Updated on 2022/05/25

写真a

 
OTANI, Takuya
 
Affiliation
Faculty of Science and Engineering, Waseda Research Institute for Science and Engineering
Job title
Junior Researcher(Assistant Professor)

Concurrent Post

  • Faculty of Science and Engineering   School of Creative Science and Engineering

Education

  • 2013.04
    -
    2016.03

    Waseda University   Graduate School of Advanced Science and Engineering   Major in Integrative Bioscience and Biomedical Engineering  

  • 2011.04
    -
    2013.03

    Waseda University   Graduate School of Creative Science and Engineering   Major in Modern Mechanical Engineering  

  • 2007.04
    -
    2011.03

    Waseda University   School of Creative Science and Engineering   Department of Modern Mechanical Engineering  

Degree

  • 2016.03   Waseda University   Ph.D.

Research Experience

  • 2019.04
    -
    2022.03

    Waseda Research Institute for Science and Engineering   Junior Researcher <Assistant Professor>

  • 2018.04
    -
    2019.03

    Waseda University   Faculty of Science and Engineering   Assistant Professor

  • 2016.04
    -
    2018.03

    Waseda University   Faculty of Science and Engineering   Research Associate

  • 2017.04
    -
     

    Educational guidelines of Tokyo Design Technology Center   Robot Course   Part-time lecturer

  • 2013.04
    -
    2016.03

    Waseda University   JSPS Research Fellow

Professional Memberships

  •  
     
     

    The Virtual Reality Society of Japan

  •  
     
     

    Japanese Council of IFToMM

  •  
     
     

    Japan Society of Mechanical Engineers

  •  
     
     

    Robotics Society of Japan

  •  
     
     

    IEEE

 

Research Areas

  • Robotics and intelligent system

  • Intelligent robotics

  • Mechanics and mechatronics

Research Interests

  • Humanoid Robotics

  • 知能ロボティクス

  • ヒューマンインタフェース

  • Haptics

  • 手術支援ロボット

  • 人間計測

▼display all

Papers

  • Optimization of Link Length Fitting between an Operator and a Robot with Digital Annealer for a Leader-Follower Operation

    Takuya Otani, Atsuo Takanishi, Makoto Nakamura, Koichi Kimura

    Robotics    2022.01  [Refereed]

    Authorship:Lead author, Corresponding author

    DOI

  • Development of Neonatal Airway Management Simulator for Evaluation of Tracheal Intubation.

    Y Takebe, M Shiina, Y Sugamiya, Y Nakae, T Katayama, T Otani, H Ishii, A Takanishi

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference   2021   7535 - 7538  2021.11  [Refereed]  [International journal]

     View Summary

    The long-term goal of this study is a training system that can simulate medical cases and advise physicians based on quantitative evaluation of neonatal resuscitation. In this paper, we designed and manufactured a neonatal airway management simulator for quantitative evaluation of tracheal intubation. This robotic simulator is equipped with 25 sensors of 6 types, which detect motions that lead to complications, inside the manikin replicated a neonate. A performance experiment of the developed sensor and an evaluation experiment with physicians were conducted. We observed that an erroneous operation in the laryngoscopy can be detected by the sensors in our simulator.

    DOI PubMed

  • Development of robot simulator for interactive training of neonatal cardio-pulmonary resuscitation

    Y. Takebe, K. Imamura, Y. Sugamiya, Y. Nakae, T. Katayama, T. Otani, H. Ishii, A. Takanishi

    2021 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021     1230 - 1235  2021.08  [Refereed]

     View Summary

    In recent years, awareness of improving the quality of medical care has increased. We focused on neonatal resuscitation, which is difficult to train clinically, and our long-term goal is a neonatal resuscitation training system that can simulate cases and can feedback interactively based on quantitative evaluation of the procedures. In this study, we developed the neonatal simulator that has a respiratory movement simulating mechanism and a chest compression measurement mechanism. Through an interview with neonatologists, the fidelity of respiratory movements and the possibility of evaluating chest compression with the developed simulator were assessed.

    DOI

  • Survey on the Ability to Estimate the Position of the Projected Center of Gravity Under Different Scale of Sole Reaction Force Presentation

    OTANI Takuya, KUROIWA Yuji, TAKANISHI Atsuo

    Journal of Japan Society for Fuzzy Theory and Intelligent Informatics   33 ( 3 ) 671 - 677  2021  [Refereed]

    Authorship:Lead author, Corresponding author

     View Summary

    <p>Human stability is an important sense that relates to human posture. If it can be presented the stability sense, it will improve the reality of virtual reality experience. In this study, in order to reproduce the projected center of gravity, which is one of the indices of stability, we conducted experiments to confirm the projected center of gravity from the replicated plantar reaction force when presented with the other's plantar reaction force. A device to reproduce the other's plantar reaction force and the center of gravity projection response system were used. We confirmed the projected center of gravity with an accuracy of 2 cm. Therefore, it is possible to estimate the center of gravity projection point and difficult to estimate when the foot reaction force was multiplied by 0.1.</p>

    DOI CiNii

  • Basic Study for Non-wearable Voice Transmission System to Target Person

    大谷拓也, Sun Xiao, 小川駿也, 鈴木滋英, 山田晃久, 小西瑶果, 清水智壮, 正宗賢, 村垣善浩, 高西淳夫, 高西淳夫

    日本ロボット学会誌   39 ( 4 )  2021  [Refereed]

    Authorship:Lead author, Corresponding author

    J-GLOBAL

  • Evaluation of Tracking Control for Hydraulic Direct-drive System

    Juri SHIMIZU, Takuya OTANI, Kenji HASHIMOTO, Atsuo TAKANISHI

    JFPS International Journal of Fluid Power System   13 ( 3 ) 17 - 24  2020.12  [Refereed]

    DOI

  • Jumping Motion Generation for Humanoid Robot Using Arm Swing Effectively and Changing in Foot Contact Status

    H. Mineshita, T. Otani, M. Sakaguchi, Y. Kawakami, H.O. Lim, A. Takanishi

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)    2020.10  [Refereed]

    DOI

  • Development of a Trapezoidal Leaf Spring for a Small and Light Variable Joint Stiffness Mechanism

    Hiroki Mineshita, Takuya Otani, Kenji Hashimoto, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, and Atsuo Takanishi

    Proceedings of the 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control     355 - 363  2020.09  [Refereed]

    DOI

  • Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion

    Hideki Mizukami, Takuya Otani, Juri Shimizu, Kenji Hashimoto, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, Atsuo Takanishi

