toroidal assembly. However, the force model used in the study still fails to accurately predict the magnetic flux at the gaps of the piston head. This deviation is later verify and corrected using a FEM analysis. The force performance of the new toroidal assembly is on par with the commonplace annular design. It also displays a more linear behaviour, at the expense of lower energy efficiency. Finally, it also shows potential for a greater degree of customisation to meet different system requirements.

    DOI

  • Performance Evaluation of a Compliant Magnetorheological Piston Actuator

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, He Shan, Shigeki Sugano

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     254 - 259  2016年  [査読有り]

     概要を見る

    Compliant actuation is an indispensable element for safe physical human robot interaction. However, there is a lack of devices, which can integrate the high power density of hydraulic actuators with intrinsically safe mechanisms. This drove the development a new type of hydraulic magnetorheological piston. This device includes a novel toroidal array of magnetorheological valves in its head. In previous studies, the system performance was evaluated only as a traditional damping system. Now, the piston is connected to a pump to create a hydraulic compliant actuator. This novel compliant piston is capable to control the piston speed and force independently by using the pump and electromagnet voltages respectively. In this way, different combinations of these parameters can be used to achieve diverse system properties; e.g. low response time or energy efficiency. Several experiments are conducted to evaluate its performance, including force, friction, speed, and step response. The results display the potential of the devices to be used as an active system for compliant hydraulic robotic applications. They also hint to the possibilities to improve by using a more sophisticated control system for its speed and force.

    DOI

  • An Iterative Design Methodology for the Performance Optimisation of Magnetorheological Piston Head Configurations

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     228 - 233  2016年  [査読有り]

     概要を見る

    This work focuses on the analysis of the performance parameters of a new magneto-rheological device. Previously, a mathematical model of the actuator head was introduced; however, the complex relations between its parameters made its optimisation challenging, causing the device not to reach its full potential. In this work, the previous model is updated to fit a revised version of the toroidal design, as well as an annular design for comparison. The relations between different parameters are studied to find their trade-offs, and understand how they affect the performance of the actuators. Finally, an optimisation based on an iterative search for valid permutations of parameters, is used to find optimal combinations. Two prototypes are built and tested to validate the results of the optimisation. The study revealed the critical parameters of each design, which mostly depend on the relations between the magnetic flux density, and the active area exposed to the MRF; and successfully optimised the performance of the devices. However, work needs to be done to create a more complete tool with concrete guidelines for specific applications.

    DOI

  • Exploring the Use of Light and Display Indicators for Communicating Directional Intent

    Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     1651 - 1656  2016年  [査読有り]

     概要を見る

    Legible robot behavior is a key element for smooth and efficient navigation among humans. However, at present, even the state-of-the-art robots cannot communicate its internal state of directional intent by displaying human-like non-verbal cues. In this paper, we explore various modes for communicating directional intent of a robot across three different scenarios as a means of overcoming the shortcomings of the robot's non-verbal communication abilities. Specifically, we look into turn indicators, display indicators, and their combinations with sound and investigate their effectiveness across different passing scenarios. Our study shows us that using auxiliary communicating methods significantly improves the perceived feelings of our dependent measures. Further, communicating intention also helps in improving cooperation. However, the effectiveness greatly varies with the modes and the passing scenarios. In the case of 90 degrees crossing scenario, even though participants have positive perceived feelings, this does not necessarily translate into smooth and efficient navigation.

    DOI

  • Robust in-hand manipulation of variously sized and shaped objects

    Satoshi Funabashi, Alexander Schmitz, Takashi Sato, Sophon Somlor, Shigeki Sugano

    IEEE International Conference on Intelligent Robots and Systems   2015-   257 - 263  2015年12月  [査読有り]

     概要を見る

    Moving objects within the hand is challenging, especially if the objects are of various shape and size. In this paper we use machine learning to learn in-hand manipulation of such various sized and shaped objects. The TWENDY-ONE hand is used, which has various properties that makes it well suited for in-hand manipulation: a high number of actuated joints, passive degrees of freedom and soft skin, six-axis force/torque (F/T) sensors in each fingertip, and distributed tactile sensors in the skin. A dataglove is used to gather training samples for teaching the required behavior. The object size information is extracted from the initial grasping posture. After training a neural network, the robot is able to manipulate objects of untrained sizes and shape. The results show the importance of size and tactile information. Compared to interpolation control, the adaptability for the initial posture gap could be greatly extended. Final results show that with deep learning the number of required training sets can be drastically reduced.

    DOI

  • Feature Extraction by Deep Learning with the Aim of Improved In-Hand Manipulation

    Satoshi Funabashi, Takashi Sato, Alexander Schmitz, Shigeki Sugano

    JSME International Conference on Advanced Mechatronics 2015     2 pages  2015年12月  [査読有り]

  • Visual Attention to Appropriate Monitors and Parts Using Augmented Reality for Decreasing Cognitive Load in Unmanned Construction

    Ryuya Sato, Mitsuhiro Kamezaki, Junjie Yang, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of the 6th International Conference on Advanced Mechatronics 2015 (ICAM2015)   1A1-23   45  2015年12月  [査読有り]

  • Analysis of Spatial Perception Ability Based on Human Eyesight for Teleoperators

    Kui Chen, Junjie Yang, Takahiro Katano, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of the 6th International Conference on Advanced Mechatronics 2015 (ICAM2015)   2A2-28   351 - 352  2015年12月  [査読有り]

  • Analysis of Preference for Autonomous Driving Under Different Traffic Conditions Using a Driving Simulator

    Udara Eshan Manawadu, Masaaki Ishikawa, Mitsuhiro Kamezaki, Shigeki Sugano

    Journal of Robotics and Mechatronics (JRM)   Vol. 27 ( No. 6 ) 660 - 670  2015年12月  [査読有り]

    DOI

  • Scenario Authoring for a Driving Simulator to Evaluate Driver Experience in Intelligent Autonomous Vehicles

    Udara Manawadu, Masaaki Ishikawa, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of the 6th International Conference on Advanced Mechatronics 2015 (ICAM2015)   1A1-18   94 - 95  2015年12月  [査読有り]

  • A Novel Toroidal Design for Magnetorheological Dampers

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Shan He, Shigeki Sugano

    Proceedings of the 6th International Conference on Advanced Mechatronics 2015 (ICAM2015)   1A2-28   113 - 114  2015年12月  [査読有り]

  • Feature Extraction by Deep Learning for Improved In-Hand Manipulation

    Satoshi Funabashi, Takashi Sato, Alexander Schmitz, Shigeki Sugano

    Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM2015)     2 pages  2015年11月  [査読有り]

  • A novel tri-axial capacitive-type skin sensor

    Sophon Somlor, Richard Sahala Hartanto, Alexander Schmitz, Shigeki Sugano

    ADVANCED ROBOTICS   29 ( 21 ) 1375 - 1391  2015年11月  [査読有り]

     概要を見る

    This paper introduces a novel tri-axial capacitive force sensor. The sensor can measure the force vector, is embedded in soft 7mm-thick silicone skin, enables temperature sensitivity compensation and has digital output. To measure the force vector, tilted capacitive sensor elements are used which are facing in different directions to differentiate the tangential forces. The sensor is intended for distributed contact sensing in a robotic skin, but could be also used for other applications such as novel haptic user interfaces in wearable devices. A series of experiments was performed and showed good sensor characteristics. The concept of the tilted force transducers has been proven to have the capability of detecting the force vector acting on the local sensor surface.

    DOI

  • Investigation of the Effect of Joint Angle on Muscle Hardness in Static Stretching of the Gastrocnemius

    Naomi Okamura, Mariko Tsukune, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie

    Proceedings of the 2015 JSME/RMD International Conference on Advanced Mechatronics (ICAM2015)     267 - 268  2015年11月  [査読有り]

  • The Influence of Applying Torque in the Pre-swing Phase on the Minimum Toe Clearance for Prevention of Falls in Elderly People

    Tamon Miyake, Mariko Tsukune, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie

    Proceedings of the 2015 JSME International Conference on Advanced Mechatronics     2 pages  2015年11月  [査読有り]

  • Hyperbolic Positioning with Antenna Arrays and Multi-Channel Pseudolite for Indoor Localization

    Kenjirou Fujii, Yoshihiro Sakamoto, Wei Wang, Hiroaki Arie, Alexander Schmitz, Shigeki Sugano

    SENSORS   15 ( 10 ) 25157 - 25175  2015年10月  [査読有り]

     概要を見る

    A hyperbolic positioning method with antenna arrays consisting of proximately-located antennas and a multi-channel pseudolite is proposed in order to overcome the problems of indoor positioning with conventional pseudolites (ground-based GPS transmitters). A two-dimensional positioning experiment using actual devices is conducted. The experimental result shows that the positioning accuracy varies centimeter- to meter-level according to the geometric relation between the pseudolite antennas and the receiver. It also shows that the bias error of the carrier-phase difference observables is more serious than their random error. Based on the size of the bias error of carrier-phase difference that is inverse-calculated from the experimental result, three-dimensional positioning performance is evaluated by computer simulation. In addition, in the three-dimensional positioning scenario, an initial value convergence analysis of the non-linear least squares is conducted. Its result shows that initial values that can converge to a right position exist at least under the proposed antenna setup. The simulated values and evaluation methods introduced in this work can be applied to various antenna setups; therefore, by using them, positioning performance can be predicted in advance of installing an actual system.

    DOI

  • Modelling and Simulation of a New Magnetorheological Linear Device

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, Shigeki Sugano

    Proceedings of the 2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS2015)     235 - 240  2015年10月  [査読有り]

  • 無人化施工における視覚情報の強化に関する研究−作業状況に応じた環境カメラの自動制御と拡張現実技術を用いた注視支援−

    亀?允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

    第15回建設ロボットシンポジウム論文集(SCR2015)   paper no. O-24   8 pages  2015年09月  [査読有り]

  • Visibility Enhancement using Autonomous Multicamera Controls with Situational Role Assignment for Teleoperated Work Machines

    Mitsuhiro Kamezaki, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

    Journal of Field Robotics   Vol. 0 ( No. 0 ) 1 - 23  2015年04月  [査読有り]

  • Efficient Space Utilization for Improving Navigation in Congested Environments

    Moondeep Shrestha, Hayato Yanagawa, Erika Uno, Shigeki Sugano

    ACM/IEEE International Conference on Human-Robot Interaction   02-05-   157 - 158  2015年03月  [査読有り]

     概要を見る

    In this paper, we have looked into some two behaviors for 'efficient space utilization' by humans in a congested situation. From observations, we have noticed that 'last minute avoidance' and 'shoulder turning' are two crucial behaviors in achieving efficient navigation in crowded environments. The presented study verifies the shoulder turning behavior and investigates the typical values for these behaviors. These results will form an initial framework for local avoidance planner for future research.

    DOI

  • Feasibility Study on Joint Angle Estimation by Means of Muscle Bulge Movement Longitudinally along the Forearm

    Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

    Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015)     7 pages  2015年03月  [査読有り]

  • An fMRI Pilot Study Evaluating Brain Activation During Different Finger Training Exercises

    Zhenjin Tang, Hiroyasu Iwata, Shigeki Sugano

    PROCEEDINGS OF THE IEEE/RAS-EMBS INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR 2015)     967 - 972  2015年  [査読有り]

     概要を見る

    The recovery of motor function after stroke is widely considered to result from brain plasticity. However, what kind of training exercise can better provoke brain plastic processes is still unclear. Studying regional brain activation during a specific training exercise may provide value information that can help design more effective therapeutic approaches. In this paper, we monitored brain activation when subjects performed four different finger training exercises: left middle finger passive movement (LMFP), left middle finger active movement (LMFA), middle finger self-motion control movement (MF), and both middle fingers active movement (BMFA). Eight healthy volunteers were involved in this study. The results indicated that the LFMA results in stronger brain activation than the LMFP in the left insular, left inferior frontal cortex, right middle cingulate cortex, left S1, bilateral cerebellum, SMA, and right inferior frontal areas. However, we did not find a significant difference when comparing the the MF and the BMFA conditions.

  • Development and Evaluation of an MRI Compatible Finger Rehabilitation Device for Stroke Patients

    Zhenjin Tang, Shigeki Sugano, Hiroyasu Iwata

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     5005 - 5010  2015年  [査読有り]

     概要を見る

    This paper presents the design, development and magnetic resonance imagining (MRI) compatibility evaluation of a small size, compact and adjustable different finger phalange lengths rehabilitation device. This device employs ultrasonic motor as its actuator and adopts a novel six-link mechanism to drive the finger. The final system enables to provide two joints (the MCP and the PIP) in each finger to do flexion and extension motion with one degree of freedom (DOF). The MRI compatibility of the robot was also evaluated. The results demonstrate that there is neither an effect from the MRI environment on the robot performance, nor significant degradation on MRI images by the introduction of the robot in the MRI scanner. Finally, an fMRI study with subject was carried out, the result shows a stable brain activation was observed when the middle finger of the subject was driven to implement passive rehabilitation motion inside the MRI scanner.

  • Development of an endoscopic manipulator control system with intention recognition based on pupil movement.

    Yang Cao 0006, Quanquan Liu, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G. Fujie

    2015 IEEE International Conference on Robotics and Biomimetics, ROBIO 2015, Zhuhai, China, December 6-9, 2015     1637 - 1642  2015年  [査読有り]

    DOI

  • Tool-Body Assimilation Model Based on Body Babbling and Neurodynamical System

    Kuniyuki Takahashi, Tetsuya Ogata, Hadi Tjandra, Yuki Yamaguchi, Shigeki Sugano

    MATHEMATICAL PROBLEMS IN ENGINEERING   Article ID 837540   1 - 15  2015年  [査読有り]

     概要を見る

    We propose the new method of tool use with a tool-body assimilation model based on body babbling and a neurodynamical system for robots to use tools. Almost all existing studies for robots to use tools require predetermined motions and tool features; the motion patterns are limited and the robots cannot use novel tools. Other studies fully search for all available parameters for novel tools, but this leads to massive amounts of calculations. To solve these problems, we took the following approach: we used a humanoid robot model to generate random motions based on human body babbling. These rich motion experiences were used to train recurrent and deep neural networks for modeling a body image. Tool features were self-organized in parametric bias, modulating the body image according to the tool in use. Finally, we designed a neural network for the robot to generate motion only from the target image. Experiments were conducted with multiple tools for manipulating a cylindrical target object. The results show that the tool-body assimilation model is capable of motion generation.

    DOI

  • A 3D Sensing Model and Practical Sensor Placement Based on Coverage and Cost Evaluation

    Junjie Yang, Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2015 IEEE INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER)     1 - 6  2015年  [査読有り]

     概要を見る

    This paper proposes a sensor model in three dimensional (3D) space, where the height of sensor above ground is variable and the position of sensor on the ground is limited. Traditional sensor models treat the sensor placement area as a film and there is no placement limits as well. As a consequence, the number of sensors is very large and the performance is not such ideal as simulation. In this paper, we develop a novel model for sensor placement, which makes sensors possible to be set at different height above ground, so that the coverage rate can be analyzed in 3D space and the simulation result can be more dependable. We also propose a corresponding 3D coverage rate evaluation method to be used for our proposed 3D model. In order to test our proposed model and evaluation method, the system is designed and numerical and graphical simulators are developed. Experiments are conducted to quantify trade-off relationship between coverage rate and cost, i.e., the number of sensors, which can make sensor placement strategy more practical. From the experimental results, we confirmed that the proposed 3D model and evaluation method is effective in a 3D space.

    DOI

  • A Concept for a Robot Arm with Adjustable Series Clutch Actuators and Passive Gravity Compensation for Enhanced Safety

    Alexander Schmitz, Soumya Bhavaraju, Sophon Somlor, Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Wei Wang, Shigeki Sugano

    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     1322 - 1327  2015年  [査読有り]

     概要を見る

    Passive compliance is useful for robotic arms to ensure their safety. Often springs are used, but they are problematic because they reduce the achievable accelerations and can lead to underdamped oscillations. Torque limiters enhance the safety, but usually the torque limit cannot be adjusted to a desired torque. Electronically adjustable torque limiters, also known as series clutch actuators, have several benefits, especially for robotic arms, but they also have severe limitations. This paper suggests incorporating series clutch actuators into a gravity compensated arm. Consequently, gravity should not limit the isotropically achievable force anymore and in the case of power outage the arm keeps its position. The benefits and limitations of a series clutch actuator in a gravity compensated arm are discussed, and a prototype of such an arm is presented. Commercially available magnetic friction clutches are used. Preliminary experiments demonstrate that the safety can be increased.

    DOI

  • Evaluating Proficiency on a Laparoscopic Suturing Task through Pupil Size

    Yang Cao, Yo Kobayashi, Bo Zhang, Quanquan Liu, Shigeki Sugano, Masakatsu G. Fujie

    2015 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2015): BIG DATA ANALYTICS FOR HUMAN-CENTRIC SYSTEMS     677 - 681  2015年  [査読有り]

     概要を見る

    Eye-tracking technology has been applied to surgical skill improvement and can observe differences in gaze data between the experienced and novice surgeon. Some eye trackers can even detect pupil diameter. We hypothesized that differences in technical proficiency among surgeons affect the extent of changes in pupil diameter, because the higher mental workload a laparoscopic task requires, the larger the person's pupil diameter dilates. In this study, we recorded the pupil diameters of pediatric surgeons while they performed a suturing task in a dry box environment. The more proficient surgeons exhibited a smaller distribution in pupil diameter than did the less proficient surgeons. Our data indicate that an individual's suturing proficiency is closely related to the degree of dispersion of pupil diameter.

    DOI

  • Analysis of Individual Driving Experience in Autonomous and Human-Driven Vehicles Using a Driving Simulator

    Udara Manawadu, Masaaki Ishikawa, Mitsuhiro Kamezaki, Shigeki Sugano

    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     299 - 304  2015年  [査読有り]

     概要を見る

    Intelligent vehicles capable of autonomous driving will be commercially available in near future. To formulate a beneficial relationship between driver and vehicle, it is important to analyze how the drivers would react to autonomous vehicles compared to human-driven (conventional) vehicles. In this study, we focused on analyzing individual driving experience in several road conditions for autonomous and conventional vehicles among experienced and novice drivers. We first developed a simplified driving simulator that can connect arbitrary interfaces, create virtual environments consisting of scenarios and events that drivers encounter in real-world driving, and implement fully autonomous driving. We then conducted experiments to clarify differences of driving experiences for autonomous driving between the two groups. The experimental results showed that experienced drivers opt for conventional driving mainly due to the flexibility and driving fun it offers, while novices tend to prefer autonomous driving due to its inherent easiness and safety. An in-depth analysis indicated that drivers preferred to use both the driving methods interchangeably depending on the road and traffic conditions.

    DOI

  • A Haptic Interface with Adjustable Stiffness Using MR Fluid

    Sophon Somlor, Gonzalo Aguirre Dominguez, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     1132 - 1137  2015年  [査読有り]

     概要を見る

    This paper describes a combined tactile sensor and haptic interface that can change its stiffness using magnetorheological fluids (MR fluid). The tactile sensor consists of 6 distributed capacitive sensors that can sense the location and the amount of applied force. Above the sensors is a chamber filled with MR fluid. By changing the magnetic field, the hardness of the MR fluid, and thereby of the haptic interface, can be changed. Fast changes of the magnetization direction lead to a sensation of vibration. The resulting device can be used for novel haptic input devices or for robotic grippers. A prototype device has been constructed, and the effects of the varying magnetic field and the resulting varying stiffness of the MR fluid on the distributed force sensing with the capacitive sensors has been evaluated. We discovered that the measured forces vary very little with changes in the strength of the magnetic field.

    DOI

  • A Concept for a Robot Arm with Adjustable Series Clutch Actuators and Passive Gravity Compensation for Enhanced Safety

    Alexander Schmitz, Soumya Bhavaraju, Sophon Somlor, Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Wei Wang, Shigeki Sugano

    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     1322 - 1327  2015年  [査読有り]

     概要を見る

    Passive compliance is useful for robotic arms to ensure their safety. Often springs are used, but they are problematic because they reduce the achievable accelerations and can lead to underdamped oscillations. Torque limiters enhance the safety, but usually the torque limit cannot be adjusted to a desired torque. Electronically adjustable torque limiters, also known as series clutch actuators, have several benefits, especially for robotic arms, but they also have severe limitations. This paper suggests incorporating series clutch actuators into a gravity compensated arm. Consequently, gravity should not limit the isotropically achievable force anymore and in the case of power outage the arm keeps its position. The benefits and limitations of a series clutch actuator in a gravity compensated arm are discussed, and a prototype of such an arm is presented. Commercially available magnetic friction clutches are used. Preliminary experiments demonstrate that the safety can be increased.

    DOI

  • Accurate Indoor Positioning using IMES Radio

    Kenjiro Fujii, Wei Wang, Yuto Kaneko, Yoshihiro Sakamoto, Hiroaki Arie, Shigeki Sugano

    2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION     1966 - 1971  2015年  [査読有り]

     概要を見る

    Indoor positioning still remains as an open problem, for the reason that it is difficult to achieve a satisfactory level of accuracy within indoor environment, using current radio based localization technology. Thus we try to investigate the utilization of IMES radio for high accuracy indoor positioning, because of its higher resolution radio map. Signal propagation model of IMES radio has been well investigated, based on which algorithms of trilateration and extended kalman filter are developed for both static and dynamic localization of a mobile robot using IMES radio. Experiments results show that a higher localization accuracy could be achieved.

    DOI

  • Predictive Learning with Uncertainty Estimation for Modeling Infants’ Cognitive Development with Caregivers: A Neurorobotics Experiment

    Shingo Murata, Saki Tomioka, Ryoichi Nakajo, Tatsuro Yamada, Hiroaki Arie, Tetsuya Ogata, Shigeki Sugano

    Proceedings of the Fifth Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob 2015)     302 - 307  2015年  [査読有り]

    DOI

  • Performance Analysis in Advanced Tele-operation System Based on Introduction of Danger-Avoidance View

    Junjie Yang, Mitsuhiro Kamezaki, Ryuya Sato, Hiroyasu Iwata, Shigeki Sugano

    INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT III   9246   401 - 412  2015年  [査読有り]

     概要を見る

    Unmanned construction machines are used after disasters. Compared with manned construction, time efficiency is lower because of incomplete visual information, communication delay, and lack of tactile experience. We have developed an autonomous camera control system to supply appropriate visual information. In order to let operator easy to avoid unexpected collision, we first introduce the frame for each viewport according to its contents. And then, we exchange the danger view with an overlook view. The purpose of this study is to attract operators' attention to the danger area when there is a probable collision if operator won't stop or change their action. Besides, we also want to reveal the relationship between gaze habit and performance. The experimental results conducted using our virtual reality simulator confirms that operator tends to watch danger view when it appears. In addition, work strategy may influence the danger avoidance and work time efficiency in opposite way.

    DOI

  • Using Contact-based Inducement for Efficient Navigation in a Congested Environment

    Moondeep C. Shrestha, Yosuke Nohisa, Alexander Schmitz, Shouichi Hayakawa, Erika Uno, Yuta Yokoyama, Hayato Yanagawa, Keung Or, Shigeki Sugano

    2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN)     456 - 461  2015年  [査読有り]

     概要を見る

    As robots progressively continue to enter human lives, it becomes important for robots to navigate safely and efficiently in crowded environments. In fact, efficient navigation in crowded areas is an important prerequisite for successful coexistence between humans and robots. In this paper, we explore an unconventional idea wherein a robot tries to achieve a more efficient navigation by influencing an obstructing human to move away by means of contact. First, preliminary human reaction experiments were conducted wherein we established that we can successfully induce a human to move in a desired direction. Following this result, we have proposed a novel motion planning approach which considers inducement by contact. The system is then verified through simulation and real experiments. The results show us that the proposed method can be utilized for safer and more efficient navigation in a crowded, but relatively static environment.

    DOI

  • Method to obtain only targeted substances from an artificial circulatory system

    Shunsuke Nagahama, Shotaro Iidat, Hiroki Yoneyama, Shigeki Sugano

    2015 IFToMM World Congress Proceedings, IFToMM 2015     91 - 95  2015年  [査読有り]

     概要を見る

    In this paper, we propose a filter system that can selectively obtain the required substances from an artificial circulatory system. The blood circulatory system of the human body keeps us healthy. We consider this system to be useful for a robot system to maintain its condition. To realize an artificial circulatory system like a human body, it is important to deliver various substances with only a single vessel and extract only the required substances from them. We propose a method to deliver encapsulated substances. By using this method, each substance can be delivered without mixing for easy separation. We developed a filter system that can trap only the required substances without clogging based on differences in the capsule size. We conducted experiments to evaluate the separation performance of the system. We were able to obtain only the targeted substances with this system. We developed an impurity filtration system as an application of our system.

    DOI

  • Effective Motion Learning for a Flexible-Joint Robot Using Motor Babbling

    Kuniyuki Takahashi, Tetsuya Ogata, Hiroki Yamada, Hadi Tjandra, Shigeki Sugano

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     2723 - 2728  2015年  [査読有り]

     概要を見る

    We propose a method for realizing effective dynamic motion learning in a flexible-joint robot using motor babbling. Flexible-joint robots have recently attracted attention because of their adaptiveness, safety, and, in particular, dynamic motions. It is difficult to control robots that require dynamic motion. In past studies, attractors and oscillators were designed as motion primitives of an assumed task in advance. However, it is difficult to adapt to unintended environmental changes using such methods. To overcome this problem, we use a recurrent neural network (RNN) that does not require predetermined parameters. In this research, we propose a method for facilitating effective learning. First, a robot learns simple motions via motor babbling, acquiring body dynamics using a recurrent neural network (RNN). Motor babbling is the process of movement that infants use to acquire their own body dynamics during their early days. Next, the robot learns additional motions required for a target task using the acquired body dynamics. For acquiring these body dynamics, the robot uses motor babbling with its redundant flexible joints to learn motion primitives. This redundancy implies that there are numerous possible motion patterns. In comparison to a basic learning task, the motion primitives are simply modified to adjust to the task. Next, we focus on the types of motions used in motor babbling. We classify the motions into two motion types, passive motion and active motion. Passive motion involves inertia without any torque input, whereas active motion involves a torque input. The robot acquires body dynamics from the passive motion and a means of torque generation from the active motion. As a result, we demonstrate the importance of performing prior learning via motor babbling before learning a task. In addition, task learning is made more efficient by dividing the motion into two types of motor babbling patterns.

    DOI

  • Inducement of Visual Attention Using Augmented Reality for Multi-Display Systems in Advanced Tele-operation

    Junjie Yang, Mitsuhiro Kamezaki, Ryuya Sato, Hiroyasu Iwata, Shigeki Sugano

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     5364 - 5369  2015年  [査読有り]

     概要を見る

    Unmanned construction machines are used after disasters. Compared with manned construction, time efficiency is lower because of incomplete visual information, communication delay, and lack of tactile experience. We have developed an autonomous camera control system to supply appropriate visual information. In order to inform operators the potential data in the views, we introduced several augmented reality (AR) elements to induce visual attention to suitable images in a scenario. The purpose of this study is to develop an attention inducement system using AR technique and evaluate it under different conditions. We first improve our autonomous camera control system and then implement several kinds of AR items suitable for each work situation. The experimental results conducted using our virtual reality simulator confirm that AR items can supply a better positional relationship between machine and objects in the environment which makes operator handle the conditions as experienced. The results from eye-tracker data also indicate that AR items can induce visual attention to images suitable for situations.

    DOI

  • Development of a Backdrivable Magnetorheological Hydraulic Piston for Passive and Active Linear Actuation

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, Shigeki Sugano

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     6551 - 6556  2015年  [査読有り]

     概要を見る

    A new design of a magnetorheological piston prototype intended for passive or active force control in robotic applications for human robot interaction is introduced. It is based in a novel toroidal array of valves, contained within the piston head, which are used to control the output force of the actuator in order to achieve a high degree of reliability, size efficiency, and safety, by exploiting the material properties of magnetorheological fluids and permalloy metals. This paper describes the main points in the development of the magnetorheological piston prototype, the mathematical modelling of the magnetic circuit, and the results of the experiments conducted using a universal testing machine to evaluate the passive performance of the prototype. Results show the feasibility and performance of the new toroidal magnetic circuit of the magnetorheological hydraulic piston prototype. Improvements in order to be able to test the active performance of the design together with a pump setup are proposed.

    DOI

  • Development of a Hall-Effect Based Skin Sensor

    Tito Pradhono Tomo, Sophon Somlor, Alexander Schmitz, Shuji Hashimoto, Shigeki Sugano, Lorenzo Jamone

    2015 IEEE SENSORS     1007 - 1010  2015年  [査読有り]

     概要を見る

    In this paper we introduce a prototype of a novel hall-effect based skin sensor for robotic applications. It uses a small sized chip that provides 3-axis digital output in a compact package. Our purpose was to evaluate the feasibility of measuring 3-axis force while maintain a soft exterior for safe interactions. Silicone was used to produce the soft skin layer with about 8 mm thickness. An MLX90393 chip was installed at the bottom of layer, with a small magnet approximately 5mm above it to measure 3-axial magnetic field data. To evaluate the sensor's performance, an experiment was conducted by measuring normal and shear force when applying total forces of 0.7-14N in the normal and tangential directions of the sensor. The test revealed that the sensor prototype was able to differentiate the components of the force vector, with limited crosstalk. A calibration was performed to convert the measurements of the magnetic field to force values.

  • An Investigation into the Social Acceptance of Using Contact for Inducing an Obstructing Human

    Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Erika Uno, Hayato Yanagawa, Yuta Yokoyama, Mitsuhiro Kamezaki, Alexander Schmitz, Shigeki Sugano

    2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     941 - 946  2015年  [査読有り]

     概要を見る

    In densely populated scenarios with cramped spaces, it is very difficult to achieve safe and efficient navigation without cooperation from humans. One way in which we can seek cooperation from humans is by using contact to influence them to give way. However, such a method may incur certain psychological implications and therefore requires an acceptability check to ensure whether such action is acceptable or not. For this purpose, we investigate the participant subjective response towards robot-initiated touch during the course of navigation. We conducted a 2 (robotic experience vs. none) x 2 (warning vs. none) between-subject experiment with 44 people in which a mobile robotic platform exerted contact on an unaware and obstructing participant to make way towards its goal. Our results show that prior experience with robots produces slightly better response even though the results are not statistically significant. However, a verbal warning prior to contact yielded much more favorable response. In general, the participants did not find contact to be uncomfortable and were not opposed to robot-initiated contact if deemed necessary.

    DOI

  • Efficient Motor Babbling Using Variance Predictions from a Recurrent Neural Network

    Kuniyuki Takahashi, Kanata Suzuki, Tetsuya Ogata, Hadi Tjandra, Shigeki Sugano

    NEURAL INFORMATION PROCESSING, PT III   9491   26 - 33  2015年  [査読有り]

     概要を見る

    We propose an exploratory form of motor babbling that uses variance predictions from a recurrent neural network as a method to acquire the body dynamics of a robot with flexible joints. In conventional research methods, it is difficult to construct real robots because of the large number of motor babbling motions required. In motor babbling, different motions may be easy or difficult to predict. The variance is large in difficult-to-predict motions, whereas the variance is small in easy-to-predict motions. We use a Stochastic Continuous Timescale Recurrent Neural Network to predict the accuracy and variance of motions. Using the proposed method, a robot can explore motions based on variance. To evaluate the proposed method, experiments were conducted in which the robot learns crank turning and door opening/closing tasks after exploring its body dynamics. The results show that the proposed method is capable of efficient motion generation for any given motion tasks.

    DOI

  • First Results of Tilted Capacitive Sensors to Detect Shear Force

    Sophon Somlor, Alexander Schmitz, Richard Sahala Hartanto, Shigeki Sugano

    2015 IEEE INTERNATIONAL SYMPOSIUM ON ROBOTICS AND INTELLIGENT SENSORS (IEEE IRIS2015)   76   101 - 106  2015年  [査読有り]

     概要を見る

    This paper proposes a new soft capacitive-type 3-axis force sensor. The prototype version which can detect a multi-axis force vector is embedded inside 7mm-thick silicone skin, and provides digital output via an I2C bus. Tilted capacitive force transducers were used to measure the force vector; the transducers faced different directions to differentiate the tangential forces. Preliminary experiments were performed and the concept of the tilted force transducers has been proven to have the capability of differentiating the force vector acting on the sensor surface. (c) 2015 The Authors. Published by Elsevier B. V.

    DOI

  • Interpolation Control Posture Design for In-Hand Manipulation

    Keung Or, Mami Tomura, Alexander Schmitz, Satoshi Funabashi, Shigeki Sugano

    2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     187 - 192  2015年  [査読有り]

     概要を見る

    Object handling and manipulation are important functions of dexterous anthropomorphic hands. As it is difficult to create a manipulation model analytically for performing complex tasks as humans do, a simple way to accomplish generic in-hand manipulation is desirable for robotic hands, especially for robot hands with few sensors. In this paper, we designed standard grasping postures based on the grasping behavior of humans. Interpolation control is used to control the robot hand. The combination of these postures results in versatile object manipulation. This control strategy is evaluated by testing it with the 16 degrees of freedom Allegro Hand grasping different sizes of spheres.

    DOI

  • Methods for Improving IMES Transmitters: Transmission Diversity, Variable Beamwidth Antenna, and Leaky Coaxial Cable

    Kenjiro Fujii, Takamasa Kawaguchi, Hisanori Matsumoto, Makoto Tanikawara, Takashi Toyama, Yoshihiro Sakamoto, Wei Wang, Hiroaki Arie, Alexander Schmitz, Shigeki Sugano

    2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     326 - 331  2015年  [査読有り]

     概要を見る

    IMES is an indoor messaging and positioning system. In the present work, three methods for improving the IMES transmitter are proposed based on the result of a radio acquisition analysis: transmission diversity, a variable beamwidth antenna, and a leaky coaxial cable (LCX). The transmission diversity method increases the possibility of signal acquisition in areas with weak signal. A small-sized variable beamwidth antenna is developed to mitigate the multipath interference in narrow spaces. A field experiment with a LCX in an actual train setup is conducted to verify the effect of the LCX for the positioning of moving vehicles. The evaluation results of the proposed methods suggest their potential to be applied to practical applications.

    DOI

  • Estimating a Joint Angle by Means of Muscle Bulge Movement along Longitudinal Direction of the Forearm

    Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)     614 - 619  2015年  [査読有り]

     概要を見る

    Bio-signal processing is a major topic in the field of robotics. Especially, prostheses have been studied for a long time to detect amputee's intentions from bio-signals because they do not have their limbs. However, controlling prostheses using bio-signals such as from the brain and surface electromyograms (sEMG), is complex and nonlinear because these signals are noisy and varied. It is not easy to determine the extent of motion such as a joint angle, and previous research used complex models or machine learning based on bio-signals. To estimate a joint angle easily and accurately, we propose a new bio-signal derived from the muscle bulge movements measured on the skin. We hypothesized a simple relationship between the muscle bulge movement longitudinally along a muscle and the corresponding joint angle, because the muscle contraction causes the change in the joint angle. We estimated a wrist joint angle as a function of the muscle bulge movement longitudinally along the extensor carpi radialis longus that is the agonist muscle of wrist extension. From the experimental results, the following three achievements were obtained. First, we extracted a linear relationship from the raw data with a high determination coefficient. Second, we showed that the estimation error using the proposed method was not much different from that of using sEMG in related work. Third, we established that the proposed method could estimate the joint angle robustly for the external loads on a limb.

    DOI

  • A practical operator support scheme and its application to safety-ensured object break using dual-arm machinery

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    ADVANCED ROBOTICS   28 ( 23 ) 1599 - 1615  2014年12月  [査読有り]

     概要を見る

    A practical operator support system for disaster response work using construction machinery is applied to object-break operations using a dual-arm machine. An object-break operation, which separates an object into two different parts by applying massive pulling force, requires skillful force and trajectory controls. Operators typically have trouble visually perceiving the movement of the manipulator because the target object is strongly restrained. As a result, after the object has been separated into two pieces, the operator may continue performing lever operations because of unavoidable perception reaction time and the manipulator may collide with the surrounding environment. A control input cancellation system based on object-break identification is proposed to reduce the time difference between the object break and operation stoppage. A support system for disaster response situations must be safe and efficient and accommodate operators with various skill levels; thus, common physical phenomena related to the object breakage should be exploited. The system cancels control inputs to stop the movement of the manipulator when an object-break flag is detected, which is defined as a situation where the force applied to each joint of a manipulator decreases rapidly when a lever operation and load on the inside of the grapple are detected. Demolition experiments were conducted using a hydraulic dual-arm system. The results indicate that the displacement of the end-point after the object breaks is greatly decreased and the completion time of the task is reduced as well.

    DOI

  • A Pragmatic Approach to Modeling Object Grasp Motion Using Operation and Pressure Signals for Demolition Machines

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    SICE Journal of Control, Measurement, and System Integration (JCMSI)   Vol. 7 ( No. 6 ) 356 - 363  2014年11月  [査読有り]

    DOI

  • Time-series primitive static states for detailing work state and flow of human-operated work machine

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    ADVANCED ROBOTICS   28 ( 20 ) 1357 - 1374  2014年10月  [査読有り]

     概要を見る

    This paper proposes a quantification method for a comprehensive work flow in construction work for describing work states in more detail on the basis of analyzing state transitions of primitive static states (PSS), which consist of 16 symbolic work states defined by using on-off state of the lever operations and joint loads for the manipulator and end-effector. On the basis of the state transition rules derived from a transition-condition analysis, practical state transitions (PST), which are common and frequent transitions in arbitrary construction work, are defined. PST can be classified into essential state transition (EST) or nonessential state transitions (NST). EST extracts common phases of work progress and estimates positional relations between a manipulator and an object. NST reveals wasted movements that degrade the efficiency and quality of work. To evaluate comprehensive work flows modeled by combining EST and NST, work-analysis experiments using our instrumented setup were conducted. Results indicate that all the PSS definitely changes on the basis of PST under various work conditions, and work analysis using EST and NST easily reveals work characteristics and untrained tasks related to wasted movements.

    DOI

  • Motion optimization using state-dispersion-based phase space partitions

    Chyon Hae Kim, Shota Yamazaki, Shigeki Sugano

    MULTIBODY SYSTEM DYNAMICS   32 ( 2 ) 159 - 173  2014年08月  [査読有り]

     概要を見る

    This paper addresses a phase space partitioning problem in motion planning systems. A class of kinematic and dynamic motion planning systems, including rapid semioptimal motion-planning (RASMO), uses partitions for phase spaces in cumulative optimization criteria. In these systems, a partition results in a uniquely planned motion with a quality that is determined by a selected optimization criterion. In this paper, state-dispersion-based phase space partitioning (SDPP) that generates adaptive partitions is proposed. These partitions allow the motion planning systems to plan better motions. Uniform partitions and adaptively fixed partitions of SDPP are compared under several conditions using RASMO and a double inverted pendulum model while setting the optimality criterion of RASMO to time. The results reveal that RASMO with SDPP plans smaller time motions than those obtained with RASMO using uniform partitions.

    DOI

  • A Basic Framework of Virtual Reality Simulator for Advancing Disaster Response Work Using Teleoperated Work Machines

    Mitsuhiro Kamezaki, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

    Journal of Robotics and Mechatronics (JRM)   Vol. 26 ( No. 4 ) 486 - 495  2014年08月  [査読有り]

  • Force masking humanoid robot system

    Chyon Hae Kim, Kenta Yonekura, Shigeki Sugano

    Journal of Robotics and Mechatronics   26 ( 2 ) 264  2014年  [査読有り]

     概要を見る

    This force masking humanoid robot system had been developed for a psychological experiment that confirms the rhythmic modalities required by humans when they play rope turning with a robot. Although a person feels many types of rhythms in physical rhythmic cooperation with a robot, what rhythms are required for the cooperation had not been investigated yet. This system is an effective tool to investigate the effectiveness of the force rhythm in physical cooperations.

    DOI

  • Doppler pose estimation using multiple IMES transmitters for indoor localisation

    Y. Sakamoto, T. Ebinuma, K. Fujii, S. Sugano

    Journal of Location Based Services   8 ( 1 ) 36 - 53  2014年  [査読有り]

     概要を見る

    We propose a Doppler pose estimation method for an indoor messaging system (IMES) ('pose' refers to both position and orientation). With this method, both the position and orientation of a receiver are estimated simultaneously by using Doppler shifts produced by moving a receiver antenna with two or more IMES transmitters. The proposed method is evaluated through the identical experiments conducted in two different locations. In these experiments, the position and orientation of the receiver is estimated using two transmitters, and the achievable accuracy is evaluated by changing the separation distance between the transmitter antennas. The experimental results demonstrate that a positioning accuracy higher than a few decimetres and orientation estimation accuracy of higher than a few degrees are achievable when the measurement condition is relatively good (i.e. when the proper separation distance is set between two transmitter antennas and cycle slips do not occur). We also conducted an analysis for the convergence of initial values (which are used for the iterative position and orientation calculation in the nonlinear least-squares method). The results show that the initial values basically converge to appropriate position and orientation values as long as an inverse matrix in the position and orientation estimation process can be calculated. Moreover, we analysed the effect of the number of transmitters on position and orientation estimation precision. The results show that, as the number of transmitters increases, the precision of the position and orientation estimation also increases, and the precision is particularly high in the area surrounded by the transmitters. © 2014 © 2014 Taylor &amp
    Francis.

    DOI

  • Rope turning humanoid robot system

    Chyon Hae Kim, Kenta Yonekura, Shigeki Sugano

    Journal of Robotics and Mechatronics   26 ( 1 ) 101 - 102  2014年  [査読有り]

     概要を見る

    This paper describes a humanoid robot system that simultaneously controls the three factors, energy transmission, rotational axis and centrifugal force in rope turning tasks. As a result, this system realized both rope turning with one fixed end and with a human rope turner.

    DOI

  • A plainly designed robot for the experiments regarding the psychological boundaries of robots

    Chyon Hae Kim, Yumiko Yamazaki, Shunsuke Nagahama, Shigeki Sugano

    Journal of Robotics and Mechatronics   26 ( 1 ) 109  2014年  [査読有り]

     概要を見る

    We have developed a simply designed robot for the purpose of the psychological research confirming human recognition of the boundaries of robot agents. The physical boundary and the agent's boundary of a robot are considered to have different shapes in human recognition. Results of the experiment indicated that we controlled the agent's boundary successfully.

    DOI

  • Output Torque Regulation through Series Elastic Actuation with Torsion Spring Hysteresis

    Wei Wang, Shigeki Sugano

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014     701 - 706  2014年  [査読有り]

     概要を見る

    Series elastic actuation (SEA) has been widely used for output force/torque regulation, however, the non-linearity introduced by its torsion spring hysteresis will greatly affect the quality of feedback control. Thus an experimental procedure is conducted for the modeling and identification of spring hysteresis effect, based on which a compensated control scheme is given. Experiment results show that the compensated control can improve the control performance compared with ordinary linear controller.

  • An Autonomous Multi-Camera Control System Using Situation-Based Role Assignment for Tele-Operated Work Machines

    Mitsuhiro Kamezaki, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     5971 - 5976  2014年  [査読有り]

     概要を見る

    A method to autonomously control multiple environmental cameras, which are currently fixed, for providing more adaptive visual information suited to the work situation for advanced unmanned construction is proposed. Situations in which the yaw, pitch, and zoom of cameras should be controlled were analyzed and imaging objects including the machine, manipulator, and end-point and imaging modes including tracking, zoom, posture, and trajectory modes were defined. To control each camera simply and effectively, four practical camera roles combined with the imaging objects and modes were defined as the overview-machine, enlarge-end-point, posture-manipulator, and trajectory-manipulator. A role assignment system was then developed to assign the four camera roles to four out of six cameras suitable for the work situation, e.g., reaching, grasping, transport, and releasing, on the basis of the assignment priority rules, in the real time. Debris removal tasks were performed by using a VR simulator to compare fixed camera, manual control, and autonomous systems. Results showed that the autonomous system was the best of the three at decreasing the number of grasping misses and error contacts and increasing the subjective usability while improving the time efficiency.

