顔写真

ヒラタ ヤスヒサ
平田 泰久
Yasuhisa Hirata
所属
大学院工学研究科 ロボティクス専攻 ロボットシステム講座(知能機械デザイン学分野)
職名
教授
学位
  • 博士(工学)(東北大学)

  • 修士(工学)(東北大学)

経歴 10

  • 2016年4月 ~ 継続中
    東北大学 大学院工学研究科 教授

  • 2013年4月 ~ 2017年9月
    仙台高等専門学校 非常勤講師

  • 2007年4月 ~ 2016年3月
    東北大学 大学院工学研究科 准教授

  • 2007年9月 ~ 2013年3月
    東北学院大学 非常勤講師

  • 2012年3月 ~ 2012年10月
    The Universite de Versailles Saint-Quentin-en–Yvelines, France 客員研究員

  • 2006年4月 ~ 2011年9月
    仙台高等専門学校 非常勤講師

  • 2006年4月 ~ 2007年3月
    東北大学 大学院工学研究科 助教授

  • 2006年10月 ~ 2006年11月
    The Universite de Versailles Saint-Quentin-en–Yvelines, France 客員研究員

  • 2002年11月 ~ 2006年3月
    科学技術振興機構 さきがけ研究21 研究員 (兼任)

  • 2000年4月 ~ 2006年3月
    東北大学 大学院工学研究科 助手

︎全件表示 ︎最初の5件までを表示

学歴 2

  • 東北大学 工学研究科 機械知能工学専攻

    ~ 2000年3月24日

  • 東北大学 工学部 機械知能工学科

    ~ 1998年3月25日

委員歴 72

  • IEEE-RAS Administrative Commitee Member

    2020年1月 ~ 継続中

  • 介護ロボット ニーズ・シーズ連携協調協議会プロジェクトコーディネーター

    2019年4月 ~ 継続中

  • 日本ロボット学会 欧文誌委員会 アドバイザリーボード

    2019年 ~ 継続中

  • 自動車技術会 論文集・IJAE(英文論文集)校閲委員

    2018年 ~ 継続中

  • 計測自動制御学会 東北支部 顧問 委員

    2017年1月 ~ 継続中

  • IEEE-RAS Associate Vice President

    2016年7月 ~ 継続中

  • IEEE-RAS Co-Chair of TC on Rehabilitation and Assistive Robotics

    2016年 ~ 継続中

  • 計測自動制御学会 ロボティクス部会 委員

    2015年1月 ~ 継続中

  • 日本機械学会 和文論文集 アソシエイトエディタ

    2014年5月 ~ 継続中

  • IEEE International Conference on Advanced Robotics and Mechatronics 2024 (IEEE ARM 2024) Genearal Co-Chair

    2024年7月 ~ 2024年7月

  • 計測自動制御学会 第24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(SI2023)アドバイザリ委員会委員

    2023年12月 ~ 2023年12月

  • 2023 Symposium on Advanced Robotics and Automation (SARA) (WRC SARA 2023) プログラム委員

    2023年8月 ~ 2023年8月

  • 2023 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2023) プログラム委員

    2023年8月 ~ 2023年8月

  • IEEE RO-MAN2023国際プログラム委員会 Associate Editor

    2023年4月 ~ 2023年4月

  • The 31st IEEE International Conference on Robot and Human Interactive Communication (ROMAN 2022) 国際プログラム委員

    2022年8月 ~ 2022年9月

  • 2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA 2022) プログラム委員

    2022年8月 ~ 2022年8月

  • 2022 IEEE International Conference on Mechatronics and Automation ( IEEE ICMA 2022) 招待/主催会議議長

    2022年8月 ~ 2022年8月

  • 2022 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2022) プログラム委員

    2022年8月 ~ 2022年8月

  • IAS-17 プログラム委員

    2022年6月 ~ 2022年6月

  • WRC SARA 2021 プログラム委員

    2021年8月 ~ 2021年8月

  • IEEE ISR2021 Awards Chair

    2021年3月 ~ 2021年3月

  • 日本ロボット学会 代議員

    2017年3月 ~ 2021年3月

  • 日本ロボット学会 欧文誌委員会 シニアエディター

    2013年1月 ~ 2019年

  • IEEE ISR2018 Publicity Chair

    2018年8月 ~ 2018年8月

  • 計測自動制御学会 SI部門表彰委員 委員

    2017年4月 ~ 2018年3月

  • 計測自動制御学会 SI部門運営委員 委員

    2015年4月 ~ 2018年3月

  • IEEE-RAS, RA-Letter Associate Editor

    2015年4月 ~ 2018年

  • 計測自動制御学会 東北支部 顧問 委員

    2017年1月 ~ 2017年12月

  • 日本ロボット学会 欧文誌委員会 委員長

    2016年4月 ~ 2017年3月

  • 日本ロボット学会 欧文誌Best Paper Award選考小委員会 幹事

    2016年4月 ~ 2017年3月

  • 日本ロボット学会 理事

    2015年4月 ~ 2017年3月

  • 日本機械学会 ロボティクス・メカトロニクス部門 運営委員

    2015年4月 ~ 2017年3月

  • 計測自動制御学会 東北支部 専門委員 委員

    2014年1月 ~ 2016年12月

  • 計測自動制御学会 東北支部 専門委員 委員

    2014年1月 ~ 2016年12月

  • 日本ロボット学会 欧文誌Best Paper Award選考小委員会 副幹事

    2015年4月 ~ 2016年3月

  • 日本機械学会 機械力学・計測制御部門 広報・出版委員会 委員長

    2015年4月 ~ 2016年3月

  • 日本ロボット学会 欧文誌委員会 副委員長

    2015年4月 ~ 2016年3月

  • 日本機械学会 機械力学・計測制御部門 運営委員

    2014年4月 ~ 2016年3月

  • 日本ロボット学会 実用化技術賞選考委員会 委員

    2014年4月 ~ 2016年3月

  • 日本機械学会 ロボティクス・メカトロニクス部門 第1地区技術委員会委員長

    2014年4月 ~ 2016年3月

  • 日本機械学会 機械力学・計測制御部門 運営委員

    2014年4月 ~ 2016年3月

  • 自動車技術会 論文校閲委員

    2013年4月 ~ 2016年3月

  • 日本機械学会 機械力学・計測制御部門 広報・出版委員会 幹事

    2014年4月 ~ 2015年3月

  • 日本機械学会 機械力学・計測制御部門 運営委員

    2014年4月 ~ 2015年3月

  • 日本機械学会 ロボティクス・メカトロニクス部門 運営委員

    2014年4月 ~ 2015年3月

  • 計測自動制御学会 ロボティクス部会 主査

    2013年1月 ~ 2014年12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 委員

    2013年4月 ~ 2014年3月

  • 日本ロボット学会 欧文誌Best Paper Award選考小委員会 委員

    2013年4月 ~ 2014年3月

  • 日本機械学会校閲委員会 委員

    2011年4月 ~ 2014年

  • 日本機械学会 医工学テクノロジー推進会議 運営委員

    2011年4月 ~ 2014年

  • 日本ロボット学会 論文賞選考小委員会 委員

    2011年4月 ~ 2013年3月

  • 日本ロボット学会 代議員

    2011年3月 ~ 2013年3月

  • 計測自動制御学会 SI部門表彰委員会 委員

    2010年4月 ~ 2013年3月

  • 計測自動制御学会 ロボティクス部会 副査

    2011年1月 ~ 2012年12月

  • 日本ロボット学会 欧文誌委員会 委員

    2008年4月 ~ 2012年12月

  • 計測自動制御学会ファナック賞選考委員会 委員

    2011年6月 ~ 2012年3月

  • 日本機械学会「長期的視点からの提言を作成する活動」委員会 WG2(人工物に対する信頼性・ロバスト性の 確立と危機に対する管理制御方法)委員

    2011年5月 ~ 2012年3月

  • 日本ロボット学会 電子化運営委員会 委員

    2008年4月 ~ 2012年

  • 計測自動制御学会 相互作用と賢さ部会 委員

    2008年1月 ~ 2012年

  • 計測自動制御学会 論文集委員会 委員

    2010年4月 ~ 2011年3月

  • 日本ロボット学会 実用化技術賞選考委員会 委員

    2009年4月 ~ 2011年3月

  • 日本機械学会会誌編修部会 委員

    2009年4月 ~ 2011年3月

  • 計測自動制御学会 SI部門運営委員会 委員

    2009年4月 ~ 2011年3月

  • 日本ロボット学会 評議員

    2008年3月 ~ 2011年3月

  • 計測自動制御学会 ロボティクス部会 幹事

    2009年1月 ~ 2010年12月

  • 日本機械学会校閲委員会 委員

    2008年4月 ~ 2009年3月

  • 計測自動制御学会 ロボティクス部会 委員

    2005年1月 ~ 2009年3月

  • 日本ロボット学会 研究奨励賞選考委員会 委員

    2007年12月 ~ 2008年9月

  • 日本ロボット学会 会誌編集委員会 委員

    2006年4月 ~ 2008年3月

  • 計測自動制御学会 相互作用と賢さ部会 幹事

    2006年1月 ~ 2007年12月

  • 日本機械学会 ロボティクス・メカトロニクス部門 第二技術委員会 幹事

    2005年4月 ~ 2007年3月

  • 計測自動制御学会 相互作用と賢さ部会 委員

    2003年1月 ~ 2005年12月

︎全件表示 ︎最初の5件までを表示

所属学協会 4

  • 日本機械学会

  • 計測自動制御学会

  • 日本ロボット学会

  • IEEE

研究キーワード 3

  • パッシブロボティクス

  • 複数ロボット協調

  • 人間・ロボット協調

研究分野 3

  • ものづくり技術(機械・電気電子・化学工学) / 制御、システム工学 /

  • 情報通信 / 機械力学、メカトロニクス /

  • 情報通信 / ロボティクス、知能機械システム /

受賞 54

  1. SI2023 優秀講演賞

    2023年12月 計測自動制御学会 ハンドルにかかる荷重の時系列情報と骨格情報を用いた自転車屋外走行時の上半身の姿勢推定

  2. SI2023 優秀講演賞

    2023年12月 計測自動制御学会 Estimation of people's gaze targets by the mobile robot equipped with a 360-degree camera

  3. SI2022 優秀講演賞

    2022年12月 計測自動制御学会 適応自在AIロボットによる介護支援に向けたデジタルプラットフォームの開発

  4. SI2022 優秀講演賞

    2022年12月 計測自動制御学会 人に歩く挑戦を促す寄り添い型歩行支援ロボットの開発

  5. SI2022 優秀講演賞

    2022年12月 計測自動制御学会 使用者へのアカウンタビリティを考慮した起立・歩行・着座支援ロボット

  6. 学術論文顕彰之証

    2022年4月 公益財団法人 油空圧機器技術振興財団 既存6輪ダンプトラックの自律走行のためのレトロフィット型ハンドル駆動用エアモータの速度制御

  7. 日本機械学会東北支部技術研究賞

    2021年3月 日本機械学会 東北支部 レトロフィットによる自社保有/レンタルと既存大型6輪ダンプトラックの自動運転

  8. Toshio Fukuda Best Paper Award in Mechatronics

    2020年10月 IEEE ICMA 2020 2020 IEEE International Congerence on Mechatronics and Automation

  9. 第6回永守賞

    2020年9月 公益財団法人 永守財団

  10. SI2019優秀講演賞

    2019年12月 計測自動制御学会 コイルばねを用いた足漕ぎ車椅子のためのペダリングアシスト装置の開発

  11. SI2018優秀講演賞2

    2018年12月 計測自動制御学会 複合現実型視覚情報と振動触覚情報の提示による作業支援

  12. SI2018優秀講演賞1

    2018年12月 計測自動制御学会 Tempo Training using Vibrotactile Cues Based on Phantom Sendation

  13. SII2016プログラム委員長

    2017年12月 計測自動制御学会システムインテグレーション部門

  14. SI2017優秀講演賞3

    2017年12月 計測自動制御学会 操舵制御可能なキャスタを用いた歩行支援システムの開発 -操舵キャスタの運動特性解析-

  15. SI2017優秀講演賞2

    2017年12月 計測自動制御学会 ファントムセンセーションに基づく振動刺激を利用した手先の経路追従

  16. SI2017優秀講演賞1

    2017年12月 計測自動制御学会 無段変速機とクラッチを用いた足こぎ車いすの踏力評価

  17. 部門貢献表彰

    2017年5月 日本機械学会ロボティクス・メカトロニクス部門 LIFE2016実行委員長

  18. SI2016優秀講演賞

    2016年12月 計測自動制御学会 3次元空間におけるワイヤ駆動型パッシブ運動支援システムの位置姿勢制御

  19. Advanced Robotics Best Paper Award

    2016年9月8日 The Robotics Society of Japan Motion Control of Wearable-Type Walking Support System based on the Spring-Mass Model

  20. ベストプレゼンテーション表彰

    2015年5月18日 日本機械学会ロボティクス・メカトロニクス部門 足こぎ車椅子の片脚漕ぎのためのペダリング支援制御

  21. 研究奨励賞

    2014年12月16日 計測自動制御学会システムインテグレーション部門 ブレーキ制御による足こぎ車椅子の操舵ハンドルアシスト

  22. Best Paper Award Finalist

    2014年7月9日 IEEE/ASME International COnference on Advanced Intelligent Mechatronics Walking Support by Wearable System Based on the Spring-Mass Model

  23. ベストプレゼンテーション表彰

    2014年5月27日 日本機械学会ロボティクス・メカトロニクス部門 サーボブレーキを用いた足こぎ車椅子の操舵制御

  24. 科学技術分野 文部科学大臣表彰 若手科学者賞

    2014年4月15日 文部科学省

  25. SI2013優秀講演賞

    2013年12月 計測自動制御学会 ブレーキ制御による足こぎ車椅子の操舵ハンドルアシスト

  26. NTF Award Finalist for Entertainment Robots and Systems

    2013年11月6日 New Technology Foundation Steering Assist System for a Cycling Wheelchair Based on Braking Control

  27. SI2012優秀講演賞

    2012年12月 計測自動制御学会 回生ブレーキを利用した足こぎ車椅子の受動的走行支援制御

  28. 貢献表彰

    2011年12月24日 計測自動制御学会システムインテグレーション部門

  29. ベストプレゼンテーション表彰

    2011年5月27日 日本機械学会ロボティクス・メカトロニクス部門 サーボブレーキを用いたワイヤ型運動支援システムの運動制御特性の解析

  30. SI2010優秀講演賞

    2010年12月25日 計測自動制御学会 片麻痺患者の動作支援を目的とした協調型歩行支援システムの提案

  31. ICMA2009 Best Conference Paper Award

    2009年8月 ICMA2009 Development of an Automatic Dishwashing Robot System

  32. Finalist of the Tzyh-Jong Tarn Best Paper Award

    2009年2月 2008 IEEE International Conference on Robotics and Biomimetics Development of Omni-directional Mobile Base with Servo Brakes for Passive Dance Partner Robot

  33. Finalist of Best Paper Award

    2008年8月 2008 IEEE International Conference on Mechatronics and Automation Development of Passive Wearable Walking Support System Based on Brake Control

  34. SI2007優秀講演賞

    2007年12月22日 計測自動制御学会 歩行支援機を利用した立ち上がり支援の検討

  35. SI2007優秀講演賞

    2007年12月22日 計測自動制御学会 複数のパッシブ型搬送ロボットによる物体の可変運動特性制御

  36. NTF Award for Entertainment Robots and Systems

    2007年10月 New Technology Foundation Dance Partner Robot -Ms DanceR-

  37. SI2006優秀講演賞

    2006年12月16日 計測自動制御学会 RoBEを用いたモバイルマニピュレータの実時間自己衝突回避制御

  38. SI2006優秀講演賞

    2006年12月16日 計測自動制御学会 フリージョイント把持機構を有するパッシブ型移動ロボットと人間とによる物体の協調搬送

  39. ファナックFAロボット財団 論文賞

    2006年3月10日 ファナックFAロボット財団 キャスタ特性を有した複数の人間協調型移動ロボット(DR Helper)と人間との協調による単一物体の搬送

  40. SI2005ベストセッション講演賞

    2005年12月18日 計測自動制御学会 サーボブレーキを利用したパッシブ型知的歩行支援機のための転倒防止機能

  41. 日本ロボット学会 論文賞

    2005年9月16日 日本ロボット学会 キャスタ特性を有した複数の人間協調型移動ロボット(DR Helper)と人間との協調による単一物体の搬送

  42. ICASE Best Paper Award Finalist

    2005年8月4日 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems Passive-type Intelligent Walking Support System "RT Walker"

  43. Finalist for Best Conference Paper

    2005年7月1日 2005 IEEE International Conference on Robotics and Biomimetics Checking Movable Configuration Space in C-Closure Object for Object Caging and Handling

  44. ROBOMECH表彰

    2005年6月10日 日本機械学会 ロボティクス・メカトロニクス部門 Cagingを用いた物体の搬送のための複数ロボットのフォーメーション制御の提案

  45. 日本機械学会賞(論文)

    2005年4月8日 日本機械学会 仮想3-Dキャスタ特性を有した複数の移動マニピュレータと人間との協調による物体のハンドリング

  46. SI2004ベストセッション講演賞-1

    2004年12月19日 計測自動制御学会 Variable Center of Rotation Control for Walking Support System Based on Environment Information

  47. SI2004ベストセッション講演賞-2

    2004年12月19日 計測自動制御学会 RoBEを用いたモバイルマニピュレータの実時間自己衝突回避制御

  48. SI2004ベストセッション講演賞-3

    2004年12月19日 計測自動制御学会 立ち上がり動作支援システムの動力学解析

  49. 青葉工学振興会 研究奨励賞

    2004年12月8日 青葉工学振興会 パッシブ型歩行支援システムに関する研究

  50. ICASE Best Paper Award Finalist

    2004年10月1日 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems Dance Partner Robot-Ms DanceR-,

  51. Best Paper in Robotics Award

    2004年8月 2004 IEEE International Conference on Robotics and Biomimetics From Human to Pushing Leader Robot: Leading a Decentralized Multirobot System for Object Handling

  52. ICRA Best Manipulation Paper Finalist

    2004年5月 2004 IEEE International Conference on Robotics and Automation Control a Rigid Caging Formation for Cooperative Object Transportation by Multiple Mobile Robots

  53. ICASE Best Paper Award Finalist

    2003年9月 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems Decentralized Control of Multiple Mobile Manipulators Handling a Single Object in Coordination

  54. 日本ロボット学会研究奨励賞

    2001年9月19日 日本ロボット学会 分散型ロボットヘルパーと人間との協調による単一物体の搬送(第5回ロボティクスシンポジア)

︎全件表示 ︎最初の5件までを表示

論文 283

  1. Development of a Living Laboratory to Verify Assistive Technology in Simulated Indoor and Outdoor Spaces

    28 (1) 169-178 2024年1月20日

    出版者・発行元:None

    DOI: 10.20965/jaciii.2024.p0169  

    ISSN:1343-0130

    eISSN:1883-8014

  2. SPIRO: A Compliant Spiral Spring–Damper Joint Actuator With Energy-Based Sliding-Mode Controller 査読有り

    Seyed Amir Tafrishi, Yasuhisa Hirata

    IEEE/ASME Transactions on Mechatronics 1-13 2024年1月9日

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/tmech.2023.3346278  

    ISSN:1083-4435

    eISSN:1941-014X

  3. Real-Time Marker-Based Monocular Autonomous Docking in Semi-Unstructured Indoor Environments.

    Sebastian Chinchilla, Takumi Saito, Ryosuke Oikawa, Tomoaki Yamada, Naoto Toshiki, Satsuki Yamane, Jose Salazar, Ankit A. Ravankar, Yasuhisa Hirata

    SII 1561-1568 2024年

    DOI: 10.1109/SII58957.2024.10417484  

  4. Preferential Multi-Target Search in Indoor Environments using Semantic SLAM

    arXiv preprint arXiv:2309.14063 2023年9月25日

  5. Trajectory prediction considering the behavior of pedestrians intersecting with vehicles 査読有り

    Soichiro Tanno, Yusuke Tamura, Yasuhisa Hirata

    Advanced Robotics 37 (18) 1198-1209 2023年9月4日

    出版者・発行元:Informa UK Limited

    DOI: 10.1080/01691864.2023.2252046  

    ISSN:0169-1864

    eISSN:1568-5535

  6. A geometric motion planning for a spin-rolling sphere on a plane

    Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto, Yasuhisa Hirata

    Applied Mathematical Modelling 121 542-561 2023年9月

    出版者・発行元:Elsevier BV

    DOI: 10.1016/j.apm.2023.05.009  

    ISSN:0307-904X

  7. Running Guidance for Visually Impaired People Using Sensory Augmentation Technology Based Robotic System

    Zhenyu Liao, Jose V.Salazar Luces, Ankit A. Ravankar, Yasuhisa Hirata

    IEEE Robotics and Automation Letters 8 (9) 5323-5330 2023年9月1日

    DOI: 10.1109/LRA.2023.3294718  

    eISSN:2377-3766

    詳細を見る 詳細を閉じる

    Participating in sports is of great significance to people's physical and mental well-being. While physical activity is commonplace for healthy individuals, it presents challenges for those with visual impairments, as they can not rely on visual cues to perceive essential information related to sports participation, such as their surroundings. Many related studies including our previous work for assisting users in doing sports using sensory augmentation technology, which couples haptic feedback with people's desired movements, are proposed for this challenge. On the basis of these studies, we propose a system for guiding visually impaired users running outdoors using a drone-based robotic system to locate a user and a track, calculate desired moving directions, and provide haptic feedback to the user. We conduct an experiment to explore how accurately people can recognize the directions conveyed by the proposed guidance method. Subjects were asked to select their felt directions on a tablet while running on a treadmill at 6.5 km/h and 7.5 km/h. The results show subjects could recognize the cued directions with an average resolution of 19.8° and 19.6° at different speeds, respectively, and there is no significant difference exist between the two speeds. In addition, we guide users in realistic running scenarios on sports tracks. Subjects in this experiment wore an eye mask to simulate the visually impaired. They were instructed to run by following the perceived directions conveyed by haptic feedback. According to the results, they could run within a specific track 81% of the time with the proposed system.

  8. A Performance Evaluation of Overground Gait Training With a Mobile Body Weight Support System Using Wearable Sensors

    Zonghao Dong, Jose Victorio Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi, Yasuhisa Hirata

    IEEE Sensors Journal 23 (11) 12209-12223 2023年6月1日

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/jsen.2023.3269031  

    ISSN:1530-437X

    eISSN:1558-1748 2379-9153

  9. Dance Gestures Recognition for Wheelchair Control

    Juan Martinez Rocha, Jhedmar Callupe Luna, Eric Monacelli, Gladys Foggea, Maflohé Passedouet, Stéphane Delaplace, Yasuhisa Hirata

    2023 8th International Conference on Control and Robotics Engineering (ICCRE) 2023年4月21日

    出版者・発行元:IEEE

    DOI: 10.1109/iccre57112.2023.10155605  

  10. リビングラボを利用した次世代介護ロボット開発

    日本在宅ケア学会誌 26 (2) 2023年3月31日

  11. Table of Contents

    IEEE Robotics & Automation Magazine 30 (1) 1-2 2023年3月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/mra.2023.3243144  

    ISSN:1070-9932

    eISSN:1558-223X

  12. Enabling Homecare With Robotic Technologies [From the Guest Editors]

    Weihua Sheng, Hesheng Wang, Yingzi Lin, Yasuhisa Hirata, Stefano Mazzoleni

    IEEE Robotics & Automation Magazine 30 (1) 7-100 2023年3月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/mra.2023.3237439  

    ISSN:1070-9932

    eISSN:1558-223X

  13. CARE: Cooperation of ai Robot Enablers to Create a Vibrant Society

    Ankit A. Ravankar, Seyed Amir Tafrishi, Jose V. Salazar Luces, Fumi Seto, Yasuhisa Hirata

    IEEE Robotics & Automation Magazine 30 (1) 8-23 2023年3月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/mra.2022.3223256  

    ISSN:1070-9932

    eISSN:1558-223X

  14. Nursing Care Teaching System Based on Mixed Reality for Effective Caregiver-Patient Interaction

    Goro Aoki, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Ankit A. Ravankar, Yasuhisa Hirata

    2023 IEEE/SICE International Symposium on System Integration (SII) 2023年1月17日

    出版者・発行元:IEEE

    DOI: 10.1109/sii55687.2023.10039419  

  15. An Object-oriented Navigation Strategy for Service Robots Leveraging Semantic Information

    Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Yasuhisa Hirata

    2023 IEEE/SICE International Symposium on System Integration (SII) 2023年1月17日

    出版者・発行元:IEEE

    DOI: 10.1109/sii55687.2023.10039409  

  16. Path-Following Guidance for Powered Wheelchair Users Using Mixed-Reality Technology with Shared Control Policy

    Zhenyu Liao, Jose Salazar, Ankit Ravankar, Sebastian Chinchilla, Eric Monacelli, Yasuhisa Hirata

    2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022 380-385 2023年

    DOI: 10.1109/CBS55922.2023.10115329  

    詳細を見る 詳細を閉じる

    Nowadays, the number of mobility-disabled individuals who rely on a powered wheelchair to move is increasing. They need to be guided to follow a desired route when they are learning sports skills like wheelchair dance. Some systems using mixed-reality technologies to teach them to move around space are proposed. However, these methods still face difficulties in keeping users inside of a designated path. In this paper, we propose a method for teaching powered wheelchair users to follow a specific path by utilizing mixed-reality technology. In this method, we teach users how to move along a desired path by providing visual guidance cues via a head-mounted device or haptic guidance cues via a wearable haptic interface. Moreover, we employ a shared control policy to help users keep inside of the path. We conducted an experiment to evaluate the efficacy of the proposed method and to compare results for the two mixed-reality guidance modalities (visual feedback via a head-mounted device and haptic feedback via a haptic interface). The results reveal that the proposed guidance method with the shared control policy could help users follow a desired path with less deviation. We also discovered that users of the head-mounted device have similar results compared to those of the haptic interface.

  17. Cooperation of Assistive Robots to Improve Productivity in the Nursing Care Field

    Yasuhisa Hirata, Jose Victorio Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi

    Springer Proceedings in Advanced Robotics 27 SPAR 287-294 2023年

    DOI: 10.1007/978-3-031-25555-7_19  

    ISSN:2511-1256

    eISSN:2511-1264

    詳細を見る 詳細を閉じる

    This paper introduces an overview of the “Adaptable AI-enabled Robots to Create a Vibrant Society” project, which is part of the “Moonshot R &D Program” led by the Cabinet Office of Japan. We also introduce CARE, Cooperation of Ai-Robot Enablers, which are being researched and developed to improve productivity in the nursing care field. The importance of building an educational system for the successful use of advanced technologies will also be presented, and then we propose a nursing care motion guidance system using AR glasses that allows non-expert caregivers to learn appropriate nursing care.

  18. Spiral model development of retrofitted robot for tele-operation of conventional hydraulic excavator

    Tomohiro Komatsu, Keiji Nagatani, Yasuhisa Hirata

    2022年11月24日

  19. Development and Control of Robot Hand with Finger Camera for Garment Handling Tasks.

    Hirokazu Kondo, Jose Victorio Salazar Luces, Yasuhisa Hirata

    IEEE 8940-8947 2022年10月23日

    DOI: 10.1109/IROS47612.2022.9982134  

  20. A Study of Management to Develop Adaptable AI-enabled Robots toward Inclusive Society

    Kohei Okabe, Yasuhisa Hirata

    2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE) 2022年9月6日

    出版者・発行元:IEEE

    DOI: 10.23919/sice56594.2022.9905811  

  21. PSM: A Predictive Safety Model for Body Motion Based On the Spring-Damper Pendulum 査読有り

    abs/2207.14556 2022年7月29日

    DOI: 10.48550/arXiv.2207.14556  

  22. A novel single-stroke path planning algorithm for 3D printers using continuous carbon fiber reinforced thermoplastics 査読有り

    Kohei Yamamoto, Jose Victorio Salazar Luces, Keiichi Shirasu, Yamato Hoshikawa, Tomonaga Okabe, Yasuhisa Hirata

    Additive Manufacturing 55 102816-102816 2022年7月1日

    出版者・発行元:Elsevier BV

    DOI: 10.1016/j.addma.2022.102816  

    ISSN:2214-8604

    eISSN:2214-8604

    詳細を見る 詳細を閉じる

    Recently, 3D printers using continuous carbon fiber as a material have attracted considerable attention from researchers due to its high mechanical properties and the potential to reproduce complex shapes. Although the main advantage of 3D printing is that complex shapes can be produced through a simple process, very few studies have evaluated samples with complex shapes containing continuous fibers. Unlike pure resin or materials mixed with short fibers, carbon fiber filament contains long, strong fibers, which requires additional steps such as cutting the filament multiple times to create complex shapes. This study proposes a path planning algorithm for the print head of a fused deposition modeling (FDM) 3D printer using filaments reinforced with continuous fiber bundle. The proposed method generates a single-stroke path that can be printed continuously without cutting the filament for each layer. Specifically, an Eulerian graph is created from the print pattern, and the path is generated using Hierholzer's Algorithm with constraints. By visualizing the generated paths, we confirmed that the paths generated by the proposed method do not interfere with each other. Furthermore, samples were fabricated by using a 3D printer capable of printing with continuous fibers, and the inside of these samples were observed with X-ray computed tomography (CT). In addition, the gaps that occur during actual printing can be suppressed by adjusting the parameters of the algorithm. Finally, we have shown that the proposed method can be applied to geometries with varying wall thicknesses and aperiodic patterns using the Voronoi diagram.

