Faculty Profiles - HASEGAWA, Yasuhisa

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Pdac-based underactuated 3d bipedal walking - Stabilization of pdac constants and walking direction control

Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

Proceedings - IEEE International Conference on Robotics and Automation 2009

Event date： 2009

Language：English Presentation type：Oral presentation (general)

This paper proposes a three-dimensional biped dynamic walking algorithm based on Passive Dynamic Autonomous Control (PDAC) which is previously proposed. The robot dynamics is modeled as an autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named "PDAC constant", that determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constant converge to arbitrary value, so that walking velocity and direction is controllable. Numerical simulation results validate proposed algorithm. © 2009 IEEE.

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PDAC constantの適応制御に基づく3次元動歩行の高速安定化

日本ロボット学会第27回日本ロボット学会学術講演会 2009

Fingertip stiffness control using antagonistic pairs of polyarticular tendons drive system

Masahiro Iwaki, Yasuhisa Hasegawa, Yoshiyuki Sankai

2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 2009 IEEE

Event date： 2009

Language：English Presentation type：Oral presentation (general)

This paper proposes a tendon driven system with antagonistic pairs of polyarticular tendons to simulate a variable stiffness of a human fingertip. The stiffness of a robot finger should be adjusted according to a situation that includes large position errors or collisions, because it tolerates errors of object positions and dimensions in assembly task and absorbs collision energy in hitting or catching task. The variable stiffness therefore contributes to stable grasping and dexterous manipulation. Besides, a stiffness of a human fingertip can be controlled by consciously contracting antagonist muscles when it does not contact anything such as in a preshaping phase.
This study simplifies a tendon driven system of a human finger and then searches feasible parameter settings of the tendon driven system with antagonistic pairs of polyarticular tendons through numerical simulations. Finally it is experimentally confirmed that the proposed tendon driven system has similar stiffness to a human finger.

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Standing-Up Motion Support for Paraplegic Patient with Robot Suit HAL

Atsushi Tsukahara, Yasuhisa Hasegawa, Yoshiyuki Sankai

2009 IEEE 11TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2 2009 IEEE

Event date： 2009

Language：English Presentation type：Oral presentation (general)

This paper proposes a standing-up motion support system for complete paraplegic patients who cannot stand up by himself/herself due to a spinal cord injury. The standing-up motion is the first step for us to move somewhere inside and outside in our daily life. Therefore, the standing-up motion support is indispensable for patients to promote his/her independent life. The proposed support system using an exoskeletal assistive system "Robot Suit HAL" supports the wearer's weight during his/her standing-up motion so that he/she can stand up without any physical efforts. Besides, the support system controls the patient's posture for his/her stability to avoid falling down during the standing-up motion. The system also estimates his/her intention to stand up based on a preliminary motion of his/her upper body. The patient therefore starts the standing-up without any operations, just by bending his/her upper body forward as the preliminary motion. First, the system performance with respect to the weight-bearing and the balance control was confirmed through the experiment, by supporting a mannequin's standing-up. Then, the proposed system including the intention estimation algorithm was provided for a complete paraplegic patient in order to verify the performance of the total system. In consequence, we confirmed that the proposed system safely supported his standing-up according to his intention.

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斜面の３次元認識に基づく二足－四足歩行間遷移を用いた歩行安定化

日本機械学会ロボティクス・メカトロニクス講演会2009 2009

把持機能を有する上肢支援システム

第１４回ロボティクスシンポジア 2009

把持力支援における人の適応性

計測自動制御学会第10回計測自動制御学会システムインテグレーション部門講演会 2009

把持力増幅システムの開発と基本性能評価

日本知能情報ファジィ学会第25回ファジィシステムシンポジウム講演論文集 2009

多関節拮抗筋を用いた指先剛性制御

日本機械学会ロボティクス・メカトロニクス講演会2009 2009

外骨格型上肢作業支援システムの研究開発 -上肢麻痺患者の足操作による卓上作業支援の実現-

日本機械学会ロボティクス・メカトロニクス講演会2009 2009

PDAC-based Underactuated 3D Bipedal Walking –Stabilization of PDAC Constants and Walking Direction Control-

IEEEProc. of the 2009 IEEE International Conference on Robotics and Automation 2009

Transition Motion from Ladder Climbing to Brachiation for Multi-Locomotion Robot

Zhiguo Lu, Hironari Yoneda, Kosuke Sekiyama, Toshio Fukuda, Yasuhisa Hasegawa

2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS 2009 IEEE

Event date： 2009

Language：English Presentation type：Oral presentation (general)

This paper describes a transition motion from ladder climbing to brachiation for the multi-locomotion robot (MLR). Though the transition motion is as complicated as human doing, the robot shoulder degrees of freedom (only 2 DOFs) are less than human. The paper presents how to make the robot complete complicated motion with limited freedoms. In order to prevent the motors overload, a soft adaption control which can change its style automatically according to the contact situation is used in the turning waist motion for error adjustment. Experimental results show that the MLR realize the transition motion from ladder climbing to brachiation stably and smoothly.

