2022/12/09 更新

写真a

ハシモト ケンジ
橋本 健二
所属
理工学術院 大学院情報生産システム研究科
職名
教授
ホームページ

学歴

  • 2006年04月
    -
    2009年03月

    早稲田大学   理工学研究科  

  • 2004年04月
    -
    2006年03月

    早稲田大学   理工学研究科  

  • 2000年04月
    -
    2004年03月

    早稲田大学   理工学部  

学位

  • 2009年03月   早稲田大学   博士(工学)

経歴

  • 2022年09月
    -
    継続中

    早稲田大学   理工学術院 大学院情報生産システム研究科   教授

  • 2018年04月
    -
    2022年08月

    早稲田大学   ヒューマノイド研究所   招聘研究員

  • 2018年04月
    -
    2022年08月

    早稲田大学   次世代ロボット研究機構   招聘研究員

  • 2018年04月
    -
    2022年08月

    早稲田大学   理工学術院総合研究所   研究院客員准教授(客員主任研究員)

  • 2018年04月
    -
    2022年08月

    明治大学   理工学部 機械情報工学科   助教授・准教授   専任准教授

  • 2017年04月
    -
    2018年03月

    早稲田大学   高等研究所   助教授・准教授   准教授

  • 2015年04月
    -
    2017年03月

    早稲田大学   高等研究所   助教   助教

  • 2013年10月
    -
    2015年03月

    早稲田大学   理工学術院総合研究所   研究員・ポスドク   次席研究員(研究院講師)

  • 2012年10月
    -
    2013年09月

    UMR 7152 Collège de France-CNRS   研究員・ポスドク   フランス政府給費留学生(博士研究員)

  • 2011年07月
    -
    2013年03月

    早稲田大学   大学院創造理工学研究科   研究員・ポスドク   次席研究員(研究院講師)(GCOE)

  • 2012年03月
    -
    2012年08月

    イタリア・Scuola Superiore Sant'Anna   The BioRobotics Institute   研究員・ポスドク   客員研究員

  • 2010年04月
    -
    2011年06月

    早稲田大学   大学院創造理工学研究科   助手   研究助手(GCOE)

  • 2009年04月
    -
    2010年03月

    日本学術振興会   日本学術振興会特別研究員   特別研究員(PD)

  • 2008年04月
    -
    2009年03月

    日本学術振興会   日本学術振興会特別研究員   特別研究員(DC2)

  • 2006年10月
    -
    2008年03月

    早稲田大学   大学院理工学研究科   助手   客員研究助手(21世紀COE)

▼全件表示

 

研究分野

  • ロボティクス、知能機械システム

  • 知能ロボティクス

  • 機械力学、メカトロニクス

研究キーワード

  • 移動ロボット

  • 人型ロボット

論文

  • Development of Prototype Electric-driven 2-DoF Monopod Robot for Hopping Motion

    Asahi Anzai, Toshihide Doi, Kazuki Hashida, Xuechao Chen, Lianqiang Han and Kenji Hashimoto

    Proceedings of the 2021 IEEE International Conference on Mechatronics and Automation (ICMA 2021)     1182 - 1187  2021年08月  [査読有り]  [国際誌]  [国際共著]

  • A vertical jump optimization strategy for one-legged robot with variable reduction ratio joint

    Haoxiang Qi, Xuechao Chen, Zhangguo Yu, Gao Huang, Libo Meng, Kenji Hashimoto and Wenxi Liao

    Proceedings of the 2020 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2020)     262 - 267  2021年07月  [査読有り]  [国際誌]  [国際共著]

  • Stable Vertical Ladder Climbing with Rung Recognition for a Four-limbed Robot

    Xiao Sun, Kenji Hashimoto, Shota Hayashi, Masahiro Okawara, Takashi Mastuzawa, Atsuo Takanishi

    JOURNAL OF BIONIC ENGINEERING   18 ( 4 ) 786 - 798  2021年07月

     概要を見る

    This paper proposes a system for stable ladder climbing of the human-sized four-limbed robot "WAREC-1", including the following 3 components: (a) Whole-body motion planning; (b) Rung recognition system and (c) Reaction force adjustment. These 3 components guarantee appropriate ladder climbing motion, successful rung grub and proper reaction force distribution at contact points throughout the climbing motion, respectively. With this system, (1) Stable ladder climbing in 2-point contact gait by a human-sized robot and (2) Successful and stable climbing of an irregular ladder (with a higher or inclined rung) in both 3-point and 2-point contact gait with the capability of recognizing the target rung and the corresponding motion planning are realized, which have rarely been realized by former studies. Finally, experiment results and data of the robot ladder climbing are also presented to evaluate the proposed system.

    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, Atsuo Takanishi

    CISM International Centre for Mechanical Sciences, Courses and Lectures   601   355 - 363  2021年

     概要を見る

    Herein, we have developed a humanoid robot that achieves dynamic motion. Focusing on the running motion that is the basis of the motion, the robot has been developed focusing on the pelvic rotation on the frontal plane and the elasticity in leg joints (that changes according to running speed), which are the characteristics of humans during running. However, the variable joint stiffness mechanism that we have developed was large and heavy. Therefore, to make the mechanism smaller and lighter, we shorten the length of the leaf spring. We succeeded in downsizing the mechanism by changing its rectangular shape to trapezoidal, while maintaining strength and elasticity. The variable joint stiffness mechanism thus developed was more flexible, and its weight was reduced from 1.9 kg to 0.7 kg. The mechanism was mounted on the ankle joint, and it was confirmed that the required specifications were satisfied.

    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

    CISM International Centre for Mechanical Sciences, Courses and Lectures   601   34 - 42  2021年

     概要を見る

    We are developing the biped humanoid robot WATHLETE-1 (Waseda ATHLETE humanoid No.1) that has the same mass arrangement, link ratio, and output characteristics as humans. It is not possible to mount high-power electromagnetic motors and mechanical transmissions that satisfy the hip joint output at running because its weight makes it impossible to realize human body characteristics. To realize the characteristics of the human body, we adopted a hydraulic drive system that has a more advanced design than a mechanical transmission mechanism, that concentrates on the joints, and that can distribute output by splitting and merging oil. We propose a hydraulic circuit that improves the output of the actuator by connecting two hydraulic direct drive systems (HDDs) in parallel, independently mounted on the ankle and the hip joints using proportional valves. As a result, it has been confirmed that hip joint speed was improved by 200% compared to a single HDDs and with the potential of simulating the hip joint output required for a human running at 2.0 m/s.

    DOI

  • Simulation of an interlocking hydraulic direct-drive system for a biped walking robot

    Juri Shimizu, Takuya Otani, Kenji Hashimoto and Atsuo Takanishi

    Proc. of the 12th International Fluid Power Conference (IFK 2020)     211 - 220  2020年10月  [査読有り]  [国際誌]

  • Estimating the Orientation of 3D-Structured Switches Using Information Obtained by the RGB-D Camera Attached to a Disaster Response Robot

    Takuya Kanda, Li Qi, Jun Ohya, Atsuo Takanishi, Hiroyuki Ogata and Kenji Hashimoto

    International Journal of Mechanical Engineering and Robotics Research   9 ( 10 ) 1432 - 1438  2020年10月  [国際誌]

  • Mechanics of humanoid robot

    Kenji Hashimoto

    Advanced Robotics   34 ( 21-22 ) 1390 - 1397  2020年09月  [査読有り]  [国際誌]

  • Automatic Estimation of the Position and Orientation of Stairs to Be Reached and Climbed by a Disaster Response Robot by Analyzing 2D Image and 3D Point Cloud

    Kazuya Miyagawa, Takuya Kanda, Jun Ohya, Hiroyuki Ogata, Kenji Hashimoto and Atsuo Takanishi

    International Journal of Mechanical Engineering and Robotics Research   9 ( 9 ) 1312 - 1321  2020年09月  [査読有り]  [国際誌]

  • A Low Cognitive Load and Reduced Motion Sickness Inducing Zoom Method Based on Typical Gaze Movement for Master-Slave Teleoperation Systems with HMD.

    Yuichi Mizukoshi, Kenji Hashimoto, Atsuo Takanishi, Hiroyasu Iwata, Ryuya Sato, Takahiro Eto, Mitsuhiro Kamezaki, Ayaka Matsuzaka, Liu Yang, Akio Namiki, Asaki Imai, Takashi Matsuzawa

    2020 IEEE/SICE International Symposium on System Integration(SII)     28 - 33  2020年

    DOI

  • Placing and scheduling many depth sensors for wide coverage and efficient mapping in versatile legged robots.

    Martim Brandão, Rui Figueiredo 0001, Kazuki Takagi, Alexandre Bernardino, Kenji Hashimoto, Atsuo Takanishi

    Int. J. Robotics Res.   39 ( 4 )  2020年

    DOI

  • Crawling and foot trajectory modification control for legged robot on uneven terrain.

    Takashi Matsuzawa, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun 0005, Shinya Hamamoto, Tomotaka Teramachi, Nobuaki Sakai, Shunsuke Kimura 0001, Atsuo Takanishi

    Int. J. Mechatronics Autom.   7 ( 1 ) 1 - 10  2020年

    DOI

  • 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年

    DOI

  • ImPACT-TRC脚ロボットの改良とユーザインタフェース

    橋本健二,佐藤徳孝,松野文俊,並木明夫,戸田雄一郎,久保田直行,佐々木洋子,高西淳夫

    日本ロボット学会誌   37 ( 9 ) 818 - 823  2019年11月  [査読有り]  [招待有り]  [国内誌]

  • Disaster Response Robot’s Autonomous Manipulation of Valves in Disaster Sites Based on Visual Analyses of RGBD Images

    Keishi Nishikawa, Asaki Imai, Kazuya Miyakawa, Takuya Kanda, Takashi Matsuzawa, Kenji Hashimoto, Atsuo Takanishi, Hiroyuki Ogata, Jun Ohya

    2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)     4790 - 4797  2019年11月  [査読有り]

  • 二足ロボットの足部機構

    橋本健二

    バイオメカニズム学会誌   43 ( 2 ) 118 - 123  2019年05月  [招待有り]  [国内誌]

  • Simulation of a Hydraulic Direct-Drive System for a Biped Walking Robot

    Juri Shimizu, Takuya Otani, Kenji Hashimoto and Atsuo Takanishi

    Proceedings of the 16th Scandinavian International Conference on Fluid Power (SICFP19)     B6.1  2019年05月  [査読有り]  [国際誌]

  • 災害対応を目的とした四肢ロボットWAREC-1の開発

    橋本健二,高西淳夫

    設計工学   54 ( 1 ) 9 - 15  2019年01月  [招待有り]  [国内誌]

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

    Juri Shimizu, Takuya Otani, H. Mizukami, Kenji Hashimoto, Atsuo Takanishi

    2019 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)     7163 - 7169  2019年

    DOI

  • Moving onto High Steps for a Four-limbed Robot with Torso Contact.

    Takashi Matsuzawa, Hiroshi Naito, Takehiro Sato, Kota Terae, Masatsugu Murakami, Shunya Yoshida, Atsuo Takanishi, Kenji Hashimoto, Takanobu Matsubara, Keisuke Namura, Xiao Sun 0005, Akihiro Imai, Masahiro Okawara, Shunsuke Kimura 0001, Kengo Kumagai, Koki Yamaguchi

    2019 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)     6324 - 6331  2019年

    DOI

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

    Juri Shimizu, Takuya Otani, H. Mizukami, Kenji Hashimoto, Atsuo Takanishi

    International Conference on Robotics and Automation(ICRA)     9453 - 9458  2019年

    DOI

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

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

    19th IEEE-RAS International Conference on Humanoid Robots(Humanoids)     505 - 510  2019年

    DOI

  • Automatic Estimation of the Position and Orientation of the Drill to Be Grasped and Manipulated by the Disaster Response Robot Based on Analyzing Depth Camera Information

    Keishi Nishikawa, Jun Ohya, Hiroyuki Ogata, Kenji Hashimoto, Takashi Matsuzawa, Asaki Imai, Shunsuke Kimura, Atsuo Takanishi

    IS&T International Symposium on Electronic Imaging 2019, Intelligent Robotics and Industrial Applications using Computer Vision 2019   IRIACV ( 452 ) 1 - 6  2019年01月  [査読有り]

  • Automatic detection of valves with disaster response robot on basis of depth camera information

    Keishi Nishikawa, Jun Ohya, Hiroyuki Ogata, Kenji Hashimoto, Takashi Matsuzawa, Atsuo Takanishi

    Digital Image Computing: Techniques and Applications (DICTA 2018)     253 - 258  2018年12月  [査読有り]

  • 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   32 ( 22 ) 1197 - 1206  2018年11月

     概要を見る

    In previous studies, various stabilizing control methods for humanoids during the stance phase while hopping and running were proposed. Although these methods contribute to stability while hopping and running, it is possibility that the control during the flight phase could also affect the stability. In this study, we investigated whether the control during the flight phase can affect the stability of a humanoid while running. To achieve stable hopping, we developed a control system that accounts for the angular momentum of the whole body during the flight phase. In this system, the angular momentum generated by the motion of the lower body in each time interval is calculated during the flight phase, and the trunk joints are controlled to generate the angular momentum necessary to compensate for the deviation of the waist posture, which is used as the reference point for the motion coordinate system of the robot. Once the proposed control system was developed and simulated, we found that the hopping duration in the unconstrained state was extended.

    DOI

  • Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot "WAREC-1"

    Xiao Sun, Syota Hayashi, Kenji Hashimoto, Takashi Matsuzawa, Yuki Yoshida, Nobuaki Sakai, Asaki Imai, Masahiro Okawara, Kengo Kumagai, Takanobu Matsubara, Koki Yamaguchi and Atsuo Takanishi

    Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018)     40 - 46  2018年11月  [査読有り]  [国際誌]

  • Effects of Biped Humanoid Robot Walking Gaits on Sparse Visual Odometry Algorithms

    Yukitoshi Minami Shiguematsu, Martim Brandão, Kenji Hashimoto and Atsuo Takanishi

    Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018)     160 - 165  2018年11月  [査読有り]  [国際誌]

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

    Juri Shimizu, Takuya Otani, Kenji Hashimoto and Atsuo Takanishi

    Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018)     580 - 586  2018年11月  [査読有り]  [国際誌]

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

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

    Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)     8707 - 8714  2018年10月  [査読有り]  [国際誌]

  • End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot

    Takashi Matsuzawa, Asaki Imai, Kenji Hashimoto, Tomotaka Teramachi, Xiao Sun, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Kengo Kumagai, Takanobu Matsubara, Koki Yamaguchi and Atsuo Takanishi

    Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)     2727 - 2732  2018年10月  [査読有り]  [国際誌]

  • Maximize-perturb-minimize: A fast and effective heuristic to obtain sets of locally optimal robot postures

    Wei Xin Tan, Martim Brandão, Kenji Hashimoto and Atsuo Takanishi

    Proceedings of the 19th Towards Autonomous Robotic Systems Conference (TAROS 2018)     3 - 14  2018年07月  [査読有り]  [国際誌]

  • Body Mechanism with Linear Spikes for Slippage Reduction of Four-limbed Robot Crawling on Uneven Terrain

    Takashi Matsuzawa, Takanobu Matsubara, Kenji Hashimoto, Tomotaka Teramachi, Xiao Sun, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Asaki Imai, Kengo Kumagai, Koki Yamaguchi, Keisuke Namura and Atsuo Takanishi

    Proceedings of the 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2018)     280 - 287  2018年06月  [査読有り]  [国際誌]

  • Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human

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

    Proceedings of the 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2018)   584   86 - 93  2018年06月  [査読有り]  [国際誌]

    DOI

  • 人型ロボットのメカニクス

    橋本健二

    日本ロボット学会誌   36 ( 2 ) 134 - 139  2018年04月  [招待有り]  [国内誌]

    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年01月  [査読有り]

     概要を見る

    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

  • SGD for robot motion? the effectiveness of stochastic optimization on a new benchmark for biped locomotion tasks

    Martim Brandao, Kenji Hashimoto, Atsuo Takanishi

    IEEE-RAS International Conference on Humanoid Robots     39 - 46  2017年12月  [査読有り]

     概要を見る

    Trajectory optimization and posture generation are hard problems in robot locomotion, which can be nonconvex and have multiple local optima. Progress on these problems is further hindered by a lack of open benchmarks, since comparisons of different solutions are difficult to make. In this paper we introduce a new benchmark for trajectory optimization and posture generation of legged robots, using a pre-defined scenario, robot and constraints, as well as evaluation criteria. We evaluate state-of-The-Art trajectory optimization algorithms based on sequential quadratic programming (SQP) on the benchmark, as well as new stochastic and incremental optimization methods borrowed from the large-scale machine learning literature. Interestingly we show that some of these stochastic and incremental methods, which are based on stochastic gradient descent (SGD), achieve higher success rates than SQP on tough initializations. Inspired by this observation we also propose a new incremental variant of SQP which updates only a random subset of the costs and constraints at each iteration. The algorithm is the best performing in both success rate and convergence speed, improving over SQP by up to 30% in both criteria. The benchmark's resources and a solution evaluation script are made openly available.

    DOI

  • Planning and control of stable ladder climbing motion for the four-limbed Robot 'WAREC-1'

    X. Sun, K. Hashimoto, T. Teramachi, T. Matsuzawa, S. Kimura, N. Sakai, S. Hayashi, Y. Yoshida, A. Takanishi

    IEEE International Conference on Intelligent Robots and Systems   2017-   6547 - 6554  2017年12月  [査読有り]

     概要を見る

    This paper describes an approach that enables the four-limbed robot 'WAREC-1' to climb up and down vertical ladders stably. First, the four-limbed robot 'WAREC-1' is introduced and dynamic stability conditions in multi-mass model for ladder climbing are proposed as the basis of judging whether a four-limbed robot is stable or not while climbing a vertical ladder. According to the proposed stability conditions, 3 different types of moment will directly affect the stability of the robot on a ladder: gravitational moment, inertial moment and reaction force moment. With the analysis of these 3 kinds of moments and the relationship among them, stability control methods are proposed to maintain stability of the robot on a ladder to the greatest degree and avoid their mutual interference. Combining with the stability conditions and stability control proposed, stable motion planning of climbing up and down a vertical ladder, a motion planning method proposed by the authors that allows independent path and time planning in trajectory planning is also applied to reinforce the efficiency of the stability control. Eventually, results from the simulation and physical robot verify the validity of the proposed control methods.

    DOI

  • A four-limbed disaster-response robot having high mobility capabilities in extreme environments

    Kenji Hashimoto, Takashi Matsuzawa, Tomotaka Teramachi, Kazuhito Uryu, Xiao Sun, Shinya Hamamoto, Ayanori Koizumi, Atsuo Takanishi

    IEEE International Conference on Intelligent Robots and Systems   2017-   5398 - 5405  2017年12月  [査読有り]

     概要を見る

    This paper describes a novel four-limbed robot having high mobility capability in extreme environments. At disaster sites, there are various types of environments where a robot must move such as rough terrain with possibility of collapse, narrow places, stairs, vertical ladders and so forth. In this paper, first we categorized extreme environments based on three indexes: unevenness, narrowness, and inclination. To move in such extreme environments, we proposed a four-limbed robot having various locomotion styles such as bipedal/quadrupedal walking, crawling and ladder climbing. The main contribution of this paper is the concept and hardware design of the four-limbed robot. We developed a prototype of the four-limbed robot having commonly structured limbs. The number of DoF for the whole body is 29, with 7-DoFs in each limb and 1-DoF in the trunk. The robot weight is 110 kg, and the height is 1,290 mm when standing on two legs. The end-effector has hook-like shape. Verification of the prototype robot is conducted through simulations and experiments.

    DOI

  • Maximize-perturb-minimize: A fast and effective heuristic to obtain sets of locally optimal robot postures

    Martim Brandão, Kenji Hashimoto and Atsuo Takanishi

    Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017)     2624 - 2629  2017年12月  [査読有り]  [国際誌]

    DOI

  • ImPACTタフ・ロボティクス・チャレンジにおける脚ロボットの研究開発

    橋本健二,高西淳夫

      35 ( 10 ) 707 - 710  2017年12月  [招待有り]  [国内誌]

    DOI

  • WAREC-1 - A four-limbed robot having high locomotion ability with versatility in locomotion styles

    Kenji Hashimoto, Shunsuke Kimura, Nobuaki Sakai, Shinya Hamamoto, Ayanori Koizumi, Xiao Sun, Takashi Matsuzawa, Tomotaka Teramachi, Yuki Yoshida, Asaki Imai, Kengo Kumagai, Takanobu Matsubara, Koki Yamaguchi, Gan Ma, Atsuo Takanishi

    SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference     172 - 178  2017年10月  [査読有り]

     概要を見る

    This paper presents a novel four-limbed robot, WAREC-1 having high locomotion ability with versatility in locomotion styles. At disaster sites, there are various types of environments where a robot must move such as rough terrain with possibility of collapse, narrow places, stairs, vertical ladders and so on. WAREC-1 moves in hazardous environments by changing locomotion styles: Bipedal/quadrupedal walking, crawling, and ladder climbing. WAREC-1 has commonly structured limbs with 28-DoFs in total with 7-DoFs in each limb. The robot is 1,690 mm tall when standing on two limbs and weighs 155 kg. We developed three types actuator units with hollow structure to pass the wiring inside the joints of WAREC-1, which enables the robot to move on rubble by creeping on its stomach. The body has a concave shape, and the end-effector has hook-like shape. Verification of the WAREC-1 robot is conducted through experiments.