  23. Open-hole tensile properties of 3D-printed continuous carbon-fiber-reinforced thermoplastic laminates: Experimental study and multiscale analysis 査読有り

    Yamato Hoshikawa, Keiichi Shirasu, Kohei Yamamoto, Yasuhisa Hirata, Ryo Higuchi, Tomonaga Okabe

    Journal of Thermoplastic Composite Materials 36 (7) 2836-2861 2022年6月24日

    出版者・発行元:SAGE Publications

    DOI: 10.1177/08927057221110791  

    ISSN:0892-7057

    eISSN:1530-7980

    詳細を見る 詳細を閉じる

    The mechanical properties of open-hole tensile (OHT) specimens made of 3D-printed continuous carbon-fiber-reinforced thermoplastics (CFRTPs) were investigated. The stacking sequence of the OHT specimens were [0/90]<sub>2s</sub>, and the as-printed specimens possessed higher porosity (15.19%) than conventional fiber reinforced composites. The OHT tests demonstrated that the tensile modulus and fracture strength of the as-printed specimens exhibited 36.7 ± 0.3 GPa and 226.0 ± 9.0 MPa, respectively. To evaluate the effects of voids on the OHT properties, the 3D-printed CFRTPs were hot-pressed, where fiber orientation and porosity (3.41 ± 0.10%) were improved. Additionally, the tensile modulus was increased to 45.1 ± 0.8 GPa, which is 23% higher than the as-printed specimens, even though the fracture strength were comparable or lower than that of as-printed specimens. To validate such OHT properties, a numerical multiscale model was introduced, with a microscale periodic unit cell (PUC) analysis for determining the effective tensile moduli and mesoscale extended finite element method (XFEM) analysis for OHT properties. In the PUC analysis, we considered a two-scale numerical model including a fiber-resin scale with fiber orientation for effective tensile moduli of a CFRTP filament, and filament-void scale for those of a CFRTP laminate. The porosity and fiber orientation were measured by X-ray computed tomography and digital microscopy observations, and the porosity for the 0° specimen were 14.86%. By substituting the effective tensile moduli of the filament-void scale and those of the fiber-resin scale into the XFEM, respectively, the stress-strain responses of the computational OHT models were found to be in good agreement with those of the experimental results of as-printed and hot-pressed CFRTP, respectively. Both the OHT models showed that the Weibull criterion was satisfied without significant delamination at the failure strain, corresponding to the brittle failure mode due to fiber breakage, which agreed reasonably well with the experimental observations.

  24. Discretization and Stabilization of Energy-Based Controller for Period Switching Control and Flexible Scheduling 査読有り

    2022年6月13日

  25. WISP, Wearable Inertial Sensor for Online Wheelchair Propulsion Detection 査読有り

    22 (11) 4221-4221 2022年6月1日

    出版者・発行元:None

    DOI: 10.3390/s22114221  

    eISSN:1424-8220

  26. Mixed-reality human-machine-interface for motor learning of physical activities 査読有り

    Advanced Robotics 36 (12) 583-599 2022年5月28日

    DOI: 10.1080/01691864.2022.2076569  

  27. Immersive Virtual Walking System Using an Avatar Robot 査読有り

    Kengkij Promsutipong, Jose V. Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi, Yasuhisa Hirata

    2022 International Conference on Robotics and Automation (ICRA) 9325-9331 2022年5月23日

    出版者・発行元:IEEE

    DOI: 10.1109/icra46639.2022.9811588  

    ISSN:1050-4729

    詳細を見る 詳細を閉じる

    The ongoing COVID-19 pandemic has enforced governments across the world to impose social restrictions on the movement of people and confined them to their homes to avoid the spread of the disease. This not only forbids them from leaving their homes but also greatly reduces their physical activities. This situation has brought attention to virtual technologies such as virtual tours or telepresence robots. While these technologies allow people to remotely participate in activities, it does not address the problem of reduction in physical activities due to the pandemic. In this paper, we propose a telepresence robotic system driven by the user's gait to provide an immersive virtual walking experience in remote locations. To this end, we developed a control interface consisting of an automated treadmill that adjusts its speed to the user's pace automatically. This interface is used to control an avatar robot that sends a 360-degree live image back to the user for visual feedback. We conducted an evaluation experiment to compare the experience using the proposed system in two different conditions to that of regular walking. The results indicated that the proposed system gives an immersive and realistic virtual walking experience while demanding physical effort from the user.

  28. A Novel Assistive Controller Based on Differential Geometry for Users of the Differential-Drive Wheeled Mobile Robots 査読有り

    Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2022 International Conference on Robotics and Automation (ICRA) 5755-5761 2022年5月23日

    出版者・発行元:IEEE

    DOI: 10.1109/icra46639.2022.9811593  

  29. 搭乗者の目的地推定に基づく運動主体感を考慮したパーソナルモビリティの操作支援 査読有り

    岡本章良, 田村雄介, アンキットラワンカル, 平田泰久

    ロボティクスシンポジア予稿集 27 126-128 2022年3月11日

  30. Modality Influence on the Motor Learning of Ballroom Dance with a Mixed-Reality Human-Machine Interface 査読有り

    Sebastian Fernando Chinchilla Gutierrez, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2022 IEEE/SICE International Symposium on System Integration (SII) 177-182 2022年1月9日

    出版者・発行元:IEEE

    DOI: 10.1109/sii52469.2022.9708803  

  31. Design-Centered HRI Governance for Healthcare Robots 査読有り

    翁 岳暄, 平田 泰久

    2022 1-8 2022年1月7日

    出版者・発行元:None

    DOI: 10.1155/2022/3935316  

    ISSN:2040-2295

    eISSN:2040-2309

  32. Robot Path Planning in Narrow Environments Using Improved Roadmap Sampling

    Ankit A. RAVANKAR, Abhijeet RAVANKAR, Seyed Amir TAFRISHI, Jose Victorio SALAZAR Luces, Yasuhisa HIRATA

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 2P2-M03 2022年

    出版者・発行元:Japan Society of Mechanical Engineers

    DOI: 10.1299/jsmermd.2022.2p2-m03  

    eISSN:2424-3124

  33. Simulation-based Mobile Robot Navigation for Precision Agriculture Monitoring Application

    Ankit A. RAVANKAR, Abhijeet RAVANKAR, Jose Victorio SALAZAR Luces, Seyed Amir TAFRISHI, Yasuhisa HIRATA

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 1P1-A08 2022年

    出版者・発行元:Japan Society of Mechanical Engineers

    DOI: 10.1299/jsmermd.2022.1p1-a08  

    eISSN:2424-3124

  34. Dynamic Motion Planning For Mobile Robots Considering Moving Obstacles

    Ankit A. RAVANKAR, Abhijeet RAVANKAR, Jose Victorio SALAZAR Luces, Seyed Amir TAFRISHI, Yasuhisa HIRATA

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 1A1-T12 2022年

    出版者・発行元:Japan Society of Mechanical Engineers

    DOI: 10.1299/jsmermd.2022.1a1-t12  

    eISSN:2424-3124

  35. 使用者の状態を推定して動作する起立・歩行・着座支援ロボット

    武田 洸晶, 佐藤 海二, 平田 泰久, 片山 貴寛, 水田 康秀, 神品 淳

    ロボティクス・メカトロニクス講演会講演概要集 2022 2A1-D02 2022年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2022.2a1-d02  

    eISSN:2424-3124

  36. 受動的な福祉用具の搬送を実現する自律走行ロボットの開発

    董 宗昊, サラザル ホセ, ラワンカル アンキット, タフリシ セイエド アミル, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2022 2A2-B06 2022年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2022.2a2-b06  

    eISSN:2424-3124

  37. 複合現実技術を用いた介護動作教示システム

    青木 吾郎, サラザル ホセ, ラワンカル アンキット, タフリシ セイエド アミル, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2022 2P2-G07 2022年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2022.2p2-g07  

    eISSN:2424-3124

  38. 転倒事故の回避を目的とした寄り添い型歩行支援ロボットの開発

    寺山 隼矢, タフリシ セイエド アミル, ラワンカル アンキット, サラザル ホセ, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2022 2A2-C06 2022年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2022.2a2-c06  

    eISSN:2424-3124

  39. Tempo Synchronization of Physical Activities with a Mixed-Reality Human-Machine-Interface 査読有り

    364-371 2021年12月27日

    出版者・発行元:None

    DOI: 10.1109/robio54168.2021.9739486  

  40. Standing, Walking, and Sitting Support Robot Based on User State Estimation Using a Small Number of Sensors 査読有り

    Mizuki Takeda, Kaiji Sato, Yasuhisa Hirata, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

    IEEE Access 9 152677-152687 2021年11月13日

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/access.2021.3127275  

    ISSN:2169-3536

    eISSN:2169-3536

    詳細を見る 詳細を閉じる

    With the aging of the population and the consequent severe shortage of caregivers, the demand for care robots to assist the elderly is increasing. However, care robots have yet to be widely adopted owing to cost constraints and anxiety issues due to several factors. For instance, care robots are required to have higher functionality than general care devices. It is important to provide both massive power and the appropriate support for the user's state. However, this requires more sensors to obtain detailed information for user-state estimation and more actuators for physical support, increasing the cost and risk of failure. In a system that has many sensors and operates based on detailed data, the problem of user privacy also emerges. The risk of personal information leakage and the feeling of being monitored increase user discomfort. To support standing up and prevent falling during walking, care robots are required to apply power to the user according to the user state. The position of the center of gravity (CoG) has been used for such state estimation; however, many sensors are required to determine the accurate CoG position. To reduce the number of sensors required for user state estimation, we proposed a method for calculating CoG candidates, and validated the proposed method via experiments. Previous studies have focused solely on normal standing-up motion. However, in daily activities, standing up, walking, and sitting down are a set of motions. In addition, it is not always true that the care robot user can move normally; hence, anomaly detection is beneficial in care robots. Therefore, it is important to estimate the user state considering not only standing-up motion, but also walking and sitting down, as well as any anomaly that may occur during these motions. In this study, we develop an elderly support system that can assist in standing, walking, and sitting based on user state estimation. The CoG candidate calculation method is improved for walking and stand-to-sit movements, and an anomaly detection method using CoG candidates is also proposed. The care robot is designed to be user-driven and provide support for persons with insufficient strength based on state estimation. The experiments verify that the developed system can constantly monitor the user's state and support a series of movements, such as standing up, walking, and sitting down, with a single robot.

  41. Path Planning of a Spin-Rolling Sphere on a Plane 査読有り

    Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto, Yasuhisa Hirata

    arXiv preprint arXiv:2110.12397 2021年10月24日

  42. Robotic Guidance System for Visually Impaired Users Running Outdoors Using Haptic Feedback 査読有り

    Zhenyu Liao, Jose V. Salazar Luces, Yasuhisa Hirata

    IROS 8325-8331 2021年9月27日

    出版者・発行元:IEEE

    DOI: 10.1109/IROS51168.2021.9636567  

  43. Special Issue on Nursing Robots and Support Systems for Welfare Sites 査読有り

    Shoichiro Fujisawa, Masahiro Takaiwa, Yasuhisa Hirata, Shinya Kotosaka, Daisuke Chugo

    Journal of Robotics and Mechatronics 33 (4) 711-712 2021年8月20日

    出版者・発行元:Fuji Technology Press Ltd.

    DOI: 10.20965/jrm.2021.p0711  

    ISSN:0915-3942

    eISSN:1883-8049

    詳細を見る 詳細を閉じる

    Japan’s population is aging at a speed unprecedented in the world, and its shortage of caregivers has become a major issue. At the same time, the Internet of Things (IoT) is expected to create unprecedented new value by connecting all people and things, allowing them to share various kinds of knowledge and information. In addition, as artificial intelligence (AI) and big data are undergoing a transformation that is changing the value of human labor, robots incorporating these innovative technologies are expected to solve the problems of the aging society. On the other hand, in the field of nursing care, the relationship between the caregiver and the care-receiver is basically a person-to-person connection. There is a question of how people and technology can coexist and produce new creations in such fields. This special issue on Nursing Robots and Support Systems for Welfare Sites includes one review paper and 23 other interesting papers that cover the following topics: ı Research on independence support and systems to watch over the elderly. ı Research on support systems for diet, recreation, medication, etc. for people with dementia. ı Research on control and sensor systems for vital signs and excretion. ı Research on rehabilitation equipment for the physically handicapped. ı Research on assistive technologies for mobility support. ı Research on upper and lower limb power assistance devices and robots. We thank all authors and reviewers of the papers as well as the Editorial Board of the Journal of Robotics and Mechatronics for their help with this special issue.

  44. Use of Human Computation for Coordinating Robotic Mobility Aids Based on User Impairments 査読有り

    858-864 2021年8月8日

    出版者・発行元:None

    DOI: 10.1109/ro-man50785.2021.9515468  

  45. Control of planar passive wire-driven support systems using servo brakes

    Bahman Nouri Rahmat Abadi, Yasuhisa Hirata

    Mechanics Based Design of Structures and Machines 51 (7) 3905-3921 2021年7月5日

    出版者・発行元:Informa UK Limited

    DOI: 10.1080/15397734.2021.1945931  

    ISSN:1539-7734

    eISSN:1539-7742

  46. 地上歩行訓練のための体重支持歩行器の制御と評価【JST・京大機械翻訳】 査読有り

    Dong Zonghao, Luces Jose Victorio Salazar, Hirata Yasuhisa

    IEEE Robotics and Automation Letters 6 (3) 4632-4639 2021年7月

    出版者・発行元:None

    DOI: 10.1109/lra.2021.3068691  

    ISSN:2377-3766

    eISSN:2377-3774

  47. Tracking and Visualizing Signs of Degradation for Early Failure Prediction of Rolling Bearings 査読有り

    Sana Talmoudi, Tetsuya Kanada, Yasuhisa Hirata

    Journal of Robotics and Mechatronics 33 (3) 629-642 2021年6月20日

    出版者・発行元:Fuji Technology Press Ltd.

    DOI: 10.20965/jrm.2021.p0629  

    ISSN:0915-3942

    eISSN:1883-8049

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    Predictive maintenance, which means detection of failure ahead of time, is one of the pillars of Industry 4.0. An effective method for this technique is to track early signs of degradation before failure occurs. This paper presents an innovative failure predictive scheme for machines. The proposed scheme combines the use of the full spectrum of vibration data from the machines and a data visualization technology. This scheme requires no training data and can be started quickly after installation. First, we proposed to use the full spectrum (as high-dimensional data vectors) with no cropping and no complex feature extraction and to visualize the data behavior by mapping the high-dimensional vectors into a two-dimensional (2D) map. This ensures simplicity of the process and less possibility of overlooking important information as well as provide a human-friendly and human-understandable output. Second, we developed a real-time data tracker that can predict failure at an appropriate time with sufficient allowance for maintenance by plotting real-time frequency spectrum data of the target machine on a 2D map created from normal data. Finally, we verified our proposal using vibration data of bearings from real-world test-to-failure measurements obtained from the IMS dataset.

  48. An Unsupervised Big Data Visualization-Based Scheme for Anomalous Sound Detection of Facilities

    Sana Talmoudi, Tetsuya Kanada, Yasuhisa Hirata

    Mapping Intimacies 2021年1月14日

    出版者・発行元:Research Square Platform LLC

    DOI: 10.21203/rs.3.rs-139087/v1  

    詳細を見る 詳細を閉じる

    Abstract This paper is dedicated to validating the scalability and generalization of our previously proposed "machinery failure predictive scheme". Our aim is to have a generic core technology to provide a solution applicable in industry that is low-cost and low-intrusive. Background: In our previous works, we proposed an unsupervised predictive scheme combining the use of full spectrum of vibration / audio data and data visualization techniques. We then proposed a real time data tracker (RTDT) and we applied our proposal on vibration data of bearings. In this paper, we are applying our predictive scheme on a facility (composite system) rather than a specific mechanical component (singular system). We chose to apply our proposal on the MIMII dataset as it was used in task 2 of the DCASE 2020 challenge for the detection of anomalous sounds given normal data only. Methodology: We adopted two approaches: (1) the same scheme used in our application on bearing vibration data and (2) with a slightly modified approach where we apply a high pass filter (HPF) on the audio data to reduce the effect of the background noise. To effectively evaluate the accuracy of our scheme in detecting and recognizing anomalous sounds, we are comparing our results to the performance of the baseline system proposed by the organizers of the challenge as well as the results from the 40 participating teams. For the evaluation, we used the same metrics used in the challenge: the area under the receiver operation characteristic (ROC) curve (AUC) and the partial AUC (pAUC). Results: We obtained satisfactory values of AUC and pAUC compared to the related works. We also outperformed the baseline system in 13 out of 16 machines in terms of AUC and 15 out of 16 machines in terms of pAUC. Merits: Compared to the current related works, our "machinery failure predictive scheme" is featured by 0-training, and no complex preprocessing or de-noising techniques. Furthermore, our solution based on our scheme is provided as a white box, users will have the following merits: (1) our solution can be in operation right after a normal data set is obtained usually in a few days and (2) our solution can be built into conventional operation and maintenance systems without advanced background in artificial intelligence or data science.

  49. 体重支持機構を有する歩行支援ロボットの開発【JST・京大機械翻訳】 査読有り

    Dong Zonghao, Luces Jose Victorio Salazar, Hirata Yasuhisa

    IEEE Conference Proceedings 2021 (IEEECONF) 554-559 2021年1月11日

    出版者・発行元:None

    DOI: 10.1109/ieeeconf49454.2021.9382656  

  50. A Geometric Assistive Controller for the Users of Wheeled Mobile Robots without Desired States. 査読有り

    Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 1953-1959 2021年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO54168.2021.9739645  

  51. Evaluation of an Avatar Robot with a Physically Immersive Telepresence. 査読有り

    Koen Hertenberg, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Ankit A. Ravankar, Yasuhisa Hirata

    2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 99-104 2021年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO54168.2021.9739326  

  52. 既存6輪ダンプトラックの自律走行のためのレトロフィット型ハンドル駆動用エアモータの速度制御 査読有り

    小松 智広, 永谷 圭司, 平田 泰久, 鈴木 高宏, 大野 和則

    計測自動制御学会論文集 57 (10) 433-444 2021年

    出版者・発行元:公益社団法人 計測自動制御学会

    DOI: 10.9746/sicetr.57.433  

    ISSN:0453-4654

    eISSN:1883-8189

  53. 3Dプリント連続炭素繊維強化熱可塑性プラスチックのオープンホール引張特性の実験的および数値的評価 査読有り

    HOSHIKAWA Yamato, SHIRASU Keiichi, TSUYUKI Junpei, OKABE Tomonaga, HIGUCHI Ryo, YAMAMOTO Kohei, HIRATA Yasuhisa

    Materials System 38 49-54 2021年

    ISSN:2435-1520

  54. RoVaLL: Design and Development of a Multi-Terrain Towed Robot With Variable Lug-Length Wheels 査読有り

    Jose Victorio, Salazar Luces, Shin Matsuzaki, Yasuhisa Hirata

    IEEE Robotics and Automation Letters 5 (4) 6017-6024 2020年10月

    DOI: 10.1109/LRA.2020.3010495  

    eISSN:2377-3766

    詳細を見る 詳細を閉じる

    © 2016 IEEE. Robotic systems play a very important role in exploration, allowing us to reach places that would otherwise be unsafe or unreachable to humans, such as volcanic areas, disaster sites or unknown areas in other planets. As the area to be explored increases, so does the time it takes for robots to explore it. One approach to reduce the required time is using multiple autonomous robots to perform distributed exploration. However, this significantly increases the associated cost and the complexity of the exploration process. To address these issues, in the past we proposed a leader-follower architecture where multiple two-wheeled passive robots capable of steering only using brakes are pulled by a leader robot. By controlling their relative angle with respect to the leader, the followers could move in arbitrary formations. The proposed follower robots used rubber tires, which allowed it to perform well in rigid ground, but poorly in soft soil. One alternative is to use lugged wheels, which increase the traction in soft soils. In this letter we propose a robot with shape-shifting wheels that allow it to steer in both rigid and soft soils. The wheels use a cam mechanism to push out and retract lugs stored on its inside. The shape of the wheel can be manipulated by controlling the driving torque exerted on the cam mechanism. Through experiments we verified that the developed mechanism allowed the follower robots to control their relative angle with respect to the leader in both rigid and soft soils.

  55. Wide Area Exploration System Using Passive-Follower Robots Towed by Multiple Winches 査読有り

    Jose Victorio Salazar Luces, Manami Hoshi, Yasuhisa Hirata

    IEEE Robotics and Automation Letters 5 (4) 6459-6466 2020年10月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/lra.2020.3013859  

    eISSN:2377-3774

  56. Improvement in Measurement Area of 3D LiDAR for a Mobile Robot Using a Mirror Mounted on a Manipulator 査読有り

    Kazuki Matsubara, Keiji Nagatani, Yasuhisa Hirata

    IEEE Robotics and Automation Letters 5 (4) 6350-6356 2020年10月

  57. ファントム触覚感覚に基づく振動触覚フィードバックを用いた人間ナビゲーション【JST・京大機械翻訳】 査読有り

    Liao Zhenyu, Luces Jose V. Salazar, Hirata Yasuhisa

    IEEE Robotics and Automation Letters 5 (4) 5732-5739 2020年10月

    出版者・発行元:None

    DOI: 10.1109/lra.2020.3010447  

    ISSN:2377-3766

    eISSN:2377-3774

  58. HRI for Legal Validation: On Embodiment and Data Protection

    Yueh-Hsuan Weng, Svetlana Gulyaeva, Jana Winter, Andrei Slavescu, Yasuhisa Hirata

    2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) 1387-1394 2020年8月

    出版者・発行元:IEEE

    DOI: 10.1109/ro-man47096.2020.9223589  

  59. Indoor Wayfinding for an Electric Wheelchair Based on Wi-Fi Fingerprinting Localization. 査読有り

    Jose Victorio Salazar Luces, Kengkij Promsutipong, Yasuhisa Hirata

    2020 IEEE/SICE International Symposium on System Integration (SII) 513-518 2020年3月

    出版者・発行元:IEEE

    DOI: 10.1109/SII46433.2020.9025862  

  60. Verbal guidance for sit-to-stand support system 査読有り

    Mizuki Takeda, Yasuhisa Hirata, Yueh-Hsuan Weng, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

    ROBOMECH Journal volume 7 (8) 133 2020年2月18日

  61. 振動ローラの転圧作業自動化のための環境設置測距センサを使用した位置推定と走行制御

    菊地 一徳, 永谷 圭司, 小松 智広, 桐林 星河, 浅野 公隆, 柴田 幸則, 大野 和則, 鈴木 高宏, 平田 泰久

    日本ロボット学会誌 38 (9) 872-881 2020年

    出版者・発行元:一般社団法人 日本ロボット学会

    DOI: 10.7210/jrsj.38.872  

    ISSN:0289-1824

    eISSN:1884-7145

  62. ルールベース制御戦略によるフィン形状ダンパ-質量を用いた海上プラットホームの構造安定化【JST・京大機械翻訳】

    Azari Mina Malek, Luces Jose Victorio Salazar, Hirata Yasuhisa

    IEEE Conference Proceedings 2020 (ICMA) 905-911 2020年

  63. 移動翼を用いた気象ブイのための構造安定化システムの設計,査定および評価

    Azari Mina Malek, Luces Jose Victorio Salazar, Hirata Yasuhisa

    ROBOMECH Journal (Web) 7 (1) 2020年

    ISSN:2197-4225

  64. 非固定障害物が存在する斜面における クローラ型移動ロボットの走行性能に関する研究 — グローサが非固定円柱障害物の乗越え性能に与える影響の評価— 査読有り

    谷島諒丞, 永谷圭司, 平田泰久

    計測自動制御学会論文集 55 (11) 1-9 2019年11月

  65. Human Position Guidance Using Vibrotactile Feedback Stimulation Based on Phantom-Sensation 査読有り

    2019 IEEE International Conference on Cyborg and Bionic Systems and HBP Workshop 2019年9月

    出版者・発行元:None

    DOI: 10.1109/cbs46900.2019.9114479  

  66. 複数の振動刺激を用いた手首の誘導支援における学習効果の検証

    岡部 圭佑, サラザル ホセ, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2019 (0) 2P1-L01 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.2P1-L01  

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    <p>In this paper, we present a paradigm to improve the followability on a path-following task for the wrist by practicing repeatedly using vibrotactile cues. Vibrotactile cues were provided as a direction to modify the wrist's path when the wrist's position deviates from the desired path. The experiment was conducted to test the learning effect of the vibrotactile feedback on a participants' wrist motion during three days. We found that the root mean squared error of the participants wrist's trajectory decreased when provided with vibrotactile feedback. Additionally, most participants could reproduce the desired path in a more accurate way after removing the feedback immediately after training. This effect continued slightly over three days and the performance gradually improved after training.</p>

  67. The Religious Impacts of Taoism on Ethically Aligned Design in HRI. 査読有り

    Yueh-Hsuan Weng, Yasuhisa Hirata, Osamu Sakura, Yusuke Sugahara

    Int. J. Soc. Robotics 11 (5) 829-839 2019年

    DOI: 10.1007/s12369-019-00594-z  

  68. Research on traversability of tracked vehicle on slope with unfixed obstacles: derivation of climbing-over, tipping-over, and sliding-down conditions. 査読有り

    Ryosuke Yajima, Keiji Nagatani, Yasuhisa Hirata

    Advanced Robotics 33 (20) 1060-1071 2019年

    DOI: 10.1080/01691864.2019.1668848  

  69. An IoT-based Failure Prediction Solution Using Machine Sound Data. 査読有り

    Sana Talmoudi, Tetsuya Kanada, Yasuhisa Hirata

    2019 IEEE/SICE International Symposium on System Integration (SII) 227-232 2019年

    出版者・発行元:IEEE

    DOI: 10.1109/SII.2019.8700357  

  70. Accountable system design architecture for embodied AI: a focus on physical human support robots. 査読有り

    Mizuki Takeda, Yasuhisa Hirata, Yueh-Hsuan Weng, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

    Advanced Robotics 33 (23) 1248-1263 2019年

    DOI: 10.1080/01691864.2019.1689168  

  71. Ethically Aligned Design for Assistive Robotics 査読有り

    Yueh-Hsuan Weng, Yasuhisa Hirata

    2018 IEEE International Conference on Intelligence and Safety for Robotics 286-290 2018年8月

  72. 起立支援システム使用者のための重心候補を用いた状態推定

    武田 洸晶, 平田 泰久, 片山 貴寛, 水田 康秀, 神品 淳

    ロボティクス・メカトロニクス講演会講演概要集 2018 2A2-H01 2018年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2018.2a2-h01  

    eISSN:2424-3124

  73. Lumbar Assistive Orthosis with Torsion Spring-based Joint for Lumbar Degenerative Kyphosis Patient. 査読有り

    Songyot Piriyakulkit, Yasuhisa Hirata, Hiroshi Ozawa

    2018 IEEE International Conference on Cyborg and Bionic Systems 161-166 2018年

    出版者・発行元:IEEE

    DOI: 10.1109/CBS.2018.8612233  

  74. State Estimation Using the CoG Candidates for Sit-to-Stand Support System User. 査読有り

    Mizuki Takeda, Yasuhisa Hirata, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

    IEEE Robotics Autom. Lett. 3 (4) 3011-3018 2018年

    DOI: 10.1109/LRA.2018.2849551  

  75. Control of Multiple Passive-Follower Type Robots Based on Feasible Braking Control Region Analysis. 査読有り

    Yasuhisa Hirata, Ken Kimura, Shin Matsuzaki, Naoko Ogawa, Takashi Kubota

    2018 IEEE International Conference on Robotics and Automation 1-9 2018年

    DOI: 10.1109/ICRA.2018.8460637  

  76. Path-Following Guidance Using Phantom Sensation Based Vibrotactile CuAround the Wrist. 査読有り

    José Salazar, Keisuke Okabe, Yasuhisa Hirata

    IEEE Robotics Autom. Lett. 3 (3) 2485-2492 2018年

    DOI: 10.1109/LRA.2018.2810939  

  77. A Phantom-Sensation Based Paradigm for Continuous Vibrotactile Wrist Guidance in Two-Dimensional Space. 査読有り

    Jose V. Salazar Luces, Keisuke Okabe, Yoshiki Murao, Yasuhisa Hirata

    IEEE Robotics Autom. Lett. 3 (1) 163-170 2018年

    DOI: 10.1109/LRA.2017.2737480  

  78. Motion Control of Cycling Wheelchair With Continuously Variable Transmission and Clutch. 査読有り

    Yasuhisa Hirata, Yuto Tanaka

    IEEE Robotics Autom. Lett. 3 (1) 148-154 2018年

    DOI: 10.1109/LRA.2017.2735489  

  79. 無段変速機とクラッチを用いた足こぎ車いすの走行制御

    田中 優斗, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2017 2A1-K02 2017年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2017.2A1-K02  

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    <p>In recent years, the number of elderly people is increasing due to the aged society with a low birth rate. In addition, the lame person is increasing. Therefore, they often use the general wheelchairs which can move without using their legs. However, there is a problem that the muscle of legs is weakened. Therefore, the cycling wheelchair have been developed, which can improve the ADL of users. The cycling wheelchair is optimized for indoor use. To use this cycling wheelchair outdoors, it is necessary to attach some assistive devices such as brake and freewheel. In addition, it is important to be able to move backward and forward. In this research, these functions could be realized by controlling the combination of clutch and continuously variable transmission (CVT). In addition, we confirmed these functions by experiments.</p>

  80. 起立・着座支援システム使用者の重心候補推定

    武田 洸晶, 平田 泰久, 片山 貴寛, 水田 康秀, 神品 淳

    ロボティクス・メカトロニクス講演会講演概要集 2017 2A1-H05 2017年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2017.2A1-H05  

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    <p>We propose a method to estimate CoG candidates for standing/sitting support system user. In order to provide appropriate support, real-time estimation of user's state have been studied by many researchers. It is also important to acquire data of user's state in various motion for evaluation of user's health. Measuring human state precisely is difficult, so state estimation method using several user's information have been studied. Position of CoG is useful to human state estimation. However, precise calculation of CoG requires large amount of sensors or expensive measurement system. Therefore we consider how to estimate it using a few inexpensive and simple sensors. In this article, we propose a method to calculate the candidates of human CoG. We validate the proposed method by experiment using motion capture system and sensors which are actually placed prototype of assistive robot.</p>

  81. Position and orientation control of passive wire-driven motion support system using servo brakes. 査読有り

    Yasuhisa Hirata, Ryo Shirai, Kazuhiro Kosuge

    2017 IEEE International Conference on Robotics and Automation 3702-3707 2017年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2017.7989426  

  82. Human CoG estimation for assistive robots using a small number of sensors. 査読有り

    Mizuki Takeda, Yasuhisa Hirata, Kazuhiro Kosuge, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

    2017 IEEE International Conference on Robotics and Automation 6052-6057 2017年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2017.7989717  

  83. Visual Human Action Classification for Control of a Passive Walker 査読有り

    Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

    2017 7TH INTERNATIONAL CONFERENCE ON MODELING, SIMULATION, AND APPLIED OPTIMIZATION (ICMSAO) 1-5 2017年

    出版者・発行元:IEEE

    DOI: 10.1109/ICMSAO.2017.7934895  

    ISSN:2473-4748

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    Human action/behavior classification plays an important role for controlling systems having interaction with human users. Safety and dependability of such systems are crucial especially for walking assist systems. In this paper, upper body joint model of a user of a walking assist system is extracted using a depth sensor and a probabilistic model is proposed to detect possible non-walking states that might happen to the user. The 3D model of upper body skeleton, is reduced in dimension by applying Principal Component Analysis (PCA). The principal components are tested to have a normal distribution allowing a multivariate normal distribution fitting for walking data. The model is shown to be capable of recognizing four different falling scenarios and sitting. In these non-walking states, the motion of a passive-type walker called "RT Walker", is controlled by generating brake force to assure fall prevention and sitting/standing up support. The experimental data is gathered from an experienced physical therapist capable of imitating different walking problems.