    DOI

  • Tool-body Assimilation Model using a Neuro-dynamical System for Acquiring Representation of Tool Function and Motion

    Kuniyuki Takahshi, Tetsuya Ogata, Hadi Tjandra, Yuki Yamaguchi, Yuki Suga, Shigeki Sugano

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     1255 - 1260  2014年  [査読有り]

     概要を見る

    In this paper, we propose a tool-body assimilation model that implements a multiple time-scales recurrent neural network (MTRNN). Our model allows a robot to acquire the representation of a tool function and the required motion without having any prior knowledge of the tool. It is composed of five modules: image feature extraction, body model, tool dynamics feature, tool recognition, and motion recognition. Self-organizing maps (SOM) are used for image feature extraction from raw images. The MTRNN is used for body model learning. Parametric bias (PB) nodes are used to learn tool dynamic features. The PB nodes are attached to the neurons of the MTRNN to modulate the body model. A hierarchical neural network (HNN) is implemented for tool and motion recognition. Experiments were conducted using OpenHRP3, a robotics simulator, with multiple tools. The results show that the tool-body assimilation model is capable of recognizing tools, including those having an unlearned shape, and acquires the required motions accordingly.

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  • Analysis of Effective Environmental-Camera Images Using Virtual Environment for Advanced Unmanned Construction

    Junjie Yang, Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     664 - 669  2014年  [査読有り]

     概要を見る

    Unmanned construction machines are used after disasters. Compared with manned construction, time efficiency is lower because of incomplete visual information, communication delay, and lack of tactile experience. Visual information is the most fundamental items for planning and judgment, however, in current vision systems, even the posture and zoom of cameras are not adjusted. To improve operator's visibility, these parameters must be adjusted in accordance with the work situation. The purpose of this study is thus to analyze effective camera images from some comparison experiments, as a fundamental study of advanced visual support. We first developed a virtual reality simulator to enable experimental conditions to be modified easier. To effectively derive required images, experiments with two different camera positions and systems (fixed cameras and manually controllable cameras) were then conducted. The results indicate that enlarged views to show the manipulator is needed in object grasping and tracking images to show the movement direction of the manipulator is needed in largely end-point movement. The result also confirms that the operational accuracy increases and blind spot rate decreases by using the manual system, com-pared with fixed system.

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  • Learning and recognition of multiple fluctuating temporal patterns using S-CTRNN

    Shingo Murata, Hiroaki Arie, Tetsuya Ogata, Jun Tani, Shigeki Sugano

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8681   9 - 16  2014年  [査読有り]

     概要を見る

    In the present study, we demonstrate the learning and recognition capabilities of our recently proposed recurrent neural network (RNN) model called stochastic continuous-time RNN (S-CTRNN). S-CTRNN can learn to predict not only the mean but also the variance of the next state of the learning targets. The network parameters consisting of weights, biases, and initial states of context neurons are optimized through maximum likelihood estimation (MLE) using the gradient descent method. First, we clarify the essential difference between the learning capabilities of conventional CTRNN and S-CTRNN by analyzing the results of a numerical experiment in which multiple fluctuating temporal patterns were used as training data, where the variance of the Gaussian noise varied among the patterns. Furthermore, we also show that the trained S-CTRNN can recognize given fluctuating patterns by inferring the initial states that can reproduce the patterns through the same MLE scheme as that used for network training. © 2014 Springer International Publishing Switzerland.

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  • Learning to generate proactive and reactive behavior using a dynamic neural network model with time-varying variance prediction mechanism

    Shingo Murata, Hiroaki Arie, Tetsuya Ogata, Shigeki Sugano, Jun Tani

    ADVANCED ROBOTICS   28 ( 17 ) 1189 - 1203  2014年  [査読有り]

     概要を見る

    This paper discusses a possible neurodynamic mechanism that enables self-organization of two basic behavioral modes, namely a 'proactive mode' and a 'reactive mode,' and of autonomous switching between these modes depending on the situation. In the proactive mode, actions are generated based on an internal prediction, whereas in the reactive mode actions are generated in response to sensory inputs in unpredictable situations. In order to investigate how these two behavioral modes can be self-organized and how autonomous switching between the two modes can be achieved, we conducted neurorobotics experiments by using our recently developed dynamic neural network model that has a capability to learn to predict time-varying variance of the observable variables. In a set of robot experiments under various conditions, the robot was required to imitate other's movements consisting of alternating predictable and unpredictable patterns. The experimental results showed that the robot controlled by the neural network model was able to proactively imitate predictable patterns and reactively follow unpredictable patterns by autonomously switching its behavioral modes. Our analysis revealed that variance prediction mechanism can lead to self-organization of these abilities with sufficient robustness and generalization capabilities.

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  • Tool-body assimilation model based on body babbling and a neuro-dynamical system for motion generation

    Kuniyuki Takahashi, Tetsuya Ogata, Hadi Tjandra, Shingo Murata, Hiroaki Arie, Shigeki Sugano

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8681   363 - 370  2014年  [査読有り]

     概要を見る

    We propose a model for robots to use tools without predetermined parameters based on a human cognitive model. Almost all existing studies of robot using tool require predetermined motions and tool features, so the motion patterns are limited and the robots cannot use new tools. Other studies use a full search for new tools
    however, this entails an enormous number of calculations. We built a model for tool use based on the phenomenon of tool-body assimilation using the following approach: We used a humanoid robot model to generate random motion, based on human body babbling. These rich motion experiences were then used to train a recurrent neural network for modeling a body image. Tool features were self-organized in the parametric bias modulating the body image according to the used tool. Finally, we designed the neural network for the robot to generate motion only from the target image. © 2014 Springer International Publishing Switzerland.

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  • An Adaptive Basic I/O Gain Tuning Method Based on Leveling Control Input Histogram for Human-Machine Systems

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)     1926 - 1931  2014年  [査読有り]

     概要を見る

    A method to tune a basic input/output gain (BIOG) according to usage conditions for human-machine systems is proposed for improving work performance. Adapting a BIOG is effective in terms of improving operability and work efficiency, but frequent changes using a gain scheduling strategy degrade the operability by confusing the machine dynamics. The proposed tuning system adjusts a BIOG at long intervals on the basis of comprehensive features in operator and work content obtained from the histogram of control lever input. The target value is set to the normal distribution, meaning that all ranges of the control lever are evenly used in a spring-type lever, as leveling the histogram independent of an operator and work content provides the consistent operational feeling, which leads to comfortable operability. To ensure practicality and effectiveness, a BIOG curve is set to a polygonal line involving a break point and a saturation point that are tuned by equivalent transform of area differences between the obtained histogram and normal distribution curves. Two types of experimental task were performed using a hydraulic arm system. Results showed that the proposed BIOG tuning system improves time efficiency by reducing the area difference while increasing the subjective usability compared with a conventional fixed BIOG system.

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  • Generation of Sensory Reflex Behavior versus Intentional Proactive Behavior in Robot Learning of Cooperative Interactions with Others

    Shingo Murata, Yuichi Yamashita, Hiroaki Arie, Tetsuya Ogata, Jun Tani, Shigeki Sugano

    FOUTH JOINT IEEE INTERNATIONAL CONFERENCES ON DEVELOPMENT AND LEARNING AND EPIGENETIC ROBOTICS (IEEE ICDL-EPIROB 2014)     242 - 248  2014年  [査読有り]

     概要を見る

    This paper investigates the essential difference between two types of behavior generation schemes, namely, sensory reflex behavior generation and intentional proactive behavior generation, by proposing a dynamic neural network model referred to as stochastic multiple-timescale recurrent neural network (S-MTRNN). The proposed model was employed in an experiment involving robots learning to cooperate with others under the condition of potential unpredictability of the others' behaviors. The results of the learning experiment showed that sensory reflex behavior was generated by a self-organizing probabilistic prediction mechanism when the initial sensitivity characteristics in the network dynamics were not utilized in the learning process. In contrast, proactive behavior with a deterministic prediction mechanism was developed when the initial sensitivity was utilized. It was further shown that in situations where unexpected behaviors of others were observed, the behavioral context was re-situated by adaptation of the internal neural dynamics by means of simple sensory reflexes in the former case. In the latter case, the behavioral context was re-situated by error regression of the internal neural activity rather than by sensory reflex. The role of the top-down and bottom-up interactions in dealing with unexpected situations is discussed.

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  • The Development of Magnetic Powdery Sensor

    Shunsuke Nagahama, Yosuke Kimura, Chyon Hae Kim, Shigeki Sugano

    2014 IEEE SENSORS     783 - 786  2014年  [査読有り]

     概要を見る

    In this work, we developed a contact-type displacement sensor called the magnetic powdery sensor (MPS) that consists of magnets and iron powder. The self-repairing functions of the components of robots, such as wires, sensors, and actuators, have an important role in extending the life of robots. To realize the self-repairing functions of such components, we proposed a magnetic powdery wire (MPW) in our earlier research. The success of this study led us to consider other components of robots where the repairing mechanism could to be applied, leading to the development of the MPS. The key features of the MPS are its simple structure and self-repairing capability. The MPS is implemented with two sets of parallel Acrylonitrile-Butadiene-Styrene (ABS) plates with a magnet fixed at the center. The distance between the plates varies between 7 mm and 23 mm, and their magnetic fields are in the same direction. We implemented the MPS by dispersing iron powder between the plates. The resistance decreases as the distance between the plates reduces. Through experimental results, we confirmed that the displacement can be measured by the MPS and that the MPS has self-repairing capability. As the sensor part of the MPS is composed of iron powder, it can be repaired in the same way as the MPW. These results demonstrate that the life of the magnetic powdery displacement sensor can be extended.

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  • Tactile Object Recognition using Deep Learning and Dropout

    Alexander Schmitz, Yusuke Bansho, Kuniaki Noda, Hiroyasu Iwata, Tetsuya Ogata, Shigeki Sugano

    2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)     1044 - 1050  2014年  [査読有り]

     概要を見る

    Recognizing grasped objects with tactile sensors is beneficial in many situations, as other sensor information like vision is not always reliable. In this paper, we aim for multimodal object recognition by power grasping of objects with an unknown orientation and position relation to the hand. Few robots have the necessary tactile sensors to reliably recognize objects: in this study the multifingered hand of TWENDY-ONE is used, which has distributed skin sensors covering most of the hand, 6 axis F/T sensors in each fingertip, and provides information about the joint angles. Moreover, the hand is compliant. When using tactile sensors, it is not clear what kinds of features are useful for object recognition. Recently, deep learning has shown promising results. Nevertheless, deep learning has rarely been used in robotics and to our best knowledge never for tactile sensing, probably because it is difficult to gather many samples with tactile sensors. Our results show a clear improvement when using a denoising autoencoder with dropout compared to traditional neural networks. Nevertheless, a higher number of layers did not prove to be beneficial.

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  • A Prototype Force Sensing Unit for a Capacitive-type Force-Torque Sensor

    S. Somlor, A. Schmitz, R. S. Hartanto, S. Sugano

    2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     684 - 689  2014年  [査読有り]

     概要を見る

    Force sensing is a crucial task for robots, especially when the end effectors such as fingers and hands need to interact with an unknown environment, for example in a humanoid robot. In order to sense such forces, a force/torque sensor is an essential component. Many available force/torque sensors are based on strain gauges, but other sensing principles are also possible. In this paper we describe steps towards a capacitive type based sensor. Several MEMS capacitive sensors are described in the literature; however very few larger sensors are available, as capacitive sensors usually have disadvantages such as severe hysteresis and temperature sensitivity. On the other hand, capacitive sensors have the advantage of the availability of small sized chips for sensor readout and digitization. We employ copper beryllium for the transducer, which has been modified from the ones described in the literature to be able to be used in a small sized, robust force/torque sensor. Therefore, as the first step toward the goal of building such a sensor, in this study we have created a prototype sensing unit and have tested its sensitivity. No viscoelastic materials are used for the sensing unit, which usually introduce severe hysteresis in capacitive sensors. We have achieved a high signal-to-noise ratio, high sensitivity and a range of 10 Newton.

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  • Robust Object-Mass Measurement Using Condition-Based Less-Error Data Selection for Large-Scale Hydraulic Manipulators

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014     1679 - 1684  2014年  [査読有り]

     概要を見る

    A practical framework for measuring the mass of an object grasped by the end-effector of a large-scale hydraulic manipulator, such as construction manipulators, is proposed. Such a measurement system requires high accuracy and robustness considering the nonlinearity and uncertainty in hydraulic pressure-based force measurement. It is thus difficult to precisely model the system behaviors and completely remove error force components, so our framework adopts a less-error data selection approach to improving the reliability of the measurand. It first detects the on-load state to extract reliable data for mass measurement, including evaluating measurement conditions to omit sensors in indeterminate conditions and redefining three-valued outputs such as on, off, or not determinate, to improve robustness, then extracts data during the object-grasp state identified by the grasp motion model and removes high-frequency component by a simple low-pass filter, to improve accuracy, and finally integrates date from plural sensors using the posture-based priority and averages all selected data, to improve reliability. Evaluation experiments were conducted using an instrumented hydraulic arm. Results indicate that our framework can precisely measures the mass of the grasped object in various detection conditions with less errors.

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  • Learning to reproduce fluctuating time series by inferring their time-dependent stochastic properties: Application in Robot learning via tutoring

    Shingo Murata, Jun Namikawa, Hiroaki Arie, Shigeki Sugano, Jun Tani

    IEEE Transactions on Autonomous Mental Development   5 ( 4 ) 298 - 310  2013年12月  [査読有り]

     概要を見る

    This study proposes a novel type of dynamic neural network model that can learn to extract stochastic or fluctuating structures hidden in time series data. The network learns to predict not only the mean of the next input state, but also its time-dependent variance. The training method is based on maximum likelihood estimation by using the gradient descent method and the likelihood function is expressed as a function of the estimated variance. Regarding the model evaluation, we present numerical experiments in which training data were generated in different ways utilizing Gaussian noise. Our analysis showed that the network can predict the time-dependent variance and the mean and it can also reproduce the target stochastic sequence data by utilizing the estimated variance. Furthermore, it was shown that a humanoid robot using the proposed network can learn to reproduce latent stochastic structures hidden in fluctuating tutoring trajectories. This learning scheme is essential for the acquisition of sensory-guided skilled behavior. © 2013 IEEE.

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  • 人間共存ロボットTWENDY-ONEによるコンプライアントマニピュレーション

    菅野 重樹, 岩田 浩康, 菅岩 泰亮

    日本ロボット学会誌   Vol. 31 ( No. 4 ) 347 - 352  2013年05月  [査読有り]

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  • Usability and performance of a wearable tele-echography robot for focused assessment of trauma using sonography

    Keiichiro Ito, Shigeki Sugano, Ryohei Takeuchi, Kyota Nakamura, Hiroyasu Iwata

    MEDICAL ENGINEERING & PHYSICS   35 ( 2 ) 165 - 171  2013年02月

     概要を見る

    Focused Assessment with Sonography for Trauma (FAST) is widely used as a first lifesaving step for patients suffering from internal bleeding. Because it may take a long time to transport such patients to a hospital, a wearable and portable tele-echography robot that a paramedic can attach to the patient has been developed. In the current study, experiments were conducted to evaluate the usability and performance of attached FAST.
    The proposed robot must be attached to 4 areas to perform FAST. The time required for attachment and the positions of attachment completed by 9 non-medical staff members, as well as the time it took for the FAST to reach a medical doctor, were measured. The echo images obtained when the patient's body was in motion were evaluated by a medical doctor.
    The robot could be attached to all 4 areas within approximately 5 min, and the maximum gap was 4.8 cm. This indicates that a paramedic who has received training in emergency medical care should be able to attach the robot to a patient quickly and accurately. Additionally, it was confirmed that the robot could be used to complete FAST under a doctor's control within 9 min and that the extracted echo images were suitable for FAST.
    A comparison of the results with current ambulance transportation time confirmed that FAST could be completed approximately 14 min before the patient reached the hospital. The results of the current study indicate that the robot is worth using, is suitable for FAST, and will be effective in emergency medical care. (c) 2012 IPEM. Published by Elsevier Ltd. All rights reserved.

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  • Foreword

    Shigeki Sugano, Makoto Kaneko

    IEEE International Conference on Intelligent Robots and Systems    2013年  [査読有り]

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  • Recognition for psychological boundary of robot

    Chyon Hae Kim, Yumiko Yamazaki, Shunsuke Nagahama, Shigeki Sugano

    ACM/IEEE International Conference on Human-Robot Interaction     161 - 162  2013年  [査読有り]

     概要を見る

    We discuss the recognition of robot's boundaries. Humans think about psychological boundaries of robots in addition to physical ones while interacting with them. We made two hypotheses regarding psychological boundaries. Firstly, these boundaries are affected by the context surrounding the robot. Secondly, these boundaries are controllable. We conducted an experiment with 60 Japanese males and females aged 18-27. Each participant was told a message that 'slide me slightly' from a robot while the participant was interacting with it. We analyzed the participants' actions and questionnaires so as to confirm where of their sight was considered to be 'me'. From this analysis, we confirmed that our hypotheses are both true. © 2013 IEEE.

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  • Recognition for Psychological Boundary of Robot

    Chyon Hae Kim, Yumiko Yamazaki, Shunsuke Nagahama, Shigeki Sugano

    PROCEEDINGS OF THE 8TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI 2013)     161 - +  2013年  [査読有り]

     概要を見る

    We discuss the recognition of robot's boundaries. Humans think about psychological boundaries of robots in addition to physical ones while interacting with them. We made two hypotheses regarding psychological boundaries. Firstly, these boundaries are affected by the context surrounding the robot. Secondly, these boundaries are controllable. We conducted an experiment with 60 Japanese males and females aged 18-27. Each participant was told a message that "slide me slightly" from a robot while the participant was interacting with it. We analyzed the participants' actions and questionnaires so as to confirm where of their sight was considered to be "me". From this analysis, we confirmed that our hypotheses are both true.

  • A GPU parallel computing method for LPUSS

    Chyon Hae Kim, Shigeki Sugano

    ADVANCED ROBOTICS   27 ( 15 ) 1199 - 1207  2013年  [査読有り]

     概要を見る

    We discuss the effective implementation of parallel processing for linear prediction-based uniform state sampling (LPUSS). In previous work, we proposed LPUSS as an optimization algorithm for mechanical motions that assures high optimality of the solutions and computational efficiency. In parallel computation, LPUSS requires balanced memory allocation and managed processing timing. In this paper, we propose an effective parallel computing method that assures high optimality and calculation efficiency in parallel processing using GPU processor. We conducted two experiments to validate the proposed method. In the first experiment, we compared single-thread processing for LPUSS and the proposed parallel processing. As a result of this experiment, calculation speed of LPUSS was about 4-20 times faster than that with single-thread CPU. In the second experiment, we applied the proposed method to the optimization of sixtuple inverted pendulum. As a result, the proposed method optimized the motion within 40 minutes. According to our survey, there is no other optimization method that is applicable to higher than quadruple inverted pendulum models with standard constraints.

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  • A Finger Exoskeleton for Rehabilitation and Brain Image Study

    Zhenjin Tang, Shigeki Sugano, Hiroyasu Iwata

    2013 IEEE 13TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR)    2013年  [査読有り]

     概要を見る

    This paper introduces the design, fabrication and evaluation of the second generation prototype of a magnetic resonance compatible finger rehabilitation robot. It can not only be used as a finger rehabilitation training tool after a stroke, but also to study the brain's recovery process during the rehabilitation therapy (ReT). The mechanical design of the current generation has overcome the disadvantage in the previous version[13], which can't provide precise finger trajectories during flexion and extension motion varying with different finger joints torques. In addition, in order to study the brain activation under different training strategies, three control modes have been developed, compared to only one control mode in the last prototype. The current prototype, like the last version, uses an ultrasonic motor as its actuator to enable the patient to do extension and flexion rehabilitation exercises in two degrees of freedom (DOF) for each finger. Finally, experiments have been carried out to evaluate the performances of this device.

  • Design and Evaluation of An One DOF Finger Rehabilitation Device

    Zhenjin Tang, Shigeki Sugano, Hiroyasu Iwata

    2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING     822 - 827  2013年  [査読有り]

     概要を見る

    This paper presents our second generation prototype of a magnetic resonance compatible finger rehabilitation robot. It can not only be used as a finger rehabilitation training tool after a stroke, but also to study the brain's recovery process during the rehabilitation therapy (ReT). The finger driving mechanism in current generation is an one degrees of freedom (DOF) driving mechanism, which could overcome the disadvantage that can't provide precise finger trajectories during flexion and extension motion existing in previous version [11]. In addition, this design can also be adjustable to different persons' finger phalanges, as well as the gap between one finger to another can be easily changed. Furthermore, the kinematic analysis of the finger driving mechanism is detailed in this paper; Following, the describes of the control system and a self-motion control mode are presented. Finally, experiments have been carried out to evaluate the performances of this device.

  • Visualization of comprehensive work tendency using end-point frequency map for human-operated work machines

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Proceedings - IEEE International Conference on Robotics and Automation     760 - 765  2013年  [査読有り]

     概要を見る

    This paper proposes a framework for visualizing comprehensive work tendency using a frequency plot map of the end-point of a manipulator as a fundamental study of work analysis using long-term data for human-operated work machines. A visualization system requires high generality and commonality to enable to extract various characteristics to be extracted on an arbitrary time scale independently of the work machine specifications, work contents and environment, and machine operator. The proposed framework meets this requirement by first creating a two-dimensional end-point plot map with its origin fixed at the yaw joint of the manipulator to deal with arbitrary usage conditions. It then extracts arbitrary characteristics by using hierarchical feature extraction filters, including binary, quantity, and advanced filters, defined by three kinds of essential data: operation, movement, and load. Finally, it quantifies the filtered map by gridding and normalization to visually grasp its frequency distribution. Two experiments in which the work environments and completion time differed were conducted using an instrumented hydraulic arm. Results indicated that the comprehensive work tendency revealed by using the proposed framework corresponds to the actual work results independently of the various conditions. © 2013 IEEE.

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  • Real-time Kinematic Doppler Pose Estimation for IMES

    Yoshihiro Sakamoto, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING     1300 - 1305  2013年  [査読有り]

     概要を見る

    In order to achieve the indoor localization with centimeter- to decimeter-level positioning accuracy under the use of the transmitters of "indoor messaging system" (IMES), a method called "real-time kinematic (RTK) Doppler pose estimation" is proposed. In this method, Doppler shifts are produced in the carrier waves transmitted from the IMES transmitters by moving the receiver antennas. The pose (position and orientation) of the receiver is then determined in real-time by using the Doppler shifts, inclination of the receiver, and geometric relation between the receiver antennas and transmitters. To evaluate the proposed method, an experiment with a mobile robot is conducted. The results of the experiment show that the proposed method can achieve a positioning accuracy of about 10 cm.

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  • Footstep detection and classification using distributed microphones

    Kazuhiro Nakadai, Yuta Fujii, Shigeki Sugano

    International Workshop on Image Analysis for Multimedia Interactive Services     1 - 5  2013年  [査読有り]

     概要を見る

    This paper addresses footstep detection and classification with multiple microphones distributed on the floor. We propose to introduce geometrical features such as position and velocity of a sound source for classification which is estimated by amplitude-based localization. It does not require precise inter-microphone time synchronization unlike a conventional microphone array technique. To classify various types of sound events, we introduce four types of features, i.e., time-domain, spectral and Cepstral features in addition to the geometrical features. We constructed a prototype system for footstep detection and classification based on the proposed ideas with eight microphones aligned in a 2-by-4 grid manner. Preliminary classification experiments showed that classification accuracy for four types of sound sources such as a walking footstep, running footstep, handclap, and utterance maintains over 70% even when the signal-to-noise ratio is low, like 0 dB. We also confirmed two advantages with the proposed footstep detection and classification. One is that the proposed features can be applied to classification of other sound sources besides footsteps. The other is that the use of a multichannel approach further improves noise-robustness by selecting the best microphone among the microphones, and providing geometrical information on a sound source. © 2013 IEEE.

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  • Learning to Reproduce Fluctuating Behavioral Sequences Using a Dynamic Neural Network Model with Time-Varying Variance Estimation Mechanism

    Shingo Murata, Jun Namikawa, Hiroaki Arie, Jun Tani, Shigeki Sugano

    2013 IEEE THIRD JOINT INTERNATIONAL CONFERENCE ON DEVELOPMENT AND LEARNING AND EPIGENETIC ROBOTICS (ICDL)     1 - 6  2013年  [査読有り]

     概要を見る

    This study shows that a novel type of recurrent neural network model can learn to reproduce fluctuating training sequences by inferring their stochastic structures. The network learns to predict not only the mean of the next input state, but also its time-varying variance. The network is trained through maximum likelihood estimation by utilizing the gradient descent method, and the likelihood function is expressed as a function of both the predicted mean and variance. In a numerical experiment, in order to evaluate the performance of the model, we first tested its ability to reproduce fluctuating training sequences generated by a known dynamical system that were perturbed by Gaussian noise with state-dependent variance. Our analysis showed that the network can reproduce the sequences by predicting the variance correctly. Furthermore, the other experiment showed that a humanoid robot equipped with the network can learn to reproduce fluctuating tutoring sequences by inferring latent stochastic structures hidden in the sequences.

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  • An Object Grasp Motion Model using Control Signal and Cylinder Pressure in Demolition Machines for Disaster Response Work

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)     307 - 312  2013年  [査読有り]

     概要を見る

    The purpose of this paper is to model and identify an object grasp motion, which is a requisite condition to make a demolition machine grasp an object. Grasping an object is a highly difficult task that requires safe and precise operations, so identifying a grasp or non-grasp is necessary for providing operational support, particularly in disaster response work. These types of outdoor machines lack visual and tactile sensors, so practically available lever operation and cylinder pressure sensors are adopted. The grasp motion is modeled by using sequential transitions of the on-off state of the control signal and cylinder pressure data for the grapple and the manipulator. The results of experiments conducted to transport objects using an instrumented hydraulic arm indicated that the modeled grasp motion effectively identifies a grasp or non-grasp with high accuracy, independently of operators and environments.

  • Sensor Prediction and Grasp Stability Evaluation for In-Hand Manipulation

    Kohei Kojima, Takashi Sato, Alexander Schmitz, Hiroaki Arie, Hiroyasu Iwata, Shigeki Sugano

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     2479 - 2484  2013年  [査読有り]

     概要を見る

    Handling objects with a single hand without dropping the object is challenging for a robot. A possible way to aid the motion planning is the prediction of the sensory results of different motions. Sequences of different movements can be performed as an offline simulation, and using the predicted sensory results, it can be evaluated whether the desired goal is achieved. In particular, the task in this paper is to roll a sphere between the fingertips of the dexterous hand of the humanoid robot TWENDY-ONE. First, a forward model for the prediction of the touch state resulting from the in-hand manipulation is developed. As it is difficult to create such a model analytically, the model is obtained through machine learning. To get real world training data, a dataglove is used to control the robot in a master-slave way. The learned model was able to accurately predict the course of the touch state while performing successful and unsuccessful in-hand manipulations. In a second step, it is shown that this simulated sequence of sensor states can be used as input for a stability assessment model. This model can accurately predict whether a grasp is stable or whether it results in dropping the object. In a final step, a more powerful grasp stability evaluator is introduced, which works for our task regardless of the sphere diameter.

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  • Development of proactive and reactive behavior via meta-learning of prediction error variance

    Shingo Murata, Jun Namikawa, Hiroaki Arie, Jun Tani, Shigeki Sugano

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8226 ( 1 ) 537 - 544  2013年  [査読有り]

     概要を見る

    This paper investigates a possible neurodynamic mechanism that enables autonomous switching between two basic behavioral modes, namely a "proactive mode" and a "reactive mode." In the proactive mode, actions are generated as intended, whereas in the reactive mode actions are generated in response to the sensory state.We conducted neurorobotics experiments to investigate how these two modes can develop and how a robot can learn to switch autonomously between the two modes as necessary by utilizing our recently developed dynamic neural network model. Tasks designed for the robot included switching between proactive imitation of other's predictable movements using acquired memories and reactive following of other's unpredictable movements through iterative learning of alternating predictable and unpredictable movement patterns. The experimental results revealed that this "meta-learning" capability can lead to self-organization of adequate contextual dynamical structures that can perform autonomous switching between the different behavioral modes. © Springer-Verlag 2013.

    DOI

  • Practical Object-Grasp Estimation without Visual or Tactile Information for Heavy-Duty Work Machines

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     3210 - 3215  2013年  [査読有り]

     概要を見る

    This paper proposes a practical framework to estimate whether or not a grapple installed in demolition machines is in a grasp state. Object grasp is a highly difficult task that requires safe and precise operations, so identifying a grasp or non-grasp state is important for assisting an operator. These types of outdoor machines lack visual and tactile sensors, so the proposed framework adopts practically available lever operation and cylinder pressure sensors. The grasp is formed by a grasp motion, which is operations to make the grapple pinch an object, and the grasp state, where the grapple holds the object in any manipulator movements. Thus, the framework determinately confirms the grasp motion through the requisite conditions defined by using sequential changes of binarized operation and pressure data for the grapple and the manipulator, and stochastically confirms the grasp state through the enhancement conditions defined by using force and movement vectors including vertical downward force, movement in the longer direction, and horizontal reciprocating movement. The results of experiments conducted to transport objects using an instrumented hydraulic arm indicated that the proposed framework is effective for identifying grasp/non-grasp with high accuracy, independently of various operators and environments.

    DOI

  • Signal transmission with magnetic powdery wire in a pipeline

    Shunsuke Nagahama, Shotaro Iida, Chyon Hae Kim, Shigeki Sugano

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)     1113 - 1118  2013年  [査読有り]

     概要を見る

    In this paper, we discuss a signal transmission function of an artificial circulatory system. We proposed a biomimetic circulatory system so as to imitate the homeostatic function of the human circulation system [1]. The following blood functions were imitated in the system: (1) clotting, (2) energy supply, and (3) motor cooling. However, the circulatory system has other functions, for example, signal transduction by hormones. Thus, we propose adding a signal transmission function to our artificial circulatory system. The proposed function was realized with iron powder and a magnetic field. Particles of iron powder aligned along the direction of the magnetic field lines and formed as a wire. We defined this as a magnetic powdery wire (MPW). The MPW has a self-repairing function. When the wire collapsed, iron powder was transferred to the MPW, and it was repaired. As a result of a signal transmission experiment, we confirmed that the pulse signals were transmitted properly. In the experiment, we observed a time lag in the rise time and fall time on the pulse waveforms. We hypothesized that this was because the wire consisted of iron powder, and the magnetic field became similar to that of a coil. As a result of the self-repairing experiment, we confirmed that the wire repaired itself after being broken and transmitted pulse signals properly. These results demonstrate that our system is able to transmit information and self-repair with iron powders and a magnetic field. Additionally, the observed phenomenon will be the basis for a new device.

    DOI

  • Development of a Tele-Operation Simulator Based on Virtual Reality Environment for Advanced Unmanned Construction

    Mitsuhiro Kamezaki, Gonzalo Aguirre Dominguez, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     855 - 860  2013年  [査読有り]

     概要を見る

    This paper describes a tele-operation simulator using a virtual reality (VR) environment for advanced unmanned construction. VR simulators, which can measure arbitrary data, reproduce the same situations, and change the machine and environmental configurations more easily, compared with actual environments, are effective to create tele-operation technologies and quantitatively evaluate them as well as to improve operational skills in complex disaster response works. In this basic study, a VR simulator including a VR environment, operation-input, and video-output components was developed. (i) The VR environment is built using a basic graphic library and dynamics engine. (ii) The operation-input component consists of control levers for a demolition machine with a grapple and environmental cameras with yaw, pitch, and zoom functions. (iii) The video-output component consists of a two-dimensional monitor for displaying an in-vehicle camera view, environmental camera views, and machine status. The results of experiments conducted to transport debris using the VR simulator indicated that the operators adequately completed the debris transport in the VR environment while watching the monitor views from the in-vehicle and environmental cameras.

  • A Pragmatic Load Detecting System Based on Uncertainty Evaluation for Construction Manipulator

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    SICE Journal of Control, Measurement, and System Integration (JCMSI)   5 ( 6 ) 366 - 373  2012年11月  [査読有り]

    DOI

  • Development of a portable and MRI Compatible Hand Exoskeleton for Finger Rehabilitation

    ZhenJin Tang, Shigeki Sugano, Hiroyasu Iwata

    The 30th annual conference of the robotics society of Japan.    2012年09月

  • Doppler Positioning with a Movable Receiver Antenna for High-Accuracy IMES Localization

    Yoshihiro Sakamoto, Takuji Ebinuma, Kenjirou Fujii, Shigeki Sugano

    the SICE Journal of Control,Measurement, and System Integration (SICE JCMSI)   Vol.5 ( No.5 ) 259 - 267  2012年09月

    DOI

  • プロアクティブ・リアクティブな行為とその自律的な切り替えの学習

    村田真悟, 並川淳, 有江浩明, 谷淳, 菅野重樹

    日本ロボット学会 第30回記念学術講演会   4N3-5  2012年09月

  • 腹部血管変位下における非侵襲的血流量計測手法に関する研究

    伊藤慶一郎, 鶴田功一, 朝山智史, 菅野重樹, 中村京太, 岩田浩康

    日本機械学会ロボティクスメカトロニクス講演会’12   1P1-O05  2012年05月

  • IMESを用いた移動ロボットのためのリアルタイム・キネマティック・ドップラー測位

    坂本義弘, 海老沼拓史, 藤井健二郎, 菅野重樹

    ロボティクス・メカトロニクス講演会2012(ROBOMECH2012)   CD-Proc  2012年05月

  • Imitating others by composition of primitive actions: A neuro-dynamic model

    Hiroaki Arie, Takafumi Arakaki, Shigeki Sugano, Jun Tani

    ROBOTICS AND AUTONOMOUS SYSTEMS   60 ( 5 ) 729 - 741  2012年05月

     概要を見る

    This paper introduces a novel neuro-dynamical model that accounts for possible mechanisms of action imitation and learning. It is considered that imitation learning requires at least two classes of generalization. One is generalization over sensory-motor trajectory variances, and the other class is on cognitive level which concerns on more qualitative understanding of compositional actions by own and others which do not necessarily depend on exact trajectories. This paper describes a possible model dealing with these classes of generalization by focusing on the problem of action compositionality. The model was evaluated in the experiments using a small humanoid robot. The robot was trained with a set of different actions concerning object manipulations which can be decomposed into sequences of action primitives. Then the robot was asked to imitate a novel compositional action demonstrated by a human subject which are composed from prior-learned action primitives. The results showed that the novel action can be successfully imitated by decomposing and composing it with the primitives by means of organizing unified intentional representation hosted by mirror neurons even though the trajectory-level appearance is different between the ones of observed and those of self-generated. (C) 2011 Elsevier B.V. All rights reserved.

    DOI

  • 操作型作業機械の知能化に関する研究〜第7報:時系列遷移情報の利用による基底作業状態の識別性能向上〜

    亀崎允啓, 岩田浩康, 菅野重樹

      1A2 ( F02 )  2012年05月

  • Identification of Dominant Error Force Component in Hydraulic Pressure Reading for External Force Detection in Construction Manipulator

    Mitsuhiro Kamezaki, Yosuke Shimada, Hiroyasu Iwata, Shigeki Sugano

    Journal of Robotics and Mechatronics   24 ( 6 ) 95 - 104  2012年02月  [査読有り]

    DOI

  • Blood flow measurement system using ultrasound Doppler under non-periodic displacement of an artery

    Keiichiro Ito, Tomofumi Asayama, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics     781 - 786  2012年  [査読有り]

     概要を見る

    The purpose of this paper is to propose blood flow measurement algorithms under non-periodic displacement of an artery by controlling an ultrasound (US) probe. Detecting the position and velocity of a bleeding source is required as the first step in treating internal bleeding in emergency medicine. However, the current methods for detecting a bleeding source involve an invasive approach and cannot quantitatively estimate the velocity of bleeding. Therefore, current emergency medical care requires an alternative system to address these problems. In this study, we aim to develop a blood flow measurement system for detecting a bleeding source by using a non-invasive modality, such as a US imaging device. Some problems related to the measurement error still need to be addressed before we can create this system. In particular, the blood flow measurement error in the abdominal area is typically large because the displacement of the artery is too large and non-periodic to adequately control the probe. As the first step in solving these problems, we focused on the displacement of the artery towards the out-of-plane state of a US image and developed measurement algorithms to control the probe under the displacement based on respiratory information. We conducted cross-sectional area and flow rate measurement experiments using an ultrasound phantom containing an artery model and a manipulator equipped with a US probe (BASIS-1). The results represent the first experimental validation of the proposed algorithms. © 2012 IEEE.

    DOI

  • Linear Prediction Based Uniform State Sampling for Sampling Based Motion Planning Systems

    Chyon Hae Kim, Shimon Sugawara, Shigeki Sugano

    2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids)     747 - 754  2012年  [査読有り]

     概要を見る

    We discuss the optimality and computational efficiency of sampling based motion planning (SBMP), which calculates dynamically precise and approximately optimal state transitions using arbitrarily selected nonlinear control system models. To ensure high optimality and computational efficiency, SBMP requires an approximately uniform state sampling function, though the non-linearity of the system models does not allow a perfect function. We propose linear prediction-based uniform state sampling (LPUSS) that samples approximately uniform state points while ensuring a dynamically correct state transition profile with a small calculation cost. LPUSS samples a state by using the given non-linear control system model after determining the input values by using a local linear transition model. We developed a mechanical motion planning system using LPUSS, articulated body algorithm, and parallel computing techniques. To validate LPUSS, we conducted experiments on double, triple, and sixtuple inverted pendulum models. LPUSS showed better optimality and computational efficiency with the double and triple inverted pendulum models, compared with randomized kinodynamic planning (RKP), which is based on rapid random tree (RRT), and our previously proposed rapid semi-optimal motion-planning method in which state sampling is based on uniform inputs. In particular, compared with our previous method, LPUSS was respectively 130 times and 3,000 times faster on double and triple inverted pendulum models under the condition of the same optimality. LPUSS found an approximately optimal swing up motion for the sixtuple inverted pendulum model within 40 minutes. According to our survey, there is no other optimization method that is applicable to higher than quadruple inverted pendulum models with standard constraints.

  • Rhythm-based Adaptive Localization in Incomplete RFID Landmark Environments

    Kenri Kodaka, Tetsuya Ogata, Shigeki Sugano

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     2108 - 2114  2012年  [査読有り]

     概要を見る

    This paper proposes a novel hybrid-structured model for the adaptive localization of robots combining a stochastic localization model and a rhythmic action model, for avoiding vacant spaces of landmarks efficiently. In regularly arranged landmark environments, robots may not be able to detect any landmarks for a long time during a straight-like movement. Consequently, locally diverse and smooth movement patterns need to be generated to keep the position estimation stable. Conventional approaches aiming at the probabilistic optimization cannot rapidly generate the detailed movement pattern due to a huge computational cost; therefore a simple but diverse movement structure needs to be introduced as an alternative option. We solve this problem by combining a particle filter as the stochastic localization module and the dynamical action model generating a zig-zagging motion. The validation experiments, where virtual-line-tracing tasks are exhibited on a floor-installed RFID environment, show that introducing the proposed rhythm pattern can improve a minimum error boundary and a velocity performance for arbitrary tolerance errors can be improved by the rhythm amplitude adaptation fed back by the localization deviation.

  • Finding and Utilizing Self-preserving Functions in Blood Pulsation -Development for Ethanol Based Artificial Circulation System-

    Chyon Hae Kim, Yuki Nishi, Syunsuke Nagahama, Shigeki Sugano

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)    2012年  [査読有り]

     概要を見る

    In this paper, we discuss the self-preserving function in the pulsation of circulation systems. Humans and many animals have circulation systems, which send blood with pulsation. However, how the pulsation is supporting the survival capability of them is not studied sufficiently. We propose an artificial circulation system that imitates homeostatic functions of natural blood circulation systems. The proposed system uses mixed fuel solution instead of blood, which is able to exclude the affection of the clotting function of blood platelet. Thus, the proposed system provides easy discussion for the affection of blood pulsation for clotting. As a result of a clotting experiment, we found the phenomena that pulsation helps clotting capability. As a result of energy supply experiment, pulsation helped smooth filtering for pure solution. These results show the importance of pulsation in artificial hearts. Also, the results are applicable to fuel supply systems so as to increase their safety.

  • Mechanical Design of a Magnetic Resonance Compatible Device Used for Finger Rehabilitation and Brain Imagine Studying

    ZhenJin Tang, Shigeki Sugano, Hiroyasu Iwata

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)    2012年  [査読有り]

     概要を見る

    This paper presents the design, fabricate and evaluation of a Magnetic Resonance compatible finger rehabilitation device, which could not only be used as a finger rehabilitation training tool after stroke, but also to study the brain's recovery process during the rehabilitation therapy (ReT).
    The mechanics of this device are designed to be adjustable to different persons' finger phalanges, and also the gap between one finger to another can be easily changed. By using an ultrasonic motor as its actuator, the device has been designed to be portable, with a high torque output. In addition, the mechanical has been developed into two working models (passive and active) in order to overcome the intrinsic shortage of non-back drivability in ultrasonic motor. The result system enables the client to do extension and flexion rehabilitation exercises in two degrees of freedom (DOF) for each finger as well as one DOF motion on the thumb. Finally, experiment has been carried out to evaluate the performance of the device.

  • Doppler Positioning with Orientation Estimation by Using Multiple Transmitters for High-accuracy IMES Localization

    Yoshihiro Sakamoto, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    2012 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION (IPIN)    2012年  [査読有り]

     概要を見る

    A Doppler positioning method with orientation estimation for an indoor messaging system (IMES) is proposed. With this method, both position and orientation of a receiver are estimated simultaneously by using Doppler shifts produced by moving a receiver antenna under the use of two or more IMES transmitters. The proposed method is evaluated through an experiment in which the interval of two transmitters is varied. The results of the experiment demonstrate that centimeter- to decimeter-level positioning accuracy and orientation-estimation accuracy of +/- 3 degrees are achieved; these results were largely consistent with the theoretical values calculated from dilution of precision. In addition, magnetic-compass error indoors was experimentally investigated; the results show that a magnetic-compass is a large error source if it is used indoors. Lastly, which initial values of a nonlinear least-square used for the proposed method converge to appropriate position and orientation solutions is analyzed; the results of the analysis suggest that if an initial position is set to the midmost of two transmitters, a proper solution is obtained except in the case that initial orientation is 180 degrees opposite from the correct orientation.

  • Solve Inverse Kinematics Through A New Quadratic Minimization Technique

    Wei Wang, Yuki Suga, Hiroyasu Iwata, Shigeki Sugano

    2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     306 - 313  2012年  [査読有り]

     概要を見る

    A new technique was developed to solve inverse kinematics based on quadratic minimization. Firstly the inverse kinematic problem was formulated as a quadratic minimization problem through the constitution of a quadratic objective function derived from quaternion based kinematic description, then a new technique is developed to solve the quadratic minimization problem. The iteration procedures of the new technique are organized in two main phases: compute the search direction based on dynamic system synthesis; seek for acceptable step along the search direction. Numerical examples showed that inverse kinematic solutions can be delivered in a robust and time-efficient way, to meet the requirements coming across in the application field of every daily living support.

  • Improvement for Action Strategy Learning in Classification Task using Classification Probalilities

    Chyon Hae Kim, Shota Yamazaki, Hiroshi Tsujino, Shigeki Sugano

    6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS     352 - 358  2012年  [査読有り]

     概要を見る

    In this paper, we address the autonomous evidence accumulation when a system classifies an object into one of predetermined categories. We propose a reinforcement learning system that effectively selects actions to speed up the classification process. The proposed system accelerates its learning using classification probabilities calculated by a classification system. We conducted three binary classification experiments to evaluate the learning speed and correctness of the proposed system. In the first experiment, we examined a random action selection strategy that does not learn its selection parameters while accumulating evidence. In the second experiment, we examined Paletta's reinforcement learning system that observes the state of the object and learns action selection strategy. In the third experiment, we examined the proposed system that observes both the object state and the classification probability. The proposed system showed the fastest learning.

  • Indoor Positioning based on Difference between Carrier-phases Transmitted from Proximately-located Antennas of a Multi-channel Pseudolite

    Yoshihiro Sakamoto, Yui Totoki, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    2012 FIRST INTERNATIONAL CONFERENCE ON INNOVATIVE ENGINEERING SYSTEMS (ICIES)     154 - 159  2012年  [査読有り]

     概要を見る

    A novel positioning method based on the difference between phases of carrier waves transmitted from closely located pseudolite antennas is proposed. This method can avoid the major problems with the conventional positioning method using pseudolites. A three-channel pseudolite applying the proposed method was developed, and its positioning performance was experimentally evaluated. In the experiment, carrier-phase differences were measured at thirty-three points in a field of 4 x 4 m; their two-dimensional positions were estimated. The experimental measurements show that the method can achieve decimeter- to meter-level positioning accuracy. They also show that many factors, such as dilution of precision, carrier-to-noise density ratio, multipath propagation, and phase-center variation of antennas, affect the positioning performance.

