Faculty Profiles - HASEGAWA, Yasuhisa

Presentations -

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Passive trajectory control of the lateral motion in bipedal walking

M Doi, Y Hasegawa, T Fukuda

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS 2004 IEEE

Event date： 2004

Language：English Presentation type：Oral presentation (general)

This paper proposes Passive Trajectory Control (PTC), a new control method of Acrobot, and discusses its application to biped walking robots. PTC makes the first joint passive and makes the point contact between the whole robot system and the ground, then actuates other joints according to the motion of the passive joint. Due to this interlock, the whole robot system becomes autonomous and the controller is independent of time. Hence, PTC makes it possible to design the robot motion based on not the trajectory of time, but the dynamics around the contact point. In this paper, we design the lateral motion of bipedal walking by means of PTC and realize the dynamic stable motion.

Perspective of robotics technology

T Fukuda, Y Hasegawa

PROCEEDINGS OF THE TENTH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS 2004 ACTA PRESS

Supermedia-enhanced Internet-based telerobotics International coauthorship

Elhajj, I, N Xi, WK Fung, YH Liu, Y Hasegawa, T Fukuda

PROCEEDINGS OF THE IEEE 2003.3 IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Event date： 2003.3

Language：English

This paper introduces new planning and control methods for supermedia-enhanced real-time telerobotic operations via the Internet. Supermedia is the collection of video, audio, haptic information, temperature, and other sensory feedback. However when the communication medium used, such as the Internet, introduces random communication time delay, several challenges and difficulties arise. Most importantly, random communication delay cause's instability, loss of transparency, and desynchronization in real-time closed-loop telerobotic systems. Due to the complexity and diversity of such systems, the first challenge is to develop a general and efficient modeling and analysis tool. This paper proposes the use of Petri net modeling to capture the concurrency and complexity of Internet-based teleoperation. Combined with the event-based planning and control method, it also provides an efficient analysis and design tool to study the stability, transparency, and synchronization of such systems. In addition, the concepts of event transparency and event synchronization are introduced and analyzed. this modeling and control method has been applied to the design of several supermedia-enhanced Internet-based telerobotic systems, including the bilateral control of mobile robots and mobile manipulators. These systems have been experimentally implemented in three sites test bed consisting of robotic, laboratories in the USA, Hong Kong, and Japan. The experimental results have verified the theoretical development and further demonstrated the stability, event transparency, and event synchronization of the systems.

Development of character robots for human-robot mutual communication

F Arai, D Tachibana, MJ Jung, T Fukuda, Y Hasegawa

RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS 2003 IEEE

Event date： 2003

Language：English Presentation type：Oral presentation (general)

This paper describes a robot-head system as a communication device,for human robot interaction. Most robotic systems with natural modalities have facial expression functions, since facial expressiveness is regarded as a key component, to develop personal attachment along with prosodic expressiveness. Most of the conventional facial robots has adopted Ekman's FACS. However, due to some mechanical constraints, there are some limitations to adopt FACS model completely in facial robots. In the first part of this paper, we introduce a character robot - CRF2 that have richer facial expressions than the first prototype character robot -CRF1 since the facial design of CRF2 implements eyelids' mechanism and it is based on the 3D deformation model. However due to the fact that the recognition rate of some expressions such as disgust and fear was not improved very much, we concluded that Character Robot needs other communication channels such as voice to convey robot's emotional states properly to the user in addition to renovating mechanical facial part. As a result we developed a renovated character robot -CRF3. In addition to facial expressiveness, CRF3 is implemented speech synthesis and neck motions. Further CRF3 has visual, auditory and tactile. sensors and expanded configuration that can connect additional sensor or actuator modules to the system. To evaluate the applications of CRF, we applied CRF3 to home environments as a home network manager which selects a task based on robot mood.