  84. Real-time gait event recognition for wearable assistive device using an IMU on thigh. 査読有り

    Songyot Piriyakulkit, Yasuhisa Hirata, Hiroshi Ozawa

    Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS) 314-318 2017年

    出版者・発行元:IEEE

    DOI: 10.1109/CBS.2017.8266123  

  85. Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp). 査読有り

    Akinari Kobayashi, Kengo Yamaguchi, Jun Kinugawa, Shogo Arai, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of 2017 IEEE International Conference on Intelligent Robots and Systems 1937-1942 2017年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2017.8206012  

  86. 複数の振動刺激を用いた運動方向呈示

    サラザル ホセ, 村尾 佳紀, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2016 (0) 2A1-14a4 2016年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2016.2A1-14a4  

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    <p>We propose a method for motion guidance by creating a motion direction by utilizing a vibration haptic device attached to user wrist. In order to create the motion direction, we come up with a new method called Direction Sensation. This method utilizes two vibrotactile illusions and they generate a feeling similar to putting our arms in the flow of a river. In this article, to make a proper haptic device, we investigated how Direction Sensation in wrist can be recognized. We found that utilizing phantom tactile sensation to make Direction Sensation doesn't allow a clear recognition of direction. However, in our research, the Direction Sensation can be recognized better by considering the vibration recognition ability of the wrist.</p>

  87. Cadence control of cycling wheelchair with Continuously Variable Transmission and servo brake. 査読有り

    Yasuhisa Hirata, Shotaro Ando, Kazuhiro Kosuge

    2016 IEEE International Conference on Robotics and Automation 3062-3068 2016年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2016.7487471  

  88. Motion guidance using Haptic Feedback based on vibrotactile illusions. 査読有り

    José Salazar, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of 2016 IEEE International Conference on Intelligent Robots and Systems 4685-4691 2016年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2016.7759689  

  89. Guiding human motions in physical human-robot interaction through COM motion control of a dance teaching robot. 査読有り

    Diego Felipe Paez Granados, Jun Kinugawa, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of 2016 IEEE-RAS International Conference on Humanid Robots (Humanoids) 279-285 2016年

    出版者・発行元:IEEE

    DOI: 10.1109/HUMANOIDS.2016.7803289  

  90. Formation control of multiple passive type boats for sea surveillance. 査読有り

    Halil Beglerovic, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of the 2016 IEEE/SICE International Symposium on System Integration 869-874 2016年

    出版者・発行元:IEEE

    DOI: 10.1109/SII.2016.7844109  

  91. Pedaling Assistive Control Method of Cycling Wheelchair for Hemiplegia Patients 査読有り

    Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 6191-6196 2015年

    出版者・発行元:IEEE COMPUTER SOC

    DOI: 10.1109/ICRA.2015.7140068  

    ISSN:1050-4729

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    The cycling wheelchair is a new type of mobility aid for lower-limb-disabled individuals. Patients can drive the cycling wheelchair by pressing the front pedals with their lower limbs. The device enables patients to effectively rehabilitate their disabled legs and partake in outdoor activities. However, lower-limb-disabled individuals cannot move both legs with equal ease. Typical hemiplegia patients can voluntarily move their healthy leg, but not their disabled leg. Consequently, some of these individuals pedal the cycling wheelchair mainly with their healthy leg, leading to overuse of the limb during their daily activities. This study proposes a pedaling assistive control method that adjusts the different capabilities of the healthy and disabled legs of hemiplegia patients. The proposed control method was applied to a cycling wheelchair with a servo motor for power assist. In experiments, the proposed method reduced the work required for pedaling in two common environments; a planar floor and an upward inclined surface.

  92. Anomaly State Assessing of Human using Walker-type Support System Based on Statistical Analysis 査読有り

    Yasuhisa Hirata, Hiroki Yamaya, Kazuhiro Kosuge, Atsushi Koujina, Tomohiro Shirakawa, Takahiro Katayama

    2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN) 146-152 2015年

    出版者・発行元:IEEE

    DOI: 10.1109/ROMAN.2015.7333681  

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    In this paper, we propose a method to assess an extent of anomaly state of human using a walker-type support system. The elderly and the handicapped people use the walker-type support system to keep their balance and support their weight. Although the walker-type support system is easy to move based on the applied force of the user, several accidents such as falling and colliding with the obstacle have been reported. The anomaly state that causes a severe injury of the user should be detected before accident and the walker-type support system should prevent such accidents. In this paper, we focus on assessing the extent of the anomaly state of the user based on the statistical analysis of the applied force of the user. This research models the applied force of the user in real time by using the Gaussian Mixture Model (GMM), and we determine each parameter of GMM statistically. In addition, we assess the extent of the anomaly state of the user by using the Hellinger score, which can compare the data set of the normal state with that of anomaly state. The proposed method is applied to developed walker-type support system with simple force sensor, and we conduct the experiments in the several walking states and the environmental conditions.

  93. Underactuated Robot Hand for Dual-Arm Manipulation 査読有り

    Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 2937-2942 2015年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2015.7353782  

    ISSN:2153-0858

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    In this paper, we propose a novel robot hand called uGRIPP (Underactuated Gripper for Power and Precision Grasp) which has underactuated fingers for dual-arm manipulation tasks. A newly designed underactuated linkage enables the robot hand to achieve not only an adaptive grasp and a pinch grasp, but also manipulation by a palm of the hand. We introduce performance of the proposed linkage by a static analysis. A prototype of the robot hand which has the proposed linkage as fingers was developed. We conducted handling experiments by using the robot hand.

  94. Motion control of wearable-type walking support system based on the spring-mass model. 査読有り

    Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge

    Advanced Robotics 29 (20) 1339-1355 2015年

    DOI: 10.1080/01691864.2015.1090335  

  95. Control Architecture of Delivery Robot for Supporting Nursing Staff 査読有り

    Yasuhisa Hirata, Yusuke Sugiyama, Kazuhiro Kosuge

    2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 345-351 2015年

    出版者・発行元:IEEE

    DOI: 10.1109/SII.2015.7404944  

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    This paper proposes a control architecture of a delivery robot system for supporting nursing staffs. There are needs of delivery in the hospital such as the medical kit delivering and the information delivering. Although these tasks are simple, the movement for the delivery spends much time. By reducing the movement time, we could reduce the load of the nursing staffs and they could focus on the caring tasks for the patients. These delivering tasks have a time constraint. This paper proposes a concept of delivery robot system for supporting the nursing staff and its control architecture for realizing the delivering tasks with a time constraint. The delivering tasks of the robot is realized based on a communication between the robot and the human. The proposed control architecture is implemented in the simulator using Robot Operating System (ROS) and the simulation result illustrates the validity of the proposed control architecture.

  96. A Passive Dance Robot with Active Coordination Capability 査読有り

    Zhao Liu, Ming Zhang, Jing Xu, Yu Zhu, Yasuhisa Hirata, Kazuhiro Kosuge

    2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014) 686-691 2014年

  97. Stand-Up Assist System for Elderly Using Coordinated Motion with a Bed 査読有り

    Norihisa Miyake, Kazuhiro Kosuge, Yasuhisa Hirata, Takuro Hatsukari, Hajime Asama, Shiho Matsushita

    2014 10TH FRANCE-JAPAN/ 8TH EUROPE-ASIA CONGRESS ON MECATRONICS (MECATRONICS) 162-167 2014年

    出版者・発行元:IEEE

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    A robotic stand-up assist system from a bed, which utilizes coordinated motion with the bed, has been developed. Through the steps of the research and development process, assisting the motion trajectory during the stand-up motion is found to be more important, rather than assisting the power to stand-up. Natural trajectory for the stand-up motion, with the help of the movement of the bed, has been thus studied, and evaluated from joint burden and stability viewpoints.

  98. Assistance Control Method for One-Leg Pedaling Motion of a Cycling Wheelchair 査読有り

    Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 5606-5611 2014年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2014.6907683  

    ISSN:1050-4729

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    Since the cycling wheelchair was introduced in the 2000s, we have focused on alleviating the over-use of healthy limbs that presents a problem to users. To this end, we have been developing assistance control for everyday users of cycling wheelchairs. In our previous research, we found that user load varies in different environments. Traveling resistance compensation control proved successful in counteracting in a range of environments. In the user-load investigation on cycling wheelchairs, the crank torque generated by pedaling was observed to be problematic for hemiplegic patients, who must pedal mainly with their healthy side. Futhermore, for patients able to bend one leg only, because the opposite limb is stiffened at the knee joint or physically absent, the cycling wheelchair is difficult to maneuver. This paper focuses on the crank torque during one-leg-pedaling and proposes a new assistance control.

  99. Generating Human Motion Transition Map in Indoor Environment and Analyzing Human Behavior by Geographical Clustering 査読有り

    Yuji Ogawa, Zhidong Wang, Tetsuya Wada, Yasuhisa Hirata, Kazuhiro Kosuge

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 3700-3705 2014年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2014.6907395  

    ISSN:1050-4729

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    In recent years, robots working in human living space with human-robot interactions are actively studied. To these robots, it is important to perform environmental cognition not only building environment map for autonomous motion of the robots but also estimating presences of human around the robots. In this study, by utilizing human state estimation function and SLAM based mapping technology, a concept and architecture of Human Motion Map by representing human behavior in the human living space as a hybrid map system are proposed. Beyond the conventional map which represents the existence of wall and objects, Human Motion Map represents not only the existence of humans in a particular location but also motion distributions. With recent improvements of the cloud computing technology, Human Motion Map can be accumulated as a kind of big data while measurements of robots are performed continuingly while it is moving around. In this paper, we propose a motion feature classification algorithm for clustering human motions geographically. Some experiment result of basic motion feature extraction, geographical clustering, and human motion behavior analyzing are provided for illustrating the validity of proposed algorithm.

  100. Power Steering and Force Display Controls for a Cycling Wheelchair using Servo Brakes 査読有り

    Yasuhisa Hirata, Kazuhiro Kosuge, Eric Monacelli

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 613-618 2014年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2014.6906918  

    ISSN:1050-4729

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    In this study, we present a new type of wheelchair called the cycling wheelchair, in which the user moves the wheelchair by pedaling with his/her legs and changes direction using a steering handle. This wheelchair has great potential not only as an effective rehabilitation device but also as a mobility assistive device. However, the commercially available model has several hardware limitations that affect the steering operation. In this paper, we discuss these hardware limitations before presenting methods for improving steering maneuverability. Furthermore, we propose power steering and force display controls based on environmental information. From the perspective of safety, we employ servo brakes to control the cycling wheelchair, and the assistive functions are realized based on the feasible braking control region. The proposed control methods are experimentally applied to a newly developed cycling wheelchair with servo brakes, and the results illustrate the validity of the control methods.

  101. Walking Support by Wearable System based on the Spring-Mass Model 査読有り

    Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 285-290 2014年

    出版者・発行元:IEEE

    DOI: 10.1109/AIM.2014.6878093  

    ISSN:2159-6255

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    Walking support systems have been developed and various support methods have been proposed for supporting the motion of the elderly and physically disabled. In this research, we propose a walking support method based on the spring-mass model. Although the spring-mass model is very simple, the human motion during the walking is reproduced on the computer simulation using this model. In the stance phase, we support the user's leg muscle compensating a part of the force applied to the upper body by the stance leg with the wearable-type walking support system. In the swing phase, we consider supporting the leg motion of the user using the trajectory following method based on the impedance control. The proposed method is applied to the wearable walking helper, and experimental results illustrate the validity for healthy subjects.

  102. Pose Estimation of Servo-Brake-Controlled Caster Units Arbitrarily Located on a Mobile Base 査読有り

    Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014) 3456-3462 2014年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2014.6943044  

    ISSN:2153-0858

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    In this paper, we propose a method to estimate the geometrical relationships between servo-brake-controlled caster units arbitrarily located on a moving base. The method utilizes only the velocity information of each caster unit and recursively estimates the pose of the caster units by the extended Kalman filter. In the state estimation problem, the estimation performance depends on the quality of the input signals. The input signals must contain sufficiently rich information to appropriately estimate the states. Since the system controlled by servo brakes is driven by a user-applied force, the user can arbitrarily select the input signals of velocity information. Therefore, we also suggest a simple pattern that enables users to provide sufficiently rich information for relationship estimates. Finally, the proposed method is validated in a computer simulation and an experiment using a mobile robot platform equipped with double-wheel caster units.

  103. Motion support during the swing phase using cooperative walking support system 査読有り

    Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Hiroshi Onodera

    ADVANCED ROBOTICS 27 (17) 1337-1349 2013年12月

    出版者・発行元:TAYLOR & FRANCIS LTD

    DOI: 10.1080/01691864.2013.826412  

    ISSN:0169-1864

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    Walking support systems have been developed for supporting the motion of the elderly and physically disabled. In this research, we propose a walking support system based on the cooperation between wearable-type and cane-type walking support systems for supporting hemiplegic patients with disabilities. The system is controlled based on the intended motion of the user, their state and environmental information. In this system, we aim to realize several functions for supporting the daily life of the user by cooperatively controlling each walking support systems including walking support, sit-to-stand assistance, navigation, fall prevention and so on. As the first step to build this system, we focus on the walking support in this paper. For realizing the walking support, we propose a wearable-type walking support system that assists leg motion during the swing phase based on the motion of a cane-type walking support system moved by the user.

  104. 非ホロノミックな車両と駆動輪を把持する移動ロボットとの位置関係推定に基づく車両の操り 査読有り

    米澤直晃, 柏崎耕志, 小菅一弘, 平田 泰久, 菅原雄介, 神林隆, 鈴木公基, 村上和則, 中村健一

    日本ロボット学会誌 31 (8) 816-827 2013年8月

    出版者・発行元:The Robotics Society of Japan

    DOI: 10.7210/jrsj.31.816  

    ISSN:0289-1824

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    In this article, an extended Kalman filter based estimation method is proposed for positional relationships between a vehicle and robots for a car transportation system using two robots. This system lifts only the two front wheels of a front wheel drive vehicle, which is commonly used and cannot move automatically, and positions it. Therefore, the system can be made more compact than previous car transportation systems using multiple robots. To control the system transporting cars, some parameters related to positional relationships between robots and a car's nonholonomic constraints are required. However, it is difficult to obtain accurate positional relationships using laser range scanners because the car's body is complexly curved and hides one robot from another.<br> This estimation method uses force sensors and encoders on robots instead of laser range scanners. A force based cooperative transportation control enables the system to transport cars with nonholonomic constraints without positional relationships. The positional relationships between the robots and conditions of a car's nonholonomic constraints are derived by the extended Kalman filter and a state space model relating robotic motions and positional relationships.

  105. 複数のパッシブ型移動ロボットと人間との協調による単一物体の搬送 査読有り

    平田泰久, 小嶋洋介, 小菅一弘

    計測自動制御学会論文集 49 (3) 353-361 2013年3月

    出版者・発行元:The Society of Instrument and Control Engineers

    DOI: 10.9746/sicetr.49.353  

    ISSN:0453-4654

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    In this paper, we propose a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. The passive mobile robot called "O-PRP(Omni-directional type Passive Robot Porter)" has passive dynamics with respect to an applied force and its motion is controlled based on the servo brakes. In the proposed algorithm, each O-PRP is controlled as if it has an apparent dynamics, and the motion characteristics of the object supported by the multiple O-PRPs is changed for improving the maneuverability. The proposed algorithm is applied to two O-PRPs, and experimental results illustrate its validity.

  106. Regenerative Brake Control of Cycling Wheelchair with Passive Behavior 査読有り

    Yasuhisa Hirata, Kota Kawamata, Kana Sasaki, Aya Kaisumi, Kazuhiro Kosuge, Eric Monacelli

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 3873-3879 2013年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2013.6631122  

    ISSN:1050-4729

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    In this study, we propose a cycling wheelchair that assists the movement of patients with impairment of lower extremities. The wheelchair is a pedal-driven system, similar to a bicycle, moved by the pedaling force of the patient's legs. Although the lower extremities of patients are impaired, they can use both legs to smoothly rotate the pedal. However, there are several barriers to use the cycling wheelchair in an outdoor environment such as steep slopes, steps, and obstacles. In this study, we develop a cycling wheelchair controlled by a regenerative brake system. The braking control provides several assistive functions including velocity control, gravity compensation, and step/obstacle avoidance. The regenerative brake system can also charge a battery during the braking control. However, in situations such as steep-slope climbing and emergency stopping, the regenerative brake cannot generate the required force/moment and an active control is required. In these situations, the control mode is altered from braking to active, and the assistive functions are invoked using the energy charged by the braking control. For safety reasons, we propose a passive motion control method of the cycling wheelchair, even if the wheelchair operates under active control. The proposed cycling wheelchair is validated in a series of experiments in this study.

  107. Development of Robot Hand with Suction Mechanism for Robust and Dexterous Grasping 査読有り

    Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 5500-5505 2013年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2013.6697153  

    ISSN:2153-0858

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    In this study, we propose a robot hand referred to as iGRIPP 4 (Integrated Gripper for Power and Precision Grasp 4), which has suction mechanism at each fingertip. This robot hand can grasp various objects steadily and achieve dexterous manipulations with a simple mechanism. The iGRIPP 4 has three fingers and two servomotors which are designed to grasp objects in power grasp and precision grasp. The suction mechanism at the fingertips enhances grasp stability, and enables the hand to hold large objects. In addition, the combination of the grasp mechanism and the suction system make it possible to perform some dexterous manipulations. Examples of the manipulations include the picking up a thin object and the packaging an object in a bag. These manipulations generally require hands with many degrees of freedom and intricate control. In this paper, the mechanism of the iGRIPP 4 is presented, and the two dexterous manipulations that can be done with this robot hand are described.

  108. Steering Assist System for a Cycling Wheelchair based on Braking Control 査読有り

    Yasuhisa Hirata, Kazuhiro Kosuge, Eric Monacelli

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 672-678 2013年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2013.6696423  

    ISSN:2153-0858

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    In this study, we propose a steering control method for a cycling wheelchair. The commercially available cycling wheelchair is a pedal-driven system that is similar to a bicycle, and patients with impairment of their lower extremities can move the wheelchair based on the pedaling force if they can slightly move their legs by themselves. The user can also change the wheelchair direction using the steering handle. However, right and left turns are perceived differently and a large steering torque is required while operating the steering handle because of hardware problems associated with the cycling wheelchair. To overcome this problem, we propose a new hardware solution and a method for steering motion control using servo brakes for the cycling wheelchair. The proposed method is applied to the developed cycling wheelchair, and the experimental results illustrate the validity of the system.

  109. Investigation of user load and evaluation of power assistive control on cycling wheelchair 査読有り

    Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

    Journal of Robotics and Mechatronics 25 (6) 959-965 2013年

    出版者・発行元:Fuji Technology Press

    DOI: 10.20965/jrm.2013.p0959  

    ISSN:1883-8049 0915-3942

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    Wheelchairs, walkers, and electric wheelchairs are well-known support devices for patients with lowerlimb disabilities. However, disuse of lower limbs presents an ongoing barrier to rehabilitation, and can eventually lead to disuse syndrome. To overcome this situation, researchers have designed the cycling wheelchair. The cycling wheelchair is accessible to most patients who can bend their lower limbs. It is primarily used in rehabilitation facilities with planar floors and gentle slopes. To become practicable for everyday use, cycling wheelchairs require sufficient power to travel up steeper slopes or across bumpy surfaces. This paper aims to clarify the power consumed by users in everyday environments by measuring the tread force on the pedals. The investigation targets lower-limb disabled subjects and unimpaired subjects. It was observed that some of the users could not summon sufficient power for uphill travel. In addition, hemiplegic subjects with only one unimpaired leg placed large load on their healthy limb. As a first step to overcome this problem, we introduce traveling resistance compensation control into a cycling wheelchair and evaluate its efficacy.

  110. Assistive Motion Control of Cycling Wheelchair based on Investigation of Load on User 査読有り

    Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 418-423 2013年

    出版者・発行元:IEEE

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    Though several kinds of equipment such as wheelchairs and electrical wheelchairs exist to support lower limb disabilities, there were still problems because of disuse of lower limbs that limits effect of rehabilitation and also cause disuse syndrome. To overcome these problems, cycling-wheelchair was invented by Handa et al. It is a pedal- driven wheelchair and can be applied to most of the patients whose lower limbs could be bent. It is mainly used for rehabilitation in facilities that have plane floor and uphill with small angle. However, the device has a problem in everyday use, which it needs more force to travel through steeper uphill or level differences. In this paper, we conduct an investigation that targets lower limb disabilities and unimpaired persons to clarify the load on users when they overcome difficult environments by measuring tread force on pedals. The result showed that uphill costs the user large load that some of the users could not overcome the uphill. To overcome this situation, for the first step, we designed a travel- resistance compensation control for a cycling- wheelchair.

  111. 2台の一輪把持型移動ロボットを用いた車両の操り 査読有り

    米澤直晃, 柏崎耕志, 小菅一弘, 平田泰久, 菅原雄介, 遠藤央, 神林隆, 鈴木公基, 村上和則, 中村健一, 中西正樹

    計測自動制御学会論文集 48 (7) 373-382 2012年7月

    DOI: 10.9746/sicetr.48.373  

    ISSN:0453-4654

  112. 複数の一輪把持型ロボットによる車両の協調搬送システム iCART II 査読有り

    柏崎耕志, 米澤直晃, 小菅一弘, 菅原雄介, 平田泰久, 遠藤央, 神林隆, 篠塚博之, 鈴木公基, 小野右季

    計測自動制御学会論文集 48 (7) 389-398 2012年7月

    出版者・発行元:計測自動制御学会

    DOI: 10.9746/sicetr.48.389  

    ISSN:0453-4654

  113. Comparative study of visual human state classication; An application for a walker robot 査読有り

    Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics 1843-1849 2012年

    DOI: 10.1109/BioRob.2012.6290898  

    ISSN:2155-1774

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    The image data of upper body from a depth sensor is used to estimate the state of human focusing on the incidents that might happen while using a walker. Several falling cases along with sitting and normal walking are considered in this study. Two main features namely the centroid and the principal component analysis (PCA) values of the upper body are used to classify the data. The non-walking states are detected either by using a Gaussian Mixture Model of PCA features or training a Continuous Hidden Markov Model (CHMM) with centroid data. The CHMM is also used to detect the type of falling. The state estimation results are used to control the motion of a passive type walker referred to as RT Walker. Falling prevention and sitting/standing assistance are achieved using both methods. Performance of the methods are discussed and compared to each other from different aspect. © 2012 IEEE.

  114. Estimation of human physical characteristics in ambient assistance environment 査読有り

    Mata Khalili, Eric Monacelli, Yasuhisa Hirata

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics 1428-1433 2012年

    DOI: 10.1109/BioRob.2012.6290929  

    ISSN:2155-1774

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    Physical characteristics of the human are the essential information that is required for providing the adapted mobility assistance. Height and weight are two of these physical characteristics. Height can be used for adjustment of the assistance tools to the proper and comfortable position of the human users. Weight can be used as an indicator of the amount of force the assistance tools need to be able to support. Knowing human's state, if she/he is sitting, standing or has felt down, is also a useful information to provide the correct assistance to each user. In this work, we focus on extracting the approximate human morphology before any physical contact between the users and the assistance modules and before the users start using the assistance tools. This information will be used by the assistance tools that are designed for the public spaces to adjust themselves to the physical characteristics of each user. In this work, we estimate height of users in different positions and distances by maximum error of 12% in the worst case. And, estimate their weights with maximum error of 16%, which is an acceptable range of errors for our assistance tools. © 2012 IEEE.

  115. Incremental Human Motion Map System and Human Walking Behavior Representation in Indoor Environment 査読有り

    Tetsuya Wada, Zhidong Wang, Yuji Ogawa, Yasuhisa Hirata, Kazuhiro Kosuge

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) 747-752 2012年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2012.6491057  

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    For robots working in human living space, both environmental information acquisition and human existence detection and estimation are necessary. In this study, by using human existence estimation function and mapping function of SLAM, a concept and architecture of Human Motion Map by representing extracted human behavior in the human living space as a map are proposed. Human Motion Map is a high-dimensional map, which incorporating human states information into results of conventional SLAM. On building Human Motion Map incrementally, human walking area interpolating algorithm and map update algorithm are developed. Finally, we implemented human motion map generating system on a mobile robot and demonstrated a Human Motion Map result for a floor area of our research lab in CIT, generated from individual observations of 80 experiments. Human Motion Map could be used for robots' motion planning of robots and further estimation of human motion in dynamic environment.

  116. Motion Control of Caster-Type Passive Mobile Robot with Servo Brakes 査読有り

    Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

    ADVANCED ROBOTICS 26 (11-12) 1271-1290 2012年

    出版者・発行元:TAYLOR & FRANCIS LTD

    DOI: 10.1080/01691864.2012.689728  

    ISSN:0169-1864

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    In this paper, we introduce a passive mobile robot called prototype Caster-Type Passive Robot Porter (C-PRP), which is developed on the basis of a concept of passive robotics. This mobile robot consists of two casters with servo brakes and one passive rigid wheel. Prototype C-PRP has passive dynamics with respect to the force applied by a human and controls its appropriate motion with the servo brakes. We derive the feasible braking force/moment applied to the robot on the basis of the characteristics of the servo brakes. This paper especially focuses on a fundamental motion control algorithm based on the feasible braking force/moment. We realize the path tracking function and the collision avoidance function as examples by applying the proposed algorithm to prototype C-PRP. These functions are implemented to prototype C-PRP actually, and experimental results confirm its validity. (C) 2012 Taylor & Francis and The Robotics Society of Japan

  117. A Car Transportation System Grasping Two Drive Wheels 査読有り

    Naoaki Yonezawa, Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Mitsuru Endo, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 4086-4091 2012年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2012.6225291  

    ISSN:1050-4729

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    This article describes the concept of a novel car transportation system including two mobile robots with a lift mechanism for single wheel. The system lifts only two drive wheels of a front-wheel-drive vehicle or a rear-wheel-drive vehicle, and transports them. However, the system has nonholonomic constraints because all wheels of a vehicle are not lifted by the system. This article also describes a motion control method and a vehicle's wheelbase estimate algorithm for the proposed system in order to maneuver the vehicle. The motion control method is based on control theory for a three-wheeled cycle system. On the other hand, the vehicle's wheelbase estimate algorithm includes impedance control, and the system estimates the vehicle's wheelbase from constraint forces during transporting the vehicle. Finally, two experiments show that the proposed system can maneuver the vehicle.