  • Intuitive Operation of A Wheelchair Mounted Robotic Arm for The Upper Limb Disabled: The Mouth-only Approach

    Wei Wang, Zeming Zhang, Yuki Suga, Hiroyasu Iwata, Shigeki Sugano

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)    2012年  [査読有り]

     概要を見る

    A new interfacing device that enables intuitive operation of a wheelchair mounted robotic arm is proposed. Three kinds of physical signals: jaw movement, breathing strength and head movement are captured using this device, and then be used to drive motion primitives of robotic arm in an intuitive way. This device is designed to operate in a mouth-only manner, thus enables usage for the upper limb disabled. Experiments are also conducted making use of this device and wheelchair mounted robotic arm to complete tasks in activities of daily living.

  • Operational Support for Ensuring Safety Object-Removal Using Dual-Arm Construction Machinery

    Mitsuhiro Kamezaki, Yosuke Shimada, Hiroyasu Iwata, Shigeki Sugano

    2012 FIRST INTERNATIONAL CONFERENCE ON INNOVATIVE ENGINEERING SYSTEMS (ICIES)     237 - 242  2012年  [査読有り]

     概要を見る

    This paper describes an operational support system to simplify removing objects from a building structure in demolition work using dual-arm construction machinery. An operator cannot recognize the manipulator movement visually when a target object is strongly restrained in an unmovable environment, so the operator continues large lever-operations for a while after the object has been removed. This could lead to a collision against the surrounding environment. An operational support in construction machinery filed requires the compatibility among efficiency, quality, and safety and the commonality among various operator skill levels. The proposed support system thus identifies the moment when an object has been removed and cancels any operational inputs to ensure safety work when generating intensive force applied to a manipulator, focusing only on the common physical phenomena. An object-removal flag is defined as a situation where force applied to the end-point of a manipulator decrease rapidly in which lever operation and hand load are detected. Demolition experiments are conducted using a hydraulic dual arm system. Result indicates that the displacement of end-effector after removal and the number of error contacts are decreased while decreasing time consumption.

  • A symbolic constructionwork flow based on state transition analysis using simplified primitive static states

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Journal of Robotics and Mechatronics   24 ( 6 ) 939 - 948  2012年  [査読有り]

     概要を見る

    In this paper, a quantitative analysis method for a comprehensive work flow in construction work for identifying work states in more detail is proposed. The proposed method is based on analyzing state transitions of simplified primitive static states (s-PSS), which consist of four symbolic work states defined by using the on-off state of lever operations and manipulator loads. First, practical state transitions (PST), which are common and frequent transitions in arbitrary construction work, are defined on the basis of the transition rules, according to which an operation flag changes arbitrarily and a load flag changes only during a lever operation. Second, PST is notionally classified into essential (EST) and nonessential (NST) state transitions whose definitions change depending on the task phase, including reaching, contacting, loadworking, and releasing. Third, closed loops formed by EST represent work content and those formed by NST represent wasted movements. In work-analysis experiments using our instrumented setup, results indicated that all s-PSS definitely changes on the basis of PST under various experimental conditions and that work analysis using EST and NST easily reveals untrained tasks related to wasted movements.

    DOI

  • 内側収穫ロボットを用いたイチゴ果実への接近収穫方法の検討

    林茂彦, 山本聡史, 齋藤貞文, 山下智輝, 田中基雅, 坂本直樹, 柏原直哉, 菅野重樹

    農業機械学会誌   74 ( 4 ) 325 - 333  2012年

    DOI

  • Magnetic Resonance Compatible Hand Rehabilitation Robot

    ZhenJin Tang, Shigeki Sugano, Hiroyasu Iwata

    International Journal of Mechatronics and Automation    2012年

  • Design of an MRI compatible robot for finger rehabilitation

    ZhenJin Tang, Shigeki Sugano, Hiroyasu Iwata

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012     611 - 616  2012年

     概要を見る

    Studying the brain's recovery process after a stroke during the rehabilitation therapy (ReT) can help to provide important information leading to new rehabilitation treatment and also may help physiotherapists to tailor an optimized training plan for each patient. However, there are few devices that could be used as daily training rehabilitation tool and also can be used for studying the brain activity during ReT. Therefore, in our research, we developed an MRI compatible robot for finger rehabilitation, which possesses the required functions both. The mechanics of this robot were designed to be adjustable to different persons' finger phalanges, and also the gap between one finger to another can be easily changed. By using an ultrasonic motor as its actuator, the device has been designed to be portable, with a high torque output. It enables the client to do extension and flexion rehabilitation exercises in two degrees of freedom (DOF) for each finger. Finally, experiments have been carried out to evaluate the performance of the device. © 2012 IEEE.

    DOI

  • 生体の働きを模擬した多機能一体型循環器系システムの開発

    長濱俊介, 西佑起, 金天海, 菅野重樹

    ロボティクス・メカトロニクス講演会    2012年

  • 移動ロボットによる物体識別のための探索行動の自律的獲得

    郷湖学, 小林祐一, 金天海

    ロボティクス・メカトロニクス講演会    2012年

  • 移動ロボットを用いた物体識別のための探索行動の学習

    郷湖学, 小林祐一, 金天海

    人工知能学会全国大会    2012年

  • 身体イメージ転移に対する視触覚刺激の時間的同期性の影響

    石井 孝洋, 金 天海, 仁科 繁明, 菅野 重樹

    人工知能学会全国大会論文集   2012 ( 0 ) 3N1OS217 - 3N1OS217  2012年

     概要を見る

    <p>視触覚刺激による身体イメージ転移錯覚の一つとしてラバーハンドイリュージョンが知られている.この種の錯覚下では転移先の身体が受ける感覚を自分の身体で感じるかのような反応が起こることが知られており,錯覚の生起を操作できれば新しい情報呈示方法等への応用が考えられる.本研究では杭型の物体が仮想の手に刺さる映像と振動モーターを用いて,視触覚刺激の時間的同期性が身体イメージ転移錯覚に与える影響を考察した.</p>

    DOI CiNii

  • 物-ロボット間の心の乗り移りに対する認知の評価

    長濱峻介, 山崎由美子, 菅野 重樹, 金天海

    ヒューマンインタフェースシンポジウム    2012年

  • 循環器系システムにおける拍動による自己修復促進とフィルタの目詰まり抑制

    長濱峻介, 西佑起, 金天海, 菅野重樹

    ロボット学会学術講演会    2012年

  • 局所線形性を利用した非線形動作最適化手法

    金天海, 菅原志門, 菅野重樹

    ロボット学会学術講演会    2012年

  • ウェアラブル人工可動耳介

    金天海, 中臺一博, 辻野広司

    ロボット学会学術講演会    2012年

  • 強化学習を用いた物体識別行動の獲得

    郷古学, 小林祐一, 金天海

    ロボット学会学術講演会    2012年

  • Motion Planning using State-dispersion-based Phase Space Partition

    Chyon Hae Kim, Shota Yamazaki, Hiroshi Tsujino, Shigeki Sugano

    2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     173 - 179  2012年

     概要を見る

    This paper addresses a phase space partitioning problem in motion planning systems. In a previous study, we developed a kinematic and dynamic motion planning system, known as rapid semi-optimal motion-planning (RASMO), that ensures the optimality of the planned motions with rapid calculations using a partition for the phase space. The shape of the partition determines the optimality of the motion. We propose a state-dispersion-based phase space partitioning (SDPP) method that generates adaptive partitions for RASMO and the same class of motion planning systems. These partitions allow motion planning systems to plan motions with better optimality. To validate SDPP method, we compared the optimality of RASMO in several conditions using a double inverted pendulum model while setting the optimality criterion of RASMO to time. Results show that RASMO with SDPP planned smaller time motions than that obtained RASMO with a uniform partition. Once this method is applied to a machine (e.g. industrial or space robots), the planning system provides better motions with the same calculation cost.

    DOI

  • An asymptotically optimal NMPC core for multi degrees of freedom rigid bodies

    Chyon Hae Kim, Shimon Sugawara, Shigeki Sugano

    IFAC Proceedings Volumes (IFAC-PapersOnline)   4 ( 1 ) 207 - 212  2012年

     概要を見る

    We address the applicability of nonlinear model predictive control (NMPC) to rigid bodies with multi degrees of freedom. These systems have complicated nonlinear motion equations that cause large computational time for NMPC.We propose an asymptotically optimal NMPC core based on the uniform state sampling concept. We examined the optimality and the computational cost of the proposed core using double and triple inverted pendulum models. The result showed that the proposed core calculates sub-time-optimal motions with 100 and 1,000 times faster than the competing cores with maintaining the same optimality. We applied the proposed core to a sixth inverted pendulum model. The result showed that the proposed NMPC core is able to calculate a sub-time-optimal motion of the model. © 2012 IFAC.

    DOI

  • A role of multi-modal rhythms in physical interaction and cooperation

    Kenta Yonekura, Chyon Hae Kim, Kazuhiro Nakadai, Hiroshi Tsujino, Shigeki Sugano

    EURASIP JOURNAL ON AUDIO SPEECH AND MUSIC PROCESSING     1 - 8  2012年

     概要を見る

    As fundamental research for human-robot interaction, this paper addresses the rhythmic reference of a human while turning a rope with another human. We hypothyzed that when interpreting rhythm cues to make a rhythm reference, humans will use auditory and force rhythms more than visual ones. We examined 21-23 years old test subjects. We masked perception of each test subject using 3 kinds of masks, an eye-mask, headphones, and a force mask. The force mask is composed of a robot arm and a remote controller. These instruments allow a test subject to turn a rope without feeling force from the rope. In the first experiment, each test subject interacted with an operator that turned a rope with a constant rhythm. 8 experiments were conducted for each test subject that wore combinations of masks. We measured the angular velocity of force between a test subject/the operator and a rope. We calculated error between the angular velocities of the force directions, and validated the error. In the second experiment, two test subjects interacted with each other. 1.6 - 2.4 Hz auditory rhythm was presented from headphones so as to inform target turning frequency. Addition to the auditory rhythm, the test subjects wore eye-masks. The first experiment showed that visual rhythm has little influence on rope-turning cooperation between humans. The second experiment provided firmer evidence for the same hypothesis because humans neglected their visual rhythms.

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  • Internal Bleeding Detection Algorithm Based on Determination of Organ Boundary by Low-Brightness Set Analysis

    Keiichiro Ito, Shigeki Sugano, Hiroyasu Iwata

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     4131 - 4136  2012年

     概要を見る

    This paper proposes an organ boundary determination method for detecting internal bleeding. Focused assessment with sonography for trauma (FAST) is important for patients who are sent into shock by internal bleeding. However, the FAST has a low sensitivity, approximately 42.7 %, and delays of lifesaving treatment due to internal bleeding being missed have become a serious problem in emergency medical care. This study aims, therefore, to construct an automatic internal bleeding detection robotic system on the basis of ultrasound (US) image processing to improve the sensitivity. Internal bleeding has two key features: it is extracted from low-brightness areas in US images and accumulates between organs. We developed method for extracting low-brightness areas and determining algorithms of organ boundaries by low-brightness set analysis, and we detect internal bleeding by combining these two methods.
    Experimental results based on clinical US images of internal bleeding between Liver and Kidney showed that proposed algorithms had a sensitivity of 77.8% and specificity of 95.7%.

    DOI

  • Noninvasive Internal Bleeding Detection Method by Measuring Blood Flow under Ultrasound Cross-Section Image

    Keiichiro Ito, Koichi Tsuruta, Shigeki Sugano, Hiroyasu Iwata

    2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     3191 - 3194  2012年

     概要を見る

    The purpose of this paper is to propose noninvasive internal bleeding detection method by using ultrasound (US) image processing under US cross-section image. In this study, we have developed a robotic system for detecting internal bleeding based on the blood flow measured by using a noninvasive modality like an US imaging device. Some problems related to the measurement error, however, still need to be addressed.
    In this paper, we focused on US image processing under US cross-section image, and constructed blood flow measurement algorithm under US cross-section image for internal bleeding detection. We conducted preliminary blood flow measurement experiments using a phantom containing artery model and a manipulator equipped with a US probe (BASIS-1). The results present the experimental validation of the proposed method.

  • Organ Boundary Determination Algorithm for Detecting Internal Bleeding

    Keiichiro Ito, Shigeki Sugano, Hiroyasu Iwata

    2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     3183 - 3186  2012年

     概要を見る

    The purpose of this paper is to propose an organ boundary determination method for detecting internal bleeding. Focused assessment with sonography for trauma (FAST) is important for patients who are sent into shock by internal bleeding. However, the FAST has a low sensitivity, approximately 42.7 %. This study aims, therefore, to construct an automatic internal bleeding detection robotic system on the basis of ultrasound (US) image processing to improve the sensitivity. We developed method for determining algorithms of organ boundaries by low-brightness set analysis, and we detected internal bleeding by the proposed method.
    Experimental results based on clinical US images of internal bleeding between Liver and Kidney showed that proposed algorithms had a sensitivity of 77.8% and specificity of 95.7%.

  • Blood Flow Measurement System Using Ultrasound Doppler under Non-periodic Displacement of an Artery

    Keiichiro Ito, Tomofumi Asayama, Shigeki Sugano, Hiroyasu Iwata

    2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)     781 - 786  2012年

     概要を見る

    The purpose of this paper is to propose blood flow measurement algorithms under non-periodic displacement of an artery by controlling an ultrasound (US) probe. Detecting the position and velocity of a bleeding source is required as the first step in treating internal bleeding in emergency medicine. However, the current methods for detecting a bleeding source involve an invasive approach and cannot quantitatively estimate the velocity of bleeding. Therefore, current emergency medical care requires an alternative system to address these problems.
    In this study, we aim to develop a blood flow measurement system for detecting a bleeding source by using a non-invasive modality, such as a US imaging device. Some problems related to the measurement error still need to be addressed before we can create this system. In particular, the blood flow measurement error in the abdominal area is typically large because the displacement of the artery is too large and non-periodic to adequately control the probe. As the first step in solving these problems, we focused on the displacement of the artery towards the out-of-plane state of a US image and developed measurement algorithms to control the probe under the displacement based on respiratory information. We conducted cross-sectional area and flow rate measurement experiments using an ultrasound phantom containing an artery model and a manipulator equipped with a US probe (BASIS-1). The results represent the first experimental validation of the proposed algorithms.

    DOI

  • A Blood Flow Measurement Robotic System: Ultrasound Visual Servoing Algorithm under Pulsation and Displacement of an Artery

    Keiichiro Ito, Tomofumi Asayama, Shigeki Sugano, Hiroyasu Iwata

    Journal of Robotics and Mechatronics    2012年

  • ポータブルな体幹装着型遠隔超音波診断システムの世界初の具現化に向けた改良と移動体搬送下における診断試験結果の報告

    伊藤慶一郎, 鶴田功一, 中村京太, 竹内良平, 菅野重樹, 岩田浩康

    消研輯報 65号    2012年

  • 内出血患者の救命を支援する迅速簡易超音波検査のための体幹装着型ロボットシステム

    伊藤慶一郎, 菅野重樹, 中村京太, 竹内良平, 岩田浩康

    バイオメカニズム     43 - 53  2012年

  • GPS-compatible Indoor-positioning Methods for Indoor-outdoor Seamless Robot Navigation

    Yoshihiro Sakamoto, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    2012 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO)     95 - 100  2012年

     概要を見る

    The difficulty of applying "pseudolites" (i.e., pseudo-satellites) and the "indoor messaging system" (IMES) to indoor robot navigation is investigated. Moreover, as an alternative to these methods, "high-accuracy IMES using real-time kinematic Doppler positioning" is introduced and experimentally evaluated. The evaluation showed that this method can achieve centimeter- to decimeter-level positioning accuracy. This result implies the feasibility of indoor-outdoor seamless robot navigation with a GPS/IMES receiver.

    DOI

  • Active-localization methods for mobile robots in a coarsely structured environment with floor-embedded RFID tags and indoor GPS

    Yoshihiro Sakamoto, Kenri Kodaka, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012     539 - 545  2012年

     概要を見る

    Two active-localization methods for mobile robots, namely, "rhythm-based adaptive localization" for floor-embedded RFID tags and "real-time kinematic Doppler positioning" for indoor GPS (an indoor messaging system, or IMES), are proposed. Both methods increase the positioning accuracy of a robot by moving the sensor attached to the robot. The results of a positioning experiment with floor-embedded RFID tags show that the rhythm-based adaptive-localization method can achieve a positioning accuracy of 25 cm under the conditions that noise is intentionally added to the value of a wheel encoder, the installation interval of tags is 30 cm, and the tag installation is incomplete (i.e., some tags are missing). On the other hand, the results of a positioning experiment using IMES show that the real-time kinematic Doppler-positioning method can achieve centimeter to decimeter-level positioning accuracy even if the number of visible transmitters is only one (i.e., trilateration is not used). © 2012 IEEE.

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  • Quantification of Comprehensive Work Flow Using Time-Series Primitive Static States for Human-Operated Work Machine

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     4487 - 4492  2012年

     概要を見る

    This paper proposes a quantification method for a comprehensive work flow in construction work for describing work states in more detail on the basis of analyzing state transitions of primitive static states (PSS), which consist of 16 symbolic work states defined by using on-off state of the lever operations and joint loads for the manipulator and end-effector. On the basis of the state transition rules derived from a transition-condition analysis, practical state transitions (PST), which are common and frequent transitions in arbitrary construction work, are defined. PST can be classified into essential (EST) or nonessential state transitions (NST). EST extracts common phases of work progress and estimates positional relations between a manipulator and an object. NST reveals wasted movements that degrade the efficiency and quality of work. To evaluate comprehensive work flows modeled by combing EST and NST, work-analysis experiments using our instrumented setup were conducted. Results indicate that all the PSS definitely changes on the basis of PST under various work conditions, and work analysis using EST and NST easily reveals work characteristics and untrained tasks related to wasted movements.

    DOI

  • Real-time Indoor Positioning with a Single IMES Transmitter and a Rotation-type Doppler Measurement Unit

    Yoshihiro Sakamoto, Takuji Ebinuma, Kenjirou Fujii, Shigeki Sugano

    International Global Navigation Satellite Systems (IGNSS) 2011    2011年11月

  • Development of a Load Detecting System with Three-Valued Output for Construction Manipulator

    Mitsuhiro Kamezaki, Kosuke Nakamura, Satoshi Hashimoto, Hiroyasu Iwata, Shigeki Sugano

    Proceedings of SICE Annual Conference 2011 (SICE2011)     2194 - 2199  2011年09月

  • Initial Value Analysis of a Nonlinear Least-Square Method for Indoor Doppler Positioning with a Single Pseudolite

    Yoshihiro Sakamoto, Hiroaki Arie, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    SICE Annual Conference 2011     2411 - 2412  2011年09月

  • Semi-optimal Motion Control for Nonholonomic Systems with a Passive Joint

    Chyon Hae Kim, Keisuke Nakamura, Hiroshi Tsujino, Shigeki Sugano

    in Proceedings of the SICE Annual Conference 2011    2011年09月

  • 人間とロボットとの協調移動制御 -移動中の接触による働きかけを実現する全身制御手法

    市川健太郎, 菅岩泰亮, 高橋城志, 長嶺伸治, 前代アト夢, 加納弘之, 野口博史, 岩田浩康, 金道敏樹, 菅野重樹

    第29回日本ロボット学会学術講演会   3H3-2  2011年09月

  • 人間とロボットとの協調移動制御 〜接触による働きかけを利用した移動動作計画〜

    市川健太郎, 菅岩泰亮, 野口博史, 長嶺伸治, 前代アト夢, 加納弘之, 岩田浩康, 金道敏樹, 菅野重樹

    第29回日本ロボット学会学術講演会   3H3-1  2011年09月

  • 円柱形道具の精密操作のための把持・操り制御

    高橋城志, 菅岩泰亮, 加納弘之, 岩田浩康, 菅野重樹

    第29回日本ロボット学会学術講演会   3E2-7  2011年09月

  • 汎化学習による円柱形物体の姿勢を考慮した操り運指軌道制御

    小島康平, 菅岩泰亮, 加納弘之, 有江浩明, 岩田浩康, 菅野重樹

    第29回日本ロボット学会学術講演会   3E2-7  2011年09月

  • 分散的ランドマーク環境における適応リズムによる移動ロボットの誤差低減

    小鷹研理, 尾形哲也, 菅野重樹

    第29回日本ロボット学会学術講演会   3N1-2  2011年09月

  • 状態遷移先の分散を最小化した状態空間量子化手法

    山崎翔太, 金天海, 辻野広司, 菅野重樹

    人工知能学会全国大会予稿集 2011    2011年06月

  • 建機マニピュレータの手先外力ベクトル計測〜内在誤差範囲推定に基づく相対的計測精度向上〜

    亀允啓, 中村晧祐, 橋本諭, 岩田浩康, 菅野重樹

      1A1-C03  2011年05月

  • 単一スードライトと可動型受信機を用いたロボットのための屋内測位

    坂本義弘, 有江浩明, 海老沼拓史, 藤井健二郎, 菅野重樹

    ロボティクス・メカトロニクス講演会2011(ROBOMECH2010),   CD-Proc.  2011年05月

  • GPU及び位相空間分割を用いた準最適機械運動高速探索手法

    金天海, 菅原志門, 山崎翔太, 辻野広司, 菅野重樹

    計算工学講演会論文集 2011    2011年05月

  • Decoupling MDPs Step by Step from a POMDP

    Chyon Hae Kim, Hiroshi Tsujino, Hiroyuki Nakahara

    in Proceedings of International Conference on Autonomous Robots and Multirobot Systems 2011    2011年05月

  • OpenVR: A software tool contributes to research of robotics

    Wei Wang, Yuki Suga, Hiroyasu Iwata, Shigeki Sugano

    2011 IEEE/SICE International Symposium on System Integration, SII 2011     1043 - 1048  2011年  [査読有り]

     概要を見る

    This paper gives an overview of OpenVR, a software tool that is able to construct a virtual robot and its working environment from CAD source files. The virtual robot can be played with the same as a real robot by providing corresponding controller and sensor interfaces, thus contribute to the research of robotics in concept visualization, robot design, and algorithm and software development. General purposed algorithms are also given to simplify the effect for the execution of complex manipulation tasks. © 2011 IEEE.

    DOI

  • Rapid Approximation for Optimal Paths in Phase Space

    Chyon Hae Kim, Hiroshi Tsujino, Shigeki Sugano

    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     766 - 771  2011年  [査読有り]

     概要を見る

    This paper addresses optimal motion for general machines. Approximation for optimal motion needs a global path planning algorithm that precisely calculates the whole dynamics of a machine in a brief calculation. We propose a path planning algorithm that is composed of a path searching algorithm and a pruning algorithm. The pruning algorithm is based on our analysis for the resemblances of states. To confirm the precision, calculation cost, optimality, and applicability of the proposed algorithm, we conducted several shortest time path planning examinations for the dynamic models of double inverted pendulums. The precision to reach the goal state of the pendulums was better than other algorithms. The calculation was at least 58 times faster. There was a positive correlation between the optimality and the resolutions of the proposed algorithm. As a result of torque based feedback control simulation, we confirmed applicability of the proposed algorithm under noisy situation.

  • Rhythmic Reference of a Human while a Rope Turning Task

    Kenta Yonekura, Chyon Hae Kim, Kazuhiro Nakadai, Hiroshi Tsujino, Shigeki Sugano

    PROCEEDINGS OF THE 6TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTIONS (HRI 2011)     289 - 290  2011年  [査読有り]

     概要を見る

    This paper addresses the rhythmic reference in physical human-robot interaction. Human refers to a rhythm from multiple sensing modalities when turning a rope with another human synchronously. This study verifies a hypothesis that some humans mix several rhythms of the modalities into a rhythm (rhythmic reference). Six participants, four males and two females, 21-23 years old, took part in eight experiments which examined the hypothesis. In each experiment, we masked the perception of each participant using eight combination of three kinds of masks, an eye-mask, headphones, and a force mask. Each participant interacted with an operator that turned a rope with a constant frequency. As a result of the experiments, a participant increased the controlling error as the number of masks was increased regardless the types of masked modalities. The result strongly supported our hypothesis.

  • Discussion on the Forward-Backward Configuration Effect of Reader Antennas in Floor-Installed RFID System”

    Kenri Kodaka, Shigeki Sugano

    Advanced Robotics   25 ( 3-4 ) 313 - 333  2011年

    DOI

  • Comprehensive state transition analysis using simplified primitive static states in construction machinery

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     2908 - 2913  2011年

     概要を見る

    This paper proposes an analysis method for a comprehensive work flow in construction work for identifying work states in more detail on the basis of analyzing state transitions of simplified primitive static states (s-PSS), which consist of four symbolic work states defined by using on-off state of the lever operations and manipulator loads. First, practical state transitions (PST), which are common and frequent transitions in arbitrary construction work, can be defined on the basis of the transition rules, according to which an operation flag changes arbitrary and load flag only changes during a lever operation. Second, PST can be classified into essential (EST) or nonessential state transitions (NST), and NST changes its definition depending on the task phase. Third, EST and NST represent work contents and wasted movements, respectively, so work-analysis experiments using our instrumented setup were conducted. Results indicate that all the s-PSS definitely changes on the basis of PST under various experimental conditions and that work analysis using EST and NST easily reveals untrained tasks related to wasted movements. © 2011 IEEE.

    DOI

  • A practical load detection framework considering uncertainty in hydraulic pressure-based force measurement for construction manipulator

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Proceedings - IEEE International Conference on Robotics and Automation     5869 - 5874  2011年

     概要を見る

    This paper proposes a practical framework for detecting (identifying the on-off state of) the external force applied to a construction manipulator (front load) by using a hydraulic sensor. Such a detection system requires high accuracy and robustness considering the uncertainty in pressure-based force measurement. Our framework is thus organized into (i) identifying the dominant error force component (self-weight and driving force) using theoretical and experimental estimation and binarizing the analog external cylinder force, (ii) evaluating detection conditions to address indeterminate conditions such as stroke-end, singular posture, and impulsive or oscillatory force and redefining three-valued outputs such as on, off, or not determinate (ND), and (iii) outputting the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our framework adequately detects on, off, and ND outputs of the front load in various detection conditions without misidentification. © 2011 IEEE.

    DOI

  • Relative Accuracy Enhancement System Based on Internal Error Range Estimation for External Force Measurement in Construction Manipulator

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS     3734 - 3739  2011年

     概要を見る

    This paper proposes a practical framework for measuring the external force applied to a construction manipulator (front load vector) by using a hydraulic sensor. Such a force measurement system requires high accuracy and robustness considering the uncertainty in the construction machinery field, but it inevitably includes measurement errors owing to difficult-to-reduce modeling errors. Our framework thus adopts a relative accuracy improvement strategy without correcting the models for the practicality. It comprises (i) quantifying the internal error range (IER) by using the sum of the maximal measurement errors of static and dynamic friction forces, which change in postural and kinematic conditions, (ii) calculating the error force vector by using IER to select cylinders (sensors) that have less error, and (iii) outputting the front load vector using the cylinders whose error force vector is minimum. Experiments were conducted using an instrumented hydraulic arm. The results indicate that our framework can enhance the relative accuracy of external force measurement independently of various postural and kinematic conditions.

    DOI

  • Doppler Positioning with a Movable Receiver Antenna and a Single Pseudolite for Indoor Localization

    Yoshihiro Sakamoto, Hiroaki Arie, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     19 - 24  2011年

     概要を見る

    Pseudolites are one of the most promising technologies for indoor localization because they can directly use off-the-shelf GPS/GNSS receivers with minor change of their firmware. However, pseudolites have some fundamental issues such as near-far, multipath, and synchronization problems. Many of these issues derive from using more than one transmitter and trilateration. In this paper, we propose a novel indoor positioning method using a movable receiver antenna and a single pseudolite. In this method, the position is determined by using the Doppler shift produced by a moving antenna. We conducted an experiment by testing different conditions of the moving antenna. The results show that our method has the potential to achieve the positioning with decimeter level accuracy.

    DOI

  • High-Accuracy IMES Localization Using a Movable Receiver Antenna and a Three-axis Attitude Sensor

    Yoshihiro Sakamoto, Hiroaki Arie, Takuji Ebinuma, Kenjirou Fujii, Shigeki Sugano

    2011 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION     1 - 6  2011年

     概要を見る

    A method to improve positioning accuracy of an indoor messaging system (IMES) was developed. This method uses Doppler shifts (produced by moving a receiver antenna) and three-dimensional attitude to determine the position of the receiver. A rotation-type Doppler-measurement system applying this method was developed. To evaluate the system, two experiments were conducted: in one, rotation radius of a movable receiver antenna was varied; in the other, position where positioning is conducted was varied. The experimental results show that the method can achieve centimeter- to decimeter-level positioning accuracy.

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  • Physical Control of the Rotation of a Flexible Object - Rope Turning with a Humanoid Robot

    Chyon Hae Kim, Kenta Yonekura, Hiroshi Tsujino, Shigeki Sugano

    ADVANCED ROBOTICS   25 ( 3-4 ) 491 - 506  2011年

     概要を見る

    Rope turning tasks are useful to explore rhythmic physical human-robot interaction. However, in traditional studies, a robot was not able to turn a rope by itself, because simultaneous control of three factors, i.e., energy transmission, rotational axis and centrifugal force, is difficult when a robot rotates a flexible object such as a rope. In this paper, we propose a method to control these three factors simultaneously. We developed the method by adding a compensator to an attractor that attracts the end-effector of a robot to a uniform circular motion within a fixed radius. In a rope turning simulation, the end-effector of a robot and the center of mass of a simplified rope converged to uniform circular motions. In addition, we applied the proposed method to a rope turning task performed by a humanoid robot. The robot was able to turn a rope with one fixed end or in cooperation with a human. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

    DOI

  • Rapid short-time path planning for phase space

    Chyon Hae Kim, Hiroshi Tsujino, Shigeki Sugano

    Journal of Robotics and Mechatronics   23 ( 2 ) 271 - 280  2011年

     概要を見る

    This paper addresses optimal motion for general machines. Approximation for optimal motion requires a global path planning algorithm that precisely calculates the whole dynamics of a machine in a brief calculation. We propose a path planning algorithm that consists of path searching and pruning algorithms. The pruning algorithmis based on our analysis of state resemblance in general phase space. To confirm precision, calculation cost, optimality and applicability of the proposed algorithm, we conducted several shortest time path planning experiments for the dynamic models of double inverted pendulums. Precision to reach the goal states of the pendulums was better than other algorithms. Calculation cost was 58 times faster at least. We could tune optimality of proposed algorithm via resolution parameters. A positive correlation between optimality and resolutions was confirmed. Applicability was confirmed in a torque based position and velocity feedback control simulation. As a result of this simulation, the double inverted pendulums tracked planned motion under noise while keeping within torque limitations.

    DOI

  • Online Motion Selection for Semi-Optimal Stabilization using Reverse-Time Tree

    Chyon Hae Kim, Hiroshi Tsujino, Shigeki Sugano

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS     3792 - 3799  2011年

     概要を見る

    This paper presents a general method for creating an approximately optimal online stabilization system. An optimal stabilization system is an ideal online system that can calculate each optimal motion leading to a stable mechanical goal state depending on the current state. We propose a system that selects each semi-optimal motion according to the current state from a reverse-time tree. To create the reverse-time tree, we applied rapid semi-optimal motion planning method (RASMO) to a reverse-time search from a stable state. We also developed an online motion selection technique. To validate the proposed method, we simulated the stabilization of a double inverted pendulum. When we used an optimization criteria, time optimal, the system quickly stabilized the pendulum's posture and velocity. When we used higher resolution RASMO, the time approached the optimal time. The general framework proposed here is applicable to a variety of machines.

    DOI

  • Handling and grasp control with additional grasping point for dexterous manipulation of cylindrical tool

    Taisuke Sugaiwa, Kuniyuki Takahashi, Hiroyuki Kano, Hiroyasu Iwata, Shigeki Sugano

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     733 - 738  2011年

     概要を見る

    This study aims to construct a handling and grasp control method by multi-fingered robot hand with soft skin for the precision operation of cylindrical tools. We believe that the key to the improvement of the accuracy of the tool operation is to use an additional grasping point to reduce the tool's posture fluctuation derived from the external force exerted at the tool nib. We focus two factors that cause the tool's posture fluctuation. One is the rotation movement of the tool around the axis between two contacts by finger-tips. The other one is the deflection of the soft skin. We propose the effective allocation of the addition grasping point from the view point of the reduction of the tool's posture fluctuation. Our control architecture is a customized combination of resolved motion rate control and hybrid control which maintains stable grasping and handles the tool along with the desired trajectory of the tool nib. It is validated through the physical tests using the actual multi-fingered robot hand that the accuracy of the tool nib trajectory is improved by proposed control method. © 2011 IEEE.

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  • Exploring movable space using rhythmical active touch in disordered obstacle environment

    Kenri Kodaka, Tetsuya Ogata, Hirotaka Ohta, Shigeki Sugano

    2011 IEEE/SICE International Symposium on System Integration, SII 2011     485 - 490  2011年

     概要を見る

    We propose a novel navigation system for adaptively exploring an obstacle space using diverse ways of touching an object. Conventional navigation models are typically based on the avoidance of obstacles, i.e., avoiding collision. However, actual disordered space may be full of various kinds of obstacles. To reach a destination in such a space, a robot requires an active approach for avoiding a deadlock with obstacles or changing the obstacle configuration to find an open space using diverse ways of touching an object. We solved this problem by generating locally diverse moving patterns by using an action model with rhythmical oscillation in addition to a localization model using a particle filter. The proposed model was demonstrated to be effective through an experiment where a robot navigated to a destination behind partially movable obstacles using rhythmical active touch. © 2011 IEEE.

    DOI

  • A novel, MRI compatible hand exoskeleton for finger rehabilitation

    Zhen Jin Tang, Shigeki Sugano, Hiroyasu Iwata

    2011 IEEE/SICE International Symposium on System Integration, SII 2011     118 - 123  2011年

     概要を見る

    Robotic technology can be used to effectively regain the previous dexterity of stroke patients in clinical therapy. At the same time, brain images taken with MRI (Magnetic Resonance Imaging) are important for new rehabilitation treatments, and therefore it is useful to develop MRI compatible robot. With these ideas in mind, a novel, MRI compatible finger rehabilitation device was created (Fig.1.). It was also designed to be usable by many different people: it can be adjusted to different finger knuckles, and also the gap between one finger to another can be easily changed. By using an ultrasonic motor as its actuator, the device has been designed to be portable, with a high torque output. It enables the client to do extension and flexion rehabilitation exercises in two degrees of freedom (DOF) for each finger. Finally, several experiments have been carried out to evaluate the performance of the device. © 2011 IEEE.

    DOI

  • Evaluation of a Wearable Tele-Echography Robot System: FASTele in a Vehicle Using a Mobile Network

    Keiichiro Ito, Koichi Tsuruta, Shigeki Sugano, Hiroyasu Iwata

    2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     2093 - 2096  2011年

     概要を見る

    This paper shows the focused assessment with sonography for trauma (FAST) performance of a wearable tele-echography robot system we have developed that we call "FASTele". FAST is a first-step way of assessing the injury severity of patients suffering from internal bleeding who may be some time away from hospital treatment. So far, we have only verified our system's effectiveness under constantly wired network conditions. To determine its FAST performance within an emergency vehicle, we extended it to a WiMAX mobile network and performed experiments on it. Experiment results showed that paramedics could attach the system to FAST areas on a patient's body on the basis of the attaching position and procedure. We also assessed echo images to confirm that the system is able to extract the echo images required for FAST under maximum vehicle acceleration.

  • Blood Flow Measurement Algorithms to Detect Bleeding Source Noninvasively

    Keiichiro Ito, Tomofumi Asayama, Shigeki Sugano, Hiroyasu Iwata

    2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     7437 - 7440  2011年

     概要を見る

    The purpose of this paper is to propose ultrasound visual servoing algorithms for controlling a robotic system equipped with an ultrasound probe for large pulsation and a displacement towards the out-of-plane of a US image.
    In this study, we aim to develop a robotic system for detecting bleeding source based on the blood flow measured by using a non-invasive modality like an ultrasound (US) imaging device. Some problems related to the measurement error still need to be addressed. As the first step in solving these problems, we focused on the large pulse amplitude and displacement of the artery towards the out-of-plane of a US image, and developed US visual servoing algorithms to control the probe. We conducted preliminary blood flow measurement experiments using an phantom containing artery model and a manipulator equipped with a US probe (BASIS-1). The results present the first experimental validation of the proposed algorithms.

  • Measurement algorithms of cross-section area and blood speed for noninvasive blood flow measurement system

    Keiichiro Ito, Tomofumi Asayama, Shigeki Sugano, Hiroyasu Iwata

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     263 - 268  2011年

     概要を見る

    The purpose of this paper is to propose measurement algorithms of cross-section area and blood speed of an artery by controlling a robotic system equipped with an ultrasound probe for large pulsation and a displacement towards the out-of-plane of a US image. Detecting the position and speed of a bleeding source is required as the first step in treating internal bleeding in emergency medical medicine. However, the current methods for detecting a bleeding source involve an invasive approach and cannot quantitatively estimate the speed of bleeding. Therefore, current emergency medical care requires an alternative system to address these problems. In this study, we aim to develop a robotic system for detecting bleeding source based on the blood flow measured by using a noninvasive modality like an ultrasound (US) imaging device. Some problems related to the measurement error still need to be addressed before we can create this system. In particular, the blood flow measurement error in the abdominal area is typically large, because the pulse amplitude and displacement of the artery is too large even to adequately control the probe. As the first step in solving these problems, we focused on the large pulse amplitude and displacement of the artery towards the out-of-plane of a US image, and developed measurement algorithms to control the probe. We conducted flow volume measurement experiments using an ultrasound phantom containing artery model and a manipulator equipped with a US probe (BASIS-1). The results present the first experimental validation of the proposed algorithms. © 2011 IEEE.

    DOI

  • 出血源位置推定システムのための体幹適応型RTエコーデバイスBASIS-1の開発〜フリージョイント機構を用いた体幹左右駆動の性能評価〜

    伊藤慶一郎, 鶴田功一, 菅野重樹, 中村京太, 岩田浩康

    第11回SICEシステムインテグレーション部門講演会    2010年12月

  • 早期治療戦略立案のための非侵襲的出血源推定手法の提案

    伊藤慶一郎, 鶴田功一, 菅野重樹, 中村京太, 岩田浩康

    第11回SICEシステムインテグレーション部門講演会    2010年12月

  • Hydraulic Pressure-Based Dominant Error Force Component Identification for Detecting External Force Applied to Construction Manipulator

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    International Conference on Advanced Mechatronics 2010 (ICAM2010)     313 - 318  2010年10月

  • Pseudolite Indoor Localization Using Multiple Receivers - Performance Analysis of Increasing Receivers and Transmitters -

    Yoshihiro Sakamoto, Haruhiko Niwa, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    2010 International Conference on Indoor Positioning and Indoor Navigation     CD - R  2010年09月

  • 人間共存ロボットの主体的判断による知能移動

    菅野重樹, 菅岩泰亮, 岩田浩康, 市川健太郎, 金道敏樹

    第28回日本ロボット学会学術講演会     3J.3 - 7  2010年09月

  • RPPPSとノイズキャンセルを用いた動作計画システム

    金天海, 菅原志門, 辻野広司, 菅野重樹

    ロボット学会学術講演会     2P1 - 7  2010年09月

  • 歌唱によるリズム提示を用いた人・ロボット間協調作業

    米倉健太, 金天海, 中臺一博, 辻野広司, 菅野重樹

    ロボット学会学術講演会     1H2 - 6  2010年09月

  • 油圧センサを用いた建機マニピュレータの外力手先負荷有無システムの開発

    亀允啓, 橋本諭, 岩田浩康, 菅野重樹

    第12回建設ロボットシンポジウム     323 - 328  2010年09月

  • Pressure Control on Whole Surface of Human-mimetic Multi-fingered Hand with Tactile Sensing,

    Taisuke SUGAIWA, Kunihiro IWAMOTO, Hiroyasu IWATA, Shigeki SUGANO

    SICE Annual Conference 2010     TA18  2010年08月

  • Task Execution of a Wheelchair Mounted Robotic Arm Incorporated with Active Compliance Control

    Wei Wang, Yuuki Nishi, Shigeki Sugano

    Proceeding of SICE Annual Conference 2010     FA16.13  2010年08月

  • A Practical Approach to Detecting External Force Applied to Hydraulic Cylinder for Construction Manipulator

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    SICE Annual Conference 2010 (SICE2010)     1255 - 1256  2010年08月

  • Indoor Positioning with Pseudolites

    Yoshihiro Sakamoto, Haruhiko Niwa, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    SICE Annual Conference 2010     CD - R  2010年08月

  • Human in Loop Integration of an Arm Mounted Wheelchair Robot Based on RT Middleware

    Wei Wang, Yuki Suga, Shigeki Sugano

    Proceedings for the joint conference of ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)     387 - 392  2010年06月

  • 人間形ハンド・アームによる道具の微細操作に関する研究 —受動柔軟性を活用した動作計画及び把持・作用力・軌道制御—

    菅岩泰亮, 江崎佳奈子, 鼠家正則, 岩田浩康, 菅野重樹

    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     2A2 - C23  2010年06月

  • 未知重量・摩擦・剛性対象物に対する把持力設定手法 —受動柔軟性を利用した持ち上げ前特性計測の活用—

    菅岩泰亮, 藤井元気, 鹿貫悠多, 加納弘之, 岩田浩康, 菅野重樹

    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     2A2 - C21  2010年06月

  • Development of Wearable Robot for Emergency Tele-Echography Guided Diagnosis

    Keiichiro Ito, Shigeki Sugano, Kyota Nakamura, Ryohei Takeuchi, Hiroyasu Iwata

    日本生体医工学会講演会’10     FC17 - 1  2010年06月

  • 遠隔救急治療のための体幹装着型ポータブル超音波診断ロボットFASTele の操作インタフェースに関する検討

    後濱龍太, 伊藤慶一郎, 菅野重樹, 中村京太, 竹内良平, 岩田浩康

    日本機械学会ロボティクスメカトロニクス講演会’10     2A2 - G28  2010年06月

  • 救急搬送時における出血源位置抽出のための体幹適応型RT エコーデバイスBASIS-1 の開発

    伊藤慶一郎, 鶴田功一, 後濱龍太, 菅野重樹, 岩田浩康

    日本機械学会ロボティクスメカトロニクス講演会’10     2A2 - G27  2010年06月

  • マルチエージェントタスクを考慮した二階層型強化学習

    金天海, 辻野広司, 中原裕之

    人工知能学会全国大会     1A3 - 4  2010年06月

  • 位相空間分割による高速枝刈り・軌道計画アルゴリズム

    金天海, 辻野広司

    ロボティクス・メカトロニクス講演会     2P1 - C13  2010年06月

  • 受口追口切りを可能とする樹木伐倒ロボットの開発

    福岡隆信, 笹川瑞貴, 竹内誠, 菅佑樹, 白井裕子, 菅野重樹

    日本機械学会 ロボティクス・メカトロニクス講演会'10     1A2 - A27  2010年06月

  • 街路樹剪定作業支援のための木登りロボットWOODY-2の開発−把持力調整機能の実装と評価−

    竹内誠, 菅佑樹, 白井裕子, 菅野重樹

    日本機械学会 ロボティクス・メカトロニクス講演会'10     1A2 - A21  2010年06月

  • マニピュレータの運動状態に応じた負荷要因同定に基づく油圧シリンダの外力負荷有無検出手法の提案

    亀允啓, 橋本諭, 岩田浩康, 菅野重樹

    日本機械学会 ロボティクス・メカトロニクス講演会'10     1A1 - A30  2010年06月

  • Human in loop Integration of A Wheelchair Mounted Robotic Arm through Brain Machine Interface

    汪 偉, 菅 佑樹, 西, 佑起, 菅野 重樹

    日本機械学会ロボティクス・メカトロニクス部門(ROBOMEC2010)     1A2 - F09  2010年06月

  • Multiplexing Receivers to Improve Positioning Success Rate for Pseudolite Indoor Localization

    Yoshihiro Sakamoto, Haruhiko Niwa, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    7th International Symposium on Mechatronics and its Application, ISMA2010     CD - R  2010年04月

  • 搬送時における緊張性気胸患者救命のための真空圧力装着型自動穿刺ロボットAIDEDの試作

    後濱龍太, 伊藤慶一郎, 菅野重樹, 中村京太, 竹内良平, 岩田浩康

    第26回日本医工学治療学会     82  2010年04月

  • 外傷患者のための体幹装着型超音波診断ロボット:FASTele-1の開発

    伊藤慶一郎, 岩田浩康, 菅野重樹, 中村京太, 竹内良平

    第26回日本医工学治療学会     141  2010年04月

  • Integrative Learning between Language and Action: A Neuro-Robotics Experiment

    Hiroaki Arie, Tetsuro Endo, Sungmoon Jeong, Minho Lee, Shigeki Sugano, Jun Tani

    ARTIFICIAL NEURAL NETWORKS-ICANN 2010, PT II   6353   256 - +  2010年  [査読有り]

     概要を見る

    This paper introduces a model for associative learning combining both linguistic and behavior modalities. The model consists of language and behavior modules both implemented by a hierarchical dynamic network model and interacting densely through hub-like neurons, the so-called parametric biases (PB). By implementing this model for a humanoid robot with the task of manipulating multiple objects, the robot was tutored to associate sentences of two different grammatical types with corresponding sensory-motor schemata. The first type was a verb followed by an objective noun such as "hold red" or "hit blue"; the second was a verb followed by an objective noun and further followed by an adverb phrase such as "Put red on blue". Our analysis of the results of a learning experiment showed that two clusters corresponding to these two types of grammatical sentences appear in the PB activity space, such that a specific micro structure is organized for each cluster.