    DOI

  • Crawling gait generation method for four-limbed robot based on normalized energy stability margin

    T. Matsuzawa, K. Hashimoto, X. Sun, T. Teramachi, S. Kimura, N. Sakai, Y. Yoshida, A. Imai, K. Kumagai, T. Matsubara, K. Yamaguchi, W. X. Tan, A. Takanishi

    SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference     223 - 229  2017年10月  [査読有り]

     概要を見る

    In this paper, we describe a gait generation method for the crawling motion of a legged robot using Normalized Energy Stability Margin (NESM). The crawling motion is a method of locomotion that, since the robot is very close to a state of falling, its leg and torso are grounded alternately in order to enable the robot to move with a low center of gravity. It has the benefit of decreasing the impact experienced by the robot and reduces the risk of becoming damaged if it falls over. However, during the phase where only the robot's torso is in contact with the ground, the size of robot's support area is smaller than the case when its legs are in contact with the ground. This decrease in support area may cause the robot to fall or tip over sideways in the direction where the edge of robot's cuboid torso is providing the most support on an inclined surface. As a result, the robot's feet may collide with the road's surface when its legs are moving forward and prevent the robot from performing its crawling motion. To deal with this problem, we propose a method of gait generation for the crawling motion based on a stability criteria. Depending on the stability criteria, this method involves the selection of a stance, with which it lifts its torso and a way of controlling the landing height of the robot's feet depending on the unevenness of the surface of the road. In experiments, it has been confirmed that stability was improved when the four-limbed robot performed the crawling motion using the proposed method on an inclined road surface.

    DOI

  • Crawling motion and foot trajectory modification control for legged robot on rough terrain

    Takashi Matsuzawa, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Nobuaki Sakai, Shunsuke Kimura, Atsuo Takanishi

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017     1976 - 1982  2017年08月  [査読有り]

     概要を見る

    In this paper, we propose a crawling motion to reduce the risk of malfunction due to falling when a legged robot travels across rough terrain. This locomotion method includes a phase in which the torso of the robot comes into contact with the ground to lower its center of mass compared with that during conventional bipedal or quadrupedal walking motion. In rough terrain, the ability of a robot to crawl is very likely to be hindered since its feet may encounter holes or protrusions caused by road surface damage. To avoid this issue, we suggest a modified foot trajectory control method based on information obtained by force and attitude angle sensors. To verify the effectiveness of the proposed crawling motion on rough terrain, we created a terrain model using a dynamics simulator and conducted an experiment by applying the proposed control method to a four-limbed robot traveling across the modelled terrain. The experimental results confirmed that a robot can successfully traverse rough terrain using the proposed crawling motion and that the foot trajectory modification control method can enhance the performance of the robot during such motion.

    DOI

  • 極限環境下で移動・作業可能な4肢ロボット-電動モータを利用したWAREC-1の課題と油圧化への期待

    橋本健二,高西淳夫

    油空圧技術   56 ( 8 ) 19 - 22  2017年08月  [招待有り]  [国内誌]

    CiNii

  • 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年07月  [査読有り]

     概要を見る

    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

  • 三菱重工におけるROS/Gazeboを活用したロボット

    木内裕介,小島弘義,橋本達矢,小野敬之,小山貴之,橋本健二,高西淳夫

    日本ロボット学会誌   35 ( 4 ) 276 - 279  2017年05月  [招待有り]  [国内誌]

    DOI CiNii

  • Automatic, Accurate Estimation of the Position and Pose of a Ladder in 3D Point Cloud

    Keishi Nishikawa, Zhao Wang, Jun Ohya, Takashi Matsuzawa, Kenji Hashimoto, Atsuo Takanishi

    The IIEEJ Image Electronics and Visual Computing Workshop 2017   ( 5C-2 ) 1 - 6  2017年03月  [査読有り]

  • Head stabilization in a humanoid robot: models and implementations

    Egidio Falotico, Nino Cauli, Przemyslaw Kryczka, Kenji Hashimoto, Alain Berthoz, Atsuo Takanishi, Paolo Dario, Cecilia Laschi

    AUTONOMOUS ROBOTS   41 ( 2 ) 349 - 365  2017年02月  [査読有り]

     概要を見る

    Neuroscientific studies show that humans tend to stabilize their head orientation, while accomplishing a locomotor task. This is beneficial to image stabilization and in general to keep a reference frame for the body. In robotics, too, head stabilization during robot walking provides advantages in robot vision and gaze-guided locomotion. In order to obtain the head movement behaviors found in human walk, it is necessary and sufficient to be able to control the orientation (roll, pitch and yaw) of the head in space. Based on these principles, three controllers have been designed. We developed two classic robotic controllers, an inverse kinematics based controller, an inverse kinematics differential controller and a bio-inspired adaptive controller based on feedback error learning. The controllers use the inertial feedback from a IMU sensor and control neck joints in order to align the head orientation with the global orientation reference. We present the results for the head stabilization controllers, on two sets of experiments, validating the robustness of the proposed control methods. In particular, we focus our analysis on the effectiveness of the bio-inspired adaptive controller against the classic robotic controllers. The first set of experiments, tested on a simulated robot, focused on the controllers response to a set of disturbance frequencies and a step function. The other set of experiments were carried out on the SABIAN robot, where these controllers were implemented in conjunction with a model of the vestibulo-ocular reflex (VOR) and opto-kinetic reflex (OKR). Such a setup permits to compare the performances of the considered head stabilization controllers in conditions which mimic the human stabilization mechanisms composed of the joint effect of VOR, OKR and stabilization of the head. The results show that the bio-inspired adaptive controller is more beneficial for the stabilization of the head in tasks involving a sinusoidal torso disturbance, and it shows comparable performances to the inverse kinematics controller in case of the step response and the locomotion experiments conducted on the real robot.

    DOI

  • 極限環境下で作業可能な災害対応ロボットの開発

    橋本 健二, 神永 拓, 熊谷 健吾, 寺町 知峰, 高西 淳夫

    ロボティクス・メカトロニクス講演会講演概要集   2017   1P1 - P04  2017年

     概要を見る

    <p>This paper proposes a novel motor cooling method using direct-liquid cooling by immersing a heat source directly into coolant. Direct-liquid cooling is more effective than air cooling and indirect-liquid cooling because a heat source and coolant are in direct contact with each other. Further, if the shape of the shaft is designed to be able to perform heat transfer by forcibly circulating the coolant by the rotation of the motor itself, it will be possible to prevent the actuator unit from being enlarged.</p>

    DOI CiNii

  • Footstep Planning for Slippery and Slanted Terrain Using Human-Inspired Models

    Martim Brandao, Kenji Hashimoto, Jose Santos-Victor, Atsuo Takanishi

    IEEE TRANSACTIONS ON ROBOTICS   32 ( 4 ) 868 - 879  2016年08月  [査読有り]

     概要を見る

    Energy efficiency and robustness of locomotion to different terrain conditions are important problems for humanoid robots deployed in the real world. In this paper, we propose a footstep-planning algorithm for humanoids that is applicable to flat, slanted, and slippery terrain, which uses simple principles and representations gathered from human gait literature. The planner optimizes a center-of-mass (COM) mechanical work model subject to motion feasibility and ground friction constraints using a hybrid A*search and optimization approach. Footstep placements and orientations are discrete states searched with an A*algorithm, while other relevant parameters are computed through continuous optimization on state transitions. These parameters are also inspired by human gait literature and include footstep timing (double-support and swing time) and parameterized COM motion using knee flexion angle keypoints. The planner relies on work, the required coefficient of friction (RCOF), and feasibility models that we estimate in a physics simulation. We show through simulation experiments that the proposed planner leads to both low electrical energy consumption and human-like motion on a variety of scenarios. Using the planner, the robot automatically opts between avoiding or (slowly) traversing slippery patches depending on their size and friction, and it chooses energy-optimal stairs and climbing angles in slopes. The obtained motion is also consistent with observations found in human gait literature, such as human-like changes in RCOF, step length and double-support time on slippery terrain, and human-like curved walking on steep slopes. Finally, we compare COM work minimization with other choices of the objective function.

    DOI

  • Development of a Humorous Humanoid Robot Capable of Quick-and-Wide Arm Motion

    T. Kishi, S. Shimomura, H. Futaki, H. Yanagino, M. Yahara, S. Cosentino, T. Nozawa, K. Hashimoto, A. Takanishi

    IEEE Robotics and Automation Letters   1 ( 2 ) 1081 - 1088  2016年07月  [査読有り]

     概要を見る

    This letter describes the development of a humanoid arm with quick-and-wide motion capability for making humans laugh. Laughter is attracting research attention because it enhances health by treating or preventing mental diseases. However, laughter has not been used effectively in healthcare because the mechanism of laughter is complicated and is yet to be fully understood. The development of a robot capable of making humans laugh will clarify the mechanism how humans experience humor from stimuli. Nonverbal funny expressions have the potential to make humans laugh across cultural and linguistic differences. In particular, we focused on the exaggerated arm motion widely used in slapsticks and silent comedy films. In order to develop a humanoid robot that can perform this type of movement, the required specification was calculated from slapstick skits performed by human comedians. To meet the required specifications, new arms for the humanoid robot were developed with a novel mechanism that includes lightweight joints driven by a flexible shaft and joints with high output power driven by a twin-motor mechanism. The results of experimental evaluation show that the quick-and-wide motion performed by the developed hardware is effective at making humans laugh.

    DOI

  • Heel-Contact Toe-Off Walking Pattern Generator Based on the Linear Inverted Pendulum

    Yukitoshi Minami Shiguematsu, Przemyslaw Kryczka, Kenji Hashimoto, Hun-Ok Lim, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS   13 ( 1 ) 25  2016年03月  [査読有り]

     概要を見る

    We propose a novel heel-contact toe-off walking pattern generator for a biped humanoid robot. It is divided in two stages: a simple model stage where a Linear Inverted Pendulum (LIP) based heel-contact toe-off walking model based on the so-called functional rockers of the foot (heel, ankle and forefoot rockers) is used to calculate step positions and timings, and the Center of Mass (CoM) trajectory taking step lengths as inputs, and a multibody dynamics model stage, where the final pattern to implement on the humanoid robot is obtained from the output of the first simple model stage. The final pattern comprises the Zero Moment Point (ZMP) reference, the joint angle references and the end effector references. The generated patterns were implemented on our robotic platform, WABIAN-2R to evaluate the generated walking patterns.

    DOI

  • Material Recognition CNNs and Hierarchical Planning for Biped Robot Locomotion on Slippery Terrain

    Martim Brandao, Yukitoshi Minami Shiguematsu, Kenji Hashimoto, Atsuo Takanishi

    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     81 - 88  2016年  [査読有り]

     概要を見る

    In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot locomotion since diverse surfaces with varying friction abound in the real world, from wood to ceramic tiles, grass or ice, which may cause difficulties or huge energy costs for robot locomotion if not considered. We propose to estimate friction and its uncertainty from visual estimation of material classes using convolutional neural networks, together with probability distribution functions of friction associated with each material. We then robustly integrate the friction predictions into a hierarchical (footstep and full-body) planning method using chance constraints, and optimize the same trajectory costs at both levels of the planning method for consistency. Our solution achieves fully autonomous perception and locomotion on slippery terrain, which considers not only friction and its uncertainty, but also collision, stability and trajectory cost. We show promising friction prediction results in real pictures of outdoor scenarios, and planning experiments on a real robot facing surfaces with different friction.

    DOI

  • Friction from Vision: A Study of Algorithmic and Human Performance with Consequences for Robot Perception and Teleoperation

    Martim Brandao, Kenji Hashimoto, Atsuo Takanishi

    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     428 - 435  2016年  [査読有り]

     概要を見る

    Friction estimation from vision is an important problem for robot locomotion through contact. The problem is challenging due to its dependence on many factors such as material, surface conditions and contact area.
    In this paper we 1) conduct an analysis of image features that correlate with humans' friction judgements; and 2) compare algorithmic to human performance at the task of predicting the coefficient of friction between different surfaces and a robot's foot. The analysis is based on two new datasets which we make publicly available. One is annotated with human judgements of friction, illumination, material and texture; the other is annotated with static coefficient of friction (COF) of a robot's foot and human judgements of friction. We propose and evaluate visual friction prediction methods based on image features, material class and text mining. And finally, we make conclusions regarding the robustness to COF uncertainty which is necessary by control and planning algorithms; the low performance of humans at the task when compared to simple predictors based on material label; and the promising use of text mining to estimate friction from vision.

    DOI

  • Crawling Gait for Four-limbed Robot and Simulation on Uneven Terrain

    Takashi Matsuzawa, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Shunsuke Kimura, Nobuaki Sakai, Atsuo Takanishi

    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     1270 - 1275  2016年  [査読有り]

     概要を見る

    Crawling motion by a robot is effective for reducing shock in the case of a fall. It thus decreases the possibility of a locomotion malfunction on uneven terrain. In this paper, the control of crawling motion on uneven terrain is described. Firstly, crawling motion and detailed motion are explained. Then, a method for controlling crawling motion is outlined for its realization. To verify the effectiveness of the proposed method for locomotion on uneven terrain, rough rubble ground was generated in a dynamics simulator and the crawling method was applied to our developed four-limbed robot. Additionally, a crawler robot was generated. A comparison was conducted to verify the difference in locomotion capabilities between the proposed method and other locomotion styles. The simulation results confirmed that the proposed method enabled successful locomotion of our four-limbed robot on uneven terrain.

    DOI

  • Trajectory Generation for Ladder Climbing Motion with Separated Path and Time Planning

    X. Sun, K. Hashimoto, S. Hamamoto, A. Koizumi, T. Matsuzawa, T. Teramachi, A. Takanishi

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)     5782 - 5788  2016年  [査読有り]

     概要を見る

    This paper introduces a motion planning method to generate ladder climbing motion for a four-limbed robot. This method contains the following points: (1) independent planning of path and time in 3 dimensional space for trajectory planning; (2) path length minimization according to given midpoints. In trajectory planning, arc-length parameterization is used to separate path planning and time planning so that they can be done independently. After path is planned, time planning along the planned path can be given freely to meet our requirement, such as speed and acceleration adjustment for the protection of motors, optimization for dynamics analysis, dynamic obstacle avoidance and so on. Results from simulations and experiments authenticate the validity of our motion generation method.

    DOI

  • One DoF robotic hand that makes human laugh by tickling through rubbing underarm

    T. Kishi, T. Nozawa, A. Nibori, H. Futaki, Y. Miura, M. Shina, K. Matsuki, H. Yanagino, S. Cosentino, K. Hashimoto, A. Takanishi

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)     404 - 409  2016年  [査読有り]

     概要を見る

    This paper describes the development of one DoF robotic hand that makes human laugh by tickling through rubbing underarm. Laughter is attracting research attention because it enhances health by treating or preventing mental diseases. However, laughter has not been used effectively in healthcare because the mechanism of laughter is complicated and is yet to be fully understood. The development of a robot capable of making humans laugh is useful for clarifying the mechanism of laughter because the stimuli by the robot is quantitative and reproductive. Especially, tickling matches to this purpose because the relationship between stimuli and reaction is simpler compared to other techniques. Therefore, this research aimed to develop a robotic hand that can output quantitative and reproductive tickling stimuli for clarifying the mechanism of laughter. Rubbing underarm is selected as a target motion of robot because previous research suggested that this is the best way for making humans feel ticklish. In order to achieve the tickling motion by robots as humans, the required specifications were determined through experimental method. In order to develop a robot that achieves the required fingertip trajectory by simple mechanisms as much as possible, mechanism with crank and link driven by single motor was developed. The result of experimental evaluation shows that the developed robot could make humans laugh by its rubbing motion. In addition, the quantitative tickling motion by developed robotic hand was suggested to be effective for clarifying the mechanism of laughter.

    DOI

  • Cat-inspired Mechanical Design of Self-Adaptive Toes for a Legged Robot

    Huaxin Liu, Qiang Huang, Weimin Zhang, Xuechao Chen, Zhangguo Yu, Libo Meng, Lei Bao, Aiguo Ming, Yan Huang, Kenji Hashimoto, Atsuo Takanishi

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)     2425 - 2430  2016年  [査読有り]

     概要を見る

    Cats have protractible claws to fold their tips to keep them sharp. They protract claws while hunting and pawing on slippery surfaces. Protracted claws by tendons and muscles of toes can help cats anchoring themselves steady while their locomotion trends to slip and releasing the hold while they retract claws intentionally. This research proposes a kind of modularized self-adaptive toe mechanism inspired by cat claws to improve the extremities' contact performance for legged robot. The mechanism is constructed with four-bar linkage actuated by contact reaction force and retracted by applied spring tension. A feasible mechanical design based on several essential parameters is introduced and an integrated Sole-Toe prototype is built for experimental evaluation. Mechanical self-adaption and actual contact performance on specific surface have been evaluated respectively on a biped walking platform and a bench-top mechanical testing.

    DOI

  • Path-Time Independent Trajectory Planning of Ladder Climbing with Shortest Path Length for a Four-limbed Robot

    X. Sun, K. Hashimoto, A. Koizumi, S. Hamamoto, T. Matsuzawa, T. Teramachi, A. Takanishi

    2016 6TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)     188 - 194  2016年  [査読有り]

     概要を見る

    This paper describes a trajectory planning method of ladder climbing for a four-limbed robot. The overall design of the four-limbed robot and the specific design of its end-effector is explained. The trajectory planning consists of two components: path planning and time planning, and the separation of these two parts are realized by arc-length parameterization. In path planning, we use cubic spline interpolation to generate the path according to the given mid-points. It is a fact that the shape of path depends on the choice of the coefficients of the interpolation polynomial, and so does the path length. Therefore, we propose a minimization of path length so that once the mid-points are all given, the generated path will always be the shortest spline curve. For time planning, it enables us to decide how long the path goes in arbitrary given times. Due to the independence between path and time planning, different time planning along the same path can be applied for the purpose of speed adjustment, avoidance of moving obstacles, releasing the burden of motors and so on. Results from simulations and experiments authenticate the validity of our trajectory planning method.

    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年  [査読有り]

     概要を見る

    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

  • End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder

    Takashi Matsuzawa, Kenji Hashimoto, Tomotaka Teramachi, Kazuhiro Uryu, Xiao Sun, Shinya Hamamoto, Ayanori Koizumi, Atsuo Takanishi

    ROMANSY 21 - ROBOT DESIGN, DYNAMICS AND CONTROL   569   311 - 319  2016年  [査読有り]

     概要を見る

    This paper describes the development of end-effector for disaster response robot with commonly structured limbs and experiment of climbing a vertical ladder. The end-effector is required to have the ability to hang on rungs and side rails and work as both hands and feet. We developed an end-effector with hook-like shape so that it can hang on both rungs and side rails, and grooves on the back of hook make it possible for the end-effector to play the role of both hands and feet, fixing on the rungs of ladder firmly. Moreover, the design of the end-effector allows the robot to perform some locomotion style other than climbing, like bipedal walking. We made the experiment in climbing a ladder obeying Japanese Industrial Standards (JIS) performed by the robot. As a result, end-effectors enabled the robot's feet to reach the highest rung.

    DOI

  • Disturbance Force Generator for Biped Robots

    Kenji Hashimoto, Kosuke Nishikawa, Juri Shimizu, Aiman Omer, Hun-ok Lim, Atsuo Takanishi

    ROMANSY 21 - ROBOT DESIGN, DYNAMICS AND CONTROL   569   267 - 274  2016年  [査読有り]

     概要を見る

    This paper describes the mechanism and control of a disturbance force generator that is able to evaluate disturbance compensation control of biped robots quantitatively. The disturbance generator consists of a base, a motor drive system and a suspension system. In order to apply a disturbance force to a biped humanoid robot, a wire wound on a pulley of the disturbance generator is connected with robot's waist. The effectiveness of the disturbance force generator is verified through several disturbance experiments.

    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

  • On Stereo Confidence Measures for Global Methods: Evaluation, New Model and Integration into Occupancy Grids

    Martim Brandao, Ricardo Ferreira, Kenji Hashimoto, Atsuo Takanishi, Jose Santos-Victor

    IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE   38 ( 1 ) 116 - 128  2016年01月  [査読有り]

     概要を見る

    Stereo confidence measures are important functions for global reconstruction methods and some applications of stereo. In this article we evaluate and compare several models of confidence which are defined at the whole disparity range. We propose a new stereo confidence measure to which we call the Histogram Sensor Model (HSM), and show how it is one of the best performing functions overall. We also introduce, for parametric models, a systematic method for estimating their parameters which is shown to lead to better performance when compared to parameters as computed in previous literature. All models were evaluated when applied to two different cost functions at different window sizes and model parameters. Contrary to previous stereo confidence measure benchmark literature, we evaluate the models with criteria important not only to winner-take-all stereo, but also to global applications. To this end, we evaluate the models on a real-world application using a recent formulation of 3D reconstruction through occupancy grids which integrates stereo confidence at all disparities. We obtain and discuss our results on both indoors' and outdoors' publicly available datasets.

    DOI

  • Joint Mechanism That Mimics Elastic Characteristics in Human Running

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

    Machines, Vol.4, Issue 1, Article 5    2016年01月  [査読有り]  [国際誌]

  • 極限環境下での高い移動能力を持つ4肢ロボット

    橋本健二,高西淳夫

    日本機械学会関東支部ニュースレター メカトップ関東   119 ( 39 ) 7  2016年01月  [国内誌]

  • What does that flashing light mean? Design choices for a robotic head prototype

    Gabriele Trovato, Scean Mitchell, Kenji Hashimoto and Atsuo Takanishi

    Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015)   2015.6   323 - 324  2015年12月  [査読有り]  [国際誌]

    DOI

  • Extending humanoid footstep planning with ZMP tracking error constraints

    Martim Brandão, Kenji Hashimoto and Atsuo Takanishi

    Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015)   2015   130 - 130  2015年12月  [査読有り]  [国際誌]

     概要を見る

    In this paper we use an extended footstep planning algorithm to plan optimal humanoid locomotion trajectories subject to constraints on the maximum predicted Zero Moment Point (ZMP) tracking error. The approach can guarantee walking stability bounds with little extra computational burden, thus increasing safety of robots walking in challenging environments. This is done by estimating energy and stability models in simulation through Bayesian optimization, and smartly integrating the models into search-based planning.

    DOI CiNii

  • Event-based climbing motion planning for a quadruped robot

    Xiao Sun, Kenji Hashimoto, Ayanori Koizumi, Shinya Hamamoto, Takashi Matsuzawa, Tomotaka Teramachi and Atsuo Takanishi

    Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015)   2015   78 - 79  2015年12月  [査読有り]  [国際誌]

     概要を見る

    This paper explains a motion planning strategy that is not based on time but on "event", which can be explained as the path that the end-effector of robot tracks in our study. Arc-length parameterization is used in this paper to convert a time-based planning into an event-based planning. With our planning, it is possible to choose various time planning on the same given path so that tasks such as dynamic obstacle avoidance and performance test of motors become available. Simulation results about time planning implemented to a given path verifies the effectiveness of our event-based planning.