    Proceedings of the 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control     34 - 42  2020.09  [Refereed]

    DOI

  • 分散床反力をヒト足底に提示可能な足底力覚提示装置の開発

    大谷拓也

    日本ロボット学会誌   38 ( 6 ) 567 - 573  2020.07  [Refereed]

    Authorship:Lead author, Corresponding author

  • Flow Compensation for Hydraulic Direct-Drive System with a Single-rod Cylinder Applied to Biped Humanoid Robot

    J. Shimizu, T. Otani, H. Mizukami, K. Hashimoto, A. Takanishi

    Proceedings - IEEE International Conference on Robotics and Automation     2857 - 2863  2020.05

     View Summary

    Biped robots require massive power on each leg while walking, hopping, and running. We have developed a flow-based control system - called hydraulic direct drive system - that can achieve high output while avoiding spatial limitations. To implement the proposed system with simple equipment configuration, a pump and single-rod cylinder are connected in a closed loop. However, because compensation for flow rate is impossible in a completely closed loop, owing to the difference in the pressure receiving area caused by the rod, a passive flow compensation valve is employed. This valve has a simple structure and is easy to implement. Further, an additional sensor is required to detect the open/close state because the valve state will cause an error in flow control. Therefore, we implemented a model in the controller to predict the state of the flow compensation valve and formulated a method of switching from flow control to pressure control according to the predicted state. Experimental results indicate that the error of the joint angle is reduced to less than 1.6 degrees for walking patterns, and stable walking is realized when the system is installed in biped humanoid robots.

    DOI

  • Experimental Validation of Hydraulic Interlocking Drive System for Biped Humanoid Robot

    J. Shimizu, T. Otani, H. Mizukami, K. Hashimoto, A. Takanishi

    IEEE International Conference on Intelligent Robots and Systems     7163 - 7169  2019.11

     View Summary

    Biped robots require substantial amounts of power on each leg alternately while walking, hopping, and running. However, it is difficult to adopt large high-power electrical motors in conventional mechanical transmission systems owing to spatial limitations. To address this problem, a hydraulic interlocking drive system that incorporates two hydraulic direct-drive systems is proposed for biped humanoid robots. The hydraulic interlocking drive system connects the two hydraulic direct-drive systems and concentrates the pump output on one side cylinder. The other side cylinder meter-in flow rate is controlled by the meter-out flow rate from the cylinder on which the pump is concentrated. Good position tracking and excellent energy saving are achieved with the proposed system. A performance comparison with a single hydraulic direct-drive system shows that the motor power of the hip pitch joint is reduced by 27.3% for walking patterns. This result shows that the rated output of the motor can be reduced, and smaller and lighter motors can be installed in biped robots.

    DOI

  • Robotic Ankle Mechanism Capable of Kicking While Jumping and Running and Adaptable to Change in Running Speed

    H. Mineshita, T. Otani, K. Hashimoto, M. Sakaguchi, Y. Kawakami, H.O. Lim, A. Takanishi

    2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)    2019.10

    DOI

  • Experimental Validation of High-Efficiency Hydraulic Direct-Drive System for a Biped Humanoid Robot—Comparison with Valve-Based Control System

    J. Shimizu, T. Otani, H. Mizukami, K. Hashimoto, A. Takanishi

    2019 International Conference on Robotics and Automation (ICRA)    2019.05  [Refereed]

    DOI

  • Construction of Automatic Scoring System to Support Objective Evaluation of Clinical Skills in Medical Education

    Yurina Sugamiya, Takuya Otani, Ryu Nakadate, Atsuo Takanishi

    2019 41ST ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     4177 - 4181  2019  [Refereed]

     View Summary

    In this study, we focused on the automatic scoring of medical clinical abilities. The objective clinical ability tests that all undergraduate students take before starting clinical practice were considered. As these tests evaluate practical skills, there is a problem that the learning method is poor compared to the examination of other lectures. Therefore, in this study, we recorded the voice of a student examining a simulated patient using a microphone. We constructed a system comprising a speech recognition module and a scoring system that performed automatic scoring by checking against a prepared example answer. This system was evaluated by medical doctors.

  • Downsizing the Motors of a Biped Robot Using a Hydraulic Direct Drive System

    Juri Shimizu, Takuya Otani, Kenji Hashimoto, Atsuo Takanishi

    Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018)     580 - 586  2018.11  [Refereed]

  • Jumping Motion Generation of a Humanoid Robot Utilizing Human-like Joint Elasticity

    Otani, Takuya, Hashimoto, Kenji, Ueta, Hiroki, Sakaguchi, Masanori, Kawakami, Yasuo, Lim, Hum Ok, Takanishi, Atsuo

    Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems     8707 - 8714  2018.10  [Refereed]

    Authorship:Lead author, Corresponding author

  • Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid

    Takuya Otani, Kenji Hashimoto, Takaya Isomichi, Akira Natsuhara, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, Atsuo Takanishi

    Advanced Robotics    2018.10  [Refereed]

    Authorship:Lead author, Corresponding author

    DOI

  • Upper-body control and mechanism of humanoids to compensate for angular momentum in the yaw direction based on human running

    Takuya Otani, Kenji Hashimoto, Shunsuke Miyamae, Hiroki Ueta, Akira Natsuhara, Masanori Sakaguchi, Yasuo Kawakami, Hum-Ok Lim, Atsuo Takanishi

    Applied Sciences (Switzerland)   8 ( 1 )  2018.01  [Refereed]

    Authorship:Lead author, Corresponding author

     View Summary

    Many extant studies proposed various stabilizing control methods for humanoids during the stance phase while hopping and running. Although these methods contribute to stability during hopping and running, humanoid robots do not swing their legs rapidly during the flight phase to prevent rotation in the yaw direction. Humans utilize their torsos and arms when running to compensate for the angular momentum in the yaw direction generated by leg movement during the flight phase. In this study, we developed an angular momentum control method based on human motion for a humanoid upper body. The method involves calculation of the angular momentum generated by the movement of the humanoid legs and calculation of the torso and arm motions required to compensate for the angular momentum of the legs in the yaw direction. We also developed a humanoid upper-body mechanism having human link length and mass properties, using carbon-fiber-reinforced plastic and a symmetric structure for generating large angular momentum. The humanoid robot developed in this study could generate almost the same angular momentum as that of a human. Furthermore, when suspended in midair, the humanoid robot achieved angular momentum compensation in the yaw direction.