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装着型指動作教示システムの研究開発

計測自動制御学会第10回計測自動制御学会システムインテグレーション部門講演会 2009

２足歩行における人とシステムの協調制御

日本機械学会福祉工学シンポジウム2009 2009

装着型歩行支援システムの制御を目的とした指装着型コントローラの研究開発

計測自動制御学会第10回計測自動制御学会システムインテグレーション部門講演会 2009

Analysis of Relationship between Limb Length and Joint Load in Quadruped Walking on the slope

Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 2008 IEEE

Event date： 2008

Language：English Presentation type：Oral presentation (general)

An animal has a characteristic ratio of forefoot and rear legs so that its morphology can adapt to the living environment. Likewise, the structure of robot should be better fitted the locomotion in the working environment. This paper derives an optimal structure of the quadruped robot, which minimizes the sum of joint torques of the robot. Minimization of the joint torque allows to reduce the joint acceleration in walking motion, and hence to reduce energy consumption. Numerical simulation analyzed joint torques in each limb length and slope angle under walking on a slope. The optimal rate of rear leg length (RRL) is derived by the simulation as the physical structure. Our analysis suggests that the joint torque will increase as the slope angle becomes steeper in the case that the rear legs are shorter than forelegs. On the other hand, the joint torque will decrease as the slope angle is declined in the case that the forelegs am shorter than the rear legs. Experimental results validated the simulation analysis.

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Five-fingered assistive hand with mechanical compliance of human finger

Yasuhisa Hasegawa, Yasuyuki Mikami, Kosuke Watanabe, Yoshiyuki Sankai

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 2008 IEEE

Event date： 2008

Language：English Presentation type：Oral presentation (general)

This paper introduces an exoskeleton assistive hand that supports human hand and wrist activities by using user's bioelectric potential to control the exoskeleton movement. The exoskeleton has three active joints for an index finger, three active joints for combination of a middle finger, a ring finger and a little finger and two active joints for a thumb. It also has two passive joints between the index finger part and the combined part of the three fingers. Our proposed poly-articular tendon drive mechanism simulates a mechanical compliance of a human finger so that the exoskeleton could realize comfortable and stable grasping. This paper proposes a new mechanism "dual sensing system" and a new control algorithm "bioelectric potential-based switching control" so that the exoskeleton could synchronize wearer's hand activities without any force sensor. A tendon-driven mechanism and a dual sensing system enable wearer's fingers to move freely when they does need power assist but precise position control or force control. A bioelectric potential-based switching control enables the exoskeleton to augment their grasping force only when wearer's fingers generate a relatively large grasping force. A five-parallel-link mechanism is used to assist wrist activities of a wearer. Through experiments it is confirmed that the exoskeleton does not disturb a wear's pinch of a small object and that it augments grasping force for a heavy work.

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PDAC Constant に基づく3 次元動歩行の安定化

日本ロボット学会第26回日本ロボット学会学術講演会 2008

Vertical Ladder Climbing Motion with Posture Control for Multi-Locomotion Robot

Hironari Yoneda, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 2008 IEEE

Event date： 2008

Language：English Presentation type：Oral presentation (general)

This paper introduces a vertical ladder climbing of the humanoid robot only by the posture control without any external sensors. The humanoid robot does not have any special structure for fixing the body to the ladder. The robot maintains the body on the ladder by its grippers like human does. As a problem of this locomotion, a free gripper position of the climbing robot is not controllable because a yawing of the robot body around the axis connecting a supporting gripper and foot on the ladder is not fixed. To solve this problem, the momentum around AOY caused by the gravity is used to control the yaw motion of the body so that the various gait such as pace gait and trot gait could be realized in a ladder climbing maneuver. The algorithm of ladder climbing with recovery motion is experimentally verified by using "Multi-Locomotion Robot(MLR)" which is developed to achieve various types of locomotion such as biped, quadruped walking and brachiation.

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腱駆動型把持支援システム

日本ロボット工業会第11回建設ロボットシンポジウム 2008

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<HASEGAWA, Yasuhisa>

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