    DOI CiNii

  • Development of Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder

    Takashi Matsuzawa, Kenji Hashimoto, Xiao Sun, Kazuhiro Uryu, Ayanori Koizumi, Shinya Hamamoto, Tomotaka Teramachi and Atsuo Takanishi

    Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015)   2015   142 - 143  2015年12月  [査読有り]  [国際誌]

     概要を見る

    This paper describes the development of a four-limbed robot capable of climbing vertical ladders. We focused on vertical ladders which are often set in plant facilities. The design concepts and required specifications are explained. We conducted experiments of climbing vertical ladders and the robot succeeded in climbing vertical ladders in JIS.

    DOI CiNii

  • Development of a Novel Bi-directional Adjustable Stiffness Artificial Tendon for Energy Efficient Bipedal Walking

    Aiman Omer, Reza Ghorbani, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

    Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015)   2015   124 - 125  2015年12月  [査読有り]  [国際誌]

     概要を見る

    Bipedal Walking Robot uses harmonic gears in its leg joints in order to provide high torque. However, those mechanisms increase the leg's weight that automatically increases the required energy. Replacing the drivable gear system with an adjustable stiffness mechanism might help to increase the energy efficiency. In this research we purpose a novel adjustable stiffness mechanism that can be attached to the ankle joint. The developed mechanism can provide passive and active controlled motion, which might help the robot to walk with less energy.

    DOI CiNii

  • An Approach Toward Development of a New Method for Bipedal Running Trajectory Planning

    Aiman Omer, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

    Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015)   2015   286 - 287  2015年12月  [査読有り]  [国際誌]

     概要を見る

    The running trajectory for bipedal robot is generated using numerically calculation method. Such method might limit the robot performance to accurately control its forward velocity. A new method is developed to determine the running trajectory based on linear equation that is developed based on walking trajectory and vertical hopping motion trajectory equations.

    DOI CiNii

  • A Novel Design for Adjustable Stiffness Artificial Tendon for the Ankle Joint of a Bipedal Robot: Modeling & Simulation

    Aiman Omer, Reza Ghorbani, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

    Machines   4 ( 1 ) 22  2015年12月  [査読有り]  [国際誌]

  • Intersection of "Tokku" Special Zone, Robots, and the Law: A Case Study on Legal Impacts to Humanoid Robots

    Yueh-Hsuan Weng, Yusuke Sugahara, Kenji Hashimoto, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS   7 ( 5 ) 841 - 857  2015年11月  [査読有り]

     概要を見る

    The unique "Tokku" Special Zone for Robot-ics Empirical Testing and Development (RT special zone) originated in Japan. Since 2003, the world's first RT special zone had already established in Fukuoka Prefecture, Fukuoka City and Kitakyushu City. At that time, Takanishi Laboratory, Humanoid Robotics Institute of Waseda University had conducted many empirical testing within several different spots of the special zone to evaluate the feasibility for bipedal humanoid robots on public roads from 2004 to 2007. It is also known as the world's first public roads testing for bipedal robots. The history of RT special zone is merely 10 years long, but there are already many special zones established in Fukuoka, Osaka, Gifu, Kanagawa and Tsukuba. As the development of robotics and its submergence to the society expand, the importance of RT special zone as an interface for robots and society will be more apparent. In this paper, our main focus is to view the impacts of the "Tokku" special zone system to the human-robot co-existence society. We would like to make a systematic review for RT special zone, and further to investigate the relationship between RT special zone, robots and the law through a case study on legal impacts regarding bipedal humanoid robots in which the materials for the case study come from Waseda University's experiment on WL-16RII and WABIAN-2R at the Fukuoka RT special zone.

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  • 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 and Atsuo Takanishi

    Frontiers in Robotics and AI   2 ( 17 )  2015年07月  [査読有り]  [国際誌]

    DOI

  • Walking in the uncanny valley: importance of the attractiveness on the acceptance of a robot as a working partner

    Matthieu Destephe, Martim Brandao, Tatsuhiro Kishi, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    FRONTIERS IN PSYCHOLOGY   6 ( 204 ) 22  2015年02月  [査読有り]

     概要を見る

    The Uncanny valley hypothesis, which tells us that almost-human characteristics in a robot or a device could cause uneasiness in human observers, is an important research theme in the Human Robot Interaction (HRI) field. Yet, that phenomenon is still not well-understood. Many have investigated the external design of humanoid robot faces and bodies but only a few studies have focused on the influence of robot movements on our perception and feelings of the Uncanny valley. Moreover, no research has investigated the possible relation between our uneasiness feeling and whether or not we would accept robots having a job in an office, a hospital or elsewhere. To better understand the Uncanny valley, we explore several factors which might have an influence on our perception of robots, be it related to the subjects, such as culture or attitude toward robots, or related to the robot such as emotions and emotional intensity displayed in its motion. We asked 69 subjects (N = 69) to rate the motions of a humanoid robot (Perceived Humanity, Eeriness, and Attractiveness) and state where they would rather see the robot performing a task. Our results suggest that, among the factors we chose to test, the attitude toward robots is the main influence on the perception of the robot related to the Uncanny valley. Robot occupation acceptability was affected only by Attractiveness, mitigating any Uncanny valley effect. We discuss the implications of these findings for the Uncanny valley and the acceptability of a robotic worker in our society.

    DOI

  • A Torque Limiter for Safe Joint Applied to Humanoid Robots against Falling Damage

    Xinran Guo, Weimin Zhang, Huaxin Liu, Zhangguo Yu, Wen Zhang, William Conus, Kenji Hashimoto, Qiang Huang

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)     2454 - 2459  2015年  [査読有り]

     概要を見る

    Humanoid robot is anticipated to serve people in our daily life in the near future. However, the great cost of falling damage needs to be addressed before it is widely used. In this paper, a safe and compact joint with torque limiter is developed to reduce the damage to a humanoid robot during falling. First, the overall scheme design and working principles of the safe joint are investigated. Then, the mechanical design of the safe joint is presented in details. Finally, the effectiveness of the safe joint is verified by several simulations.

    DOI

  • Optimizing energy consumption and preventing slips at the footstep planning level

    Martim Brandao, Kenji Hashimoto, Jose Santos-Victor, Atsuo Takanishi

    2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     1 - 7  2015年  [査読有り]

     概要を見る

    Energy consumption and stability are two important problems for humanoid robots deployed in remote outdoor locations. In this paper we propose an extended footstep planning method to optimize energy consumption while considering motion feasibility and ground friction constraints. To do this we estimate models of energy, feasibility and slippage in physics simulation, and integrate them into a hybrid A* search and optimization-based planner. The graph search is done in footstep position space, while timing (leg swing and double support times) and COM motion (parameterized height trajectory) are obtained by solving an optimization problem at each node. We conducted experiments to validate the obtained energy model on the real robot, as well as planning experiments showing 9 to 19% energy savings. In example scenarios, the robot can correctly plan to optimally traverse slippery patches or avoid them depending on their size and friction; and uses stairs with the most beneficial dimensions in terms of energy consumption.

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  • A Falling Motion Control of Humanoid Robots Based on Biomechanical Evaluation of Falling Down of Humans

    Libo Meng, Zhangguo Yu, Xuechao Chen, Weimin Zhang, Marco Ceccarelli, Kenji Hashimoto, Atsuo Takanishi, Qiang Huang, Wenjuan Guo, Lin Xie, Huaxin Liu

    2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     441 - 446  2015年  [査読有り]

     概要を見る

    This paper presents results of experimental investigation of the falling down of human body in order to identify significant characteristics and parameters that help for safe similar situations with humanoid robots. Experiments are discussed with results from lab tests that give both behavior and values of the biomechanics of falling down of human body. Simulations of humanoid robot falling verified the strategies concluded from the human falling down.

    DOI

  • Investigating the Effect of Relative Cultural Distance on the Acceptance of Robots

    G. Trovato, J. R. C. Ham, K. Hashimoto, H. Ishii, A. Takanishi

    SOCIAL ROBOTICS (ICSR 2015)   9388   664 - 673  2015年  [査読有り]

     概要を見る

    A complex relationship exists between people's cultural background and their general acceptance towards robots. Previous studies supported the idea that humans may accept more easily a robot that can adapt to their specific culture. However, it is not clear whether between two robots which are identified as foreign robots because of their verbal and non-verbal expressions, the one that is culturally closer may be preferred or not. In this experiment, participants of Dutch nationality were engaged in a simulated video conference with a robot that is greeting and speaking either in German or in Japanese; they completed a questionnaire assessing their preferences and their emotional state. As Dutch participant showed less signs of discomfort and better acceptance when interacting with a German robot, the hypothesis that acceptance of a robot could be directly proportional to cultural closeness was supported, while the hypothesis that similar foreign robots are equally less accepted regardless of the country-was rejected. Implications are discussed for how robots should be designed to be employed in different countries.

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  • 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)     3969 - 3974  2015年  [査読有り]

     概要を見る

    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

  • 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)     5156 - 5161  2015年  [査読有り]

     概要を見る

    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.

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  • Biped Robot Research at Waseda University

    Kenji Hashimoto, Atsuo Takanishi

    PROCEEDINGS OF INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB2015)   1 ( 4 ) 310 - 313  2015年  [査読有り]

     概要を見る

    Waseda University has researched on biped robots since 1967. This paper describes our latest biped robots: (i) WABIAN-2, (ii) a biped running robot, and (iii) WL-16. WABIAN-2 is a biped humanoid robot and has realized a human-like walk with the knees stretched by utilizing a 2-DOF waist mimicking a human's pelvis motion. We are developing a new biped humanoid robot which can jump by utilizing a pelvic movement and leg elasticity. WL-16 is a human-carrying biped vehicle.

  • Study of Bipedal Robot Walking Motion in Low Gravity: Investigation and Analysis Regular Paper

    Aiman Omer, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS   11 ( 9 )  2014年09月  [査読有り]

     概要を見る

    Humanoid robots are expected to play a major role in the future of space and planetary exploration. Humanoid robot features could have many advantages, such as interacting with astronauts and the ability to perform human tasks. However, the challenge of developing such a robot is quite high due to many difficulties. One of the main difficulties is the difference in gravity. Most researchers in the field of bipedal locomotion have not paid much attention to the effect of gravity. Gravity is an important parameter in generating a bipedal locomotion trajectory. This research investigates the effect of gravity on bipedal walking motion. It focuses on low gravity, since most of the known planets and moons have lower gravity than earth. Further study is conducted on a full humanoid robot model walking subject to the moon's gravity, and an approach for dealing with moon gravity is proposed in this paper.

    DOI

  • A Multisensory Non-Invasive System for Laughter Analysis

    Sarah Cosentino, Susanne Burger, Lara Martin, Florian Metze, Tatsuhiro Kishi, Kenji Hashimoto, Salvatore Sessa, Massimiliano Zecca and Atsuo Takanishi

    Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014)    2014年08月  [査読有り]  [国際誌]

  • Autonomous online generation of a motor representation of the workspace for intelligent whole-body reaching

    Lorenzo Jamone, Martim Brandao, Lorenzo Natale, Kenji Hashimoto, Giulio Sandini, Atsuo Takanishi

    ROBOTICS AND AUTONOMOUS SYSTEMS   62 ( 4 ) 556 - 567  2014年04月  [査読有り]

     概要を見る

    We describe a learning strategy that allows a humanoid robot to autonomously build a representation of its workspace: we call this representation Reachable Space Map. Interestingly, the robot can use this map to: (i) estimate the Reachability of a visually detected object (i.e. judge whether the object can be reached for, and how well, according to some performance metric) and (ii) modify its body posture or its position with respect to the object to achieve better reaching. The robot learns this map incrementally during the execution of goal-directed reaching movements; reaching control employs kinematic models that are updated online as well. Our solution is innovative with respect to previous works in three aspects: the robot workspace is described using a gaze-centered motor representation, the map is built incrementally during the execution of goal-directed actions, learning is autonomous and online. We implement our strategy on the 48-DOFs humanoid robot Kobian and we show how the Reachable Space Map can support intelligent reaching behavior with the whole-body (i.e. head, eyes, arm, waist, legs). (C) 2014 Elsevier B.V. All rights reserved.

    DOI

  • Uncanny Valley, Robot and Autism: Perception of the Uncanniness in an Emotional Gait

    Matthieu Destephe, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014     1152 - 1157  2014年  [査読有り]

     概要を見る

    While robots are often used in autism therapy, the Uncanny valley effect was never studied in subjects with Autistic Spectrum Disorder (ASD). Since persons with ASD have trouble understanding body language, they react differently to the Uncanny valley. In this paper, we propose to investigate the possible difference in the Uncanny valley's perception of an emotional humanoid robot in subjects with ASD and subjects without ASD. Thirty four adult participants (N = 34, control: 19, ASD: 15; age: 28.5) were asked to watch videos of an emotional humanoid robot and rate its emotions and its gait (Perceived Humanness, Eeriness and Attractiveness). We have found differences between the two groups in their perception of the robot's Perceived Humanness (p &lt; .05). Also, while the ASD group performed as well as the control group for emotion recognition task, we found that the ASD group is more sensible to the Uncanny valley effects than the control group. Finally we conclude on what our findings bring to the Human Robot Interaction field.

    DOI

  • Effect of the "Torso Protective Strategy" for Safe Falling of a Biped Humanoid Robot

    Gan Ma, Qiang Huang, Yan Liu, Zhangguo Yu, Xuechao Chen, Zhihong Jiang, Kenji Hashimoto, Atsuo Takanishi, Yun-Hui Liu

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014     1284 - 1289  2014年  [査読有り]

     概要を見る

    The falling of a biped humanoid robot is treated as an extremely unstable state. When an unexpected fall happens, it may cause serious damage to both the robot itself. This study focuses on the falling issue and investigates the effect of the "torso protective strategy" for safe landing of a biped humanoid robot. First, the effectiveness of the torso strategies to the safe landing is analyzed from an energy variation perspective of the robot system. The torso strategies are used to do negative work that reduced the energy of the robot system, thereby reducing the impact velocity of the robot. Then, a comparative simulation is made on a model of humanoid robot to validate the influence of the torso strategies on safe landing.

    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年  [査読有り]

     概要を見る

    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.

    DOI

  • Gait planning for biped locomotion on slippery terrain

    Martim Brandao, Kenji Hashimoto, Jose Santos-Victor, Atsuo Takanishi

    2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)     303 - 308  2014年  [査読有り]

     概要を見る

    We propose a new biped locomotion planning method that optimizes locomotion speed subject to friction constraints. For this purpose we use approximate models of required coefficient of friction (RCOF) as a function of gait. The methodology is inspired by findings in human gait analysis, where subjects have been shown to adapt spatial and temporal variables of gait in order to reduce RCOF in slippery environments. Here we solve the friction problem similarly, by planning on gait parameter space: namely foot step placement, step swing time, double support time and height of the center of mass (COM). We first used simulations of a 48 degrees-of-freedom robot to estimate a model of how RCOF varies with these gait parameters. Then we developed a locomotion planning algorithm that minimizes the time the robot takes to reach a goal while keeping acceptable RCOF levels.
    Our physics simulation results show that RCOF-aware planning can drastically reduce slippage amount while still maximizing efficiency in terms of locomotion speed. Also, according to our experiments human-like stretched-knees walking can reduce slippage amount more than bent-knees (i.e. crouch) walking for the same speed.

    DOI

  • Bio-inspired Falling Motion Control for a Biped Humanoid Robot

    Gan Ma, Qiang Huang, Zhangguo Yu, Xuechao Chen, Kenji Hashimoto, Atsuo Takanishi, Yun-Hui Liu

    2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)     850 - 855  2014年  [査読有り]

     概要を見る

    Although consistent stability is desirable, a biped humanoid robot encounters a high risk of falling. Such falls may cause serious damage to both the robot and the environment. This study focuses on this issue and investigates four strategies based on human protective falling motion. These strategies are: "knee flexion", "torso flexion forward", "torso translation backward" and "knee stretched". First, the effectiveness of the strategies for the safe landing is analyzed from an energy variation perspective of the robot system. The four strategies are used to do negative work that reduced the energy of the robot system, thereby reducing the impact velocity of the robot. Then, a simulation study on a human-sized humanoid robot is conducted to assess the influence of the strategies on safe landing. Finally, based on the simulation results for each strategy, a safe falling motion control method is proposed and validated through simulation.

    DOI

  • On the formulation, performance and design choices of Cost-Curve Occupancy Grids for stereo-vision based 3D reconstruction

    Martim Brandao, Ricardo Ferreira, Kenji Hashimoto, Jose Santos-Victor, Atsuo Takanishi

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)     1818 - 1823  2014年  [査読有り]

     概要を見る

    We present a grid-based 3D reconstruction method which integrates all costs given by stereo vision into what we call a Cost-Curve Occupancy Grid (CCOG). Occupancy probabilities of grid cells are estimated in a Bayesian formulation, from the likelihood of stereo cost measurements taken at all distance hypotheses. This is accomplished with only a small set of probabilistic assumptions which we discuss in the paper. We quantitatively characterize the method's performance under different conditions of both image noise and number of used stereo pairs, compared also to traditional algorithms. We complement the study by giving insights on design choices of CCOGs such as likelihood model, window size of the cost function and use of a hole filling method. Experiments were made on a real-world outdoors dataset with ground-truth data.

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  • Development of a Comic Mark Based Expressive Robotic Head Adapted to Japanese Cultural Background

    T. Kishi, H. Futaki, G. Trovato, N. Endo, M. Destephe, S. Cosentino, K. Hashimoto, A. Takanishi

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)     2608 - 2613  2014年  [査読有り]

     概要を見る

    This paper describes the development of a robotic head that has cartoon facial expression ability with comic marks. For communicating with humans, robots should have expressive facial expression ability for indicating their inner state. Our previous research suggests that robots can express its emotion clearly if it performs facial expressions that are adapted to the cultural background of the communication partner. As a first step, we focus on making expressions for Japanese people. Comic mark is a unique and famous way of emotion expression in Japanese culture. First, we defined facial expressions by combining cartoon-like shape of the facial parts with high emotion recognition rates. Then we asked cartoonists to draw comic marks which they think are effective for emotion expression and find the effective comic marks as "Cross popping veins" for "Anger", "Tear mark" for "Sadness" and "Vertical lines" for "Fear". Finally we obtained a model expression which has sufficiently high emotion recognition rate from the combination of the facial expression and the comic marks. In order to achieve these expressions, we developed flexible full color LED display matrix module and mechanism that push and pull the sheet for expressing black lines. Results of experimental evaluation shows that the new robotic head has over 90% average emotion recognition rates for each of the six basic emotions. The results with non-Japanese subjects suggests that impression of emotion expression on robotic head changes depending on the cultural background. These findings encourage us in pursuing this concept of designing robots that display emotions that are adapted to cultural background of communication partner.

    DOI

  • Heel-contact Toe-off Walking Model Based on the Linear Inverted Pendulum

    Yukitoshi Minami, Przemyslaw Kryczka, Kenji Hashimoto, Hun-Ok Lim, Atsuo Takanishi

    2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)     221 - 226  2014年  [査読有り]

     概要を見る

    We propose a new heel-contact toe-off walking model based on the Linear Inverted Pendulum (LIP) model, which due to the linearity and the ease of manipulation of the equations, could be considered to be advantageous for a future online implementation for the generation of walking patterns. This new model is based on the so called functional rockers of the foot (heel, ankle and forefoot rockers), each of which are modeled as an inverted pendulum, changing the ground contact point position of the inverted pendulums for each rocker. We focus on the motion of the Center of Mass (CoM) in the sagittal plane, as it is the plane on which the rockers take place, but also generate the motions on the frontal plane. The model proved to work for constant velocity, accelerating and decelerating gaits, and the effects of the change of pivot point during heel-contact toe-off could be corroborated in the Zero Moment Point (ZMP) graphs. The implementation of this model could improve the human likeness of the motions, as well as the stability of the locomotion.

  • Emotional Gait: Effects on Humans' Perception of Humanoid Robots

    Matthieu Destephe, Martim Brandao, Tatsuhiro Kishi, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    2014 23RD IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (IEEE RO-MAN)     261 - 266  2014年  [査読有り]

     概要を見る

    Humanoid robots have this formidable advantage to possess a body quite similar in shape to humans. This body grants them, obviously, locomotion but also a medium to express emotions without even needing a face. In this paper we propose to study the effects of emotional gaits from our biped humanoid robot on the subjects' perception of the robot (recognition rate of the emotions, reaction time, anthropomorphism, safety, likeness, etc.). We made the robot walk towards the subjects with different emotional gait patterns. We assessed positive (Happy) and negative (Sad) emotional gait patterns on 26 subjects divided in two groups (whether they were familiar with robots or not). We found that even though the recognition of the different types of patterns does not differ between groups, the reaction time does. We found that emotional gait patterns affect the perception of the robot. The implications of the current results for Human Robot Interaction (HRI) are discussed.

    DOI

  • Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface

    Kenji Hashimoto, Hyun-Jing Kang, Hiromitsu Motohashi, Hun-Ok Lim, Atsuo Takanishi

    Mechanisms and Machine Science   22   255 - 263  2014年  [査読有り]

     概要を見る

    In this study we describe a terrain-adaptive biped walking control using a new biped foot mechanism with the capability of detecting ground surface. The foot system consists of three spikes each of which has an optical sensor to detect ground height. A robot modifies a foot-landing motion along the vertical axis and about pitch and roll axes according to sensor values, and this enables the robot to walk on unknown uneven terrain. Verification of the proposed control was conducted through experiments with a human-sized humanoid robot WABIAN-2R.

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  • Stiffness analysis of WL-16RV biped walking vehicle

    Giuseppe Carbone, Kenji Hashimoto, Atsuo Takanishi

    Mechanisms and Machine Science   22   391 - 399  2014年  [査読有り]

     概要を見る

    This paper proposes a stiffness analysis of biped walking vehicle that is based on a parallel kinematics architecture. Namely, WL-16RV (Waseda Leg No.16 Refined V) is a biped walking vehicle that can carry on board a human while overcoming typical human environment barriers. Experimental tests have been carried out on a built prototype of WL-16RV by using a specific set up for validation purposes.