    DOI

  • Ankle and foot mechanism mimicking joint stiffness and following motion based on human

    Otani, T, Hashimoto, K, Natsuhara, A, Sakaguchi, M, Kawakami, Y, Lim, H.-O, Takanishi, A

    ROMANSY22-Robot Design, Dynamics and Control     86 - 93  2018  [Refereed]

    Authorship:Lead author, Corresponding author

    DOI

  • Angular momentum compensation in yaw direction using upper body based on human running

    T. Otani, K. Hashimoto, S. Miyamae, H. Ueta, M. Sakaguchi, Y. Kawakami, H. O. Lim, A. Takanishi

    Proceedings - IEEE International Conference on Robotics and Automation     4768 - 4775  2017.07  [Refereed]

    Authorship:Lead author, Corresponding author

     View Summary

    Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase. To enable this capability in a humanoid robot, the robot should have human-like mass, a center of mass position, and inertial moment of each link. To mimic this characteristic, we developed an angular momentum control method using a humanoid upper body based on human motion. In this method, the angular momentum generated by the movement of the humanoid lower body is calculated, and the torso and arm motions are calculated to compensate for the angular momentum of the lower body. We additionally developed the humanoid upper-body mechanism that mimics the human link length and mass property by using carbon fiber reinforced plastic and a symmetric structure. As a result, the developed humanoid robot could generate almost the same angular momentum as that of human through human-like running motion. Furthermore, when suspended in midair, the humanoid robot produced the angular momentum compensation in the yaw direction.

    DOI

  • Joint Mechanism That Mimics Elastic Characteristics in Human Running

    Takuya Otani, Kenji Hashimoto, Takaya Isomichi, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, Atsuo Takanishi

    Machines   4 ( 1 )  2016.01  [Refereed]

    Authorship:Lead author, Corresponding author

    DOI

  • Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human

    Takuya Otani, Kenji Hashimoto, Takaya Isomichi, Shunsuke Miyamae, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, Atsuo Takanishi

    ROMANSY 21 - ROBOT DESIGN, DYNAMICS AND CONTROL   569   243 - 250  2016  [Refereed]

    Authorship:Lead author, Corresponding author

     View Summary

    Human steady running is modeled using a spring-loaded inverted pendulum ( SLIP). However, human pushes off the ground actively when starting to run. In this study, we describe a knee joint mechanism for coping with both of an active pushing-off and joint stiffness needed to continue running. To achieve this, knee is equipped with a mechanism comprising a worm gear that improves torque transmission efficiency in order to achieve active movement and two laminated leaf springs for mimicking joint stiffness. We evaluated the performance of the laminated leaf spring and performed an experiment in which the developed running robot started to run. Using the proposed mechanisms, this robot could accomplish hopping with an active pushing-off motion and continued to run using its joint elasticity.

    DOI

  • Utilization of Human-Like Pelvic Rotation for Running Robot

    Takuya Otani, Kenji Hashimoto, Masaaki Yahara, Shunsuke Miyamae, Takaya Isomichi, Shintaro Hanawa, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, Atsuo Takanishi

    Frontiers in Robotics and AI   2 ( 17 )  2015.06  [Refereed]

    Authorship:Lead author, Corresponding author

    DOI

  • Knee Joint Mechanism That Mimics Elastic Characteristics and Bending in Human Running

    T. Otani, K. Hashimoto, S. Hamamoto, S. Miyamae, M. Sakaguchi, Y. Kawakami, H. O. Lim, A. Takanishi

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   2015-December   5156 - 5161  2015  [Refereed]

    Authorship:Lead author, Corresponding author

     View Summary

    Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because the leg's joints behave like a torsion spring in the stance phase. Moreover, the knee bends rapidly to avoid contact of the foot with the ground in the swing phase. In this paper, we describe the development of a knee joint mechanism that mimics the elastic characteristics of the stance leg and rapid bending knee of the idling leg of a running human. The knee was equipped with a mechanism comprising two leaf springs and a worm gear for adjusting the joint stiffness and high-speed bending knee. Using this mechanism, we were able to achieve joint stiffness within the range of human knee joints that could be adjusted by varying the effective length of one of the leaf springs. In addition, the mechanism was able to bend rapidly by changing the angle between the two leaf springs. The equation proposed for calculating the joint stiffness considers the difference between the position of the fixed point of the leaf spring and the position of the rotational center of the joint. We evaluated the performance of the adjustable joint stiffness and the effectiveness of the proposed equation for joint stiffness and high-speed knee bending. We were able to make a bipedal robot hop using pelvic oscillation for storing energy produced by the resonance to leg elasticity and confirmed the mechanism could produce large torque 210 Nm.

    DOI

  • Running with Lower-Body Robot That Mimics Joint Stiffness of Humans

    T. Otani, K. Hashimoto, M. Yahara, S. Miyamae, T. Isomichi, M. Sakaguchi, Y. Kawakami, H. O. Lim, A. Takanishi

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   2015-December   3969 - 3974  2015  [Refereed]

    Authorship:Lead author, Corresponding author

     View Summary

    Human running motion can be modeled using a spring-loaded inverted pendulum (SLIP), where the linear-spring-like motion of the standing leg is produced by the joint stiffness of the knee and ankle. To use running speed control in the SLIP model, we should only decide the landing placement of the leg. However, for using running speed control with a multi-joint leg, we should also decide the joint angle and joint stiffness of the standing leg because these affect the direction of the ground reaction force. In this study, we develop a running control method for a human-like multi-joint leg. To achieve a running motion, we developed a running control method including pelvis oscillation control for attaining jumping power with the joint stiffness of the leg and running speed control by changing the landing placement of the leg. For using running speed control, we estimated the ground reaction force using the equation of motion and detected the joint angles of the leg for directing the ground reaction force toward the center of mass. To evaluate the proposed control methods, we compared the estimated ground reaction force with the force measured by the real robot. Moreover, we performed a running experiment with the developed running robot. By using ground reaction force estimation, this robot could accomplish the running motion with pelvic oscillation for attaining jumping power and running speed control.

    DOI

  • Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet

    Kenji Hashimoto, Kentaro Hattori, Takuya Otani, Hun-Ok Lim, Atsuo Takanishi

    SCIENTIFIC WORLD JOURNAL    2014  [Refereed]

     View Summary

    This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.