From intelligent robot to multi-agent robotic system

T Fukuda, Takagawa, I, Y Hasegawa

INTERNATIONAL CONFERENCE ON INTEGRATION OF KNOWLEDGE INTENSIVE MULTI-AGENT SYSTEMS 2003 IEEE

Event date： 2003

Language：English Presentation type：Oral presentation (general)

The robot technology last decade had two streams of research, such as single but very intelligent robot and multiple agent type of robots. The robot research has been aimed at going to make a robot more flexible and more intelligent, using learning, adaptive and evolutionary capabilities. The work is mainly focused on the modeling and control enhanced by the computational intelligence, so that we can have robots how flexible and wide range of operation robot can engage in with less instructions. Sensor technology has also been improved to reduce the uncertainty, while actuator technology was assured to make the controller work as exactly as desired.
On the other hand, the multiple autonomous robotic system has also been studied for cooperative/competitive works in the frame work of a group robotics, network robots, swarm intelligent robotic system or collective intelligent robotic system, believing that more robots, better work. One example is soccer robots. There are also lots of works in reality which might be carried out by multiple robots but single robots. But there are not many works which shows many intelligent robots work together in the real world. There are clearly many good works in both single and multi-agent type of robots but apparently something missing in between them. Why is it difficult to make multi-agent type of intelligent robots? in this paper, we discuss this issue and show some future problems.

Object manipulation coordinating multiple primitive motions

Y Hasegawa, M Higashiura, T Fukuda

2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS 2003 IEEE

Event date： 2003

Language：English Presentation type：Oral presentation (general)

This paper proposes an algorithm to coordinate multiple primitive motions in order to manipulate an object effectively. This algorithm enables a fingered hand to manipulate an object in realtime, because a searching space is reduced by using previously designed primitive motions. Besides this approach can embed dexterous motions in manipulation work as a primitive motion so that a hand system could manipulate an object effectively. In this paper, we experimentally show that four-fingered hand can effectively rotate a rectangular object by using the primitive motions and compare its performance with that of EP-based algorithm.

Multi-directional assembly of tunnel segments using a force controlled parallel link robot with fuzzy compensation

Z Zyada, Y Hasegawa, T Fukuda

SICE 2003 ANNUAL CONFERENCE, VOLS 1-3 2003 IEEE

Event date： 2003

Language：English Presentation type：Oral presentation (general)

Achieving assembly in different inclination angles for tunnel construction would be a difficult task because of gravity forces changing and hence actuators' friction forces. In this paper, we introduce the experimental results for multi-directional segments assembly of a shield tunnel excavation using a hydraulic parallel link robot. A force/motion control algorithm with model-based actuators' forces fuzzy compensation is implemented in different inclination angles.

Mechatronics from system integration viewpoint

T Fukuda, Y Hasegawa

ICOM 2003: INTERNATIONAL CONFERENCE ON MECHATRONICS 2003 PROFESSIONAL ENGINEERING PUBLISHING LTD

Study on brachiation controller for the multi-locomotion robot - Redesigning behavior controllers

H Kajima, M Doi, Y Hasegawa, T Fukuda

IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 2003 IEEE

Event date： 2003

Language：English Presentation type：Oral presentation (general)

The goal of our research is to achieve a dynamic and skillful motion by a real robot. We have previously developed a brachiation controller that can achieve two kinds of brachiation motions: overhand and side-hand motions. In this paper, we redesign behavior controllers in order to achieve a stable continuous brachiation without a break. We make the behavior controllers that can be controlled by the angle around a catching bar because the angle is the most dominant parameters of the brachiation motions. In addition, we introduce the action of bending elbow joints in order to realize a pendulum motion and to reduce the impact of the moment of catching a bar. Finally, we show the experimental result that the robot could successfully achieve continuous brachiation.

