研究者詳細 - 長谷川　泰久

講演・口頭発表等 - 長谷川　泰久

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ロボットの胴体姿勢および関節負荷に着目した傾斜面上の4足歩行制御

関山浩介, 青山忠義, 長谷川泰久, 福田敏男

日本ロボット学会学術講演会予稿集(CD-ROM) 2007年9月13日

Design method of brachitation controller based on virtual holonomic constraint

Toshio Fukuda, Shigetaka Kojima, Kosuke Sekiyama, Yasuhisa Hasegawa

2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 2007年 IEEE

開催年月日： 2007年

記述言語：英語会議種別：口頭発表（一般）

This paper describes an energy-efficient swing-back control for the brachiation robot. In our previous work, the brachiation controller is composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite a robot so as to achieve the locomotion successfully, while locomotion action is to move forward by releasing the ladder with the backward arm in the direction of locomotion and gripping the target ladder with another arm. However, the conventional swing-back control does not consider energy efficiency. Thus, a novel method to achieve an energy-efficient brachiation by exacting a swing-back during locomotion is proposed. Experimental results show that the proposed method can improve the locomotion action as much as over 30% in energy consumption.

Biorhythm-based awakening timing modulation

Yuki Wakuda, Akiko Noda, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 2007年 IEEE

開催年月日： 2007年

記述言語：英語会議種別：口頭発表（一般）

The purpose of the present study is to control human biological rhythm and life cycle by optimization of awakening timing. We developed a wearable interface for controlling awakening time named "BRAC (Biological Rhythm based Awakening timing Controller)". BRAC could estimate bio-rhythm by pulse wave from finger tip and send awake signal to user.
An ordinary alarm clock operates according to set times that have to be set in advance. However, humans have a rhythm in their sleep, which affects one's sleep depth and wake-up timing. We consider the simplest way to control or reset human's biorhythm or life style is to optimize the awakening timing and the sleeping hours.
We examined the relationship between controlling awakening timing based on autonomous nerve rhythm and equilibrium function. Our findings suggest indicate that the prototype "BRAC" could evaluate user's biological rhythm and awakes user at the time optimized for physical function of equilibrium.

Design method of brachiation controller based on virtual holonomic constraint

Toshio Fukuda, Shigetaka Kojima, Kosuke Sekiyama, Yasuhisa Hasegawa

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 2007年 IEEE

開催年月日： 2007年

記述言語：英語会議種別：口頭発表（一般）

This paper describes a control for the brachiation robot with holonomic constraint. In our previous work, the brachiation controller is composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite a robot so as to achieve the locomotion successfully, while locomotion action is to move forward by releasing the ladder with the backward arm in the direction of locomotion and gripping the target ladder with another arm. However, the conventional control can not apply brachiation in irregular ladder. And the convetional control was not consider energy efficiency. Thus, a novel method to achieve brachiation in irregular ladder and an energy-efficient brachiation by exacting a swing-back during locomotion is proposed. Experimental results show that the proposed method can improve the locomotion action as much as over 30% in energy consumption.

Stability proof of biped walking control based on point-contact

Masahiro Doi, Yasuhisa Hasegawa, Takayuki Matsuno, Toshio Fukuda

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 2007年 IEEE

開催年月日： 2007年

記述言語：英語会議種別：口頭発表（一般）

As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. We proposed Passive Dynamic Autonomous Control (PDAC) previously[13] as one of point-contact methods. PDAC expresses the robot dynamics as an 1-dimensional autonomous system based on the two concepts: 1) point-contact 2) Virtual Constraint (proposed by Grizzle and Westervelt et al[8], [10]). We actually realized 3D dynamic walking by means of proposed method, however stability is not proved and the convergence domain is not clear. Thus, this paper finds the convergence domain of the previously proposed controller and proves the stability by the Liapunov Theory. Finally, the correctness of stability proof is confirmed by the numerical simulation.