  118. Design of Parts Handling and Gear Assembling Device 査読有り

    Kengo Yamaguchi, Yasuhisa Hirata, Aya Kaisumi, Kazuhiro Kosuge

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2570-2577 2012年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2012.6225157  

    ISSN:1050-4729

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    Many one-degree-of-freedom (1-DOF) grippers have been used in factories. This paper focuses on the design of the 1-DOF parts handling device for picking up small objects robustly and agilely and realizing assembly tasks. In our conventional research, we proposed a concept for the handling device, which cages an object without letting the object escape from its tips before closing them completely and then grasps the object robustly at a unique position of the tips. In this paper, we propose a method for designing the shape of the device's tips by considering not only the caging and self-alignment of the object but also the gear assembly task. We also develop the robust and agile pick-up device (RAPiD) with tips designed by the new method and present experimental results that illustrate the ability of RAPiD to handle and assemble gears.

  119. Estimation of Human Physical Characteristics in Ambient Assistance Environment 査読有り

    Mata Khalili, Eric Monacelli, Yasuhisa Hirata

    2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB) 1428-1433 2012年

    出版者・発行元:IEEE

    DOI: 10.1109/BioRob.2012.6290929  

    ISSN:2155-1782

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    Physical characteristics of the human are the essential information that is required for providing the adapted mobility assistance. Height and weight are two of these physical characteristics. Height can be used for adjustment of the assistance tools to the proper and comfortable position of the human users. Weight can be used as an indicator of the amount of force the assistance tools need to be able to support. Knowing human's state, if she/he is sitting, standing or has felt down, is also a useful information to provide the correct assistance to each user. In this work, we focus on extracting the approximate human morphology before any physical contact between the users and the assistance modules and before the users start using the assistance tools. This information will be used by the assistance tools that are designed for the public spaces to adjust themselves to the physical characteristics of each user. In this work, we estimate height of users in different positions and distances by maximum error of 12% in the worst case. And, estimate their weights with maximum error of 16%, which is an acceptable range of errors for our assistance tools.

  120. Comparative Study of Visual Human State Classication; an Application for a Walker Robot 査読有り

    Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

    2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB) 1843-1849 2012年

    出版者・発行元:IEEE

    DOI: 10.1109/BioRob.2012.6290898  

    ISSN:2155-1782

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    The image data of upper body from a depth sensor is used to estimate the state of human focusing on the incidents that might happen while using a walker. Several falling cases along with sitting and normal walking are considered in this study. Two main features namely the centroid and the principal component analysis (PCA) values of the upper body are used to classify the data. The non-walking states are detected either by using a Gaussian Mixture Model of PCA features or training a Continuous Hidden Markov Model (CHMM) with centroid data. The CHMM is also used to detect the type of falling. The state estimation results are used to control the motion of a passive type walker referred to as "RT Walker". Falling prevention and sitting/standing assistance are achieved using both methods. Performance of the methods are discussed and compared to each other from different aspect.

  121. Wire-type Human Support System Controlled by Servo Brakes 査読有り

    Yasuhisa Hirata, Yuki Tozaki, Kazuhiro Kosuge

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 3356-3361 2012年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2012.6385648  

    ISSN:2153-0858

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    In this paper, we propose a passive wire-type motion support system to guide a human hand through the use of servo brakes. This system is intrinsically safe because servo brakes cannot generate a driving force to control the system. On the other hand, this system may not generate sufficient force to guide the human hand along the desired path because of the use of servo brakes. To resolve this problem, the standard approach would be to increase the number of brake units to generate the desired force. However, the large number of wires attached to each brake unit might restrict the user's motions, and there would be a potential for injury if the wires entwined around the user. Therefore, in order to safely guide the user's motion, we need to decrease the number of brake units having wires. In this paper, we consider a feasible braking force region of the wire-type passive system with multiple brake units and discuss the number of brake units required to guide the user's motion appropriately. We develop the wire-type motion support system that uses servo brakes and conduct path-following experiments considering table tennis as an example of sports training. In addition, we present experimental results that show the passive system with a small number of brake units can guide the user's hand along the desired path.

  122. Cooperative Transportation Control in Consideration of not only Internal Force but also External Force Applied to “MRWheel” 査読有り

    Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics 1867-1873 2012年

    出版者・発行元:None

    DOI: 10.1109/ROBIO.2012.6491240  

  123. Estimation of Relative Positions and Orientations on a Car Transportation System Grasping two Drive Wheels 査読有り

    Naoaki Yonezawa, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) 1874-1880 2012年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2012.6491241  

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    This paper proposes the estimation algorithm of some positional relationships between two robots and a car for a car transportation system. The car transportation system in this paper consists of two mobile robots and they lift drive wheels of the car to move the car. The knowledge of positional relationships between two robots and the condition of nonholonomic constraints of the car are necessary to transport the car. However, it is difficult that the parameters of positional relationships are obtained by using laser range scanners, cameras and GPS in the system. In the proposed algorithm, the encoders and the force sensors on the robots are used. To estimate the positional relationships, two robots lifting a car are moved by the cooperative transportation control based on force control. And then the information of two robots' velocities which are obtained by odometry is collected. After that, the relative position and orientation between two robots, the relative orientation between each robot and a car and the wheelbase of the car are together estimated by using the information and the extended Kalman filter. In this paper, the procedure of the estimation algorithm of some positional relationships between two robots and a car and the primary experiments confirming the estimation capability of the proposed algorithm are described.

  124. 人体モデルを用いた起立分類に基づく起立支援デバイスの選定手法 査読有り

    初雁卓郎, 三宅徳久, 平田泰久, 小菅一弘

    日本機械学会論文集(C編) 77 (774) 429-438 2011年2月

    出版者・発行元:The Japan Society of Mechanical Engineers

    DOI: 10.1299/kikaic.77.429  

    ISSN:0387-5024

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    A person can employ various standing-up strategies depending on his/her physical ability and personal habit. Physically-handicapped persons have abilities as well to stand-up, with the help of caregivers or devices. There is not so much relationship between physical ability of a person and the standing-up strategy being employed, which leads to the fact that the devices or the care method might not be appropriately chosen. A method for choosing among standing-up strategies based on a newly defined ADL(Activity of Daily Living) index for standing-up function has therefore been proposed. Then, these strategies are derived from standing-up strategy classification focused on human joints' degree-of-freedom, and can be classified into 7 categories. In the cases where multiple strategies correspond to the same index, the differences are studied experimentally. In the cases where no existing device is known to the corresponding category, prototype model of the support devices are made experimental use. The result of the experiments shows that an appropriate standing-up strategy can be chosen in accordance with the ADL index.

  125. Levitation control of AEROTRAIN: Development of experimental wing-in-ground effect vehicle and stabilization along Z Axis and about roll and pitch axes 査読有り

    Yusuke Sugahara, Yusuke Ikeuchi, Ryo Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Yukio Noguchi, Satoshi Kikuchi, Yasuaki Kohama

    Journal of Robotics and Mechatronics 23 (3) 338-349 2011年

    出版者・発行元:Fuji Technology Press

    DOI: 10.20965/jrm.2011.p0338  

    ISSN:1883-8049 0915-3942

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    The goal of this study is to develop levitation stabilization control for an aerodynamically levitated highspeed, high-efficiency train, "Aero-Train." Levitation occurs due to the wing-in-ground effect acting on a U-shaped guideway. To achieve our goal, we developed a small experimental prototype of the wing-in-ground vehicle, its dynamic model and control for stabilization along the Z axis and about the roll and pitch axes using a linear quadratic regulator, as described in this paper. Control effectiveness is confirmed by experimental results.

  126. Levitation Control of Experimental Wing-in-Ground Effect Vehicle along Z Axis and about Roll and Pitch Axes 査読有り

    Yusuke Sugahara, Yusuke Ikeuchi, Ryo Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Yukio Noguchi, Satoshi Kikuchi, Yasuaki P. Kohama

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 8-13 2011年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2011.5979974  

    ISSN:1050-4729

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    The goal of this study is to develop a control method for levitation stabilization of an aerodynamic levitated train named the "Aero-Train," which is a high-speed, high-efficiency train system. The levitation in this system occurs because of the wing-in-ground effect that acts on a U-shaped guideway. In order to achieve the goal of this study, a small experimental prototype and a control method for stabilization along the Z axis and about the roll and pitch axes were developed, as described in this paper. The effectiveness of the developed control method is confirmed by experimental results.

  127. Improvement in the Performance of Passive Motion Support System with Wires Based on Analysis of Brake Control 査読有り

    Yasuhisa Hirata, Keitaro Suzuki, Kazuhiro Kosuge

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 4272-4277 2011年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2011.5980471  

    ISSN:1050-4729

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    To assist human motion in the fields of rehabilitation and sports training, we propose a passive motion support system consisting of wires with servo brakes and a control method to guide the human hand. However, passive systems sometimes cannot generate enough force to guide the human hand along the desired path because the servo brakes cannot generate a driving force and the system does not have enough brake units to generate the desired force. In this paper, we theoretically consider the feasible braking force region of a passive system with multiple brake units and discuss the number of brake units required to generate the desired force appropriately. We also develop a system based on our analysis of the feasible braking force and conduct path-following experiments. The experimental results illustrate the validity of a passive motion support system consisting of wires with servo brakes.

  128. Design of Handling Device for Caging and Aligning Circular Objects 査読有り

    Yasuhisa Hirata, Aya Kaisumi, Kengo Yamaguchi, Kazuhiro Kosuge

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 4370-4377 2011年

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA.2011.5980502  

    ISSN:1050-4729

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    In this study, we consider the development of a device for handling small parts for automatic product assembly in factories. Many robotic hands and one-degree-of-freedom grippers have been proposed as grasping parts; here, we focus on the shape of the tips of a handling device for picking up small parts robustly and agilely. In this research, we propose a concept for a handling device for picking up small round parts. In this concept, the handling device cages an object without letting the object escape from its tips before closing them completely and then grasps the object robustly at a unique position of the tips. Using this caging and self-alignment concept, the handling device can pick up objects robustly and agilely. In this paper, we focus on a method for designing the shape of the device's tips using the concept of caging and self-alignment of objects. We also develop the robust and agile pick-up device (RAPiD) with tips designed by the new method and present experimental results that illustrate the validity of the concept and the ability of RAPiD to handle small parts.

  129. Walking Support based on Cooperation between Wearable-Type and Cane-Type Walking Support Systems 査読有り

    Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Hiroshi Onodera

    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 122-127 2011年

    出版者・発行元:IEEE

    DOI: 10.1109/AIM.2011.6027116  

    ISSN:2159-6255

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    In this paper, we propose a new walking support system based on cooperation between wearable-type and cane-type walking support systems for supporting hemiplegia patients. In this system, we want to realize several functions such as swing phase support, navigation, fall prevention and sit-to-stand assist by controlling each walking support system cooperatively. As the first challenge of our research, in this paper, the wearable-type walking support system assists a leg motion during swing phase based on the motion of the cane-type walking support system moved by the user.

  130. Development of Passive type Double Wheel Caster Unit based on Analysis of Feasible Braking Force and Moment Set 査読有り

    Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 311-317 2011年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2011.6048373  

    ISSN:2153-0858

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    We introduce passive mobile robots consisting of various wheels; omnidirectional wheels or one-wheel casters, which are controlled by servo brakes. These robots can realize several functions, such as path tracking, gravity compensation on a slope, and collision avoidance function, by controlling only the servo brakes. They employ passive dynamics with respect to the force applied by a human. In this paper, we derive and analyze a feasible braking force/moment that is necessary for controlling the robot with servo brakes. We reveal the advantages and disadvantages of the feasible braking force/moment of each robot developed by us. In addition, we propose a new passive type double wheel caster unit, called PDC, on the basis of the analysis. We develop a prototype PDC called PDC-P1. Finally, we handle a long object by two PDC-P1s actually, and realize the path tracking function as example to confirm its validity.

  131. A Car Transportation System Using Multiple Mobile Robots: iCART II 査読有り

    Koshi Kashiwazaki, Naoaki Yonezawa, Mitsuru Endo, Kazuhiro Kosuge, Yusuke Sugahara, Yasuhisa Hirata, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 4593-4600 2011年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2011.6048530  

    ISSN:2153-0858

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    This paper proposes a new car transportation system, iCART II (intelligent Cooperative Autonomous Robot Transporters - type II), based on "a-robot-for-a-wheel" concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than the half of the conventional robot used in iCART (intelligent Cooperative Autonomous Robot Transporters). In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore we propose a decentralized control algorithm for car transportation in coordination by using a leader-follower type multiple robot system. The proposed algorithm enables the followers to estimate and reduce the motion errors and then enables the robots to transport a car to a desired position, even if the motion errors occur. In addition, we discuss how the external force applied to each robot during transporting a car, such as an inertial and friction force, is shared among the robots, and we propose a model-based external force estimation and compensation method. The proposed control algorithm is applied to the system, and the results of car transportation experiment confirm its validity.

  132. Identification of pedestrian characteristics for assistive systems 査読有り

    Mata Khalili, Eric Monacelli, Yasuhisa Hirata

    2011 IEEE/SICE International Symposium on System Integration, SII 2011 549-554 2011年

    DOI: 10.1109/SII.2011.6147508  

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    To provide the adapted mobility assistance to people who are in need of, information of specific physical characteristics of users are essential. In this work, we focus on extracting approximate human physique using low-cost sensors. We use Microsoft Kinect to detect and follow human in an indoor environment and measure her/his height and movement speed. Measured height could be used for adjustment of the assistance tools to the proper position for the user. From the movement speed, we can estimate the time that user will reach to the assistance module. It indicates at what moment it should be ready for providing the assistance. In this work, we use an autonomous electric wheelchair for the seat providing task. Wheelchair moves in the environment using the information provided by Kinect, detect and extract the human information and provides the necessary assistance. © 2011 IEEE.

  133. Building human motion map with human states estimation in indoor dynamic environments 査読有り

    Yuji Ogawa, Zhidong Wang, Tetsuya Wada, Ken Tomiyama, Yasuhisa Hirata, Kazuhiro Kosuge

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 1090-1095 2011年

    DOI: 10.1109/ROBIO.2011.6181433  

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    In recent years, robots working in human living space with human-robot interaction are actively researched. To these robots, it is important to perform environmental cognition including to estimate human states around the robots and to have environment map for autonomous motion of the robots. In this research, we focus on building maps of dynamic environment. In this paper, we proposed Human Motion Map, a high-dimensional map, which incorporating human states information into results of conventional SLAM. The Human Motion Map is with high potential on further human estimation and motion planning for robots by considering the uncertainties of environment and human states. © 2011 IEEE.

  134. Control of a passive walker using a depth sensor for user state estimation 査読有り

    Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 1639-1645 2011年

    DOI: 10.1109/ROBIO.2011.6181524  

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    The motion of a passive type walker is controlled so that it can be used as a support for standing up, sitting down and also to prevent the user from falling down. A depth vision sensor is used to locate the centroid of the user's upper body. A 2D probabilistic model of the location of the centroid is constructed based on the gathered data of the user during normal walking. A set of statistical normality tests assure the validity of such model. The state estimation method is experimented with a passive-type intelligent walker referred to as "RT Walker", equipped with servo brakes. © 2011 IEEE.

  135. Development of wire-type motion support system controlled by servo brakes 査読有り

    Yasuhisa Hirata, Yuki Tozaki, Kazuhiro Kosuge

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 2150-2155 2011年

    DOI: 10.1109/ROBIO.2011.6181610  

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    In this paper, we develop a passive wire-type motion support system controlled by servo brakes to assist human motion in the fields of rehabilitation and sports training. We also propose a control method to guide the human hand by using the servo brakes which cannot generate a driving force. This passive system is intrinsically safe and wire-type motion support system has a wide operating range. But, passive systems using servo brakes sometimes cannot generate enough force to guide the human hand along the desired path because the system does not have enough brake units to generate the desired force. In this paper, we consider the feasible braking force region of a passive system with multiple brake units and discuss the method to generate the desired force appropriately. We conduct a path-following experiment and the experimental results illustrate the validity of the wire-type passive motion support system controlled by servo brakes. © 2011 IEEE.

  136. Development of passive wearable walking helper controlled by servo brake 査読有り

    Y. Hirata, T. Isoda, K. Kosuge

    International Journal of Mechatronics and Manufacturing Systems 3 (3-4) 291-306 2010年5月

    DOI: 10.1504/IJMMS.2010.033189  

    ISSN:1753-1039 1753-1047

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    This paper introduces a passive wearable walking support system and proposes its control algorithm by using servo brake. According to the analysis of the walking of the human, we found that the joint moment around the knee joint is large for supporting the weight of the human during the walking. Consequently, this paper focuses on the development of the passive wearable device with servo brake and proposes the control method for supporting the weight of the user based on a human model. Experiments using the developed device also illustrate the validity of it. Copyright © 2010 Inderscience Enterprises Ltd.

  137. A new control algorithm for a passive type dance partner robot 査読有り

    Zhao Liu, Chenglong Fu, Ken Chen, Yoshinori Koike, Yasuhisa Hirata, Kazuhiro Kosuge

    2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010 486-491 2010年

  138. Building human motion map for mobile robot in the indoor dynamic environment 査読有り

    Tetsuya Wada, Zhidong Wang, Tomokazu Matsuo, Yuji Ogawa, Yasuo Hayashibara, Yasuhisa Hirata, Kazuhiro Kosuge

    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 543-548 2010年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2010.5723384  

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    In recent years, robots working in human living space are increasing with development of robot technologies. Environmental information acquisition and human estimation are necessary to control the robots moving in this kind dynamic environment. In this study, we proposed a map generation method which can comprehend dynamic environment with SLAM technology. During the information acquisition of dynamic environment and the human estimation, dynamic information and static information are extracted from the map generated by SLAM. An environmental map in the human living space and a motion map of human being are generated. The motion map of human being could be used as information for both motion planning of robots and further estimation of human motion in dynamic environment. © 2010 IEEE.

  139. 複数ロボットを用いた車両搬送システムiCART(第2報, 分散協調搬送アルゴリズム) 査読有り

    遠藤央, 小菅一弘, 廣瀬健治, 平田泰久, 菅原雄介, 鈴木公基, 神林隆

    日本機械学会論文集(C編) 76 (761) 103-109 2010年

    出版者・発行元:None

    DOI: 10.1299/kikaic.76.103  

    ISSN:0387-5024

  140. Distributed Motion Control of Multiple Passive Object Handling Robots Considering Feasible Region of Brake Control 査読有り

    Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 3413-3419 2010年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2010.5509234  

    ISSN:1050-4729

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    This paper proposes a distributed motion control algorithm of multiple passive mobile robots for handling an object in cooperation with a human. The driving force of the passive mobile robot is an actual force applied by the human and the servo brakes attached to the wheels control its motion. Different from the active-type robot with servo motors, the passive robot has the control limitation based on the brake constraint. In this paper, we consider a feasible region for the brake control of the robot and propose a distributed motion control algorithm of the multiple passive mobile robots for handling a large object along the desired path, in which each robot compensates the control input required by other robots which do not generate it because of the brake constraint. We apply the proposed algorithm to two passive mobile robots called PRP experimentally and they realize an object handling along the desired path accurately.

  141. Analysis of the slip-related falls and fall prevention with an intelligent shoe system 査読有り

    Hiroshi Onodera, Takeshi Yamaguchi, Hiroteru Yamanouchi, Kazumasa Nagamori, Masaru Yano, Yasuhisa Hirata, Kazuo Hokkirigawa

    2010 3RD IEEE RAS AND EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS 616-620 2010年

    出版者・発行元:IEEE

    DOI: 10.1109/BIOROB.2010.5628030  

    ISSN:2155-1782

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    We studied a relationship between a zero moment point (ZMP) and a base of support (BOS) during slipping. ZMP is the point on the ground where no moment may be transmitted about the whole body center of mass (COM). When subjects could walk without slipping, ZMP was located within the BOS at a single support phase. When a fall after a forward slip was observed, the ZMP remained outside of the BOS edge. The maximum distance between the ZMP and the BOS edge (L-max) was longer in the fall group than in the recovery group (p &lt; 0.001). The maximum velocity of the slipping foot segment relative to the torso segment (vr_max) had a positive correlation with L-max. An intelligent shoe system, which can extend the shoe sole area (BOS) laterally, improved both static standing balance and dynamic standing balance. Thus, appropriate coefficient of sliding friction on the shoe sole and intelligent control of the shoe sole area would be of value in reducing the risk of falling, particularly for the people with movement disorders.

  142. 介助技術に基づく移乗介助支援機具の提案 査読有り

    初雁卓郎, 三宅徳久, 平田泰久, 小菅一弘

    日本機械学会論文集(C編) 76 (769) 2286-2293 2010年

    出版者・発行元:None

    DOI: 10.1299/kikaic.76.2286  

    ISSN:0387-5024

  143. Motion Control of Passive Haptic Device Using Wires with Servo Brakes 査読有り

    Yasuhisa Hirata, Keitaro Suzuki, Kazuhiro Kosuge

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 3123-3129 2010年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2010.5649497  

    ISSN:2153-0858

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    In this paper, we introduce a passive haptic device which consists of wires with servo brakes and its control method for physical support of human being. Since servo brakes control a point constrained by wires, this passive system is intrinsically safe and has a wide operating range. We especially develop a motion support system controlled on plane and conduct a path following experiment for illustrating a possibility of the passive haptic device with wires. We also analyze the system's characteristics by calculating the feasible braking force, and then improve the operating range of the system based on the analysis. Experimental results on path following function illustrate the validity of the system and its control method.

  144. Motion Control of Passive Mobile Robot with Multiple Casters Based on Feasible Braking Force and Moment 査読有り

    Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 3130-3137 2010年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2010.5650940  

    ISSN:2153-0858

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    We introduce a passive mobile robot called C-PRP (Caster-type Passive Robot Porter). This robot consists of multiple casters with servo brakes and a controller. C-PRP employs passive dynamics with respect to the force applied by a human. Its appropriate motion is controlled using the servo brakes. In this paper, we derive and analyze a feasible braking force/moment that can be applied to the robot on the basis of the characteristics of the servo brakes. In addition, we propose a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment. This algorithm is independent of the number of casters. The proposed algorithm is applied to a four-wheeled C-PRP and the experimental results confirm its validity.

  145. Vision-based human state estimation to control an intelligent passive walker 査読有り

    Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 146-151 2010年

    DOI: 10.1109/SII.2010.5708316  

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    The motion of a passive-type intelligent walker is controlled based on visual estimation of the motion state of the user. The controlled walker would be a support for standing up and prevent the user from falling down. The visual motion analysis detects and tracks the human upper body parts and localizes them in 3D using a stereovision approach. Using this data the user's state is estimated to be whether seated, standing up, falling down or walking. The controller activates the servo brakes in sitting, standing and falling situations as a support to insure both comfort and safety of the user. Estimation methods are experimented with a passive-type intelligent walker referred to as "RT Walker", equipped with servo brakes. ©2010 IEEE.

  146. Motion Control of Wearable Walking Support System with Accelerometer Based on Human Model 査読有り

    Yasuhisa Hirata, Takuya Iwano, Masaya Tajika, Kazuhiro Kosuge

    Advances in Human-Robot Interaction 205-220 2009年12月

  147. 複数ロボットを用いた車両搬送システムiCART 査読有り

    遠藤央, 廣瀬健治, 平田泰久, 小菅一弘, 菅原雄介, 鈴木公基, 篠塚博之, 新井浩幸, 阿久根圭, 神林隆

    日本機械学会論文集(C編) 75 (755) 132-139 2009年7月

  148. Parameter Setting Method for Sit-Stand Assist System Based on Human Model 査読有り

    Yasuhisa Hirata, Jun'ichi Higuchi, Takuro Hatsukari, Kazuhiro Kosuge

    Journal of Robotics and Mechatronics 21 (3) 324-331 2009年6月

  149. 人間モデルに基づく歩行支援機使用者の動作判別 査読有り

    平田泰久, 小松田慎二, 小菅一弘

    計測自動制御学会論文集 45 (5) 276-282 2009年5月

    出版者・発行元:The Society of Instrument and Control Engineers

    DOI: 10.9746/sicetr.45.276  

    ISSN:0453-4654

    詳細を見る 詳細を閉じる

    In this paper, we propose a human modeling method for estimating the user states using intelligent walker. If intelligent walker can recognize the user states, it can select the several functions such as variable motion characteristics function, fall-prevention function, assist functions for standing up and sitting down, and so on, autonomously, so that the users, who do not have professional skills of the intelligent systems, could utilize the walker dependably and practically in real world environment. In this paper, we especially focus on the human modeling method of the user, in which we generate the human linkage model by using the laser range finders attached to the walker and calculate the center of gravity of the human during the usage of the walker. The proposed method is evaluated based on the human motion captured accurately by using the motion capturing system. In addition, the experiments using the walker with laser rang finders show that it can recognize the user states successfully based on the position of the center of gravity derived by the human model.

  150. 作業拘束・環境拘束に適応可能な人間協調型ロボットの協調動作生成手法 査読有り

    瀬戸文美, 平田泰久, 小菅一弘

    日本ロボット学会誌 27 (2) 99-107 2009年3月

    出版者・発行元:The Robotics Society of Japan

    DOI: 10.7210/jrsj.27.221  

    ISSN:0289-1824

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    We propose a cooperative motion generation method based on the haptic interaction between robots and human beings for the cooperation of robots with human beings. There are lot of problems in the human-robot haptic interaction, such as self-collisions, collisions with obstacles, and limitation of the range of joint movements. We had proposed the self-collision avoidance motion generation method for robot cooperation with human beings in our previous study. In this study, we focus on the range of joint movements of robots in order to deal with the environmental/task constraints and also to prevent self-collisions. By considering the range of joint movements, the robot could also avoid the limitation of the range of the joint movement, as well as self-collisions. Additionally, by appropriately setting the range of movements of the mobile base of robots, we can generate the cooperative motion in robots, which may assist in dealing with the environmental/task constraints. The proposed method is employed in a human-friendly robot referred to as "MR Helper," and some experiments are carried out for validating the method.

  151. 複数ロボットを用いた車両搬送システムiCART : 第1報,車両搬送ロボットの設計と制御(機械力学,計測,自動制御)

    遠藤 央, 廣瀬 健治, 平田 泰久, 小菅 一弘, 菅原 雄介, 鈴木 公基, 篠塚 博之, 新井 浩幸, 阿久根 圭, 神林 隆

    日本機械学会論文集 C編 75 (755) 2028-2035 2009年

    出版者・発行元:日本機械学会

    DOI: 10.1299/kikaic.75.2028  

    ISSN:0387-5024

    詳細を見る 詳細を閉じる

    We propose a novel car transportation system termed as iCART (i__-ntelligent c__-ooperative a__-utonomous r__-obot t__-ransporters). This system transports cars using two robots that move in coordination. This car transportation system can transport cars of any size and offers various functions such as parking, valet parking, towing service, and the transportation of cars inside a factory, onto a ferry, and in complicated parking areas. The robots in this car transportation system comprise three modules: the mobile base module, the lifter module, and the connecting module. This paper describes the details of the operation mechanism and the basic algorithm of each module. A leader-follower-type distributed motion control algorithm is applied to the proposed system and is used in an experiment performed to verify the validity of its function.

  152. Motion Control of Walking Assist Robot System Based on Human Model 査読有り

    Yasuhisa Hirata, Shinji Komatsuda, Takuya Iwano, Kazuhiro Kosuge

    13TH INTERNATIONAL CONFERENCE ON BIOMEDICAL ENGINEERING, VOLS 1-3 23 (1-3) 2232-2236 2009年

    出版者・発行元:SPRINGER

    ISSN:1680-0737

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    In this paper, we introduce walking assist robot systems for the elderly people to manage the independent living over a long period of time in serious aging society. This research especially focuses on the motion control method of the walking assist robot systems based on the human linkage model calculated in real time. According to the human linkage model, the robot systems could calculate a position of the user&apos;s center of gravity and the joint moment applied around the each joint of the user in real time. Based on the information of the user, the robot systems could support the walking appropriately. The motion control algorithms based on the human model are implemented to the walker-type walking assist system and the wearable walking assist system experimentally, and experimental results illustrate the validity of the proposed methods.

  153. Development of Omni-directional Mobile Base with Servo Brakes for Passive Dance Partner Robot 査読有り

    Yasuhisa Hirata, Yoshinori Koike, Zhao Liu, Kazuhiro Kosuge

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 676-681 2009年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2009.4913082  

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    In this research, we develop a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. The maneuverability and the controllability of the passive robot are influenced by the original motion characteristics of the robot with respect to the human applied force. In this paper, we investigate the original motion characteristics of the omni-directional mobile base of the passive dance partner robot and consider the arrangement of the omni-directional wheels with servo brakes.