  • Motion-planning Method with Active Body-Environment Contact for a Hand-Arm System including Passive Joints

    Taisuke Sugaiwa, Masanori Nezumiya, Hiroyasu Iwata, Shigeki Sugano

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)     69 - 74  2010年

     概要を見る

    Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places as the average age of the population increases. To improve the task performance of human-symbiotic humanoid robots, a motion-planning method with active body-environment contact was developed. Taking into account the positive and negative effect of mechanical passive elements implemented in joints, this motion-planning method can enables the hand-arm system to establish the active BE contact at the appropriate body-site and to select the joints that perform the movement for executing the given task. Control algorithms for the tool operation, namely, writing with a pen, were also constructed. The motion-planning method was validated through actual experiments on a prototype human-symbiotic humanoid robot.

    DOI

  • A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness

    Taisuke Sugaiwa, Genki Fujii, Hiroyasu Iwata, Shigeki Sugano

    2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010     288 - 293  2010年

     概要を見る

    A methodology for setting the reference value of a grasping force when a multi-finger robotic hand grasps and lifts up an object without knowing its characteristic weight, coefficient of static friction, and stiffness was devised. The grasping force must be set to avoid dropping or deforming the object. To fulfill this requirement, the methodology measures object characteristics by detecting the moment of deformation or slipping according to the deflection of a mechanical passive element. The reference value of grasping force is set according to an upper limit to avoid crushing and a lower limit for lifting up the object calculated from the object's above-mentioned characteristics. The degree of the accuracy of object characteristic measurements was evaluated through experiments using an actual human-mimetic hand-arm system. Finally we validated that the system can pick up objects with the grasping force set by our methodology. ©2010 IEEE.

    DOI

  • Wearable echography robot for trauma patient

    Keiichiro Ito, Shigeki Sugano, Hiroyasu Iwata

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings     4794 - 4799  2010年

     概要を見る

    The purpose of this report is to propose a diagnosis and treatment scenario by assistance of bystander and echography robot for trauma patient. Quick treatment is important for patients who have shock by internal bleeding. Therefore, focused assessment with sonography for trauma (FAST), which is a simple and quick diagnostic method, was developed as a first lifesaving step in a hospital. However, a shock patient has little time, and transportation to a hospital may take too long. Therefore, we aim at development of a system which enables FAST at injury scene by assistance of bystander. To develop the system, life-saving flow and a FAST device are significant issues. First, we constructed a diagnosis and treatment scenario. Then, we developed a tele-echography robot system which has 4-DOF that a bystander could attach. This robot is attached to each roughly FAST areas of patient body by a bystander and remotely fine-tuned position by a doctor in a hospital. In this way, a bystander may not do an exact positioning. In addition, the robot has a mechanism to generate contact force between echo probe and patient body surface by two springs. This mechanism not only fit in patient body motion but also reducing the number of controlled axis. To confirm the medical applications of the scenario and the robot, we performed experiments with some examinees and doctors. We confirmed effectiveness of the mechanism and that a bystander could attach the robot to each roughly FAST areas of patient body. We also confirmed that a doctor could do FAST with the robot by remote-controlled on the roughly FAST areas in approximately three minutes. These results show that the robot would enable FAST by assistance of bystander, and the scenario would make FAST faster than the time required transporting the patient to the hospital. ©2010 IEEE.

    DOI

  • Portable and Attachable Tele-Echography Robot system: FASTele

    Keiichiro Ito, Shigeki Sugano, Hiroyasu Iwata

    2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     487 - 490  2010年

     概要を見る

    The purpose of this report is to propose portable and attachable tele-echography robot system: FASTele. Focused assessment with sonography for trauma (FAST) is important for patients who have shock by internal bleeding. However, the patient has little time, and transportation to a hospital may take too long. A system which enables FAST more quickly is required. Therefore, we aim to develop a tele-echography (FAST) robot system that can be used by a paramedic easily for shock patient in ambulance or at injury scene. To develop the system, portability and usability (for paramedic) are significant issues. We developed a tele-echography robot system which has 4-DOF. The robot is attached to each roughly FAST areas of patient body (body-based set up) and remotely fine-tuned position by a specialist in a hospital. The robot can control the posture of probe by curvature rails. The mechanism that maintains passively the contact force between the probe and patient&apos;s body surface by using springs enables the robot small and lightweight. Feasibility experiments of FAST are reported.

    DOI

  • Development of attachable tele-echography robot by a bystander at injury scene

    Keiichiro Ito, Shigeki Sugano, Hiroyasu Iwata

    2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010     1270 - 1275  2010年

     概要を見る

    This paper reports a wearable tele-echography robot that a bystander could attach to a patient at injury scene. Quick diagnosis and treatment are important for patients who have shock by internal bleeding. Therefore, focused assessment with sonography for trauma (FAST), which is a simple and quick diagnostic method, was developed as a first lifesaving step in a hospital. However, a shock patient has little time, and transportation to a hospital may take too long. Therefore, a system which enables FAST at injury scene by assistance of bystander is important. First, we constructed a medical treatment scenario from the victim's discovery to FAST and treatment at the injury scene. Then, we developed a remote-controlled FAST robot that a bystander could attach to a patient. This robot is attached to each roughly FAST areas of patient body by a bystander and remotely fine-tuned position by a doctor in a hospital. In this way, a bystander may not do an exact positioning. In addition, the robot has two springs to generate contact force between echo probe and patient body surface. This mechanism not only fit in patient body motion but also downsizing based on reducing the number of controlled axis. To confirm the effectiveness of the robot, we performed experiments with some examinees and doctors. We confirmed effectiveness of the mechanism and that a bystander could attach the robot to each roughly FAST areas of patient body. We also confirmed that a doctor could do FAST with the robot by remote-controlled on the roughly FAST areas in approximately three minutes. These results show that the robot would enable FAST at injury scene by assistance of bystander, and FAST would be faster than the time required transporting the patient to the hospital with the robot. This is effective in improving the survival rate for traumatic shock patients. © 2010 IEEE.

    DOI

  • Reader Antennas' Configuration Effects for Two Wheeled Robots on Floor-Installed RFID Infrastructure - Analysis of Forward-Backward Configuration Effect

    Kenri Kodaka, Shigeki Sugano

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)     5718 - 5724  2010年

     概要を見る

    Reader antennas' configuration for two wheeled robots were evaluated to estimate their posture from floor-installed RFID tags. RFID systems where IC tags are installed under/on floors have widely been utilized in recent years as the next positioning infrastructure. The reader antennas should be properly placed on a robot so that such an environment can give full play to its potential capabilities of positioning the robot. This problem calls for guidelines in designing the configuration of reader antennas. Experiments using actual robots cannot offer sufficient data because of time and physical limitations, which prevent helpful and reproducible evaluations. We overcame this problem by constructing a simulation environment using a localization model and by evaluating the effects of configurations on positioning accuracy using computations. Of particular note, we found a "forward-backward configuration effect" from the results and had a detailed a discussion on how it occurred. Finally, a simple experiment using an actual robot validated the effect.

    DOI

  • Contact Detection and Reaction of a Wheelchair Mounted Robotic Arm Equiped with Mechanical Gravity Canceller

    Wei Wang, Yuki Suga, Shigeki Sugano

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)     ThAT2.4  2010年

     概要を見る

    Safety issue has become the primary concern in wheelchair mounted robotic arm applications. We introduced mechanical gravity canceller in the design to realize a light weight manipulator, which also yield the greatly simplify of manipulator dynamics. Based on the simplified dynamics, sensor based contact detection can be easily implemented to enable safety. Contact reaction schemes are also applied through a impedance control law to achieve desired backdrivability. Experiments are conducted to illustrate the proposed method.

    DOI

  • Task Execution Support of a Wheelchair Mounted Robotic Arm in Activity of Daily Livings

    Wei Wang, Yuki Suga, Shigeki Sugano

    2010 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     201 - 206  2010年

     概要を見る

    In order to relieve the user cognitive burden as well as time consumption of task execution for the "wheelchair mounted robotic arm" application, we proposed a "Task knowledge representation" method that is able to model a large number of tasks coming across in activity of daily livings. Based on the mathematically represented task knowledge, a "Dynamical exploring method" was applied to explore the feasible and optimal robot action sequences that are executed automatically to accomplish the task execution. An integration framework to manage the system complexity is also introduced based on the RT middleware technology. Experiment was conducted to validate our method through the execution of a robotic scenario.

    DOI

  • A Framework of State Identification for Operational Support based on Task-Phase and Attentional-Condition Identification

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     1267 - 1272  2010年

     概要を見る

    This paper proposes a state identification framework to support the complicated dual-arm operations in construction work. The operational support in construction machinery filed requires the compatibility with different types of support and the commonality among various operator skill levels. The proposed framework is therefore organized into two functions: real-time task phase identification and time-series attentional condition identification. The task phase is defined by utilizing the joint load applied according to the environment constraint condition. The attentional condition is defined as one of the internal work-state condition classified by the necessity level of operational support, and is dependent on the vectorial or time-series date selected by the identified task phase. Experiments are conducted using the hydraulic dual arm system to perform transporting and removing tasks. Results show that the number of error contacts, internal force applied, and mental workload is decreased without time-consumption increase. The result confirmed that the proposed framework greatly contribute to improving each operator's work performance.

    DOI

  • Development of a Dual Robotic Arm System to Evaluate Intelligent System for Advanced Construction Machinery

    Mitsuhiro Kamezaki, Satoshi Hashimoto, Hiroyasu Iwata, Shigeki Sugano

    2010 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     1299 - 1304  2010年

     概要を見る

    This paper reports a newly developed hydraulic dual robotic arm system to create and evaluate intelligent systems, which support complicated machine operations, for advanced construction machinery. This kind of machine system (test-bed) requires functions to quantify its dynamic characteristics and operational difficulty (influential factors). In particular, construction manipulator nonlinearly changes its dynamics depending on various internal and external factors. To quantify such influential factors, our proposed test-bed is equipped with standard hydromechanical system which includes two manipulators and grapples, and practical sensing system which detects control input, oil pressure, oil temperature, and cylinder stroke data. Using the developed test-bed, fundamental experiments were conducted to clarify hydromechanical system characteristics. Experimental results indicate that the test-bed quantifies its hysteresis, pressure loss, and time delay, and show that variable dynamics complicates intuitive and precise machine operations and external force measurement. This analysis confirms the developed machine system is useful to quantify influential factors for creating intelligent system.

    DOI

  • 林業高度化に向けたロボティクスへの期待

    白井裕子, 菅野重樹

    日本ロボット学会誌   28 ( 1 ) 43 - 48  2010年

    DOI

  • A Framework to Identify Task-Phase and Attentional-Condition for Supporting Complicated Dual-Arm Operations

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Journal of Robotics and Mechatronics   22 ( 4 ) 447 - 455  2010年

  • "ハードウェアをカスタマイズできるコミュニケーションロボットに関する研究"

    守良真, 山崎由美子, 近藤裕樹, 菅佑樹, 尾形哲也, 菅野重樹

    第10回SICEシステムインテグレーション部門講演会   2F1-2  2009年12月

  • "屋内スードライト測位において測位成功率を向上させるための受信機多重化"

    坂本義弘, 丹羽治彦, 海老沼拓史, 藤井健二郎, 菅野重樹

    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   3I2-3  2009年12月

  • "円柱形対象物の重量による転がりを利用した握り込み制御"

    菅岩泰亮, 笠井栄良, 岩田浩康, 菅野重樹

    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   2O1-7  2009年12月

  • "能動的な身体環境接触を利用した手腕協調制御"

    菅岩泰亮, 山口泰正, 岩田浩康, 菅野重樹

    第27回日本ロボット学会学術講演会   3C3-03  2009年12月

  • "床面配置型RFIDシステムにおける前後検出問題の解析"

    小鷹研理, 丹羽治彦, 菅野重樹

    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SI2009講演論文集   3I2-5  2009年12月

  • "救急移動体における緊張性気胸の遠隔穿刺治療支援RT の開発"

    岩田浩康, 後濱龍太, 伊藤慶一郎, 菅野重樹, 中村京太, 竹内良平

    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SI2009講演論文集   1E4-3  2009年12月

  • "遠隔救急超音波診断のための体幹装着型ロボットFASTele-1 の開発"

    伊藤慶一郎, 菅野重樹, 中村京太, 竹内良平, 岩田浩康

    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SI2009講演論文集   1E4-2  2009年12月

  • "麻痺側足底圧を対側肢体にバイパス呈示するBF型知覚支援RT"

    岩田浩康, 菅野重樹, 駒形亮吉

    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SI2009講演論文集   1E3-2  2009年12月

  • "麻痺手の自己受容感覚を健側へバイパス呈示する知覚支援RT の手指リハへの応用"

    岩田浩康, 菅野重樹, 圓成寺弘希

    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SI2009講演論文集   1E3-3  2009年12月

  • "脳卒中片麻痺リハビリにおける両肢角度誤差BFシステムの試作と評価"

    岩田浩康, 有村和隆, 菅野重樹

    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SI2009講演論文集   1E3-4  2009年12月

  • "把持安定性と引裂耐性を考慮した指先柔軟肉設計"

    岩田浩康, 菅野重樹

    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SI2009講演論文集   201-6  2009年12月

  • "多自由度アームの大縄回し制御則に関する速度限界を考慮した解析"

    米倉健太, 金天海, 菅野重樹, 辻野広司

    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   2F2-2  2009年12月

  • "操作型作業機械の知能化に関する研究〜第5報:簡易化基底作業状態を用いた大局的状態遷移の分析〜"

    亀允啓, 岩田浩康, 菅野重樹

    第10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論文集(SI2009)     344 - 345  2009年12月

  • "A Robot Taking Lead in Rope Turning Task"

    Kenta Yonekura, Chyon Hae Kim, Shigeki Sugano, Hiroshi Tsujino

    IEEE Young Reseachers Workshop     9  2009年12月

  • 街路樹登りロボットWOODY-2の開発

    竹内誠, 難波宏旭, 菅佑樹, 白井裕子, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス部門(ROBOMEC2009)   1A2-D07  2009年12月

  • Hand-Arm Coordinated Manipulation using Active Body-Environment Contact

    T.SUGAIWA, H.IWATA, S.SUGANO

    Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2009)     653 - 659  2009年11月

  • "緊張性気胸の遠隔穿刺治療を支援する前胸部装着型RT"

    岩田浩康, 後濱龍太, 伊藤慶一郎, 菅野重樹, 中村京太, 竹内良平

    第18回日本コンピュータ外科学会大会     236 - 237  2009年11月

  • "Design of Anthropomorphic Dexterous Hand with Passive Joints and Sensitive Soft Skins"

    Hiroyasu Iwata, Shigeki Sugano

    Proc. of 2009 IEEE/SICE Int. Symp. on System Integration (SI International 2009)     11  2009年11月

    DOI

  • "救急搬送下遠隔FASTを可能とする体幹装着型ポータブルデバイスの開発"

    岩田浩康, 伊藤慶一郎, 菅野重樹, 中村京太, 竹内良平

    日本救急医学会雑誌 第37回日本救急医学会総会号     593  2009年10月

  • "Cycle-slip Reduction Method with Multiple Receivers -A Practical Application of Indoor GPS-"

    Haruhiko Niwa, Kenri Kodaka, Takuji Ebinuma, Yoshihiro Sakamoto, Shigeki Sugano

    Proc. Of the 6th International Conference on Ubiqutous Robots and Ambient Intelligence (URAI 2009)     97  2009年10月

  • "Reduction of Positioning-Error Induced by Cycle-Slip in Indoor GPS with Multiple Pseudolite's Transceivers and Receivers"

    丹羽治彦, 小鷹研理, 坂本義弘, 菅野重樹

    第27回日本ロボット学会学術講演会予稿集   1F3-04  2009年09月

  • "床面配置型RFIDタグ環境上のローカライゼーションにおける装着リーダのコンフィグレーションについて"

    小鷹研理, 丹羽治彦, 菅野重樹

    第27回日本ロボット学会学術講演会   3Q2-03  2009年09月

  • "身体感覚への注意を促すBF型知覚支援RTの片麻痺リハ応用"

    岩田浩康, 菅野重樹

    計測自動制御学会 第24回生体・生理工学シンポジウム論文集(BPES2009)     97 - 100  2009年09月

  • "片麻痺リハビリにおける両肢角度誤差BFリハビリ支援システムの試作と評価"

    岩田浩康, 有村和隆, 圓成寺弘希, 菅野重樹

    日本機械学会福祉工学シンポジウム2009講演論文集     205 - 206  2009年09月

  • "運動感覚伝達装置を活用した麻痺指伸展リハビリプログラムの開発及び検証"

    岩田浩康, 圓成寺弘希, 有村和隆, 菅野重樹

    日本機械学会福祉工学シンポジウム2009講演論文集     207 - 208  2009年09月

  • 人間共存ロボットにおける生活支援のためのビジョン技術

    菅野重樹, 菅岩泰亮, 岩田浩康

    日本ロボット学会誌   vol.27 ( no.6 ) 596 - 599  2009年07月

    DOI

  • Work State Identification using Primitive Static States ?Implementation to Demolition Work in Double-Front Work Machines-

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Proceedings of 2009 International Symposium on Automation and Robotics in Construction, Texas USA     278 - 287  2009年06月

  • 油圧駆動型双腕ロボットアームシステムの開発〜次世代知能化建機の研究・開発用プラットフォーム〜

    亀允啓, 橋本諭, 島田陽介, 中島義統, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2009   1A2-D05  2009年05月

  • “Operation Skill Analysis using Primitive Static States in Human-Operated Work Machine”

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Proceedings of The 3rd International Conference on Construction Engineering and Management, Jeju, Korea   ( 27-30 ) 230 - 236  2009年05月

  • 触覚バイオフィードバックに基づく歩行リハビリ支援システム〜第8報:麻痺側加重余裕のBFに基づく筋活動調整手法の提案〜

    岩田浩康, 駒形亮吉, 圓成寺弘希, 菅野重樹

    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(Robomec09)   1A2-L05  2009年05月

  • 触覚バイオフィードバックに基づく歩行リハビリ支援システム〜第9報:誤学習抑制のための両肢角度誤差BFリハビリシステムの試作と評価〜

    岩田浩康, 有村和隆, 駒形亮吉, 菅野重樹

    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(Robomec09)   1A2-K13  2009年05月

  • 体性感覚バイオフィードバックに基づく手指リハビリ支援システム〜第2報:短期臨床における痙性抑制効能の検証〜

    岩田浩康, 圓成寺弘希, 駒形亮吉, 菅野重樹

    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(Robomec09)   1A2-K12  2009年05月

  • 緊張性気胸患者の搬送時救命治療を支援する胸部装置型自動穿刺治療ロボットAIDEDの開発

    後濱龍太, 伊藤慶一郎, 菅野重樹, 中村京太, 竹内良平, 岩田浩康

    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(Robomec09)   2A1-M10  2009年05月

  • 遠隔救急超音波診断ロボット:FASTele-1の評価〜通信遅れが及ぼす診断性能への影響〜

    岩田浩康, 伊藤慶一郎, 遠藤嘉将, 菅野重樹

    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(Robomec09)   2A1-M08  2009年05月

  • 人間共存ロボットの觝触適応行動〜第26報:作業拘束の段階的解除による人間追従性と作業性の両立手法〜

    岩田浩康, 山下福太郎, 菅野重樹

    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(Robomec09)   2A1-D17  2009年05月

  • 全面柔軟被覆を備えた人間形ハンドのための接触頻度・寄与度に基づく触覚センサ設計

    岩田浩康, 鼠家正則, 木村謙大, 菅野重樹

    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(Robomec09)   2A2-A20  2009年05月

  • 受動柔軟性を活用したハンド持ち替え制御と安定化手法

    岩田浩康, 塩澤裕樹, 木村謙大, 菅野重樹

    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(Robomec09)   2A2-A21  2009年05月

  • "操作型作業機械の知能化に関する研究〜第5報:操作支援に着目した作業特性および操作支援フラグの識別〜"

    亀允啓, 島田陽介, 中島義統, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2009論文集(Robomec’09)   1A2-D04  2009年05月

  • Creating novel goal-directed actions at criticality: A neuro-robotic experiment

    Hiroaki Arie, Tetsuro Endo, Takafumi Arakaki Shigeki, Sugano Jun Tani

    New Mathematics and Natural Computation   Vol.5, No.1   307 - 334  2009年03月

  • Development of 4-DOF Anthropomorphic Tactile Interaction Manipulator with Passive Joint

    H.IWATA, S.KOBASHI, T.AONO, T.KOBAYASHI, S.SUGANO

    Journal of Robotics and Mechatronics   Accepted  2009年

  • RTミドルウェアを用いた車椅子搭載型ロボットアーム・システムの開発

    菅佑樹,汪偉, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス部門(ROBOMEC2009)   2A1-D06  2009年

  • 自己形態主張を行うカスタマイズ可能なコミュニケーションロボットの研究

    守良真, 近藤裕樹, 奥出京司郎, 菅佑樹, 尾形哲也, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス部門(ROBOMEC2009)   1P1-F11  2009年

  • ハードウェアをカスタマイズできるコミュニケーションロボットにおける研究

    近藤裕樹, 守良真, 奥出京司郎, 菅佑樹, 尾形哲也, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス部門(ROBOMEC2009)   1P1-E21  2009年

  • 機能的階層性を利用した目標指向行動の生成モデル −カオスニューラルネットを利用した新規な行動の生成−

    有江浩明, 新垣貴史, 遠藤哲郎, 菅野重樹, 谷淳

    第27回日本ロボット学会学術講演会   2F1-04  2009年

  • 他者の動作から発見した運動プリミティブの組み合わせによる模倣動作の生成

    新垣貴史, 遠藤哲郎, 有江浩明, 谷淳, 菅野重樹

    ロボティクス・メカトロニクス講演会2009   2A1-A20  2009年

  • Active Localization of a Robot on a Lattice of RFID Tags by using an Entropy Map

    Kenri Kodaka, Haruhiko Niwa, Shigeki Sugano

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7     1193 - 1199  2009年

     概要を見る

    We have developed a novel way for robots to estimate their pose dynamically in an environment in which RFID tags have been arranged. We previously developed a method for localizing robots using a particle filter. Testing in a room equipped with a lattice of RFID tags at 300-mm intervals revealed that the estimation fails when the robot&apos;s RFID readers are near the center of the robot&apos;s rotation because the reader could not detect enough tags by rotating movements when the robot&apos;s positions are not suitable. We have overcome this problem by developing an active localization algorithm that generates an entropy, map from the RFID arrangement information, predicts the pose using a particle filter, and attracts the robot to the target using a dynamic model, the fundamental unit of which is rotation-based angular velocity. Testing demonstrated that a robot using this algorithm and an entropy map can estimate its pose robustly without falling into a dead zone by moving only about 20 cm at most.

    DOI

  • Transport Services on Indoor Map Generating System using Spatially Distributed RFID Tags for Home Environment

    Kenri Kodaka, Haruhiko Niwa, Yoshihiro Sakamoto, Masaumi Otake, Yuki Kanemori, Shigeki Sugano

    2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3     758 - 763  2009年

     概要を見る

    This paper proposes a methodology for generating an indoor map of the home environment using widely installed RFID tags, which is being experimentally developed in the model room in the WABOT-HOUSE Laboratory[1]. Our laboratory is studying a system that generates and renews an environmental map of a room in real time in cooperation with three subsystems: a tag infrastructure where many RFID (Radio Frequency Identification) tags are widely installed over the environment, indoor RT(Robot Technology) modules, such as robots and furniture with embedded computing technology, and a home server module that monitors their spatial information. In this paper, we describe the basic concept and contents of the system, then we propose a method of localizing the robot and of moving to a destination while avoiding obstacles. Finally we report an experiment on which the robot succeed in advancing to a resident in the room, as an example of transport services making use of our system.

    DOI

  • Reader Placement Design for Two Wheeled Robots on Floor-Installed RFID System - Extracting Backward Sensing Problem

    Kenri Kodaka, Haruhiko Niwa, Shigeki Sugano

    2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS     204 - 210  2009年

     概要を見る

    This paper offers a significant evaluation of reader&apos;s placement for two wheeled robots to estimate their posture from a lattice of RFID tags. RFID systems where IC tags are installed under/on floors have widely been utilized in recent years as the next positioning infrastructure. The readers&apos; antennas should be properly configured on a robot so that such an environment can give full play to its potential capabilities of positioning the robot. This problem calls for something like guidelines in designing the placement of readers. We constructed a simulation environment using a localization model and evaluated the effects of configurations on positioning accuracy by using detailed computations. Then we obtained the simulation results, which enabled us to identify some useful clues in designing where readers should be placed. We especially focus on a backward sensing problem and discuss how the problem occurs. In addition, a validation experiment using an actual robot verified the validity of the simulation results.

    DOI

  • 格子状に配置されたRFIDタグの床面を移動するロボットの姿勢推定

    小鷹研理, 丹羽治彦, 坂本義弘, 菅野重樹

    計測自動制御学会論文誌   Vol.45 ( No.7 ) 379 - 387  2009年

    DOI

  • Rotation-Based Dynamic Localization at an Initial Dead-Zone Avoidance Stage on an RFID Tag Lattice

    Kenri Kodaka, Haruhiko Niwa, Shigeki Sugano

    Journal of Robotics and Mechatronics   Vol.21 ( No.4 ) 460 - 468  2009年

  • 他者の状態予測を用いた階層型強化学習

    金天海, 辻野広司, 中原裕之, 菅野重樹

    日本ロボット学会学術講演会    2009年

  • なじみを備えた多指ロボットハンドにおける手指姿態・触覚情報の汎化学習に基づく操り動作の安定化

    菊池大輔, 笠井栄良, 金天海, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会    2009年

  • 不支持物体に対する仮想円を用いたエネルギー伝達制御 −ヒューマノイドロボットを用いた大縄回し−

    金天海, 米倉健太, 辻野広司, 菅野重樹

    日本ロボット学会学術講演会    2009年

  • Development of Operator Support System with Primitive Static States for Intelligent Construction Machinery

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, VOLS 1 AND 2   ThC1-1 ( 14-17 ) 345 - 350  2009年

     概要を見る

    Double-front construction machinery (DFCM), which has been developed for adaptation to complicated work, demands higher operational skills to control double fronts with more multiple joints. To handle DFCM skillfully for performing more complicated works, intelligent functions that can autonomously distinguish between diverse states and also provide informational and operational supports to their operators are inevitably required. In particular, a state identification method strongly requires high reliability, and robustness due to the complexity of the construction work environment and the variety of the operator's skill level. However, most of the current construction machinery has unique functions that only reproduce the movements that are originated by the operator. In this study, which focuses on DFCM, we addressed the need for a new conceptual design of an operator support system (OSS) and evaluated it using our newly developed simulator. Our experimental results showed that the OSS improves the work performance, including decreasing the operational time for completing a task, reducing the mental workload on the operators, and the number of error operations.

    DOI

  • Primitive Static States for Intelligent Operated-Work Machines

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7   ( 12月17日 ) 4224 - 4229  2009年

     概要を見る

    Advanced operated-work machines, which have been designed for complicated tasks and which have complicated operating systems, requires intelligent systems that can provide the quantitative work analysis needed to determine effective work procedures and that can provide operational and cognitive support for operators. Construction work environments are extremely complicated, however, and this makes state identification, which is a key technology for an intelligent system, difficult. We therefore defined primitive static states (PSS) that are determined using on-off information for the lever inputs and manipulator loads for each part of the grapple and front and that are completely independent of the various environmental conditions and variation in operator skill level that can cause an incorrect work state identification. To confirm the usefulness of PSS, we performed experiments with a demolition task by using our virtual reality simulator. We confirmed that PSS could robustly and accurately identify the work states and that untrained skills could be easily inferred from the results of PSS-based work analysis. We also confirmed in skill-training experiments that advice information based on PSS-based skill analysis greatly improved operator's work performance. We thus confirmed that PSS can adequately identify work states and are useful for work analysis and skill improvement.

    DOI

  • "Hand-Arm Coordinated Manipulation Using Active Body-Environment Contact"

    Taisuke SUGAIWA, Hiroyasu IWATA, Shigeki SUGANO

    SICE Journal of Control, Measurement, and System Integration Robotics and Mechatronics (JCMSI)   Vol.2 ( No.6 ) 348 - 356  2009年

    DOI

  • A motion control for dexterous manipulation with human mimetic hand-arm system

    Taisuke Sugaiwa, Hiroyasu Iwata, Shigeki Sugano

    9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09     653 - 659  2009年

     概要を見る

    Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion control scheme aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identified active body-environment contact as a kind of human manual skill and devised a motion control scheme based on it. We also analyzed the effectiveness of active body-environment contact in glass-placing and drawer-opening tasks. We validated our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot. ©2009 IEEE.

    DOI

  • Dexterous Hand-Arm Coordinated Manipulation using Active Body-Environment Contact

    Taisuke Sugaiwa, Yasumasa Yamaguchi, Hiroyasu Iwata, Shigeki Sugano

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS     4168 - +  2009年

     概要を見る

    Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion control scheme aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identified active body-environment contact as a kind of human manual skill and devised a motion control scheme based on it. We also analyzed the effectiveness of active body-environment contact in glass-placing and drawer-opening tasks. We validated our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot.

    DOI

  • Creating novel goal-directed actions using chaotic dynamics

    Hiroaki Arie, Tetsuro Endot, Takafumi Arakaki, Shigeki Sugano, Jun Tani

    2009 IEEE 8TH INTERNATIONAL CONFERENCE ON DEVELOPMENT AND LEARNING     99 - +  2009年

     概要を見る

    The present study examines the possible roles of cortical chaos in generating novel actions for achieving specified goals. The proposed neural network model consists of a sensory-forward model responsible for parietal lobe functions, a chaotic network model for premotor functions and prefrontal cortex model responsible for manipulating the initial state of the chaotic network. Experiments using humanoid robot were performed with the model and showed that the action plans for satisfying specific novel goals can he generated by diversely modulating and combining prior-learned behavioral patterns at critical dynamical states. Although this criticality resulted in fragile goal achievements in the physical environment of the robot, the reinforcement of the successful trials was able to provide a substantial gain with respect to the robustness. The discussion leads to the hypothesis that the consolidation (if numerous sensory-motor experiences into the memory, meditating diverse imagery in the memory by cortical chaos, and repeated enaction and reinforcement of newly generated effective trials are indispensable for realizing an open-ended development of cognitive behaviors.

    DOI

  • Design of human symbiotic robot TWENDY-ONE

    Hiroyasu Iwata, Shigeki Sugano

    Proceedings - IEEE International Conference on Robotics and Automation     580 - 586  2009年

     概要を見る

    In this paper, we propose a sophisticated design of human symbiotic robots that provide physical supports to the elderly such as attendant care with high-power and kitchen supports with dexterity while securing contact safety even if physical contact occurs with them. First of all, we made clear functional requirements for such a new generation robot, amounting to fifteen items to consolidate five significant functions such as "safety", "friendliness", "dexterity", "high-power" and "mobility". In addition, we set task scenes in daily life where support by robot is useful for old women living alone, in order to deduce specifications for the robot. Based on them, we successfully developed a new generation of human symbiotic robot, TWENDY-ONE that has a head, trunk, dual arms with a compact passive mechanism, anthropomorphic dual hands with mechanical softness in joints and skins and an omni-wheeled vehicle. Evaluation experiments focusing on attendant care and kitchen supports using TWENDY-ONE indicate that this new robot will be extremely useful to enhance quality of life for the elderly in the near future where human and robot co-exist.© 2009 IEEE.

    DOI

  • Physical control of the rotation center of an unsupported object - Rope turning by a humanoid robot

    Chyon Hae Kim, Kenta Yonekura, Hiroshi Tsujino, Shigeki Sugano

    9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09     148 - 153  2009年

     概要を見る

    The paper describes a physical control method for rotating an object that has no support from below. Conventionally, physical correction of the rotational center of an unsupported object while maintaining rotation around an axis that is located outside the object is difficult. In particular, for the case in which the object is soft and pliable, control is more difficult because gravity can easily affect the shape of the object. As an example, we selected a task in which a robot turns a rope using an end effector. In order to accomplish this task, we propose a novel control method. To control the rotational center to a target position while fixing the shape by centrifugal force, we formulated a method whereby a compensator is added to a control rule that enables the trajectory of the end effector to converge to a limit-cycle within a fixed radius. We applied the proposed control method to a simplified rope simulator. The results of the simulation revealed that the end effector of the robot and the center of mass of the simplified rope converge to a limit-cycle attractor. This result indicates that the system applies the forces that stabilize the shape of the rope and the location of the rotational center. In addition, we applied the proposed method to a rope turning task performed by a humanoid robot. The robot was able to turn a rope with one fixed end and could collaborate with a human. Both tasks could be realized by the same control method. ©2009 IEEE.

    DOI

  • "空間情報構造のデザインと実証的評価"

    菅野重樹, 小鷹研理, 丹羽治彦

    計測と制御   Vol.48 ( No.12 ) 884 - 889  2009年

  • "Reader Placement Effects of a Moving Robot on Floor-Installed-Type RFID Systems"

    Kenri Kodaka, Haruhiko Niwa, Shigeki Sugano

    SICE Journal of Control, Measurement, and System Integration Robotics and Mechatronics (JCMSI)   Vol.2 ( No.6 ) 334 - 340  2009年

    DOI

  • "双腕作業機の知能化インタフェースに関する研究〜環境の複雑性および操作者の多様性に非依存な基底作業状態〜"

    亀允啓, 岩田浩康, 菅野重樹

    計測自動制御学会論文集   Vol. 45 ( No. 12 ) 646 - 653  2009年

    DOI

  • Operator Support System Based on Primitive Static States in Intelligent Operated Work Machines

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    ADVANCED ROBOTICS   23 ( 10 ) 1281 - 1297  2009年

     概要を見る

    Intelligent functions that can autonomously identify the current work states and also provide informational or operational support to their operators are inevitably required for double-front construction machinery (DFCM), which has been developed for complicated tasks. In this study, which focuses on DFCM, we address the need for a new conceptual design of an operator support system. In particular, a state identification method strongly requires high reliability and robustness to address the complexity of the construction work environment and the variety of the operator's skill level. We, therefore, define primitive static states (PSS) that are determined using on-off information for the]ever inputs and manipulator loads for each part of the grapple and front. We develop an intelligent system that provides a reduction of operational gain to make precise work easier and an indication of an enlarged image of the end-effector from a different viewpoint to assist depth perception based on PSS identification, and evaluate it using our newly developed simulator. Our experimental results show that the operator support system improves the work performance, including decreasing the operational time for completing a task, reducing the mental workload on the operators and the number of error operations. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009

    DOI

  • 街路樹登りロボットWOODY-2の開発

    竹内誠, 難波宏旭, 菅佑樹, 白井裕子, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス部門(ROBOMEC2009)   1A2-D07  2009年

  • 倣い作業における触覚センサ情報の統合による手腕協調制御手法

    菅岩泰亮, 岩本国大, 岩田博康, 菅野重樹

    第8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    2008年12月

  • 操作型作業機械の知能化に関する研究〜第4報:基底作業状態を用いた操作者支援システムの開発〜

    亀允啓, 岩田浩康, 菅野重樹

    第9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     405 - 406  2008年12月

  • 双腕建機のための操作者支援システムの開発設計

    岩田浩康, 亀允啓, 菅野重樹

    建設の施工企画   Vol.706   60 - 66  2008年12月

  • 人間共存ロボットの觝触適応行動〜第25 報:人間追従下における二次的被害防止のための作業拘束解除手法〜

    岩田浩康, 山下福太郎, 平塚和俊, 菅岩泰亮, 菅野重樹

    第8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    2008年12月

  • 受動柔軟関節を活用した多指ロボットハンドの柔軟対象物把持手法

    岩田浩康, 堀内大介, 塩沢裕樹, 菅岩泰亮, 菅野重樹

    第8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    2008年12月

  • 手指手掌全面に柔軟肉を搭載した多指ロボットハンドの触覚センサ設計〜人による対象物把持における接触頻度・寄与度の高い部位の導出〜

    岩田浩康, 鼠家正則, 木村謙大, 菅岩泰亮, 菅野重樹

    第8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    2008年12月

  • ハードウェアをカスタマイズできるコミュニケーションロボットにおける研究

    近藤裕樹, 奥出京司郎, 岩丸大二郎, 守良真, 菅佑樹, 尾形哲也, 菅野重樹

    第9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   3C1-4  2008年12月

  • スードライトを用いた屋内GPSによるロボットポジショニング

    丹羽治彦, 小鷹研理, 坂本義弘, 大竹正海, 金森道, 菅野重樹, 海老沼拓史

    第9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    2008年12月

  • ばねによる受動関節機構を備えた多指ハンドのばね剛性設計論

    藤井元気, 岩本国大, 堀内大介, 岩田浩康, 菅岩泰亮, 菅野重樹

    第8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    2008年12月

  • Services Using DSRC for Autonomous Base Stations

    T.SUGAIWA, H.IWATA, S.SUGANO

    Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2008)   WP1-28  2008年12月

  • RTミドルウェアを用いた名刺受けマスコットロボットの開発

    菅佑樹, 坂本義弘

    第8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   1L3-6  2008年12月

  • RFID配列情報を用いたロボットの動的な姿勢推定

    小鷹研理, 丹羽治彦, 菅野重樹

    第9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    2008年12月

  • Development of an Operation Skill-Training Simulator for Double-Front Construction Machinery (Training Effect for a House Demolition Work)

    M.KAMEZAKI, H.IWATA, S.SUGANO

    Journal of Robotics and Mechatronics   vol.20   602 - 609  2008年12月

  • Localization of a Robot using Particle Filter on a?Lattice of RFID Tags

    Kenri Kodaka, Haruhiko Niwa, Shigeki Sugano

    the 5th International Conference on Ubiquitous Robots and Ambient Intelligence     489 - 493  2008年11月

  • Indoor GPS and Receiver for Robot Navigation - Seamless Positioning between Indoor and Outdoor Space

    Haruhiko Niwa, Kenri Kodaka, Yoshihiro Sakamoto, Takuji Ebinuma, Shigeki Sugano

    Proc. of International Conference on Ubiquitous Robots and Ambient Intelligence    2008年11月

  • Indoor GPS Receiver for Mobile Robot

    Haruhiko Niwa, Kenri Kodaka, Yoshihiro Sakamoto, Takuji Ebinuma, Shigeki Sugano

    Proc. of International Symposium on GPS/GNSS 2008(GNSS 2008)    2008年11月

  • 能動的環境接触を考慮した柔軟マニピュレータの肘関節設計

    菅岩泰亮, 岩田浩康, 高川元, 菅野重樹

    第26回日本ロボット学会学術講演会    2008年09月

  • 多関節マニピュレータ用操作支援システムの構築.手先速度制御と各関節速度制御の重ね合わせ手法

    遠藤ちひろ, 岡田欣也, 菅佑樹, 菅野重樹

    第26回ロボット学会学術講演会   3E3-02  2008年09月

  • 操作型作業機械の知能化に関する研究〜第3報:基底作業状態を利用した操作者のスキル解析と操作トレーニングへの応用〜

    亀允啓, 河合雄一郎, 島田陽介, 岩田浩康, 菅野重樹

    第26回日本ロボット学会学術講演会   1N2-06  2008年09月

  • 双腕建機における知能化インタフェースに関する研究〜基底作業状態識別に基づく操作者支援システムの開発〜

    亀允啓, 島田陽介, 河合雄一郎, 岩田浩康, 菅野重樹

    第11回建設ロボットシンポジウム     335 - 340  2008年09月

  • 双腕建機における操作技能訓練用シミュレータの開発〜訓練効果の検証および操作補助手法の検討〜

    亀允啓, 島田陽介, 河合雄一郎, 岩田浩康, 菅野重樹

    第11回建設ロボットシンポジウム     0.329 - 334  2008年09月

  • 人間共存ロボットTWENDY-ONE 〜汎用生活支援ツールとしての可能性と課題〜

    菅野重樹, 岩田浩康, 菅岩泰亮

    福祉介護機器Techno+   9月号  2008年09月

  • 床面RFIDタグを用いたロボットの姿勢同定とリーダの配置デザインの検討

    小鷹研理, 丹羽治彦, 坂本義弘, 大竹正海, 金森道, 菅野重樹

    第26回日本ロボット学会学術講演会    2008年09月

  • 形態主張型コミュニケーションロボットにおける研究〜形態主張行動の解かり易さのユーザへの影響に関する考察〜

    近藤裕樹, 坂上徳翁, 奥出京司郎, 岩丸大二郎, 菅佑樹, 尾形哲也, 菅野重樹

    第26回ロボット学会学術講演会   3J2-02  2008年09月

  • 屋内GPSを用いた移動ロボットの実時間ポジショニング -移動ロボット実装用としてのGPS 受信機開発-

    丹羽治彦, 海老沼拓史, 小鷹研理, 坂本義弘, 大竹正海, 金森道, 藤井健二郎, 菅野重樹

    第26回日本ロボット学会学術講演会    2008年09月

  • Development of an Operation Skill-Training Simulator for Double-Front Work Machine ?Training Effect for House Demolition Work-

    M.KAMEZAKI, H.IWATA, S.SUGANO

    Journal of Robotics and Mechatronics   vol.20, No.4   602 - 609  2008年09月

  • A QoS management technique of urgent information provision in ITS services using DSRC for autonomous base stations

    Akitoshi Shimura, Takeiki Aizono, Masashi Hiraiwa, Shigeki Sugano

    IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS   E91D ( 9 ) 2276 - 2284  2008年09月

     概要を見る

    A QoS management technique based on an autonomous decentralized mobility system, which is an autonomous decentralized system enhanced to provide mobile stations with information about urgent roadway situations. is proposed in this paper. This technique enables urgent messages to be flexibly and quickly transmitted to mobile stations by multiple decentralized base stations using dedicated short range communication. It also supports the easy addition of additional base stations. Each station autonomously creates information-delivery communities based on the urgency of the messages it receives through the roadside network and the distances between the senders and receivers. Each station dynamically determines the urgency of messages according to the message content and the speed of the mobile stations. Evaluation of this technique applied to the Smart Gateway system, which provides driving-assistance services to mobile stations through dedicated short-range communication, demonstrated its effectiveness and that it is suitable for actual systems.