Environment-Adaptive Antipersonnel Mine Detection System -Advanced Mine Sweeper-

Toshio Fukuda, Yasuhisa Hasegawa, Kazuhiro Kosuge, Kiyoshi Komoriya, Fumihisa Kitagawa, Tomohiro Ikegami

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems 2006年10月9日 IEEE

Automatic land-mine detection system using adaptive sensing with vector CPR

Toshio Fukuda, Yasuhisa Hasegawa, Yasuhiro Kawai, Shinsuke Sato, Zyada Zakariya, Takayuki Matsuno

IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11 2006年 IEEE

開催年月日： 2006年

記述言語：英語会議種別：口頭発表（一般）

Ground Penetrating Radar (GPR) is a promising sensor for landmine detection, but there are two major problems to overcome. One is the non-planer(e.g. rough and/or undulating) ground surface. It remains irremovable clutters on a sub-surface image output from GPR. Geography adaptive scanning is useful to image objects beneath non-planer ground surface. The other problem is the distance between the antennas of GPR. When imaging the small objects such as an anti-personnel landmine close to antennas, it increases the nonlinearity of the relationship between the time for propagation and the depth of a buried object. In this paper, we modify Kirchhoff migration so as to account for not only the variation of height and pose of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

Motion control of landmine detection vehicle equipped with low-ground-pressure tires

Toshio Fukuda, Shinsuke Sato, Yasuhisa Hasegawa, Takayuki Matsuno, Zakarya Zyada

2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE 2006年 IEEE

開催年月日： 2006年

記述言語：英語会議種別：口頭発表（一般）

Most of landmine detection robots proposed before have been strongly restricted to locomote because they have not been able to enter the minefield. So we have proposed a mine detection vehicle which can enter minefield with low-ground-pressure tires and scan landmines directly using GPR. Low-ground-pressure tire decrease ground contact pressure. And we are intended to make accurate map that point out the position where landmines are buried. The position of the vehicle is able to be observed with internal sensors (for the posture measurement) and external sensors (for the position measurement). However, when controlling the vehicle, the sampling time of external sensors and communication time from external sensors to the vehicle cannot be disregarded. Exact position of the vehicle must be predicted with dynandcal model of the vehicle. We therefore propose dynamical model of the vehicle for low-ground-pressure vehicle. Based on experimental results, the dynamical model for low-ground-pressure vehicle is in consistency with acutual behavior of it.

Multi-locomotion robot - Energy-based motion control for dexterous brachiation

Toshio Fukuda, Yasuhisa Hasegawa, Masahiro Doi, Yoshihiko Asano

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS 2006年 IEEE

開催年月日： 2006年

記述言語：英語会議種別：口頭発表（一般）

This paper introduces a multi-locomotion robot which has multiple types of locomotion. The robot is developed to achieve a bipedal walk, a quadrupedal walk and a brachiation, mimicking locomotion ways of a gorilla. It therefore has higher mobility by selecting a proper locomotion type according to its environment and purpose. In this paper we focus on brachiation mode and propose a control algorithm to realize stable and efficient continuous brachiation while the ultimate purpose of this study is to develop a unified control architecture which realize multiple types of dexterous locomotion like an animal as well as motion stability and efficiency. Swing control of brachiation according to the total energy of the system is one of key issues in order to realize the continuous brachiation, because the brachiation can be modeled as a pendulum-like motion and the amplitude of the oscillation determines whether the robot can grasp the target ladder or not. We propose an energy-based control algorithm and install it into the swing action controller. Experimental results show that the robot can successfully achieve smooth and continuous brachiation.

Proposal of smooth biped walking control by means of heel-off motion

Masahiro Doi, Takayuki Matsuno, Yasuhisa Hasegawa, Toshio Fukuda

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 2006年 IEEE

開催年月日： 2006年

記述言語：英語会議種別：口頭発表（一般）

This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and each motion is designed individually under the assumption that each motion is possible to be treated independently each other. We adopt the approximate 1-mass model in both planes and derive the dynamics based on these models. It is assumed that the lateral motion is relevant to heel-off motion. On the other hand, in the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. By applying PDAC to the dynamics, phase around the contact point can be derived. By means of this phase of dynamics, it is possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.