Flexible control of a grasping object with posture error

Y Hasegawa, M Higashiura, T Fukuda

PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOL 1 & 2 2002 IEEE

Event date： 2002

Language：English Presentation type：Oral presentation (general)

This paper proposes adjusting methods of a regrasping strategy according to position and posture errors of a grasping object. We had already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture of a grasping object. This method can avoid the limitation of joint work area and fingertip's slip so that it could extend tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

Generation method of regrasing motion using EP - Adjusting methods for posture error of grasping object

Y Hasegawa, M Higashiura, T Fukuda

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 2002 IEEE

Event date： 2002

Language：English Presentation type：Oral presentation (general)

This paper proposes adjusting methods of a re. grasping strategy according to position and posture errors of a grasping object. We had already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture of a grasping object. This method can avoid the limitation of joint work area and fingertip's slip so that it could extend tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

Fuzzy Modeling of a hydraulic parallel link manipulator actuators' forces

Z Zyada, Y Hasegawa, G Vachkov, T Fukuda

SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5 2002 IEEE

Event date： 2002

Language：English Presentation type：Oral presentation (general)

We present a fuzzy-logic based model for every hydraulic actuator of a parallel link manipulator. Construction of a fuzzy model rule base is composed of two stages; the first stage is: learning rules from examples. for the acquired input/output data; while the second stage is: completing the unknown fuzzy rules from heuristics and experience. The algorithm of fuzzy-rule base modeling as well as the actuators' forces results from models and experiments, for a 6 DOF Stewart Platform, are presented.

Study on brachiation controller - Adjustment method of strength and timing parameters

H Kajima, Y Hasegawa, T Fukuda

2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS 2002 IEEE

Event date： 2002

Language：English Presentation type：Oral presentation (general)

In this paper, we firstly introduce new concept of multi-locomotion robot inspired by an animal and a developed robot "Gorilla Robot II", which can select a better locomotion from biped locomotion, quadruped locomotion and brachiation, according to an environment. We consider "Brachiation" which is one of the most dynamic motions in animal motions. Then we propose an enhanced-control method for the robot in order to achieve a brachiation motion, adjusting the timing of local behaviors. We show that the developed robot successfully perform two kinds of brachiation motions.

Continuous locomotion of brachiation robot by behavior phase shift

Y Hasegawa, H Tanahashi, T Fukuda

JOINT 9TH IFSA WORLD CONGRESS AND 20TH NAFIPS INTERNATIONAL CONFERENCE, PROCEEDINGS, VOLS. 1-5 2001 IEEE

Event date： 2001

Language：English Presentation type：Oral presentation (general)

In this paper, we propose an extension of a hierarchical behavior controller which achieve dynamically dexterous behavior by shifting behavior phase. A controller for a dynamically dexterous behavior is hard to be designed by using any unsupervised leaning methods, because of enormous searching space. In order to reduce the searching space and its complexity, a hierarchical behavior structure is effective. We have previously proposed a hierarchical behavior controller, which consists of two kinds of modules: behavior coordinator and behavior controller and adaptation algorithm for scaling of behavior outputs. It is applied to the control problem of a seven-link brachiation robot, which moves dynamically from branch to branch like gibbon swinging its body. The robot however does not locomote from branch to branch stably, by adjusting amplitude of two behavior controllers. A hybrid adjusting algorithm with amplitude scaling and phase shifting of behavior outputs is proposed in this paper. Numerical simulations demonstrate that the obtained controller can successfully generate the stably continuous locomotion.

Behavior coordination of brachiation robot based on Behavior phase shift

Y Hasegawa, H Tanahashi, T Fukuda

IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 2001 IEEE

Event date： 2001

Language：English Presentation type：Oral presentation (general)

In this paper, we propose a new method to acquire hierarchical behavior controller which is achieved by shifting phase between local behaviors. Complex behavior is hardly obtained using any unsupervised leaning methods, because of enormous searching space. In order to reduce the searching space, a hierarchical behavior structure is effective. We have previously proposed a hierarchical behavior controller, which consists of two kinds of modules: behavior coordinator and behavior controller. It is applied to the control problem of a seven-link brachiation robot, which moves dynamically from branch to branch like gibbon swinging its body. Numerical simulations demonstrate that the obtained controller can successfully achieve continuous locomotion.