    DOI

  • 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年  [査読有り]

     概要を見る

    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

  • Design choices in the development of a robotic head: Human-likeness, Form and Colours

    Scean Mitchell, Gabriele Trovato, Matthieu Destephe, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    Mechanisms and Machine Science   22   225 - 233  2014年  [査読有り]

     概要を見る

    The design of what a robot could look like is a matter of growing importance. Variations of style, size, shape and colour open endless design possibilities. It is important to create a look that poses no visual uncanny valley effects on the human user and that is appropriate to potentially serve in different job areas in human society. In this paper we want to share the methods applied in the design of a new head for the humanoid robot KOBIAN-R. Our creation process is similar to that of the product design process taking into account the psychology of shape, colour and functionality to name a few. Following the creative process we conducted some surveys to assess our new design. Feedback data from participants from a diverse age range and cultural backgrounds are a precious input towards the future development of this robotic head.

    DOI

  • A robotic head that displays japanese ‘‘manga’’ marks

    Tatsuhiro Kishi, Hajime Futaki, Gabriele Trovato, Nobutsuna Endo, Matthieu Destephe, Sarah Cosentino, Kenji Hashimoto, Atsuo Takanishi

    Mechanisms and Machine Science   22   245 - 253  2014年  [査読有り]

     概要を見る

    This paper describes the development of a robotic head with ability to display marks commonly used in ‘‘manga’’ (Japanese comics). To communicate with humans, robots should have an expressive facial expression ability for indicating its inner state. Our previous research suggests that, robots can express its emotion clearly if it perform facial expressions that can adapt with the cultural background of the communication partner. As a first step, we focus on making expressions for Japanese people. Manga mark is a unique and famous way of emotion expression in Japanese culture. In a previous preliminary experiment, we determined facial expressions for the robot KOBIAN-R with manga marks. Those expressions included four manga marks as ‘‘Cross popping veins’’ for ‘‘Anger’’, ‘‘Tear mark’’ for ‘‘Sadness’’, ‘‘Vertical lines’’ for ‘‘Fear’’ and ‘‘Wrinkle’’ for ‘‘Disgust’’. A new head that express these marks was developed. Flexible full color LED matrix display and mechanism for indicating black lines were implemented. Experimental evaluation shows that the new robotic head has over 90% average emotion recognition rates by 30 Japanese participants for each of the six emotions.

    DOI

  • 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年  [査読有り]

     概要を見る

    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.

    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年  [査読有り]

     概要を見る

    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".

    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   9  2014年  [査読有り]

     概要を見る

    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

  • Cross-cultural study on human-robot greeting interaction: acceptance and discomfort by Egyptians and Japanese

    Gabriele Trovato, Massimiliano Zecca, Salvatore Sessa, Lorenzo Jamone, Jaap Ham, Kenji Hashimoto and Atsuo Takanishi

    Paladyn, Journal of Behavioral Robotics   4 ( 2 ) 83 - 93  2013年12月  [査読有り]  [国際誌]

  • Comparison of Bipedal Humanoid Walking with Human Being Using Inertial Measurement Units and Force-Torque Sensors

    Gautam Narang, Weisheng Kong, Xu Pu, Arjun Narang, Soumya Singh, Kenji Hashimoto, Massimiliano Zecca, Atsuo Takanishi

    Proceedings of the 2013 IEEE/SICE International Symposium on System Integration (SII 2013)     198 - 203  2013年12月  [査読有り]  [国際誌]

  • Cross-Cultural Perspectives on Emotion Expressive Humanoid Robotic Head: Recognition of Facial Expressions and Symbols

    Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS   5 ( 4 ) 515 - 527  2013年11月  [査読有り]

     概要を見る

    Emotion display through facial expressions is an important channel of communication. However, between humans there are differences in the way a meaning to facial cues is assigned, depending on the background culture. This leads to a gap in recognition rates of expressions: this problem is present when displaying a robotic face too, as a robot's facial expression recognition is often hampered by a cultural divide, and poor scores of recognition rate may lead to poor acceptance and interaction. It would be desirable if robots could switch their output facial configuration flexibly, adapting to different cultural backgrounds. To achieve this, we made a generation system that produces facial expressions and applied it to the 24 degrees of freedom head of the humanoid social robot KOBIAN-R, and thanks to the work of illustrators and cartoonists, the system can generate two versions of the same expression, in order to be easily recognisable by both Japanese and Western subjects. As a tool for making recognition easier, the display of Japanese comic symbols on the robotic face has also been introduced and evaluated. In this work, we conducted a cross-cultural study aimed at assessing this gap in recognition and finding solutions for it. The investigation was extended to Egyptian subjects too, as a sample of another different culture. Results confirmed the differences in recognition rates, the effectiveness of customising expressions, and the usefulness of symbols display, thereby suggesting that this approach might be valuable for robots that in the future will interact in a multi-cultural environment.

    DOI

  • Active Gaze Strategy for Reducing Map Uncertainty along a Path

    Martim Brandão, Ricardo Ferreira, Kenji Hashimoto, José Santos-Victor and Atsuo Takanishi

    Proceedings of the 3rd IFToMM International Symposium on Robotics and Mechatronics (ISRM 2013)     455 - 466  2013年10月  [査読有り]  [国際誌]

  • 顔面各部の広い可動域および顔色により豊かな表情表現が可能な 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,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年05月  [査読有り]  [国内誌]

    DOI J-GLOBAL

  • Walking stabilization based on gait analysis for biped humanoid robot

    Kenji Hashimoto, Yuki Takezaki, Hun-Ok Lim, Atsuo Takanishi

    ADVANCED ROBOTICS   27 ( 7 ) 541 - 551  2013年05月  [査読有り]

     概要を見る

    This study describes a biped walking stabilization based on gait analysis for a humanoid robot. So far, we have developed a humanoid robot as a human motion simulator which can quantitatively evaluate welfare and rehabilitation instruments instead of human subjects. However, the walking motion of the robot looked like human's in our past researches, but a walking stabilization control was not based on gait analysis. To use a humanoid robot as a human motion simulator, not only mechanisms but also a stabilizer should be designed based on human beings. Of course, there are many studies on gait analysis in the field of neuroscience, but most of them are not modeled enough to be implemented on humanoid robots. Therefore, first, we conducted gait analysis in this study, and we obtained following two findings: (i) a foot-landing point exists on the line joining the stance leg and the projected point of center of mass 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.

    DOI

  • GENERATION OF HUMANOID ROBOT'S FACIAL EXPRESSIONS FOR CONTEXT-AWARE COMMUNICATION

    Gabriele Trovato, Massimiliano Zecca, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS   10 ( 1 )  2013年03月  [査読有り]

     概要を見る

    Communication between humans and robots is a very important aspect in the field of Humanoid Robotics. For a natural interaction, robots capable of nonverbal communication must be developed. However, despite the most recent efforts, robots still can show only limited expression capabilities. The purpose of this work is to create a facial expression generator that can be applied to the 24 DoF head of the humanoid robot KOBIAN-R. In this manuscript, we present a system that based on relevant studies of human communication and facial anatomy can produce thousands of combinations of facial and neck movements. The wide range of expressions covers not only primary emotions, but also complex or blended ones, as well as communication acts that are not strictly categorized as emotions. Results showed that the recognition rate of expressions produced by this system is comparable to the rate of recognition of the most common facial expressions. Context-based recognition, which is especially important in case of more complex communication acts, was also evaluated. Results proved that produced robotic expressions can alter the meaning of a sentence in the same way as human expressions do. We conclude that our system can successfully improve the communication abilities of KOBIAN-R, making it capable of complex interaction in the future.

    DOI

  • Improving the human-robot interaction through emotive movements A special case: Walking

    Matthieu Destephe, Takayaki Maruyama, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    ACM/IEEE International Conference on Human-Robot Interaction     115 - 116  2013年  [査読有り]

     概要を見る

    Walking is one of the most common activities that we perform every day. If the main goal of walking is to go from a point A to a point B, walking can also convey emotional clues in social context. Those clues can be used to improve interactions or any messages we want to express. We observed a professional actress perform emotive walking and analyzed the recorded data. For each emotion, we found characteristic features which can be used to model gait patterns for humanoid robots. The findings were assessed by subjects who were asked to recognize the emotions displayed in the acts of walking. © 2013 IEEE.

    DOI

  • Towards Dynamically Consistent Real-time Gait Pattern Generation for Full-size Humanoid Robots

    Przemyslaw Kryczka, Yukitoshi Minami Shiguematsu, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)     1408 - 1413  2013年  [査読有り]

     概要を見る

    We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating semi-dynamically consistent step position and step time information, while the second stage incorporated with multi-body dynamics system is responsible for generation of gait pattern that is feasible and stable on the full-scale multi-degree-of-freedom humanoid robot. The approach allows for very rapid gait pattern regeneration during the swing phase of motion and includes information about present dynamic state when regenerating the new pattern. The paper contains description of a developed method, as well as experimental results proving its effectiveness.

    DOI

  • Perception of Emotion and Emotional Intensity in Humanoid Robots Gait

    Matthieu Destephe, Andreas Henning, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)     1276 - 1281  2013年  [査読有り]

     概要を見る

    Humanoid robots progress everyday closer and closer to a more stable walking suitable for a human environment as the researchers in the Humanoid robotics field focus their effort on the understanding of the human locomotion. Nonetheless for Social Robotics researchers, humanoid robots might have another use, such as being our companions from birth to nursing home. Designing social humanoid robots is one critical step if we want the robots to be active in our society. However, to our knowledge, only a few studies in the area of humanoid robotics have addressed emotion expression with robot gaits. In this paper we propose to assess different emotional gait patterns and the perception of the emotion intensity in those patterns. Actors' emotional movement were captured and then normalized for our robot platform. Several robot simulations were shown to human observers who completed a survey questionnaire in which they indicated their assessment of the portrayed emotion by the robot simulation. The surveyed emotions consist of Sadness, Happiness, Anger, Fear with different intensities (Intermediate, High and Exaggerated). We achieved a high recognition rate of emotions (72.32%). Even if the intensities were less well recognized (33.63%), our study indicates that the intensity might help the recognition of emotional walking.

    DOI

  • Human-humanoid robot social interaction: Laughter

    Sarah Cosentino, Tatsuhiro Kishi, Massimiliano Zecca, Salvatore Sessa, Luca Bartolomeo, Kenji Hashimoto, Takashi Nozawa, Atsuo Takanishi

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)     1396 - 1401  2013年  [査読有り]

     概要を見る

    In this paper, we describe a human gesture recognition system developed to make a humanoid robot understand non-verbal human social behaviors, and we present the results of preliminary experiments to demonstrate the feasibility of the proposed method. In particular, we have focused on the detection and recognition of laughter, a very peculiar human social signal. In fact, although it is a direct form of social interaction, laughter is classified as semi voluntary action, can be elicited by several different stimuli, and it is strongly associated with positive emotion and physical well-being. The possibility of recognize, and further elicit laughter, will help the humanoid robot to interact in a more natural way with humans, to build positive relationships and thus be more socially integrated in the human society.

    DOI

  • Integrating the whole cost-curve of stereo into occupancy grids

    Martim Brandao, Ricardo Ferreira, Kenji Hashimoto, Jose Santos-Victor, Atsuo Takanishi

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     4681 - 4686  2013年  [査読有り]

     概要を見る

    Extensive literature has been written on occupancy grid mapping for different sensors. When stereo vision is applied to the occupancy grid framework it is common, however, to use sensor models that were originally conceived for other sensors such as sonar. Although sonar provides a distance to the nearest obstacle for several directions, stereo has confidence measures available for each distance along each direction. The common approach is to take the highest-confidence distance as the correct one, but such an approach disregards mismatch errors inherent to stereo.
    In this work, stereo confidence measures of the whole sensed space are explicitly integrated into 3D grids using a new occupancy grid formulation. Confidence measures themselves are used to model uncertainty and their parameters are computed automatically in a maximum likelihood approach. The proposed methodology was evaluated in both simulation and a real-world outdoor dataset which is publicly available. Mapping performance of our approach was compared with a traditional approach and shown to achieve less errors in the reconstruction.

    DOI

  • Reaching for the unreachable: integration of locomotion and whole-body movements for extended visually guided reaching

    Martim Brandao, Lorenzo Jamone, Przemyslaw Kryczka, Nobotsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    2013 13TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     28 - 33  2013年  [査読有り]

     概要を見る

    We present a novel control architecture for the integration of visually guided walking and whole-body reaching in a humanoid robot.We propose to use robot gaze as a common reference frame for both locomotion and reaching, as suggested by behavioral neuroscience studies in humans. A gaze controller allows the robot to track and fixate a target object, and motor information related to gaze control is then used to i) estimate the reachability of the target, ii) steer locomotion, iii) control whole-body reaching. The reachability is a measure of how well the object can be reached for, depending on the position and posture of the robot with respect to the target, and it is obtained from the gaze motor information using a mapping that has been learned autonomously by the robot through motor experience: we call this mapping Reachable Space Map. In our approach, both locomotion and whole-body movements are seen as ways to maximize the reachability of a visually detected object, thus i) expanding the robot workspace to the entire visible space and ii) exploiting the robot redundancy to optimize reaching. We implement our method on a full 48-DOF humanoid robot and provide experimental results in the real world.

    DOI

  • Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration

    Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun-Ok Lim, Nikos G. Tsagarakis, Darwin G. Caldwell, Atsuo Takanishi

    2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI)     475 - 480  2013年  [査読有り]

     概要を見る

    We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist, stage is responsible for generating the preliminary motion reference, such as step position, timing and trajectory of Center of Mass (CoM), while the second stage serves as dynamics filter which employs a multi-body model and based on Zero Moment Point (ZMP) reference trajectory generates CoM reference trajectory which defines a locomotion stable when executed on the full-scale multi-degree-of-freedom humanoid robot. The approach thanks to introducing a dynamic model at, the stage of feet placement planning provides the ZMP reference, which is ensured to be feasible for the robot. Thanks to the fact it enables instantaneous regeneration of motion. The paper contains description of two approaches used in the first and second stage, as well as experimental results proving the effectiveness of the method. The fast calculation time and the use of the system's dynamic state as initial conditions for pattern generation makes it a good candidate for the real-time gait pattern generator.

    DOI

  • Emotional Gait Generation Method based on Emotion Mental Model - Preliminary experiment with Happiness and Sadness

    Matthieu Destephe, Kenji Hashimoto, Atsuo Takanishi

    2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI)     86 - 89  2013年  [査読有り]

     概要を見る

    Designing humanoid robots able to interact socially with humans is a challenging task. If we want the robots to be actively integrated in our society, several issues have to be taken in account: the look of the robot, the naturalness of its movements, the stability of its walk, the reactivity it might have with its human partners. We propose to improve the reactivity of the robot by using a emotional mental model in order to generate emotional gait patterns. Those patterns will help the understanding of any emotional message conveyed between a human and a robot. We propose a novel emotional gait generation method based on the Emotion mental model. We did preliminary experiments with the Happiness and Sadness emotions and with different intensities.

    DOI

  • Towards culture-specific robot customisation: A study on greeting interaction with Egyptians

    Gabriele Trovato, Massimiliano Zecca, Salvatore Sessa, Lorenzo Jamone, Jaap Ham, Kenji Hashimoto, Atsuo Takanishi

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication     447 - 452  2013年  [査読有り]

     概要を見る

    A complex relationship exists between national cultural background and interaction with robots, and many earlier studies have investigated how people from different cultures perceive the inclusion of robots into society. Conversely, very few studies have investigated how robots, speaking and using gestures that belong to a certain national culture, are perceived by humans of different cultural background. The purpose of this work is to prove that humans may better accept a robot that can adapt to their specific national culture. This experiment of Human-Robot Interaction was performed in Egypt. Participants (native Egyptians versus Japanese living in Egypt) were shown two robots greeting them and speaking respectively in Arabic and Japanese, through a simulated video conference. Spontaneous reactions of the human subjects were measured in different ways, and participants completed a questionnaire assessing their preferences and their emotional state. Results suggested that Egyptians prefer the Arabic version of the robot, while they report discomfort when interacting with the Japanese version. These findings confirm the importance of a culture-specific customisation of robots in the context of Human-Robot Interaction. © 2013 IEEE.

    DOI

  • Conveying emotion intensity with bio-inspired expressive walking - Experiments with sadness and happiness

    Matthieu Destephe, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication     161 - 166  2013年  [査読有り]

     概要を見る

    The understanding of emotions in humans is really important in the Human-Robot Interaction field. The affective state of a person can be expressed in several ways, one of them being through the way we walk and our gait can convey emotional clues in social context. Those clues can be used to improve the personal interactions with our peers or add meaning to any message we want to express. However, only a few studies in humanoid robotics were done on the effects of the emotions on the walking. In this paper, we propose to assess the emotional walking patterns created from motion capture data with a survey. Those patterns represent different emotions (sadness, happiness) with different intensities (middle, high and exaggerated). Those emotional walking patterns achieved a high recognition rate of the emotions and the subjects (N=13) could recognize whole body emotions without facial expression on our humanoid robot. Additionally, we found out that at first people might perform poorly at recognizing emotions and their intensities but can get better, even without correction or feedback on their performances. © 2013 IEEE.

    DOI

  • WALKING DESPITE THE PASSIVE COMPLIANCE: TECHNIQUES FOR USING CONVENTIONAL PATTERN GENERATORS TO CONTROL INSTRINSICALLY COMPLIANT HUMANOID ROBOTS

    P. Kryczka, K. Hashimoto, A. Takanishi, H. O. Lim, P. Kormushev, N. G. Tsagarakis, D. G. Caldwell

    NATURE INSPIRED MOBILE ROBOTICS     487 - 494  2013年  [査読有り]

     概要を見る

    There are several problems which arise when using a standard ZMP-based pattern generator to control an intrinsically compliant humanoid robot like COMAN. We present two techniques: pelvis forward trajectory smoothing and polynomial admittance gain modulation, which make it possible to use the conventional pattern generator to control such passively compliant robots. The former method modifies the reference of the pelvis trajectory to counteract its overshooting caused by the compliance of the legs. The latter method is meant to decrease the impact during initial contact and decrease the error between the foot position and original reference during the mid-stance caused by the use of admittance control. We explain details of both of the methods and show results from walking experiments with and without the controls, proving their effectiveness.

    DOI

  • The Influences of Emotional Intensity for Happiness and Sadness on Walking

    Matthieu Destephe, Takayuki Maruyama, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     7452 - 7455  2013年  [査読有り]

     概要を見る

    Walking is one of the most common activities that we perform every day. Even if the main goal of walking is to move from one place to another place, walking can also convey emotional clues in social context. Those clues can be used to improve interactions or any messages we want to express. However, there are not many studies on the effects of the intensity of the emotions on the walking. In this paper, the authors propose to assess the differences between the expression of emotion regarding the expressed intensity (low, middle, high and exaggerated). We observed two professional actors perform emotive walking, with different intensities and we analyzed the recorded data. For each emotion, we analyzed characteristic features which can be used in the future to model gait patterns and to recognize emotions from the gait parameters. Additionally, we found characteristics which can be used to create new emotion expression for our biped robot Kobian, improving the human-robot interaction.

    DOI

  • Shoes-wearable foot mechanism mimicking characteristics of human's foot arch and skin

    Kenji Hashimoto, Hiromitsu Motohashi, Takamichi Takashima, Hun-Ok Lim, Atsuo Takanishi

    Proceedings - IEEE International Conference on Robotics and Automation     686 - 691  2013年  [査読有り]

     概要を見る

    In this study we describe a shoes-wearable foot mechanism which mimics human's foot arch structure and the characteristics of the foot skin to examine the effect of the human foot on biped walking. We approximate the arch structure by a rotational spring and model the human's foot skin with compression springs. The mimesis of the foot arch elasticity is realized by using compression springs. Regarding the characteristics of human's foot skin, first we develop a measuring equipment to measure the human's plantar transverse elasticity. We set the target value of the modulus of transverse elasticity of the foot skin to 11.2 N/mm, and we set the modulus of compression elasticity to 0.136 MPa, referring to a relevant study. The characteristics of human's foot skin are mimicked by using a super-soft urethane resin called Hitohada-gel with 8 mm thick. Through evaluation tests we confirmed that the shoes-wearable foot mechanism could mimic well the characteristics of human's foot arch and skin. © 2013 IEEE.

    DOI

  • 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年  [査読有り]

     概要を見る

    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

  • 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年  [査読有り]

     概要を見る

    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."

    DOI

  • Improving the Human-Robot Interaction through Emotive Movements A Special Case: Walking

    Matthieu Destephe, Takayaki Maruyama, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    PROCEEDINGS OF THE 8TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI 2013)     115 - +  2013年  [査読有り]

     概要を見る

    Walking is one of the most common activities that we perform every day. If the main goal of walking is to go from a point A to a point B, walking can also convey emotional clues in social context. Those clues can be used to improve interactions or any messages we want to express. We observed a professional actress perform emotive walking and analyzed the recorded data. For each emotion, we found characteristic features which can be used to model gait patterns for humanoid robots. The findings were assessed by subjects who were asked to recognize the emotions displayed in the acts of walking.

    DOI

  • A Comparison between two force-position controllers with gravity compensation simulated on a humanoid arm

    Giovanni Gerardo Muscolo, Kenji Hashimoto, Atsuo Takanishi, Paolo Dario

    Journal of Robotics   2013  2013年  [査読有り]

     概要を見る

    The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD) closed-loop for the position control. The force control of the two systems is composed of an external proportional (P) closed-loop for one system (P system) and an external proportional-integrative (PI) closed-loop for the other system (PI system). The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN. © 2013 Giovanni Gerardo Muscolo et al.