    DOI

  • Bipedal humanoid robot that makes humans laugh with use of the method of comedy and affects their psychological state actively

    T. Kishi, N. Endo, T. Nozawa, T. Otani, S. Cosentino, M. Zecca, K. Hashimoto, A. Takanishi

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     1965 - 1970  2014  [Refereed]

     View Summary

    This paper describes the bipedal humanoid robot that makes human laugh with its whole body expression and affect human's psychological state. In order to realize "Social interaction" between human and robot, the robot has to affect human's psychological state actively. We focused on "laugh" because it can be thought as a typical example for researching "Social interaction". Looking through a Japanese comedy style called "manzai" or the art of conversation, we picked out several methods for making human laugh. Then we made several skits with the advice of comedians, and made the whole body humanoid robot perform them. Results of experimental evaluation with these skits shows that the robot's behavior made subjects laugh and change their psychological state seen as a decrease of "Depression" and "Anger".

  • Running Model and Hopping Robot Using Pelvic Movement and Leg Elasticity

    T. Otani, M. Yahara, K. Uryu, A. Iizuka, K. Hashimoto, T. Kishi, N. Endo, M. Sakaguchi, Y. Kawakami, S. H. Hyon, H. O. Lim, A. Takanishi

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     2313 - 2318  2014  [Refereed]

    Authorship:Lead author, Corresponding author

     View Summary

    Human running motion can be modeled by a spring loaded inverted pendulum (SLIP). However, this model, despite being widely used in robotics, does not include human-like pelvic motion. In this study, we show that the pelvis actually contributes to the increase in jumping force and absorption of landing impact, both of which findings can be used to improve running robots. On the basis of the analysis of human running motion, we propose a new model named SLIP 2 (spring loaded inverted pendulum using pelvis). This model is composed of a body mass, a pelvis, and leg springs; the model can control its springs during running by use of pelvic movement in the frontal plane. To achieve hopping and running motions, we developed pelvis oscillation control, running velocity control, and stabilization control using an upper body, as control methods. We also developed a new hopping robot using the SLIP 2 model. To evaluate the proposed model and control methods, we performed hopping and running simulations. The simulation results showed that the SLIP 2 model successfully achieves hopping and running motions. The hopping robot was also able to accomplish hopping motion. The simulation results also showed that the difference between the pelvic rotational phase and the phase of oscillation of the mass vertical displacement affects the jumping force. In particular, the results revealed that the human-like pelvic rotation contributes to the absorption of landing impact and to the increase in takeoff forces, which validates our observations in human motion analysis.

  • Hopping robot using pelvic movement and leg elasticity

    Takuya Otani, Kazuhiro Uryu, Masaaki Yahara, Akihiro Iizuka, Shinya Hamamoto, Shunsuke Miyamae, Kenji Hashimoto, Matthieu Destephe, Masanori Sakaguchi, Yasuo Kawakami, Hun-Ok Lim, Atsuo Takanishi

    Mechanisms and Machine Science   22   235 - 243  2014  [Refereed]

    Authorship:Lead author, Corresponding author

     View Summary

    Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because leg’s joints behave like a torsion spring. In addition, the pelvic movement in the frontal plane contributes to the increase in jumping force. We therefore assumed that human-like running, which requires higher output power than that of existing humanoid robots, could be realized based on these characteristics. Hence, we developed a model composed of a body mass, a pelvis and a rotational joint leg, and fabricated the leg by incorporating a stiffness adjustment mechanism that uses two leaf springs. In this way, we were able to achieve a human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We achieved hopping by resonance of the pelvic movement and joints’ elasticity.

    DOI

  • Leg with Rotational Joint That Mimics Elastic Characteristics of Human Leg in Running Stance Phase

    T. Otani, T. George, K. Uryu, M. Yahara, A. Iizuka, S. Hamamoto, S. Miyamae, K. Hashimoto, M. Destephe, M. Sakaguchi, Y. Kawakami, H. O. Lim, A. Takanishi

    2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)     481 - 486  2014  [Refereed]

    Authorship:Lead author, Corresponding author

     View Summary

    In this paper, we describe the development of a leg with a rotational joint that mimics the elastic characteristics of the leg of a running human. The purpose of this development was to realize the dynamics of human running, the analysis of which has revealed that the motion of the leg can be modeled by a compression spring and that of the leg joint by a torsion spring. We, therefore, assumed that these elastic characteristics could be used to develop robots capable of human-like running, which requires higher output power than that of existing humanoid robots. Hence, we developed a model of a leg with a rotational joint and fabricated the leg by incorporating a mechanism comprising of two leaf springs for adjusting the joint stiffness. By this means, we were able to achieve human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We evaluated the performance of the adjustable stiffness of the joints, and were also able to achieve hopping by resonance of the rotational leg joint.

  • Development of a Head for Bipedal Humanoid Robot Capable of High Facial Expression Ability with Big Range of Movement of Facial Region and Facial Color

    岸竜弘, 遠藤信綱, 大谷拓也, PRZEMYSLAW Kryczka, 橋本健二, 中田圭, 高西淳夫

    日本ロボット学会誌   31 ( 4 ) 106 - 116  2013  [Refereed]

    DOI J-GLOBAL

  • Impression Survey of the Emotion Expression Humanoid Robot with Mental Model based Dynamic Emotions

    T. Kishi, T. Kojima, N. Endo, M. Destephe, T. Otani, L. Jamone, P. Kryczka, G. Trovato, K. Hashimoto, S. Cosentino, A. Takanishi

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     1663 - 1668  2013  [Refereed]

     View Summary

    This paper describes the implementation in a walking humanoid robot of a mental model, allowing the dynamical change of the emotional state of the robot based on external stimuli; the emotional state affects the robot decisions and behavior, and it is expressed with both facial and whole-body patterns. The mental model is applied to KOBIAN-R, a 65-DoFs whole body humanoid robot designed for human-robot interaction and emotion expression. To evaluate the importance of the proposed system in the framework of human-robot interaction and communication, we conducted a survey by showing videos of the robot behaviors to a group of 30 subjects. The results show that the integration of dynamical emotion expression and locomotion makes the humanoid robot more appealing to humans, as it is perceived as more "favorable" and "useful", and less "robot-like."

  • New shank mechanism for humanoid robot mimicking human-like walking in horizontal and frontal plane

    T. Otani, A. Iizuka, D. Takamoto, H. Motohashi, T. Kishi, P. Kryczka, N. Endo, L. Jamone, K. Hashimoto, T. Takashima, H. O. Lim, A. Takanishi

    Proceedings - IEEE International Conference on Robotics and Automation     667 - 672  2013  [Refereed]

    Authorship:Lead author, Corresponding author

     View Summary

    This paper describes the development of a new shank mechanism and mimicking the human-like walking in the horizontal and frontal plane. One of human walking characteristics is that the COM (Center Of Mass) motion in the lateral direction is as small as 30 mm. We assume that it is thanks to the human walking characteristics in the horizontal plane that the step width is as narrow as 90 mm and the foot rotation angle is 12 deg. To mimic these characteristics, we developed a new shank and implemented it in a humanoid robot WABIAN-2RIII. It has a parallel mechanism which mimics the shank's size of human. Thanks to its size almost the same as human's the robot is capable of realizing gait with the narrow step width of 90 mm and the foot rotation angle of 12 deg. We evaluated the performance of the shank using WABIAN-2RIII. The robot could realize stepping in place with lateral displacement of CoM within 34 mm, which is almost as small as that of human. © 2013 IEEE.