Walking mode shifting control from biped standing to quadruped walking for a gorilla robot

WG Wu, Y Hasegawa, T Fukuda

SICE 2001: PROCEEDINGS OF THE 40TH SICE ANNUAL CONFERENCE, INTERNATIONAL SESSION PAPERS 2001 IEEE

Event date： 2001

Language：English Presentation type：Oral presentation (general)

A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented in this paper. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method.

Behavior modification for continuous locomotion of Brachiation-type mobile robot

Y Hasegawa, T Fukuda, Y Ito

SMC 2000 CONFERENCE PROCEEDINGS: 2000 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOL 1-5 2000 IEEE

Event date： 2000

Language：English Presentation type：Oral presentation (general)

In this paper, we propose an adaptation and learning algorithm to adjust behavior coordinator against small changes of the objective task or new one. This method measures the relation between the each local behavior and the global behavior, and then determines the direction of change of the activation values from the behavior coordinator based on the measurements. Monkey-typed locomotion robot, Brachiator III, has 13 links and 12 joints and be able to take a motions like a real ape in a three-dimensional space. The controller is designed for a primitive case. The proposed algorithm is used when the branch interval is changed and when the continuous locomotion is desired. We show the effectiveness of the proposed algorithm through the experiments using the Brachiator III.

Acquisition method of regrasping motion with tolerance for object size

Y Hasegawa, J Matsuno, T Fukuda

IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4 2000 IEEE

Event date： 2000

Language：English Presentation type：Oral presentation (general)

Me have studied generation method of regrasping motion for four-fingered robot using Evolutionary Programming. EP has advantage of finding the alley of optimal numerical values but it requires much iteration to find it. This obtained regrasping strategy can not be applied to the other shaped-object except an object used in finding process. Therefore the generated regrasping strategy by EP should be reused for other sized-object. In this paper, we proposed the adaptation algorithm for different size of grasping object, We show the effectiveness of the method with the experimental results.

Position and elasticity control for biomimetic robot finger

K Kawanishi, H Hashizumi, Y Oki, Y Nakano, T Fukuda, G Vachkov, F Arai, Y Hasegawa

IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4 2000 IEEE

Event date： 2000

Language：English Presentation type：Oral presentation (general)

In this paper, a robot finger with a small mass and elasticity has been proposed to develop a human-friendly robot that can coexist in the same environment as the human area. The tendon-driven mechanism has an advantage of being able to control the fingertip elasticity by adjusting the tensions of each tendon. However, the tendon-driven mechanism can not achieve a precise position control of the fingertip. This is because the posture of finger is stable at the equilibrium point of each tendon tension that mainly depends on the friction force. In addition to this, the relation between the elasticity and the tendon tensions is non-linear one. Therefore, we use a fuzzy controller to control the fingertip position and the elasticity using fuzzy map that is tuned by, a local learning algorithm. The obtained experimental results have been analyzed and discussed front a viewpoint of further improvement.

Learning predictive control for GHP

Yasuhisa Hasegawa, Takuro Nakano, Toshio Fukuda, Takafumi Komori, Keiji Matsumoto, Koji Shimojima

IECON Proceedings (Industrial Electronics Conference) 1999.12.1

Event date： 1999.12

Language：English Presentation type：Oral presentation (general)

GHP (Gas Heat Pump) is the attractive air-conditioning system that realizes save energy and low emission, from ecological viewpoint. However it has some difficult characteristics to be controlled, that is the system response is very slow and the dead time is large because of large system. In addition, system dynamics is easily changed by the installation and the ambient conditions. Therefore it is difficult to adapt to these changes by conventional control methods. In this paper, we proposed a learning predictive control, which can control the variable system, identifying the system dynamics in on-line process. We show the effectiveness of the proposed algorithm through the computer simulations and experiment.

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