  154. Self-help Standing-up Method Based on Quasi-static Motion 査読有り

    Takuro Hatsukari, Shiho Kuroko, Norihisa Miyake, Ryushiro Kawazoe, Jun'ichi Higuchi, Yasuhisa Hirata, Kazuhiro Kosuge

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 342-+ 2009年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2009.4913027  

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    When supporting standing-up motion, a caregiver takes advantage of gravity force to make sufficient momentum without bearing heavy burden. The physical abilities or decision-making abilities decrease for many of elderly people who need care. We propose a self-help standing-up method for such people. The method with quasi-static motion in which the acceleration is approximated to zero, so as to keep safety at the time of emergency, is preferable. However, the quasi-static motion gives heavy burden to a caregiver because it cannot make efficient use of inertia force by the help of gravity force. Compared to human assist, mechanical system can easily realize the quasi-static motion, since a mechanical system has an ability to hold a large force. However, a quasi-static motion trajectory has to be newly-developed because it is not well known. Therefore, we propose the mechanical system and a quasi-static method for supporting standing-up motion. As an example, the method using artificial upper body constraint, and fitted to physical characteristics of each patient have been proposed. This system is found to be the effectiveness.

  155. Transporting an Object by a Passive Mobile Robot with Servo Brakes in Cooperation with a Human 査読有り

    Yasuhisa Hirata, Zhidong Wang, Kenta Fukaya, Kazuhiro Kosuge

    ADVANCED ROBOTICS 23 (4) 387-404 2009年

    出版者・発行元:TAYLOR & FRANCIS LTD

    DOI: 10.1163/156855309X408745  

    ISSN:0169-1864

    eISSN:1568-5535

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    In this paper, we introduce a passive mobile robot called PRP ( Passive Robot Porter) to realize transportation of an object in cooperation with human, which is developed based on a concept of passive robotics. PRP consists of three omni-directional wheels with servo brakes and a controller. It can manipulate an object by controlling an external force/moment applied by a human based on the control of the servo brakes. We consider the characteristics of the servo brakes and control the brake torque of each wheel based on the brake force/moment constraint so that several motion functions of PRP are realized based on the applied force. This allows PRP to track a path which includes motion perpendicular to the pushing direction of the human without using servo motors. The impedance-based motion control is also realized with respect to the perpendicular to the pushing direction. These functions are implemented on PRP experimentally, and the experimental results illustrate the validity of PRP and its control method. (c) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009

  156. Coordinated Motion Control of Multiple Passive Object Handling Robots based on Environment Information 査読有り

    Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 2729-2734 2009年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2009.5152612  

    ISSN:1050-4729

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    In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with mind to an applied force and its appropriate motion is controlled based on the servo brakes. In this paper, we especially focus on a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. By controlling each passive mobile robot in the decentralized way, we realize collision avoidance function and path following function of the object to improve the maneuverability for the human operator. The proposed algorithms applied to two PRPs actually, and experimental results illustrate the validity of the proposed algorithms.

  157. A Coordinated Control Algorithm based on the Caster-like Motion for a Car Transportation System -iCART- 査読有り

    Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Yusuke Sugahara, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura, Masaki Nakanishi, Takashi Kanbayashi

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 3826-+ 2009年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2009.5152785  

    ISSN:1050-4729

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    The car transportation system, which termed as iCART (intelligent Cooperative Autonomous Robot Transporters), is developed for handling the car in the narrow space, substituting the parking and unmanning the transportation of cars. iCART is composed of two robots and these robots transport the car in coordination based on a leader-follower type distributed motion control algorithm. To avoid damaging the surface of the car, tires of the car are putted on, not grasped by, the end-effecter of robots. Thus, when force/moment applied to the car by robots becomes large, the slip at the contact of the robot with the car occurs. Due to the slip, the relative position between robots is changed. In a conventional algorithm, the relative position is used for the control. Thus, after the contact of the robot with the car slips, occasionally, robots could not coordinate. For overcoming this problem, the motion control algorithm based on the caster. like motion is applied to the car transportation system iCART in this paper. Since this algorithm does not use the relative position information, the system becomes robust against the slip at the contact of the robot with the car. The proposed motion control algorithm is applied to iCART and experimental result illustrates the validity of the proposed algorithm.

  158. Human-Adaptive Step Estimation Method for a Dance Partner Robot 査読有り

    Daishi Nakayama, Kazuhiro Kosuge, Yasuhisa Hirata

    2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3 191-196 2009年

    出版者・発行元:IEEE

    DOI: 10.1109/ICAL.2009.5262935  

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    A ballroom dance is a performance between a male dancer and a female dancer and consists of its own steps. The dance is led by a male dancer and a female dancer continues to dance by estimating the following step through physical interaction between them. A dance partner robot, BDR, has been proposed as a research platform for human-robot coordination. It dances a waltz with a male dancer by estimating the following step led by the male dancer. The step estimator has been designed based on the hidden arkov model. The parameters of the hidden arkov model are determined based on a set of time series data of force/moment applied to the upper body of the robot by the male dancer. The proposed method is effective for the male dancer whom the teaching data are collected from, although the success rate of the step estimation with another male dancer is not always high. In this paper, a step estimation method for a dance partner robot is proposed which updates parameters of the hidden arkov model at each step transition and improves the success rate of the dance step estimation for any dance partner. xperimental results illustrate the effectiveness of the proposed method.

  159. Development of an Automatic Dishwashing Robot System 査読有り

    Kazuhiro Kosuge, Yasuhisa Hirata, Jina Lee, Akira Kawamura, Koichi Hashimoto, Shingo Kagami, Yu Hayashi, Norio Yokoshima, Hiroshi Miyazawa, Ryosuke Teranaka, Yasutoshi Natsuizaka, Kazuhisa Sakai, Mizuo Koizumi, Junji Koyama, Naoki Kanayama, Shunichi Tezuka, Hiroshi Torimitsu

    2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS 43-+ 2009年

    出版者・発行元:IEEE

    DOI: 10.1109/ICMA.2009.5245127  

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    In this paper, we introduce an automatic dishwashing robot system, which consists of two 7-DOF manipulators, novel grasping system with hook structure, sensing system and the controller. We introduce each component of the system and experiments are performed to illustrate the effectiveness of the developed robot system.

  160. Development of Intelligent Passive Cane Controlled by Servo Brakes 査読有り

    Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge

    RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2 1011-1016 2009年

    出版者・発行元:IEEE

    DOI: 10.1109/ROMAN.2009.5326139  

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    In this paper, we propose an intelligent cane developed based on passive robotics concept for supporting the elderly and the disabled persons who have difficulty walking. The Intelligent Passive Cane (IP Cane) is controlled by servo brakes attached to the wheels and intrinsically safe for humans, because it cannot move unintentionally, i.e., it has no driving actuators. In addition, the IP Cane provides many kinds of functions by appropriately controlling the torque of wheels with servo brakes. In this paper, we propose an environmentally adaptive motion control algorithm that provides path following function, and a human adaptive motion control algorithm that changes motion characteristic of IP Cane to adapt to user difficulty and states.

  161. Trajectory Generation for Multiple Robots of a Car Transportation System 査読有り

    Mitsuru Endo, Kenji Hirose, Yusuke Sugahara, Yasuhisa Hirata, Kazuhiro Kosuge, Takashi Kanbayashi, Mitsukazu Oomoto, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8 305-+ 2009年

    出版者・発行元:SPRINGER-VERLAG BERLIN

    DOI: 10.1007/978-3-642-00644-9-27  

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    We propose a car transportation system referred to as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. Collision-free trajectories for approaching and transporting the car are generated based on the potential field in the configuration space. In this paper, we describe details of the way to construct a configuration space, to apply a potential to the configuration space, and to generate a trajectory. Additionally, for generating the collision-free trajectory on the environment where two robots exist, repulsive potentials are applied to each robot. Described methods are integrated to iCART and experimental results illustrate the validity of the proposed method.

  162. Motion Control of Passive Mobile Robot Consisting of Casters with Servo Brakes 査読有り

    Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 42-48 2009年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2009.5354720  

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    In this paper, we introduce a passive mobile robot with casters developed based on the concept of passive robotics. This mobile robot consists of two casters with servo brakes, one passive rigid wheel and a controller. We can manipulate the robot by controlling external force/moment applied by a human based on the control of the servo brakes attached to the casters. We consider the characteristics of the servo brakes and control the brake torque of each caster based on the braking force and moment constraint so that several motion functions of the robot are realized based on the applied force. This allows the robot to track a path without using servo motors. The motion control based on the environment information is also realized, so that we could avoid the collision with obstacles. These functions are implemented to the robot experimentally and experimental results illustrate the validity of the robot system and its control method.

  163. A Path Planning Method for Dynamic Object Closure by Using Random Caging Formation Testing 査読有り

    ZhiDong Wang, Hidenori Matsumoto, Yasuhisa Hirata, Kazuhiro Kosuge

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 5923-+ 2009年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2009.5353999  

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    Object manipulation problem by multiple cooperating mobile robots using the concept of Object Closure is discussed in the paper. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance during the transportation. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. In the paper, a method planning caging path and by using Random Caging Formation lath Determination algorithm (RCFP) is proposed for achieving Dynamic Object Closure. Some planning results are presented for illustrating the validity of the proposed algorithm.

  164. Motion Control of Passive Dance Partner Robot by Using Servo Brakes 査読有り

    Yasuhisa Hirata, Yoshinori Koike, Kazuhiro Kosuge

    2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 104-109 2009年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2009.5420641  

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    This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for Step Transition) for passive dance partner robot. This paper especially focuses on the Motion Generator in CAST. The Motion Generator controls the brake torque of each wheel with servo brake attached to the mobile base of the robot and realizes the ballroom dancing of the robot together with a human partner.

  165. Standing-Up Motion Support Device by Using Elbow Support Face to Adapt to Human Physical and Motion Characteristics 査読有り

    Takuro Hatsukari, Norihisa Miyake, Jun'ichi Higuchi, Yasuhisa Hirata, Kazuhiro Kosuge

    Journal of Robotics and Mechatronics 20 (6) 828-825 2008年12月

  166. Human Modeling Method for Estimating User States Using Intelligent Walker 査読有り

    Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge

    Proceedings of The 17th CISM-IFToMM Symposium on Robot Design, Dynamics, And Control 365-372 2008年7月

  167. Object Handling by Coordinated Multiple Mobile Manipulators Without Force/Torque Sensors 査読有り

    Yohei Kume, Yasuhisa Hirata, Kazuhiro Kosuge

    Journal of Robotics and Mechatronics 20 (3) 394-402 2008年6月

  168. 高齢者の特性に適応する起立支援システム 査読有り

    初雁卓郎, 黒子詩穂, 三宅徳久, 樋口淳一, 平田泰久, 小菅一弘

    日本機械学会論文集(C編) 74 (740) 186-193 2008年4月

    DOI: 10.1299/kikaic.74.938  

  169. A Robot Waltzing with a Human Partner -Dance Partner Robot- [Trends and Controversies: Dnacing Robots] 査読有り

    Kazuhiro Kosuge, Takahiro Takeda, Yasuhisa Hirata

    IEEE Intelligent Systems 23 (2) 2008年3月

  170. Partner Ballroom Dance Robot -PBDR- 査読有り

    Kazuhiro Kosuge, Takahiro Takeda, Yasuhisa Hirata, Mitsuru Endo, Minoru Nomura, Kazuhisa Sakai, Mizuo Koizumi, Tatsuya Oconogi

    SICE Journal of Control, Measurement, and System Integration 1 (1) 74-80 2008年1月31日

    出版者・発行元:The Society of Instrument and Control Engineers

    DOI: 10.9746/jcmsi.1.74  

    ISSN:1882-4889

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    In this research, we have developed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interaction. The robot could estimate the next dance step intended by a human and dance the step with the human. This paper introduce the robot referred to as PBDR (Partner Ballroom Dance Robot), which has performed graceful dancing with the human in EXPO 2005, Aichi, Japan.

  171. Handling of a single object by multiple mobile robots based on caster-like dynamics 査読有り

    Yasuhisa Hirata, Youhei Kume, Zhi-dong Wang, Kazuhiro Kosuge

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 2215-+ 2008年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2008.4543540  

    ISSN:1050-4729

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    When we consider a coordination of multiple mobile robots, it is difficult to know the geometric relations among them. Errors in position and orientation of each robot detected by dead reckoning system are inevitable because of the slippage between wheels and the ground. To overcome these problems, in this article, we introduce a caster-like dynamics for controlling the multiple mobile robots in coordination. By using the caster-like dynamics, multiple mobile robots could handle a single object without using the geometric relations among them and the shape of the object. The effectiveness of the caster-like dynamics is illustrated through the video in which several types mobile robots handle a single object in coordination.

  172. Variable motion characteristics control of an object by multiple passive mobile robots in cooperation with a human 査読有り

    Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 1346-1351 2008年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2008.4543390  

    ISSN:1050-4729

    詳細を見る 詳細を閉じる

    In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with respect to an applied force and its appropriate motion is controlled based on the servo brakes. This paper especially focuses on a motion control algorithm of multiple passive mobile robots for handling a single object in cooperation with a human. By controlling each passive mobile robot in the decentralized way, we realize several kinds of motion characteristics of the object to improve the maneuverability for the human operator. By changing the apparent dynamics of the representative point of the object and its position, we realize an anisotropic apparent motion characteristic of the handling object and the obstacle avoidance function as examples. The proposed motion control algorithms are implemented to two PRPs actually, and experimental results illustrate the validity of the proposed algorithms.

  173. Development of A Passive Type Dance Partner Robot 査読有り

    Zhao Liu, Yoshinori Koike, Takahiro Takeda, Yasuhisa Hirata, Ken Chen, Kazuhiro Kosuge

    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 1070-+ 2008年

    出版者・発行元:IEEE

    DOI: 10.1109/AIM.2008.4601810  

    ISSN:2159-6255

    詳細を見る 詳細を閉じる

    In this paper, a passive type dance partner robot referred to as PDR (Passive Dance Robot) is presented to realize ballroom dances in cooperation with a human. PDR is developed based on the concept of passive robotics. Compared to the active type robot actuated by servo motors, the passive type robot can guarantee higher level of safety, since this kind of robot moves passively based on the force applied by human operator without using the actuators, thus unexpected motion due to out of control will not happen. In this paper, the locations of the wheels are determined by analyzing the trajectories of the male dancer's feet. The dynamic manipulability is utilized to analyze the acceleration capability of PDR; the best orientations of the wheels will be determined by maximizing the ratio of the minimum and maximum radius of the dynamic manipulability ellipsoid. Finally a prototype is built, which consists of three Omni-directional wheels with servo brakes and on-board computer system.

  174. Development of Passive Wearable Walking Support System Based on Brake Control 査読有り

    Yasuhisa Hirata, Tadashi Isoda, Kazuhiro Kosuge

    2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2 362-367 2008年

    出版者・発行元:IEEE

    DOI: 10.1109/ICMA.2008.4798781  

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    In this paper, we introduce a passive wearable walking support system based on brake control referred to as "Passive Wearable Walking Helper". According to the analysis of the walking of the human being, the knee joint has to support his/her weight during the walking, and the joint moment applied around the knee joint is large for supporting the weight. Consequently, in this paper, we pay attention to the support of the knee joint in walking, and develop a Passive Wearable Walking Helper which could support the weight of the user during the walking based on the brake control. In the control method, we derive the support moment for the knee joint by calculated human model and experiments using the developed system illustrate the validity of the passive support device and its control method.

  175. Motion Control of Wearable Walking Support System with Accelerometer Considering Swing Phase Support 査読有り

    Yasuhisa Hirata, Takuya Iwano, Masaya Tajika, Kazuhiro Kosuge

    2008 17TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2 322-327 2008年

    出版者・発行元:IEEE

    DOI: 10.1109/ROMAN.2008.4600686  

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    In this paper, we propose a method for supporting a walking of a human by using wearable walking support system called Wearable Walking Helper. In this method, the support moment for the knee joint of the user is calculated by the human model and a part of it is supported by the actuator of the Wearable Walking Helper. In the conventional method we proposed so far, we only consider the stance phase of the gait which requires a large moment of the knee joint in walking for supporting the weight of the user. In this paper, we especially focus on the support of the swing phase of the gait which requires a moment of knee joint for supporting not only the weight of the leg but also the weight or the Wearable Walking Helper itself. For realizing the swing phase support, we measure an inclination of the upper body of the user with respect to the vertical direction by using the accelerometer and apply it to the calculation method using human model for deriving the support moment of the knee joint. The proposed method is applied to the Wearable Walking Helper experimentally and the experimental results illustrate the validity of the proposed method.

  176. Fall Prevention Control of Passive Intelligent Walker Based on Human Model 査読有り

    Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 1222-1228 2008年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2008.4651173  

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    As aging progresses, fall accident of the person walker is an acute problem. It is necessary to know the situation of the user's fall to prevent it. In this paper, we propose a method for estimating the user's fall by modeling of the user in real time as a solid body link model, and pay attention to the center of gravity of the model. We also propose a method for controlling a passive intelligent walker to prevent the user's fall according to the support polygon and the walking characteristic of the user. We experimented with passive intelligent walker in which we implement the proposed fall prevention control and show the effectiveness or the proposal method.

  177. A Car Transportation System by Multiple Mobile Robots - iCART 査読有り

    Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Takashi Kanbayashi, Mitsukazu Oomoto, Kei Akune, Hiroyuki Arai, Hiroyuki Shinoduka, Kouki Suzuki

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 2795-+ 2008年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2008.4651200  

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    In this paper, we propose a new car transportation system referred to as iCART(intelligent cooperative autonomous robot transporters). This system consists of two robots for the car transportation. Each robot is controlled by using a decentralized control algorithm for transporting the car in coordination. A trajectory for transporting the car is given to one of robots, and another robot estimates the trajectory through the interaction force between two robots. This car transportation system could transport any size of cars, and is available for any kinds of car transportation tasks such as parking, ballet parking, tow away service, and the transportation of cars at a factory, ferry, parking area, etc. The proposed car transportation system are developed and the control algorithm is experimentally applied to them. The experimental results illustrate the validity of the proposed system.

  178. Control of Wearable Walking Helper on Slope Based on Integration of Acceleration and GRF Information 査読有り

    Yasuhisa Hirata, Takuya Iwano, Kazuhiro Kosuge

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 3731-3736 2008年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2008.4651189  

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    In this paper, we describe a method for controlling wearable walking support system which is referred to as Wearable Walking Helper. In this method, the support moment for the user's knee joint is calculated with an approximated human model and a part of it is supported by the prismatic actuator of Wearable Walking Helper. In the conventional control algorithm, we only considered to support the user to walk on the level ground and assumed that horizontal components of Ground Reaction Force (GRF) could be neglected. In this paper, we especially focus on the support of walking on slope, and estimate slope angle based on sensor signals from accelerometer and force sensors. By using the estimated slope angle, horizontal components of GRF are calculated and we apply it to the calculation method using the human model. The proposed method is applied to Wearable Walking Helper and the experimental results illustrate the validity of it.

  179. Sit-to-Stand Assist System by Using Handrail and Electric Bed Moving Up and Down 査読有り

    Yasuhisa Hirata, Jun'ichi Higuchi, Takuro Hatsukari, Kazuhiro Kosuge

    2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2 187-192 2008年

    出版者・発行元:IEEE

    DOI: 10.1109/BIOROB.2008.4762786  

    ISSN:2155-1782

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    In this paper, we propose a user adaptive support system for sit-to-stand movement from a bed. The support system consists of a handrail and an electric bed which moves up and down. The evaluation indexes for the sit-to-stand movement based on a human model are introduced. By using these indexes, we set the parameters of the support system such as the handrail position, the height of the bed, and the foot position, for stabilizing the user's posture and reducing the burdens of the user's muscles. The parameters of the support system are determined according to the body size and the disability of the user, and the experimental results illustrate the validity of the method for setting the handrail position, the height of the bed, and the foot position.

  180. A Novel Grasping Mechanism for Flat-shaped Objects Inspired by Lateral Grasp 査読有り

    Kazuhiro Kosuge, Jina Lee, Junya Ichinose, Yasuhisa Hirata

    2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2 282-288 2008年

    出版者・発行元:IEEE

    DOI: 10.1109/BIOROB.2008.4762905  

    ISSN:2155-1782

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    In this paper, we propose a grasping mechanism for flat-shaped objects such as a dish, a plate, etc., inspired by human's lateral grasp. We analyze bow the mechanism can grasp the object, and evaluate the robustness of the grasping against disturbance forces/moments applied to the grasping object. The mechanism is experimentally applied to handling of dishes, and several experimental results illustrate the effectiveness of the proposed grasping mechanism.

  181. Motion control of passive intelligent walker using servo brakes 査読有り

    Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge

    IEEE TRANSACTIONS ON ROBOTICS 23 (5) 981-990 2007年10月

    出版者・発行元:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

    DOI: 10.1109/TRO.2007.906252  

    ISSN:1552-3098

    eISSN:1941-0468

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    We propose a new intelligent walker based on passive robotics that assists the elderly, handicapped people, and the blind who have difficulty in walking. We developed a prototype of the Robot Technology Walker (RT Walker), a passive intelligent walker that uses servo brakes. The RT Walker consists of a support frame, two casters, two wheels equipped with servo brakes, and it has passive dynamics that change with respect to applied force/moment. This system is intrinsically safe for humans, as it cannot move unintentionally, i.e., it has no driving actuators. In addition, the RT Walker provides a number of navigational features, including good maneuverability, by appropriately controlling the torque of servo brakes based on RT. We propose a human adaptive motion control algorithm that changes the apparent dynamics to adapt to user difficulties, and an environmentally adaptive motion control algorithm, which incorporates environmental information to provide obstacle/step avoidance and gravity compensation functions. The proposed control algorithms are experimentally applied to the RT Walker to test their validity.

  182. A control approach based on passive behavior to enhance-user interaction 査読有り

    Oscar Ylaya Chuy, Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge

    IEEE TRANSACTIONS ON ROBOTICS 23 (5) 899-908 2007年10月

    出版者・発行元:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

    DOI: 10.1109/TRO.2007.907920  

    ISSN:1552-3098

    eISSN:1941-0468

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    This paper proposes a new control approach for an active (motorized) robotic walking support system based on passive behavior concept. The control approach aims to enhance the interaction between the support system and the user. The passive behavior of a support system allows the user to safely interact with the system since it removes the system's capability to move when there is no user's intention. This passive behavior is realized using imposed apparent dynamics, which uses the user's intention represented by the applied force/torque to derive the system's desired motion. The control approach is extended into a user-oriented motion control algorithm to adapt user's controlling characteristics. This is implemented by varying the point of application of the apparent dynamics. The control approach is further extended to use environment information and realize environment feedback concept. This is implemented by varying the parameters of the apparent dynamics based on environment data. Experimental results are presented to show the validity of the proposed control approach.

  183. Passive-type Intelligent Walker Controlled Based on Caster-like Dynamics 査読有り

    Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

    Rehabilitation Robotics, Advanced Robotic Systems 187-202 2007年8月

  184. Dance step estimation method based on HMM for dance partner robot 査読有り

    Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 54 (2) 699-706 2007年4月

    出版者・発行元:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

    DOI: 10.1109/TIE.2007.891642  

    ISSN:0278-0046

    eISSN:1557-9948

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    The main purpose of this. paper is to realize an effective human-robot coordination with physical interaction. A dance partner robot has been proposed as a platform for it. To realize the effective human-robot coordination, recognizing human intention would be one of the key issues. This paper focuses on an estimation method for dance steps, which estimates a next dance step intended by a human. In estimating the dance step, time series data of force/moment applied by the human to the robot are used. The time series data of force/moment measured in dancing include uncertainty such as time lag and variations for repeated trials because the human could not always exactly apply the same force/moment to the robot. In order to treat the time series data including such uncertainty, hidden Markov models are utilized for designing the dance step estimation method. With the proposed method, the robot successfully estimates a next dance step based on human intention.

  185. 社交ダンスにおける人間とロボットとの力学的相互作用型協調運動システム 査読有り

    竹田貴博, 林智大, 平田泰久, 小菅一弘

    日本ロボット学会誌 25 (1) 113-120 2007年1月

    出版者・発行元:The Robotics Society of Japan

    DOI: 10.7210/jrsj.25.113  

    ISSN:0289-1824

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    A main purpose of our research is realizing an effective human-robot cooperation with physical interaction. In this paper, an architecture for the cooperation is proposed. As an example of the cooperation, ballroom dancing by a human and a robot is focused. And a dance partner robot referred to as "MS DanceR (Mobile Smart Dance Robot) " is developed. MS DanceR realizes a ballroom dance together with a human based on a control architecture referred to as "CAST (Control Architecture based-on Step Transition) ", which is designed according to features of ballroom dances. Experimental results illustate the validity of MS DanceR and its control architecture CAST.

  186. HMM-based error recovery of dance step selection for dance partner robot 査読有り

    Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 1768-+ 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2007.363578  

    ISSN:1050-4729

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    A dance partner robot has been developed as an example of platforms for realizing the effective human-robot coordination with physical interactions. This robot could dance together with a human by estimating the next step intended by the human. If the robot would mistake the step estimation, the human-robot coordination could not be continued. In this paper, an error recovery method for step selections, which changes robot's behavior according to human's behavior, is designed using Hidden Markov Models. Experimental results illustrate the validity of the proposed method.

  187. Control passive mobile robots for object transportation - Braking torque analysis and motion control 査読有り

    ZhiDong Wang, Kenta Fukaya, Yasuhisa Hirata, Kazuhiro Kosuge

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 2874-+ 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2007.363907  

    ISSN:1050-4729

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    In this paper, we propose a concept on realizing impedance-based motion control of passive type robots for transporting a single object in coordination with a human operator. In this research, we developed a prototype of passive type robot referred to as Passive Robot Porter or PRP, which consists of three omni-directional wheels with MR Brakes, and on-board computer system. We analyze the singularity of PRP braking torques, and control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on PRP with human's pushing. This allows a PRP to track a 2D path which includes motion perpendicular to human's pushing direction without using servo motors, and multi-PRPs to work cooperatively on handling a single object with orientation control for avoiding collision with obstacles. Experimental results are shown to illustrate the validity of the proposed concept.

  188. Environment feedback for robotic walking support system control 査読有り

    Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 3633-+ 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2007.364035  

    ISSN:1050-4729

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    This paper proposes a control approach for an active robotic walking support system based on environment feedback. The support system is controlled using imposed apparent dynamics and its parameters are varied by the environment information. The environment information will not cause any motion but will only change the characteristics or maneuver-ability of the support system. This approach leads to a passive behavior for an active walking support system. In addition, the stability of the support system based on the apparent dynamics is also discussed. This is important as a guideline on what parameters to vary that will not cause instability to the system. Experimental results are presented to show the validity of the control algorithm with environment feedback.

  189. Structural design for omni-directional mobile base of passive-type mobile robot 査読有り

    Yasuhisa Hirata, Hamin Song, Zhidong Wang, Kazuhiro Kosuge

    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS 192-+ 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/ICMA.2007.4303539  

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    We have developed a passive-type mobile robot based on the concept of the passive robotics. Different from the active-type robot with servo motors, the developed passive-type robot is controlled by using the servo brakes, in which its driving force is applied by a human operator. Therefore, the original motion characteristics of the robot with respect to the human handling force are very important for its maneuverability and it is changed by the structural design of the robot such as the arrangement of the wheels. In this paper, we investigate the original motion characteristics of the passive-type omni-directional mobile robot and discuss. the equilibrium orientation of the robot and the required handling force of the human operator. Finally, we consider the appropriate arrangement of the wheels of the robot for realizing the human support system such as object handling system and the walking support system.

  190. Handling of an object in 3-D space by multiple mobile manipulators based on intentional force/moment applied by human 査読有り

    Yasuhisa Hirata, Yasuhiro Matsuda, Kazuhiro Kosuge

    2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 835-840 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/AIM.2007.4412545  

    ISSN:2159-6255

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    In this paper, we propose a new motion control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In general, for handling the object, robots grasp it rigidity and a human operator applies an intentional force/moment to it. However, when the robot is operated by a human who does not have enough knowledge about robots, he/she may apply his/her intentional force/moment to the object without considering the singular configurations of the robot. The singular configuration problem is an indispensable one for the motion control of the robots with many degrees of freedom including humanoid robots and mobile manipulators. In addition, when we utilize multiple mobile manipulators, we have to consider the redundancy of the mobile manipulator and the slippage problem between the wheels of the mobile base and the ground. These problems make the human operator be difficult for handling the object in 3-D space. In this paper, we design a new motion control algorithm of multiple mobile manipulators so that they could handle the object in cooperation with a human without regarded to the several control problems of the mobile manipulators.