    DOI

  • Development of Expressive Robotic Head for Bipedal Humanoid Robot

    Tatsuhiro Kishi, Takuya Otani, Nobutsuna Endo, Przemyslaw Kryczka, Kenji Hashimoto, Kei Nakata, Atsuo Takanishi

    Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems     4584 - 4589  2012.10  [Refereed]

    DOI

  • Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts and Facial Color

    Tatsuhiro Kishi, Takuya Otani, Nobutsuna Endo, Przemyslaw Kryczka, Kenji Hashimoto, Kei Nakata, Atsuo Takanishi

    Proceedings of the 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2012)     151 - 158  2012.06  [Refereed]

  • Development of Distributed Control System and Modularized Motor Controller for Expressive Robotic Head

    Takuya Otani, Tatsuhiro Kishi, Przemek Kryczka, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    Proceedings of the 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2012)     183 - 190  2012.06  [Refereed]

    Authorship:Lead author, Corresponding author

  • Biped Walking Stabilization Based on Gait Analysis

    Kenji Hashimoto, Yuki Takezaki, Hiromitsu Motohashi, Takuya Otani, Tatsuhiro Kishi, Hun-ok Lim, Atsuo Takanishi

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     154 - 159  2012  [Refereed]

     View Summary

    This paper describes a walking stabilization control based on gait analysis for a biped humanoid robot. We have developed a human-like foot mechanism mimicking the medial longitudinal arch to clarify the function of the foot arch structure. To evaluate the arch function through walking experiments using a robot, a walking stabilization control should also be designed based on gait analysis. Physiologists suggest the ankle, hip and stepping strategies, but these strategies are proposed by measuring human beings who are not "walking" but "standing" against force disturbances. Therefore, first we conducted gait analysis in this study, and we modeled human walking strategy enough to be implemented on humanoid robots. We obtained following two findings from gait analysis: i) a foot-landing point exists on the line joining the stance leg and the projected point of CoM on the ground, and ii) the distance between steps is modified to keep mechanical energy at the landing within a certain value. A walking stabilization control is designed based on the gait analysis. Verification of the proposed control is conducted through experiments with a human-sized humanoid robot WABIAN-2R. The experimental videos are supplemented.

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Misc

  • Flow Compensation for Hydraulic Direct-Drive System with a Single-rod Cylinder Applied to Biped Humanoid Robot

    J. Shimizu, T. Otani, H. Mizukami, K. Hashimoto, A. Takanishi

    Proceedings - IEEE International Conference on Robotics and Automation   2019   2857 - 2863  2020.05

     View Summary

    Biped robots require massive power on each leg while walking, hopping, and running. We have developed a flow-based control system - called hydraulic direct drive system - that can achieve high output while avoiding spatial limitations. To implement the proposed system with simple equipment configuration, a pump and single-rod cylinder are connected in a closed loop. However, because compensation for flow rate is impossible in a completely closed loop, owing to the difference in the pressure receiving area caused by the rod, a passive flow compensation valve is employed. This valve has a simple structure and is easy to implement. Further, an additional sensor is required to detect the open/close state because the valve state will cause an error in flow control. Therefore, we implemented a model in the controller to predict the state of the flow compensation valve and formulated a method of switching from flow control to pressure control according to the predicted state. Experimental results indicate that the error of the joint angle is reduced to less than 1.6 degrees for walking patterns, and stable walking is realized when the system is installed in biped humanoid robots.

    DOI J-GLOBAL

  • IMUを用いた溶接動作計測システムに関する基礎検討

    重藤千隼, 大谷拓也, 佐藤丈弘, 水上英紀, 小椋優, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020

    J-GLOBAL

  • 人間の特徴に着目した投球ヒューマノイドロボットの開発(第1報:弾性力と慣性力を利用した投球が可能な投球腕部機構の開発)

    渡部竜也, 峯下弘毅, 大谷拓也, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020

    J-GLOBAL

  • 任意の対象人物への非装着型音声伝達システムのための基礎検討

    大谷拓也, 孫瀟, 小川駿也, 鈴木滋英, 山田晃久, 小西瑶果, 清水智壮, 正宗賢, 村垣善浩, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020

    J-GLOBAL

  • Research on Motion-Less VR: Basic Study on Acquisition Method of Motion Intention Considering Postural Difference between Real and Virtual Body

    今永尚志, 望月典樹, 大谷拓也, 中村壮亮

    日本バーチャルリアリティ学会大会論文集(CD-ROM)   25th  2020

    J-GLOBAL

  • Hydraulic Direct-Drive System with Interlocking Circuit for a Biped Humanoid Robot

    清水自由理, 清水自由理, 大谷拓也, 水上英紀, 橋本健二, 高西淳夫

    フルードパワーシステム講演会講演論文集   2019  2019

    J-GLOBAL

  • 直動機構を用いた足底力覚提示装置の開発

    大谷拓也, 峯下弘毅, 内藤博, 名村圭祐, 伊藤明, 野田慶太, 桃井啓伍, 森田愛大, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th  2019

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第23報:高出力,剛性変化可能で人間と同等の質量特性を有する下腿機構)

    黒岩祐志, 大谷拓也, 峯下弘毅, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th  2019

    J-GLOBAL

  • 足底力覚提示による運動認識に関する検討

    大谷拓也, 高西淳夫

    日本バーチャルリアリティ学会大会論文集(CD-ROM)   24th  2019

    J-GLOBAL

  • 状態遷移モデルと患者CGを用いた臨床技能訓練システム

    菅宮友莉奈, 大谷拓也, 中楯龍, 大久保由美子, 山内かづ代, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th  2019

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第24報:2足走行ロボットへの搭載に向けた油圧駆動股関節機構)

    水上英紀, 大谷拓也, 橋本健二, 橋本健二, 清水自由理, 清水自由理, 峯下弘毅, 川上泰雄, 阪口正律, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th  2019