    DOI

  • Development of Adjustable Stiffness Mechanism for Bipedal Walking Robot

    Aiman Omer, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

    Proceedings of the Second IFToMM ASIAN Conference on Mechanism and Machine Science    2012年11月  [査読有り]  [国際誌]

  • Towards an Improvement of the SABIAN Humanoid Robot: from Design to Optimisation

    Giovanni G. Muscolo, Carmine T. Recchiuto, Kenji Hashimoto, Paolo Dario and Atsuo Takanishi

    Journal of Mechanical Engineering and Automation   2 ( 4 ) 80 - 84  2012年07月  [査読有り]  [国際誌]

  • Overload Protection Mechanism for 6-axis Force/Torque Sensor

    Kenji Hashimoto, Teppei Asano, Yuki Yoshimura, Yusuke Sugahara, Hun-Ok Lim and Atsuo Takanishi

    Proceedings of the 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2012)     383 - 390  2012年06月  [査読有り]  [国際誌]

  • 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 and Atsuo Takanishi

    Proceedings of the 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2012)     151 - 158  2012年06月  [査読有り]  [国際誌]

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

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

    Proceedings of the 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2012)     183 - 190  2012年06月  [査読有り]  [国際誌]

  • Development of Anthropomorphic Soft Robotic Hand WSH-1RII

    Nobutsuna Endo, Takuya Kojima, Keita Endo, Fumiya Iida, Kenji Hashimoto and Atsuo Takanishi

    Proceedings of the 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2012)     175 - 182  2012年06月  [査読有り]  [国際誌]

  • Learning the reachable space of a humanoid robot: A bio-inspired approach

    Lorenzo Jamone, Lorenzo Natale, Kenji Hashimoto, Giulio Sandini, Atsuo Takanishi

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics     1148 - 1154  2012年  [査読有り]

     概要を見る

    In this paper we describe how a humanoid robot can learn a representation of its own reachable space from motor experience: a Reachable Space Map. The map provides information about the reachability of a visually detected object (i.e. a 3D point in space). We propose a bio-inspired solution in which the map is built in a gaze-centered reference frame: the position of a point in space is encoded with the motor configuration of the robot head and eyes which allows the fixation of that point. We provide experimental results in which a simulated humanoid robot learns this map autonomously and we discuss how the map can be used for planning whole-body and bimanual reaching. © 2012 IEEE.

    DOI

  • Biped walking stabilization on soft ground based on gait analysis

    Hyun-Jin Kang, Kenji Hashimoto, Kosuke Nishikawa, Egidio Falotico, Hun-Ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario, Alain Berthoz

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics     669 - 674  2012年  [査読有り]

     概要を見る

    This paper describes a walking stabilization control on a soft ground based on gait analysis for a biped humanoid robot. There are many studies on gait analysis on a hard ground, but few physiologists analyze the walking ability of human beings on a soft ground. Therefore, we conducted anthropometric measurement using VICON motion capture system on a soft ground. By analyzing experimental results, we obtained three findings. The first finding is that step height tends to increase to avoid tripping on a soft ground but there are no significant differences in step length and step width. The second finding is that although the CoM amplitude increases in the vertical direction on a soft ground, there are no significant differences in the CoM trajectories in the lateral direction. The last finding is that the head is stabilized during walking not only on a hard ground but also on a soft ground. Based on these findings, we developed a novel walking stabilization control to stabilize the CoM motion in the lateral direction on a soft ground. Verification of the proposed control is conducted through experiments with a human-sized humanoid robot WABIAN-2R. The experimental videos are supplemented. © 2012 IEEE.

    DOI

  • Evaluation Study on Asymmetrical Facial Expressions Generation for Humanoid Robot

    Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    2012 FIRST INTERNATIONAL CONFERENCE ON INNOVATIVE ENGINEERING SYSTEMS (ICIES)     129 - 134  2012年  [査読有り]

     概要を見る

    Human-Robot Interaction is one of the biggest challenges in Humanoid Robotics. Interaction can be carried out through different channels, as humans can communicate through complex languages, including the use of non-verbal communication. Specifically, facial expressions are important for conveying emotions and communication intentions. Several humanoid robots can already perform a certain set of expressions, but their capabilities are somewhat limited and as a result, interaction is not natural. One aspect that could help robots being perceived as real is asymmetry. That is why in this paper we perform an evaluation study of symmetrical and asymmetrical facial expressions of the humanoid robot KOBIAN-R. These expressions are made by a generator based on relevant studies of facial anatomy and non-verbal communication and on the work of illustrators and cartoonists. Survey results confirmed the effectiveness of the generator and the importance of asymmetry. We conclude that using this system, robot communication capabilities improve, making possible the development of more advanced interaction in the future.

    DOI

  • Realization of Biped Walking on Soft Ground with Stabilization Control Based on Gait Analysis

    Kenji Hashimoto, Hyun-jin Kang, Masashi Nakamura, Egidio Falotico, Hun-ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario, Alain Berthoz

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     2064 - 2069  2012年  [査読有り]

     概要を見る

    This paper describes a walking stabilization control on a soft ground based on gait analysis for a humanoid robot. There are many researches on gait analysis on a hard ground, but few scientists analyze the walking ability of human beings on a soft ground. Therefore, we conducted anthropometric measurement using a motion capture system on a soft ground. By analyzing experimental data, we obtained two findings. The first finding is that although there are no significant differences in step width and step length, step height tends to increase to avoid the collision between the feet and a soft ground. The second finding is that there are no significant differences in the lateral CoM trajectories but the vertical CoM amplitude increases when walking on a soft ground. Based on these findings, we developed a walking stabilization control to stabilize the CoM motion in the lateral direction on a soft ground. Verification of the proposed control is conducted through experiments with a human-sized humanoid robot WABIAN-2R. The experimental videos are supplemented.

    DOI

  • Development of Expressive Robotic Head for Bipedal Humanoid Robot

    T. Kishi, T. Otani, N. Endo, P. Kryczka, K. Hashimoto, K. Nakata, A. Takanishi

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     4584 - 4589  2012年  [査読有り]

     概要を見る

    This paper describes the development of a new expressive robotic head for the bipedal humanoid robot. Facial expressions of our old robotic head have low facial expression recognition rate and in order to improve it we asked amateur cartoonists to create computer graphics (CG) images. To realize such expressions found in the CGs, the new head was provided with 24-DoFs and facial color. We designed compact mechanisms that fit into the head, which dimensions are based on average adult Japanese female size. We conducted a survey with pictures and videos to evaluate the expression ability. Results showed that facial expression recognition rates for the 6 basic emotions are increased compared to the old KOBIAN's head.

    DOI

  • A Robotic Implementation of a Bio-Inspired Head Motion Stabilization Model on a Humanoid Platform

    Przemyslaw Kryczka, Egidio Falotico, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario, Alain Berthoz

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     2076 - 2081  2012年  [査読有り]

     概要を見る

    The results of the neuroscientific research show that humans tend to stabilize the head orientation during locomotion. In this paper we describe the implementation of inverse kinematics based head stabilization controller on the humanoid platform. The controller uses the IMU feedback and controls neck joints in order to align the head orientation with the global orientation reference. Thanks to the method, we can decouple the orientational motion of the head from the rest of the body. This way stabilized head becomes better platform for proprioceptive sensory apparatus, such as cameras or IMU. In the paper we present three experiments which prove that the method has good performance in damping both, high and low frequency motion of the head. We also prove that the proposed controller improves the stability of the tracked goal point on the image of in-built camera.

    DOI

  • A cross-cultural study on generation of culture dependent facial expressions of humanoid social robot

    Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   7621   35 - 44  2012年  [査読有り]

     概要を見る

    Communication between humans and robots is a very critical step for the integration of social robots into society. Emotion expression through a robotic face is one of the key points of communication. Despite the most recent efforts, no matter how much expression capabilities improve, facial expression recognition is often hampered by a cultural divide between subjects that participate in surveys. The purpose of this work is to take advantage of the 24 degrees of freedom head of the humanoid social robot KOBIAN-R for making it capable of displaying different versions of the same expressions, using face and neck, in a way that they are easy to understand for Japanese and for Western subjects. We present a system based on relevant studies of human communication and facial anatomy, as well as on the work of illustrators and cartoonists. The expression generator we developed can be adapted to specific cultures. Results confirmed the in-group advantage, showing that the recognition rate of this system is higher when the nationality of the subjects and the cultural characterisation of the shown expressions are coincident. We conclude that this system could be used, in future, on robots that have to interact in a social environment, with people with different cultural background. © 2012 Springer-Verlag.

    DOI

  • Head stabilization based on a feedback error learning in a humanoid robot

    Egidio Falotico, Nino Cauli, Kenji Hashimoto, Przemyslaw Kryczka, Atsuo Takanishi, Paolo Dario, Alain Berthoz, Cecilia Laschi

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication     449 - 454  2012年  [査読有り]

     概要を見る

    In this work we propose an adaptive model for the head stabilization based on a feedback error learning (FEL). This model is capable to overcome the delays caused by the head motor system and adapts itself to the dynamics of the head motion. It has been designed to track an arbitrary reference orientation for the head in space and reject the disturbance caused by trunk motion. For efficient error learning we use the recursive least square algorithm (RLS), a Newton-like method which guarantees very fast convergence. Moreover, we implement a neural network to compute the rotational part of the head inverse kinematics. Verification of the proposed control is conducted through experiments with Matlab SIMULINK and a humanoid robot SABIAN. © 2012 IEEE.

    DOI

  • Learning the reachable space of a humanoid robot: a bio-inspired approach

    Lorenzo Jamone, Lorenzo Natale, Kenji Hashimoto, Giulio Sandini, Atsuo Takanishi

    2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)     1148 - 1154  2012年  [査読有り]

     概要を見る

    In this paper we describe how a humanoid robot can learn a representation of its own reachable space from motor experience: a Reachable Space Map. The map provides information about the reachability of a visually detected object (i.e. a 3D point in space). We propose a bio-inspired solution in which the map is built in a gaze-centered reference frame: the position of a point in space is encoded with the motor configuration of the robot head and eyes which allows the fixation of that point. We provide experimental results in which a simulated humanoid robot learns this map autonomously and we discuss how the map can be used for planning whole-body and bimanual reaching.

    DOI

  • Implementation of a Human Model for Head Stabilization on a Humanoid Platform

    P. Kryczka, E. Falotico, K. Hashimoto, H. Lim, A. Takanishi, C. Laschi, P. Dario, A. Berthoz

    2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)     675 - 680  2012年  [査読有り]

     概要を見る

    The neuroscientific research shows that humans tend to stabilize their head orientation, while accomplishing a locomotor task. In order to replicate head movement behaviors found in human walk it is necessary and sufficient to be able to control the orientation (roll, pitch and yaw) of the head in space. The described behaviors can be replicated by giving suitable references to the head orientation. Based on these principles, a model based on an inverse kinematics controller has been designed. In this paper we introduce implementation of the model on a humanoid platform. Along we present results of two sets of experiments performed to verify two aspects of the proposed model. The results prove that the model can be used to efficiently stabilize the head's orientation.

    DOI

  • Biped Walking Stabilization on Soft Ground Based on Gait Analysis

    Hyun-jin Kang, Kenji Hashimoto, Kosuke Nishikawa, Egidio Falotico, Hun-ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario, Alain Berthoz

    2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)     669 - 674  2012年  [査読有り]

     概要を見る

    This paper describes a walking stabilization control on a soft ground based on gait analysis for a biped humanoid robot. There are many studies on gait analysis on a hard ground, but few physiologists analyze the walking ability of human beings on a soft ground. Therefore, we conducted anthropometric measurement using VICON motion capture system on a soft ground. By analyzing experimental results, we obtained three findings. The first finding is that step height tends to increase to avoid tripping on a soft ground but there are no significant differences in step length and step width. The second finding is that although the CoM amplitude increases in the vertical direction on a soft ground, there are no significant differences in the CoM trajectories in the lateral direction. The last finding is that the head is stabilized during walking not only on a hard ground but also on a soft ground. Based on these findings, we developed a novel walking stabilization control to stabilize the CoM motion in the lateral direction on a soft ground. Verification of the proposed control is conducted through experiments with a human-sized humanoid robot WABIAN-2R. The experimental videos are supplemented.

    DOI

  • 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年  [査読有り]

     概要を見る

    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.

    DOI

  • Learning a Reachable Space Map in a Gaze Centered Reference Frame

    Lorenzo Jamone, Matthieu Destephe, Lorenzo Natale, Kenji Hashimoto, Atsuo Takanishi and Giulio Sandini

    Proceedings of the first joint IEEE International Conference on Development and Learning and on Epigenetic Robotics    2011年08月  [査読有り]  [国際誌]

  • Learning task space control through goal directed exploration

    Lorenzo Jamone, Lorenzo Natale, Kenji Hashimoto, Giulio Sandini, Atsuo Takanishi

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     702 - 708  2011年  [査読有り]

     概要を見る

    We present an autonomous goal-directed strategy to learn how to control a redundant robot in the task space. We discuss the advantages of exploring the state space through goal-directed actions defined in the task space (i.e. learning by trying to do) instead of performing motor babbling in the joints space, and we stress the importance of learning to be performed online, without any separation between training and execution. Our solution relies on learning the forward model and then inverting it for the control
    different approaches to learn the forward model are described and compared. Experimental results on a simulated humanoid robot are provided to support our claims. The robot learns autonomously how to perform reaching actions directed toward 3D targets in task space by using arm and waist motion, not relying on any prior knowledge or initial motor babbling. To test the ability of the system to adapt to sudden changes both in the robot structure and in the perceived environment we artificially introduce two different kinds of kinematic perturbations: a modification of the length of one link and a rotation of the task space reference frame. Results demonstrate that the online update of the model allows the robot to cope with such situations. © 2011 IEEE.

    DOI

  • Initial study of bipedal robot locomotion approach on different gravity levels

    Aiman Omer, Kenji Hashimoto, Hun-Ok Lim, Atsuo Takanishi

    2011 IEEE/SICE International Symposium on System Integration, SII 2011     802 - 807  2011年  [査読有り]

     概要を見る

    Humanoid robots are becoming an important factor for the future work. Future planes are made for the use of humanoid robots for space and planetary exploration application. The development of humanoid robot to work in such environment for the purpose of human assisting is becoming highly demanded. The challenge of developing a bipedal robot to walking on other planets and moons is really high due the different in gravity compare to earth. The difference in the gravity might have a great effect on the robot locomotion. In order to know this effect some basic study needed to be conducted. This research studies the effect of different gravity on the locomotion. The approach for dealing for the different gravity is purposed in this study. © 2011 IEEE.

    DOI

  • A method for the calculation of the effective Center of Mass of humanoid robots

    Giovanni Gerardo Muscolo, Carmine Tommaso Recchiuto, Cecilia Laschi, Paolo Dario, Kenji Hashimoto, Atsuo Takanishi

    IEEE-RAS International Conference on Humanoid Robots     371 - 376  2011年  [査読有り]

     概要を見る

    In this paper we present a general strategy for the calculation of the effective Center of Mass (CoM) of humanoid robots, allowing the reduction of the error between the virtual robot model and the real platform. The method is based on an algorithm that calculates the real position of the CoM of a biped humanoid robot using only 2 force/torque sensors located on the feet of the robot. By means of this algorithm, it is possible to reduce the gap between the real and the virtual posture of the robot and consequently the errors between the ZMP trajectory calculated by the offline pattern generator and the ZMP trajectory calculated by the real-time pattern generator of the humanoid robot. Thus, the influence of the real-time control in the static and dynamic balance of a humanoid platform is minimized. Experimental results using SABIAN platform are provided to validate the proposed method. The results support the applicability of the method to more complex systems. © 2011 IEEE.

    DOI

  • Stretched knee walking with novel inverse kinematics for humanoid robots

    Przemyslaw Kryczka, Kenji Hashimoto, Hideki Kondo, Aiman Omer, Hun-ok Lim, Atsuo Takanishi

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS     3221 - 3226  2011年  [査読有り]

     概要を見る

    A four degrees of freedom (DoF) waist and trunk mechanism, as well as human-like foot, enable the humanoid robot WABIAN-2R to perform human-like walk with stretched knees, and heel-contact and toe-off gait phases. The inverse kinematics (IK) method, used in the present system, requires specification of not only task space reference trajectories, but also reference trajectories for all redundant DoFs. In this paper, we propose a novel, unified inverse kinematics method significantly simplifying the pattern generation. The method enables generation of the above described gait by specifying only the task space trajectories. We divide the forward locomotion task into subtasks with different priorities and combine them in the single IK equation. We also perform experiments in simulation environment as well as on WABIAN-2R, which prove that the method can be used to calculate IK for human-like gait. The equation evaluated in this paper is applied to the forward locomotion task, however it can be easily modified to perform other tasks on humanoid robots with different kinematic structures.

    DOI

  • Realization of Quick Turn of Biped Humanoid Robot by Using Slipping Motion with Both Feet

    Kenji Hashimoto, Yuki Yoshimura, Hideki Kondo, Hun-ok Lim, Atsuo Takanishi

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     2041 - 2046  2011年  [査読有り]

     概要を見る

    This paper describes a fast turning method for a humanoid robot by using slipping motion with both feet. The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions by using a human-like foot mechanism with a passive toe joint. The human-like foot enables a robot to turn by using slipping motion between the feet and the ground because it can switch ground contact conditions such as heel contact, sole contact and toe contact. To realize a slipping turn, we develop an attitude control. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a quick turn by using slipping motion with both feet. We also confirmed that the energy consumption of a slipping turn is less than that of a stepping turn.

    DOI

  • Disturbance Compensation Control for a Biped Vehicle

    Kenji Hashimoto, Hun-Ok Lim, Atsuo Takanishi

    ADVANCED ROBOTICS   25 ( 3-4 ) 407 - 426  2011年  [査読有り]

     概要を見る

    This paper describes an avoidance behavior against unknown forces acting from outside the system on a biped vehicle. External forces that act on a biped vehicle can be divided into two categories: disturbances from the rider of the vehicle and disturbances from outside the system. Disturbances from the rider are measured by a force sensor placed between the rider's seat and the pelvis, while disturbances from outside the system are estimated from zero moment point (ZMP) errors. To guarantee walking stability, the waist position is adjusted to match the measured ZMP to the reference ZMP and the position of the landing foot is adjusted such that the waist trajectory does not diverge. On implementing the developed method on the human-carrying biped robot in an experimental setup, the robot could realize a stable walk even while subjected to unknown external forces in the environment. On applying a pushing force to the walking robot, the robot moved in the pushed direction and away from the source of the externally generated forces. On pushing the robot that was walking forward, the robot stopped moving forward and avoided getting closer to the source of the externally generated forces. We confirmed the effectiveness of the proposed control through these experiments. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

    DOI

  • リハを支えるテクノロジー最前線:(5) 2足歩行ロボット

    橋本健二,高西淳夫

    Journal of Clinical Rehabilitation   19 ( 5 ) 412 - 416  2010年05月  [招待有り]  [国内誌]

  • Integration of Emotion Expression and Visual Tracking Locomotion based on Vestibulo-Ocular Reflex

    Nobutsuna Endo, Keita Endo, Kenji Hashimoto, Takuya Kojima, Fumiya Iida, Atsuo Takanishi

    2010 IEEE RO-MAN     558 - 563  2010年  [査読有り]

     概要を見る

    Personal robots anticipated to become popular in the future are required to be active in joint work and community life with humans. These personal robots must recognize changing environment and must conduct adequate actions like human. Visual tracking can be said as a fundamental function from the view point of environmental sensing and reflex reaction against it. The authors developed a visual tracking motion algorithm by using upper body. Then, we integrated it with an online walking pattern generator and developed a visual tracking biped locomotion. Finally, we conducted an experimental evaluation with emotion expression.

  • Integration of emotion expression and visual tracking locomotion based on vestibulo-ocular reflex

    Nobutsuna Endo, Keita Endo, Kenji Hashimoto, Takuya Kojima, Fumiya Iida, Atsuo Takanishi

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication     558 - 563  2010年  [査読有り]

     概要を見る

    Personal robots anticipated to become popular in the future are required to be active in joint work and community life with humans. These personal robots must recognize changing environment and must conduct adequate actions like human. Visual tracking can be said as a fundamental function from the view point of environmental sensing and reflex reaction against it. The authors developed a visual tracking motion algorithm by using upper body. Then, we integrated it with an online walking pattern generator and developed a visual tracking biped locomotion. Finally, we conducted an experimental evaluation with emotion expression. © 2010 IEEE.

    DOI

  • A Study of Function of Foot's Medial Longitudinal Arch Using Biped Humanoid Robot

    Kenji Hashimoto, Yuki Takezaki, Kentaro Hattori, Hideki Kondo, Takamichi Takashima, Hun-ok Lim, Atsuo Takanishi

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)     2206 - 2211  2010年  [査読有り]

     概要を見る

    The humanoid robot, WABIAN-2R, has achieved human-like walking with knee-stretched, heel contact and toe off motions by using a foot mechanism with a passive toe joint. However, the foot structure is different from a human's. In this paper, we describe a new foot mechanism capable of mimicking the human's foot arch structure to figure out the function of the arch structure. Especially, the developed foot mimics the elastic properties of the arch of the human's foot and the change of the arch height during walking. The foot mechanism consists of a passive joint in the internal toe, a passive joint in the external toe, and a joint in the foot arch. We conducted several walking experiments by using WABIAN-2R, and the function of the arch structure is clarified quantitatively. As a result, we confirmed that the arch elasticity could absorb a foot-landing force at the plantar contact phase and the change of the arch height contributed to a strong thrust at the push-off phase.

    DOI

  • EXPERIMENTAL EVALUATION OF STIFFNESS PERFORMANCE FOR A BIPED WALKING VEHICLE WITH PARALLEL ARCHITECTURE

    Kenji Hashimoto, Giuseppe Carbone, Yusuke Sugahara, Marco Ceccarelli, Atsuo Takanishi

    EMERGING TRENDS IN MOBILE ROBOTICS     928 - 935  2010年  [査読有り]

     概要を見る

    The main goal of this paper is to report a successful attempt of monitoring the stiffness behavior of a biped walking vehicle during its dynamic operation. In particular, a suitable procedure has been developed and implemented for estimating the stiffness performance of WL-16RV as based on previous experiences at LARM with Milli-CaTraSys design. The proposed experimental set-up is composed of six linear encoder wire sensors and two force/torque sensors embedded in each foot. Experimental tests are conducted on a biped walking vehicle WL-16RV under static and dynamic conditions. The experimental tests provide useful information for both design and control purposes.