  191. Active type robotic mobility aid control based on passive behavior 査読有り

    Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 165-170 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2007.4399408  

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    This paper proposes a motion control algorithm for an active type of robotic mobility aid based on passive behavior concept Passive behavior is an important characteristic of a system that provides mobility to elderly or person with walking disability. It allows the user to control the system based on intention. Passive behavior is implemented using imposed desired dynamics, which represents the actual behavior of passive system. This approach uses user intention represented by applied force/torque to derive the mobility aid desired motion. In addition, a guideline in parameter selection of the desired dynamics is also presented. This guideline is used to ensure the stability of the active robotic mobility aid with passive behavior. Experimental results are presented to show the validity of the proposed control method.

  192. Control of passive object handling robot with free joint for reducing human assistive force 査読有り

    Yasuhisa Hirata, Hamin Song, Zhidong Wang, Kazuhiro Kosuge

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 1160-+ 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2007.4399272  

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    In this paper, we introduce a passive mobile robot called PRP to realize a transportation of an object in cooperation with a human which is developed based on a concept of passive robotics. The PRP (Passive Robot Porter) consists of three omni-directional wheels with servo brakes and a controller. It can manipulate an object by controlling an external force/moment applied by a human based on the control of the servo brakes. Therefore, if the required external force and moment for realizing the manipulation of the object are become large, the burden of the human would increase and the controllability of the robot would decrease. To overcome these problems, in this paper, we propose a system in which the PRP carries the object through a free joint By using the free joint, the orientation of the object is changed by the intentional moment applied by the human and the robot only controls the position of the object based on the servo brake control, so that the required intentional force for transporting the object could reduce compared to the previous version of the PRP without using free joint. Additionally, in this paper, we propose a motion control algorithm for the PRP with free joint and illustrate the validity of the proposed system and its control algorithm through the experiments of the object handling.

  193. Dance partner robot cooperative motion generation with adjustable length of dance step stride based on physical interaction 査読有り

    Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 3264-3269 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2007.4399270  

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    As an example of platforms for realizing the effective human-robot coordination with physical interactions, a dance partner robot has been developed, which could dance together with a human by estimating the next dance step intended by the human. Generating robot's active motion so as to be adapted to its user could be one of essential functions in the next generation robotic technology. This paper proposes the cooperative motion generation method for the robot, which is implemented by adjusting length of dance step stride based on physical interaction between the human and the robot. Experimental results illustrate the validity of the proposed method.

  194. Collision avoidance based on estimated step of other dance couples for male-type dance partner robot 査読有り

    Yasuo Sakai, Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 3270-3275 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2007.4399290  

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    This paper discusses advanced human-robot coordination systems. In order to realize the coordination, robots have to behave as not only followers but also leaders when they execute tasks with humans. As an example of the advanced human-robot coordination systems, a male-type dance partner robot is developed, which behaves as a male dancer and executes ballroom dances with a human. In ballroom dances, a male dancer leads a female dancer, and selects the next step based on the information such as the relative position between themselves and other dance couples, their positions in the dance floor, and so on. This paper addresses the step selection problems, which contains collision avoidances with other dance couples. Hidden Markov Models are used to estimate their dance step trajectories. Experiments and simulations are performed to illustrate the validity of the proposed method.

  195. Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors 査読有り

    Yohei Kume, Yasuhisa Hirata, Kazuhiro Kosuge

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 4083-4088 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2007.4399070  

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    In this paper, we propose a coordinated motion control algorithm of multiple mobile manipulators handling a single object without using force/torque sensors. In this control algorithm, each mobile manipulator is controlled as if its grasping point has an impedance dynamics by using the real dynamics of the manipulator instead of force/torque sensors. These mobile manipulators handle a single object in coordination using the leader-follower type control algorithm based on the impedance dynamics. Then, the effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control algorithm.

  196. Motion generation method for human-robot cooperation to deal with environmental/task constraints 査読有り

    Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 646-651 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2007.4522238  

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    We have proposed a real-time self-collision avoidance motion generation method for the mobile manipulator which is used for human-robot cooperation using "RoBE (Representation of Body by Elastic elements)". Furthermore, we have proposed the cooperating motion generation method which considers range of joint movement of the robot to deal with environmental/task constraints in human-robot cooperation. In this paper, we apply the proposed cooperative motion generation method to the real human-friendly robot referred to as "MR Helper". Because of the consideration of range of joint movement, the cooperative motions which could deal with task/environmental constraints could be generated on MR Helper while cooperating with a human. Some experiments are also done for illustrating the validity of the proposed cooperative motion generation method.

  197. Motion control of passive robot porter with variable motion characteristics for handling a single object 査読有り

    Yasuhisa Hirata, Hamin Song, Kazuhiro Kosuge

    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 1041-1046 2007年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2007.4522307  

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    In this paper, we introduce omni-directional object handling robot system developed based on passive robotics and propose its motion control algorithm for realizing variable motion characteristics of the handling object Passive object handling robot called PRP (Passive Robot Porter) is controlled by servo brakes attached to the wheels of the robot. By designing the control algorithms of the servo brakes appropriately, the PRP has many functions such as navigation function and collision avoidance. In this paper, we especially focus on a motion control of the PRP for realizing variable motion characteristics of the handling object. If we can change the motion characteristics of it arbitrarily based on the servo brake control of the PRP, the maneuverability of the human operator would be improved. In this paper, we design the motion control algorithm and implement it to the PRP experimentally. Experimental results of the object handling illustrate the validity of the proposed method.

  198. Decentralized cooperative object transportation by multiple mobile robots with a pushing leader 査読有り

    ZhiDong Wang, Yugo Takano, Yasuhisa Hirata, Kazuhiro Kosuge

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 6 6 453-+ 2007年

    出版者・発行元:SPRINGER

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    We address a decentralized control method for object transportation in coordination by a leader-follower type multiple robot system. The proposed system consists of a pushing leader, a robot without grasping mechanisms, and multiple follower robots. During the object transportation, a desired trajectory is given to the leader robot only, and follower robots estimate the trajectory of the leader based on force/moment from the object. In the proposed system, a variable internal force is introduced to each robot's controller in decentralized style to let the follower's estimator work on not only the pushing but also the "pulling" case that the leader needs to slow down or stop the object. Finally, a robot system including three omnidirectional mobile robots is presented and an experiment result is shown to illustrate the concept of the proposed control algorithm.

  199. A new control approach for a robotic walking support system in adapting user characteristics 査読有り

    Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge

    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS 36 (6) 725-733 2006年11月

    出版者・発行元:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

    DOI: 10.1109/TSMCC.2006.879396  

    ISSN:1094-6977

    eISSN:1558-2442

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    This paper proposes a new control approach for a robotic walking support system to adapt a user's controlling characteristic. The control approach will be implemented by changing the kinematic structure of the robotic walking support system based on a variable center of rotation. This new control approach aims to help users who have difficulties in controlling their walking support system. In this study, we have a training stage to evaluate and adapt user's controlling characteristics. This will be implemented by allowing the user to, follow some training paths. In the event a large path error occurs, a learning algorithm will vary the center of rotation of the support system until the user can successfully follow the training path. The relationship between the user intent in the form of applied force/torque and the new center of rotation will be taken by considering several training paths. This relationship will be used in actual control of the robotic walking support system. Experimentation and evaluation are presented to show the validity of the proposed control algorithm.

  200. パッシブ型知的歩行支援機のための環境適応型運動制御 査読有り

    平田泰久, 原麻美, 村木亜沙美, 小菅一弘

    日本機械学会論文集(C編) 72 (719) 181-188 2006年7月

    出版者・発行元:日本機械学会

    DOI: 10.1299/kikaic.72.2185  

    ISSN:0387-5024

    詳細を見る 詳細を閉じる

    In this paper, we propose a motion control algorithm of a passive-type intelligent walker based on environment information. The passive-type walker we developed consists of a support frame, two casters, and two wheels with servo brakes. This system has a passive dynamics with respect to the force/moment applied to it, because it does not have any actuators for driving it, so that this system is intrinsically safe for using it based on the physical interaction between the system and the human being. In this research, we control the motion of the passive walker by adjusting the brake torque of each wheel based on the environment information, so that a user could avoid the collision with obstacles, prevent missing his/her step, and compensate the gravity of the system as if the user could use it safely on any roads such as the road with steep sloop. The proposed control algorithms are applied to passive-type walker referred to as RT Walker experimentally, and we show that RT Walker can be utilized successfully in environments with stairs, steps, obstacles, and slops.

  201. 人間協調型ロボットにおけるRoBEを用いた実時間自己衝突回避 査読有り

    瀬戸文美, 小菅一弘, 平田泰久

    日本機械学会論文集(C編) 72 (718) 1826-1831 2006年6月

    出版者・発行元:日本機械学会

    DOI: 10.1299/kikaic.72.1826  

    ISSN:0387-5024

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    We have proposed a real-time self-collision avoidance control method for the robot which is used for human robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human friendly robot, referred to as "MR Helper", and experiments are done for illustrating the validity of the proposed self collision avoidance motion.

  202. パッシブロボティクス概念に基づいた知的歩行支援機の開発 査読有り

    平田泰久, 原麻美, 小菅一弘

    日本ロボット学会誌 24 (2) 124-130 2006年3月

    出版者・発行元:The Robotics Society of Japan

    DOI: 10.7210/jrsj.24.270  

    ISSN:0289-1824

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    In this paper, we propose a concept of Passive Robotics which is one of the approaches for supporting humans physically. Based on the passive robotics, we develop a new intelligent walker referred to as RT Walker for supporting elderly people, blind people, or handicapped people who have difficulties in walking. RT Walker consists of a support frame, wheels, servo brakes, and controllers. RT Walker has a passive dynamics with respect to a force/moment applied to it and a simple structure, because it does not have some servo motors. However, several functions for RT Walker could be realized by controlling the brake torque of each servo brake appropriately based on Robot Technologies (RT) . In this paper, especially, we propose motion control algorithms of RT Walker for changing its apparent dynamics to adapt to difficulties of the user, and for moving based on the information of an environment. The proposed control algorithms are implemented in RT Walker actually, and the experimental results illustrate the validity of RT Walker and its motion control algorithms.

  203. Human-robot interaction based on passive robotics 査読有り

    Yasuhisa Hirata, Zhi-dong Wang, Kazuhiro Kosuge

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 1076-+ 2006年

    出版者・発行元:IEEE

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    In this paper, we introduce a concept of passive robotics for realizing a physical interaction between a human and a robot safely, and also present two types of the intelligent mobile robot with servo brakes which are developed based on the passive robotics. One is the passive-type intelligent walker referred to as RT Walker for assisting the walking of elderly people, handicapped people, and blind people. The other is the passive-type object transportation system referred to as PRP, which realizes the assistances of the transportation of a large and a long object. Both systems consist of wheels with servo brakes, controller, and rechargeable battery. By controlling the servo brakes appropriately, many kinds of function for assisting the humans could be realized without using the active actuators such as servo motors.

  204. Real-time cooperating motion generation for man-machine systems and its application to medical technology 査読有り

    Funti Seto, Yasuhisa Hirata, Kazuhiro Kosuge

    FUTURE MEDICAL ENGINEERING BASED ON BIONANOTECHNOLOGY, PROCEEDINGS 1085-+ 2006年

    出版者・発行元:WORLD SCIENTIFIC PUBL CO PTE LTD

    DOI: 10.1142/9781860948800_0117  

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    In this paper, we propose a cooperating motion generation method for man-machine cooperation systems in which the machines are controlled based on the intentional force applied by a human/humans. By applying this method, the systems could avoid selfcollisions, collisions with obstacles and other dangerous situations during the tasks. As the application examples of proposed method, we focused on robots cooperating with a human/humans and surgery robot tools from the aspect of medical and welfare field. We did the experiments using human-friendly robot, referred to as "MR Helper", for illustrating the validity of the proposed method. We also did the computer simulation to indicate the prospects of applications of our self-collision avoidance method to surgery robot tools.

  205. Automatic fine alignment and pointing of movable telescopes using point and template matching 査読有り

    Y. A. Azzam, Z. Wang, Y. Hirata, K. Kosuge, A. A. Elkousy, A. Bahgat, M. AboElela

    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS 462-+ 2006年

    出版者・発行元:IEEE

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    A new technique for fine alignment and pointing of small non-fixed telescopes is addressed. The technique is based on pattern matching of a synthesized image to the actual acquired image of the sky. Synthesis of the image is based on getting coordinates of the bright stars in the sky from a database star catalogue. Telescope kinematics are used to convert these coordinates to image coordinates after correcting for major astronomical errors as well as for perspective distortion. Two algorithms have been used for pattern matching: point pattern matching and normalized correlation matching. This process solved the problem of polar alignment of small and movable equatorially mounted telescopes, which was tedious and very time consuming. In addition, it can be used to make precise pointing for any telescope. This method does not necessitate either having precise encoders or precise timing.

  206. Checking movable configuration space in C-Closure Object for object caging and handling 査読有り

    ZhiDong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS 336-+ 2006年

    出版者・発行元:IEEE

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    In this paper, manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure is addressed. Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we develop an efficient checking method of movable configuration space in C-Closure Object for object caging by multiple cooperative robots.

  207. Step estimation method for dance partner robot "MS DanceR" using neural network 査読有り

    Yasuhisa Hirata, Tomohiro Hayashi, Takahiro Takeda, Kazuhiro Kosuge, Zhi-dong Wang

    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS 523-+ 2006年

    出版者・発行元:IEEE

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    In this paper, we propose a dance partner robot referred to as MS DanceR (Mobile Smart Dance Robot) which has been developed as platform for realizing the effective human-robot coordination with physical interaction. MS DanceR consists of an omni-directional mobile base and Body Force Sensor, which is a force/torque sensor installed between the mobile base and the body of the robot. A human could dance a ballroom dance together with MS DanceR based on a control architecture referred to as CAST (Control Architecture based-on Step Transition), in which the estimation method for the dance step is designed using neural network. CAST is applied to MS DanceR and a human dances a waltz together with MS DanceR experimentally.

  208. Construction of Human-Robot Cooperating System based on Structure/Motion Model 査読有り

    Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

    INTELLIGENT AUTONOMOUS SYSTEMS 9 973-980 2006年

    出版者・発行元:I O S PRESS

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    The purpose of this study is constructing a unified methodology which could deal with many control problems existing in human-robot cooperating systems Such as self-collision, collisions with obstacles, singular configurations aid so on. To construct such methodology, we could realize safe and highly maneuverable human-robot cooperation as well as human-human cooperation. For this purpose, we propose a concept of "Structure/Motion Models" which represents the structures aid their motions of robots, objects in the environment and the partner for the cooperation (humans). In this paper, we explain "RoBE (Representation of Body by Elastic elements)". one of the modeling methods to construct structure/motion models. Constructing the models by using RoBE, we could deal with the problems of self-collisions and collisions with obstacles with a unified approach. We explain how to solve these control problems as the examples of solving some problems during the human-robot cooperation by using the structure-motion models, and results of these examples illustrate the validity of the concept of the structure/motion model.

  209. Motion control of intelligent passive-type walker for fall-prevention function based on estimation of user state 査読有り

    Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 3498-+ 2006年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2006.1642236  

    ISSN:1050-4729

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    In this paper, we introduce a passive-type walker using servo brakes referred to as RT Walker. RT Walker realizes several functions such as obstacles/steps avoidance function, path following function, gravity compensation function, variable motion characteristics function, etc., by controlling only servo brakes without using servo motors. These passive-type systems are dependable for using practically in real world environment, because of the passive dynamics with respect to the applied force/moment, simple structure, lightweight, and so on. However, the most serious problem of them is the falling accident of user, because the passive-type systems are lightweight and move easily based on the small force/moment applied by the user unintentionally. In this paper, we pay attention to a method for estimating the human state during the usage of the walker and propose a motion control algorithm for realizing a fall-prevention function based on its human state. We also implement the proposed control methods in RT Walker experimentally and illustrate the validity of them.

  210. Design and control of a passive mobile robot system for object transportation 査読有り

    Kenta Fukaya, Yasuhisa Hirata, ZhiDong Wang, Kazuhiro Kosuge

    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 31-+ 2006年

    出版者・発行元:IEEE

    DOI: 10.1109/ICMA.2006.257430  

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    In this paper, we propose a concept of a passive type robot for transporting a single object in coordination with a human operator. We developed a prototype of passive type robot referred to as RT Porter, which consists of support frame, three omni-directional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint and this allows RT Porter to track a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept.

  211. Standing up and sitting down support using intelligent walker based on estimation of user states 査読有り

    Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 13-+ 2006年

    出版者・発行元:IEEE

    DOI: 10.1109/ICMA.2006.257427  

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    In this paper, we propose estimation methods of user states using intelligent walker, which is realized based on the distance between the user and the walker. Especially, we pay attention to the support for the standing up and the sitting down motions of the user by controlling the passive-type intelligent walker based on the user states. Proposed estimation methods are also implemented in passive-type intelligent walker referred to as RT Walker, whose motions are controlled by the servo brakes, and the experimental results illustrate the validity of the proposed methods.

  212. Dynamic object closure by multiple mobile robots and random caging formation testing 査読有り

    ZhiDong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 3675-+ 2006年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2006.281725  

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    In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm.

  213. HMM-based error detection of dance step selection for dance partner robot -MS DanceR- 査読有り

    Takahiro Takeda, Yasuhisa Hirata, ZhiDong Wang, Kazuhiro Kosuge

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 5631-+ 2006年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2006.282285  

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    We have proposed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interactions. In the previous research, we have improved an estimation system for dance steps, which estimates the next dance step intended by a human. Although estimating the intended step is important for realizing the human-robot coordination, the cases that the estimation is failed and that the robot selects an incorrect step are not considered. Such cases have to be discussed carefully for realizing the effective human-robot coordination. In this paper, a method for error detections of dance step selections are proposed, which is designed using Hidden Markov Models. Experimental results illustrate the validity of the proposed method.

  214. Approach in assisting a Sit-to-Stand movement using robotic walking support system 査読有り

    Oscar Chuy, Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 4343-+ 2006年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2006.282007  

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    This paper presents an approach in assisting a Sit-to-Stand movement using a robotic walking support system. In general, robotic walking support system is used to provide walking stability. We will extend its function to assist a user in executing a Sit-to-Stand movement. The first approach will be called passive support. In this approach, the support system will be stationary as the user execute the Sit-to-Stand movement. The knee torque will be determined and this will be compared to a Sit-to-Stand movement without support. The second approach will be called active support and the knee torque will be supported. A motion control algorithm will be proposed such that the support system will move based on the supporting torque. The actual experimentation on both approaches in assisting a Sit-to-Stand movement will be presented. The experimental result on active support shows the validity of the proposed motion control algorithm.

  215. Motion control of intelligent walker based on renew of estimation parameters for user state 査読有り

    Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 1050-+ 2006年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2006.281809  

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    In this paper, we present a method for estimating the user states during the usage of the walker, which support the walking of the user based on the physical interaction between the user and the walker. We also propose a method for renewing these estimation parameters changed by the users and the environmental conditions. The proposed methods are experimentally implemented in RT Walker, which is passive-type intelligent walker. The experimental results illustrate that the proposed methods could estimate the user states during the usage of the walker and the parameters for estimating the user states are changed based on the several kinds of the conditions such as physical size, daily conditions and operational characteristics of the users, environmental conditions, and so on.

  216. Motion generation for human-robot cooperation considering range of joint movement 査読有り

    Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 270-+ 2006年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2006.282057  

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    We have proposed a real-time self-collision avoidance motion generation method for the manipulator of the robot used for human-robot cooperation. In this method, we represent the robots' body by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". The self-collision avoidance could be realized based on a virtual reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, we expand this method to control not only robots' manipulator, but also its mobile base. Furthermore, we focus on the range of the joint movement of the robot, and propose the self-collision avoidance motion generation method considering it. Because of these, the self-collision motions which could deal with task/environmental constraints could be generated on the robot cooperating with a human. The proposed method is implemented in the planar 4-DOF mobile manipulator, and computer simulations are done for illustrating the validity of it.

  217. Impedance-based motion control of passive-type robot porter for handling an object 査読有り

    ZhiDong Wang, Kenta Fukaya, Yasuhisa Hirata, Kazuhiro Kosuge

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 709-+ 2006年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2006.340293  

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    A concept on realizing impedance-based motion control of a passive type robot for transporting a single object in coordination with it human operator is proposed in this paper. We developed a prototype of passive type robot referred to as RT Porter, which consists of mobile frame equipped three omnidirectional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on RT Porter with human's pushing. This allows RT Porter to move in a 2D path, which includes motion perpendicular to human's pushing direction without using serve motors. Experimental results are shown to illustrate the validity of the proposed concept.

  218. Handling of a single object by multiple mobile manipulators in cooperation with human based on virtual 3-D caster dynamics 査読有り

    Y Hirata, Y Kume, ZD Wang, K Kosuge

    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 48 (4) 613-619 2005年12月

    出版者・発行元:JAPAN SOC MECHANICAL ENGINEERS

    DOI: 10.1299/jsmec.48.613  

    ISSN:1344-7653

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    In this paper, we propose a decentralized motion control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In the proposed control algorithm, the,grasping point of the mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordinated motion control algorithm between the manipulator and the mobile base for each mobile manipulator is designed. By using these motion control algorithms, the coordination among multiple mobile manipulators is realized without using the geometric relations among robots. The proposed control algorithms are experimentally applied to two mobile manipulators and experimental results illustrate the validity of the proposed control algorithms.

  219. 人体モデルに基づいた下肢用装着型抗重力筋支援システム 査読有り

    中村尚彦, 小菅一弘, 平田泰久

    日本機械学会論文集(C編) 71 (702) 618-623 2005年2月

    DOI: 10.1299/kikaic.71.618  

  220. ロボット間の幾何学的関係を必要としない複数移動マニピュレータによる単一物体のハンドリング 査読有り

    平田泰久, 久米洋平, 沢田拓郎, 王志東, 小菅一弘

    日本ロボット学会誌 23 (1) 139-146 2005年1月15日

    出版者・発行元:The Robotics Society of Japan

    DOI: 10.7210/jrsj.23.139  

    ISSN:0289-1824

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    In this paper, we propose a decentralized control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the grasping point of each robot is controlled as if it has a virtual 3-D caster dynamics and the handling of a single object by multiple mobile manipulators is realized based on a leader follower type control algorithm without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

  221. Human-adanptive motion control of active and passive type walking support system 査読有り

    Y Hirata, C Oscar, A Hara, K Kosuge

    2005 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS 139-144 2005年

    出版者・発行元:IEEE

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    The goal of this research is to develop human adaptive intelligent walking support systems. In this paper, two types of intelligent walking support systems are proposed. One is an active type walking support system referred to as Walking Helper, and the other is passive type waking support systems referred to as RT Walker. These systems are controlled so as to have variable motion characteristics according to the disabilities or the conditions of the users, so that the good maneuverability and the high safety of these systems could be realized.

  222. A small reaction manipulator for maneuvering a GPR sensing head 査読有り

    H Yabushita, Y Hirata, K Kosuge

    Systems and Human Science - For Safety, Security and Dependability 245-+ 2005年

    出版者・発行元:ELSEVIER SCIENCE BV

    DOI: 10.1016/B978-044451813-2/50020-8  

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    In this chapter, we propose a small reaction manipulator for detecting anti-personnel mines. The small reaction manipulator realizes rapid and precise motion control, which are useful for improvement of sensor head maneuver ability. In particular, ground penetrating radar (GPR) requires precise position control to obtain underground information. In order to realize precise and rapid motion control of a sensor head, it is necessary to restrict oscillations caused by end-effector motion. Such mechanical oscillations are produced by fluctuations of kinetic momentum. In order to reduce oscillations it is necessary to keep kinetic momentum constant. For this purpose we used counter weights mounted on a small reaction manipulator. By controlling the counter weights, the small reaction manipulator could precisely position the GPR at high-speed without oscillation. This chapter presents some experimental results from the evaluation of the proposed manipulator.

  223. Motion control of passive-type walking support system based on environment information 査読有り

    Y Hirata, A Hara, K Kosuge

    2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4 2921-2926 2005年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2005.1570557  

    ISSN:1050-4729

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    In this paper, we propose a motion control algorithm of a passive-type walking support system based on environment information. The passive-type walking support system we developed consists of a support frame, two casters, and two wheels with servo brakes. This system has a passive dynamics with respect to the force/moment applied to it, because it does not have any actuators for driving it, so that this system is intrinsically safe for using it based on the physical interaction between the system and the human being. In this research, we control the motion of the passive walker by adjusting the brake torque of each wheel based on the environment information, so that a user could avoid the collision with obstacles, prevent missing his/her step, and compensate the gravity of the system as if the user could use it safely on any roads such as the road with steep sloop. The proposed control algorithms are applied to passive-type walker referred to as RT Walker experimentally, and we show that RT Walker can be utilized successfully in environments such as the stairs, obstacles, and slops.

  224. Online approach in adapting user characteristic for robotic walker control 査読有り

    O Chuy, Y Hirata, K Kosuge

    2005 IEEE 9TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS 139-142 2005年

    出版者・発行元:IEEE

    DOI: 10.1109/ICORR.2005.1501070  

    ISSN:1945-7898

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    This paper propose an online approach to adapt user&apos;s controlling characteristic for robotic walker control. This approach is based on relocating the center of rotation (COR) of the robotic walker and it will be implemented online in training. This study aims to aid users that have difficulties in controlling their walking support System. To adapt user&apos;s controlling characteristics, a user will be asked to follow some training path and the error between the training and actual path mill be used to change the COR of the system. This training process will be done until the user can successfully follow the training path. Several training paths will be considered and the relationship between user&apos;s intention in the form of applied force/torque and the new COR will be taken. This relationship will be used in the actual control implementation of a variable COR. Experimentation and evaluation will be presented to show the validity of the proposed approach.

  225. Motion control of passive-type intelligent walker based on caster-like dynamics 査読有り

    Y Hirata, A Muraki, K Kosuge

    2005 IEEE 9TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS 477-481 2005年

    出版者・発行元:IEEE

    DOI: 10.1109/ICORR.2005.1501146  

    ISSN:1945-7898

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    The goal of this research is to develop an intelligent walker which is the passive-type walker referred to as RT Walker. In this paper, especially, we propose a motion control algorithm referred to as Adaptive Caster Action to utilize RT Walker with good maneuverability in an environment such as a home, an office, a hospital, etc. The proposed control algorithm is experimentally applied to RT Walker, and the validity of the proposed control algorithm is illustrated by the experimental results.

  226. Passive omnidirectional walker - Design and control 査読有り

    N Nejatbakhsh, Y Hirata, K Kosuge

    2005 12TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 518-523 2005年

    出版者・発行元:IEEE

    DOI: 10.1109/ICAR.2005.1507458  

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    An onmidirectional passive walking aid system called "Omni RT Walker" (Onmidirectional Robot-Technology Walker) is proposed in this paper. Omni RT Walker consists of an onmidirectional platform with servo brake system, an onboard control unit and a frame. The system is called passive since it excludes motion generating parts such as wheel actuators and translates by force applied by its user, but includes controllable units; servo brakes in our prototype. Variable Dynamics Control is the control scheme applied to Omni RT Walker in order to modify its dynamic characteristics according to user's walking ability. System identification is performed to evaluate and validate this control scheme.

  227. Deformable caging formation control for cooperative object transporation by multiple mobile robots 査読有り

    ZD Wang, Y Hirata, K Kosuge

    2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2 1158-1163 2005年

    出版者・発行元:IEEE

    ISSN:2159-6255

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    This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure used, Object Closure is a condition under which the object is trapped so that there Is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, the Object Closure Margin used to decide the caging formation is addressed and a decentralized control algorithm to perform a large object handling by controlling the density of robots in the caging formation is proposed.

  228. Motion control algorithms for a new intelligent robotic walker in emulating ambulatory device function 査読有り

    Oscar Chuy, Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge

    2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings 1509-1514 2005年

    出版者・発行元:IEEE

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    This paper propose a new motion control algorithms for an intelligent robotic walker that emulate ambulatory device function such as cane, wheeled walker, and standard walker. Usually, the objective in designing robotic walker is to replaced conventional wheeled walker and introduce new high level functions such as guidance, health monitoring, and others. We extend the objective of a robotic walker in different direction and propose a new motion control algorithms in replacing other ambulatory device such as cane and standard walker. In this study, we will consider the motion control algorithm for wheeled walker, cane, and standard walker based on imposed apparent dynamics to the robotic walker. In cane function emulation, one hand control will be considered. This method of controlling a robotic walker leads to some unintentional applied force/torque and makes the system uncontrollable. With that, we propose to change the kinematic structure of the robotic walker to make the system controllable. In standard walker function emulation, supported weight will be monitored and used to make the system in halt mode during weight transfer. The motion control algorithms were experimentally implemented and the results show its validity.

  229. Virtual elastic wall based motion control for teleoperated demining system 査読有り

    Erdene Damdinsuren, Kazuhiro Kosuge, ZhiDong Wang, Yasuhisa Hirata

    2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings 1666-1671 2005年

    出版者・発行元:IEEE

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    In this paper we proposed a new bilateral teleoperation based soil removing technique for demining system which is supported by geometric virtual wall concept. The virtual wall model was reflected to bilateral telemanipulation system to restrict a motion of the slave manipulator beyond the geometrical virtual wall. The algorithm was experimentally applied to a bilateral telemanipulation system. The experimental results showed that virtual wall can guarantee a generation of smooth surface and dig out the soil without applying too much force to the suspected object in a laboratory environment.