    J-GLOBAL

  • Improvement of Hip Joint Output of Biped Humanoid Robot by Parallel Connection of Hydraulic Direct-Drive System Inspired by Human Running Motion

    水上英紀, 大谷拓也, 清水自由理, 清水自由理, 橋本健二, 阪口正律, 川上泰雄, LIM Hun-ok, LIM Hun-ok, 高西淳夫

    フルードパワーシステム講演会講演論文集   2019  2019

    J-GLOBAL

  • Flow Control Based Hydraulic System for Biped Humanoid Robot

    清水自由理, 清水自由理, 大谷拓也, 橋本健二, 高西淳夫

    フルードパワーシステム講演会講演論文集   2018  2018

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第22報:能動駆動と弾性発揮を活用する跳躍運動の実現)

    大谷拓也, 植田大貴, 橋本健二, 橋本健二, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   36th  2018

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第21報:跳躍・走行時の能動蹴り出しや走行速度の変化に対応した足関節機構)

    峯下弘毅, 大谷拓也, 橋本健二, 橋本健二, 張春宇, 尾原睦月, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   36th  2018

    J-GLOBAL

  • Evaluation of Hydraulic Direct-Drive System for a Biped Humanoid Robot

    清水自由理, 清水自由理, 大谷拓也, 水上英紀, 橋本健二, 高西淳夫

    フルードパワーシステム講演会講演論文集   2018  2018

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第16報:広範囲剛性関節機構のための台形CFRP重ね板ばね)

    赤堀孝太, 大谷拓也, 橋本健二, 橋本健二, 礒道貴矢, 夏原彬, 植田大貴, 尾原睦月, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th  2017

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第18報:角運動量を考慮した跳躍時体幹制御)

    大谷拓也, 礒道貴矢, 橋本健二, 橋本健二, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th  2017

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第17報:低速走行から高速走行への遷移に対応した広範囲剛性可変機構)

    尾原睦月, 大谷拓也, 橋本健二, 橋本健二, 礒道貴矢, 夏原彬, 植田大貴, 赤堀孝太, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th  2017

    J-GLOBAL

  • 医学教育における臨床能力の客観的評価をサポートするための自動採点システムの構築

    菅宮友莉奈, 中楯龍, 大谷拓也, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th  2017

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第19報:CFRP重ね板ばねによる弾性関節機構の小型化)

    夏原彬, ZHANG Chunyu, 大谷拓也, 橋本健二, 阪口正律, 川上泰雄, LIM Hun-ok, 高西淳夫

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   18th  2017

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第14報:弾性要素を有し能動動作と路面への倣い動作が可能な足関節・足部機構)

    夏原彬, 大谷拓也, 橋本健二, 橋本健二, 宮前俊介, 礒道貴矢, 植田大貴, 赤堀孝太, 尾原睦月, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th  2016

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第13報:人間と同等の角運動量が発生可能で人間の質量特性を模擬した上半身機構)

    植田大貴, 大谷拓也, 橋本健二, 橋本健二, 宮前俊介, 礒道貴矢, 夏原彬, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th  2016

    J-GLOBAL

  • ヒューマノイドロボットによる人間の走行模擬のための足関節に着目した人体運動解析

    大谷拓也, 夏原彬, 橋本健二, 橋本健二, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th  2016

    J-GLOBAL

  • ヒト走行時の骨盤運動解析に基づくヒューマノイドによる跳躍運動

    大谷拓也, 橋本健二, 阪口正律, 川上泰雄, LIM Hun-ok, 高西淳夫

    LIFE講演概要集(CD-ROM)   2016  2016

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第10報:弾性要素と能動的な蹴り出しから跳躍力を獲得できる膝関節機構)

    礒道貴矢, 大谷拓也, 橋本健二, 橋本健二, 八原昌亨, 宮前俊介, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   33rd  2015

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第11報:CFRP重ね板ばねによる軽量高出力弾性関節機構)

    大谷拓也, 礒道貴矢, 橋本健二, 橋本健二, 八原昌亨, 宮前俊介, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   33rd  2015

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第7報:着地時間推定を用いた連続跳躍の実現)

    大谷拓也, 大谷拓也, 飯塚晃弘, 宮前俊介, 濱元伸也, 八原昌亨, 橋本健二, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   32nd  2014

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第8報:膝関節に能動屈伸機構と弾性要素を有する2足走行ロボット脚部)

    濱元伸也, 大谷拓也, 飯塚晃弘, 宮前俊介, 瓜生和寛, 八原昌亨, 橋本健二, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   32nd  2014

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第6報:走行運動を目指した腰部関節の強度強化)

    宮前俊介, 大谷拓也, 飯塚晃弘, 濱元伸也, 八原昌亨, 橋本健二, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   32nd  2014

    J-GLOBAL

  • 笑い方策を利用した2足ヒューマノイドロボットによる人間の笑い誘発と心理状態への積極的な働きかけ

    岸竜弘, 岸竜弘, 遠藤信綱, 大谷拓也, COSENTINO Sarah, 野澤隆司, ZECCA Massimiliano, ZECCA Massimiliano, 橋本健二, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st  2013

    J-GLOBAL

  • 人体運動シミュレータとしての2足ヒューマノイドロボットの開発(第17報:歩行中の視線安定を維持する頭部姿勢安定化モデル)

    KRYCZKA Przemyslaw, 南重松行紀, 大谷拓也, 橋本健二, 橋本健二, FALOTICO Egidio, LASCHI Cecilia, DARIO Paolo, BERTHOZ Alain, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st  2013

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第4報:骨盤回旋運動を利用した走行制御)

    大谷拓也, 大谷拓也, 飯塚晃弘, 八原昌亨, 瓜生和寛, 橋本健二, 橋本健二, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st  2013

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第3報:板ばねを用いた弾性可変機構を持つ回転関節脚)

    瓜生和寛, 大谷拓也, 八原昌亨, 飯塚晃弘, 濱元伸也, デステフ マチュー, 橋本健二, 橋本健二, 保原浩明, 阪口正律, 川上泰雄, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st  2013

    J-GLOBAL

  • 漫画表現への特化により高い感情表出能力を有する2足ヒューマノイドロボット頭部の開発

    二木元, 岸竜弘, 遠藤信綱, TROVATO Gabriele, 大谷拓也, 飯塚晃弘, DESTEPHE Matthieu, 橋本健二, 橋本健二, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st  2013

    J-GLOBAL

  • 骨盤運動に着目した2足走行ロボットの開発(第1報:骨盤運動と脚弾性を活用した走行モデルの考案)