  • Development of New Biped Foot Mechanism Mimicking Human's Foot Arch Structure

    Kenji Hashimoto, Yuki Takezaki, Kentaro Hattori, Hideki Kondo, Takamichi Takashima, Hun-ok Lim, Atsuo Takanishi

    ROMANSY 18: ROBOT DESIGN, DYNAMICS AND CONTROL   ( 524 ) 249 - +  2010年  [査読有り]

     概要を見る

    The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions with a foot mechanism with a passive toe joint. However, the foot structure is different from a human's. In this paper, we describe a new foot mechanism mimicking the human's foot arch structure to figure out its function. Especially, the developed foot mimics the elastic properties of the arch and the change of the arch height during walking. We conducted several walking experiments by using WABIAN-2R, and we confirmed that the arch elasticity could absorb a foot-landing impact force at the plantar contact phase and the change of the arch height contributed to a strong thrust at the push-off phase.

  • Realization of Biped Walking on Uneven Terrain by New Foot Mechanism Capable of Detecting Ground Surface

    Hyun-jin Kang, Kenji Hashimoto, Hideki Kondo, Kentaro Hattori, Kosuke Nishikawa, Yuichiro Hama, Hun-ok Lim, Atsuo Takanishi, Keisuke Suga, Keisuke Kato

    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     5167 - 5172  2010年  [査読有り]

     概要を見る

    We have developed a new biped foot mechanism capable of detecting ground surface to realize stable walking on uneven terrain. The size of the foot mechanism is 160 mm x 277 mm and its weight is 1.5 kg. The foot system consists of four spikes each of which has an optical sensor to detect ground height. The foot makes a support polygon on uneven terrain by using three or four spikes. We have conducted several experiments on the outdoor ground surface that has a slope of 7.0 degrees and a maximum height of 15 mm bumps, and the effectiveness of the foot mechanism is confirmed.

    DOI

  • Avoidance Behavior from External Forces for Biped Vehicle

    Kenji Hashimoto, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun-ok Lim, Atsuo Takanishi

    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     4715 - 4720  2010年  [査読有り]

     概要を見る

    This paper describes an avoidance behavior from unknown external forces for a biped walking vehicle. To distinguish between external forces from passenger and those from environments, we use the data of a force sensor mounted on foot, and external forces are estimated from ZMP errors. To guarantee a walking stability, the waist position is adjusted to match the measured ZMP to the reference ZMP, and the position of landing foot is adjusted so that the waist trajectory does not diverge. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments. When pushing the robot stepping, the robot moved backward and moved away from the generation source of external forces about 400 mm. When pushing the robot walking forward, the robot stopped going forward and prevented from coming closer to the generation source of external forces. We confirmed the effectiveness of the proposed control through these experiments.

    DOI

  • REALIZATION OF WALKING BY FFT-BASED ONLINE PATTERN GENERATION

    Hideki Kondo, Juri Shimizu, Kenji Hashimoto, Kentaro Hattori, Kosuke Nishikawa, Yuki Takezaki, Yuichiro Hama, Yuki Yoshimura, Hun-Ok Lim, Atsuo Takanishi

    MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES     615 - 622  2010年  [査読有り]

     概要を見る

    This paper describes about an online pattern generation based on FFT (Fast Fourier Transform). Until now, authors have adopted the offline FFT-based pattern generation. However, it's needed to regard the compensated moment from starting walking to stopping as a periodic function and it's difficult to generate a part of walking pattern. As a solution, it's found that the compensatory waist trajectory for the compensated moment which is cut out with a window of predetermined duration is proper only in the center part of the window. That means the whole trajectory is obtained as a series of the partial ones. Therefore, the online pattern generation is realized by generating a partial trajectories in the proposed way while walking.

  • DISTURBANCE AVOIDANCE CONTROL FROM ENVIRONMENTS FOR A BIPED WALKING VEHICLE

    Kenji Hashimoto, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Hun-Ok Lim, Atsuo Takanishi

    MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES     607 - 614  2010年  [査読有り]

     概要を見る

    This paper describes a disturbance avoidance control from environments for a biped walking vehicle. To distinguish between external forces from passenger and those from environments, we use the data of a force sensor mounted on foot to generate an avoidance behavior. To guarantee a walking stability against external forces. a compensation motion around a reference ZMP is generated. Then, external forces are estimated from ZMP errors. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments.

  • ATTITUDE COMPENSATION CONTROL FOR BIPED HUMANOID ROBOT

    Hyun-Jin Kang, Shimpei Momoki, Hideki Kondo, Kenji Hashimoto, Hun-Ok Lim, Atsuo Takanishi

    MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES     677 - 684  2010年  [査読有り]

     概要を見る

    We have developed a biped humanoid robot, WABIAN-2R as a human motion simulator. However, it was difficult to walk stably on terrain with unevenness of several millimeters. So, we propose an attitude compensation control and a landing pattern modification control (LPMC) to deal with uneven terrain. The LPMC modifies the motion of the landing foot according to the ground surface while the attitude control compensates posture angles of the body based on the 3-axis gyro sensor's data. By integrating two controls, WABIAN-2R is able to walk on outdoor terrain with 5 degree inclination slope and height variations of several millimeters.

  • Optimization Design of a Stewart Platform Type Leg Mechanism for Biped Walking Vehicle

    Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim, Atsuo Takanishi

    ROBOTICS RESEARCH   66   169 - +  2010年  [査読有り]

     概要を見る

    To increase the maximum payload, the joint arrangement of the Stewart platform type leg mechanism for a biped walking vehicle is optimized by a dynamic simulation and a real-coded genetic algorithm. Using effective joint arrangement, the maximum HMS (root-mean-square) value of the current will be able to be reduced. A new prototype of a biped walking vehicle, WL-16RIV, was developed by using the optimal joint arrangement method. Weight saving in some parts was also conducted. Through walking experiments, the maximum R,MS value of the current, was reduced, and the maximum payload was increased. The effectiveness of the proposed method was confirmed

  • Stiffness Analysis and Experimental Validation for WL-16RV Biped Walking Vehicle

    Giuseppe Carbone, Kenji Hashimoto, Yusuke Sugahara, Marco Ceccarelli, Atsuo Takanishi

    Proceedings of the 1st IFToMM International Symposium on Robotics and Mechatronics    2009年09月  [査読有り]  [国際誌]

  • Terrain-Adaptive Control with Small Landing Impact Force for Biped Vehicle

    Kenji Hashimoto, Akihiro Hayashi, Terumasa Sawato, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun-ok Lim, Atsuo Takanishi

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS     2922 - 2927  2009年  [査読有り]

     概要を見る

    Many researchers have studied on walking stability controls for biped robots. Most of them are highly accurate acceleration controls based on the mechanics model of the robot. However, the control algorithms are difficult to be applied to human-carrying biped robots due to modeling errors. In the previous report, we proposed the landing pattern modification method, but it had a problem that a foot landing impact increased when a walking speed became fast. So, we propose a new terrain-adaptive control that can reduce a landing.. impact force. To increase a concave terrain adaptation, e set a target landing position beneath a reference level. To reduce the landing-impact force, we change the position gain control value to a small value at a swing phase. Moreover, we set landing-foot speed at zero after detecting a foot-landing by the force sensor mounted on a foot. To follow uneven terrain, a virtual spring is installed to the vertical direction after detecting a foot-landing on a ground, and a virtual compliance control is applied to the roll and pitch axes. In a stable walk while carrying a 65 kg human on uneven terrain, the new control method decreased the landing-impact force than the previous terrain-adaptive control.

    DOI

  • Terrain-Adaptive Control to Reduce Landing Impact Force for Human-Carrying Biped Robot

    Kenji Hashimoto, Akihiro Hayashi, Terumasa Sawato, Yuki Yoshimura, Teppei Asano, Kentaro Hattori

    2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3     174 - +  2009年  [査読有り]

     概要を見る

    Many researchers have studied on walking stability controls for biped robots. Most of them are highly accurate acceleration controls based on the mechanics model of the robot. However, the control algorithms are difficult to be used for human-carrying biped robots due to modeling errors. In the previous report, we proposed the landing pattern modification method, but it had a problem that a foot landing impact increased when a walking cycle was short. So, we propose a new terrain-adaptive control reducing a landing-impact force. To increase a concave terrain adaptation, we set a target landing position beneath a reference level. To reduce the landing-impact force, we change the position gain control value to a small value at a swing phase. Moreover, we set landing-foot speed at zero when the foot landing is detected by the force sensor mounted on a foot. To follow uneven terrain, a virtual spring is applied along the vertical direction after detecting a foot-landing on a ground, and a virtual compliance control is applied to the roll and pitch axes. In a stable walk while carrying a 65 kg human on uneven terrain, the new control method decreased the landing-impact force than the previous terrain-adaptive control.

    DOI

  • Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment

    Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi

    Journal of Robotics and Mechatronics   20 ( 5 ) 775 - 784  2008年10月  [査読有り]  [国際誌]

  • Development of New Foot System Adaptable to Uneven Terrain for All Biped Robots

    Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi

    Proceedings of the 17th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY 2008),     391 - 398  2008年07月  [査読有り]  [国際誌]

  • Swizzle Movement for Biped Walking Robot Having Passive Wheels

    Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi

    Journal of Robotics and Mechatronics   20 ( 3 ) 413 - 419  2008年06月  [査読有り]  [国際誌]

  • Human-carrying Biped Walking Vehicle

    Kenji Hashimoto, Yusuke Sugahara, Hiroyuki Sunazuka, Masamiki Kawase, Kentaro Hattori, Hun-ok Lim and Atsuo Takanishi

    Proceedings of the 6th International Conference of the International Society for Gerontechnology    2008年06月  [査読有り]  [国際誌]

  • Static and Dynamic Disturbance Compensation Control for a Biped Walking Vehicle

    Kenji Hashimoto, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun-ok Lim, Atsuo Takanishi

    2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2     457 - +  2008年  [査読有り]

     概要を見る

    This paper describes a static disturbance compensation control for a biped walking vehicle. To measure forces and moments caused by a passenger's motion, we use a 6-axis force/torque sensor placed under the passenger's seat. When small external force acts on a robot, only a reference ZMP trajectory is changed inside a support polygon. When large external force over a predetermined threshold force acts on a robot, a waist motion is changed. With only the proposed control, however, a robot cannot adapt to rapid disturbance changes. But we have already developed a dynamic disturbance compensation control, so by combining two controls, a human-carrying biped robot, Waseda Leg - No. 16 Refined V (WL-16RV) realized a stable dynamic walk under unknown external disturbances caused by passenger's static and dynamic motion. We confirmed the effectiveness of our proposal through experiments.

    DOI

  • 着地軌道修正制御と推定姿勢補償制御による人間搭乗型2足歩行ロボットの屋外歩行の実現

    橋本健二,菅原雄介,川瀬正幹,林昭宏,田中智明,太田章博,沢戸瑛昌,遠藤信綱,林憲玉,高西淳夫

    日本ロボット学会誌   25 ( 6 ) 851 - 859  2007年09月  [査読有り]  [国内誌]

     概要を見る

    Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described, which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the pattern modification method and the foot system, WL-16R11 (Waseda Leg - No. 16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized in outdoor environment, when a human rode it. Through various walking experiments, the effectiveness of the method is confirmed.

    DOI CiNii

  • 搭乗者の受動的運動を考慮した人間搭乗型2足歩行ロボットの歩行パターン生成

    菅原雄介,橋本健二,川瀬正幹,沢戸瑛昌,太田章博,田中智明,林昭宏,遠藤信綱,林憲玉,高西淳夫

    日本ロボット学会誌   25 ( 6 ) 842 - 850  2007年09月  [査読有り]  [国内誌]

     概要を見る

    This paper describes a passive dynamic model of a passenger for a biped walking vehicle. The model consists of a lower-limb's model fixed on the robot's waist and a particle model of an upper body connected to the robot's waist through springs and dampers. The stiffness and damping coefficients are verified through waist-shaking experiments by using a force/torque sensor under the seat that is mounted on the robot's waist. A walking pattern generation that enables stable walking even if a passenger sits naturally on the seat is also described. This stable walking pattern is generated by an iteration method based on Fourier Transformation. The effectiveness of the proposed method is confirmed through walking experiments.

    DOI CiNii

  • Experimental Stiffness Measurement of WL-16RII Biped Walking Vehicle during Walking Operation

    Yusuke Sugahara, Giuseppe Carbone, Kenji Hashimoto, Marco Ceccarelli, Hun-ok Lim and Atsuo Takanishi

    Journal of Robotics and Mechatronics   19 ( 3 ) 272 - 280  2007年06月  [査読有り]  [国際誌]

  • Unknown disturbance compensation control for a biped walking vehicle

    Kenji Hashimoto, Yusuke Sugahara, Chiaki Tanaka, Akihiro Ohta, Kentaro Hattori, Terumasa Sawato, Akihiro Hayashi, Hun-Ok Lim, Atsuo Takanishi

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9     2210 - +  2007年  [査読有り]

     概要を見る

    This paper describes how to compensate unknown external forces caused by a rider's motion of a biped walking vehicle. When external forces act on a robot's waist, the waist is accelerated so that a measured ZMP may be equal to a reference ZMP. To inhibit the divergence of the waist motion, the reference ZMP is varied inside a support polygon. However, if a large external force acts on a robot, the waist trajectory does not converge by only controlling a reference ZMP. So, ZMP trajectory is varied by changing a foot-landing point. Using the proposed control method, WL-16RIV (Waseda Leg - No.16 Refined IV) achieved a stable human-carrying walking under unknown external forces which exert forward and sideways on the robot's waist. Through various walking experiments, the effectiveness of the proposed method was confirmed.

    DOI

  • Development of a biped locomotor with the double stage linear actuator

    Yusuke Sugahara, Kenji Hashimoto, Nobutsuna Endo, Terumasa Sawato, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Akihiro Hayashi, Hun-ok Lim, Atsuo Takanishi

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10     1850 - +  2007年  [査読有り]

     概要を見る

    Previously, the realization of ascending and descending stairs and landing pattern modification control by WL-16RII were reported. However, it is difficult to use the landing pattern modification control when ascending stairs, because of the insufficient stroke of linear actuators. In this report, the design of a double stage linear actuator with a larger expansion and contraction ratio is described. The new linear actuators developed have been installed in WL-16RII, and several experiments were conducted. Through experiments involving walking with a wide step length and ascending a stair with landing pattern modification control, the effectiveness of the actuator developed is confirmed.

    DOI

  • New foot system adaptable to convex and concave surface

    Kenji Hashimoto, Yusuke Sugahara, Akihiro Hayashi, Masamiki Kawase, Terumasa Sawato, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun-ok Lim, Atsuo Takanishi

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10     1869 - +  2007年  [査読有り]

     概要を見る

    Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which is able to maintain four-point contact. However, it is difficult to deal with the concave or convex ground because of the problems of the contact detection and sideways slip. So, WS-5 (Waseda Shoes - No.5) has been developed. To avoid the slip of the foot, a cam-slider locking system consisting of a solenoid and a cam is constructed and installed at the foot. Also, linear encoders are employed to measure the position of the foot sliders. Through walking experiments on uneven terrains, the effectiveness of WS-5 is confirmed.

    DOI

  • New Biped Foot System Adaptable to Uneven Terrain

    Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi

    Journal of Robotics and Mechatronics   18 ( 3 ) 271 - 277  2006年06月  [査読有り]  [国際誌]

  • Walking pattern generation of a biped walking vehicle using a dynamic human model

    Yusuke Sugahara, Kenji Hashimoto, Masamiki Kawase, Terurnasa Sawato, Akihiro Hayashi, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun-Ok Lim, Atsuo Takanishi

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12     2497 - 2502  2006年  [査読有り]

     概要を見る

    This paper describes a passive dynamic model of passenger for a biped walking vehicle. The walking pattern generation that enables stable walking even if passenger sits naturally is also described. The model consists of lower-timbs part assumed to be fixed to the robot, and the upper body assumed to be 1 particle with 2 DOF mounted on the seat via 2 springs and dampers. The parameters are identified through waist shaking experiments by using a force-torque sensor under the seat. The walking pattern generation method involves the proposed model being built onto a strict model of the robot, and through iteration computation, a stable walking pattern is generated. The effectiveness of the proposed method is confirmed through experiments.

    DOI

  • Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain

    Kenji Hashimoto, Yusuke Sugahara, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Akihiro Hayashi, Nobutsuna Endo, Terumasa Sawato, Hun-ok Lim, Atsuo Takanishi

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12     1755 - 1760  2006年  [査読有り]

     概要を見る

    Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, NNIL-16RII (Waseda Leg - No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed.

    DOI

  • WL-16RII: Prototype of biped walking wheelchair

    Yusuke Sugahara, Kenji Hashimoto, Hiroyuki Sunazuka, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Hun-ok Lim, Atsuo Takanishi

    ROMANSY 16: ROBOT DESIGN, DYNAMICS , AND CONTROL   487   313 - +  2006年  [査読有り]

     概要を見る

    This paper describes the development of the prototype of the biped walking wheelchair. This robot WL-16RII consists of two Stewart Platform type legs and waist with passenger seat. The walking control method based on ZMP criteria and virtual compliance control for this robot were also developed. Through various experiments, the effectiveness of developed hardware and control method was confirmed.

  • Biped landing pattern modification method with nonlinear compliance control

    Kenji Hashimoto, Yusuke Sugahara, Hiroyuki Sunazuka, Chiaki Tanaka, Akihiro Ohta, Masamiki Kawase, Hun-Ok Lim, Atsuo Takanishi

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10     1213 - 1218  2006年  [査読有り]

     概要を見る

    Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the control algorithms are difficult to be used for human-carrying biped walking robots because of modeling errors. In this paper, a landing pattern modification method is proposed which based on nonlinear compliance control. Theoretical compliance displacements calculated from a walking pattern are compared with the actual compliance displacements, while a robot's foot touches slightly uneven terrain. In result, the height of landing terrain is detected, and the preset walking pattern is modified. Using this method, a human-carrying biped robot will be able to walk stably on uneven terrain. This pattern modification method does not need any special sensors except force sensors. Through various walking experiments, the effectiveness of the method is confirmed.

    DOI

  • A fall avoidance foot mechanism for a biped locomotor

    Kenji Hashimoto, Yusuke Sugahara, Chiaki Tanaka, Masamiki Kawase, Hiroyuki Sunazuka, Akihiro Ohta, Hun-Ok Lim, Atsuo Takanishi

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10     1219 - 1224  2006年  [査読有り]

     概要を見る

    This paper describes one method to stop suddenly and safely avoid failing using only hardware and without a computer system. This method consists of attaching a braking function to leg actuators and the development of a fall avoidance mechanism, attached to the robot's foot. Using the human-carrying biped locomotor NVL-16RII (Figure 1) developed by Sugabara et al., the effectiveness of the method proposed in this paper was confirmed through an emergency stopping experiment during walking, while carrying a heavy load.

    DOI

  • Towards the biped walking wheelchair

    Yusuke Sugahara, Kenji Hashimoto, Hiroyuki Sunazuka, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Hun-ok Lim, Atsuo Takanishi

    2006 1ST IEEE RAS-EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, VOLS 1-3     466 - +  2006年  [査読有り]

     概要を見る

    This paper describes the development of a prototype biped walking wheelchair. This robot consists of two Stewart Platform type legs and waist with a passenger seat. The walking control method based on ZMP criteria and virtual compliance control method for this robot were also developed. Through various experiments, the effectiveness of the developed hardware and the control method was confirmed.

    DOI

  • Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain

    Kenji Hashimoto, Yusuke Sugahara, Akihiro Ohta, Hiroyuki Sunazuka, Chiaki Tanaka, Masamiki Kawase, Hun-ok Lim, Atsuo Takanishi

    2006 1ST IEEE RAS-EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, VOLS 1-3     127 - +  2006年  [査読有り]

     概要を見る

    To date, many control methods have been researched on the assumption that the soles of a biped walking robot contact the ground as four points. It is difficult for almost all biped robots to maintain four-point-contact on uneven terrain because they have rigid and flat soles. It means that the biped robots can lose their balance. To solve this kind of problem, not only stability controls but also foot mechanisms should be studied. So, we developed a foot system, WS-1 (Waseda Shoes - No.1) that can maintain four-point-contact on uneven terrain, different from conventional foot systems. However, since WS-1 has some problems, an improved foot system, WS-1R (Waseda Shoes - No.1 Refined) is developed. Through hardware experiments, the effectiveness of WS-1R is confirmed.

    DOI

  • Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism

    Y Sugahara, A Ohta, K Hashimoto, H Sunazuka, M Kawase, C Tanaka, HO Lim, A Takanishi

    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4     3425 - 3430  2005年  [査読有り]

     概要を見る

    This paper describes the means of tuning-up method of the walking parameters to go up and down stairs for a biped robot with leg mechanisms using Stewart Platforms. It has been confirmed that the stroke range of use could be reduced by tuning up the waist yaw trajectory and preset ZMP trajectories for motion pattern generation. By using the developed method, a walking experiment involving movement up and down a stair with the rise of 250 mm and certain walking experiments ascending and descending stairs carrying a human were successfully completed. Through these experiments, the effectiveness of the proposed method was confirmed.

    DOI

  • Development of foot system of biped walking robot capable of maintaining four-point contact

    K Hashimoto, T Hosobata, Y Sugahara, S Mikuriya, H Sunazuka, M Kawase, HO Lim, A Takanishi

    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4     1464 - 1469  2005年  [査読有り]

     概要を見る

    To date, many control methods have been studied, assuming that the soles of a biped walking robot contact the ground as four points. It is difficult for a biped robot with rigid and flat soles to maintain four-point contact on uneven terrain. It means that the biped robot can lose its balance. To solve this kind of problem, we should study not only stability control methods but also foot mechanisms. In this paper, a new foot system, WS-1 (Waseda Shoes - No.1), is proposed to maintain four-point contact. This foot system consists of cam-type locking mechanism. WS-1 is attached to the feet of WL-16 (Waseda Leg - No.16) that is the world's first biped-walking robot capable of carrying a human. Through hardware experiments, the effectiveness of the foot system is confirmed.