Energy efficient swing-back control for brachiation robot

Toshio Fukuda, Shigetaka Kojima, Kousuke Sekiyama, Yasuhisa Hasegawa

2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE 2006年 IEEE

開催年月日： 2006年

記述言語：英語会議種別：口頭発表（一般）

In this paper, we propose an energy efficient swing-back control for the brachiation robot. In the previous work, brachiation controller was composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite robot so as to achieve locomotion successfully. While locomotion action is to move forward by releasing a brunk with arm in moving direction and griping the target brunch with other arm. However, energy efficiency has not been considered in the previous swing-back control, hence we propose a novel method to achieve energy-effecient brachiation by exacting a swing-back during locomotion. Experimental results show that the proposed method can improve the locomotion action as much as over 30% in energy consumption.

3D dynamic walking based on the inverted pendulum model with two degree of underactuation

M Doi, Y Hasegawa, T Fukuda

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 2005年 IEEE

開催年月日： 2005年

記述言語：英語会議種別：口頭発表（一般）

In this paper, the new control method to realize 3D natural dynamic walking based on the 3D robot inherent dynamics is proposed. The proposed method describes robot dynamics by use of a 3D inverted pendulum model and applies Passive Dynamic Autonomous Control(PDAC) to it. By utilizing the polar coordinate system to express the robot state around the contact-point between robot and the ground and applying PDAC, it is possible to express the 3-dimensional dynamics as 1-dimensional autonomous system. Due to autonomy, this ID dynamics has the conservative quantity named PDAC Constant. We build the stabilizing controller by means of PDAC Constant and analyze the walking based on the ID dynamics. Finally the proposed method is tested by experiment.

Realization of 3-dimensional dynamic walking based on the assumption of point-contact

M Doi, Y Hasegawa, T Fukuda

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 2005年 IEEE

開催年月日： 2005年

記述言語：英語会議種別：口頭発表（一般）

In this paper, we develop the lateral motion control based on Passive Dynamic Autonomous Control (PDAC) in order to solve two following problem in previous paper: 1) the steplength control in the sagittal plane results in the delay of tine step cycle since walking period is not controlled taking the sagittal control effect into consideration 2) error of the lateral dynamics is big since the effect of the sagittal motion on the lateral dynamics is neglected. At first, the walking period is controlled, by adjusting the amplitude of side-to-side rocking motion. Secondly, the value to lengthen the lateral inverted pendulum is decided according to the sagittal motion effect on it By means of this new lateral control in addition to sagittal steplength control, the 3-dimensional stable dynamic walking based on the robot inherent dynamics is realized.

Insertion of long peg into tandem shallow hole using search trajectory generation without force feedback

T Matsuno, T Fukuda, Y Hasegawa

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

開催年月日： 2004年

記述言語：英語会議種別：口頭発表（一般）

In this paper we propose a method to insert a long peg into a tandem shallow hole using search trajectory generation without force feedback. Automation of the assembly in a factory progressed in recent years. However the many processes where workers should assemble products by themselves still remain now. We call these processes "difficult assembly". The difficult assembly has the feature that a mating part has a unique shape. The RCC (Remote Center Compliance) is an effective method for assembly, but it is no longer useful on the condition that mating parts are complex. The RCC device has no durability since it is a product made from rubber, in addition a force sensor is expensive. If a robot could accomplish the assembly task without using those devices there is a advantage in terms of expense and durability. In our approach, the manipulator system inserts a long peg into the hole with switching the trajectory generation methods depending on the task condition.

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年 IEEE

開催年月日： 2004年

記述言語：英語会議種別：口頭発表（一般）

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年 ACTA PRESS

Supermedia-enhanced Internet-based telerobotics 国際共著

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

PROCEEDINGS OF THE IEEE 2003年3月 IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

開催年月日： 2003年3月

記述言語：英語

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年 IEEE

開催年月日： 2003年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2003年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2003年

記述言語：英語会議種別：口頭発表（一般）

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.

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