    大谷拓也, 八原昌亨, 瓜生和寛, 橋本健二, 阪口正律, 川上泰雄, LIM Hun-ok, 高西淳夫

    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)   2013  2013

    J-GLOBAL

  • 人体運動シミュレータとしての2足ヒューマノイドロボットの開発(第16報:水平面と前額面における人間の歩行運動が模擬可能な下腿機構)

    飯塚晃弘, 高本大己, 大谷拓也, 本橋弘光, KRYCZKA Przemyslaw, 遠藤信綱, 橋本健二, 高嶋孝倫, 林憲玉, 林憲玉, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th  2012

    J-GLOBAL

  • ヒューマノイドのためのモジュール化された多機能小型モータコントローラの開発

    大谷拓也, KRYCZKA Przemyslaw, 遠藤信綱, 岸竜弘, 橋本健二, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   29th  2011

    J-GLOBAL

  • 高い情動表出能力を有する2足ヒューマノイドロボット頭部の開発

    岸竜弘, 遠藤信綱, 大谷拓也, KRYCZKA Przemyslaw, 橋本健二, 中田圭, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   29th  2011

    J-GLOBAL

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Industrial Property Rights

  • 遠隔操作システム

    大谷 拓也, 高西 淳夫

    Patent

  • 移動ロボット及び先端ツール

    特許第6593991号

    高西 淳夫, 橋本 健二, 瓜生 和寛, 寺町 知峰, 松澤 貴司, 小泉 文紀, 濱元 伸也, 大谷 拓也, 岸 竜弘, 田見 智宏, 山田 弘之, 塩谷 成敏, 木内 裕介, 藤島 泰郎

    Patent

    J-GLOBAL

  • 2足歩行ロボットの移動制御システム

    6311153

    高西 淳夫, 川上 泰雄, 橋本 健二, 阪口 正律, 大谷 拓也, 飯塚 晃弘, 八原 昌亨, 瓜生 和寛, 宮前 俊介, 濱元 伸也

    Patent

Awards

  • 第9回 WASEDA e-Teaching Award Good Practice賞

    2021.03   早稲田大学   メカトロニクスラボF

    Winner: 大谷 拓也 石井 裕之 岩田 浩康 亀崎 允啓 菅野 重樹 高西 淳夫 長濱 峻介 三浦 智

  • Best Student Paper Award, Romansy2020

    2020.09   Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion

  • Young Investigation Excellence Award

    2015.09   The Robotics Society of Japan  

    Winner: Takuya OTANI

  • Young Investigator Fund Best Paper Award

    2015.07   Japanese Council of IFToMM   Research on Biped Running Robot Utilizing Pelvic Movement -9th Report: Running in Sagittal Plane with One Leg of Lower-Body Robot that Mimics Human Joint Stiffness-

    Winner: Takuya OTANI

  • Young Investigator Fund Best Paper Award Finalist

    2014.05   Japanese Council of IFToMM   Research on Biped Running Robot Utilizing Pelvic Movement -5th Report: Hopping Robot Using Pelvic Movement and Leg Elasticity of Multi-Joint Leg-

    Winner: Takuya OTANI

  • SI2012 Excellent Presentation Award

    2012.12   SICE SI system integration division   Development of WB-4 Wireless Miniaturized Inertial Measurement Unit -Measurement on Posture and Deformation on Foot of Humanoid Robot-

    Winner: Xu PU, Hiromitsu MOTOHASHI, Takuya OTANI, Kazuhiro URYU, Masaaki YAHARA, Przemyslaw KRYCZKA, Zhuohua LIN, Klaus PETERSEN, Kenji HASHIMOTO, Salvatore SESSA, Massimiliano ZECCA, Atsuo TAKANISHI

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Research Projects

  • 人型ロボットの身体内保存力学的エネルギー活用による高効率運搬・スポーツ動作の実現

    日本学術振興会  科学研究費助成事業 基盤研究(S)

    Project Year :

    2021.07
    -
    2026.03
     

    高西 淳夫

  • 身体固定状態における没入型VRシステムの実現に関する基礎研究

    日本学術振興会  科学研究費助成事業 基盤研究(C)

    Project Year :

    2021.04
    -
    2024.03
     

    中村 壮亮

  • 人型ロボットの身体内保存力学的エネルギー活用による高効率運動実現に関する研究

    日本学術振興会  科学研究費助成事業 基盤研究(A)

    Project Year :

    2021.04
    -
    2024.03
     

    高西 淳夫

  • 操縦者の運動意図に忠実な人型ロボット全身安定操縦

    日本学術振興会  科学研究費助成事業 若手研究

    Project Year :

    2021.04
    -
    2023.03
     

    大谷 拓也

  • 令和3年度 スズキ財団科学技術研究助成

    スズキ財団 

    Project Year :

    2022.02
    -
    2023.02
     

  • ロボットのマスタスレーブ操作における操作者とロボットの身体フィッティング最適化

    富士通株式会社  共同研究

    Project Year :

    2021.04
    -
    2022.03
     

  • 関節の弾性・受動性を活用した投球動作が可能な人間型スポーツロボットの開発

    みずほ学術振興財団  第63回工学研究助成

    Project Year :

    2020.04
    -
    2022.03
     

  • ロボット安定情報提示を伴う人型ロボット全身遠隔安定操作

    公益財団法人JKA  機械振興補助事業 研究補助

    Project Year :

    2020.04
    -
    2021.03
     

    大谷拓也

  • 人間の運動時の足底力触覚提示装置の研究開発

    公益財団法人 電気通信普及財団  研究調査助成

    Project Year :

    2020.04
    -
    2021.03
     

  • Development of high-power elastic joint mechanism equipped with CFRP element

    NSK Foundation for Advancement of Mechatronics 

    Project Year :

    2019.04
    -
    2021.03
     

  • Upper body motion control method of humanoid robot based on angular momentum compensation mechanism of human

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research

    Project Year :

    2018.04
    -
    2020.03
     

  • Research on Instantaneous High-power Motion Generation by Whole-body Coordination of a Humanoid Robot

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research

    Project Year :

    2017.04
    -
    2020.03
     

  • 人の角運動量補償動作を元とした人型ロボットの安定走行手法の開発

    立石科学技術振興財団  研究助成(A)

    Project Year :

    2018.04
    -
    2019.03
     

  • 人間を模擬した歩行・走行運動が可能な2足ヒューマノイドロボットの開発

    Japan Society for the Promotion of Science  Research Fellowship for Young Scientists

    Project Year :

    2013.04
    -
    2016.03
     

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Presentations

  • 人間を模擬するヒューマノイドロボット開発

    大谷拓也  [Invited]