    DOI

  • Whole-body Coordinated Control for Task Execution and Human Following

    H.IWATA, S.SUGANO

    Proc. of CISM-IFToMM Symp. on the Theory and Practice of Robots and Manipulators     209 - 216  2008年08月

  • Development of User-Adaptive Value System of Learning Function using Interactive EC

    Yuki SUGA, Yoshinori IKUMA, Tetsuya OGATA, Shigeki SUGANO

    Proceeding of the 17th IFAC World Congress Conference 2008     9156 - 9161  2008年07月

    DOI

  • 未来型住居を想定したロボット群によるホームサービスの試み

    金森道, 小鷹研理, 丹羽治彦, 坂本義弘, 大竹正海, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2008    2008年06月

  • 生活支援を目的とした車椅子搭載型ロボットアームの開発〜自重補償機構による軽量・コンパクト性を目指したシリアルリンク型ロボットアーム〜

    岡田欣也, 遠藤ちひろ, 菅佑樹, 岩田浩康, 菅野重樹, 森田寿郎, 千原健司, 藤井勝敏, 稲葉昭夫, 長縄正裕, 鳥井勝彦

    日本機械学会ロボティクス・メカトロニクス講演会2008   2P1-E04  2008年06月

  • 人間共存ロボットTWENDY-ONEのデザイン

    菅野重樹, 岩田浩康, 菅岩泰亮

    日本機械学会ロボティクス・メカトロニクス講演会2008   2A1-D23  2008年06月

  • 神経調節機能を参考とした自律エージェントの神経制御器の開発

    菅佑樹, 小林大三, 尾形哲也, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2008   2P1-G05  2008年06月

  • 床面格子状に配置されたRFIDタグによる移動ロボットの位置・姿勢推定

    小鷹研理, 丹羽治彦, 坂本義弘, 大竹正海, 金森道, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2008    2008年06月

  • 小型・軽量な柔軟関節マニピュレータのための粘弾性機構設計

    菅岩泰亮, 岩田浩康, 森裕貴, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2008   2A1-G02  2008年06月

  • リスクカーブに基づく衝突安全被覆設計

    菅岩泰亮, 岩田浩康, 中村卓磨, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2008   1A1-D19  2008年06月

  • ユーザのカスタマイズを受容・拒否できる機構を持つロボットシステムの開発

    近藤裕樹, 坂上徳翁, 奥出京司郎, 岩丸大二郎, 菅佑樹, 尾形哲也, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2008   1P1-G11  2008年06月

  • スードライトを用いたDGPSによる屋内測位システム —屋内と屋外のシームレス測位実現に向けて—

    丹羽治彦, 小鷹研理, 坂本義弘, 大竹正海, 金森道, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2008    2008年06月

  • カスタマイズ可能なロボットにおける形態主張の効果と検証

    岩丸大二郎, 近藤裕樹, 坂上徳翁, 奥出京司郎, 菅佑樹, 尾形哲也, 菅野重樹

    第22回人工知能学会   1I1-04  2008年06月

    DOI

  • "操作型作業機械の知能化に関する研究〜第2報:環境・操作者に非依存な基底作業状態の提案〜"

    亀允啓, 島田陽介, 河合雄一郎, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2008   2P1-B20  2008年06月

  • Structuralizing the Home Environment for Robot Moving

    Kenri Kodaka, Haruhiko Niwa, Yoshihiro Sakamoto, Masaumi Otake, Yuki Kanemori, Shigeki Sugano

    Proc. of the 7th France-Japan Congress on Mecatronics   No.113  2008年05月

  • 遠隔救急エコー診断のための体幹装着型4自由度ロボット:FASTele-1の開発

    岩田 浩康, 伊藤 慶一郎, 遠藤 嘉将, 菅野 重樹, 太田 源一郎, 野一色 泰晴, 中村 京太, 竹内 良平

    ライフサポート   20   119 - 119  2008年

    DOI CiNii

  • 物体操作に関する脳の情報処理構造を参考にした運動学習モデル〜身体モデルと目標運動軌道との並行学習〜

    有江浩明尾形哲也谷淳菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会   2P1-G06  2008年

  • 神経回路モデル用いたロボットの行動計画手法の提案視覚情報を含む行動のメンタルイメージの作成

    遠藤哲郎有江浩明尾形哲也谷淳菅野重樹

    第26回日本ロボット学会学術講演会   2O2-02  2008年

  • 自己組織化回路素子SONEの制御回路構造形成メカニズム

    金天海, 阿部博行, 出澤純一, 尾形哲也, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会    2008年

  • Reinforcement Signal Propagation Algorithm for Logic Circuit

    Chyon Hae Kim, Tetsuya Ogata, Shigeki Sugano

    Journal of Robotics and Mechatronics   Vol.20 No.5 ( 5 ) 757 - 774  2008年

    DOI

  • Human-Adaptive Robot Interaction Using Interactive EC with Human-Machine Hybrid Evaluation,

    Yuki SUGA, Tetsuya OGATA, Shigeki SUGANO

    Journal of Robotics and Mechatronics   Vol.20 No4 ( 4 ) 610 - 620  2008年

    DOI

  • A Stepwise Training Method for Complex Task Solving Using Reinforcement Learning

    キムマーガレット, 金天海, 竹内誉羽, 辻野広司

    人工知能学会 第22回全国大会    2008年

    DOI

  • GPS-based indoor positioning system with multi-channel pseudolite

    Haruhiko Niwa, Kenri Kodaka, Yoshihiro Sakamoto, Masaumi Otake, Seiji Kawaguchi, Kenjirou Fujii, Yuki Kanemori, Shigeki Sugano

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9     905 - +  2008年

     概要を見る

    Wabot-House Research Laboratory is working on a project that will enable integrating robots into our everyday life. We believe that a "structured environment" (SE) will be one of most important concepts for this project. An SE generally means that objects near people that have some database or intelligence provide certain information to those people. An SE will also assist robot recognition or movement planning. Now, we focus on a global positioning system (GPS), which is a global SE that gives users or robots their positions whenever and wherever they are outdoors all over the world. GPS will strongly support robot self-positioning. However, GPS has the problem that it cannot be used when the robots are indoors. To solve this problem, we experimentally mounted four pseudolites ('pseudo' means imitated and 'lite' means satellite) in our laboratory and developed indoor GPS. The system worked well unless the robot was near the wall, where cycle slip often occurred. To examine the characteristics and reason for cycle slip, we measured the radio-wave environment in the laboratory. The first half of this paper introduces this system. The last reports results and findings about this experiment.

    DOI

  • New Visco-Elastic Mechanism Design for Flexible Joint Manipulator

    Taisuke Sugaiwa, Hiroyasu Iwata, Shigeki Sugano

    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3     235 - 240  2008年

     概要を見る

    We describe a space-efficient visco-elastic mechanism design for a small lightweight flexible joint of a human-symbiotic robot arm. Human-symbiotic robots that can provide daily life support will be required in houses, offices, facilities, and other places. Since they will often make physical contact with humans, their arms should have mechanical flexible joints to absorb the contact force and follow the human's motion. Our design has two coaxial rotary elements: a torsion bar made from GUMMETAL and a rotary disk damper with the output hole at its center. These two elements are combined in parallel and coaxially, making our design highly space-efficient. This paper presents the specifications of the shear elastic characteristics of GUMMETAL measured in experiments using 1DOF (degree-of-freedom) test equipment. The results confirm that its shear elastic modulus is linear and has a small elastic hysteresis loop and our mechanism can provide the advantage for the robot servo control. Compared with the conventional design, our design can make a smaller lighter flexible joint.

    DOI

  • Development of an Operation Skill-Training Simulator for Double-Front Work Machine

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3     170 - 175  2008年

     概要を見る

    This paper reports a newly developed simulator for operation skill training in Double-Front Construction Machinery (DFCM) that allows novices to virtually experience tough operations repeatedly using DFCM under various conditions, including dangerous congestion. First, we selected several situations targeted where the DFCM needs to be used to provide a high level of operation skills: sorted dismantling for recycling and reusing resources, rescue and recovery work in disaster areas, and building construction. In addition, we developed an operation skill-training simulator that enables novice operators to repeatedly train with the high level of operation skills needed to easily and safely handle the DFCM in even more complicated works. This simulator system has two joysticks (set in front of a monitor) to dependently control the two fronts of the animated DFCM on the monitor. Several modes involving basic construction tasks are provided and the effects of improvement in operability achieved by the training simulator can be verified. Evaluation experiments indicated that repeated training using the simulator successfully decreased the operation time to complete a task and enhanced positioning accuracy in cooperative transportation with the two fronts. The results confirm the effectiveness of the developed simulator.

    DOI

  • Pose Estimation of a Mobile Robot on a Lattice of RFID Tags

    Kenri Kodaka, Haruhiko Niwa, Yoshihiro Sakamoto, Masaurni Otake, Yuki Kanemori, Shigeki Sugano

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS     1385 - 1390  2008年

     概要を見る

    A method of estimating pose of a robot on a lattice of RFID tags is described. In recent years, radio frequency identification (RFID) technology has become a very popular method for localizing robots because it is robust to disturbances such as lighting and obstacles, which adversely affect the conventional methods that use cameras, supersonic waves and so on. Despite the advantage that RFID tags, especially passive tags, can be inexpensively mass-produced, previous studies using RFID have not targeted the detailed work of robots because they have made use of RFID tags dotted over a wide area as landmarks. Therefore, it is still difficult to use the technology at home. There is a model room in WABOT-HOUSE Laboratory of Waseda University where the floor is equipped with a lattice of RFID tags at 300mm intervals, simulating a future home environment where robots interact symbiotically with humans. We speculate that such an environment, where the tags are distributed at regular intervals, is one of the most probable infrastructures of the near future and propose a method that use Monte Carlo localization to estimate the pose of robot on the lattice. Our experiments show that robots can localize their position more precisely than the interval of tags and also estimate their orientation successfully by using the proposed method when two readers are placed in appropriate positions.

    DOI

  • Design of Autonomous Decentralized Mobility System: Implementation for ITS Services using DSRC

    A. Shimura, M. Hiraiwa, S. Sugano

    PROCEEDINGS OF THE 11TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS     375 - +  2008年

     概要を見る

    A group management model was previously proposed in which several base stations (BSs) autonomously judge whether to create a group in order to provide cruise-assist services, such as accident-reporting, and multimedia services, such as maps and music, for a moving vehicle by using multiple Dedicated Short Range Communication (DSRC) BSs flexibly and quickly. In this paper, an Autonomous Decentralized Mobility System Architecture to implement this model within an actual system is discussed. In the architecture, each BS autonomously judges whether to create a group for information provision. Each BS that participates in a group shares content regarding the vehicle and the service progress and provides information for the vehicle based on the urgency and the properties of the imformation. This paper also describes an evaluation of this architecture applied to test the actual system effectiveness.

    DOI

  • Shock Absorbing Skin Design for Human-Symbiotic Robot at the Worst Case Collision

    Taisuke Sugaiwa, Hiroyasu Iwata, Shigeki Sugano

    2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008)     496 - +  2008年

     概要を見る

    In this paper, we proposed a soft skin design method of human symbiotic robots which achieves collision safety in all collision situations. At the same time, soft skin design has to be optimized for the collision safety and the workability. Therefore we evaluate effectiveness of soft skin at each position on arm in longer-direction, and optimize its thickness along collision position. Firstly we discuss parameters for describing the collision between human and human-symbiotic robots, and identify the worst case collision including the out-of-control condition of the robots. Next we conducted actual collision experiments duplicating the worst case collision and apply the proposed method to soft skin covering of human-symbiotic robot "TWENDY-ONE". In consequence, TWENDY-ONE acquires both of collision safety and the workability.

    DOI

  • 双腕建機における知能化インタフェースに関する研究〜基底作業状態識別に基づく操作者支援システムの開発〜

    亀允啓, 島田陽介, 河合雄一郎, 岩田浩康, 菅野重樹

    第11回建設ロボットシンポジウム    2008年

  • マルチチャネルスードライトによるGPSに基づいた室内測位システム

    丹羽治彦, 小鷹研理, 坂本義弘, 大竹正海, 金森道, 菅野重樹

    第8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(SI 2007)    2007年12月

  • GPSによるロボット制御

    菅野重樹, 丹羽治彦, 小鷹研理, 坂本義弘, 大竹正海, 金森道

    GPS/GNSSシンポジウム2007    2007年11月

  • Advanced Robotics: Preface

    Satoshi Tadokoro, Shigeki Sugano

    Advanced Robotics   21 ( 14 ) 1601  2007年10月

    DOI

  • "It's a Robot Life"

    Shigeki Sugano, Yoshihiro Sakamoto, Kenjiro Fujii, Ivan G. Petrovski, Makoto Ishii, Kazuki Okano, Seiya Kawaguchi

    GPS World   Vol. 18   48 - 55  2007年09月

  • 能動的な身体・環境接触を利用した対象物操作の安定化 〜プレーシング作業における衝撃低減効果の検証〜

    菅岩泰亮, 岩田浩康, 菅野重樹

    第25回日本ロボット学会学術講演会, 習志野    2007年09月

  • ニューラルネットによる腱駆動ロボットアームの制御

    有江浩明, 尾形哲也, 谷淳, 菅野重樹

    第8回システムインテグレーション部門講演会 (SI2007)   1B4-6  2007年

  • 自己組織化論理回路におけるノイズの抑制

    金天海, 出澤純一, 尾形哲也, 菅野重樹

    日本ロボット学会誌   Vol.25, No.6   115 - 122  2007年

  • Reinforcement learning of a continuous motor sequence with hidden states

    Hiroaki Arie, Tetsuya Ogata, Jun Tani, Shigeki Sugano

    ADVANCED ROBOTICS   21 ( 10 ) 1215 - 1229  2007年

     概要を見る

    Reinforcement learning is the scheme for unsupervised learning in which robots are expected to acquire behavior skills through self-explorations based on reward signals. There are some difficulties, however, in applying conventional reinforcement learning algorithms to motion control tasks of a robot because most algorithms are concerned with discrete state space and based on the assumption of complete observability of the state. Real-world environments often have partial observablility; therefore, robots have to estimate the unobservable hidden states. This paper proposes a method to solve these two problems by combining the reinforcement learning algorithm and a learning algorithm for a continuous time recurrent neural network (CTRNN). The CTRNN can learn spatio-temporal structures in a continuous time and space domain, and can preserve the contextual flow by a self-organizing appropriate internal memory structure. This enables the robot to deal with the hidden state problem. We carried out an experiment on the pendulum swing-up task without rotational speed information. As a result, this task is accomplished in several hundred trials using the proposed algorithm. In addition, it is shown that the information about the rotational speed of the pendulum, which is considered as a hidden state, is estimated and encoded on the activation of a context neuron.

    DOI

  • Constructive Approach to Understanding the Active Learning Process of Adaptation within a Given Task

    Hiroaki Arie, Shigeki Sugano, Jun Tani

    The 2nd International Symposium on Mobiligence     77 - 80  2007年

  • Enhancement of self organizing network elements for supervised learning

    Chyon Hae Kim, Tetsuya Ogata, Shigeki Sugano

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10     92 - 98  2007年

     概要を見る

    We have proposed self-organizing network elements (SONE) as a learning method for robots to meet the requirements of autonomous exploration of effective output, simple external parameters, and low calculation costs. SONE can be used as an algorithm for obtaining network topology by propagating reinforcement signals between the elements of a network. T!raditionally, the analysis of fundamental features in SONE and their application to supervised learning tasks were difficult because the learning method of SONE was limited to reinforcement learning. Here the abilities of generalization, incremental learning, and temporal sequence learning were evaluated using a supervised learning method with SONE. Moreover, the proposed method enabled our SONE to be applied to a greater variety of tasks.

    DOI

  • スードライトとRFIDを用いた屋内ロボットナビゲーション手法の提案

    坂本義弘, 大竹正海, 菅野重樹

    第7回システムインテグレーション部門講演会 (SI 2006)   2B2-3  2006年12月

  • ”人間共存ロボットの觝触適応行動 〜第24報:ポテンシャル法による人間追従・作業遂行・環境回避の機能統御〜

    岩田浩康, 菅岩泰亮, 中村卓磨, 九谷俊行, 菅野重樹

    第24回日本ロボット学会学術講演会   3K14  2006年09月

  • 「人間とロボットが共存する社会システム構築に向けて」〜WABOT0−HOUSE研究所が取り組むロボット総合技術の研究について〜

    菅野重樹

    第9回かわさきロボット技術交流会    2006年03月

  • Robot design and environment design - Waseda robot-house project

    Shigeki Sugano, Yuko Shirai

    2006 SICE-ICASE International Joint Conference     I31 - I34  2006年  [査読有り]

     概要を見る

    The robot technology for human-robot symbiosis including robot adaptability to human and environment, which is urgently required in the rapidly aging society, is unfortunately yet to advance. This is because conventional robotics research has focused solely on the advanced function of the robot itself. We should establish the system by integrating robot technology and environments, especially the structures and functions of the houses and facilities. Based on this concept, robotics engineers, architects, IT researchers and fine artists in Waseda University take part in the WABOT-HOUSE (WAseda roBOT HOUSE) project, and we try to design an optimal system from robotic and architectural points of view to realize the truly practical symbiosis between human and robots. In this paper, I will introduce the project "WABOT-HOUSE", robots in WABOT-HOUSE including humanoid robots, design of a structured environment, and a contribution to the growth of the robotics industry by means of the collaboration with small &amp
    medium-sized companies and the development of active system-integrators. © 2006 ICASE.

    DOI

  • Dynamic perception after visually guided grasping by a human-like autonomous robot

    M Suzuki, K Noda, Y Suga, T Ogata, S Sugano

    ADVANCED ROBOTICS   20 ( 2 ) 233 - 254  2006年  [査読有り]

     概要を見る

    We will explore dynamic perception following the visually guided grasping of several objects by a human-like autonomous robot. This competency serves for object categorization. Physical interaction with the hand-held object gives the neural network of the robot the rich, coherent and multi-modal sensory input. Multi-layered self-organizing maps are designed and examined in static and dynamic conditions. The results of the tests in the former condition show its capability of robust categorization against noise. The network also shows better performance than a single-layered map does. In the latter condition we focus on shaking behavior by moving only the forearm of the robot. In some combinations of grasping style and shaking radius the network is capable of categorizing two objects robustly. The results show that the network capability to achieve the task largely depends on how to grasp and how to move the objects. These results together with a preliminary simulation are promising toward the self-organization of a high degree of autonomous dynamic object categorization.

  • Design of humanoid robot for human-robot interaction - Waseda robots: Wendy and Wamoeba

    Shigeki Sugano

    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS     16 - 19  2006年  [査読有り]

  • Evolutionary approach for designing the behavior generator of communication robot

    Yuki Suga, Tetsuya Ogata, Shigeki Sugano

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13     5016 - +  2006年  [査読有り]

     概要を見る

    Our goal is to create the robot system which interacts with human users keeping their interest during a long period. We focus on the Interactive Evolutionary Computation (IEC) technique to achieve this goal. Although the IEC enables users to design various systems which reflect their subjective preferences, it forces users to evaluate a huge number of individuals in the genetic pool during the evolution period. To solve this problem, we propose a refined IEC technique, named Human-Machine Hybrid Evaluation (HMHE), which selects the representative genes for user evaluation and estimates the evaluation results of the other genes. It can increase the population size without increasing the users' evaluation processes. We carried out some simulations where a humanoid robot with our method interacted with a user. The experimental results demonstrated that the HMHE could continue to generate the various robot behaviors by adapting to the transition of user's subjective preferences.

  • 自己組織化論理回路における学習アルゴリズムの解析

    金天海, 尾形哲也, 菅野重樹

    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    2006年

  • ローカルルールに基いた論理回路の自己組織化アルゴリズム

    金天海, 尾形哲也, 菅野重樹

    計測自動制御学会論文集   Vol.42, No.4   334 - 341  2006年

    DOI

  • Reinforcement learning algorithm with CTRNN in continuous action space

    Hiroaki Arie, Jun Namikawa, Tetsuya Ogata, Jun Tani, Shigeki Sugano

    NEURAL INFORMATION PROCESSING, PT 1, PROCEEDINGS   4232   387 - 396  2006年

     概要を見る

    There are some difficulties in applying traditional reinforcement learning algorithms to motion control tasks of robot. Because most algorithms are concerned with discrete actions and based on the assumption of complete observability of the state. This paper deals with these two problems by combining the reinforcement learning algorithm and CTRNN learning algorithm. We carried out an experiment on the pendulum swing-up task without rotational speed information. It is shown that the information about the rotational speed, which is considered as a hidden state, is estimated and encoded on the activation of a context neuron. As a result, this task is accomplished in several hundred trials using the proposed algorithm.

  • Improvement against noises in self-organizing logic circuit

    Chyon Hae Kim, Jyun-ichi Idesawa, Shigeki Sugano, Tetsuya Ogata

    2006 IEEE INTERNATIONAL CONFERENCE ON INFORMATION ACQUISITION, VOLS 1 AND 2, CONFERENCE PROCEEDINGS     53 - 58  2006年

     概要を見る

    We proposed and evaluated a network learning method called self-organizing network elements (SONE). Autonomous exploration of effective output, the use of simple external parameters, and low calculation costs were functions achieved for a robot system with this method. However, there is the need to improve performance against noises for learning more complicated tasks. Therefore, we propose a technique to adjust thresholds in a self-organizing logic circuit based on SONE. In our experiments, performing 3-bit operation tasks, controlling a Khepera robot, and generating new elements was appropriately controlled with this technique. Also, network performance against noises was improved as a result of using the proposed method.

    DOI

  • Adaptive human-robot interaction system using interactive EC

    Yuki Suga, Tetsuya Ogata, Chihiro Endo, Daizo Kobayashi, Takeshi Matsumoto, Shigeki Sugano

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12     3663 - +  2006年

     概要を見る

    We created a human-robot communication system that can adapt to user preferences that can easily change through communication. Even if any learning algorithms are used, evaluating the human-robot interaction is indispensable and difficult. To solve this problem, we installed a machine-learning algorithm called Interactive Evolutionary Computation (IEC) into a communication robot named WAMOEBA-3. IEC is a kind of evolutionary computation like a genetic algorithm. With EEC, the fitness function is performed by each user. We carried out experiments on the communication learning system using an advanced EEC system named HMHE. Before the experiments, we did not tell the subjects anything about the robot, so the interaction differed among the experimental subjects. We could observe mutual adaptation, because some subjects noticed the robot's functions and changed their interaction. From the results, we confirmed that, in spite of the changes of the preferences, the system can adapt to the interaction of multiple users.

    DOI

  • Efficient organization of network topology based on reinforcement signals

    Chyon Hae Kim, Shigeki Sugano, Tetsuya Ogata

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12     3154 - +  2006年

     概要を見る

    We developed a learning system for autonomous robots that allows for autonomous exploration of the effective output, and has simple external parameters and a low calculation cost. We propose the concept of self-organizing network elements (SONE) for creating learning systems with these characteristics. We created and evaluated a self-organizing logic circuit by using this concept. Our results indicated this learning system had the characteristics.

    DOI

  • CTRNNを用いた連続な状態空間における強化学習法の提案

    有江浩明, 尾形哲也, 谷淳, 菅野重樹

    日本機械学会ロボティクスメカトロニクス講演会    2006年

  • CTRNNを用いた強化学習法による連続な行動出力の獲得

    有江浩明, 尾形哲也, 谷淳, 菅野重樹

    第24回日本ロボット学会学術講演会    2006年

  • 隠れ状態を有する連続な状態空間での強化学習法の提案

    鈴木貴晴, 有江浩明, 尾形哲也, 谷淳, 菅野重樹

    第7回システムインテグレーション部門講演会 (SI2006)   2C2-7  2006年

  • 人間共存ロボットの觝触適応行動 〜第21報:触覚刺激の時間遷移に応じた觝触状態推移出力システムの提案〜

    岩田浩康, 菊池大輔, 小林徹也, 菅野重樹

    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SI2005講演論文集   2N1-4  2005年12月

  • 触覚インタラクション4自由度マニピュレータの開発

    岩田浩康, 蒋 梁中, 菅野重樹

    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SI2005講演論文集   1G3-5  2005年12月

  • Human-robot-contact-state identification based on tactile recognition

    Hiroyasu Iwata, Shigeki Sugano

    IEEE Transactions on Industrial Electronics   52 ( 6 ) 1468 - 1477  2005年12月

     概要を見る

    In this paper, we propose a method for designing an identification system for human-robot contact states based on tactile recognition. The following ideas are incorporated: experimentation for human-robot contact, verbalization of contact states, extraction of characteristic parameters from acquired tactile information, quantification of the recipient's tactile recognition incorporating its redundancy (identification confusability among contact states), evaluation of the identification confusability with a new criterion, and identification of contact states based on the received tactile stimulation. The proposed method allows a robot to quantify tactile recognition of a human (recipient) touched by other people (touch initiator), in which the verbal response by the recipient is matched with tactile stimulation acquired during physical contact utilizing a tactile interface. In addition, the method enables a robot that comes into contact with a human to identify contact states nearly similar to that of the recipient, based on the features of the received tactile stimulation. At this point, the reproduction of the identification confusability of the recipient's tactile recognition is also accomplished by using a neural network called modified counterpropagation (MCP). Once a tactile stimulation is induced on the robot body, the probability of corresponding contact states is calculated and outputted by the system, based on the degree of similarity of the characteristics between the newly received and previously stored tactile stimulation. Experimental results indicate that the constructed system allows a successful quantification of the recipient's contact-state recognition incorporating the identification confusability and the accomplishment of a high level of accuracy in contact-state identification. These results confirm that the proposed method is useful for identifying human-robot contact states based on tactile recognition. © 2005 IEEE.

    DOI

  • Control System and Mechanism Design for Human-Robot Safe Physical Interaction

    SUGANO, H.IWATA

    TUM presents: Frontier Sciences at The University of Tokyo and Kyoto University - Workshop 4 on Humanoid Robots: Locomotion and Cognition, Tokyo (Japan)    2005年10月

  • 身体の動力学的特性に基づいた運動プリミティブの獲得-2自由度リンク系のランダムな運動の分節化の試み

    有江浩明, 尾形哲也, 菅野重樹

    第23回日本ロボット学会学術講演会    2005年09月

  • 実ロボットを用いた対話型進化的計算によるコミュニケーション学習

    生熊良規, 長尾大輔, 菅佑樹, 尾形哲也, 菅野重樹

    第23回日本ロボット学会学術講演会    2005年09月

  • Human Robot Contact Identification based on Tactile Recognition

    H.IWATA, S.SUGANO

    The 2nd COE-CIR Joint Workshop on Future Technologies of Mechatronics for Its Growing Role in Symbiotic Society with Human, Kitakyushu (Japan)    2005年08月

  • 操作力多面体に基づく力方向操作性と安定性を考慮した力作業姿勢制御

    梶尾祐介, 岩田浩康, 徳舛佳洋, 菅野重樹

    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   2A1-S-047  2005年06月

  • 人間共存ロボットの觝触適応行動 〜第20報:環境との接触を回避しつつ人間追従性と作業性の両立が可能な全身運動制御〜

    中村卓磨, 岩田浩康, 菅野重樹

    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   2A1-N-060  2005年06月

  • 人間共存ロボットの觝触適応行動 〜第19報:受け手の状態を考慮した觝触動作生成モデルの提案〜

    岩田浩康, 小林徹也, 小橋征爾, 菅野重樹

    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   2A1-N-056  2005年06月

  • Human Robot Physical Interference Adapting Control Coordinating Human Following and Task Execution

    H.IWATA, S.SUGANO

    The 1st CIR-COE Joint Workshop on Intelligent Robot Technologies to Enhance the Quality of Life for Senior Citizens in the Near Future, Jeju Island (Korea )    2005年02月

  • Acquisition of motion primitives of robot in human-navigation task towards human-robot interaction based on "quasi-symbols"

    Tetsuya Ogata, Shigeki Sugano, Jun Tani

    Transactions of the Japanese Society for Artificial Intelligence   20 ( 3 ) 188 - 196  2005年

     概要を見る

    A novel approach to human-robot collaboration based on quasi-symbolic expressions is proposed. The target task is navigation in which a person with his or her eyes covered and a humanoid robot collaborate in a context-dependent manner. The robot uses a recurrent neural net with parametric bias (RNNPB) model to acquire the behavioral primitives, which are sensory-motor units, composing the whole task. The robot expresses the PB dynamics as primitives using symbolic sounds, and the person influences these dynamics through tactile sensors attached to the robot. Experiments with six participants demonstrated that the level of influence the person has on the PB dynamics is strongly related to task performance, the person's subjective impressions, and the prediction error of the RNNPB model (task stability). Simulation experiments demonstrated that the subjective impressions of the correspondence between the utterance sounds (the PB values) and the motions were well reproduced by the rehearsal of the RNNPB model.

    DOI

  • Self-organizing algorithm for logic circuit based on local rules

    CH Kim, T Ogata, S Sugano

    2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2     1192 - 1197  2005年

     概要を見る

    This study discusses a learning algorithm for autonomous robots that has five characteristics including autonomous exploration of effective output, low calculation costs, capability for multi-tasking, reusing past knowledge, and handling time series. We propose the use of self-organizing network elements (SONE) as a method for creating learning systems that provide these characteristics. Using this method, we created and evaluated a Self-organizing Logic Circuit. The results of our experiments showed that this learning system met the requirements by being capable of creating a basic logic circuit, learning additional knowledge, controlling a simple robot in a simulation, and solving a maze problem.

  • Open-end human-robot interaction from the dynamical systems perspective: mutual adaptation and incremental learning

    T Ogata, S Sugano, J Tani

    ADVANCED ROBOTICS   19 ( 6 ) 651 - 670  2005年

     概要を見る

    In this paper, we experimentally investigated the open-end interaction generated by the mutual adaptation between humans and robot. Its essential characteristic, incremental learning, is examined using the dynamical systems approach. Our research concentrated on the navigation system of a specially developed humanoid robot called Robovie and seven human subjects whose eyes were covered, making them dependent on the robot for directions. We used the usual feed-forward neural network (FFNN) without recursive connections and the recurrent neural network (RNN) for the robot control. Although the performances obtained with both the RNN and the FFNN improved in the early stages of learning, as the subject changed the operation by learning on its own, all performances gradually became unstable and failed. Next, we used a 'consolidation-learning algorithm' as a model of the hippocampus in the brain. In this method, the RNN was trained by both new data and the rehearsal outputs of the RNN not to damage the contents of current memory. The proposed method enabled the robot to improve performance even when learning continued for a long time (open-end). The dynamical systems analysis of RNNs supports these differences and also showed that the collaboration scheme was developed dynamically along with succeeding phase transitions.

    DOI

  • Interactive evolution of human-robot communication in real world

    Y Suga, Y Ikuma, D Nagao, S Sugano, T Ogata

    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4     1482 - 1487  2005年

     概要を見る

    This paper describes how to implement interactive evolutionary computation (IEC) into a human-robot communication system. EEC is an evolutionary computation (EC) in which the fitness function is performed by human assessors. We used IEC to configure the human-robot communication system. We have already simulated EEC's application. In this paper, we implemented IEC into a real robot. Since this experiment leads considerable burdens on both the robot and experimental subjects, we propose the human-machine hybrid evaluation (HMHE) to increase the diversity within the genetic pool without increasing the number of interactions. We used a communication robot, WAMOEBA-3 (Waseda Artificial Mind On Emotion BAse), which is appropriate for this experiment. In the experiment, human assessors interacted with WAMOEBA-3 in various ways. The fitness values increased gradually, and assessors felt the robot learnt the motions they desired. Therefore, it was confirmed that the IEC is most suitable as the communication learning system.

    DOI

  • Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints

    H Iwata, S Kobashi, T Aono, S Sugano

    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4     1941 - 1946  2005年

     概要を見る

    In this paper, we describe the design method of an anthropomorphic 4-DOF tactile interaction manipulator with mechanically passive joints giving robots to accomplish high performance force-following and tactile-based contact state recognition despite physical interference and contact with humans occurring at links and at joints. The shape and appearance of this manipulator was based on statistical data on the Japanese male physique to allow for human-like contact interaction recognition. Joint are passively compliant, consisting of a mechanical leaf spring and rotary damper giving the manipulator high passivity. Cylindrical or spherical surfaces of the body including the elbow and wrist are overlaid with distributed tactile sensors acquiring accurate contact information. Evaluation experiments indicate that the manipulator provides high performance of force-following and tactile stimulation measurement, during physical interference and contact with humans and confirmed its effectiveness in improving human/robot symbiosis.

    DOI

  • Self-organizing algorithm for logic circuit based on local rules

    CH Kim, T Ogata, S Sugano

    2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2     1192 - 1197  2005年

     概要を見る

    This study discusses a learning algorithm for autonomous robots that has five characteristics including autonomous exploration of effective output, low calculation costs, capability for multi-tasking, reusing past knowledge, and handling time series. We propose the use of self-organizing network elements (SONE) as a method for creating learning systems that provide these characteristics. Using this method, we created and evaluated a Self-organizing Logic Circuit. The results of our experiments showed that this learning system met the requirements by being capable of creating a basic logic circuit, learning additional knowledge, controlling a simple robot in a simulation, and solving a maze problem.

  • 触覚に基づく人間・ロボット触れあい状況識別

    岩田浩康, 蒋 梁中, 菅野重樹

    計測自動制御学会第5回システムインテグレーション部門学術講演会   2D4-5  2004年12月

  • 情緒交流ロボットWAMOEBA-3 人間-ロボット間コミュニケーション研究プラットフォームの開発

    有江浩明, 菅佑樹, 尾形哲也, 菅野重樹

    計測自動制御学会第5回システムインテフレーション部門学術講演会    2004年12月

  • ローカルルールに基づいたネットワーク素子の生成淘汰アルゴリズム

    金 天海, 尾形哲也, 菅野重樹

    計測自動制御学会第5回システムインテフレーション部門学術講演会    2004年12月

  • Acquisition of Motion Primitives of Robot in Human-Navigation Task:Towards Human-Robot Interaction Based on 'Quasi-Symbol'

    T.OGATA, S.SUGANO, J.TANI

    Proc. of The Second Internatinal Woekshop on Man-Machine Symbiotic Systems     315 - 326  2004年11月

  • Human Robot Interference Adapting Control Coordinating Human Following and Task Execution

    I.IWATA, S.SUGANO

    Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems(IROS'2004)     2879 - 2885  2004年10月

  • Development of Emotional Communication Robot, WAMOEBA-3

    Y.SUGA, T.OGATA, S.SUGANO

    Proc. of Int. Conf. on Advanced Mechatronics(ICAM2004)     413 - 418  2004年10月

  • Editorial

    Shigeki Sugano, Hideki Hashimoto

    IEEE/ASME Transactions on Mechatronics   9 ( 3 ) 465 - 466  2004年09月  [査読有り]

    DOI

  • 動作プリミティブを介した人間とロボットの協調

    尾形哲也, 菅野重樹, 谷淳

    第22回日本ロボット学会学術講演会    2004年09月

  • 人間共存ロボットの觝触適応行動〜第18報:受動柔軟関節と全面に触覚機能を備えた肘・手首の開発〜

    岩田浩康, 小橋征爾, 青野達人, 小林徹也, 菅野重樹

    第22回日本ロボット学会学術講演会   3E21  2004年09月

  • 人間共存ロボットの觝触適応行動〜第17報:受け手の觝触特徴量推定に基づく能動的觝触認知〜

    岩田浩康, 亀村隆史, 小林徹也, 菅野重樹

    第22回日本ロボット学会学術講演会   3E22  2004年09月

  • Human-Robot Communivation Using Multiple Recurrent Neural Networks

    Y.SAKAMOTO, T.OGATA, S, SUGANO

    Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems(IROS2004)     1574 - 1579  2004年09月

  • Human Robot Collaboration Using Behavioral Primitives

    T.OGATA, M.MATSUNAGA, S.SUGANO, J.TANI

    Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems(IROS2004)     1592 - 1597  2004年09月

    DOI

  • Flexible assembly work cooperating system based on work state identifications by a self-organizing map

    Y Hayakawa, T Ogata, S Sugano

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   9 ( 3 ) 520 - 528  2004年09月

     概要を見る

    This paper presents a method of realizing flexible assembly work cooperation where the assembler is free to carry out the work, without constraints in the process. To realize such systems, there exists an issue of identifying work states during the assembly and to determine when and what kind of support is necessary. As an approach to solve such issues we took a self-organizing approach in constructing a work model, as an abstract model describing typical work states during the assembly. The necessity of support is judged by detecting uncommon work states occurring, and the type of support is determined by detecting the work state. Examples of work state identifications by the self-organized map are shown. We carried out experiments to evaluate the judgment of situational necessity of support and to verify the correct identification rate of typical work states. Finally a robotic support system was constructed that gives supports of autonomously holding and handing out assembly pieces by the judging of situational necessity of support.

    DOI

  • Acquisition of Reactive Motion for Communication Robots Using Interactive EC

    Y.SUGA, T.OGATA, S.SUGANO

    Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems(IROS2004)     1198 - 1203  2004年09月

    DOI

  • 動作模倣による人間とロボットのインタラクション-手先軌道データを用いた動作予測システムの構築-

    菅佑樹, 秋和祐介, 尾形哲也, 菅野重樹

    日本機会学会ロボティクスメカトロニクス講演会   2A1-H-61  2004年06月

  • 人間共存ロボットの觝触適応行動〜第16報:能動的觝触認知のための触覚・運動情報の統合化処理〜

    岩田浩康, 亀村隆史, 小林徹也, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会   2P2-H-39  2004年06月

  • 人間共存ロボットの觝触適応行動〜第15報:触覚インタラクションアーム肘・手首関節の設計〜

    岩田浩康, 小橋征爾, 青野達人, 高野恭一, 小林徹也, 亀村隆史, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会   2P2-H-38  2004年06月

  • Interactive ECを用いた自律移動ロボットの進化に冠する基礎研究

    菅佑樹, 尾形哲也, 菅野重樹

    日本機会学会ロボティクスメカトロニクス講演会   2P2-L1-24  2004年06月

  • Open-end human robot interaction from the dynamical systems perspective: Mutual adaptation and incremental learning

    T Ogata, S Sugano, J Tani

    INNOVATIONS IN APPLIED ARTIFICIAL INTELLIGENCE   3029   435 - 444  2004年  [査読有り]

     概要を見る

    This paper describes interactive learning between human subjects and robot using the dynamical systems approach. Our research concentrated on the navigation system of a humanoid robot and human subjects whose eyes were covered. We used the recurrent neural network (RNN) for the robot control. We used a "consolidation-leaming algorithm" as a model of hippocampus in brain. In this method, the RNN was trained by both a new data and the rehearsal outputs of the RNN, not to damage the contents of current memory. The proposed method enabled the robot to improve the performance even when learning continued for a long time (open-end). The dynamical systems analysis of RNNs supports these differences.

  • Imitation based human-robot interaction - Roles of joint attention and motion prediction

    Y Akiwa, Y Suga, T Ogata, S Sugano

    RO-MAN 2004: 13TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS     283 - 288  2004年

     概要を見る

    Behavior imitation is crucial for the acquisition of intelligence as well as in communication. This paper describes two kinds of experiments of human-robot communication based on behavior imitation. One compared results obtained when the robot did and did not predict the experimental subject's behaviors by using past datasets, and the other compared results obtained with and without target objects in the simulator environment. The result of former experiment showed that the prediction of the subject's behaviors increase the subject's interest. The result of the latter experiment confirmed that the presence of objects facilitates joint attention and make human-robot communication possible even when the robot uses a simple imitation mechanism. This result shows that in human-robot communication, human not only recognizes the behaviors of the robot passively but also adapts to the situation actively. In conclusion, it is confirmed that motion prediction and the presence of objects for joint attention are important for human-robot communication.

  • Constructivist approach to human-robot emotional communication - design of evolutionary function for WAMOEBA-3

    Y Suga, H Arie, A Ogata, S Sugano

    2004 4TH IEEE/RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2, PROCEEDINGS   No.76   869 - 884  2004年

     概要を見る

    By applying a self-preservation function and communication capability, we investigated the emergence of the emotional behavior of robots to propose an "evaluation function for self-preservation," a " model of endocrine system," and a "MA model." We also developed a new hardware platform, WAMOEBA-3, to install our new knowledge into the robot. WAMOEBA-3, a wheel type, independent robot, was designed for easy maintenance and customization. As a new function for WAMOEBA-3, we introduced an evolutionary function for the acquisition of reactive motion that uses an interactive evolutionary computation method. We show the results of simulation experiments and discuss real world applications.

  • 人間共存ロボットのための接触制御システム

    岩田浩康, 蒋 梁中, 菅野重樹

    第4回SICEシステムインテグレーション部門講演会   paper no.1F2-6  2003年12月

  • コミュニケーションを指向した反射的行動の獲得-対話型進化計算を用いたアプローチの提案-

    菅佑樹, 尾形哲也, 菅野重樹

    計測自動制御学会第4回システムインテグレーション部門学術講演会     1004 - 1005  2003年12月

  • A System Design for Tactile Recognition of Human-Robot Contact State

    H.IWATA, S.SUGANO

    Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems(IROS'2003)     7 - 12  2003年10月

  • 対話型進化的計算手法を用いたロボットの反射行動の獲得

    菅佑樹, 尾形哲也, 菅野重樹

    第21回日本ロボット学会学術講演会   3J31  2003年09月

  • 人間共存ロボットの觝触適応行動〜第14報:関節可動部における触覚インタフェース〜

    岩田浩康, 亀村隆史, 小林徹也, 菅野重樹

    第21回日本ロボット学会学術講演会予稿集   paper no.3H35  2003年09月

  • 人間共存ロボットの觝触適応行動〜第13報:觝触認知性能に応じた触覚センサ仕様の導出〜

    岩田浩康, 小林徹也, 亀村隆史, 菅野重樹

    第21回日本ロボット学会学術講演会予稿集   paper no.3H34  2003年09月

  • 人間とロボットのインタラクティブな学習に関する研究

    尾形哲也, 真砂紀孝, 菅野重樹, 谷淳

    第21回ロボット学会学術講演会   1l26  2003年09月

  • Compliance Control of Mobile Manipulators

    H.IWATA, S.SUGANO

    Workshop on "New Developments in Mobile Robot Manipulation" IEEE Int. Conf. on Robotics and Automation    2003年09月

  • Collaboration Development through Interactive Leaning between Human and Robot

    T.OGATA, N.MASAGO, J.TANI, S.SUGANO

    Proc. of 3rd Int. Workshop on Epigenetic Robotics     99 - 106  2003年08月

  • 人間共存ロボットの觝触適応行動〜第12報:触覚機能を備えた肘関節の試作〜

    岩田浩康, 亀村隆史, 菅野重樹

    日本機会学会ロボティクス・メカトロニクス講演会(Robomec'03)   1p1-3F-C5  2003年05月

  • 情緒交流ロボットWAMOEBA-3Aの開発 -トルクセンサ内臓関節の設計-

    土屋尚文, 有江浩明, 日野貴司, 尾形哲也, 菅野重樹

    日本機会学会ロボティクス・メカトロニクス講演会(Robomec'03)   2P2-2F-1F  2003年05月

  • メカノクリーチャー -生物から学ぶデザインテクノロジー-

    尾形哲也, 菅野重樹

    日本機会学会     172 - 203  2003年

  • AI事典 第2版

    菅野重樹

    共立出版     32 - 33  2003年

  • 作業性と人間追従性を両立する動作制御手法

    岩田浩康, 星野勇人, 森田寿郎, 菅野重樹

    日本ロボット学会   vol.21, no.1   118 - 125  2003年01月

    DOI

  • Quantification of human-robot physical contact states based on tactile sensing

    H Iwata, K Tomita, S Sugano

    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2     610 - 615  2003年

     概要を見る

    In this paper, we propose a method for quantfying human-robot physical contact states based on tactile sensory data as a first step to realize real-tune contact state identification systems Artificial tactile cognition for robots constructed by this metW which performance, is herein nears, copies human's tactile cognition per presented First, we have made robots learn the relationship between characteristics of tactile stimuli sensed and expressions to the stimuli verbalized by a human (receiver) when he/she is touched by other people As a result of learning by a neural network called MCP (Modified Counter Propagation), Self ftanxing Maps that contain the quantitative relationship are formed Next, in order to quantify the performance of receiver's tactile cognition, confusion matrix that numerically explains confision probability among contact states is proposed Connection weights in the neural network are applied to calculate it matrix enables robots that come into contact with a human to recognize and infer the aspect of contact states almost the saw as the receiver represents, based on only tactile sensing Finally, from experiments, we confirmed that the proposed method is useful for quantifying human-robot contact states.

    DOI

  • Flexible assembly work cooperation based on work state identifications by a self-organizing map

    Y Hayakawa, T Ogata, S Sugano

    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2     1031 - 1036  2003年

     概要を見る

    This study presents a method of realizing flexible assembly work cooperation in cases where neither the assembly process, nor the final form of the completed task is pre-defined in advance. To realize such systems, there exists an issue of identifying work states during the assembly, and determine when and what kind of support is necessary. As an approach of solving such issues, identifying the work states from a work model built by self-organizing assembly motions of human is taken. Examples of the work state identifications and a support system, which judges the situational necessity of support and selects whether to hand out or holds assembly parts are shown. The support is carried out based on the work states identified by the self-organized map. Experiments indicate that work state identification by a self-organizing map is effective in flexibly cooperating with human during assembly work.

    DOI

  • A novel mechanism design for gravity compensation in three dimensional space

    T Morita, F Kuribara, Y Shiozawa, S Sugano

    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2     163 - 168  2003年

     概要を見る

    In this paper, we propose a passive gravity compensation mechanism named "Mechanical Gravity Canceller". The effectiveness of the MGC mechanism is evaluated by analyzing several articulated robot manipulators from the aspects of kinematics and dynamics.