    DOI

  • Walking control method of biped locomotors on inclined plane

    Y Sugahara, Y Mikuriya, K Hashimoto, T Hosobata, H Sunazuka, M Kawase, HO Lim, A Takanishi

    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4     1977 - 1982  2005年  [査読有り]

     概要を見る

    This paper describes a walking control method on inclined planes for a biped locomotor. The walking control consists of a position control, virtual compliance control and posture control. Parameters of the compliance control are changed continuously in support and swing phases. The orientation of robot's waist is kept level by posture control. Several walking experiments on inclined planes are conducted using WL-16R (Waseda Leg - No.16 Refined). WL-16R has achieved stable walking on unknown inclined planes using the walking control method, and the effectiveness of the walking control is confirmed.

    DOI

  • Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion

    K Hashimoto, T Hosobata, Y Sugahara, Y Mikuriya, H Sunazuka, M Kawase, HO Lim, A Takanishi

    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4     2970 - 2975  2005年  [査読有り]

     概要を見る

    Biped walking is easily adaptable to rough terrain such as stairs and stony paths, but the walk speed and energy efficiency on the flat ground is not so effective compared with wheeled locomotion. In this paper, we propose a biped robot to be able to walk or wheel according to the ground conditions. For wheeled locomotion, WS-2 (Waseda Shoes - No.2) is developed which is composed of a DC motor, a spherical caster and two rubber pads on each foot. WS-2 is attached to the feet of WL-16 (Waseda Leg - No.16) that is the world's first biped-walking robot capable of carrying a human. Also, a path planning for wheeled locomotion is presented. Through hardware experiments, the effectiveness of this foot module is confirmed.

    DOI

  • Support Torque Reduction Mechanism for Biped Locomotor with Parallel Mechanism

    Yusuke Sugahara, Yutaka Mikuriya, Takuya Hosobata, Hiroyuki Sunazuka, Masamiki Kawase, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems     3213 - 3218  2004年10月  [査読有り]  [国際誌]

  • Swizzle Motion of Biped Walking Robot Mounted on Passive Wheels

    Kenji Hashimoto, Takuya Hosobata, Yusuke Sugahara, Hun-ok Lim, Atsuo Takanishi

    Journal of Robotics and Mechatronics  

  • FFT-based Short Period Walking Pattern Generation for Humanoid Robot having Predictability of Environment

    Hideki Kondo, Atsuo Takanishi, Kenji Hashimoto

    The 2010 Robotics: Science and Systems Conference: Workshop on Predictive Models in Humanoid Gaze Control and Locomotion  

  • Everything is affordance: Towards affordance representation in robotic long term memory for emotion-based sensory prediction model – a preliminary work

    Matthieu Destephe, Kenji Hashimoto, Atsuo Takanishi

    The 4th International Workshop on Cybernics( IWC2011)  

  • Biped Walking Technology in Dynamic Environments: FFT-based Online Walking Pattern Generation and Walking Stabilization against External Disturbances

    Kenji Hashimoto, Atsuo Takanishi

    The 2011 IEEE-RAS International Conference on Humanoid Robots, Workshop 4: Humanoid service robot navigation in crowded and dynamic environments  

  • Development of Facial Expressions Generator for Emotion Expressive Humanoid Robot

    Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    The 2012 IEEE-RAS International Conference on Humanoid Robots  

  • Uncertainty-based mapping and planning strategies for safe navigation of robots with stereo vision

    Martim Brandao, Kenji Hashimoto, Atsuo Takanishi

    The 14th Mechatronics Forum International Conference (Mechatronics 2014)  

  • Trajectory Optimization for High-Power Robots with Motor Temperature Constraints

    Wei Xin Tan, Martim Brandão, Kenji Hashimoto, Atsuo Takanishi

    Towards Autonomous Robotic Systems. TAROS 2018. Lecture Notes in Computer Science    [査読有り]

    DOI

▼全件表示

書籍等出版物

  • 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 and Atsuo Takanishi( 担当: 共著)

    Springer  2020年09月  [査読有り]

  • 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( 担当: 共著)

    Springer  2020年09月  [査読有り]

  • Disaster Robotics - Results from the ImPACT Tough Robotics Challenge

    Kenji Hashimoto, Takashi Matsuzawa, Xiao Sun, Tomofumi Fujiwara, Xixun Wang, Yasuaki Konishi, Noritaka Sato, Takahiro Endo, Fumitoshi Matsuno, Naoyuki Kubota, Yuichiro Toda, Naoyuki Takesue, Kazuyoshi Wada, Tetsuya Mouri, Haruhisa Kawasaki, Akio Namiki, Yang Liu, Atsuo Takanishi and Satoshi Tadokoro( 担当: 共著,  担当範囲: WAREC-1 – A Four-Limbed Robot with Advanced Locomotion and Manipulation Capabilities)

    Springer  2019年02月

  • Humanoid Robotics: A Reference

    Kenji Hashimoto and Atsuo Takanishi( 担当: 共著,  担当範囲: WABIAN and Other Waseda Robots / Human-Like Face and Head Mechanism)

    Springer  2018年10月

  • Motion and Operation Planning of Robotic Systems: Background and Practical Approaches

    Kenji Hashimoto, Hideki Kondo, Hun-ok Lim and Atsuo Takanishi( 担当: 共著,  担当範囲: Online Walking Pattern Generation Using FFT for Humanoid Robots)

    2015年03月

Misc

  • 「脚型ロボット」の研究拠点を目指して

    橋本健二

    精密工学会誌   87 ( 5 ) 426 - 427  2021年05月  [招待有り]   [ 国内誌 ]

  • 2足ヒューマノイドロボット向け油圧直接駆動システムへの連動回路の適用

    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年

    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年

    J-GLOBAL

  • ヒト走行運動に着想を得た油圧直接駆動システムの並列接続による2足ヒューマノイドロボットの股関節出力向上

    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年

    J-GLOBAL

  • 2足ヒューマノイドロボット向け油圧直接駆動システムのモデルベース流量補償制御の開発

    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年

    J-GLOBAL

  • 災害対応人型ロボット遠隔マニピュレーション作業における操作者の疲労軽減および精度向上可能なスケール・ゲイン調整手法の実機適応性検証

    佐藤隆哉, 亀崎允啓, 江藤孝紘, 水越勇一, 劉楊, 並木明夫, 今井朝輝, 松澤貴司, 橋本健二, 高西淳夫, 岩田浩康

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

    J-GLOBAL

  • HMDを用いた脚ロボット遠隔操作時における酔いの低減が可能な注視の典型動作を用いた低認知負荷ズーム手法の効果検証

    水越勇一, 佐藤隆哉, 江藤孝紘, 亀崎允啓, 松坂彩香, 並木明夫, 今井朝輝, 松澤貴司, 橋本健二, 高西淳夫, 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(CD-ROM)   2019  2019年

    J-GLOBAL

  • 流量制御に基づく油圧システムの2足ヒューマノイドロボットへの適用

    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年

    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年

    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年

    J-GLOBAL

  • 2足ヒューマノイドロボット向け油圧直接駆動システムの応答性の検討

    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年

    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年

    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年

    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年

    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年

    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年

    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年

    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年

    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年

    J-GLOBAL

  • 笑いを通じた人間とロボットのインタラクションに関する研究(第3報:気質に基づいたロボットのキャラ表現)

    岸竜弘, 岸竜弘, 二木元, 柳野浩志, 下村宗一郎, COSENTINO Sarah, 野澤孝司, 三輪洋靖, 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)   33rd   ROMBUNNO.3J1-07  2015年09月

    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年

    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年

    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年

    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年

    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年

    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年

    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年

    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年

    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年

    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年

    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年

    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年

    J-GLOBAL

  • 2A2-D06 脚部にパラレルリンク機構を用いた2足ロコモータの開発 : 第20報:足部6軸力覚センサの過負荷保護機構(脚移動ロボット)

    橋本 健二, 浅野 哲平, 吉村 勇希, 菅原 雄介, 林 憲玉, 高西 淳夫

    ロボティクス・メカトロニクス講演会講演概要集   2011   "2A2 - D06(1)"-"2A2-D06(4)"  2011年05月

     概要を見る

    This paper describes an overload protection mechanism for a 6-axis force/torque sensor. It can limit the load applied to the force sensor by contacting a sole part with a top plate placed on the force sensor. Specifically, compression springs are arranged between the force sensor and the top plate, and the springs are pre-compressed. When more loads than the preload are applied to the top plate, the top plate touches the sole part by compressing the springs, and it is possible to prevent the 6-axis force/torque sensor from being over-loaded. Verification of the proposed mechanism is conducted through experiments with a human-carrying biped robot, WL-16RV.

    CiNii

  • 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年

    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年

    J-GLOBAL

▼全件表示

産業財産権

  • 足部安全機構及びそれを備えた2足歩行ロボット並びにその制御構造

    第4814592号

    高西淳夫,田中智明,川瀬正幹,菅原雄介,橋本健二,砂塚裕之,太田章博,高本陽一,馬場勝之,井野重秋

    特許権

  • 制御装置、制御方法、及び2足歩行ロボット

    第5083763号

    高西淳夫,田中智明,橋本健二,菅原雄介,太田章博,服部賢太郎,沢戸瑛昌,林昭宏

    特許権

  • 脚式ロボット、その制御方法、及び制御プログラム

    第5659898号

    高西淳夫,橋本健二,近藤秀樹,姜賢珍,西川浩介,本橋弘光,小田中浩平,高橋太郎,加藤恵輔,黒木義博,菅敬介

    特許権

  • 2足歩行ロボットの移動制御システム

    第6311153号

    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

    特許権

  • 移動ロボット及び先端ツール

    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

    特許権

  • 複腕移動ロボット

    第6635331号

    亀崎允啓,石田健蔵,橋本健二,関雅俊,一柳健

    特許権

▼全件表示

受賞

  • SI2020優秀講演賞

    2020年12月   第21回計測自動制御学会システムインテグレーション部門   4脚車輪ロボット試作機の開発とすり足動作を利用した段差乗り越え  

    受賞者: 太田隼人,津田洸貴,山田千央,石黒達万,杉岡卓哉,橋本健二

  • SI2020優秀講演賞

    2020年12月   第21回計測自動制御学会システムインテグレーション部門   跳躍運動の実現を目的とした電動駆動型2自由度単脚ロボット試作機の開発  

    受賞者: 安西あさひ,土井俊秀,橋田一樹,橋本健二

  • 競基弘学術業績賞

    2018年01月   国際レスキューシステム研究機構  

    受賞者: 橋本健二

  • Best Oral Paper Award Finalist (Humanoids 2016)

    2016年11月   16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016)  

  • JTCF Novel Technology Paper Award for Amusement Culture Finalist (IROS 2016)

    2016年10月   2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)  

  • 研究奨励賞(日本ロボット学会)

    2015年09月   日本ロボット学会  

  • Highly Commented Paper Award (ISRM 2013)

    2013年10月   3rd IFToMM International Symposium on Robotics and Mechatronics (ISRM 2013)  

  • 優秀講演賞(SI 2012)

    2012年12月   第13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(SI2012)  

  • Best Conference Paper Finalist (ICIES 2012)

    2012年12月   1st International Conference on Innovative Engineering Systems (ICIES 2012)  

  • Best Conference Paper Finalist (BioRob 2008)

    2008年10月   2nd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008)  

  • 若手優秀講演フェロー賞(ロボティクス・メカトロニクス講演会 2007)

    2008年06月   日本機械学会  

  • IEEE Robotics and Automation Society Japan Chapter Young Award (IROS 2006)

    2006年10月   IEEE Robotics and Automation Society Japan Chapter  

▼全件表示

共同研究・競争的資金等の研究課題

  • 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

    科学研究費助成事業(基盤研究S)

    研究期間:

    2021年07月
    -
    2026年03月
     

  • 人型ロボットによるヒトのバランス制御と空中感覚理解

    科学研究費助成事業(基盤研究B)

    研究期間:

    2020年04月
    -
    2024年03月
     

  • セルフアシストスーツの開発に向けた基礎研究

    研究期間:

    2020年10月
    -
    2022年09月
     

  • 漫画表現を取り入れたロボットハンドのデザイン構成法

    科学研究費助成事業(挑戦的研究(萌芽))

    研究期間:

    2019年04月
    -
    2021年03月
     

  • ヒューマノイドの全身協調による瞬発的な高出力運動の実現に関する研究

    科学研究費助成事業(基盤研究A)

    研究期間:

    2017年04月
    -
    2020年03月
     

    高西淳夫

  • 高い移動能力と作業能力を持つ脚型ロボットのプラットフォーム開発

    革新的研究開発推進プログラム(ImPACT)「タフ・ロボティクス・チャレンジ」 

    研究期間:

    2017年04月
    -
    2019年03月
     

  • 極限環境下での高いアクセシビリティを持つ脚型ロボットの開発

    研究期間:

    2015年04月
    -
    2019年03月
     

  • 極限環境下での高いアクセシビリティを持つ脚型ロボットの開発

    研究期間:

    2014年10月
    -
    2017年03月
     

  • 超人的移動能力を持つ2足スプリント・ロボットの開発

    科学研究費助成事業(若手研究A)

    研究期間:

    2013年04月
    -
    2017年03月
     

  • 膝関節と足関節に剛性可変機構を持つ2足ロボットの開発

    研究期間:

    2014年04月
    -
    2016年03月
     

  • 心身の健康増進を目的とした笑い測定システムの開発とロボットによる笑わせ刺激

    科学研究費助成事業(挑戦的萌芽研究)

    研究期間:

    2014年04月
    -
    2016年03月
     

  • 三次元歩行解析に基づく2足歩行ロボットの運動制御系モデル構築と福祉用具の定量評価

    科学研究費助成事業(基盤研究B)

    研究期間:

    2012年04月
    -
    2015年03月
     

    高西淳夫

  • ロボット工学とリハ医学の融合ー超小型計測センサと歩行ロボットのリハ医学への応用

    科学研究費助成事業(基盤研究C)

    研究期間:

    2012年04月
    -
    2015年03月
     

    猪飼哲夫

  • 2足歩行ロボットを利用した脆弱路面におけるヒト歩行戦略の解明

    科学研究費助成事業(研究活動スタート支援)

    研究期間:

    2010年04月
    -
    2012年03月
     

  • 脚接地面の変形を考慮した2足歩行ロボットの歩行安定化技術構築とその定量的評価手法

    科学研究費助成事業(特別研究員奨励費)

    研究期間:

    2008年04月
    -
    2010年03月
     

  • 路面の変形を考慮した2足歩行ロボットの歩行安定化技術構築とその定量的評価手法

    科学研究費助成事業(若手研究B)

    研究期間:

    2007年04月
    -
    2008年03月
     

▼全件表示

講演・口頭発表等

  • 路面検出センサを備えた2自由度単脚ロボットMH-2の開発と連続跳躍運動の実現

    熊岡光志,土井俊秀,安西あさひ,田中大樹,橋本健二

    第39回日本ロボット学会学術講演会  

    発表年月: 2021年09月

  • 4脚車輪ロボットに向けた4節リンク機構と自重補償機構を有する脚車輪機構の開発

    石沢悠太,一藤智弥,太田隼人,竹中拓輝,田中隆之,橋本健二

    第39回日本ロボット学会学術講演会  

    発表年月: 2021年09月

  • 弾性体と多孔質リンクの強固な接続の実現とアクチュエータ化に向けた検討

    田上直樹,橋本健二

    日本機械学会ロボティクス・メカトロニクス講演会2021  

    発表年月: 2021年06月

  • 強化学習による2足ロボットの矢状面内での歩行運動獲得

    黒川真暉,橋本健二

    日本機械学会ロボティクス・メカトロニクス講演会2021  

    発表年月: 2021年06月

  • 上肢の着地位置決定に可捕性解析を用いた2足ロボットの転倒制御

    酒井悠貴,橋本健二

    日本機械学会ロボティクス・メカトロニクス講演会2021  

    発表年月: 2021年06月

  • 跳躍運動の実現を目的とした電動駆動型2自由度単脚ロボット試作機の開発

    安西あさひ,土井俊秀,橋田一樹,橋本健二

    第21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  

    発表年月: 2020年12月

  • 油圧ロボットの実験環境構築と2自由度単脚ロボット試作機の開発

    田中大樹,渡辺寛基,織田健吾,玄相昊,橋本健二

    第21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  

    発表年月: 2020年12月

  • 4脚車輪ロボット試作機の開発とすり足動作を利用した段差乗り越え

    太田隼人,津田洸貴,山田千央,石黒達万,杉岡卓哉,橋本健二

    第21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  

    発表年月: 2020年12月

  • 極限環境下で作業可能な災害対応ロボットの開発(第37報:はしご昇りの速度・安定性向上を可能とする4肢ロボットの脚部剛性改良)

    伊藤明,孫瀟,松澤貴司,内藤博,名村圭祐,佐藤丈弘,寺江航汰,村上将嗣,吉田駿也,近藤貴久,高西淳夫,橋本健二

    第38回日本ロボット学会学術講演会  

    発表年月: 2020年10月

  • 極限環境下で作業可能な災害対応ロボットの開発(第36報:4肢ロボットの腹ばい移動高速化のための制御系設計)

    近藤貴久,松澤貴司,孫瀟,内藤博,名村圭祐,佐藤丈弘,寺江航汰,村上将嗣,吉田駿也,伊藤明,高西淳夫,橋本健二

    第38回日本ロボット学会学術講演会  

    発表年月: 2020年10月

  • 極限環境下で作業可能な災害対応ロボットの開発(第35報:多様なバルブ・スイッチおよび工具に対応した指・手掌部の設計)

    佐藤丈弘,今井朝輝,並木明夫,毛利哲也,孫瀟,松澤貴司,大河原正篤,木村駿介,熊谷健吾,松原孝将,山口航希,内藤博,名村圭祐,寺江航汰,村上将嗣,吉田駿也,高西淳夫,橋本健二

    日本機械学会第26期関東支部講演会   (東京都) 

    発表年月: 2020年03月

  • 極限環境下で作業可能な災害対応ロボットの開発(第34報:4肢ロボットの足先姿勢を考慮した着地可能領域決定法および安定性に基づく腹ばい運動の全方向移動実験)

    松澤貴司,名村圭祐,孫瀟,内藤博,佐藤丈弘,寺江航汰,村上将嗣,吉田駿也,伊藤明,近藤貴久,高西淳夫,橋本健二

    第25回ロボティクスシンポジア   (北海道) 

    発表年月: 2020年03月

  • 陸上・水上での走行性能向上を目的とした対向2輪型ロボットの車輪形状に関する実験的検証

    杉岡卓哉,橋本健二

    第20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   (香川県) 

    発表年月: 2019年12月

  • 大車輪運動が可能な2リンク鉄棒ロボットの開発

    伊藤聖,橋本健二

    第20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   (香川県) 

    発表年月: 2019年12月

  • 人工物のエッジ検出による画像のロール角度推定

    石黒達万,橋本健二

    第20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   (香川県) 

    発表年月: 2019年12月

  • 2足ヒューマノイドロボット向け油圧直接駆動システムのモデルベース流量補償制御の開発

    清水自由理,大谷拓也,水上英紀,橋本健二,高西淳夫

    2019年度秋季フルードパワーシステム講演会   (富山県) 

    発表年月: 2019年11月

  • ヒト走行運動に着想を得た油圧直接駆動システムの並列接続による2足ヒューマノイドロボットの股関節出力向上

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

    2019年度秋季フルードパワーシステム講演会   (富山県) 

    発表年月: 2019年11月

  • 極限環境下で作業可能な災害対応ロボットの開発(第33報:胴体接触を活用する4肢ロボットの安定性と肢の可動域に基づく全方向腹ばい運動生成法)

    松澤貴司,孫瀟,内藤博,名村圭祐,佐藤丈弘,寺江航汰,村上将嗣,吉田駿也,伊藤明,近藤貴久,高西淳夫,橋本健二

    日本IFToMM会議シンポジウム   (神奈川県) 

    発表年月: 2019年10月

  • 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,清水自由理,峯下弘毅,川上泰雄,阪口正律,林憲玉,高西淳夫

    第37回日本ロボット学会学術講演会   (東京都) 

    発表年月: 2019年09月

  • 災害対応人型ロボット遠隔マニピュレーション作業における操作者の疲労軽減および精度向上可能なスケール・ゲイン調整手法の実機適応性検証

    佐藤隆哉,亀崎允啓,江藤孝紘,水越勇一,劉楊,並木明夫,今井朝輝,松澤貴司,橋本健二,高西淳夫,岩田浩康

    第37回日本ロボット学会学術講演会   (東京都) 

    発表年月: 2019年09月

  • 災害対応ロボットにおけるRGB-Dカメラ情報を用いたスイッチの位置・姿勢の推定

    神田琢也,大谷淳,小方博之,橋本健二,内藤博,松澤貴司,高西淳夫

    第18回情報科学技術フォーラム   (岡山県) 

    発表年月: 2019年09月

  • 災害対応ロボットWAREC-1による自律的な階段昇段のための画像処理技術の検討

    宮川和也,大谷淳,小方博之,松澤貴司,橋本健二,高西淳夫

    第18回情報科学技術フォーラム   (岡山県) 

    発表年月: 2019年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第32報:4肢ロボットの安定性と肢の可動域に基づく腹ばい運動の全方向移動への拡張)

    松澤貴司,橋本健二,孫瀟,今井朝輝,大河原正篤,木村駿介,熊谷健吾,松原孝将,山口航希,内藤博,名村圭祐,佐藤丈弘,寺江航汰,村上将嗣,吉田駿也,高西淳夫

    第37回日本ロボット学会学術講演会   (東京都) 

    発表年月: 2019年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第31報:胴体接触を活用した4肢ロボットの段差乗り越え運動生成法)

    松澤貴司,松原孝将,橋本健二,孫瀟,今井朝輝,大河原正篤,木村駿介,熊谷健吾,山口航希,内藤博,名村圭祐,佐藤丈弘,寺江航汰,村上将嗣,吉田駿也,高西淳夫

    第37回日本ロボット学会学術講演会   (東京都) 

    発表年月: 2019年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第30報:環境認識センサの運用が可能な防塵・防水外装)