    日本電子材料技術協会 協会セミナー「ロボティクスの最前線研究」 

    Presentation date: 2021.09

  • 「ロボットになりきる」ための遠隔操縦システム

    大谷拓也  [Invited]

    JST新技術説明会 

    Presentation date: 2021.06

  • 人間の動作戦略に基づく人型ロボット動作生成

    大谷拓也  [Invited]

    Robomech2020 ワークショップ 自律ロボットシステム開発に向けた MATLAB,Simulink 活用 

    Presentation date: 2020.05

Specific Research

  • 人の角運動量補償動作に基づく人型ロボットの安定走行手法の開発

    2018  

     View Summary

     本研究では,ヒト走行時の上半身運動戦略をヒューマノイドにより検証することで明らかにすることを目的に,ヒト走行時の運動に基づき腕および遊脚を含めて角運動量を補償する制御アルゴリズムの開発を行った.また,跳躍中にのみ用いていた本手法を立脚中にも用いるよう拡張することで,走行中の全期間を通じて安定化を行う制御アルゴリズムとした.提案手法を動力学シミュレーションモデルに実装し有効性を検証したところ,新たな制御アルゴリズムを用いることで連続的な跳躍を継続できるようになることを確認し,跳躍中に外力を受ける状態でも転倒しないことを確認した.

  • 腕・体幹を用いた人間の安定メカニズムに基づく人間型ロボットの上半身制御手法構築

    2017   高西淳夫

     View Summary

    本研究では,ヒト走行時の上半身運動戦略をヒューマノイドにより検証することで明らかにすることを目的に,ヒト走行時の運動に基づき腕および遊脚を含めて角運動量を補償する制御アルゴリズムの開発を行った.また,跳躍中にのみ用いていた本手法を立脚中にも用いるよう拡張することで,走行中の全期間を通じて安定化を行う制御アルゴリズムとした.提案手法を動力学シミュレーションモデルに実装し有効性を検証したところ,これまではモデルが次第に傾いていき4秒程度で転倒していたものが,新たな制御アルゴリズムを用いることで連続的な跳躍を継続できるようになることを確認した.

  • 腕・体幹を用いた人間の安定動作に基づく人間型ロボットの安定性向上に関する研究

    2017   高西淳夫

     View Summary

    本研究では,ヒト走行時の上半身運動戦略をヒューマノイドにより検証することで明らかにすることを目的に,ヒト走行時の運動に基づき腕および遊脚を含めて角運動量を補償する制御アルゴリズムの開発を行った.また,跳躍中にのみ用いていた本手法を立脚中にも用いるよう拡張することで,走行中の全期間を通じて安定化を行う制御アルゴリズムとした.提案手法を動力学シミュレーションモデルに実装し有効性を検証したところ,これまでは1秒程度で転倒していたものが,新たな制御アルゴリズムを用いることで4秒間ほど連続的な跳躍を継続できるようになることを確認した.

  • ヒューマノイドを用いたヒト跳躍・走行時の上半身動作戦略の解明

    2016  

     View Summary

     本研究では,まずヒト走行時の運動に基づくヒューマノイドの上半身による角運動量制御アルゴリズムの開発を行った.ヒト走行時の運動計測データを解析し,跳躍中の脚動作により発生する角運動量を上半身動作が相殺していることから,動作時の脚の発生する角運動量を算出し,それを上半身により発生すべき角運動量の目標量として上半身の運動を決定する角運動量制御法を開発した.また,炭素繊維強化プラスチックやダブルモータ駆動の活用により,各部においてヒトと同等の質量・重心位置・慣性モーメントを有する上半身機構を開発した.全身ヒューマノイドにおいて提案手法が旋回方向での安定化に有効であることを確認した.

 

Syllabus

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Teaching Experience

 

Committee Memberships

  • 2021.10
    -
    2022.06

    日本バイオフィードバック学会  総会事務局長

  • 2019.07
    -
    2019.09

    The Robotics Society of Japan  Program committee of the 37th annual conference of the robotics society of Japan

  • 2018.12
    -
    2019.09

    The Robotics Society of Japan  Secretary General of the 37th annual conference of the Robotics Society of Japan

  • 2018.03
    -
     

    The Robotics Society of Japan  Editorial Committee on the Journal

  • 2016.09
     
     

    The Japan Society of Mechanical Engineers, The Japanese Society for Wellbeing Science and Assistive Technology, The Society of Life Support Engineering  LIFE2016 Program Committee

Media Coverage

  • 日本科学未来館で「ロボット展」がスタート! トレンドは「こころ」に寄り添う癒やしロボット?

    Internet

    All About NEWS  

    2022.04

  • 日本最大級ロボット展が開催中

    TV or radio program

    日本テレビ   シューイチ  

    2022.04

  • REVIEW 特別展「きみとロボット ニンゲンッテ、ナンダ?」 日本科学未来館

    Internet

    Author: Other  

    M&C  

    2022.04

  • 国内展覧会史上最大規模のロボット展! 2022年8月31日(水)まで日本科学未来館で開催! 特別展「きみとロボット ニンゲンッテ、ナンダ?」が開催!

    Internet

    Author: Other  

    キッズイベント  

    2022.03

  • ロボットから見える体・心・命の意味 「きみロボ」展が伝えたいこと ロボットって何だろう?そもそも、人間とは。

    Internet

    Author: Other  

    withnews  

    2022.03

  • ASIMOが卒業。90種類のロボが展示される「きみとロボット」展などが未来館で開催

    Internet

    Author: Other  

    PC Watch  

    2022.03

  • 走り・おしゃべり、まるで人間 特別展「きみとロボット」

    Newspaper, magazine

    Author: Other  

    朝日新聞  

    2022.03

  • 約130点のロボットが大集結 ― 日本科学未来館「きみとロボット ニンゲンッテ、ナンダ?」

    Internet

    Author: Other  

    インターネットミュージアム  

    2022.03

  • 未踏をゆく、若き研究者たち

    Newspaper, magazine

    Author: Other  

    朝日新聞出版   早稲田理工 by AERA  

    p.7, 38  

    2020.02

  • The best robot videos of the week, ICRA edition

    Internet

    Author: Other  

    2017.06

  • ヒト模倣のスゴ技を新ヒューマノイドへ

    Newspaper, magazine

    Author: Myself  

    Robocon Magazine No.91  

    PP. 34  

    2013.12

  • Designing a More Human-Like Lower Leg for Biped Robots

    Internet

    Author: Other  

    IEEE SPECTRUM  

    2013.05

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