    DOI

  • Robust modeling of dynamic environment based on robot embodiment

    K Noda, M Suzuki, N Tsuchiya, Y Suga, T Ogata, S Sugano

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS     3565 - 3570  2003年

     概要を見る

    Recent studies on embodied cognitive science have shown us the possibility of emergence of more complex and nontrivial behaviors with quite simple designs if the designer takes the dynamics of the system-environment interaction into account properly. In this paper, we report our tentative classification experiments of several objects using the human-like autonomous robot, "WAMOEBA-2Ri". As modeling the environment, we focus on not only static aspects of the environment but also dynamic aspects of it including that of the system own. The visualized result of this experiment shows the integration of multimodal sensor dataset acquired by the system-environment interaction ("grasping") enable robust categorization of several objects. Finally, in discussion, we demonstrate a possible application to making "invariance in motion" emerge consequently by extending this approach.

  • Interactive learning in human-robot collaboration

    T Ogata, N Masago, S Sugano, J Tani

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4     162 - 167  2003年

     概要を見る

    In this paper we investigated interactive learning between human subjects and robot experimentally, and its essential characteristics are examined using the dynamical systems approach. Our research concentrated on the navigation system of a specially developed humanoid robot called Robovie and seven human subjects whose eyes were covered, making them dependent on the robot for directions. We compared the usual feed-forward neural network (FFNN) without recursive connections and the recurrent neural network (RNN). Although the performances obtained with both the RNN and the FFNN improved in the early stages of learning, as the subject changed the operation by learning on its own, all performances gradually became unstable and failed. Results of a questionnaire given to the subjects confirmed that the FFNN gives better mental impressions, especially from the aspect of operability. When the robot used a consolidation-learning algorithm using the rehearsal outputs of the RNN, the performance improved even when interactive learning continued for a long time. The questionnaire results then also confirmed that the subject mental impressions of the RNN improved significantly. The dynamical systems analysis of RNNs support these differences.

  • Robot Mind-Emotional Communication by the Autonomous Robot WAMOEBA-2R-

    S.SUGANO

    Commemorative International Symposium,Osaka Electro-Communication University    2002年11月

  • 身体性に基づいた環境・ロボット自身における新奇性検出

    野田邦昭, 鈴木基高, 尾形哲也, 菅野重樹

    第20回日本ロボット学会学術講演会   1C31  2002年10月

  • Generation of the joint attention in human-robot interaction and internal representation

    S.SUGANO

    IEEE Workshop on Sensory-motor Coordinaion in Human-Robot Interaction,Lausanne,Switzerland    2002年10月

  • 人間共存ロボットの觝触適応行動〜第11報:觝触認知構築手段の提案〜

    岩田浩康, 冨田邦嗣, 亀村隆史, 菅野重樹

    第20回日本ロボット学会学術講演会予稿集   3D33  2002年09月

  • Human Symbiotic Humanoid Robot with Whole-body Compliance

    H.IWATA, T.MORITA, S.SUGANO

    Proc. of CISM/IFToMM Int. Symposium RoManSy     537 - 548  2002年07月

  • 模倣を主体とした人間とロボットのコミュニケーション〜コミュニケーションにおける共同注意の役割〜

    大竹正海, 坂本義弘, 尾形哲也, 菅野重樹

    日本機会学会ロボティクスメカトロニクス講演会   1P1-K03  2002年06月

  • 分散エージェントを用いた全身強調による動作生成

    小宮孝章, 野田邦昭, 土屋尚文, 尾形哲也, 菅野重樹

    日本機会学会ロボティクスメカトロニクス講演会   2P1-D06  2002年06月

  • 人間共存ロボットの觝触適応行動〜第10報:触覚情報分析に基づく觝触状態識別システムの設計〜

    岩田浩康, 冨田邦嗣, 亀村隆史, 菅野重樹

    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   2A1-K11  2002年06月

  • 人間共存ロボットのための全身触覚インタフェース

    岩田浩康, 星野勇人, 森田寿郎, 菅野重樹

    日本ロボット学会誌   Vol.20 No.5   543 - 549  2002年06月

    DOI

  • Whole-body Covering Tactile Interface for Human Robot Coordination

    H.IWATA, S.SUGANO

    Proc. of IEEE Int. Conf. on Robotics and Automation   Vol.3   3818 - 3824  2002年05月

  • Human-Robot Symbiosis

    S.SUGANO

    IEEE Workshop on Human-Robot Interaction,WashingtonD.C,U.S.A    2002年05月

  • Humanoid robots in Waseda University - Hadaly-2 and WABIAN

    S Hashimoto, S Narita, H Kasahara, K Shirai, T Kobayashi, A Takanishi, S Sugano, J Yamaguchi, H Sawada, H Takanobu, K Shibuya, T Morita, T Kurata, N Onoe, K Ouchi, T Noguchi, Y Niwa, S Nagayama, H Tabayashi, Matsui, I, M Obata, H Matsuzaki, A Murasugi, T Kobayashi, S Haruyama, T Okada, Y Hidaki, Y Taguchi, K Hoashi, E Morikawa, Y Iwano, D Araki, J Suzuki, M Yokoyama, Dawa, I, D Nishino, S Inoue, T Hirano, E Soga, S Gen, T Yanada, K Kato, S Sakamoto, Y Ishii, S Matsuo, Y Yamamoto, K Sato, T Hagiwara, T Ueda, N Honda, K Hashimoto, T Hanamoto, S Kayaba, T Kojima, H Iwata, H Kubodera, R Matsuki, T Nakajima, K Nitto, D Yamamoto, Y Kamizaki, S Nagaike, Y Kunitake, S Morita

    AUTONOMOUS ROBOTS   12 ( 1 ) 25 - 38  2002年01月

     概要を見る

    This paper describes two humanoid robots developed in the Humanoid Robotics Institute, Waseda University. Hadaly-2 is intended to realize information interaction with humans by integrating environmental recognition with vision, conversation capability (voice recognition, voice synthesis), and gesture behaviors. It also possesses physical interaction functions for direct contact with humans and behaviors that are gentle and safe for humans. WABIAN is a robot with a complete human configuration that is capable of walking on two legs and carrying things as with humans. Furthermore, it has functions for information interactions suite for uses at home.

    DOI

  • 印象角と印象長を用いた音色と演奏法の関係の記述

    渋谷恒司, 浅田貴司, 菅野重樹

    ヒューマンインタフェース学会論文誌   3 ( 4 ) 269 - 277  2001年11月  [査読有り]

  • Influence of the Eye Motions in Human-Robot Communication and Motion Generation based on the Robot Body Structure

    T.OGATA, T.KOMIYA, K.NODA, S.SUGANO

    proc. of IEEE/RAS Int. Conf. on Humanoid Robots(Humanoids 2001)     83 - 89  2001年11月

  • 模倣を主体とした人間 -ロボットコミュニケーションに関する基礎実験-

    大竹正海, 山本大介, 尾形哲也, 菅野重樹

    第19回日本ロボット学会学術講演回講演論文集     109 - 110  2001年09月

  • 把持安定性向上のための指先と関節の柔軟構造設計

    森田寿郎, 林隆志, 須崎春樹, 岩田浩康, 蒋梁中, 菅野重樹

    第19回日本ロボット学会学術講演会講演論文集     411 - 412  2001年09月

  • 内分泌系モデルによる強化学習パラメータの動的調整

    尾形哲也, 松本典剛, 菅野重樹

    第19回日本ロボット学会学術講演会講演論文集     1239 - 1240  2001年09月

  • 人間共存ロボットの觝触適応行動〜第9報:触認知の人間模倣〜

    岩田浩康, 冨田邦嗣, 平塚和俊, 森田寿郎, 菅野重樹

    第19回日本ロボット学会学術講演会講演論文集     655 - 656  2001年09月

  • 人間共存ロボットの觝触適応行動〜第8報:作業性と人間追従性を両立する動作移行システム〜

    岩田浩康, 冨田邦嗣, 三浦岳大, 森田寿郎, 菅野重樹

    第19回日本ロボット学会学術講演会講演論文集     1265 - 1266  2001年09月

  • 格構造の解析に基づく環境モデリングと作業プランニング手法

    森田寿郎, 辻勝長, 足立義仁, 岩田浩康, 菅野重樹

    第19回日本ロボット学会学術講演会講演論文集     283 - 284  2001年09月

  • 人間共存ロボットの觝触適応行動〜第7報:作業拘束に応じた移行動作生成システム〜

    岩田浩康, 森田寿郎, 菅野重樹

    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   paper no.2A1-N8  2001年06月

  • 身体性に基づいた状態表現機能を持つロボットと人間とのコミュニケーション

    野田邦昭, 井田真高, 尾形哲也, 菅野重樹

    日本機会学会ロボティクス・メカトロニクス講演会講演論文集   paper no.1P1-D10(1)  2001年06月

  • 感性情報の動的変化に対応したモーションプランニングの実験と評価

    尾形哲也, 志村明俊, 渋谷恒司, 菅野重樹

    第6回ロボティクスシンポジア     402 - 407  2001年03月

  • Human-robot interaction - Waseda robots: Hadaly and WENDY -

    S Sugano, T Morita

    2001 INTERNATIONAL WORKSHOP ON BIO-ROBOTICS AND TELEOPERATION, PROCEEDINGS     21 - 27  2001年  [査読有り]

     概要を見る

    This study aims to develop human symbiotic robots, which have the abilities of carrying out physical, informational, and psychological interaction with human, and support daily work in human's living space. In this paper, mechanism design methodologies, specifications, and control strategies of humanoid type human-symbiotic-robot systems, Hadaly-2 and WENDY are described.
    In order to develop WENDY (Waseda ENgineering Designed sYmbiont), mobility and dexterity of the humanoid robot Hadaly-2, which was developed in 1997, were improved on. The performances of WENDY were evaluated by experiments of safety motion, object manipulation and egg breaking, which require high revel integration of whole body system for human-robot closely interaction.

  • 機械的3次元自重補償手法の提案

    森田寿郎, 栗原史好, 菅野重樹

    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講演論文集     356 - 366  2001年

  • 感性情報の動的変化に対応したモーションプランニングの実現と評価

    尾形哲也, 志村明俊, 渋谷恒司, 菅野重樹

    第6回ロボティクスシンポジア講演論文集     402 - 407  2001年

  • 印象格と印象長を用いた音色と演奏法の関係記述

    渋谷恒司, 浅田貴司, 菅野重樹

    ヒューマンインタフェース学会論文誌   Vol.3, No.4   55 - 63  2001年

  • Force detectable surface covers for humanoid robots

    H Iwata, H Hoshino, T Morita, S Sugano

    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II     1205 - 1210  2001年

     概要を見る

    In this paper, we herein describe force detectable surface covers for humanoid robots to realize naturally physical interaction with humans. The covers can detect various tactile and force information, such as accurate external force vector and contact positions, from a widely range of the robot body surface. First a basic surface cover structure composed of a force-torque sensor and several touch sensors is proposed. Next, we present a design method to implement such a cover structure onto dual arms of an actual humanoid robot. Finally, from basic experiments for verifying the characteristics of the proposed force-detectable surface cover systems, it was confirmed that high measurement accuracy of a contact position and force vector is accomplished. In addition, from an application experiment, where some humans actually occur physical interference with an actual humanoid robot overlaid with the covers, it was confirmed that the capability of the covers' sensing even several contacts on several parts of robots' body is effective for realizing high level human-robot symbiosis.

  • Motion generation of the autonomous robot based on body structure

    T Ogata, T Komiya, S Sugano

    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4     2338 - 2343  2001年

     概要を見る

    This study aims to investigate the intelligence which can make robots adapt to the human environment. This paper points out the problems of the behavior-based robot, and proposes the methods which can generate whole body motions based on body structure and integrates the reflection motions to make the behaviors continuous. The motion performances are compared in two kinds of environments, such as a dynamic environment and a static environment, by using a simulator of the autonomous robot WAMOEBA-2Ri, developed in this research. Finally, we show that the integration parameters of the proposal method reflect the body structure of the robot and environmental structures.

  • Development of a Whole-Sensitive Robot Arm Cover

    H.IWATA, S.SUGANO

    6th. IEEE Int.Conf.on Control,Automation,Robotics and Vision(ICARCV'2000)   paper no.376  2000年12月

  • 総予測 21世紀の技術革新 〜10.ロボット技術〜

    菅野重樹

    工業調査会     140 - 151  2000年11月

  • 把持安定性向上のための指先と関節の柔軟構造設計

    森田寿郎, 林隆志, 須崎春樹, 岩田浩康, 蒋 梁中, 菅野重樹

    第19回 日本ロボット学会学術講演会講演論文集     411 - 412  2000年09月

  • 人間共存ロボットの觝触適応行動(第5報:全身柔軟機能を有するロボットと人間の物理インタラクション)

    岩田浩康, 冨田邦嗣, 森田寿郎, 蒋 梁中, 菅野重樹

    第18回日本ロボット学界学術講演会予稿集   Vol.1   593 - 594  2000年09月

  • 人間共存ロボットの觝触適応行動(第6報:作業性と安全性を両立可能な抵触適応動作制御)

    岩田浩康, 星野勇人, 森田寿郎, 蒋 梁中, 菅野重樹

    第18回日本ロボット学会学術講演会予稿集   Vol.1   461 - 462  2000年09月

  • 人間と自律ロボットのコミュニケーションに関する実験的考察〜システム設計と心理評価の異母集団比較

    尾形哲也, 松山佳彦, 小宮孝章, 井田真高, 野田邦昭, 菅野重樹

    第18回日本ロボット学会学術講演会     479 - 480  2000年09月

  • 格構造の解析に基づく環境モデリングと作業プランニング手法

    森田寿郎, 辻勝長, 足立義仁, 岩田浩康, 菅野重樹

    第19回 日本ロボット学会学術講演会講演論文集     283 - 284  2000年09月

  • Human Robot Physical Interaction Utilizing Force Detectable Tactile Covers

    I.IWATA, H.HOSHINO, T.MORITA, S.SUGANO

    Proc. IEEE/RAS Int. Conf. on Humanoid Robots (Humanoids 2000)   Paper no.87  2000年09月

  • Emotional Communivation Robot:WAMOEBA-2R -Emotin Model and Evaluation Experiments-

    T.OGATA, S.SUGANO

    Proc. of IEEE/RAS Int. Conf. on Humanoid Robots(Humanoids 2000)   paper no.93  2000年09月

  • Emotional communication between humans and the autonomous robot WAMOEBA-2 (Waseda amoeba) which has the emotion model

    T Ogata, S Sugano

    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING   43 ( 3 ) 568 - 574  2000年09月

     概要を見る

    In this paper, we discuss the communication between autonomous robots and humans through the development of a robot which has an emotion model. The model depicts the endocrine system of humans and has four kinds of hormone parameters to adjust Various internal conditions such as motor output, cooling fan output and sensor gain. We surveyed 126 visitors at the '97 International Robot Exhibition held in Tokyo, Japan (Oct. 1997) to evaluate their psychological impressions of the robot. As a result, the human friendliness of the robot was confirmed and some factors of human-robot emotional communication were discovered.

    DOI

  • 身体性に基づくロボットと人間とのコミュニケーション

    尾形哲也, 菅野重樹

    bit別冊「身体性とコンピュータ」,岡田美智男,三嶋博之,佐々木正人編,共立出版     195 - 207  2000年08月

  • The adaptive motion by the endocrinesystem model in an autonomous robot

    T.OGATA, S.SUGANO

    International Symposium on Adaptive Motion of Animals and Machines   paper no. E30  2000年08月

  • Coordinated motion planning for a mobile manipulator considering stability and manipulation

    Q Huang, K Tanie, S Sugano

    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH   19 ( 8 ) 732 - 742  2000年08月

     概要を見る

    For a mobile manipulator to be used in areas such as offices and houses, it is desirable that the mobile platform be small sized In the case of a small-sized platform, the mobile manipulator may tip over when moving at high speed or executing task in the presence of disturbances. Therefore, it is necessary to simultaneously consider both stabilization and manipulation while coordinating vehicle motion and manipulator motion. In this paper we first present the concept of the valid stable region to evaluate stability in the presence of disturbances. Next, we propose a method for coordinating vehicle motion planning including manipulator configuration, and manipulator motion planning including platform stability. Then, the optimal problem of vehicle motion is formulated, taking into account vehicle dynamics, manipulator workspace, and system stability. Also, the manipulator motion is derived, considering stability compensation and manipulator configuration. Finally, the effectiveness of the proposed method is demonstrated by simulation examples.

    DOI

  • Design Strategies of Human Symbiotic Robot WENDY

    T.MORITA, H.IWATA, S.SUGANO

    Journal of Robotics and Mechatronics   Vol.12, No.3   224 - 230  2000年07月

  • 心理実験によるバイオリン演奏における音色表現語とボーイング・パラメータの関連付け

    渋谷恒司, 菅野重樹

    バイオメカニズム15   15   153 - 164  2000年06月  [査読有り]

    DOI

  • 動作・生体情報に基づく旋盤作業中の人間の状態識別

    早川泰久, 菅野重樹

    精密工学会誌   Vol.66, No.5   796  2000年05月

  • 人間共存ロボットの觝触適応行動(第4報:双腕・体幹を用いた觝触追従動作生成法)

    岩田浩康, 森田寿郎, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会 2000講演論文集   2P2-79-103  2000年05月

  • 自律ロボットWAMOEBA-2Rの開発〜アームシステムの搭載と心理実験

    尾形哲也, 松山佳彦, 小宮孝章, 井田真高, 野田邦昭, 菅野重樹

    日本機械学会ロボティクスメカトロニクス講演会   1A1-80-114  2000年05月

  • Human Symbioric Robot Design based on Division and Unification of Function Requirements

    T.MORITA, H.IWATA, S.SUGANO

    Proc. of IEEE Int.Conf.on Robotics and Automation(ICRA'2000)     2229 - 2234  2000年04月

  • An Assembling Support System based on a Human Model -Provision of Physical Support According to Implicit Desire for Support-

    Y.HAYAKAWA, I.KITAGISHI, Y.KIRA, K.SATAKE, T.OGATA, S.SUGANO

    Journal of Robotics and Mechatronics   Vol.12, No.2   118 - 125  2000年04月

  • A Robotic Co-operation System based on a Self-organization approaced Human Work Model

    Y.HAYAKAWA, T.OGATA, S.SUGANO

    Proc. ofIEEE Int. Conf. on Robotics and Automation(ICRA'2000)     4058 - 4063  2000年04月

  • 未知作業支援に適応可能な作業状態モデル生成手法に関する研究

    早川泰久, 佐竹賢亮, 内田信宏, 尾形哲也, 菅野重樹

    第5回ロボティクスシンポジア    2000年03月

  • 人間共存ロボットの觝触適応行動〜第3報:双腕・体幹適応のための双腕觝触検出機構〜

    岩田浩康, 星野勇人, 森田寿郎, 菅野重樹

    第5回ロボティクスシンポジア予稿集     254 - 259  2000年03月

  • 人間との接触検出・安全制御のための人間形ロボット双腕カバー

    岩田浩康, 星野勇人, 森田寿郎, 菅野重樹

    2000年度精密工学会春季大会学術講演会講演論文集     496  2000年03月

  • Violin playing algorithm considering the change of phrase impression

    Tetsuya Ogata, Akitoshi Shimura, Koji Shibuya, Shigeki Sugano

    Proceedings of the IEEE International Conference on Systems, Man and Cybernetics   2   1342 - 1347  2000年

     概要を見る

    This study focused on the dynamics of KANSEI information and aims to propose the algorithm of motion planning using KANSEI. Concretely, the violin playing is regarded as the target motion which will be greatly influenced by KANSEI. This study introduced the multi-agent algorithm in which four physical bowing parameters are agents to adapt the impression transition smoothly maintaining the relationships between the parameters. We realized the violin performance suiting for the timbre words by introducing the proposed agent algorithm into the bowing machine developed in this research. As a result of the experiments, it was confirmed that there were various playing performances according to a single impression transition.

  • Robotic co-operation system based on a self-organization approached human work model

    Yasuhisa Hayakawa, Tetsuya Ogata, Shigeki Sugano

    Proceedings - IEEE International Conference on Robotics and Automation   4   4057 - 4062  2000年

     概要を見る

    This study presents a method of human co-operating systems, which can determine when support behavior is necessary by a human work model. We focus on assembly work as the target and propose a self-organizing approach of human work models by sampled human information by vision sensors. The support is determined according to the work model. Such a system would realize provision of support without a strict model of the assembly target and enable support in cases where neither the assembly process, nor the final form of the completed task, is known to the system in advance. First, a method of measuring human information and extracting states where support is necessary, from the human work model is presented. Next, a support system for assembly work co-operation according to the work model, with physical interaction capabilities is described. Experiments were carried out to evaluate and verify the effectiveness of the system. The results show that the constructed assembly support system is effective in both improving performance and increasing friendliness.

  • 力触覚ベーストビヘイビア-表皮センサの開発-

    岩田浩康, 森田寿郎, 菅野重樹

    第1回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論文集     219 - 220  2000年

  • 人間とロボットの情緒的コミュニケーションの実験的評価〜アーム・ハンドによる人間との物理的インタラクション〜

    尾形哲也, 菅野重樹

    システム制御情報学会論文誌   Vol.13 No.12   566 - 574  2000年

    DOI

  • 情動表現生成のためのロボット構造とシステムの統合

    尾形哲也, 菅野重樹

    第1回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論文集     35 - 36  2000年

  • 情緒交流と自律的行動生成のためのロボットの構造

    尾形哲也, 菅野重樹

    第6回IFToMM会議シンポジウム     14 - 17  2000年

  • 指先圧力調節による人間共存ロボット用ハンドアイシステムの把持機能向上

    森田寿郎, 須崎春樹, 児嶋環, 菅野重樹

    第1回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論文集     37 - 38  2000年

  • フレーズの印象変化を考慮したバイオリン演奏アルゴリズムの構築

    尾形哲也, 志村明俊, 宇野格, 渋谷恒司, 菅野重樹

    第21回バイオメカニズム学会学術講演会     173 - 176  2000年

  • Acquisition of internal representation in robots - toward human-robot communication using primitive language

    T Ogata, Y Matsuyama, S Sugano

    ADVANCED ROBOTICS   14 ( 4 ) 277 - 291  2000年

     概要を見る

    This research aims to clarify behavior intelligence and human cooperation intelligence of robots by emotion models which are based on the robot's hardware structure. In this paper, a human's mental image (internal expression) is given consideration as a method for emotional expression of robots. The hypothesis model for the acquisition of the internal expression of robots and experimental results using a real autonomous robot are described.

    DOI

  • 人間機械系におけるリズムに基づく操作支援

    早川泰久, 大山陽揚, 菅野重樹

    日本機械学会誌   66 ( 642 ) 573 - 578  2000年

    DOI

  • Development of arm system for human-robot emotional communication

    T Ogata, T Komiya, S Sugano

    IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4     475 - 480  2000年

     概要を見る

    This study aims to clarify the cooperation intelligence of robots with the emotion model referring to the human biological system. This paper describes the functions of the arm system of the behavior-based robot, WAMOEBA-2, which has an emotion model arid can communicate with humans. The specifications of the arm system were determined based on the study of the human robot physical interaction. Each joint of the at-in is equipped with a torque sensor; and the arm is controlled by a distributed agent network system. The network architecture is acquired in a neural network by the feedback-error-learning algorithm. In the experiment, human beings can play with the arm system by physical interaction.

    DOI

  • A violin playing algorithm considering the change of phrase impression

    T Ogata, A Shimura, K Shibuya, S Sugano

    SMC 2000 CONFERENCE PROCEEDINGS: 2000 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOL 1-5     1342 - 1347  2000年

     概要を見る

    This study focused on the dynamics of KANSEI information and aims to propose the algorithm of motion planning using KANSEI Concretely: the violin playing is regarded as the target motion which will be greatly influenced by KANSEI. This study introduced the multi-agent algorithm in which four physical bowing parameters are agents to adapt the impression transition smoothly maintaining the relationships between the parameters. Ire realized the violin performance suiting for the timbre words by introducing the proposed agent algorithm into the bowing machine developed in this research. As a result of the experiments, it was confirmed that there were various playing performances according to a single impression transition.

  • Human-humanoid physical interaction realizing force following and task fulfillment

    H Iwata, H Hoshino, T Morita, S Sugano

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   Vol.1   522 - 527  2000年

     概要を見る

    In this paper. Ire herein describe the control methods used for a humanoid's compliant behavior following human force and motions while fulfilling given tasks under various constraint conditions during physical Interference (PIF) with a human. PIF is a form of physical interaction viewed from the robots point of view.
    in cases of PIF occurrence, PIF Adapting Behaviors for attenuating physical influences caused by PIF on both a human body and a robots' task are required First a base control method for compliantly following PIF by coordinating multiple joints of the arms and trunk is presented By utilizing this method PIF force produced on several areas of the robot's entire body is efficiently reduced Next, the control methods for fulfilling git en tasks, as well as following PIF at the same time, are proposed rn these methods, the idea is incorporated that if the utilization of redundancy is needed for task fulfillment or constraint conditions and attributes of the given task are changed, the role of each joint needs to change as well. Adapting to the diversity of task attributes and also the necessity of utilizing redundancy, the proposed control methods enable the robots to realize both force following and task fulfillment at the same time. Finally from the evaluation of the experiments, it vas confirmed that the proposed methods realize a humanoid's capability of compliantly adapting to human motions while fulfilling tasks by efficiently utilizing redundancy.

  • Development of emotional communication robot: WAMOEBA-2R - Experimental evaluation of the emotional communication between robots and humans

    T Ogata, Y Matsuyama, T Komiya, M Ida, K Noda, S Sugano

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   Vol.1   175 - 180  2000年

     概要を見る

    This study aims to clarify the cooperation intelligence of robots. This paper describes the autonomous robot named WAMOEBA-2R which can communicate with humans by both an informational and physical way. WAMOEBA-2R has two arms of which each joint has a torque sensor to realize the physical interaction with humans, the function of the voice recognition and the face recognition. The arms are controlled by a distributed agent network system. The network architecture is acquired in a neural network by the feedback-error-learning algorithm. We surveyed 150 visitors at the '99 International Robot Exhibition held in Tokyo (Oct. 1999) to evaluate their psychological impressions of WAMOEBA-2R. As the result, some factors of the human-robot emotional communication were discovered.

  • The Relationship Between Bowing Parameters and Timbre of Single and "A" Major Scale Sounds in Violin Playing

    Koji Shibuya, Shigeki Sugano

    The Second International Symposium on HUmanoid RObots (HURO'99, Tokyo, Japan)     86 - 91  1999年10月

  • The Relationship between KANSEI and Bowing Parameters in the Scale Playing on the Violin

    Koji Shibuya, Takaharu Koyama, Shigeki Sugano

    1999 IEEE International Conference on Systems Man and Cybernetics (SMC'99, Tokyo, Japan)   IV   305 - 310  1999年10月  [査読有り]

  • 組立作業支援を目的としたシンセシスモデル構築に関する研究—組立動作情報を基にした時系列NNによる構造化

    精密工学会春季学術講演会論文集   PP534  1999年03月

  • 人間のリズム特性に基づく親和性向上のための工作機械特性の適応制御

    早川泰久, 清水敏男, 藤本光雄, 菅野重樹

    2000年度精密工科学会春季学術講演回論文集    1999年03月

  • 指先−物体間の接触状態を調節可能なロボット指の機構設計

    森田寿郎, 児嶋環, 橋本和幸, 蒋梁中, 菅野重樹

    第4回ロボティクス・シンポジア   PP121-124   121 - 124  1999年03月

  • 作業者の精神的負担による工作機械特性の自動調節

    精密工学会春季学術講演会論文集   PP619  1999年03月

  • 工作作業スキル要素の抽出とその支援に関する研究

    精密工学会春季学術講演会論文集   PP618  1999年03月

  • ロボットと人間の情緒交流—ロボットにおける前言語発生の考察

    尾形哲也, 松山佳彦, 菅野重樹

    第4回ロボティクス・シンポジア   PP44-49   44 - 49  1999年03月

  • Emotional Communication between Humans and the Autonomous Robot WAMOEBA-2 (Waseda Amoeba) which has the Emotion Model

    Tetsuya Ogata, Shigeki Sugano

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   65 ( 633 ) 1900 - 1906  1999年

     概要を見る

    This study discusses the communication between autonomous robots and humans through the development of a robot which has an emotion model. The model refers to the internal secretion system of humans and it has four kinds of the hormone parameters to use to adjust various internal conditions such as motor output, cooling fan output and sensor gain. We surveyed 126 visitors at ’97 International Robot Exhibition held in Tokyo (Oct. 1997) in order to exaluate psychological impressions of the robot. As the result, the human friendliness of the robot was confirmed and some factors concerning with the human-robot emotional communication were discovered. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.

    DOI

  • Stability compensation of a mobile manipulator by manipulator motion: feasibility and planning

    Q Huang, K Tanie, S Sugano

    ADVANCED ROBOTICS   13 ( 1 ) 25 - 40  1999年  [査読有り]

     概要を見る

    In order for a mobile manipulator to move stably (without overturning) and execute end-effector tasks simultaneously, a manipulator with redundancy is effective. Using this redundancy, it is possible to perform tasks at an expected manipulator configuration when the robot is stable and compensate system stability when the robot is unstable. However, the ability to compensate stability by this manipulator motion is limited. Thus, in order to ensure the feasibility of stability compensation, the task plan or vehicle motion must be within this ability. In this paper, first the concept of the stability compensation range by static posture change is proposed. Then, within the stability compensation range, the compensation motion of a redundant manipulator considering an expected manipulator configuration and the system stability is derived, given the end-effector trajectory and the vehicle motion. Finally, the effectiveness of this method is illustrated by simulation examples.

  • 内分泌系モデルを組込んだロボットハードウェア

    尾形哲也, 菅野重樹

    バイオメカニズム学会誌   Vol.23,No2   106 - 111  1999年

    DOI

  • 人間型ロボットハンドの義手への応用可能性

    森田寿郎, 児嶋環, 岩田浩康, 蒋梁中, 菅野重樹

    第20回バイオメカニズム学会学術講演会   CD-ROM(1C21)  1999年

  • 人間共存ロボットの觝触適応行動〜第2報:動作・感覚情報に基づく觝触状況判別〜

    岩田浩康, 星野勇人, 森田寿郎, 蒋梁中, 菅野重樹

    第17回日本ロボット学会学術講演会   Vol.3   1177 - 1178  1999年

  • 人間共存ロボットの觝触適応行動〜第1報:腕部表皮カバーと基本的觝触適応動作〜

    岩田浩康, 森田寿郎, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会’99   CD-ROM,2P1-78-105  1999年

  • 人間とロボットの物理的コミュニケーション−アームシステムの開発と分散エージェントによる行動獲得−

    尾形哲也, 小宮孝章, 菅野重樹

    第17回日本ロボット学会学術講演会     423 - 424  1999年

  • 人間−ロボット協調作業時の衝突発生状況の分析−事故鑑定工学と動作分析の導入−

    森田寿郎, 岩田浩康, 菅野重樹

    第17回日本ロボット学会学術講演会   Vol.2   725 - 726  1999年

  • 情動モデルを有する自律ロボットWAMOEBA−2と人間との情緒交流

    尾形哲也, 菅野重樹

    日本機械学会論文誌C編   Vol.65,No.633 ( 1900 ) 1906  1999年

    DOI

  • 情緒交流ロボットWamoeba-2のアームハンド機構の開発〜分散エージェントによる動作再生〜

    尾形哲也, 日塔潔, 小宮孝章, 松本典剛, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会   2P2-79-103  1999年

  • 指先柔軟性・関節連動性を備えたロボットハンドの開発

    菅野重樹, 森田寿郎, 児嶋環, 岩田浩康, 蒋梁中

    第17回日本ロボット学会学術講演会   Vol.3   939 - 940  1999年

  • 指先圧力調節可能なロボットハンド機構の設計と開発

    森田寿郎, 児嶋環, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会’99   CD-ROM,1P1-50-079  1999年

  • メカニカルソフトネスとコンプライアンス調節

    森田寿郎, 菅野重樹

    日本ロボット学会誌   Vol.17,No6   790 - 794  1999年

    DOI

  • Robot Arm Surface Covers for Physical Interference Adapting Motion

    H.IWATA, H.HOSHINO, Y.ADACHI, S.SUGANO

    CD−ROM IEEE/ASME Int. Conf.on Advanced Intelligent Mechatronics(AIM'99)     671 - 676  1999年

  • Total Design of Body Mechanism for Realizing Human-Robot Symbiosis

    T.MORITA, H.IWATA, S.SUGANO

    2nd Int. Symposium on HUmanoid RObots(HURO'99)     181 - 186  1999年

  • A technology map for standardizing safety measurements of human symbiotic robots

    T Morita, S Sugano

    ADVANCED ROBOTICS   13 ( 3 ) 307 - 308  1999年

  • Human Robot Communication by Physical Interaction-Distributed Agent Control System and The Learning Algorithm-

    T.OGATA, T.KOMIYA, S.SUGANO

    Proc. of IEEE Int. Conf. on Systems, Man, and Cybernetics (SMC'99)     1005 - 1010  1999年

  • Emotional communication between humans and the autonomous robot which has the emotion model

    T Ogata, S Sugano

    ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS     3177 - 3182  1999年

     概要を見る

    This study discusses the communication between autonomous robots and humans through the development of a robot which has art emotion model. The model refers to the internal secretion system of humans a,ld it has four kinds of the hormone parameters to use to adjust various internal conditions such as motor output, cooling fan output and sensor gain. We surveyed 126 visitors at '97 International Robot Exhibition held in Tokyo, Japan (Oct. 1997) in order to evaluate psychological impressions of the robot. As a result, the human friendliness of the robot was confirmed and some factors of the human-robot emotional communication were discovered.

  • Emotional Communication Between Humans and Robots-Consideration of Primitive Language in Robots-

    T.OGATA, S.SUGANO

    Proc. of IEEE/RSJ Int. Conf. on Intellegent Robots and Systems(IROS'99)     870 - 875  1999年

    DOI

  • Development of Human Symbiotic Robot:WENDY

    T.MORITA, H.IWATA, S.SUGANO

    Proc. of IEEE Int. Conf. on Robotics and Automation(ICRA'99)   Vol..3   3183 - 3188  1999年

  • A Physical Interference Adapting Hardware System Using MIA Arm and Humanoid Surface Covers

    H.IWATA, H.HOSHINO, T.MORITA, S.SUGANO

    Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems(IROS'99)   Vol.2   1216 - 1221  1999年

  • A Mechanism Design and Control Strategy of Human Symbiotic Robot

    T.MORITA, H.IWATA, S.SUGANO

    Proc. of IEEE 2nd Int.Conf.on Recent Advances in Mechatronics(ICRAM'99)     94 - 99  1999年

  • 早稲田大学におけるヒュ—マノイド研究

    第4回JSMEロボメカ・シンポジア   PP34-37  1999年01月

  • 安定性と作業性を両立させた移動型マニピュレータの協調運動計画

    計測自動制御学会論文集   35;1, PP97-104  1999年01月

    DOI

  • 人間共存ヒューマノイド

    人工知能ロボットフェア'98    1998年12月

  • 人間のシンセシス活動の抽出とモデル化—人間機械協調システムを用いた一考察

    日本学術振興会未来開拓事業人間指向シンセシスの科学早稲田慶応成果報告会(第2回)講演論文集   PP70-73  1998年12月

  • 組立作業支援システムの構造—人間指向シンセシスの解釈

    日本機械学会設計工学・システム部門講演会   PP169-170  1998年11月

  • 人間の進化形

    ロボット(日本ロボット工業会機関誌)   125, PP59-60  1998年11月

  • 上肢と下肢の協調運動分析とロボットへの応用

    バイオメカニズム14   PP249-260  1998年11月

    DOI

  • ロボットにおけるホルモン系モデルとその影響—身体制御と環境適応

    第19回バイオメカニズム学術講演会   PP71-72  1998年11月

  • バイオリン演奏における感性と運動−音色表現語・運動パラメータ変換アルゴリズム

    第19回バイオメカニズム学術講演会   PP163-164  1998年11月

  • 情緒コミュニケーションに必要な機能と形態

    日本機械学会第76期全国大会講演資料集   PP284-285  1998年10月

  • 機械インピーダンスを調節可能な力制御ロボットアームの開発

    日本ロボット学会誌   16; 7, PP1001-1006  1998年10月

    DOI

  • Mechanisums of Internal Secretion System for Intellectual Robots -Towards an Emergence of Emotion in Robots

    IEEE International Workshop on Robot and Human Communication   PP50-55  1998年10月

  • Humanoid Robots in Waseda University -Hadaly-2 and WABIAN−

    IARP First International Workshop on Humanoid and Human Friendly Robotics   I-2; PP1-10  1998年10月

  • Extraction of Human Factors for Designing Human-Machine Co-operating Systems

    7th IEEE International Workshop on Robot And Human Communication   PP377-382  1998年10月

  • Emergence of Primitive Verbal Communication in Robots

    5th International Conference on Soft Computing and Information / Intelligent Systems   PP284-287  1998年10月

  • Design of Humanoid Surface Sensor for Tactile Interference with Human

    IEEE International Workshop on Robot and Human Communication   PP549-554  1998年10月

  • 頭部・手部の作業三角形パターン抽出による組立作業支援ロボットシステム

    第16回日本ロボット学会学術講演会   PP21-22  1998年09月

  • 接触面積調節可能な指先形状を備えた多指ロボットハンドの開発

    第16回日本ロボット学会学術講演会   PP1437-1438  1998年09月

  • 人間共存ロボットの対人安全技術のマッピング

    第16回日本ロボット学会学術講演会   PP955-956  1998年09月

  • 人間・ロボット觝触適応制御のための表皮カバーの設計

    第16回日本ロボット学会学術講演会   PP961-962  1998年09月

  • 基準化生理指標導入による精神的負担の簡易計測とインタフェースへの応用

    第14回ヒューマン・インタフェース・シンポジウム論文集   PP107-110  1998年09月

  • 音色表現による感性情報を用いたバイオリン演奏ロボットのプラニング

    第16回日本ロボット学会学術講演会   PP1373-1374  1998年09月

  • 移動型マニピュレータの安定性と作業性を考慮したマニピュレータの運動計画

    第16回日本ロボット学会学術講演会   PP491-492  1998年09月

  • ロボットの前言語的表現とコミュニケーション

    第16回日本ロボット学会学術講演会   PP645-646  1998年09月

  • ロボットにおける感覚行動マップと行動計画への展開

    第16回日本ロボット学会学術講演会   PP429-430  1998年09月

  • 運動決定過程における感性の影響−ボーイングパラメータ決定アルゴリズムの構築とその実システムへの適用

    第37回計測自動制御学会学術講演会   PP477-478  1998年07月

  • Stability Compensation Range of Manipulator Motion for a Mobile Manipulator

    Symposium on Image, Speech, Signal Processing and Robotics   Vol.1, PP369-374  1998年07月

  • Influences of Operaton Torque Changes on Human during Lathe Operation Manufacturing Agility and Hybrid Automation-II

    Manufacturing Agility and Hybrid Automation-II   PP513-516  1998年07月

  • A Manipulator Design Method for Human-Robot Symbiosis

    Twelfth CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators   ROMANSY12, PP237-244  1998年07月

  • 人間共存ロボットWENDYの頭部・腰部・移動部の開発

    日本機械学会ロボティクスメカトロニクス講演会   CD-ROM (1BI2-5)  1998年06月

  • 移動型マニピュレータの安定性と作業性を考慮したマニピュレータの運動計画

    工業技術院機械技術研究所発表会   PP10  1998年06月

  • ロボットの身体性に基づく感情モデルと内部表象獲得モデル

    日本機械学会ロボティクスメカトロニクス講演会   PaperNo. 2CII4-3  1998年06月

  • ロボットの自律系モデルによる情緒表現と評価実験

    日本機械学会ロボティクスメカトロニクス講演会   PaperNo. 2BII1-6  1998年06月

  • ヒューマノイドロボットによるジェスチャー表現−文脈情報を利用したジェスチャー動作のプラニング

    日本機械学会ロボティクスメカトロニクス講演会   CD-ROM  1998年06月

  • 人間共存ロボットWENDYの身体システム構成

    第3回ロボティクスシンポジア   PP113-118  1998年05月

  • 感性情報を用いたバイオリン奏法プラニング—音色表現語の拡張と奏法決定アルゴリズムの構築

    日本人間工学会第39回大会(人間工学 第34巻 特別号)   PP318-319  1998年05月

    DOI

  • ロボットと人間の情緒交流—自律系モデルの効果と試行実験

    第3回ロボティクス・シンポジア   PP41-46  1998年05月

  • Acquisition of Holophrastic Speech in Autonomous Robots-Toward the Emergence of Verbal Communication in Robots

    Toward a Science of Consciousness "Tucson III   PaperNo.250  1998年04月

  • 組立作業分析に基づく人間協調組立システムの設計

    1998年度精密工学会春季学術講演会/精密工学会   p.40  1998年03月

  • 組立作業における頭部・手部の相対位置に基づく人間の意図理解

    1998年度精密工学会春季学術講演会   p.41  1998年03月

  • 旋盤におけるハンドル操作力制御が作業者に与える影響

    1998年度精密工学会春季学術講演会/精密工学会   p.651  1998年03月

  • 人間共存ロボット「Hadaly-2」を解剖−人間とのコミュニケーションにどう挑むか?

    エレクトロニクス/オーム社   pp.27-30  1998年03月

  • 作業中の精神的負担の実時間簡易計測

    1998年度精密工学会春季学術講演会/精密工学会   p.592  1998年03月

  • ヒューマノイドを目指して

    化学工学/化学工学会   62;3,pp.124-126  1998年03月

  • 人間共存ロボットを求めて

    自動化推進/自動化推進協会   27;1,pp.8-12  1998年02月

  • 人間共存ロボットマニピュレータの衝突安全設計と制御

    日本ロボット学会誌/日本ロボット学会   16;1,pp.102-109  1998年01月

    DOI

  • 行動型自律ロボットWAMOEBA-2と人間との情緒的インタラクション実験

    第3回重点領域研究「知能ロボット」シンポジウム   pp.149-152  1998年01月

  • Motion planning for a mobile manipulator considering stability and task constraints

    Q Huang, S Sugano, K Tanie

    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4   PP2192-2198   2192 - 2198  1998年

     概要を見る

    In order for a mobile manipulator to be used in areas such as offices and houses, the mobile platform must be small-sized. In the case of a small-sized platform, the mobile manipulator may fall down when moving at high speed, or executing tasks in the presence of disturbances. Therefore, it is necessary to consider both stabilization and manipulation simultaneously while coordinating vehicle motion and manipulator motion. In this paper, we propose a method for coordinating vehicle motion planning considering manipulator task constraints, and manipulator motion planning considering platform stability. Specifically, first, the optimal problem of vehicle motion is formulated considering vehicle dynamics, manipulator workspace and system stability. Next, the manipulator motion is derived, considering stability compensation and manipulator configuration. Finally, the effectiveness of this method is demonstrated by simulation.

  • Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2

    T Morita, K Shibuya, S Sugano

    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4   PP1315-1320   1315 - 1320  1998年

     概要を見る

    The objective of this study is to investigate design and control strategies for realizing human-robot symbiosis, and to develop a human symbiotic humanoid robot, Hadaly-2, which can communicate and collaborate with human. In this paper, mechanism design methodologies, specifications, and control strategies of a mobile manipulation system of the Hadaly-2 will be described.
    First, mechanism design concepts of the manipulation system for the human symbiotic robot are proposed. Next, two force controlled anthropomorphic manipulators (WAM-10R, and L) and a body-vehicle mechanism are developed in consideration of the design concepts.
    Then, the communication and collaboration abilities of Hadaly-2 are evaluated by means of several behaviors, such as gesture motion, shaking hands with human, and block carrying tasks. From the results of evaluation experiments, it is confirmed that the Hadaly-2 can realize efficient interaction and collaboration with human.

  • Real-time simple measurement of mental strain in machine operation

    Y Hayakawa, S Sugano

    1998 JAPAN-U.S.A. SYMPOSIUM ON FLEXIBLE AUTOMATION - PROCEEDINGS, VOLS I AND II   PP35-42   35 - 42  1998年

     概要を見る

    In human adaptive machinery, mental workload is one of the most important factors of human the machine needs to identify. This paper proposes a real-time identifying method of mental strain based on easy to measure indexes. :First, a mental arithmetic test, which can apply different levels of mental strain on the subjects, was used to measure the relationships between mental strain and biological indexes. An algorithm capable of identifying mental strain in realtime based on normalized scores was developed. In order to examine the validity of the algorithm, the recorded data sampled during the arithmetic tests were used. The mental strain identified by the algorithm had better estimations against values identified by multiple regression analysis. Furthermore, data sampled during lathe operation were put thorough the real-time mental-strain identifying algorithm. From the results, it was confirmed that the real-time mental strain identifying algorithm is capable of identifying attitudes of mental strain in machine operation.