  230. Self-collision avoidance motion control for human robot cooperation system using RoBE 査読有り

    F Seto, K Kosuge, Y Hirata

    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 50-55 2005年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2005.1544958  

    詳細を見る 詳細を閉じる

    We have proposed a real-time self-collision avoidance control method for the robot which is used for human-robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human-friendly robot, referred to as ''MR Helper", and experiments are done for illustrating the validity of the proposed self-collision avoidance motion.

  231. HMM-based dance step estimation for dance partner robot - MS DanceR 査読有り

    T Takeda, K Kosuge, Y Hirata

    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1602-1607 2005年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2005.1545207  

    詳細を見る 詳細を閉じる

    We have proposed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interactions. In this paper, especially, we improve an estimation system for dance steps, which estimates a next dance step intended by a human. For estimating the dance step, time series data of force/moment applied by a human to the robot are utilized. The time series data of force/moment measured during dancing by a human and the robot include the uncertainty such as time-lag and variations for each repeated trial, because a human can not always apply the same force/moment to the robot exactly. In order to treat the time series data including such uncertainty, Hidden Markov Models are utilized for designing the dance step estimation system. With the proposed system, the robot estimates a next dance step based on human intention successfully.

  232. 3D ground adaptive synthetic aperture radar for landmine detection 査読有り

    H Yabushita, M Kanehama, Y Hirata, K Kosuge

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4 1861-1866 2005年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2005.1545248  

    詳細を見る 詳細を閉じる

    In this paper, we propose a new algorithm which shows a buried landmine clearly in an underground image captured by a ground penetrating radar (GPR). By using GPR, we could extract the buried object signals from a raw underground data of GPR. In addition, we could create a high resolution underground image which focuses on buried objects. The extraction of buried object signals from raw GPR data is achieved by using two methods which are a feature extraction processing method of underground image and a ground adaptive manipulation method which manipulates the sensor head of GPR along a ground surface. Moreover, we propose novel synthetic aperture radar processing, which could be applied to an uneven ground surface of a minefield, for detecting the landmine clearly. The high resolution underground image is obtained by the proposed synthetic aperture radar processing which is referred to as ground adaptive synthetic aperture radar algorithm. We developed a landmine detection robot, in which the proposed methods were implemented. To evaluate the proposed methods, experiments concerning landmine detection are done and experimental results illustrate the validity of the system.

  233. An algorithm for testing object caging condition by multiple mobile robots 査読有り

    ZD Wang, Y Hirata, K Kosuge

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4 2664-2669 2005年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2005.1545378  

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    We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure, a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. In this paper, we develop a distributed testing algorithm of object caging by multiple cooperative robots. By implementation of a complete testing based on the sufficient and necessary condition of Object Closure, the proposed algorithm works efficiently even for case to cage an irregular object.

  234. Augmented variable center of rotation in controlling a robotic walker to adapt user characteristics 査読有り

    O Chuy, Y Hirata, K Kosuge

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4 2806-2811 2005年

    出版者・発行元:IEEE

    DOI: 10.1109/IROS.2005.1545401  

    詳細を見る 詳細を閉じる

    This paper propose a new control algorithm for a robotic walker based on augmented variable center of rotation(COR) to adapt user's controlling characteristics. The new CORs will be taken from environment-based training. This is done by allowing the user to use the robotic walker from a start point to a goal point in a training environment and path following algorithm will be employed. The user's intention represented by applied force/torque will be logged during training. The logged data will be segmented to correspond the straight and curve segments in the training environment. This data will be used to regenerate the path of the robotic walker. The error between the regenerated and the desired path will be taken and in case large path error exists, an optimization program will be used to change the COR until the sum of the square of the path error is minimized. This approach refers to an offline COR determination. A variable COR controller as a function of applied torque will be designed based on the new CORs. This will be augmented and used in the actual control of the robotic walker. The proposed control algorithm was experimentally implemented and results show its validity.

  235. Telescope Automatic Alignment and Point using Pattern Matching 査読有り

    Yosry A. Azzam, Kazuhiro Kosuge, Zhidong Wang, A.A.Alawy, Yasuhisa Hirata

    Proceedings of the 4th International Conference on Advanced Mechatronics 96-102 2004年10月

  236. Real-time Self-collision Avoidance System for Robots using RoBE 査読有り

    Fumi Seto, Kazuhiro Kosuge, Yasuhisa Hirata

    International Journal of Humanoid Robotics 1 (3) 533-550 2004年9月

  237. A Pushing Leader based Decentralized Control Method for Cooperative Object Transportation 査読有り

    Zhi-Dong Wang, Yugo Takano, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems 1035 1035-1040 2004年9月

  238. Control of Walking Support System Based on Variable Center of Rotation 査読有り

    Oscar Chuy Jr, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems 2289-2294 2004年9月

  239. Passive-type Intelligent Walking Support System “RT Walker” 査読有り

    Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems 3871-3876 2004年9月

  240. 人間と複数の移動ロボットによる大型物体のハンドリング 査読有り

    平田泰久, 小菅一弘, 淺間一, 嘉悦早人, 川端邦明

    日本機械学会論文集(C編) 70 (691) 151-157 2004年3月

    DOI: 10.1299/kikaic.70.759  

  241. Telescope Automatic Alignment and Pointing using Pattern Matching(Vision and Recognition 1,Session: MA1-D)

    Azzam Y. A., Kosuge K., Wang Z., Alawy A. A., Hirata Y.

    The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2004 24-24 2004年

    出版者・発行元:一般社団法人日本機械学会

    DOI: 10.1299/jsmeicam.2004.4.24_2  

    ISSN:1348-8961

  242. From human to pushing leader robot: Leading a decentralized multirobot system for object handling 査読有り

    ZD Wang, Y Hirata, Y Takano, K Kosuge

    IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics 441-446 2004年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2004.1521819  

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    We address a decentralized control method for object transportation in coordination by a lead er-follower type multiple robot system. The proposed system consists of a pushing leader, a human being or a robot without grasping mechanisms, and multiple follower robots. During the object transportation, only the leader has desired trajectory, and follower robots estimate the trajectory of the leader based on force/moment from the object. In the proposed system with the pushing leader robot, imitating the system with human leader, a variable internal force is introduced to each robot's controller in decentralized style to let the follower's estimator work on not only the pushing but also the pulling case that the leader needs to slow down or stop the object. Finally, some experiment results are shown to illustrate the concept of the proposed algorithms.

  243. Human-robot interaction 査読有り

    K Kosuge, Y Hirata

    IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS 8-11 2004年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBIO.2004.1521743  

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    This article introduces several types of robots having physical interactions among a human/humans and a robot/robots, which we have developed so far. MR Helper (Mobile Robot Helper) is a mobile robot with dual manipulators, which could manipulate an object in cooperation with a human. DR Helpers (Distributed Robot Helpers) are multiple small mobile robots which transport an object in cooperation with a human/humans. MS DanceR (Mobile Smart Dance Robot) could dance the waltz as a female dance partner with a male dancer. These examples will inspire possible applications of the human-robot interaction in near future.

  244. Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics 査読有り

    Y Hirata, YH Kume, T Sawada, ZD Wang, K Kosuge

    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS 807-812 2004年

    出版者・発行元:IEEE

    ISSN:1050-4729

    詳細を見る 詳細を閉じる

    In this paper, we propose a leader-follower type motion control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

  245. Control a rigid caging formation for cooperative object transportation by multiple mobile robots 査読有り

    ZD Wang, Y Hirata, K Kosuge

    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS 1580-1585 2004年

    出版者・発行元:IEEE

    ISSN:1050-4729

    詳細を見る 詳細を閉じる

    This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-Closure Object and testing algorithms using properties of CC-Closure Object Also the scaling and control problem of caging formation is addressed and two algorithms to realize two-effectors pushing on fixed caging formation control is proposed.

  246. Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination 査読有り

    Y Hirata, T Sawada, ZD Wang, K Kosuge

    PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON INTELLIGENT MECHATRONICS AND AUTOMATION 362-367 2004年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    In this paper, we propose a leader-follower type motion control algorithm of multiple mobile robots with dual manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots based on the leader-follower type motion control algorithm. The proposed control algorithm is experimentally applied to two mobile robots with dual manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

  247. Load sharing algorithm for transporting an object by two mobile robots in coordination 査読有り

    H Takeda, ZD Wang, Y Hirata, K Kosuge

    PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON INTELLIGENT MECHATRONICS AND AUTOMATION 374-378 2004年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    In this paper, we propose an object transporting system by two tracked mobile robots in an environment with a slope. In such environment an effect of an external force applied to the object should be considered. We first address dynamic cooperative control algorithm of the robot system without external force applied to the object. Next, we derive cooperative control algorithm of the system including the effect of the external force. Then we propose an algorithm of a load sharing among robots in an uneven environment. We apply the proposed algorithm to the experimental system of two tracked mobile robots and illustrate the validity of the proposed algorithm.

  248. 仮想3-Dキャスタ特性を有した複数の移動マニピュレータと人間との協調による物体のハンドリング 査読有り

    平田泰久, 久米洋平, 王志東, 小菅一弘

    日本機械学会論文集(C編) 69 (687) 55-61 2003年11月

    出版者・発行元:日本機械学会

    DOI: 10.1299/kikaic.69.2895  

    ISSN:0387-5024

    詳細を見る 詳細を閉じる

    In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators and experimental results illustrate the validity of the proposed control algorithm.

  249. Real-time Control of Self-collision Avoidance for Robot using RoBE 査読有り

    Fumi Seto, Kazuhiro Kosuge, Rio Suda, Yasuhisa Hirata

    International Conference on Humanoid Robots, Conference Documentation 1-18 2003年10月

  250. キャスタ特性を有した複数の人間協調型移動ロボット(DR Helper)と人間との協調による単一物体の搬送 査読有り

    平田泰久, 小菅一弘, 淺間一, 嘉悦早人, 川端邦明

    日本ロボット学会誌 21 (7) 80-88 2003年10月

    出版者・発行元:The Robotics Society of Japan

    DOI: 10.7210/jrsj.21.776  

    ISSN:0289-1824

    詳細を見る 詳細を閉じる

    In this paper, we propose a decentralized motion control algorithm of multiple mobile robots referred to as DR Helper for transporting a single object in cooperation with a human. DR Helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each robot is controlled by its own controller as if it has a caster-like dynamics and transports a single object together with other robots based on an intentional force/moment applied by a human. The adaptive dual caster action is also proposed to improve the maneuverability of the system. Experiments using multiple DR Helpers will illustrate the validity of the proposed control algorithm.

  251. パワーアシスト自転車の走行抵抗可変型制御 査読有り

    藪下英典, 平田泰久, 小菅一弘

    日本機械学会論文集(C編) 69 (680) 195-200 2003年4月

    DOI: 10.1299/kikaic.69.1031  

  252. CC-Closure Object and Object Closure Margin of object caging by using multiple robots 査読有り

    ZD Wang, Y Hirata, K Kosuge

    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2 344-349 2003年

    出版者・発行元:IEEE

    ISSN:2159-6255

    詳細を見る 詳細を閉じる

    This paper addresses the problem of multi-robots object caging and transportation by using the concept of Object Closure. The concept CC-Closure Object which is used for efficient testing of Object Closure and the definition of the Object Closure Margin which is used for implementing the Object Closure concept is described. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators is discussed and an experiment is presented for illustrating the proposed concept.

  253. Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster 査読有り

    Y Hirata, Y Kume, ZD Wang, K Kosuge

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS 19-24 2003年

    出版者・発行元:IEEE

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    In this paper, we propose two types of cooperation system of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is, controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results.

  254. Cooperative object caging by using multiple mobile-manipulators 査読有り

    ZD Wang, Y Hirata, K Kosuge

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS 184-189 2003年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    This paper presents a new approach of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-Closure Object used for efficient testing of Object Closure. Properties of the CC-Closure Object and testing algorithm are described. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators is discussed.

  255. Small Reaction Manipulator for GPR Sensing Head Maneuver 査読有り

    Hidenori Yabushita, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of the SSR First International Symposium on System and Human Science 339-344 2003年

  256. ロボット間の幾何学的関係を必要とせず物体の搬送を実現する複数移動ロボットの分散協調制御 査読有り

    平田泰久, 小菅一弘, 淺間一, 嘉悦早人, 川端邦明

    日本機械学会論文集(C編) 69 (677) 204-211 2003年

    DOI: 10.1299/kikaic.69.204  

    ISSN:0387-5024

  257. Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human 査読有り

    Y Hirata, Y Kume, ZD Wang, K Kosuge

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 938-943 2003年

    出版者・発行元:IEEE

    ISSN:1050-4729

    詳細を見る 詳細を閉じる

    In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators referred to as DR HelperII and experimental results illustrate the validity of the proposed control algorithm.

  258. A strategy and a fast testing algorithm for object caging by multiple cooperative robots 査読有り

    ZD Wang, Kumar, V, Y Hirata, K Kosuge

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 2275-2280 2003年

    出版者・発行元:IEEE

    ISSN:1050-4729

    詳細を見る 詳細を閉じる

    This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-Closure Object used for efficient testing of Object Closure. Properties of the CC-Closure Object and testing algorithm are described. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators is discussed and an experiment is presented for illustrating the proposed concept.

  259. Dance partner robot - Ms DanceR 査読有り

    K Kosuge, T Hayashi, Y Hirata, R Tobiyama

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 3459-3464 2003年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    In this paper, we propose a dance partner robot referred to as Ms DanceR (Mobile Smart Dance Robot), which has been developed as platform for realizing the effective human-robot coordination with physical interaction. Ms DanceR consists of an omni-directional mobile base and a Body Force Sensor, which is a force/torque sensor installed between the mobile base and the body of the robot. A human could dance a ballroom dance together with Ms DanceR based on a control architecture referred to as "CAST" (Control Architecture based-on Step Transition), which was designed according to features of ballroom dances.

  260. Control multiple mobile robots for object caging and manipulation 査読有り

    ZD Wang, Y Hirata, K Kosuge

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1751-1756 2003年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    This paper addresses the problem of multirobots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-Closure Object, which is used for efficient testing of Object Closure. Testing algorithms using these properties is described. Also Object Closure Margin is defined and the scaling and control problem of the caging formation is addressed. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators, which have different shape and size, is discussed and experiments are presented for illustrating the proposed concept.

  261. Motion control of omni-directional type walking support system "Walking helper" 査読有り

    Y Hirata, T Baba, K Kosuge

    RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS 85-90 2003年

    出版者・発行元:IEEE

    DOI: 10.1109/ROMAN.2003.1251806  

    詳細を見る 詳細を閉じる

    In this paper, we develop a prototype of an intelligent walking support system referred to as Walking Helper and propose a motion control algorithm for it. Walking Helper consists of an omni-directional mobile base, a Body Force Sensor, a support frame and a cover around the mobile base. By using the omnidirectional mobile base and Body Force Sensor, the good maneuverability and the high safety of Walking Helper are realized. In addition, we propose a motion control algorithm referred to as Adaptive Caster Action to utilize Walking Helper effectively in an environment such as a home, an office, a hospital, etc. The proposed control algorithm is experimentally applied to the developed Walking Helper, and the validity of the proposed control algorithm is illustrated by the experimental results.

  262. Environment-adaptive control algorithm of power assisted cycle 査読有り

    H Yabushita, Y Hirata, K Kosuge, Z Wang

    IECON&apos;03: THE 29TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1 - 3, PROCEEDINGS 1962-1967 2003年

    出版者・発行元:IEEE

    DOI: 10.1109/IECON.2003.1280361  

    ISSN:1553-572X

    詳細を見る 詳細を閉じる

    In this paper, we propose a new control algorithm of a power assisted cycle which is an electrical cycle driven by a human&apos;s pedaling force and an actuator&apos;s driving force. In this algorithm, an actuator&apos;s driving force is generated based on the pedaling torque of the rider and environmental conditions, so that the rider could ride the cycle on any road as if he/she rides on a horizontal road. In addition, this control algorithm could adjust apparent resistance forces for riding the cycle depending on rider&apos;s physical strength. The proposed control algorithm is experimentally applied to an electrical tricycle and the experimental results illustrate the validity of the proposed algorithm.

  263. 単一物体を搬送する複数移動ロボットによる機能分散型障害物回避システム 査読有り

    武田宏樹, 小菅一弘, 平田泰久

    日本機械学会論文集(C編) 68 (669) 111-117 2002年5月

    出版者・発行元:日本機械学会

    DOI: 10.1299/kikaic.68.1453  

    ISSN:0387-5024

    詳細を見る 詳細を閉じる

    The decentralized motion control architecture for multiple robots in coordination is a natural extension of human behaviors to robots. Decentralized motion control system for multiple mobile robots transporting a single object in coordination has been proposed and extended to nonholonomic tracked mobile robots driven by two actuators. Systems have an architecture of a leader-follower type, with which the resultant pose of the object is not uniquely determined. In this paper, we propose a new multiple robots system of the leader-followers type based on the function-allocation concept. To illustrate the concept, we developed a leader-follower robot system, in which the leader is in charge of the handling motion of the object and the followers avoid collisions to obstacles and handle the object in coordination with the leader. Experimental results will illustrate the validity of the proposed method.

  264. 人間と複数の分散型ロボットヘルパ-との協調による単一物体の搬送 査読有り

    平田泰久, 初雁卓郎, 小菅一弘, 淺間一, 嘉悦早人, 川端邦明

    日本機械学会論文集(C編) 68 (668) 181-188 2002年4月

    DOI: 10.1299/kikaic.68.1207  

  265. Control algorithm of dual arms mobile robot for cooperative works with human 査読有り

    K Kosuge, H Kakuya, Y Hirata

    2001 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5 3223-3228 2002年

    出版者・発行元:IEEE

    ISSN:1062-922X

    詳細を見る 詳細を閉じる

    In this paper, we propose a motion control algorithm for the mobile robot with dual arms, "Mobile Robot Helper (MR Helper)", for handling an object in cooperation with a human based on impedance control. The algorithm specifies the apparent impedance of the manipulated object directly with respect to the world frame. It also specifies the apparent impedance of the mobile base relative to the object frame, so as not to influence the motion of the object. The control algorithm is implemented in MR Helper and experimental results illustrate the validity of the proposed algorithm.

  266. Motion control of multiple DR Helpers transporting a single object in cooperation with a human based on map information 査読有り

    Y Hirata, T Takagi, K Kosuge, H Asama, H Kaetsu, K Kawabata

    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 995-1000 2002年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    In this paper, we propose a new decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated from an environment. Each mobile robot is controlled as if it had caster-like dynamics around representative point attached to the object and its representative point moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to three omni-directional mobile robots referred to as DR Helper. Experimental results illustrate the validity of the proposed control algorithm.

  267. Collision avoidance algorithm for two tracked mobile robots transporting a single object in coordination based on function allocation concept 査読有り

    H Takeda, Y Hirata, ZD Wang, K Kosuge

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 5 155-164 2002年

    出版者・発行元:SPRINGER-VERLAG TOKYO

    詳細を見る 詳細を閉じる

    In this paper, we propose a collision avoidance algorithm for two tracked mobile robots transporting a single object based oil a function-allocation concept. In this algorithm, the desired trajectory of the object is given to the leader robot, arid the follower robot estimates the desired trajectory of the leader along the heading direction of the follower and generates the motion of the object for avoiding obstacles. We experimentally implement the proposed algorithm in the nonholonomic tracked mobile robots, arid illustrate the validity of the proposed control algorithm.

  268. 力センサを用いない複数移動ロボットによる物体の協調搬送 査読有り

    久米洋平, 平田泰久, 小菅一弘, 淺間一, 嘉悦早人, 川端邦明

    日本機械学会論文(C編) 68 (673) 2695-2701 2002年

    DOI: 10.1299/kikaic.68.2695  

    ISSN:0387-5024

  269. Control of robot in singular configurations for human-robot coordination 査読有り

    K Nakai, K Kosuge, Y Hirata

    IEEE ROMAN 2002, PROCEEDINGS 356-361 2002年

    出版者・発行元:IEEE

    DOI: 10.1109/ROMAN.2002.1045648  

    詳細を見る 詳細を閉じる

    In this paper, we propose a new control scheme of a robot in its singular configurations for human robot coordination referred to as the Singular Configuration Control (SCC). In this paper, as an example, we derive the control algorithm for the manipulator "PA-10" produced by Mitsubishi Heavy Industries, Ltd. The scheme controls the manipulator in its singular configurations by appropriately selecting a solution of the inverse kinematics according to the manipulator's configuration so that the manipulator could move even in its singular configurations without stopping the motion. The proposed control algorithm is applied to a robot with dual manipulators referred to as MR Helper and the experimental results illustrate the validity of the Singular Configuration Control.

  270. Decentralized control of multiple mobile manipulators handling a single object in coordination 査読有り

    Y Kume, Y Hirata, Z Wang, K Kosuge

    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS 2758-2763 2002年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    In this paper, we propose a decentralized control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the grasping point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to three mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

  271. Motion control of distributed robot helpers transporting a single object in cooperation with a human 査読有り

    Y Hirata, K Kosuge, H Asama, H Kaetsu, K Kawabata

    EXPERIMENTAL ROBOTICS VII 271 313-322 2001年

    出版者・発行元:SPRINGER-VERLAG BERLIN

    ISSN:0170-8643

    詳細を見る 詳細を閉じる

    In this paper, we propose a concept of distributed robot helpers referred to as DR Helpers, and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The proposed control algorithm could be applied to DR Helpers more than three, even if each DR Helper has a slippage between its wheels and the ground. The proposed decentralized control algorithm is experimentally applied to three DR Helpers for illustrating the validity of the proposed algorithm.

  272. 複数移動ロボットによる大型物体の協調ハンドリング 査読有り

    平田泰久, 小菅一弘, 淺間一, 嘉悦早人, 川端邦明

    日本機械学会論文集(C編) 67 (656) 1077-1084 2001年

    DOI: 10.1299/kikaic.67.1077  

    ISSN:0387-5024

  273. Map-based control of distributed robot helpers for transporting an object in cooperation with a human 査読有り

    Y Hirata, T Takagi, K Kosuge, H Asama, H Kaetsu, K Kawabata

    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 3010-3015 2001年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2001.933079  

    ISSN:1050-4729

    詳細を見る 詳細を閉じる

    In this paper, we propose a decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated from an environment. Each mobile robot is controlled as if it has a wheel with a free rotational joint and moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to the omni-directional mobile robots referred to as DR Helpers. Experimental results illustrate the validity of the proposed control algorithm.

  274. Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors 査読有り

    Y Kume, Y Hirata, K Kosuge, H Asama, H Kaetsu, K Kawabata

    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 3004-3009 2001年

    出版者・発行元:IEEE

    DOI: 10.1109/ROBOT.2001.933078  

    ISSN:1050-4729

    詳細を見る 詳細を閉じる

    In this paper, we propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm.

  275. Manipulation of a large object by multiple DR Helpers in cooperation with a human 査読有り

    Y Hirata, T Takagi, K Kosuge, H Asama, H Kaetsu, K Kawabata

    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 126-131 2001年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    In this paper, we propose a decentralized control algorithm of multiple DR Helpers which have been developed for manipulating a large object in cooperation with a human. In this algorithm, each robot is controlled as if it has a caster-like dynamics around a representative point attached to the object and manipulation of a large or a long object in cooperation with a human is realized easily. The proposed control algorithm is experimentally applied to two DR Helpers and experimental results illustrate the validity of the proposed control algorithm.

  276. Coordinated Transportation of a Single Object by Omni-Directional Mobile Robots with Body Force Sensor 査読有り

    Yasuhisa Hirata, Kazuhiro Kosuge, Tomohiro Oosumi, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Journal of Robotics and Mechatronics 12 (3) 242-248 2000年6月

  277. Distributed Robot Helpers Handling a Single Object in Cooperation with a Human 査読有り

    Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of 2000 IEEE International Conference on Robotics and Automations 458-463 2000年4月

  278. Coordinated transportation of a single object by multiple mobile robots without position information of each robot 査読有り

    Y Hirata, K Kosuge, H Asama, H Kaetsu, KK Kawabata

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS 2024-2029 2000年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    In this paper, we propose a decentralized control algorithm of multiple mobile robots transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like mechanism and transportation of a single object by multiple mobile robots is realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

  279. Coordinated motion control of multiple robots without position information of each robot 査読有り

    Y Hirata, K Kosuge

    PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 346-351 2000年

    出版者・発行元:IEEE

    ISSN:0743-1546

    詳細を見る 詳細を閉じる

    In this paper, we propose a decentralized control algorithm of multiple mobile robots transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like dynamics and transports a single object in coordination with other robots without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

  280. Decentralized Control of Mobile Robots in Coordination 査読有り

    Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Proceedings of IEEE International Conference on Control Applications 1129-1134 1999年8月

  281. Motion control of multiple autonomous mobile robots handling a large object in coordination 査読有り

    K Kosuge, Y Hirata, H Asama, H Kaetsu, K Kawabata

    ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS 2666-2673 1999年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    In this paper, we discuss a problem relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm wing geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm. is experimentally applied to the mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

  282. Handling of a large object by multiple autonomous mobile robots in coordination 査読有り

    Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Advanced Robotics 13 (3) 271-272 1998年1月1日

    DOI: 10.1163/156855399X00531  

    ISSN:1568-5535 0169-1864

  283. Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor 査読有り

    K Kosuge, T Oosumi, Y Hirata, H Asama, H Kaetsu, K Kawabata

    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3 1419-1424 1998年

    出版者・発行元:IEEE

    詳細を見る 詳細を閉じる

    In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensors and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple robots in coordination is implemented in each mobile robot and stable handling of an object is realized by multiple mobile robots with the body force sensor. Experimental results illustrate the validity of the proposed architecture.