    吉田駿也,大河原正篤,橋本健二,孫瀟,松澤貴司,今井朝輝,木村駿介,熊谷健吾,松原孝将,山口航希,内藤博,名村圭祐,佐藤丈弘,寺江航汰,村上正嗣,高西淳夫

    第37回日本ロボット学会学術講演会   (東京都) 

    発表年月: 2019年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第29報:4肢ロボットの車輪移動範囲を拡張可能な能動車輪機構)

    村上将嗣,山口航希,橋本健二,孫瀟,松澤貴司,今井朝輝,大河原正篤,木村駿介,熊谷健吾,松原孝将,内藤博,名村圭祐,佐藤丈弘,寺江航汰,吉田駿也,高西淳夫

    第37回日本ロボット学会学術講演会   (東京都) 

    発表年月: 2019年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第28報:指先と手掌での作業と多様な移動様式への対応が可能な4肢ロボットのエンドエフェクタ)

    佐藤丈弘,今井朝輝,橋本健二,並木明夫,毛利哲也,孫瀟,松澤貴司,大河原正篤,木村駿介,熊谷健吾,松原孝将,山口航希,内藤博,名村圭祐,寺江航汰,村上将嗣,吉田駿也,高西淳夫

    第37回日本ロボット学会学術講演会   (東京都) 

    発表年月: 2019年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第27報:バッテリ内蔵,無線化およびマルチセンサシステムの運用が可能な胴体機構)

    寺江航汰,松原孝将,橋本健二,久保田直行,並木明夫,孫瀟,松澤貴司,今井朝輝,大河原正篤,木村駿介,熊谷健吾,山口航希,内藤博,名村圭祐,佐藤丈弘,村上将嗣,吉田駿也,高西淳夫

    第37回日本ロボット学会学術講演会   (東京都) 

    発表年月: 2019年09月

  • Estimating the Positions of Target Objects Based on Object Recognition by Processing 3D Point Cloud Data

    Qi Li,Jun Ohya,Atsuo Takanishi,Takashi Matsuzawa,Kenji Hashimo

    第18回情報科学技術フォーラム   (岡山県) 

    発表年月: 2019年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第26報:4肢ロボットの安定性と肢の可動域に基づく腹ばい運動生成法)

    松澤貴司,橋本健二,孫瀟,今井朝輝,大河原正篤,木村駿介,熊谷健吾,松原孝将,山口航希,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   (広島県) 

    発表年月: 2019年06月

  • アイトラッキングを用いたマスタ・スレーブシステムのアシスト制御

    並木明夫,劉陽,松坂彩香,白土拓哉,郭伝宇,毛利哲也,今井朝輝,松澤貴司,橋本健二,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   (広島県) 

    発表年月: 2019年06月

  • HMDを用いた脚ロボット遠隔操作時における酔いの低減が可能な注視の典型動作を用いた低認知負荷ズーム手法の効果検証

    水越勇一,佐藤隆哉,江藤孝紘,亀﨑允啓,松坂彩香,並木明夫,今井朝輝,松澤貴司,橋本健二,高西淳夫,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   (広島県) 

    発表年月: 2019年06月

  • 2足ヒューマノイドロボット向け油圧直接駆動システムへの連動回路の適用

    清水自由理,大谷拓也,水上英紀,橋本健二,高西淳夫

    2019年度春季フルードパワーシステム講演会   (東京都) 

    発表年月: 2019年05月

  • 極限環境下で作業可能な災害対応ロボットの開発(第25報:4肢ロボットへの環境認識センサの統合と段差乗り越え実験)

    松澤貴司,松原孝将,橋本健二,佐藤徳孝,木谷真,松野文俊,藤原始史,王璽尋,谷重崇未,久保田直行,戸田雄一郎,北井瑳佳,佐々木洋子,高西淳夫

    第19回計測自動制御学会システムインテグレーション部門講演会   (大阪府) 

    発表年月: 2018年12月

  • Application of legged robot to disaster response

    Kenji Hashimoto  [招待有り]

    Full-day workshop at 2018 IEEE-RAS International Conference on Humanoid Robots: Humanoid Robot for Real Applications Use   (Beijing, China) 

    発表年月: 2018年11月

  • WAREC-1 — A Four-Limbed Robot with Advanced Locomotion and Manipulation Capabilities

    Atsuo Taknaishi and Kenji Hashimoto  [招待有り]

    Full-day workshop at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems: ImPACT Tough Robotics Challenge: A National Project of Disaster Robotics Aiming at Social Innovation in Safety and Security   (Madrid, Spain) 

    発表年月: 2018年10月

  • 災害対応ロボットにおけるデプスカメラ情報に基づく対象物体の把持位置・方向の自動的な推定

    西川敬士,大谷淳,小方博之,橋本健二,松澤貴司,高西淳夫

    第17回情報科学技術フォーラム   (福岡県) 

    発表年月: 2018年09月

  • 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,阪口正律,川上泰雄,林憲玉,高西淳夫

    第36回日本ロボット学会学術講演会   (愛知県) 

    発表年月: 2018年09月

  • 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,張春宇,尾原睦月,阪口正律,川上泰雄,林憲玉,高西淳夫

    第36回日本ロボット学会学術講演会   (愛知県) 

    発表年月: 2018年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第24報:胴体接地を活用した段差踏破が可能な4肢ロボットの胴体機構)

    名村圭祐,松澤貴司,橋本健二,孫瀟,酒井伸明,林翔太,吉田雄貴,今井朝輝,大河原正篤,熊谷健吾,松原孝将,山口航希,内藤博,高木一輝,高西淳夫

    第36回日本ロボット学会学術講演会   (愛知県) 

    発表年月: 2018年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第23報:4肢ロボットの多様な移動様式と遠隔作業に対応可能なエンドエフェクタ)

    内藤博,酒井伸明,橋本健二,毛利哲也,並木明夫,孫瀟,松澤貴司,林翔太,吉田雄貴,今井朝輝,大河原正篤,熊谷健吾,松原孝将,山口航希,名村圭祐,高木一輝,高西淳夫

    第36回日本ロボット学会学術講演会   (愛知県) 

    発表年月: 2018年09月

  • Application of Humanoid Robotics to Disaster Response

    Kenji Hashimoto  [招待有り]

    The 1st IFToMM Japan International Summer School on Mechanical Science and Robotics   (Tokyo, Japan) 

    発表年月: 2018年07月

  • 極限環境下で作業可能な災害対応ロボットの開発(第22報:移動と単純な作業が可能なエンドエフェクタを用いた電動ドリルによる穿孔作業の実現)

    松澤貴司,今井朝輝,酒井伸明,吉田雄貴,山口航希,孫瀟,橋本健二,高西淳夫

    日本IFToMM会議シンポジウム   (東京都) 

    発表年月: 2018年06月

  • 極限環境下で作業可能な災害対応ロボットの開発(第21報:4肢ロボットの腹ばい運動の全方向移動制御)

    松澤貴司,林翔太,橋本健二,孫瀟,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2018   (福岡県) 

    発表年月: 2018年06月

  • 極限環境下で作業可能な災害対応ロボットの開発(第20報:高出力ハンドの統合と遠隔操作によるバルブ開閉の実現)

    橋本健二,酒井伸明,内藤博,松澤貴司,今井朝輝,孫瀟,並木明夫,劉楊,郭伝宇,毛利哲也,高西淳夫

    第62回システム制御情報学会研究発表講演会   (京都府) 

    発表年月: 2018年05月

  • ヒューマノイドロボット研究と災害対応ロボット

    橋本健二  [招待有り]

    日仏会館科学講座 日仏ヒューマノイドロボットとその応用   (日仏会館ホール) 

    発表年月: 2018年01月

  • 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,張春宇,大谷拓也,橋本健二,阪口正律,川上泰雄,林憲玉,高西淳夫

    第18回計測自動制御学会システムインテグレーション部門講演会   (宮城県) 

    発表年月: 2017年12月

  • ヒューマノイドにおけるハードウェア技術の研究動向

    橋本健二  [招待有り]

    ヒューマノイド・ロボットの研究動向と将来展望   (東京ビッグサイト 会議棟7F 703会議室)  日刊工業新聞社  

    発表年月: 2017年11月

  • 脚型ロボットのメカニクス ~タフな脚型ロボットの実現を目指して~

    橋本健二  [招待有り]

    ロボット工学セミナー   (東北大学)  日本ロボット学会  

    発表年月: 2017年11月

  • 力学モデリングを利用した脚ロボットのハード・制御系設計と災害対応ロボット

    橋本健二  [招待有り]

    第6回Mathematics for Industry シンポジウム   (秋葉原ダイビル)  サイバネットシステム株式会社  

    発表年月: 2017年10月

  • 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,林憲玉,高西淳夫

    第35回日本ロボット学会学術講演会   (埼玉県) 

    発表年月: 2017年09月

  • 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,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,高西淳夫

    第35回日本ロボット学会学術講演会   (埼玉県) 

    発表年月: 2017年09月

  • 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,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,高西淳夫

    第35回日本ロボット学会学術講演会   (埼玉県) 

    発表年月: 2017年09月

  • 笑いを通じた人間とロボットのインタラクションに関する研究(第8報:ロボットの胸部ディスプレイによる本心の表現)

    加藤健太郎,岸竜弘,柳野浩志,橋本健二,高西淳夫

    第35回日本ロボット学会学術講演会   (埼玉県) 

    発表年月: 2017年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第19報:浸漬冷却可能な アクチュエータユニットの製作と評価)

    熊谷健吾,橋本健二,寺町知峰,松澤貴司,木村駿介,酒井伸明,孫瀟,吉田雄貴,今井朝輝,松原孝将,山口航希,高西淳夫

    第35回日本ロボット学会学術講演会   (埼玉県) 

    発表年月: 2017年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第18報:フック形状を有し移動と単純な作業に使用可能な4肢ロボットのエンドエフェクタ)

    今井朝輝,寺町知峰,橋本健二,松澤貴司,孫瀟,木村駿介,酒井伸明,吉田雄貴,熊谷健吾,松原孝将,山口航希,高西淳夫

    第35回日本ロボット学会学術講演会   (埼玉県) 

    発表年月: 2017年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第17報:4肢ロボットの移動速度を向上する能動車輪機構)

    山口航希,松澤貴司,橋本健二,孫瀟,寺町知峰,木村駿介,酒井伸明,吉田雄貴,今井朝輝,熊谷健吾,松原孝将,高西淳夫

    第35回日本ロボット学会学術講演会   (埼玉県) 

    発表年月: 2017年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第16報:腹ばい移動時の滑動を低減する4肢ロボットの胴体機構)

    松原孝将,松澤貴司,橋本健二,孫瀟,寺町知峰,木村駿介,酒井伸明,吉田雄貴,今井朝輝,熊谷健吾,山口航希,名村圭祐,高西淳夫

    第35回日本ロボット学会学術講演会   (埼玉県) 

    発表年月: 2017年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第15報:安定指標に基づく4肢ロボットの腹ばい運動生成法)

    松澤貴司,橋本健二,孫瀟,寺町知峰,木村駿介,酒井伸明,吉田雄貴,今井朝輝,熊谷健吾,松原孝将,山口航希,陳偉信,高西淳夫

    第35回日本ロボット学会学術講演会   (埼玉県) 

    発表年月: 2017年09月

  • 宇宙ロボットに向けた真空対応アクチュエータユニットの開発と真空試験

    橋本健二,酒井伸明,木村駿介,熊谷健吾,今井朝輝,松澤貴司,吉田雄貴,山口航希,高西淳夫

    第35回日本ロボット学会学術講演会   (埼玉県) 

    発表年月: 2017年09月

  • 骨盤運動に着目した2足走行ロボットの開発(第15報:関節角度を用いた走行速度の推定)

    尾原睦月,礒道貴矢,大谷拓也,橋本健二,林憲玉,高西淳夫

    日本IFToMM会議シンポジウム   (東京都) 

    発表年月: 2017年06月

  • 極限環境下で作業可能な災害対応ロボットの開発(第14報:浸漬冷却を利用したアクチュエータユニットの構想)

    橋本健二,神永拓,熊谷健吾,寺町知峰,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2017   (ビックパレットふくしま(福島)) 

    発表年月: 2017年05月

  • 極限環境下で作業可能な災害対応ロボットの開発(第13報:過去画像履歴を用いた遠隔操作システムによる4肢ロボットの腹ばい移動)

    松澤貴司,橋本健二,熊谷健吾,澤井泰彦,佐藤徳孝,小西保影,松野文俊,長谷川龍生,佐々木洋子,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2017   (ビックパレットふくしま(福島)) 

    発表年月: 2017年05月

  • 極限環境下で作業可能な災害対応ロボットの開発(第12報:高出力ハンドの4肢ロボットへの統合と電動工具保持)

    橋本健二,今井朝輝,木村駿介,寺町知峰,松澤貴司,毛利哲也,中村一也,川﨑晴久,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2017   (ビックパレットふくしま(福島)) 

    発表年月: 2017年05月

  • CAD/CAEを活用した等身大脚型ロボット開発の事例紹介

     [招待有り]

    第71回 CAD/CAE研究会   (PORTA神楽坂 6階 会議室1)  日本設計工学会  

    発表年月: 2017年03月

  • 2足ロボット研究とその災害対応への応用

     [招待有り]

    第7回serBOTinQセミナー   (首都大学東京日野キャンパス) 

    発表年月: 2017年01月

  • 笑いを通じた人間とロボットのインタラクションに関する研究(第6報:Pepperを利用した「予想外」方策による笑い誘発)

    橋本健二,寺町知峰,松木慧,柳野浩志,今井朝輝,加藤健太郎,熊谷健吾,高西淳夫

    LIFE2016   (東北大学(宮城)) 

    発表年月: 2016年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第11報:4肢ロボットWAREC-1の設計と製作)

    橋本健二,木村駿介,酒井伸明,小泉文紀,濱元伸也,孫瀟,松澤貴司,寺町知峰,高西淳夫

    第34回日本ロボット学会学術講演会   (山形大学(山形)) 

    発表年月: 2016年09月

  • ヒューマノイドを利用したヒト足部機能解明と靴の衝撃吸収性評価

    橋本健二,本橋弘光,吉村勇希,林憲玉,高西淳夫

    LIFE2016   (東北大学(宮城)) 

    発表年月: 2016年09月

  • ImPACT-TRC脚ロボット分科会-精密かつ力強い作業が可能で高い移動能力を持つ脚ロボットを目指して-

    橋本健二,高西淳夫

    第34回日本ロボット学会学術講演会   (山形大学(山形)) 

    発表年月: 2016年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第4報:4肢ロボットの匍匐移動法の提案)

    橋本健二,小泉文紀,松澤貴司,孫瀟,濱元伸也,寺町知峰,酒井伸明,木村駿介,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2016   (パシフィコ横浜(神奈川)) 

    発表年月: 2016年06月

  • 常人ロボットから超人ロボットへ

    橋本健二  [招待有り]

    第33回日本ロボット学会学術講演会・オープンフォーラム「このロボットがすごい!2015」  

    発表年月: 2015年09月

  • ヒトの軟弱路面歩行時における運動学シナジー解析

    第33回日本ロボット学会学術講演会   (東京電機大学(東京)) 

    発表年月: 2015年09月

  • 極限環境下で作業可能な災害対応ロボットの開発(第1報:極限環境の分類と4肢ロボットの基本構想)

    日本機械学会ロボティクス・メカトロニクス講演会2015   (みやこめっせ(京都)) 

    発表年月: 2015年05月

  • ヒト足部の機械的特性を模擬した着靴可能な足部機構の開発

    橋本健二,本橋弘光,吉村勇希,林憲玉,高西淳夫

    第32回日本ロボット学会学術講演会   (九州産業大学(福岡)) 

    発表年月: 2014年09月

  • Human Balance Control during Walking on Compliant Ground

    Kenji Hashimoto, Egidio Falotico, Atsuo Takanishi, Cecilia Laschi, Paolo Dario and Alain Berthoz

    Proceedings of the 2nd Joint World Congress ISPGR / Gait & Mental Function   (Akita, Japan) 

    発表年月: 2013年06月

  • Head Stabilization during Walking on a Compliant Surface

    Egidio Falotico, Colas Authié, Kenji Hashimoto, Cecilia Laschi, Daniel Bennequin, Paolo Dario and Alain Berthoz

    Proceedings of the 2nd Joint World Congress ISPGR / Gait & Mental Function   (Akita, Japan) 

    発表年月: 2013年06月

▼全件表示

学内研究費(特定課題)

  • 漫画表現を取り入れた表現力に富んだロボットハンドのデザイン構成法

    2017年  

     概要を見る

    漫画に見られる抽象的な感情表現から着想を受け,ロボット胸部のディスプレイに本心の感情そのものを表す抽象的な映像を表示することで,頭部で表出する表情の誇張,表情との矛盾を表現した.ディスプレイには多数の物体が群れをなす映像を映した.感情は覚醒度と快度の2変数により定義し,覚醒度は群れの各個体の動きの速さ,快度は各個体の形状と色によって表現した.評価実験の結果,これらの表現の変化によって覚醒度・快度の変化が認識されることが確認された.また,これを表情表出と組み合わせることで,表情と矛盾した感情をディスプレイで表出する表現が,見た人の予想を裏切ることを確認した.

  • モータの浸漬冷却に向けた基礎研究

    2017年  

     概要を見る

    アクチュエータの冷却方法として空冷と液冷があるが,高出力なモータには冷却能力が高い液冷が適している.特に冷媒を直接モータに通す直接液冷(浸漬冷却)が効率的に冷却可能となる.そこで本研究では,ロボットのアクチュエータユニットの軽量・高出力化を目的として,浸漬冷却可能なアクチュエータユニットを設計・製作した.さらに製作したアクチュエータユニットを用いて浸漬冷却の効果を確認し,浸漬冷却によってアクチュエータユニットを10%程度軽量化できた.さらに,冷媒のシール方法についても比較し,減速後にシールをするほうが全体の損失が小さいことが分かった.本研究成果を応用することで,ロボットの軽量化が期待できる.

  • 漫画表現を取り入れた表現力に富んだロボットハンドのデザイン構成法

    2016年  

     概要を見る

    インタラクションを通じた人間の笑い誘発を目標とした第一歩として,人間からの刺激の入力に対する面白いリアクションによる人間の笑い誘発に取り組んだ.ロボットのエンドエフェクタの軌跡に一度始点から終点と逆方向に戻る「予備動作」および終点を通り過ぎて戻る「行き過ぎ」を加えることで,エンドエフェクタの軌跡を延長して誇張するアルゴリズムを構築した.評価実験を通じ,提案したアルゴリズムによって誇張したリアクションは特に速度が速くなったオーバーなリアクションとして受け止められることで実験参加者の予想を裏切り,有意に面白い印象を与えることが確認された.

  • 効果音を利用した表現力に富んだロボットハンドの開発

    2016年  

     概要を見る

    研究者らは人間の健康増進を目的とし,2足ヒューマノイドロボットKOBIAN-RIVによる人間の笑い誘発を目指し,研究を推進している.これまでに高速に動作する腕部を開発し,誇張表現の笑い誘発への有効性を示した.しかし,KOBIAN-RIVのハンド部には能動自由度が搭載されず,誇張表現能力が不十分であった.また,複数の感覚刺激が互いの印象を強めあう「共鳴現象」を利用し,聴覚刺激の効果音で視覚刺激の動作を誇張できるのではないかと考えた.そこで,本研究ではハンドに搭載可能なサイズのスピーカボックスを設計・製作し,効果音を出すことが可能で,高速に動作するロボットハンドを開発した.

  • 剛性可変機能を有する高出力アクチュエーション機構の設計・製作

    2015年  

     概要を見る

    人間の走行運動時の脚部の関節弾性による高出力発揮を,人間と同様に軽量な機構により実現するための,軽量高出力剛性可変機構の開発を行った.これまで重量増大の一因となっていた鉄製の板ばねを,より密度の低いCFRP製板ばねに変更することで軽量化を図った.小型化の際には板ばねにかかる応力が大きくなり耐えられないという問題があるが,2枚を重ねた重ね板ばねとすることで1枚当たりの応力を低減し,CFRPの利用を可能とした.この重ねCFRP板ばねにより関節機構としての重量は,鉄の板ばねの場合1200[g]であったのに対し,400[g]まで軽量化することができ,実験により理論値に近い弾性を有することを確認した.

 

現在担当している科目

 

委員歴

  • 2021年07月
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    継続中

    Advanced Robotics  Associate Editor

  • 2020年09月
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    継続中

    Frontiers in Robotics and AI  Associate Editor

  • 2020年04月
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    日本機械学会 機素潤滑設計部門 械設計技術企画委員会  委員

  • 2017年06月
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    継続中

    Technical Committee for Biomechanical Engineering, IFToMM  Member

  • 2017年04月
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    継続中

    日本ロボット学会 ヒューマノイド・ロボット研究専門委員会  副委員長

  • 2016年07月
    -
    継続中

    日本IFToMM会議  実行委員

  • 2015年06月
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    継続中

    IEEE Robotics and Automation Letters (RA-L)  Associate Editor

  • 2014年04月
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    継続中

    フランス政府科学部門フランス政府給費留学生の会(ABSCIF)  幹事

  • 2020年12月
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    2023年06月

    Robotica  Associate Editor

  • 2022年11月
     
     

    2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022)  Finance Chair

  • 2021年04月
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    2022年03月

    日本機械学会 ロボティクス・メカトロニクス部門  幹事

  • 2020年04月
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    2021年03月

    日本機械学会 ロボティクス・メカトロニクス部門  表彰委員会幹事

  • 2017年04月
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    2021年03月

    バイオメカニズム学会  編集委員

  • 2019年10月
     
     

    第25回 日本IFToMM会議シンポジウム  実行委員長

  • 2013年09月
    -
    2017年08月

    WALK-MAN (Whole-body Adaptive Locomotion and Manipulation), FP7 European Project (FP7-ICT 611832)  Advisory Board

  • 2015年04月
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    2017年03月

    日本ロボット学会 論文査読小委員会  委員

  • 2011年04月
    -
    2013年03月

    電気学会 ロボット制御技術とロボットを活用した実践教育に関する協同研究委員会  委員

  • 2009年04月
    -
     

    日本ロボット学会 ヒューロビント研究専門委員会  副委員長

▼全件表示