  • Human intention based physical support robot system in assembling work - Extraction of behaviour support trigger from "Work triangle"

    Y Hayakawa, Kitagishi, I, S Sugano

    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3   PP930-935   930 - 935  1998年

     概要を見る

    In order to realise human co-operative machinery, the machine's ability of understanding human intention becomes an important issue. This paper proposes a method of extracting human intention from the shape of Work Triangle, which consists of head and hands of the human. A system, which samples the Work Triangle during assembly work by vision sensors, was constructed With the system the patterns of the Work Triangle of different skilled subjects were sampled. A kohonen neural network was used for categorising the patterns of the Work Triangle. The categorised patterns between skilled and unskilled subjects were examined. The patterns, which only appear in unskilled subjects, were extracted as states of "Needing support". A physical support prototype system, which carries out: supports by the "Needing support" state, was constructed.

  • Communication between behavior-based robots with emotion model and humans

    T Ogata, S Sugano

    1998 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5   PP1095-1100   1095 - 1100  1998年

     概要を見る

    This study discusses the communication between autonomous robots and humans through the development of a robot which has an emotion model. The model refers to the internal secretion system of humans and it has four kinds of the hormone parameters to use to adjust various internal conditions such as motor output, cooling fan output and sensor gain. We surveyed 126 visitors at '97 International Robot Exhibition held in Tokyo, Japan (Oct. 1997) in order to evaluate psychological impressions of the robot. As a result, the human friendliness of the robot was confirmed and some factors of the human-robot emotional communication were discovered.

  • An algorithm to convert KANSEI data into human motion

    K Shibuya, T Asada, S Sugano

    1998 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5   PP1190-1194   1190 - 1194  1998年

     概要を見る

    The goal of this study is to clarify the effects of human KANSEI an human motion. The bowing in violin playing was selected as an example. The relationship between the timbre terms that are KANSEI data and the bowing parameters that are motion parameters were analyzed via factor analysis. An algorithm to convert timbre terms into bowing parameters was constructed by using the results from factor analysis, and violin sounds were produced by using this algorithm.

  • ヒューマノイド−人間形高度情報処理ロボット−

    情報処理/情報処理学会   38;11,pp.959-969  1997年11月

  • 非言語情報のための人間形ロボット

    日本ロボット学会誌/日本ロボット学会   15;7,pp.975-978  1997年10月

    DOI

  • 生体情報を基にした工作作業中のリアルタイム個人状態識別

    第13回ヒューマン・インタフェース・シンポジウム/計測自動制御学会   pp.173-176  1997年10月

  • Yasuhisa Hayakawa Shigeki Sugano, Real-time Identification of Personal Information in Machine Tool Operation

    CIRP 1997 INTERNATIONAL DESIGN SEMINAR PROCEEDINGS   pp.276-281  1997年10月

  • 人間共存ロボットHadaly-2の動作生成手法

    第15回日本ロボット学会学術講演会/日本ロボット学会   pp.407-408  1997年09月

  • 人間共存ヒューマノイド:Hadaly-2

    第15回日本ロボット学会学術講演会/日本ロボット学会   pp.761-762  1997年09月

  • 人間共存ヒューマノイドHadaly-2の指と腕によるジェスチャー表現

    第15回日本ロボット学会学術講演会/日本ロボット学会   pp.381-382  1997年09月

  • 自律ロボットの人間との対話表現の獲得

    第15回日本ロボット学会学術講演会/日本ロボット学会   pp.397-398  1997年09月

  • 異種ロボット間のインタラクション試行実験

    第15回日本ロボット学会学術講演会/日本ロボット学会   pp.833-834  1997年09月

  • 安定性と作業性を両立させた移動型マニピュレータの協調運動計画

    第15回日本ロボット学会学術講演会/日本ロボット学会   pp.319-320  1997年09月

  • ロボットにおける自律的情動反応の生成

    第15回日本ロボット学会学術講演会/日本ロボット学会   pp.385-386  1997年09月

  • インターネットにおける物理メディアとしてのロボットシステム

    第15回日本ロボット学会学術講演会/日本ロボット学会   pp.823-824  1997年09月

  • 人間共存型ヒューマノイドHadaly-2の開発—運動系の構築および人間との共同作業—

    第2回ロボティクスシンポジア/日本機械学会   pp.127-132  1997年08月

  • 上肢と下肢の協調運動分析とロボットへの応用

    第15回バイオメカニズムシンポジウム/バイオメカニズム学会   pp.321-332  1997年08月

  • Emergence of emotional expression of robots based on the internal secretion

    The Brain and Sels Workshop: Toward a Science of Consciousness    1997年08月

  • 人間と機械の心的交流

    第36回計測自動制御学会学術講演会/計測自動制御学会   pp.1327-1328  1997年07月

  • 自己保存に基づくロボットの行動生成−方法論と機械モデルの実体化−

    日本ロボット学会誌/日本ロボット学会   15;5,pp.54-65  1997年07月

  • 運動決定における感性 −音色を考慮した演奏法決定アルゴリズムの構築−

    第36回計測自動制御学会学術講演会/計測自動制御学会   pp.683-384  1997年07月

  • 早大機械科新カリキュラムでのメカトロニクス実験実習

    日本機械学会ロボティクス・メカトロニクス講演会'97/日本機械学会   pp.737-734  1997年06月

  • 人間指向工作機械システムにおける熟練度判定アルゴリズムの構築

    日本機械学会ロボティクス・メカトロニクス講演会'97/日本機械学会   pp.909-910  1997年06月

  • 人間共存型ヒューマノイドHadaly-2の運動系構成

    日本機械学会ロボティクス・メカトロニクス講演会'97/日本機械学会   pp.371-372  1997年06月

  • ロボットにおける自律系−WAMOEBA-2の自律系ハードウエアとその影響−

    日本機械学会ロボティクス・メカトロニクス講演会'97/日本機械学会   pp.567-568  1997年06月

  • ニューラルネットワークによるビヘイビアネットワークの自己組織化

    日本機械学会ロボティクス・メカトロニクス講演会'97/日本機械学会   pp.1169-1170  1997年06月

  • Personal Information Recognition in Machine Tool Operation

    Proceedings of the International Congerence on Advanced Intelligent Mechatronics '97/IEEE,ASME    1997年06月

  • Mechanical Systems for Autonomic Nervous System in Robots

    Proceedings of the International Congerence on Advanced Intelligent Mechatronics '97/IEEE,ASME    1997年06月

  • Double Safety Measure for Human Symbiotic Manipulator

    Proceedings of the International Congerence on Advanced Intelligent Mechatronics '97/IEEE,ASME    1997年06月

  • ヒューマノイドロボットとその応用

    日本機械学会モノづくり未来論コンファレンス/日本機械学会   pp.232-237  1997年05月

  • バイオリン奏法プラニングのための感性情報とボーイングパラメータの対応付け

    日本人間工学会第38回大会/日本人間工学会   33;特別号,pp.392-393  1997年05月

    DOI

  • 人間−機械系における生体リズムと操作リズムの整合に関する一考察

    1997年度精密工学会春期大会学術講演会論文集/精密工学会   pp.1301-1302  1997年03月

  • 工作機械における切削抵抗制御が人間に与える心的影響

    1997年度精密工学会春期大会学術講演会論文集/精密工学会   pp.561-562  1997年03月

  • Safety Materials and Control of Human: Cooperative Robots

    Journal of Robotics and Mechatronics/Fuji Technology Press Ltd.   9;1,pp.33-40  1997年02月

  • Humanoid robot - Development of an information assistant robot Hadaly

    S Hashimoto, S Narita, H Kasahara, A Takanishi, S Sugano, K Shirai, T Kobayashi, H Takanobu, T Kurata, K Fujiwara, T Matsuno, T Kawasaki, K Hoashi

    RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS     106 - 111  1997年  [査読有り]

     概要を見る

    This paper describes a humanoid robot "Hadaly," that was developed as a basic model for the final version of Humanoid. In this study, the authors feature an attempt to find the configurations and functions that are reguired for a humanoid. Hadaly consists of four systems; an audio-visual system, a head system, a speech system and an arm system. The configurations and functions reguired for a humanoid robot are clarified based on the results of the information assistance experiment with Hadaly.

  • 人との情緒交流のための機械知能の研究「ロボットにおける自律系の導入」

    第2回重点領域「知能ロボット」シンポジウム予稿集   pp.111-114  1997年01月

  • ロボットと人間の心のインタフェース

    バイオメカニズム学会誌/バイオメカニズム学会   21;1  1997年01月

    DOI

  • Development and evaluation of seven-DOF MIA ARM

    T Morita, S Sugano

    1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4   pp.462-467   462 - 467  1997年

     概要を見る

    This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop mt anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is appropriate for the human-robot cooperative tasks because each joint can realize safety motion.
    This paper presents a development of the anthropomorphic manipulator (seven-D.O.F. MIA ARM) which consists of shoulder, elbow, and wrist. This paper also describes a dynamic model of multiple-D.O.F. MIA and an experimental evaluation of the seven-D.O.F. MIA ARM by means of trajectory control The experimental results show that the seven-D.O.F. MIA ARM can realize high performance in motion control with consideration to the effect of dynamics, selfweight and damping.

  • Development of an anthropomorphic force-controlled manipulator WAM-10

    T Morita, S Sugano

    8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97     701 - 706  1997年

     概要を見る

    This evaluation manipulator WAM-10 (Waseda Automatic Manipulator #10). The manipulator consists of a seven-D.O.F. whole arm, and a thirteen-D.O.F. four-fingered hand.
    A target of the WAM-10 is realization of human-robot symbiosis and collaboration ensuring collision safety. The developed arm employs an original joint mechanism, MIA (Mechanical Impedance Adjuster), which can realize ideal compliance and safety motion. The hand is designed with consideration of human interactive tasks, such as palmer grip.
    The results of the evaluation experiments show that the WAM-10 has capability of realizing high performance in compliant motion control.

  • The planning of violin playing robot with KANSEI information - Algorithm to decide bowing parameters from timbre

    K Shibuya, Y Chikaoka, T Koyama, S Sugano

    RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS   pp.230-235   230 - 235  1997年

     概要を見る

    The goal of this paper is to design an algorithm to decide bowing parameters using KANSEI in order to plan the motion of an anthropomorphic violin playing robot. Sensuous tests were performed to clarify the relationship between bowing parameters and timbres of a violin which are example of KANSEI information, and harmonic tone patterns of violin sounds. From the results of sensuous test, the algorithm to decide bowing parameters from timbre terms were designed.

  • Human motion planning in violin playing using KANSEI

    K Shibuya, S Sugano

    SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5   pp.2638-2643   2638 - 2643  1997年

     概要を見る

    The goal of this paper is to clarify the effects of human KANSEI to motion by taking human motion planning in violin playing into account ''KANSEI'' is a Japanese word which is similar in meaning to ''sensibility''. Violin bowing was selected as an example. Sensuous tests were performed in order to clarify the relationship between timbre terms( which are example of KANSEI ) and bowing parameters. Using the results obtained, the methods that can plan human motion using KANSEI were analyzed.

  • Emotional behavior adjustment system in robots

    T Ogata, S Sugano

    RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS   pp.352-357   352 - 357  1997年

     概要を見る

    To cope with dynamically changing environments, creatures have not only "motor nervous system" but "autonomic nervous system" as an infernal adjustment mechanism. However conventional robots have been equipped with only the motor nervous system. We developed an autonomous mobile robot implemented a internal adjustment model based on self-preservation. This model involves the original system named "Behavior-Adjustment System", which influences a whole condition of the robot. This paper describes the concrete methodology for application of the behavior-adjustment system to robots. We confirmed the feasibility of the proposed system for the mobile robot in two practical experiments; 'obstacle avoidance problem' and 'effect of the voltage of battery'.

  • ハプティックインタフェース

    自動化推進/自動化推進協会   25;6,pp.18  1996年12月

  • 多自由度MIAアームによる対人安全性の確保−安全カバーと衝突処理動作の適用

    第14回日本ロボット学会学術講演会/日本ロボット学会   pp.227-228  1996年11月

  • 人間形ロボットによるジェスチャーと会話の協調−ジェスチャーの分類および会話との協調方法の検討

    第14回日本ロボット学会学術講演会/日本ロボット学会   pp.705-706  1996年11月

  • 人間とロボットの情緒交流に関する研究−情緒の表出とその形態に関する一考察

    第14回ロボット学会学術講演会/日本ロボット学会   pp.1149-1150  1996年11月

  • 人間との物理的・情報的インタラクションを意識した多指ハンドの開発−設計コンセプトと製作

    第14回日本ロボット学会学術講演会/日本ロボット学会   pp.417-418  1996年11月

  • 移動型マニピュレータでのマニピュレータによる安定性補償運動

    第14回日本ロボット学会学術講演会/日本ロボット学会   pp.301-302  1996年11月

  • ロボットの自律的行動計画の生成−神経回路による時系列オートマトンの獲得とその応用

    第14回日本ロボット学会学術講演会/日本ロボット学会   pp.699-700  1996年11月

  • ロボットにおける自律系の機構

    第14回日本ロボット学会学術講演会/日本ロボット学会   pp.389-390  1996年11月

  • 7自由度MIAアームの関節制御特性の評価

    第14回日本ロボット学会学術講演会/日本ロボット学会   pp.619-620  1996年11月

  • An anthropomorphic manipulator design for human robot interaction

    Proceedings of the U.S.-Japan Graduate Student Forum in Robotics   pp.148-151  1996年10月

  • 大腿義足膝継手の機械特性と義足歩行との関連性−流体制御方式と定摩擦方式膝継手を用いて−

    バイオメカニズム13/バイオメカニズム学会   pp.279-290  1996年08月

    DOI

  • ヒューマンインタフェース(機械工学年鑑)

    日本機械学会誌/日本機械学会   99;8,pp.696  1996年08月

  • バイオリン演奏における感性表現としての音色と運動の関係

    計測自動制御学会論文集/計測自動制御学会   32;8,pp.1259-1266  1996年08月

    DOI

  • Human Individual Information Processing in Lathe Operation

    Manufacturing Agility and Hybrid Automation-1/The IEA Press   pp.109-112  1996年08月

  • 運動決定過程における感性−バイオリン演奏における音色表現語と演奏パラメータとの対応

    第35回計測自動制御学会学術講演会/計測自動制御学会   pp.679-680  1996年07月

  • 移動型マニピュレータの安定化制御−マニピュレータによる安定性補償範囲

    第35回計測自動制御学会学術講演会/計測自動制御学会   pp.155-156  1996年07月

  • ヒューマノイド型ロボット

    第35回計測自動制御学会学術講演会/計測自動制御学会   pp.25-26  1996年07月

  • Representation of Skill in Musical Instrument Playing

    International Workshop on Verbalization of Tacit Knowledge Using Inductive Inference/Keio University   pp.233-234  1996年07月

  • A Strategy for the Finger-Arm Coordinated Motion: Analysis of Human Motion in Violin Playing

    ROMANSY11 ELEVENTH CISM-IFTOMM SYMPOSIUM ON THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS/Springer-Verlag Wien New York   pp.259-266  1996年07月

  • 旋盤作業における個人状態導出と人間へのフィードバック

    日本機械学会ロボティクス・メカトロニクス講演会'96/日本機械学会   pp.660-661  1996年06月

  • 人間協調ロボットの安全素材と動作制御

    日本機械学会ロボティクス・メカトロニクス講演会'96/日本機械学会   pp.1167-1170  1996年06月

  • 人間とロボットの情緒交流に関する研究−評価ロボットWAMOEBA-2の設計と製作

    日本機械学会ロボティクス・メカトロニクス講演会'96/日本機械学会   pp.449-452  1996年06月

  • 移動ロボットにおける行動計画のための時系列情報獲得−刺激蓄積効果による時系列ネットワークの生成

    日本機械学会ロボティクス・メカトロニクス講演会'96/日本機械学会   pp.133-136  1996年06月

  • メカニカルインピーダンス調節機構を用いた7自由度マニピュレータの構成と評価

    日本機械学会ロボティクス・メカトロニクス講演会'96/日本機械学会   pp.861-862  1996年06月

  • ヒューマンインタフェース

    日本機械学会ロボティクス・メカトロニクス講演会'96/日本機械学会   pp.1525-1528  1996年06月

  • 人間共存ロボットにおける情緒の意義

    第1回JSMEロボメカ・シンポジア−ヒューマン・ロボット・シンポジア−/日本機械学会   pp.97-100  1996年05月

  • ヒューマンロボットシステムにおけるヒューマノイド

    第1回JSMEロボメカ・シンポジア−ヒューマン・ロボット・シンポジア−/日本機械学会   pp.189-190  1996年05月

  • バイオリン演奏におけるボーイング動作の分析−手部および上肢各関節インピーダンスの算出および分析

    日本人間工学会第37回大会講演集/日本人間工学会   33;特別号,pp.96-97  1996年05月

    DOI

  • 7自由度MIAアームの開発

    第1回ロボティクス・シンポジア/日本ロボット学会   pp.179-184  1996年05月

  • 知能ロボットのめざすもの

    計測と制御/計測自動制御学会   35;4,pp.305-322  1996年04月

  • ロボット教育・研究の現状と課題

    日本ロボット学会誌/日本ロボット学会   14;3,pp.322-325  1996年04月

    DOI

  • 動作・生体情報に基づく旋盤作業中の人間の状態識別

    1995年度精密工学会春期学術講演会論文集/精密工学会    1996年03月

  • ピアノ演奏ロボット

    メカライフ/日本機械学会   43  1996年03月

  • Preface

    Shigeki Sugano

    Advanced Robotics   11 ( 6 ) 555 - 557  1996年01月  [査読有り]

    DOI

  • メカニカルインピーダンス調節機構による関節制御−機構の提案とロボット指への適用

    日本ロボット学会誌/日本ロボット学会   14;1  1996年01月

    DOI

  • Emergence of mind in robots for human interface - Research methodology and robot model

    S Sugano, T Ogata

    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4   pp.1191-1198   1191 - 1198  1996年

  • Development of 4-DOF manipulator using mechanical impedance adjuster

    T Morita, S Sugano

    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4   pp.2902-2907   2902 - 2907  1996年

  • Sense syncretic model toward the construction of ''robot-original-language''

    T Ogata, S Sugano

    RO-MAN '96 - 5TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS   pp.433-438   433 - 438  1996年

     概要を見る

    To syncretize and/or abstract the sense information is indispensable work so that an agent can arrange the behavior planning, recognize the environment and communicate with other agents. In this paper, a sense syncretic model based on the physiology and a ''desire'' emergence algorithm based on an evaluation of self-preservation are presented. The model and the algorithm are implemented into a real robot model. As the results of the experiments, it is suggested that the syncretized information has the possibility of application to a new human-machine communication tool: ''robot-original-language''.

  • Motion planning of stabilization and cooperation of a mobile manipulator - Vehicle motion planning of a mobile manipulator

    Q Huang, S Sugano

    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3   pp.568-575   568 - 575  1996年

     概要を見る

    It is desired that a vehicle-mounted mobile manipulator can move with stability and can operate tasks in various environments in the presence of disturbances. In this paper, a mobile manipulator cooperative motion planning algorithm is proposed, consisting of a rough motion planning and a local motion modification. As a step to realize the cooperative motion, the vehicle motion planning is discussed, given the end-effector trajectory. First, the vehicle path is planned. Then the optimal problem of determining the passing time of the vehicle along the planned path is formulated, considering the vehicle acceleration, the manipulator workspace and the system stability. Using a gradient projection method, the vehicle motion is derived. Finally, the effectiveness of this method is illustrated by simulation.

  • Construction of KANSEI model for the planning of bowing in violin playing

    K Shibuya, H Tanabe, T Asada, S Sugano

    RO-MAN '96 - 5TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS   pp.422-427   422 - 427  1996年

     概要を見る

    This study aims to clarify the effect of KANSEI information on human motion through considering the planning of violin playing. To clarify the relationship between timbre which are considered as KANSEI information, playing parameters and the frequency spectrum of the sounds, sensuous tests by SD method and frequency analysis by FFT were carried out. This paper describe the results of the sensuous tests and frequency analysis on violin sounds and the KANSEI model constructed from them.

  • Stability compensation of a mobile manipulator by manipulator motion: Feasibility and planning

    Q Huang, S Sugano, K Tanie

    IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3   pp.1285-1292   1285 - 1292  1996年

     概要を見る

    In order for a mobile manipulator to move stably (not overturn) and execute the given motions of the end-effector and the vehicle simultaneously, a manipulator must have redundancy. By using this redundancy, it is possible to perform tasks at an optimal manipulation configuration when the robot is stable, and recovering the systems's stability when the robot is unstable. The ability to recover stability by this manipulator compensation motion is limited. Thus in order to ensure the feasibility of stability compensation, the task plan or vehicle motion must be within this ability. In this paper, first the concept of stability compensation range by static posture change is proposed. Then, within the stability compensation range, the compensation motion of a redundant manipulator considering the manipulation configuration and the system stability is derived, given the motions of the end-effector and the vehicle. Finally, the effectiveness of this method is illustrated by simulation experiments.

  • Generation of behavior automaton on neural network

    T Ogata, K Hayashi, Kitagishi, I, S Sugano

    IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3   pp.608-613   608 - 613  1996年

     概要を見る

    To plan behavior procedures, if is necessary for an agent to have a world model concerning the temporal sequences information. in this paper, a temporal information learning algorithm is proposeed with a three layer neural network implemented the "effectiveness of simulation accumulation" algorithm. This algorithm can construct "behavior automaton" in the neural network. From the results of some learning experiments using a mobile robot simulation, the generated automaton express the complexity of the simulation environments. The robot agent acquires a behavior automaton for obstacle avoidance behavior which is influenced by the simulation environment.

  • Stability compensation of a mobile manipulator by manipulator motion: Feasibility and planning

    Q Huang, S Sugano, K Tanie

    IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3   13;1, PP25-40   1285 - 1292  1996年

     概要を見る

    In order for a mobile manipulator to move stably (not overturn) and execute the given motions of the end-effector and the vehicle simultaneously, a manipulator must have redundancy. By using this redundancy, it is possible to perform tasks at an optimal manipulation configuration when the robot is stable, and recovering the systems's stability when the robot is unstable. The ability to recover stability by this manipulator compensation motion is limited. Thus in order to ensure the feasibility of stability compensation, the task plan or vehicle motion must be within this ability. In this paper, first the concept of stability compensation range by static posture change is proposed. Then, within the stability compensation range, the compensation motion of a redundant manipulator considering the manipulation configuration and the system stability is derived, given the motions of the end-effector and the vehicle. Finally, the effectiveness of this method is illustrated by simulation experiments.

  • 人間形ロボットによるバイオリン演奏の実現へ向けて−ボーイング動作における指腕の協調

    第13回日本ロボット学会学術講演会/日本ロボット学会    1995年11月

  • 機械的インピーダンス特性を調節可能な関節を用いたマニピュレータの開発−4 自由度アームの評価

    第13回日本ロボット学会学術講演会/日本ロボット学会    1995年11月

  • 移動型マニピュレータの安定と協調の運動制御−ヴィークルの運動計画

    第13回日本ロボット学会学術講演会/日本ロボット学会    1995年11月

  • 安定性を考慮した移動型冗長マニピュレータの運動計画

    第13回日本ロボット学会学術講演会/日本ロボット学会    1995年11月

  • ロボットにおける自律系と移動方向判断アルゴリズム

    第13回日本ロボット学会学術講演会/日本ロボット学会    1995年11月

  • ロボットが心を持つ可能性に関する研究−内外感覚の統合

    第13回日本ロボット学会学術講演会/日本ロボット学会    1995年11月

  • バイオリン演奏におけるスキルの研究−上肢各関節インピーダンスの算出および分析

    第16回バイオメカニズム学術講演会/バイオメカニズム学会    1995年11月

  • 家庭用ロボットの作業移動

    日本ロボット学会誌/日本ロボット学会   13;7  1995年10月

    DOI

  • バイオリン演奏の弓圧調節における上肢各関節の役割分担

    人間工学/日本人間工学会   31;5  1995年10月

    DOI

  • 1995年知能ロボットとシステムに関する国際会議(1995 IEEE/RSJ International Conference on Intelligent Robots and Systems)

    日本ロボット学会誌/日本ロボット学会   13;7  1995年10月

  • 1995 IEEE International Conference on Robotics and Automation

    計測と制御/計測自動制御学会   34;9  1995年09月

  • 受動的柔軟性を備えた関節による多自由度マニピュレ−タ構成

    電気学会 電子ゾ霾鵐システム部門大会/電気学会    1995年08月

  • 感性情報を用いたバイオリン演奏プラニング−プラニングの基本モデルと演奏法の分析

    第34回計測自動制御学会学術講演会/計測自動制御学会    1995年07月

  • 移動型マニピュレータのヴィークルの運動計画

    第34回計測自動制御学会学術講演会/計測自動制御学会    1995年07月

  • ヴィークル搭載型マニピュレータの安定化制御−安定規範とマニピュレータによる補償運動

    計測自動制御学会論文集/計測自動制御学会   31;7  1995年07月

    DOI

  • 人間とロボットの情緒交流に関する研究−ロボットの内部状態の表出

    ロボティクスメカトロニクス講演会'95/日本機械学会    1995年06月

  • メカニカルインピ−ダンス調節機構を用いたマニピュレ−タの開発−4自由度ア−ムの開発と評価

    ロボティクスメカトロニクス講演会'95/日本機械学会    1995年06月

  • ロボットが心をもつ可能性

    計測と制御/計測自動制御学会   34;4  1995年04月

  • Design and development of a new robot joint using a mechanical impedance adjuster

    T MORITA, S SUGANO

    PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3     2469 - 2475  1995年

  • The effect of KANSEI information on human motion - Basic model of KANSEI and analysis of human motion in violin playing

    K Shibuya, S Sugano

    RO-MAN'95 TOKYO: 4TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS     89 - 94  1995年

  • Manipulator motion planning for stabilizing a mobile-manipulator

    Q HUANG, S SUGANO

    IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3     467 - 472  1995年

  • Development of one-DOF robot arm equipped with mechanical impedance adjuster

    T MORITA, S SUGANO

    IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 1     407 - 412  1995年

  • バイオリン右腕ボ-イング動作におけるスキルの分析

    渋谷恒司, 菅野重樹, 加藤一郎

    人間工学   30 ( 6 ) 345 - 403  1994年12月  [査読有り]

    DOI

  • STABILITY CONTROL FOR A MOBILE MANIPULATOR USING A POTENTIAL METHOD

    Q HUANG, S SUGANO, KATO, I

    IROS '94 - INTELLIGENT ROBOTS AND SYSTEMS: ADVANCED ROBOTIC SYSTEMS AND THE REAL WORLD, VOLS 1-3     839 - 846  1994年  [査読有り]

  • パーソナルロボットの現状と技術課題

    菅野 重樹

    電氣學會雜誌   113 ( 6 ) 455 - 460  1993年06月

    DOI CiNii

  • STABILITY-CRITERIA IN CONTROLLING MOBILE ROBOTIC SYSTEMS

    S SUGANO, Q HUANG, KATO, I

    IROS 93 : PROCEEDINGS OF THE 1993 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOL 1-3     832 - 838  1993年  [査読有り]

  • The robot musician 'wabot-2' (waseda robot-2)

    Ichiro Kato, Sadamu Ohteru, Katsuhiko Shirai, Toshiaki Matsushima, Seinosuke Narita, Shigeki Sugano, Tetsunori Kobayashi, Eizo Fujisawa

    Robotics   3 ( 2 ) 143 - 155  1987年  [査読有り]

     概要を見る

    The wabot-2 is an anthropomorphic robot playing keyboard instruments, developed by the study group of Waseda University's Science and Engineering Department. The wabot-2 is equipped with hands tapping softly on keys, with legs handling bass keys and expression pedal, with eyes reading a score, and with a mouth and ears to converse with humans. Based on wabot-2, wasubot has been developed by Sumitomo Electric Industries Ltd., whose artistic skill has been demonstrated in performing music at the Japanese Government Pavillion in Expo'85. The present paper summarizes the wabot-2's motion, visual and vocal subsystems as well as its supervisory system and singing voice-tracking subsystem. © 1987.

    DOI

  • Dynamical aspects of ortho-para conversion on magnetic surfaces

    Y. Ishii, S. Sugano

    Journal of Physics C: Solid State Physics   17 ( 11 ) 2049 - 2062  1984年  [査読有り]

     概要を見る

    The theory of the ortho-para conversion of a hydrogen molecule on magnetic surfaces is developed with special account taken of the dynamical properties of the solid surface. The transition probability of the ortho-para conversion is obtained in terms of the convolution of the spectral functions, namely the Fourier transform of the correlation function for the relevant physical quantity. The correlation functions are estimated within the stochastic model. The temperature dependence of the transition probability is determined by the static spin fluctuation and the broadening of the spectral functions. A variety of resulting temperature dependences are discussed.

    DOI

  • Versatile In-Hand Manipulation of Objects with Different Sizes and Shapes Using Neural Networks

    Funabashi, S, Schmitz, A, Sato, T, Somlor, S, Sugano, S

    IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids 2018)     1 - 9  [査読有り]

    DOI

  • Continuous Sensing Ability of Robot Finger Joints with Tactile Sensors

    HSU, Chincheng, Schmitz, Alexander, Kusayanagi, Kosuke, Sugano, Shigeki

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019)    [査読有り]

  • Robot Finger with Remote Center of Motion Mechanism for Covering Joints with Thick Skin.

    Chincheng HSU, Alexander SCHMITZ, Kosuke KUSAYANAGI, Shigeki SUGANO

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)    [査読有り]

  • Sequential clustering for tactile image compression to enable direct adaptive feedback

    Andreas Geier, Yan Gang, Tito Pradhono Tomo, Shun Ogasa, Sophon Somlor, Alexander Schmitz, Shigeki Sugano

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)    [査読有り]

  • Development of a 3-Axis Human Fingertip Tactile Sensor Based on Distributed Hall Effect Sensors

    Harris Kristanto, Prathamesh Sathe, Alexander Schmitz, Chincheng HSU, Tito Pradhono Tomo, Sophon Somlor, Shigeki Sugano

    IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids 2019)    [査読有り]

  • Magnetic 3-Axis Soft and Sensitive Fingertip Sensors Integration for the iCub Humanoid Robot

    Alexis Carlos Holgado, Nicola Piga, Tito Pradhono Tomo, Giulia Vezzani, Alexander Schmitz, Lorenzo Natale, Shigeki Sugano

    IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids 2019)    [査読有り]

▼全件表示

Misc

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    林弘昭, 亀崎允啓, 岡直樹, 菅野重樹

    自動車技術会大会学術講演会講演予稿集(Web)   2021  2021年

    J-GLOBAL

  • 骨盤の動きを考慮したバックパックの可動式ランバーパッドの提案

    若生然太, 三宅太文, 菅野重樹

    人間生活工学   22 ( 1 )  2021年

    J-GLOBAL

  • 遠隔ロボット操作者個人に適した映像タイプを診断する基本フレームワークに関する基礎的研究

    板野峻也, 亀崎允啓, 宮田雅博, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020  2020年

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  • 通行容易性指標の推定に基づくパーソナルモビリティのためのプロアクティブ操作支援システムの提案

    松繁怜, 亀崎允啓, 亀崎允啓, LAN Dongwon, 森大河, 瀬古俊一, 倉橋孝雄, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020  2020年

    J-GLOBAL

  • Inducible Social Force Modelを用いた複数人移動予測に基づく混雑環境下でのロボットの接近・接触移動

    金田太智, 亀崎允啓, 亀崎允啓, 円谷優佑, 平山三千昭, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020  2020年

    J-GLOBAL

  • 認知行動の基準モデルに基づくテイクオーバー時の状況認識不足推定手法の開発

    岡直樹, 林弘昭, MANAWADU Udara E., 江馬敬明, 亀崎允啓, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020  2020年

    J-GLOBAL

  • Inducible Social Force Modelに基づく混雑環境下での自律移動ロボットの被接近時回避手法の開発

    金田太智, 亀崎允啓, 亀崎允啓, 円谷優佑, 平山三千昭, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020年

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  • 移動ロボット軌道計画のロバスト化に関する研究~人の速度ベクトルの保持可能性および測定誤差の推定~

    斎藤喬介, 河野遼介, 平山三千昭, 亀崎允啓, 亀崎允啓, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020年

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  • 安全性と生産性の両立を目的とした人移動予測に基づくロボットアームの軌道調整手法

    和田智博, 亀崎允啓, 亀崎允啓, 坂本義弘, 菅野重樹, 佐藤葉介, 金天海, 寧霄光, 赤木哲也, 出澤純一, 菅原志門

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020年

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  • 自律移動ロボットのサービスタスク運用のための先導・追従行動計画フレームワークの提案

    濱田太郎, 斎藤喬介, 金田太智, 平山三千昭, 亀崎允啓, 亀崎允啓, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020年

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  • 螺旋型脚車輪機構と単屈曲関節を有する小径ガス管路網移動ロボットの試作

    山口薫, 亀崎允啓, 趙聞, 吉田健人, 今野実, 大貫彰彦, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020年

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  • 磁気粘性流体を作動流体とした逆可動性と高出力性を有するロボットアームの開発

    角田龍一朗, 亀崎允啓, 張裴之, シェムベカール サヒル, 何卓頤, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020年

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  • ギア・クラッチ・ブレーキを組み合わせた逆可動性と高応答性を有する動力伝達機構の試作

    何卓頤, 亀崎允啓, 張裴之, シェムベカール サヒル, 角田龍一郎, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020年

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  • 異なるコンテキスト下での自律移動ロボットの行動に対する人の行動・心象分析

    斎藤喬介, 亀崎允啓, 亀崎允啓, 柳川勇人, 大西智也, 小林彩乃, SHRESTHA Moondeep, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   21st  2020年

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  • 深層強化学習シミュレータを用いた人混み環境における移動ロボットの能動的働きかけ効果の検証

    濱田太郎, 亀崎允啓, 亀崎允啓, LI Yuhan, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   21st  2020年

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  • 操作入力と動作出力の差分に注目したパーソナルモビリティの不整地運転支援システムの開発と評価

    松繁怜, 亀崎允啓, 亀崎允啓, 葛西優介, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   21st  2020年

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  • ファジィPIDとクラス分類手法を用いた慣性・粘弾性可変機構を有するMRFアクチュエータ制御手法の提案

    角田龍一朗, 亀崎允啓, HE Shan, ZHANG Peizhi, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   21st  2020年

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  • つまずき予防のための歩行訓練ロボットの開発

    三宅太文, 藤江正克, 菅野重樹

    地域ケアリング   22 ( 5 )  2020年

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  • 作業傾向に基づく支援提供のための適応的作業状態分類~目的特徴量の変動幅を最大化する特徴量空間の抽出~

    亀崎允啓, 板野峻也, 峰田健司, 森島洋忠, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th  2019年

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  • MRエラストマーを用いたサクションカップユニットの開発

    張裴之, 亀崎允啓, 何卓頤, 角田龍一朗, シェンベカル サヒル, 坂本裕之, 菅野重樹

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    大槻健史郎, 亀崎允啓, 張裴之, 何卓頤, 坂本裕之, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th  2019年

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  • 重機の遠隔操作性向上のためのマルチカメラ最適配置に関する研究-第三報 搭乗操作熟練者における掘削・配置作業でのパン・チルト角が及ぼす作業効率への影響の実験的検証-

    佐藤隆哉, 亀崎允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

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    亀崎允啓, 亀崎允啓, 金田太智, 平山三千昭, 小林彩乃, 河野遼介, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th  2019年

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  • インボリュート形状を有する1自由度アームによる接触働きかけを行う人ごみ内自律移動ロボットの開発

    今岡紀章, 北澤一磨, 亀崎允啓, 菅野重樹, 安藤健

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th  2019年

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  • 人・ロボット系における相互の譲り合いを考慮した主張・同調的軌道計画手法

    亀崎允啓, 亀崎允啓, 小林彩乃, 河野遼介, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th  2019年

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  • パーソナルモビリティの不整地移動に関する研究~操作主体感を考慮した半自律制御システムの提案~

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    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019  2019年

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    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019  2019年

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    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019  2019年

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    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019  2019年

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    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019  2019年

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    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019  2019年

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    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018  2018年

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    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   ROMBUNNO.3G2‐01  2017年09月

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    J-GLOBAL

  • 人の感情と印象に基づく協調移動時のロボットの行動評価と関連性分析

    亀崎允啓, 小林彩乃, 横山悠太, 柳川勇人, SHRESTHA Moondeep, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2017  2017年

    J-GLOBAL

  • 機械操作者のプランニング技能の定量化に関する研究~操作手順と操作意識に着目した特徴量の抽出~

    亀崎允啓, 佐藤淳平, 三矢隆史, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2017  2017年

    J-GLOBAL

  • つまずき予防のためのワイヤ駆動型歩行訓練ロボットによる短期的トルク印加手法の構築

    三宅太文, 小林洋, 藤江正克, 菅野重樹

    日本生体医工学会大会プログラム・抄録集(Web)   56th  2017年

    J-GLOBAL

  • 人とロボットの協調移動におけるロボットの行動と人の感情の関連性評価

    小林彩乃, 横山悠太, 柳川勇人, 亀崎允啓, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th  2016年

    J-GLOBAL

  • ロボットの移動方向表出システムが人間の移動に及ぼす影響に関する調査

    大西智也, SHRESTHA Moondeep Chandra, 宇野絵莉香, 柳川勇人, SCHMITZ Alexander, 亀崎允啓, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th  2016年

    J-GLOBAL

  • ロボットの移動効率と人の心理面に配慮した人-ロボット協調移動フレームワークの提案

    横山悠太, 柳川勇人, 小林彩乃, SCHMITZ Alexander, 亀崎允啓, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th  2016年

    J-GLOBAL

  • ハンドジェスチャーを用いた自動運転車両制御用インタフェースの開発

    亀崎允啓, 石川雅晃, MANAWADU Udara E., 河野陽大, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   17th  2016年

    J-GLOBAL

  • 操作型作業機械の知能化に関する研究~第11報:操作量ヒストグラムを用いた操作者の技能分析~

    亀崎允啓, 佐藤淳平, 小坂拓未, 岩田浩康, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   17th  2016年

    J-GLOBAL

  • 双方向インタラクションのための自動運転車両制御用力覚インタフェースの開発

    河野陽大, MANAWADU Udara E., 石川雅晃, 亀崎允啓, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   17th  2016年

    J-GLOBAL

  • 磁場解析に基づくMRピストンヘッドの構成パラメータとパフォーマンスの関連性評価

    亀崎允啓, HE Shan, DOMINGUEZ Gonzalo Aguirre, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   17th  2016年

    J-GLOBAL

  • 人とロボットの協調移動におけるロボットの行動と人の印象の関連性評価

    小林彩乃, 亀崎允啓, 横山悠太, 柳川勇人, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   17th  2016年

    J-GLOBAL

  • ウォード法を用いた複数映像提供型遠隔操作における視線パターンのクラスタリング

    佐藤隆哉, 亀崎允啓, 菅野重樹, 岩田浩康

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   17th  2016年

    J-GLOBAL

  • 4腕式極限作業ロボットOCTOPUSのための遠隔操作シミュレータの開発

    亀崎允啓, 片野貴裕, CHEN Kui, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2016  2016年

    J-GLOBAL

  • 手先位置頻度マップを用いた作業傾向の分析と操作技能の推定

    亀崎允啓, 峰田健司, 橋本諭, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2016  2016年

    J-GLOBAL

  • 磁気粘性流体ダンパのためのトロイダル型ピストンヘッドの開発

    亀崎允啓, HE Shan, AGUIRRE DOMINGUEZ Gonzalo, FRENCH Morgan, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2016  2016年

    J-GLOBAL

  • 無意識の注意誘導のための両眼加算を用いた情報表示手法の検証 (ヒューマン情報処理)

    田中 裕也, 仁科 繁明, 菅野 重樹

    電子情報通信学会技術研究報告 = IEICE technical report : 信学技報   115 ( 345 ) 39 - 44  2015年12月

    CiNii

  • 無意識の注意誘導のための両眼加算を用いた情報表示手法の検証 (コンシューマエレクトロニクス ヒューマンインフォメーション)

    田中 裕也, 仁科 繁明, 菅野 重樹

    映像情報メディア学会技術報告 = ITE technical report   39 ( 46 ) 39 - 44  2015年12月

    CiNii

  • 1A1-G05 次世代知能化車両におけるユーザエクスペリエンス評価のためのドライビングシミュレータの開発

    亀崎 允啓, マナワドゥ ウダーラ, 石川 雅晃, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2015   "1A1 - G05(1)"-"1A1-G05(4)"  2015年05月

     概要を見る

    Advanced intelligent vehicles capable of autonomous driving will be commercially available in near future. To build a beneficial relationship between driver and vehicle, it is important to analyze how the drivers would react to autonomous driving compared to conventional human-driven driving. In this study, we develop a driving simulator for analyzing individual driving experience in several road conditions for autonomous and human-driven vehicles. The driving simulator incorporates fundamental functions to connect arbitrary interfaces, create virtual environments consisting of scenarios and events that drivers encounter in real-world driving, and reproduce fully autonomous driving. The results of preliminary experiments showed that experienced drivers opt for human-driven driving mainly due to the flexibility and driving fun it offers, while novices tend to prefer autonomous driving due to its inherent easiness and safety.

    CiNii

  • 2P1-P04 遠隔重機作業の高度化に関する研究 : 拡張現実感を利用した映像の注視・解釈支援手法の開発

    亀崎 允啓, 佐藤 隆哉, 楊 俊傑, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2015   "2P1 - P04(1)"-"2P1-P04(4)"  2015年05月

     概要を見る

    An autonomous environmental camera control system we previously developed can provide operators with various and variable visual information suited to the work situation for unmanned construction. However, cognitive load of operators may increase, so we propose a selective visual attention and situational awareness support system using augmented reality (AR) to enhance the ability of visual attention. The components include (i) monitor frame, (ii) obscuration, (iii) distance arrow, and (iv) end-point vertical arrow, with variable color and flashing effect to facilitate understanding the situation. Moreover, the system adaptively draws visual attention by changing types and parameters of AR components according to situations. Debris removal tasks were conducted using a VR simulator to compare without and with AR support. Results showed that the AR support reduced the frequent changes of point of gaze and provided the sense of depth and attention to potential collisions.

    CiNii

  • 2P1-P05 BIOG調整システムにおける入出力情報を用いた作業および操作者の特性分析

    亀崎 允啓, 小坂 拓未, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2015   "2P1 - P05(1)"-"2P1-P05(4)"  2015年05月

     概要を見る

    A basic input/output gain (BIOG) tuning system for a human-operated machine was previously proposed. It adjusts a BIOG at long intervals to conform the histogram of control input, representing global features in operator and work content, to a normal distribution curve, meaning that all ranges of control lever are evenly used. Experimental results showed that the system improved time efficiency and the subjective usability. As the next step, we analyze features of work and operator on the basis of input-output information in the BIOG tuning system. We first analyze relationship among I/O information, workability, and operability, and then analyze time-series variation of I/O information. The results indicate that some axes largely affected both workability and operability. We also found from the results that the form of BIOG map in each axis reveals the feature of operator and work content such as the movement direction of end-point where precise operations require, and also reveals improvements on the BIOG tuning system.

