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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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）

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年 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 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年 IEEE

開催年月日： 2002年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2002年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2002年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2002年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2001年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2001年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2001年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2000年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2000年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2000年

記述言語：英語会議種別：口頭発表（一般）

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年12月1日

開催年月日： 1999年12月

記述言語：英語会議種別：口頭発表（一般）

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.

Behaviour adaption on behavior-based controller for brachiation robot

Y Hasegawa, Y Ito, T Fukuda

ADVANCES IN ARTIFICIAL LIFE, PROCEEDINGS 1999年 SPRINGER-VERLAG BERLIN

開催年月日： 1999年

記述言語：英語会議種別：口頭発表（一般）

This paper proposes novel adaptation method for a behavior-based locomotion robot. Utilization of hierarchical behavior controller makes the controller designing process easier and shorter, because the designer can deal with behavior controllers for simple behaviors independently, and coordinate those behavior controllers in order for a robot to perform the objective behavior after finishing the design of the fundamental behavior controllers. Some problems are still remaining. One is how to adjust the behavior coordinator when the objective behavior or robot parameters are slightly changed. We propose the novel method to adjust the behavior coordinator against some changes. This method measures the effects of the fundamental behavior controllers to the total behavior, and changes the activation values for them in less trials. This proposed method is applied to the real brachiation robot control. This brachiation robot has redundant mechanism to locomote from branch to branch with 14 actuators like a long-armed ape.

Learning method for hierarchical behavior controller

Y Hasegawa, T Fukuda

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS 1999年 IEEE

開催年月日： 1999年

記述言語：英語会議種別：口頭発表（一般）

Complex behavior is hardly obtained using an; unsupervised leaning methods, because of enormous searching space. In order to reduce the searching space, a hierarchical behavior structure is effective. In this paper, we proposed the hierarchical behavior controller, which consists of three types of modules, behavior coordinator, behavior controller and feedback controller. We also propose a new learning algorithm for the behavior coordinator and the behavior controller that consists of some sub-coordinators and some sub-controllers, respectively. This algorithm selects a deficient one by evaluating each sub-coordinator or sub-controller using multiple regression analysis based on previously obtained evaluation values. This can reduce the searching area and the learning rimes by avoiding the necessary of trying to tune good sub-coordinators or sub-controllers. The hierarchical behavior controller is applied to the problem of controlling a seven-link brachiation robot, which moves dynamically from branch to branch like gibbon swinging its body.

Robot hand manipulation by evolutionary programming

T Fukuda, K Mase, Y Hasegawa

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS 1999年 IEEE

開催年月日： 1999年

記述言語：英語会議種別：口頭発表（一般）

In this paper, we propose a searching method of the grasping and manipulating an object in the three-dimensional space by using a four-fingered robot hand which is applicable to the real robot hand. Recently there are many researches about multi-fingered robot hand. To manipulate some object, it is need to teach contact points and forces of fingertip. But it is difficult to optimize each parameter for natural grasping. So this paper shows the manipulation using EP (Evolutionary Programming) to optimize the motion of the fingers. In this case, EP determines not only when and where the fingers are molted but also which finger is operated to the next contact point as the grasping attitude is changed Moreover the coding of individual is unique, which makes easy to optimize the parameter: The result examines the effective in computer simulation in this paper but it would be applicable to a real robot hand.

Hierarchical control system based on unsupervised fuzzy-neuro system

Koji Shimojima, Toshio Fukuda, Yasuhisa Hasegawa

IEEE International Conference on Neural Networks - Conference Proceedings 1995年12月1日

開催年月日： 1995年12月

記述言語：英語会議種別：口頭発表（一般）

Recently, fuzzy systems are applied to various systems. However, lack of learning ability, the determination of most fuzzy rules and membership function was made by human experts. In this paper, we propose a hierarchical control system based on the unsupervised RBF Fuzzy system. The learning algorithm of the fuzzy system is based on Genetic Algorithms. This hierarchical control system has the skill database, which manages the some of the fuzzy controllers acquired through the unsupervised learning process. Thus, the proposed system can use the acquired fuzzy controller effectively and it leads to reduce the iteration time for a new object. The effectiveness of the proposed method is shown through the simulations of the cart-pole problem.

Reinforcement learning method for generating fuzzy controller

Toshio Fukuda, Yasuhisa Hasegawa, Koji Shimojima, Fuminori Saito

Proceedings of the IEEE Conference on Evolutionary Computation 1995年12月1日

開催年月日： 1995年12月

記述言語：英語会議種別：口頭発表（一般）

In this paper, we propose a new reinforcement learning algorithm for generating a fuzzy controller. The algorithm generates a range of continuous real-valued actions, and reinforcement signal is self-scaled. This prevents the weights from overshooting when the system gets a very large reinforcement value. The proposed method is applied to the problem of controlling the brachiation robot, which moves dynamically from branch to branch like a gibbon swinging its body in a pendulum fashion(Fig. 1).

RBF-fuzzy system with GA based unsupervised/supervised learning method

Koji Shimojima, Toshio Fukuda, Yasuhisa Hasegawa

IEEE International Conference on Fuzzy Systems 1995年1月1日

開催年月日： 1995年1月

記述言語：英語会議種別：口頭発表（一般）

Fuzzy systems are used in many fields and places so far. In order to apply the fuzzy systems to the various fields and places, the tuning and optimizing method of the fuzzy system is the key issue. And the optimization of structure of fuzzy system (the number of membership function, the number of rules) is also very important to simplify the fuzzy systems. Some self-tuning methods have been proposed so far. However these conventional self-tuning methods do not have sufficient capability of learning. In this paper, we propose new unsupervised/supervised self-tuning fuzzy system, which consists of some membership functions expressed by the radial basis function with insensitive region. Learning are based on the genetic algorithms. The descent method is also utilized for tuning the shapes of membership function and consequent parts in case of supervised learning. The effectiveness of the proposed methods is shown by some numerical examples and simulations.

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