    CiNii

  • JCMA報告 平成24年度 研究開発助成 成果報告(その2)無人化施工の効率・安全性を高める映像の注視・解釈支援に関する調査研究

    亀﨑 允啓, 岩田 浩康, 菅野 重樹

    建設機械施工 = Journal of JCMA : 一般社団法人日本建設機械施工協会誌   67 ( 3 ) 64 - 73  2015年03月

    CiNii

  • JCMA報告 無人化施工における環境カメラのための半自動制御システムの基礎研究

    亀﨑 允啓, 岩田 浩康, 菅野 重樹

    建設機械施工 = Journal of JCMA : 一般社団法人日本建設機械施工協会誌   67 ( 2 ) 92 - 100  2015年02月

    CiNii

  • 識別性能の粒度を高める操作・運動・負荷情報を用いた拡張基底作業状態の提案

    亀崎允啓, 三矢隆史, 森島洋忠, 峰田健司, 岩田浩康, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   16th  2015年

    J-GLOBAL

  • 複数画面を使った遠隔操作における注視映像と作業パフォーマンスの関連性分析

    亀崎允啓, 佐藤隆哉, YANG Junjie, 岩田浩康, 菅野重樹

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   16th  2015年

    J-GLOBAL

  • 拡張現実感を利用した複数の視線誘導手法による遠隔操作者の認知負荷軽減に関する研究

    佐藤隆哉, 亀崎允啓, YANG Junjie, 菅野重樹, 岩田浩康

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   16th  2015年

    J-GLOBAL

  • 被覆率とコスト評価に基づく3次元異方性センサ群の実用的配置手法の提案

    亀崎允啓, 楊俊傑, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   33rd  2015年

    J-GLOBAL

  • 3P2-Q03 異なる神経メカニズムによる能動的・受動的行動の選択(脳・神経・認知ロボティクス)

    村田 真悟, 山下 祐一, 有江 浩明, 尾形 哲也, 谷 淳, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2014   "3P2 - Q03(1)"-"3P2-Q03(2)"  2014年05月

     概要を見る

    In this paper, we discuss possible neural mechanisms that enable adaptive behavior. In order to investigate the mechanisms, we developed a novel hierarchical neural network model that can learn to predict not only the next sensory input but also its predictability. We conducted neuro-robotics experiments in which a robot controlled by our proposed network was required to generate cooperative behavior with a human controlled robot. Our experimental results demonstrate that two distinct neural mechanisms that select proactive and reactive behavior based on the predictability can be self-organized through learning.

    CiNii

  • 3P2-P02 神経回路モデルと身体バブリングによる道具身体化と道具機能の獲得(脳・神経・認知ロボティクス)

    高橋 城志, 尾形 哲也, Tjandra Hadi, 野田 邦昭, 村田 真悟, 有江 浩明, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2014   "3P2 - P02(1)"-"3P2-P02(2)"  2014年05月

     概要を見る

    We propose a tool-body assimilation model based on body babbling and a neuro-dynamical system for robots to use tools and acquire representaion of tool function. We took the following approach: We used a humanoid robot model to generate random motions based on human body babbling. These rich motion experiences were used to train recurrent and deep neural networks for modeling a body image. Tool features were self-organized in parametric bias, modulating the body image according to the tool in use. Finally, we designed a neural network for the robot to generate motion only from the target image. Experiments were conducted with multiple tools for manipulating a cylindrical target object. The results show that the tool-body assimilation model is capable of motion generation.

    CiNii

  • 1P1-K02 遠隔重機作業の高度化に関する研究 : 作業状況に応じたロールアサインメントに基づく環境カメラの向き・画角調整(建設・解体ロボット・メカトロニクス)

    亀崎 允啓, 楊 俊傑, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2014   "1P1 - K02(1)"-"1P1-K02(4)"  2014年05月

     概要を見る

    A method to autonomously control multiple environmental cameras for providing more adaptive visual information suited to the work situation for advanced unmanned construction is proposed. Situations in which the yaw, pitch, and zoom of cameras should be controlled were analyzed and imaging objects and imaging modes were defined. To control each camera simply and effectively, four practical camera roles combined with the imaging objects and modes were defined. A role assignment system was then developed to assign the four camera roles to four out of six cameras suitable for the work situation, on the basis of the assignment priority rules. Debris removal tasks were performed by using a VR simulator to compare fixed, manual control, and autonomous systems. Results showed that the autonomous system was the best of the three at decreasing the number of grasping misses and increasing the subjective usability while improving the time efficiency.

    CiNii

  • マルチモーダル情報を利用した未知語を含む発話のドメイン選択精度の向上

    高橋裕己, 中野幹生, 岩橋直人, 左祥, 船越孝太郎, 岡夏樹, 菅野重樹

    第76回全国大会講演論文集   2014 ( 1 ) 443 - 444  2014年03月

     概要を見る

    マルチドメイン対話システムにおいては,ユーザの各発話が,どのタスクドメインの発話かを判定する必要がある.このとき,発話中に未知語,すなわち音声認識・理解部にとっての未登録語があると,音声認識・理解の誤りが起こり,ドメインの判定が難しくなる.本論文では,音声認識確信度や文型との適合性などの特徴を用いて未知語検出とドメイン推定を同時に行い,さらに音声認識の結果に加えて,カメラの画像からの特徴も用いてマルチモーダルにドメイン選択を行うを提案する. また,提案手法を発話コーパスに適用したドメイン推定・未知語検出の実験の結果を示す.

    CiNii

  • 操作量ヒストグラムを用いたBIOG自動調整手法~操作頻度の平準化による操作感の統一~

    亀崎允啓, 小坂拓未, 谷川雄介, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   32nd  2014年

    J-GLOBAL

  • 低輝度領域と臓器境界線の画像識別に基づく内出血領域抽出手法

    岩田 浩康, 菅野 重樹

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   15 ( 2 ) 94 - 95  2013年08月

    CiNii

  • 2A1-R09 Human-Robot Collaborative Control in Mobile Environment : A Simulation Study of the Adaptive Contact-based Trajectory Control for Prioritizing the Robot(車輪型/クローラ型移動ロボット(1))

    Moondeep Chandra Shrestha, Kentaro ICHIKAWA, Katsuya IKAMI, Shoichi HAYAKAWA, Shigeki SUGANO, Hiroyasu IWATA

    ロボティクス・メカトロニクス講演会講演概要集   2013   "2A1 - R09(1)"-"2A1-R09(4)"  2013年05月

     概要を見る

    Conventional researches on human-robot collaborative motion, almost in its entirety, always emphasize on safety and therefore prioritize humans. However, in a congested area this approach will result in a highly inefficient robot motion. This paper proposes a method wherein, we utilize contact and shoulder turning behavior to induce a desired trajectory on a passing human. Through the use of contact and shoulder turning we try to prioritize the robot. We analyze the effectiveness of our proposed system through simulations. The results of the simulations show that the above method can be realized to produce a safe and highly efficient motion.

    CiNii

  • 1A2-B03 糖質を摂取する自己充足可能なロボットのための小型食物粉砕システムの提案(バイオミメティクス・バイオメカトロニクス(2))

    木村 洋介, 長濱 峻介, 飯田 翔太郎, 金 天海, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2013   "1A2 - B03(1)"-"1A2-B03(2)"  2013年05月

     概要を見る

    We propose the carbohydrate ingestion system of a self-sustainable robot. Based on the hardware requirements of this robot-, 1) Eating capability independent of postures, 2) Crushing food to obtain Carbohydrate, 3) Capable for continuous working. To meet them, propose system consist of 3 mechanisms: 1) Primary crusher, 2) Food holder, 3) Secondary crusher. Measuring energy consumption, we confirmed that positive energy balances when Carbohydrate response is ideal. These result show this system can be useful for the self-sustainable robot in this research.

    CiNii

  • 2A1-P05 林地内走破を実現するロボットシステムの研究 : 登坂性能向上に向けたメカニズムの提案と開発(特殊移動ロボット(1))

    遠藤 寛士, 白井 裕子, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2013   "2A1 - P05(1)"-"2A1-P05(3)"  2013年05月

     概要を見る

    In this paper, we introduce new hybrid mechanism which composed of "Traction Arm" and crawlers for forestry robot. Traction Arm is new method to improve climbing ability of crawler robot. With 3-DOF robot arm, generate piercing and pulling motion of ground contact point. We are developing the robot system, which combine "Traction Arm" and crawlers. We made the prototype machine and confirmed effectiveness of the new mechanism through field tests.

    CiNii

  • 1A2-D05 触覚バイオフィードバックに基づく歩行リハビリ支援システム : 第10報:知覚共感ウェアの提案(リハビリテーションロボティクス・メカトロニクス(2))

    岩田 浩康, 飯村 直之, 佐藤 勇起, 安田 和弘, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2013   "1A2 - D05(1)"-"1A2-D05(2)"  2013年05月

     概要を見る

    This paper proposes a new perception empathy wearable device. Therapist and patient wear the same biofeedback device to share paralyzed-side foot contact of the patient on the back. It allows the therapist to detect abnormal contact state by patient at the early stage, then leading to enable patient to gradually acquire the training way with appropriate body motion. Preliminary testing confirms that the proposed design allows a therapist to attach the perception-empathy wearable device to a hemiparetic patient within 90 sec, which indicates clinical acceptability.

    CiNii

  • 1A1-Q10 操作型作業機械の知能化に関する研究 : 第10報:手先の外力・移動方向を用いた物体把持推定の高精度化(建設・解体ロボット・メカトロニクス)

    亀崎 允啓, 石井 孝洋, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2013   "1A1 - Q10(1)"-"1A1-Q10(4)"  2013年05月

     概要を見る

    In this paper, a method to accurately estimate whether a grapple grasps an object or not for construction machinery is proposed on the basis of extending the requisite condition for grasp, considering robustness and practicality. Accurate grasp estimation requires confirmation that the hand and arm loads continue to be observed during arbitrary manipulator movements. Enhancement conditions are thus defined by using force and movement at the end-point, including (i) vertical downward force, (ii) longer direction movement, and (iii) horizontal direction reciprocating movement. In transport experiments conducted by using an instrumented hydraulic arm, results indicated that the ratio of error estimation decreases as formed conditions increase, and confirmed that the proposed method estimates grasp/non-grasp accurately and robustly.

    CiNii

  • 未知語の存在を考慮したユーザ発話のドメイン推定

    高橋裕己, 中野幹生, 菅野重樹

    第75回全国大会講演論文集   2013 ( 1 ) 511 - 512  2013年03月

     概要を見る

    マルチドメイン対話システムにおいては,ユーザの各発話がどのタスクドメインの発話かを判定する必要がある.このとき,ユーザの発話の中に未知語,すなわち音声認識・理解部にとっての未登録語が存在すると,音声認識・理解の誤りが生じて,ドメインの判定が難しくなる.特に,ロボットが新しくものの名前を覚えるようなタスクドメインでは,未知語が発声される確率が高い.本論文では,未知語が存在する状況でのドメイン判定の精度向上のために,音声認識確信度や文型との適合性などの特徴を用いて未知語検出とドメイン選択を同時に行う手法を提案する.また,提案手法を発話コーパスに適用したドメイン推定・未知語検出の実験の結果を示す.

    CiNii

  • 体幹設置型遠隔診断エコーデバイスにおける人体装着機構に応じた装着容易性と安定性の比較評価

    朝山 智史, 伊藤 慶一郎, 鶴田 功一, 菅野 重樹, 中村 京太, 岩田 浩康

    計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers   49 ( 1 ) 86 - 92  2013年01月

    CiNii

  • 負荷変化率を用いた操作入力の無効化による双腕引き剥がし作業の安全性向上

    亀崎允啓, 島田洋介, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st  2013年

    J-GLOBAL

  • 1P1-J04 受動柔軟ハンドのための把持計画手法 : 複数関節のばね伸展バランスを考慮した指姿勢の決定(ロボットハンドの機構と把持戦略(3))

    藤合 理詠, 菅岩 泰亮, 江崎 佳奈子, 小島 康平, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2012   "1P1 - J04(1)"-"1P1-J04(4)"  2012年05月

     概要を見る

    We propose a planning of grasp form for a robot hand with passivity. The purpose is to realize more stable grasping and changing forms. We design two indices: "displacement balance of joint-springs" and "finger-tip compliance." First grasp form candidates are calculated by grasping force and size of object. Then these indices extract the moderate grasp form from these candidates. The former index is to avoid both over-displacement and non-displacement. Because of these displacements, fingers can't absorb model errors. The latter one is to avoid fluctuations of grasping force. We also report grasping and drawing experiment to check the effects this method. The results show that this method realizes more stable grasping and drawing.

    CiNii

  • 1A2-T10 創発的バイオフィードバック体操による運動継続支援手法の構築(人間機械協調(2))

    後濱 龍太, 菅野 重樹, 岩田 浩康

    ロボティクス・メカトロニクス講演会講演概要集   2012   "1A2 - T10(1)"-"1A2-T10(2)"  2012年05月

     概要を見る

    This paper is about a system which supports continuation of daily physical exercise. According to the motivation theory, an intrinsic motivation is a key to acquire the physical exercise habit. An intrinsic motivation develops in self-determinable situations, so we developed a gymnastics system, which allows its participants to determine how they move and exercise. The system should satisfy conditions below: (i) Guides its participants to rhythmic and big-motioned exercise using four major muscles, (ii) Allows its participants to determine how they exercise, and (iii) Maintains exercise intensity from 55 to 65 %HRmax. We newly defined abstracted-quantity, which represents expansion of exercise, and invent the biofeedback exercise program to achieve the conditions above. Evaluations indicated the efficiency of developed system.

    CiNii

  • 1A2-U10 RTによる起立支援に関する研究 : 動作抵抗の変化による個人対応を考慮した動作教示(人間機械協調(2))

    清水 俊雅, 番匠 雄介, 菅岩 泰亮, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2012   "1A2 - U10(1)"-"1A2-U10(4)"  2012年05月

     概要を見る

    With advance of a low birthrate aged society in recent years, the shortage of care workers poses a big problem. The care support by RT is expected as the solution. Since standing-up motion is fundamental capability required for everyday life, support of the standing-up motion by RT is indispensable. The important thing in the case of standing-up motion support is not offering superfluous support in consideration of the physical strength in which a care worker remains, so that independence may not be spoiled. In this paper, the method of teaching the suitable standing-up motion in consideration of the care worker's physical strength and independence was proposed to elderly people or a disabled person.

    CiNii

  • 1A2-M07 触覚バイオフィードバックに基づく歩行リハビリ支援システム : 第9報:触刺激の呈示領域と強度変化率に応じた可知性への影響(リハビリテーションロボティクス・メカトロニクス(2))

    岩田 浩康, 飯村 直之, 飯田 翔太郎, 佐藤 慶彦, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2012   "1A2 - M07(1)"-"1A2-M07(2)"  2012年05月

     概要を見る

    We propose new rehabilitation RT devices, PARTY (Perception-Assisting Robotics Technolog Y) that enable the paralyzed to get a perception-bypass communication path via a non-paralyzed-part skin. To evaluate the mental workload of tactile BF-based rehabilitations we proposed, we should reveal the tendency for allocation of attentional resource for spatial and temporal cognition of stimulations. In this paper, we describe the psychophysical validation for spatial cognitive characteristics of tactile stimulations on the back, and propose the policy to apply the findings to tuning of tactile BF device.

    CiNii

  • 1A2-M06 体性感覚バイオフィードバックに基づくリハビリ支援システム : 第5報:RTを用いた教師あり学習と強化学習における運動学習効果の比較検証(リハビリテーションロボティクス・メカトロニクス(2))

    岩田 浩康, 飯田 翔太郎, 飯村 直之, 菅原 志門, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2012   "1A2 - M06(1)"-"1A2-M06(2)"  2012年05月

     概要を見る

    We have been proposing new rehabilitation-assisting RT devices for post-stroke patients. They were useful for rehabilitation but there was a problem that not paying enough attention to the biofeedback during training may lead to the unsuccessful training. Thus we examined the effect of attention on RT-assisted rehabilitation by comparing the effect of motor learning on upper limb using the rehabilitation-assisting RT devices in paying and not paying attention conditions. The conclusion is that not paying enough attention to the training and biofeedback from the device will block the rehabilitation and the phenomenon was more obvious for reinforcement learning.

    CiNii

  • 2A1-V06 車椅子搭載型ロボットアームを操作するための6自由度オーラルインターフェースの開発 : 下顎運動と呼吸運動の利用(福祉ロボティクス・メカトロニクス(2))

    張 哲明, 汪 偉, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2012   "2A1 - V06(1)"-"2A1-V06(3)"  2012年05月

     概要を見る

    In this research, we are currently developing a 6-Dof oral Interface in order to help quadriplegic patients operate a wheelchair mounted robotic arm independently. We are focusing on building a device capable of measuring the amount of jaw's movement and respiratory pressure and changing it into electronic signals by using joysticks and air-pressure sensors. We come up with a control method which is adapted to the robot arm's 6-Dof tool coordinate system and can be used to operate the wheelchair mounted robotic arm without using hands or legs. The device can be installed instantly by connecting it to the computers with a single USB cable. The device is in a small size of 220×200×90[mm] and weighs 680[g] for compact purpose.

    CiNii

  • 確率的意図推定に基づき対話管理を行う情報検索対話システム

    山?翔太, 中野幹生, 菅野重樹

    全国大会講演論文集   2012 ( 1 ) 203 - 205  2012年03月

     概要を見る

    情報検索システムを用いて何かを調べようとするとき,要求する情報のキーワードが自明でないことは多いが,システム側から聞き返すことによって意図を具体化することができれば,知識のないユーザでも情報を見つけることができる.本論文では,自然言語の入力に対して,階層的な知識構造に基づく確率的な意図推定によって対話的に情報検索を行う対話システムアーキテクチャを提案する.提案アーキテクチャは,従来のシステムでは考慮されていない,意図推定のあいまい性に基づいた対話処理を実現するために,最大エントロピー法やベイジアンネットワークなどの確率モデルにより意図推定のあいまい性と対話エンジンを統一的に扱う.提案アーキテクチャに基づき「Webページ作成」のドメインのシステムを構築し,動作を確認した.

    CiNii

  • 操作型作業機械の知能化に関する研究~第8報:手先位置頻度マップを用いた大局的作業傾向の可視化~

    亀崎允啓, 橋本諭, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th  2012年

    J-GLOBAL

  • IRoA 2011 welcome message from workshop organizers ITCS 2011

    James J. Park, Shigeki Sugano

    Lecture Notes in Electrical Engineering   107   xv - xx  2012年

    その他  

    DOI

  • いちご収穫ロボット「M型3号機」用RTコンポーネントの開発

    山下 智輝, 田中 基雅, 山本 聡史, 林 茂彦, 齋藤 貞文, 菅野 重樹

    計測自動制御学会論文集   48 ( 1 ) 51 - 59  2012年

     概要を見る

    We are now developing the strawberry harvest robot called &amp;ldquo;M-3&amp;rdquo; prototype robot system under the 4th urgent project of MAFF. In order to develop the control software of the M-3 robot more efficiently, we innovated the RT-middleware &amp;ldquo;OpenRTM-aist&amp;rdquo; software platform. In this system, we developed 9 kind of RT-Components (RTC): Robot task sequence player RTC, Proxy RTC for image processing software, DC motor controller RTC, Arm kinematics RTC, and so on. In this paper, we discuss advantages of RT-middleware developing system and problems about operating the RTC-configured robotic system by end-users.

    DOI CiNii

  • 1A1-A03 果実の着果状態に着目したいちご収穫ロボットの収穫難易度判定方法の検証(農業用ロボット・メカトロニクス)

    菅原 英剛, 中尾 真梨子, 菅野 重樹, 山下 智輝, 田中 基雅, 山本 聡史, 林 茂彦, 齋藤 貞文

    ロボティクス・メカトロニクス講演会講演概要集   2011   "1A1 - A03(1)"-"1A1-A03(2)"  2011年05月

     概要を見る

    We are currently developing a strawberry-harvesting robot which includes machine vision, five-axis manipulator, end-effector and fluit-tray-exchanger. Because the working hours are limited, the density of berries is very important for harvesting robot. So we try to sort berries by density. In this paper, the way of density and the results of experiment are shown in detail.

    CiNii

  • 1P1-Q03 逆時間方向探索木を用いた準最適安定化制御(【機械力学・計測制御部門】ロボットシステムのダイナミクス&デザイン)

    金 天海, 辻野 広司, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2011   "1P1 - Q03(1)"-"1P1-Q03(4)"  2011年05月

     概要を見る

    This paper addresses online optimal motion planning for a machine. The proposed online controller selects semi-optimal motion from a reverse-time search tree while stabilizing a machine. We made the tree using a framework, rapid semi-optimal motion planning (RASMO), that plans semi-optimal motions rapidly. To validate the proposed controller, we conducted several simulations using double inverted pendulums. As a result, the proposed controller selected and controlled the motion of the pendulums online, and stabilized the pendulums quickly. The high resolution of the mesh improved the control precision.

    CiNii

  • 2A1-D09 自己形態主張カスタマイズロボットの開発 : ユーザの自己効力感向上がインタラクションに与える効果の検証(コミュニケーション-ロボット)

    山崎 由美子, 守 良真, 菅 祐樹, 尾形 哲也, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2011   "2A1 - D09(1)"-"2A1-D09(2)"  2011年05月

     概要を見る

    Our goal is to crate a robot which can communicate with people for a long time. To make this possible, we are developing a customizable communication robot "WEAR (Waseda Extendable ARchitecture)". We also provided modules, and experimental subjects can customize the robot by inserting them into the module-port. At the same time, the robot can recognize the customize, and it also can express its autonomy by rejecting the customization by ejecting the module. In this paper, we proposed the communication model to grow self-efficacy. And as the result of the experiments, we found that the proposed communication model is preferred by user than all-accept communication model.

    CiNii

  • 1A1-L09 準最適運動計画のための機械モデルに応じた位相空間分割手法(動作計画と制御の新展開)

    山崎 翔太, 金 天海, 辻野 広司, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2011   "1A1 - L09(1)"-"1A1-L09(4)"  2011年05月

     概要を見る

    This paper addresses optimal motion planning for a machine. We discuss a problem of discretization error for the planning in continuous state space. We propose a method to divide state space considering state transition according to a mechanical model. In the proposed method, we define discretization error as a divergence of state transition and we organize an optimal discretization that minimizes discretization error using a binary tree. To validate the proposed dividing method, we conducted several motion planning simulations in phase space using double inverted pendulums. As a result, the planned motion in discretized phase space by the proposed method showed higher optimality than that by uniform discretization on equal calculation time.

    CiNii

  • 2P1-F01 オートグラスピングが可能な車椅子搭載型ロボットハンドの開発(福祉ロボティクス・メカトロニクス(1))

    松尾 雄希, 汪 偉, 菅 佑樹, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2011   "2P1 - F01(1)"-"2P1-F01(4)"  2011年05月

     概要を見る

    In this research, we are currently developing a robotic arm which is mounted on a wheel chair to help disabled people in daily life. But it is difficult for these people to manipulate it by using a joystick. So we aim to make an automatic manipulator, and this year, we developed a robot hand which can grasp objects automatically. This time we tried 3 tasks. They are to grasp a PET bottle, a straw and a handle. To realize these tasks, this robot hand has 30[N] grip force produced with four-bar linkage system, and carries a supersonic sensor, infrared proximity sensors and pressure sensors. Finally we succeeded to create a map of environment, and to carry out them.

    CiNii

  • 2P1-C03 血流量測定のための変動血管対応型ビジュアルサーボシステムの開発(医療ロボティクス・メカトロニクス)

    伊藤 慶一郎, 朝山 智史, 鶴田 功一, 菅野 重樹, 岩田 浩康

    ロボティクス・メカトロニクス講演会講演概要集   2011   "2P1 - C03(1)"-"2P1-C03(2)"  2011年05月

     概要を見る

    We report a visual servo system which can search the position of a bleeding source by blood flow measurement. Conventional method of blood flow measurement using by ultrasound can't measure blood velocity under large vessel displacement. We developed a new visual servo system which contains two kinds of controls: a cyclic follow-up control and a control which decides the follow-up control start timing and position using by diameter comparison. As a result of experiments of following up a vessel and measuring blood velocity, proposed method appropriately worked and the possibility that we can measure blood flow under large vessel displacement using by ultrasound was suggested.

    CiNii

  • 2P2-E04 体性感覚バイオフィードバックに基づくリハビリ支援システム : 第4報:誤差覚知RTによる学習再誘引時の脳賦活評価(リハビリテーションロボティクス・メカトロニクス)

    岩田 浩康, 有村 和隆, 飯村 直之, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2011   "2P2 - E04(1)"-"2P2-E04(2)"  2011年05月

     概要を見る

    We proposed a new biofeedback system for rehabilitation of hemiplegia, which restrain patients from learning incorrect movements by perceiving the difference between non-paralyzed-side and paralyzed-side. In this paper, we verified the changes of brain activity using fMRI during the re-motor-learning by proposed system.

    CiNii

  • 2P2-D10 体性感覚バイオフィードバックに基づくリハビリ支援システム : 第3報:健側の能動探索による対側位置覚同定手法(リハビリテーションロボティクス・メカトロニクス)

    岩田 浩康, 飯村 直之, 有村 和隆, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2011   "2P2 - D10(1)"-"2P2-D10(2)"  2011年05月

     概要を見る

    We propose new rehabilitation RT devices, PARTY (Perception-Assisting Robotics TechnologY) that enable the paralyzed to get a perception-bypass communication path via a non-paralyzed-part body. Previously, to identify the sense of position and recognize joint angle, our device synchronizes non-paralyzed-side with the action of paralyzed-side. However, tests on ankle joint for six normal subjects indicate active search is more effective than passive synchronization to improve the adjusting capability of joint angle. Then, we applied this new method for patient, and saw hemiplegia able to adjust paralyzed-side to target-angle with accuracy of normal subject.

    CiNii

  • 2P1-B20 操作型作業機械の知能化に関する研究 : 第2報:環境・操作者の多様性に非依存な基底作業状態の提案(建設・解体ロボット・メカトロニクス)

    亀崎 允啓, 島田 陽介, 河合 雄一郎, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2008   "2P1 - B20(1)"-"2P1-B20(4)"  2008年06月

     概要を見る

    In complicated work machines represented by Double-Front Construction Machinery, an intelligent system to which can provide operational and cognitive supports for an operator is essential. In construction work, a) work objects change consistently, b) environment is complicated, and c) operation methods are different by operators. We understand that there are so many unknown parameters that state identification technique to cover all is very difficult. Therefore, we think that the state unit in total independence of varieties of environmental condition and operator&#039;s skill level condition is important. We designed the state unit - PSS (Primitive Static States) with ON / OFF information of lever input and manipulator load divided into &quot;end-effecter&quot; and &quot;except end-effecter&quot;. PSS classified working states in 256 (double front) ways every sampling period. As a result of having experimented with between different operators and between different environments with PSS, we confirmed that PSS have properties &quot;in total independence of varieties of environmental condition and operator&#039;s skill&quot;.

    CiNii

  • 屈曲型広圧排面リトラクタの開発と評価

    岩田 浩康, 遠藤 嘉将, 菅野 重樹

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   9 ( 3 ) 316 - 317  2007年12月

    CiNii

  • 2E1-02 起立動作介助における膝関節負荷を軽減可能な手先誘導軌道 : 移動型力介助マニピュレータによる高齢者の自立支援の促進(起立・歩行支援)

    岩田 浩康, 亀崎 允啓, 相子 文孝, 金子 真, 菅野 重樹

    福祉工学シンポジウム講演論文集   2006   168 - 170  2006年09月

     概要を見る

    We propose a method for designing the hand-guiding movement that enables to lessen knee joint torques of the elderly in standing-up motion support. The movement was derived based on the geometric analysis of transitional postures during a standing-up motion for an assisted person expressed with four link models comprising of a shoulder, waist, knee and feet. The postures satisfying the derived movement in which the center of gravity goes in a place near the toe in the foot contact area allows the elderly to reduce knee joint torques during the standing-up motion even if the burden grows most. Simulations and experiments using an actual robot for evaluation indicating the derived trajectory successfully lessens knee joint torques of the elderly confirm the validity of the proposed method.

    CiNii

  • 人間と共存できるロボットの形態と機能

    菅野 重樹

    経営システム = Management systems : a journal of Japan Industrial Management Association   9 ( 2 ) 77 - 82  1999年07月

    CiNii

▼全件表示

受賞

  • 優秀講演賞

    2018年12月   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  

  • 論文賞

    2018年09月   日本ロボット学会  

  • SI2017 優秀講演賞

    2017年12月   計測自動制御学会  

    受賞者: 菅野 重樹

  • 文部科学大臣表彰(科学技術賞・研究部門)

    2017年04月   文部科学省  

    受賞者: 菅野 重樹

  • 論文賞

    2016年09月   計測自動制御学会  

    受賞者: 菅野 重樹

  • ICAM2015 Honorable Mention

    2015年12月   日本機械学会  

    受賞者: 菅野 重樹

  • IEEE-IRIS BEST PAPER AWARD

    2015年10月   IEEE  

    受賞者: 菅野 重樹

  • IEEE-CYBER Best Paper Award Finalist

    2015年06月   IEEE  

    受賞者: 菅野 重樹

  • 功労賞

    2012年10月   日本ロボット学会  

    受賞者: 菅野 重樹

  • SI 優秀講演賞

    2011年12月   計測自動制御学会  

    受賞者: 菅野 重樹

  • ICROS Best Application Paper Award Finalist

    2011年09月   IEEE  

    受賞者: 菅野 重樹

  • フェロー称号

    2011年09月   計測自動制御学会  

    受賞者: 菅野 重樹

  • フェロー称号

    2008年09月   日本ロボット学会  

    受賞者: 菅野 重樹

  • 建設ロボットシンポジウム 優秀論文賞

    2008年09月   建設ロボット研究連絡協議会  

    受賞者: 菅野 重樹

  • Fellow Award

    2007年01月   IEEE  

    受賞者: 菅野 重樹

  • フェロー称号

    2006年04月   日本機械学会  

    受賞者: 菅野 重樹

  • 日本機械学会ロボティクスメカトロニクス部門学術業績賞

    2001年05月  

  • ロボティクスメカトロニクス部門ROBOMECH表彰

    2000年05月   日本機械学会  

    受賞者: 菅野 重樹

  • 日本機械学会論文賞

    2000年03月  

  • 日本ロボット学会技術賞

    1990年04月  

▼全件表示

共同研究・競争的資金等の研究課題

  • タスク環境に適応するための行為の能動的学習過程の構成論的解明

    科学研究費助成事業(独立行政法人理化学研究所)  科学研究費助成事業(特定領域研究)

  • 人間共存ロボットの人間追従制御手法に関する研究

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(基盤研究(A))

  • 神経系の働きを含めた模擬循環器系の構成論構築とその応用

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(挑戦的萌芽研究)

  • 人間共存型ロボットの能動的な働きかけによる人間協調技術の研究

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(基盤研究(S))

  • 手・腕・胴・脚の協調動作のバイオメカニクスに関する研究

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(重点領域研究)

  • ECにおける人間中心生産システムの調査

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(国際学術研究)

  • 循環系および運動系の力学的解析に基づくウェイトリフティングの最適訓練法の提唱

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(一般研究(C))

  • マルチモーダルな対話機能を有し人間と共同作業をする次世代ロボットの基礎研究

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(一般研究(A))

  • 人間機械協調システムに関する研究

    科学研究費助成事業(東京大学)  科学研究費助成事業(重点領域研究)

  • 機械インピーダンス調節機構を搭載したロボットの力制御に関する研究

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(基盤研究(B))

  • 感性が運動決定に与える影響に関する研究

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(萌芽的研究)

  • 人間共存型ロボットに関する研究

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(基盤研究(A))

  • 人間共存ロボットの衝突安全動作に関する研究

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(基盤研究(B))

  • 人間ロボット間の情緒的コミュニケーションに関する研究

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(萌芽的研究)

  • 生体模倣部品開発プロジェクト

    文部科学省 

  • マルチモーダルコラボレーションロボット

    文部科学省 

▼全件表示

特定課題研究

  • 人の血液循環器系を模倣した機械システムの自己修復メカニズムに関する研究

    2017年   長濱峻介

     概要を見る

     本研究は,人工循環器システムを用いて材料の修復および機能維持を行うことが目的である.人間の血液循環系は,物質を細胞に供給することにより細胞を維持し体内のホメオスタシスを実現している.この仕組みを機械システムに導入する. 本年度は,循環系を用いた材料修復技術構築のために,材料と構造の研究を行った.材料の研究では,トリプルネットワークゲルの合成手法を提案し,構造を維持したまま導電性などの機能を高強度のゲルに付与する手法を構築した.構造の研究では,微小突起構造などの構造を,MEMS技術を用いて構築する技術を開発した.また循環系と組み合わせることで材料の摩耗を抑え,摺動部の潤滑が可能な機構の開発も行った.

  • 人の血液循環器系を模倣した機械システムの自己修復メカニズムに関する研究

    2016年  

     概要を見る

     In order to realize our proposal, it is necessary to develop (1) a mechanism of robots which has flow path to deliver repairing agent, and(2) a material adsorbing to the damaged area and repairing the area. In this year, we developed a robot which has an artificial circulatory system, a self-repairable high strength triple-network gel and a gel capable of controlling adsorption by temperature. As for robot development, by covering the skeleton of the robot with artificial skin and integrating an artificial circulatory system inside robot, it became possible to transport the liquid to everywhere inside the robot. As a result, it was possible to supply the repairing agent to many damaged area. As for self-repairing gels, we developed a Triple Network (TN) gel. The developed gel has high tensile strength property, and self-repairing ability by contacting the fracture surface at room temperature. However, the timing of adsorption could not be controlled with the above gel, a gel capable of controlling adsorption according to temperature change was developed. A polymer of a self-repairing gel was replaced with a thermo-responsive polymer (LCST type), and it was possible to control binding by temperature change when the fracture surface each other were in contact.

  • 情動・神経の働きを含んだ模擬循環器系に関する構成論の解明

    2012年  

     概要を見る

     本研究の目的は,生物の循環器系システム及び循環器系を制御している情動システムや神経回路網の働きを工学的に模擬することにより,生物に近い循環器系システムを生物の血液循環器系を模擬したシステムを構築し,これを機械をはじめとした様々なシステムに応用することにある. 神経系とホルモン系をシステムに組み込むと極めて煩雑なシステムになってしまうため,本年度はまず人工血液(片栗粉と水とエタノールの混合液)とポンプ,エタノール燃料電池,フィルター,チューブを用いた単純なシステムを構築した.1)断裂したチューブの修復,2)温度調整(水冷),3)フィルターを用いた混合液からのエタノール分離による燃料電池へのエネルギー供給の3つの機能を有する血液循環器系システムを構築し,その有効性を確かめた.システム構築の過程で周期的なパルスで混合液を送液するポンプ(拍動流ポンプ)と一定量の混合液を送液するポンプ(無拍動流ポンプ)の凝固作用の差異を確かめることを目的としたチューブの破壊・修復実験を行い,拍動流ポンプを用いると人工血液の凝固が促進されることを確認した.また拍動流はフィルターの目詰まり防止にも有効に働き,無拍動流ポンプでは数分でフィルターの目詰まりが生じてしまいエタノールの抽出が不可能になったが,拍動流ポンプでは長時間安定してエタノールの抽出が可能であった. 拍動流が液体の凝固を促進することは確かめられた事例はなく,また本研究の結果を医学的観点から見ると血液の凝固と拍動が関係していると考察されるため,このシステムが医療分野の研究にも有用であることが示唆される.また,このシステムの3つの機能は,システムの恒常性を保つために必要な機能であり,これらの機能を流体と拍動流ポンプのみを用いて実現できた工業的な意義は大きい. 今後は本年度製作したシステムに,神経系や情動系を模倣したシステムを組み込むことにより,より医学的に意義のあるシステムや工業的に有用なシステムを構築し,新たな知見や工業的なアプリケーションを開発していく.

  • 複数の人間と共に移動可能なヒューマノイドロボットの安全モビリティに関する研究

    2011年  

     概要を見る

    人間共存ロボットの導入における課題の一つとして,人との接触が避け難い狭小空間でも安全を確保した上で効率的に目的地へ到達する安全安心移動技術がある.これまで安全性の観点から接触に対する追従制御は実現されているが,それに伴う移動の変化による効率については考慮されておらず,トレードオフ関係を形成する人・ロボット双方の移動効率を満足する技術が必要である.そこで本研究では,接触力に基づく軌道予測を行い,双方の移動効率を満足しつつ安全性と両立させる接触運動制御手法の開発を目的とした.上述の制御則構築のため,本研究ではまず移動効率を接触前後の移動速度ベクトルの変化と定義した.接触移動中は両者の目標移動効率を実現しうる目標接触力と全身の運動目標を決定するため,腕部による接触力は両者を結ぶ線分方向,移動部による加速度は接触力と直交する方向に限定し,人が接触力に倣うことを前提に相対座標系を用いて軌道予測を行う.実際に算出した目標接触力を維持するように腕部で力制御を行い,移動部は相対的な軌道目標に追従させる.しかし,人が非常に大きな接触力を与える場合においては移動部が予想と異なる軌道を描くため,ロボットの移動効率は著しく低下する.そこで目標接触力を増大させ移動効率を満たすよう軌道を修正する.人からの接触力が小さい場合には同様に人の移動効率が低下してしまうため目標接触力を減少させる.なお,接触力が安全性の目標である痛覚耐性値を超える場合には目標移動効率を修正した上で再び予測を行う.これにより,接触中の力変化に応じて適応的に目標接触力と軌道が変化し,結果として安全性を確保しつつ,互いの移動効率を満たすことができる.有効性検証のため二次元空間でのシミュレーション実験,接触移動用プロトタイプロボットとマネキンを用いた評価実験を行った.両実験において力変化に安全に対応しつつ目標移動効率が高められることを確認した.

  • 安全な人間追従を可能にする人間共存ロボットの表面カバーに関する研究

    2006年  

     概要を見る

     人間と共存するロボットは,人間と直接的に触れ合っても安全である機能が要求される.本研究では,この機能実現のために,以下の3課題の研究を進めた.(1) 基礎評価用表面カバーの開発(2) 人間による接触認知の実験(3) 実験・計測用マニピュレータの設計・試作 人間とロボットとが接触しても安全であるためには,まず人間同士が共同作業をする際に生じるさまざまな触れ合い状態を,コンテキストとして分析し,力学的な解析と組み合わせることで,触れ手側と受け手側とのデータの特徴として表現することを試みた.この実験のために,分布型触覚センサと6軸力センサを用いて評価用表面カバーを試作し,これを人間の前腕部に装着して共同作業中の触れ合い状態を計測した.また,作業のシナリオ/コンテキストに基づき,接触が生じる場面,時間的推移,接触の程度の関連性を検討し,接触情報の認知と接触制御手法について考察した. さらにこのデータを基に,ロボットの接触検出用表面カバーとしての仕様を検討し,合わせて,安全なロボットマニピュレータシステムを構築するために,これまでに本研究で提案しその有効性を実証してきた関節メカニズム(MIA: Mechanical Impedance Adjuster)をベースとして,この関節機能と表面カバーの機能とをうまく両立させたシステムの構築を検討した. 以上より,触れた際にそこに込められた意味,例えば,気付かせる,注意する,促すなどを接触情報から区分けする方法を見出し,逆にその接触情報を人間に与えられれば,同様の情報伝達が可能であることを確認した.これらの知見を,ロボットマニピュレータ全体の制御にインプリメントし,人間とロボットとの相互の触れ合い情報伝達の基礎実験の準備を行った.

  • 全身協調により安全に人間追従が可能な人間共存ロボットの設計に関する研究

    2004年  

     概要を見る

     ロボットアームの柔軟性は,受動柔軟性として機能する被覆と関節,能動柔軟性として機能する制御である.本研究では,安全に人間に追従できる人間共存ロボットアームの実現を目指し,能動柔軟性と受動柔軟性とを統合した設計論を導出することを目的とした. まず,分類した三つの柔軟要素を,被覆には理想的な弾性要素と粘性要素を並列に配置したフォークトモデルを,関節には負荷側と駆動側の慣性を考慮した2慣性系モデルを,制御には軸のねじれ検出を利用した位置制御ベースの能動インピーダンス法を採用してモデル化した.このモデルを用いて,被覆の厚さとその粘弾性パラメータ,関節の機械ばねストロークとその粘弾性パラメータ,関節駆動モータのロータ慣性と位置制御・インピーダンス制御の制御パラメータを基に,MATLABによる設計シミュレーションを行った. 被覆・関節系: 高応答性が要求される衝突では,高い衝撃吸収性が期待できる被覆・関節系の柔軟性の統合について検討した.評価基準には,自動車の衝突安全評価指標として広く利用されている頭部傷害基準(HIC: Head Injury Criteria)を採用した.衝撃吸収時における粘弾性素材の底付きは撃力増大を招くが,粘弾性被覆を厚くすることも難しい.そこで,HICと粘弾性被覆の厚さを考慮に入れた被覆設計のための衝突シミュレーションを行った. 関節・制御系: 追従に関する評価基準として,接触安定性と周波数特性に着目した.接触安定性については,接触系ループゲインである関節の機械ばね定数・位置制御ゲイン・仮想コンプライアンスを小さく抑え,周波数特性に関しては,関節に機械的な粘弾性を付加することで柔軟性を発揮できる周波数帯域の調整を可能とした. 衝突シミュレーションの結果,人間共存ロボットアームの重量配分の範囲では,関節の柔軟性はHIC評価の下では衝突安全に貢献できず,被覆のみの独立した設計が可能であることが示された.また,人間の頭部がロボットアーム前腕中心に衝突する状況を想定し被覆設計を行った結果,薄くてかつ底付きを容認しないという条件から,比較的高いヤング率が要求されることを明らかにした.関節・制御系設計のための外力追従シミュレーションでは,関節機能と制御の効果的な融合により,アクチュエータおよび関節機械ばねの設計を容易にでき,小型・軽量化設計に寄与することを明らかにした.

  • 機械的インピーダンス調節機構を備えた7自由度マニピュレータの開発

    1996年  

     概要を見る

     マニピュレータの力制御に関する研究の多くは、手首部の力センサ信号に基づくソフトウェアサーボにより先端に仮想的なバネ特性を持たせることで、作業対象-手先間の力を調節する方法を用いているため手先作業に限定されている。これに対して、各関節の柔軟性を独立に制御してマニピュレータ全体を柔軟に動作させれば、より汎用性を持たせることが可能となる。しかし、実現段階においては高減速比減速器などに内在する非線形要素のため、理想的な関節柔軟性を実現することは困難であるという指摘がなされてきた。 本研究では、柔軟要素であるバネと粘性要素であるブレーキを関節に直接組み込むという機械設計の発想により理想的な関節柔軟性を実現、さらにこれを任意に変化できる機構(MIA:Mechanical Impendance Adjuster)を開発し、7自由度力制御マニピュレータを構成した。具体的な研究成果を以下に示す。 1.7自由度マニピュレータのハードウェア開発 マニピュレータの手首は、3つの関節軸が直交していることが運動学的に望ましい、そこで、提案しているMIAのモジュール化設計と改良を行い、小型・軽量な手首メカニズムを開発した。また、この3自由度手首と既に開発済の4自由度アームを用いて、7自由度人間形力制御マニピュレータを構成した。 2.動力学的影響を考慮したMIA関節制御則の構築 MIAは、関節部にバネ要素を搭載しているため、高速動作時には各関節に顕著な動力学的干渉が生じる。そこで、MIAを搭載した多自由度マニピュレータの運動方程式の導出、制御系の安定性解析を行い、動力学的影響を考慮したMIA関節制御則を構築した。 3.拘束環境下におけるマニピュレータの実現 構築した7自由度マニピュレータに関節制御則を適用し、高い関節柔軟性を実現しつつ高速なマニピュレーションを実現した。

  • 機械的インピーダンス調節機構を備えた4自由度マニピュレータの開発

    1995年  

     概要を見る

    ロボットマニピュレータに拘束条件下の作業を行わせる場合,マニピュレータ自体に柔軟性を持たせることが有効である。この柔らかさは,静力学的要素のコンプライアンスと,動力学的要素のダンピングを加えたインピーダンスの調節により実現されることが理想的である。本研究では,理想的柔軟性を実現可能な新しいインピーダンス制御手法として,機械的に柔軟性が調節可能な関節機構(メカニカルインピーダンス調節機構)の開発とその制御手法の確立を研究目的としている。具体的には,ダイナミックな力制御が要求される腕関節にメカニカルインピーダンス調節機構を実際に適用することを目指し,本手法を用いた4自由度評価用アームの開発および関節制御則の構築を行った。 開発した4自由度マニピュレータは人間の肩・肘部に相当する自由度で構成されており,各リンク長,可動範囲,運動速度は成人男子とほぼ同等となるように設計されている。提案している関節機構をマニピュレータに用いたことで,力制御に一般的に用いられるダイレクト・ドライブ・アームに比べて小型・軽量化が実現された。 また,制御面についてはコンプライアンス・ダンピング特性実験を行うとともに,多自由度アームの逆運動学,関節の力学モデル化,自重による定常偏差の補償則などロボットアームの動作制御に必要な基本的な制御則を構築した。 更に,開発したハードウェアに運動制御則を適用して本機構の力制御に対する評価実験を行った。評価内容としては,理想的な関節柔軟性と正確な手先軌道追従性が必要となる垂直平面に対する静的な接触作業を取り上げた。 以上の成果から,本機構および関節制御手法がロボットアームの力制御に対して有効であることが示された。

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