︎全件表示 ︎最初の5件までを表示

MISC 122

  1. Integrating Semantic Awareness and Probabilistic Priors for Object Search in Indoor Environments

    CHIKHALIKAR Akash, RAVANKAR Ankit A., SALAZAR LUCES Jose Victorio, HIRATA Yasuhisa

    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) 2023 2023年

    ISSN:2424-3124

  2. エモーションマップを用いたオフィスロボットのナビゲーション

    山本花, 花田紘欣, 平田泰久, SALAZAR Jose, RAVANKAR Ankit, 本江正茂, 柳井良文, 太田幸一, 西田稔, 前川真紀代

    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) 2023 2023年

    ISSN:2424-3124

  3. AIロボットが拓く包摂社会への期待

    岡部 康平, 平田 泰久

    地域ケアリング 23 (8) 69-73 2021年7月12日

  4. AIロボットを可能にする者たちの協力-CARE-

    SALAZAR Jose, RAVANKAR Ankit, TAFRISHI Seyed Amir, SETO Fumi, HIRATA Yasuhisa

    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) 22nd 2021年

  5. 連続繊維材料用3Dプリンタのためのプリンタヘッド経路計画

    山本晃平, SALAZAR Jose, 平田泰久

    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) 2020 2020年

    ISSN:2424-3124

  6. 振動刺激と複合現実技術を用いたゴルフパッティング練習システムの開発

    武川智輝, SALAZAR Jose, 平田泰久

    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) 2020 2020年

    ISSN:2424-3124

  7. 団体競技のコーチングを目的としたウェアラブル振動触覚デバイスの制御-第1報:移動方向および距離の指示に適した振動刺激パターンの考察-

    石田佳奈子, SALAZAR Jose, 平田泰久

    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) 2020 2020年

    ISSN:2424-3124

  8. 牽引ユニットと非駆動型移動ロボットを用いた広域探査システムの原理検証

    SALAZAR Jose, 星愛深, 平田泰久

    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) 2020 2020年

    ISSN:2424-3124

  9. 団体競技のコーチングを目的としたウェアラブル振動触覚デバイスの制御-第2報:走行中の人を目的の場所に停止させるための適切な振動タイミングの推定-

    石田佳奈子, SALAZAR Jose, 平田泰久

    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) 21st 2020年

  10. 買い物支援カートの取り付けを考慮した足こぎ車椅子の操舵アシスト制御

    山口修平, SALAZAR Jose, 平田泰久

    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) 21st 2020年

  11. 運動主体感を考慮した足こぎ車椅子の操舵アシスト制御

    山口 修平, サラザル・ホセ, 平田 泰久, 栗田 雄一

    生活生命支援医療福祉工学系学会連合大会講演要旨集 2019 66-66 2019年9月

    出版者・発行元:(一社)ライフサポート学会

  12. 巻頭言:特集号「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」について

    和田 一義, 平田 泰久, 大原 賢一, 奥山 武志, 原田 研介, 伊達 央, 武居 直行, 高嶋 一登

    計測自動制御学会論文集 55 (1) 1-1 2019年

    出版者・発行元:公益社団法人 計測自動制御学会

    DOI: 10.9746/sicetr.55.1  

    ISSN:0453-4654

  13. ROSにおける独立振動デバイスのネットワークを用いたカスタム化可能な振動触覚フィードバック

    SALAZAR Jose, HIRATA Yasuhisa

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

  14. 下肢での多方向振動触覚フィードバックを使ったモーションガイド

    LIAO Zhenyu, SALAZAR Jose, HIRATA Yasuhisa

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

  15. Tempo Training using Vibrotactile Cues Based on Phantom Sensation

    SALAZAR Jose, OKABE Keisuke, HIRATA Yasuhisa

    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) 19th ROMBUNNO.1B3‐10 2018年12月13日

  16. 複合現実型視覚情報と振動触覚情報の提示による作業支援

    岡部圭佑, SALAZAR Jose, 平田泰久

    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) 19th 2018年

  17. Conveying Direction using Multiple Simultaneous Phantom Sensation Vibrotactile Cues

    SALAZAR Jose, OKABE Keisuke, HIRATA Yasuhisa

    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 ROMBUNNO.3A5‐14 2017年12月20日

  18. 3本指劣駆動ハンドuGRIPPの複数指を用いた握力把持の解析

    小林陽成, 山口賢悟, 衣川潤, 荒井翔悟, 平田泰久, 小菅一弘

    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 ROMBUNNO.2A3‐08 2017年12月20日

  19. 劣駆動ハンドuGRIPPの握力把持力解析

    小林陽成, 山口賢悟, 衣川潤, 荒井翔悟, 平田泰久, 小菅一弘

    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) 2017 ROMBUNNO.2P1‐C09-C09 2017年5月9日

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2017.2P1-C09  

    詳細を見る 詳細を閉じる

    <p>This study analyzed the power grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand equipped with three underactuated fingers. It can grasp objects in power and precision grips utilizing its underactuated mechanism. In the previous study, we proposed an analytical method to derive the relationship between the precision grip force and the actuation force on the basis of the principle of virtual power. The present study propose a method for analysis of the power grip force based on the finger linkage model. Furthermore, we measured the actual power grip force experimentally, and the results prove the validity of the method.</p>

  20. パッシブロボティクス総論

    平田泰久

    バイオメカニズム学会誌 41 (2) 45-52 2017年5月1日

    DOI: 10.3951/sobim.41.2_45  

  21. 劣駆動ロボットハンドuGRIPPの精密把持力解析

    小林陽成, 山口賢悟, 衣川潤, 荒井翔悟, 平田泰久, 小菅一弘

    ロボティクスシンポジア予稿集 22nd 323‐324 2017年3月15日

    ISSN:1881-7300

  22. ファントムセンセーションに基づく振動刺激を利用した手先の経路追従

    岡部圭佑, SALAZAR Jose, 平田泰久

    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

  23. 複数の振動刺激を用いた運動方向呈示による手首の運動誘導

    村尾佳紀, SALAZAR Jose, 平田泰久

    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) 2017 2017年

    ISSN:2424-3124

  24. ファントムセンセーションを用いた定点振動刺激による運動誘導

    岡部圭佑, SALAZAR Jose, 平田泰久

    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) 2017 2017年

    ISSN:2424-3124

  25. 2016 IEEE/SICE International Symposium on System Integration (SII 2016)

    近野 敦, 平田 泰久

    計測と制御 56 (5) 381-382 2017年

    出版者・発行元:公益社団法人 計測自動制御学会

    ISSN:0453-4662

  26. 劣駆動ハンド uGRIPP の握力把持力解析:(Underactuated Gripper for Power and Precision Grasp)

    小林 陽成, 山口 賢悟, 衣川 潤, 荒井 翔悟, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2017 (0) 2P1-C09 2017年

    出版者・発行元:一般社団法人 日本機械学会

    詳細を見る 詳細を閉じる

    &lt;p&gt;This study analyzed the power grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand equipped with three underactuated fingers. It can grasp objects in power and precision grips utilizing its underactuated mechanism. In the previous study, we proposed an analytical method to derive the relationship between the precision grip force and the actuation force on the basis of the principle of virtual power. The present study propose a method for analysis of the power grip force based on the finger linkage model. Furthermore, we measured the actual power grip force experimentally, and the results prove the validity of the method.&lt;/p&gt;

  27. Conveying motion direction using phantom sensation

    SALAZAR Jose, MURAO Yoshiki, HIRATA Yasuhisa

    日本ロボット学会学術講演会予稿集(CD-ROM) 34th ROMBUNNO.2B2‐06 2016年9月7日

  28. 無段変速機とサーボブレーキを用いた 足こぎ型モビリティによるアクティブスポーツ支援

    平田泰久

    地域ケアリング 18 (5) 106-108 2016年7月

  29. 回生ブレーキ制御により高安全・高機能を実現する福祉ロボットの開発

    平田泰久

    地域ケアリング 10 (11) 56-58 2015年10月12日

    出版者・発行元:北隆館

    ISSN:1345-0123

  30. サーボブレーキを用いたパッシブ型歩行支援システムの制御

    平田泰久

    バイオメカニズム学会誌 39 (3) 143-149 2015年8月1日

    出版者・発行元:バイオメカニズム学会

    DOI: 10.3951/sobim.39.143  

    ISSN:0285-0885

    詳細を見る 詳細を閉じる

    本稿では,パッシブロボティクスと呼ばれる概念に基づいて開発された歩行支援システムを紹介する.パッシブロボティクスとは,ロボットを力に対して受動的な機械要素によって構築し,その機械要素のパラメータを適切に制御することで,結果的にロボットの運動を制御する概念である.この概念に基づいて開発された歩行支援システムは,人間の力に対して受動的な運動が生成されるため高い安全性を確保することができる.本稿では特に受動的機械要素としてサーボブレーキを用いた歩行支援システムを紹介し,ブレーキ制御手法の簡単な解説を行うとともに,ブレーキ制御技術を用いたシステムの今後の発展性に関して述べる.

  31. 1P2-N05 精密把握と握力把握を実現する劣駆動ロボットハンドの開発

    山口 賢悟, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2015 "1P2-N05(1)"-"1P2-N05(2)" 2015年5月17日

    出版者・発行元:一般社団法人日本機械学会

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    In this article, we propose a novel robot hand called uGRIPP (Underactuated Gripper for Power and Precision Grasp) which has underactuated fingers. We designed an underactuated linkage which enables the robot hand to achieve an adaptive grasp, a pinch grasp and a manipulation by a palm of the hand. A prototype of the robot hand was developed. We conducted handling experiments to evaluate the validity of the robot hand.

  32. 2A2-J04 無段変速機とサーボブレーキを用いた足こぎ車椅子の走行支援制御

    安藤 翔太郎, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2015 "2A2-J04(1)"-"2A2-J04(3)" 2015年5月17日

    出版者・発行元:一般社団法人日本機械学会

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    We developed a cycling wheelchair with CVT (Continuously Variable Transmission) and servo brake. The cycling wheelchair is a pedal driven system and support the moving of the patients with impairment of their lower extremities. In this study, we propose a control method of the CVT for keeping the angular velocity of the pedaling of the user called cadence and the control method of the servo brake to prevent the excess of the velocity of the cycling wheelchair. We conducted the experiments with and without the proposed control methods and experimental results illustrate the validity of them.

  33. 2A2-J07 屋外走行支援と屋内訓練支援を両立するブレーキ制御型足こぎ車椅子の開発

    平田 泰久, 瀬戸 文美, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2015 "2A2-J07(1)"-"2A2-J07(2)" 2015年5月17日

    出版者・発行元:一般社団法人日本機械学会

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    In this article, we propose a cycling wheelchair controlled by the servo brake. The cycling wheelchair is a pedal-driven system and support the moving of many patients with impairment of their lower extremities. This wheelchair has a potential as a mobility assistive device to improve the daily activities. However, there are several barriers to use the cycling wheelchair in an outdoor environment. Especially, on downward slopes, patients cannot properly apply the braking torque to the pedal. This inability to slow the wheelchair presents a dangerous situation. On the other hand, the cycling wheelchair is an effective rehabilitation device, so that many patients to use it as an indoor training device. For rehabilitation, the device should have functions to not only apply the load to the patients but also encourage the patients to train. In this study, we propose a new cycling wheelchair for supporting both outdoor moving and indoor training. The cycling wheelchair has servo brake system and interface to connect the personal computer. By controlling the brake system, the velocity control in the outdoor environment is realized. In addition, the braking force can apply the load to the patients for their rehabilitation in the indoor environment, and they can also enjoy the computer game and virtual environment by using the cycling wheelchair as an interface such as key bode and joystick.

  34. 2A1-U04 ブレーキ制御に基づくパッシブ型双輪キャスタユニットを用いたパッシブ移動ロボット(人間機械協調)

    齋田 匡男, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2014 "2A1-U04(1)"-"2A1-U04(2)" 2014年5月24日

    出版者・発行元:一般社団法人日本機械学会

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    In this paper, we propose a method to estimate the geometrical relationships between servo-brakecontrolled caster units arbitrarily located on a moving base. The pose of the caster units is estimated by the extended Kalman filter based on only the velocity information of each caster unit. Since the system controlled by servo brakes is driven by a user-applied force, the user can arbitrarily select the input signals of velocity information. Therefore, we also suggest a simple pattern that enables users to provide sufficiently rich information for relationship estimates. Finally, we validate the proposed method in an experiment using a mobile robot platform with double-wheel caster units.

  35. 1P1-C03 足こぎ車椅子の片脚漕ぎのためのペダリング支援制御(福祉ロボティクス・メカトロニクス(2))

    海隅 亜矢, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2014 "1P1-C03(1)"-"1P1-C03(2)" 2014年5月24日

    出版者・発行元:一般社団法人日本機械学会

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    Wheelchairs have been typical mobilities for lower-limb disabled patients, however, long-term use of them have caused disuse of lower-limb and over use of upper limb. A cycling wheelchair was introduced as a solution to these problems. As relying on healthy part when hemiplegic patients arc riding the cycling wheelchairs is discovered in the investigation, over use of healthy part in daily use of the cycling wheelchair is another problem. Still more, for patients who are not able to bend one leg because of the other side either is stiffened of the knee joint or physically not exists, the cycling wheelchair is hard to ride with one leg. For the second step, crank torque during one-leg-pedaling is discussed and a pedaling assistive control is proposed.

  36. 2P1-B14 サーボブレーキを用いた足こぎ車椅子の操舵制御(福祉ロボティクス・メカトロニクス(3))

    平田 泰久, 小菅 一弘, MONACELLI Eric

    ロボティクス・メカトロニクス講演会講演概要集 2013 "2P1-B14(1)"-"2P1-B14(2)" 2013年5月22日

    出版者・発行元:一般社団法人日本機械学会

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    In this study, we propose a steering control method for a cycling wheelchair. The commercially available cycling wheelchair is a pedal-driven system like a bicycle and the paraplegia and hemiplegia patients can move the wheelchair based on the pedaling force, if they can move their legs slightly by themselves. The user can also change the motion direction of the cycling wheelchair by using the steering handle. However, the right and left turnings are perceived differently while operating the steering handle and the steering operation is required a large torque because of the hardware problems of the cycling wheelchair. To overcome these problems, we propose a new hardware of the cycling wheelchair and its steering motion control method by using servo brakes. The proposed method is applied to the developed new cycling wheelchair and the experimental results illustrate the validity of the system.

  37. 1P1-R10 3次元人体モデルを用いた装着型支援システムの運動制御(ウェアラブルロボティクス)

    皆川 新太, 鈴木 慎治, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2013 "1P1-R10(1)"-"1P1-R10(2)" 2013年5月22日

    出版者・発行元:一般社団法人日本機械学会

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    In recent years, many wearable motion support system have been developed in a variety of applications. We have developed the wearable walking support system to support the part of the joint moment of the human body estimated based on the human model on the sagittal plane. However, when we consider the support of any motion in daily life, it is desirable to estimate the joint moment in three-dimensional space. In this paper, to support system the motion in daily life, we extend the human model on the sagittal plane to the one in three-dimensional space, and explain a method for estimating the joint moment in three-dimensional space.

  38. 1A1-K06 吸着機能を有するロボットハンドの把持解析(ロボットハンドの機構と把持戦略(1))

    山口 賢悟, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2013 "1A1-K06(1)"-"1A1-K06(2)" 2013年5月22日

    出版者・発行元:一般社団法人日本機械学会

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    This paper analyzes grasp stability for a robot hand which has a vacuum cup at each fingertip. Combination of a grasp mechanism and an adhesion system allows the robot hand to grasp an object robustly. In order to evaluate the robustness of the grasp, we propose a contact model that considers adhesion forces at the contact point. We call this model as "point contact with friction and adhesion". This contact model can be applied to existing analysis methods. We conduct an experiment to ascertain the validity of the proposed model. Resistible external forces are measured, and then theoretical values of the resistible external force are compared.

  39. 2P1-B12 足こぎ車椅子の走行抵抗補償制御(福祉ロボティクス・メカトロニクス(3))

    海隅 亜矢, 河又 恒太, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2013 "2P1-B12(1)"-"2P1-B12(2)" 2013年5月22日

    出版者・発行元:一般社団法人日本機械学会

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    Though the recently introduced cycling-wheelchair have enabled paraplegia and hemiplegia patients to travel smoothly and quickly, it has problem going through some environments such as slopes and level differences. Power-assisting the cycling-wheelchair would be an solution. Practically used power-assist control multiples force of the user by constant. However, multiplying the force by constant is not enough on steep uphill and the user is not able to get off the cycling-wheelchair to push. In this paper we have utilized travel resistance compensation control into a cycling-wheelchair to evaluate its efficacy.

  40. 機械工学年鑑「欧州における研究開発動向」

    平田泰久

    2013年

  41. J241042 環境変化に対する足こぎ車いす使用者の負担検証

    海隅 亜矢, 河又 怛太, 平田 泰久, 小菅 一弘

    年次大会 : Mechanical Engineering Congress, Japan 2012 "J241042-1"-"J241042-4" 2012年9月9日

    出版者・発行元:一般社団法人日本機械学会

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    In this research we aim at bringing cycling-wheelchair into daily use by utilising power-assist to overcome daily barrier such as slope, rough road, bumps and curves For the first step, we have clarified how large it costs on users when they overcome those barriers by measuring users' tread force Although arm-actuated wheelchairs have been used for transportations for people who have disability on their lower limbs, overload on upper limbs and less use of lower limbs have been claimed as a problem Even when people cannot stand and walk safely, people are often able to pedal Cycling-wheelchairs have introduced lately, that it can be used even among people with disabilities on their lower limbs, which brought cycling-wheelchair into rehabilitation

  42. 1P1-D01 2台の一輪把持型ロボツトによる車両の操り : 第7報,手動操作による複数ロボットの誘導(【交通・物流部門】カー・ロボティクス)

    米澤 直晃, 小菅 一弘, 平田 泰久, 菅原 雄介, 神林 隆, 鈴木 公基, 村上 和則, 中村 健一

    ロボティクス・メカトロニクス講演会講演概要集 2012 "1P1-D01(1)"-"1P1-D01(2)" 2012年5月27日

    出版者・発行元:一般社団法人日本機械学会

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    This paper describes manual operation system for the car transportation system using multiple robots. Manual operation utilizes some senses of the human and is able to make its cost of equipment lower than that of full automatic system. But it is difficult that only one person controls multiple robots. To control multiple robots, a motor schema-based formation control is employed by the car transportation system. In particular, one robot is controlled by a joystick and the other robots follow it by using their laser range scanners and the formation control. Through a preliminary experiment using two robots, it is confirmed that a self-operating robot can follow a hand-operated robot.

  43. 1P1-D02 複数移動ロボットを用いた車両搬送システムiCART I : 第6報,ロボット間の位置姿勢関係の算出(【交通・物流部門】カー・ロボティクス)

    柏崎 耕志, 小菅 一弘, 菅原 雄介, 平田 泰久, 神林 隆, 鈴木 公基, 村上 和則, 中村 健一

    ロボティクス・メカトロニクス講演会講演概要集 2012 "1P1-D02(1)"-"1P1-D02(2)" 2012年5月27日

    出版者・発行元:一般社団法人日本機械学会

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    This paper proposes a computation method of the positional and orientational relationship between the robots employed in iCART II to enable the robots to transport a car whose size is unknown. First, the design of a 'Laser Range Finder (LRF)' and a target plate that are attached to the robot is considered. Secondly, we describe the measurement method with LRF, the detection method of other robots' target plates with a clustering method, and the computation method of the positional and orientational relationship between the robot and the plates by using the least-squares method. Finally, to confirm the effectiveness of the proposed method, we made the four robots lift a car and conducted the measurement experiment.

  44. 2A2-I11 屋内動的環境における人間行動マップの生成とアップデート(移動ロボットの自己位置推定と地図構築(2))

    和田 哲也, 小川 祐司, 王 志東, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2012 "2A2-I11(1)"-"2A2-I11(4)" 2012年5月27日

    出版者・発行元:一般社団法人日本機械学会

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    In recent years, researches and developments of robots working in human living space are increasing with development of robot technologies. Environmental information acquisition and human existence detection and estimation are necessary to control the robots moving in this kind human living space. In this study, we propose human motion map based on a concept of representing extracted human behavior in the human living space as a map, by using human existence estimation function and mapping function of SLAM. For building the human motion map, human walking area interpolating algorithm and map update algorithm are proposed. Finally, we implemented human motion map generating system with above-mentioned two algorithms on a mobile robot. The human motion map could be used as information for both motion planning of robots and further estimation of human motion in dynamic environment. Additionally, human motion map can express the behavior of more human motion by performing further accumulation of human walking motion.

  45. 1A1-E03 小型部品ハンドリングデバイスの開発 : 第3報:歯車組立て作業のためのデバイス設計(作業をするロボット)

    山口 賢悟, 海隅 亜矢, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2011 "1A1-E03(1)"-"1A1-E03(4)" 2011年5月26日

    出版者・発行元:一般社団法人日本機械学会

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    In this research, we consider the development of device for handling small parts. We developed the robust and agile pickup device (RAPiD) in first report, and proposed designing method for the tip of RAPiD in second report. In this article, we develop a designing method for the tips of the handling device to perform gear assembly. In addition, we design the several types of tips for handling and assembling gears, and conduct experiments of gear assembly.

  46. 1A1-E04 小型部品ハンドリングデバイスの開発 : 第4報:双腕マニピュレータによる小型部品の組み付け(作業をするロボット)

    海隅 亜矢, 山口 賢悟, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2011 "1A1-E04(1)"-"1A1-E04(2)" 2011年5月26日

    出版者・発行元:一般社団法人日本機械学会

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    We have proposed a concept for picking up small circular parts such as ball bearings, washers, and gears. In this concept, the handling device called RAPiD (Robust and Agile Pick-up Device) cages an object without letting the object escape from its tips before closing them completely and then robustly grasps the object at a unique position based on the self-alignment concept. In this article, we attach the RAPiDs to dual manipulators and Each RAPiD grasps the gear and gear unit with axes, respectively. And then, they perform the gear assembly tasks at an appropriate position determined by considering the conflict between the manipulator and gear unit with several axes and the range of movement and the singular configuration of dual manipulators.

  47. 2A1-Q15 複数移動ロボットを用いた車両搬送システムiCART II : 第3報,搬送車両の重量推定(【交通・物流部門】自動車分野におけるロボティクス)

    柏崎 耕志, 小菅 一弘, 菅原 雄介, 平田 泰久, 神林 隆, 鈴木 公基, 村上 和則, 中村 健一

    ロボティクス・メカトロニクス講演会講演概要集 2011 "2A1-Q15(1)"-"2A1-Q15(3)" 2011年5月26日

    出版者・発行元:一般社団法人日本機械学会

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    We proposed a car transportation system using multiple mobile robots, iCART II (intelligent Cooperative Autonomous Robot Transporters type II), based on "a-robot-for-a-wheel" concept. In this system, multiple robots, MRWheel (a Mobile Robot for a Wheel), lift up all wheels of a car and transport it in coordination by using interaction forces. However inertial and friction forces applied to modules for lifting up wheels prevent MRWheels from transporting a car. Therefore, this paper proposes an estimation algorithm of the vehicle weight based on adaptive control. If MRWheels can estimate a transported vehicle weight, MRWheels will estimate and compensate the inertial and friction forces. At first we model lifting up a wheel by a MRWheel and derive adaptive control low. And the proposed algorithm is applied to a MRWheel and the experimental results confirm its validity.

  48. 2A1-Q14 2台の一輪把持型ロボットによる車両の操り : 第3報,キャスタの運動特性を用いた分散協調制御(【交通・物流部門】自動車分野におけるロボティクス)

    米澤 直晃, 小菅 一弘, 平田 泰久, 菅原 雄介, 神林 隆, 鈴木 公基, 村上 和則, 中村 健一

    ロボティクス・メカトロニクス講演会講演概要集 2011 "2A1-Q14(1)"-"2A1-Q14(4)" 2011年5月26日

    出版者・発行元:一般社団法人日本機械学会

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    A vehicle transportation system by grasping vehicle's drive wheels, which consists of two omni-directional mobile robots, has been proposed. In this article, a novel decentralized cooperation control algorithm for the system maneuvering a vehicle with nonholonomic constraints is proposed, because several conventional decentralized cooperation control theories with force control are developed for maneuvering holonomic objects. First, the system configuration and a mobile robot for a wheel are illustrated. Next, the decentralized cooperation control algorithm based on the impedance control and on the caster-like motion algorithm is described. Finally, the effectiveness of the algorithm is examined through preliminary experiments by using a front-wheel-drive vehicle.

  49. 2A1-C01 サーボブレーキ制御に基づく双輪キャスタ型パッシブ移動ロボットの運動制御(人間機械協調)

    齋田 匡男, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2011 "2A1-C01(1)"-"2A1-C01(4)" 2011年5月26日

    出版者・発行元:一般社団法人日本機械学会

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    We introduced passive mobile robots consisting of various wheels, omnidirectional wheels or one-wheel casters, which are controlled by servo brakes. These robots employ passive dynamics with respect to the force applied by a human. In this article, we derive and analyze a feasible braking force/moment of each robot that can be applied to the robot on the basis of the characteristics of the servo brakes. We reveal the characteristics, advantages and disadvantages to control, of each robot about the feasible braking force/moment. In addition, we introduce a passive type double wheel caster unit, called PWC, on the basis of the analysis. Finally, we handle a long object by two PWC-P1s actually, and realize the path tracking function as example to confirm its validity.

  50. 2A1-C02 サーボブレーキ付きワイヤを用いた空間3自由度制御型運動支援システムの開発(人間機械協調)

    戸崎 祐樹, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2011 "2A1-C02(1)"-"2A1-C02(4)" 2011年5月26日

    出版者・発行元:一般社団法人日本機械学会

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    To assist human motion in the fields of rehabilitation and sports training and so on, haptic devices have been developed by many researchers. They are a form of a physical human-robot interaction system that can transmit a force to the user. Most of the haptic devices studied so far are driven by servo motors. Although haptic devices with servo motors are useful for realizing several functions, they have serious potential to injure the user when servo motors are not controlled appropriately. On the other hand, in terms of safety, passive robotics concepts have been proposed. We propose a passive motion support system consisting of wire with servo brakes and a control method to guide the human hand.

  51. 巻頭言 「科学技術の相互理解」小特集号発刊に際して

    平田泰久

    日本機械学会誌 114 (1107) 85-85 2011年2月

    出版者・発行元:日本機械学会

    ISSN:0021-4728

  52. 協調型歩行支援システムの開発

    平田 泰久, 小菅 一弘

    ナノ医工学年報 5 (1) 181-190 2011年

    出版者・発行元:東北大学グローバルCOEプログラム「新世紀世界の成長焦点に築くナノ医工学拠点」

    ISSN:1882-4692

  53. 2A1-D05 サーボブレーキを用いたワイヤ型運動支援システムの運動制御特性の解析

    鈴木 桂太朗, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2010 "2A1-D05(1)"-"2A1-D05(4)" 2010年

    出版者・発行元:一般社団法人日本機械学会

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    For supporting human motions, we proposed a motion support system consisting of multiple brake units with wires, and designed a path following function which let human's hands follow to a path by displaying a force. However, the system sometimes cannot generate enough forces to let human's hands follow to the path, because the servo brakes cannot generate driving forces and the system does not have enough brake units to generate desired forces. In this paper, we consider a feasible braking force of the system with multiple brake units theoretically and discuss the numbers of brake units for generating the desired force. We also develop a system based on the proposed theory and conduct the path following experiments. The experimental results illustrate the validity of the proposed theory and system.

  54. 1A2-D05 エアロトレインの浮上走行安定化制御 : 第1報,小型実験機の開発とZ・Roll・Pitch方向の安定化

    菅原 雄介, 池内 祐介, 鈴木 良, 平田 泰久, 小菅 一弘, 野口 幸雄, 菊地 聡, 小濱 泰昭

    ロボティクス・メカトロニクス講演会講演概要集 2010 "1A2-D05(1)"-"1A2-D05(4)" 2010年

    出版者・発行元:一般社団法人日本機械学会

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    The final goal of this study is the development of the levitation stabilization control method of "Aero-Train" which is a high-speed high-efficiency train system levitated by wing-in-ground effect on the U-shaped guide way. Toward this goal, development of a small experimental prototype and stabilization control method along Z axis and about roll and pitch axes are described in this paper. The effectiveness of developed control method is confirmed through experimental results.

  55. ワイヤ型パッシブハプティックデバイスの開発

    平田 泰久, 小菅 一弘

    ナノ医工学年報 4 (1) 171-179 2010年

    出版者・発行元:東北大学グローバルCOEプログラム「新世紀世界の成長焦点に築くナノ医工学拠点」

    ISSN:1882-4692

  56. 1A1-B08 協調搬送のための動的ケージングを実現する複数ロボットの軌道計画

    松本 英統, 王 志東, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2009 "1A1-B08(1)"-"1A1-B08(4)" 2009年5月25日

    出版者・発行元:一般社団法人日本機械学会

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    In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. A path planning algorithm by using Random Caging Formation Testing algorithm (RCFT) is proposed for realizing Dynamic Object Closure. Some simulation results are presented for illustrating the validity of the proposed algorithm.

  57. 1A2-C17 車両の搬送を目的とした複数ロボット協調システムiCART : 第3報:安定な車両搬送を実現する分散協調アルゴリズム

    遠藤 央, 廣瀬 健治, 平田 泰久, 小菅 一弘, 鈴木 公基, 篠塚 博之, 村上 和則, 中村 健一, 中西 正樹, 神林 隆

    ロボティクス・メカトロニクス講演会講演概要集 2009 "1A2-C17(1)"-"1A2-C17(4)" 2009年5月25日

    出版者・発行元:一般社団法人日本機械学会

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    This study proposed the car trasnportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). This system composes of two omni-directional robots, which have end-effecter for supporting the car, so that the system transports and handles cars at the narrow space such as parking into the mechanical parking system. This system also realizes various functions such as parking, valet parking, twoing, and the transportation of cars to a factory, ferry, parking areas, etc. The motion control algorithm, which controls two robots in coordination, was proposed. This algorithm is the leader-follower type distributed motion control algorithm, and realized the coordinated transportation of the car. However, the system occasionally undergoes oscillations; as a result, the trajectory estimation by the follower is affected, and coordinated transportation becomes difficult because of the noise and vibration signals recieved from the force sensor. Normally, these signals are very small and they can be neglected. However, the sensor noise is amplified in this algorithm because the distance between the control center and the sensor is large; the control center is defined as the representative point of the car and the force sensors are attached to the robots. It is necessary to transform the force information from the position of the force sensor to the control center. This transformation amplifies the noise recieved form the force sensor. In this paper, a leader-follower-type motion control algorithm that reduces the amplification of the noise and vibrating singnals is described. In particular, the control center of a robot is defined as its representative point. The distance between the control center and the foce sensor is small in this algorithm. Therefore, the amplification of the noise received from the force sensor is reduced.

  58. 1A2-C18 車両の搬送を目的とした複数ロボット協調システムiCART : 第4報 統合制御システム

    廣瀬 健治, 遠藤 央, 平田 泰久, 小菅 一弘, 鈴木 公基, 篠塚 博之, 村上 和則, 中村 健一, 中西 正樹, 神林 隆

    ロボティクス・メカトロニクス講演会講演概要集 2009 "1A2-C18(1)"-"1A2-C18(4)" 2009年5月25日

    出版者・発行元:一般社団法人日本機械学会

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    For transporting a car at narrow place, we propose a car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. To realize the transportation of the car, the system needs to handle many things such as the control of robots, the trajectory generation, the environmental recognition and so on. In this paper, these tasks are aranged to five modules and a control architecture and an integrated control system, which control each module in coordination based on a model described using the petri net, are proposed. Proposed systems are integrated to iCART and experimental results illustrate the validity of the proposed method.

  59. 1P1-D10 複数のパッシブ型物体搬送ロボットによる制御入力制限を考慮した経路追従制御

    小嶋 洋介, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2009 "1P1-D10(1)"-"1P1-D10(4)" 2009年5月25日

    出版者・発行元:一般社団法人日本機械学会

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    In our previous works, we proposed a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. In this algorithm, especially, a virtual force is applied to the object supported by multiple passive robots for realizing a path following function or collision avoidance function. However, we did not consider the feasible region of brake control, which is determined based on the servo brake condition of the passive mobile robot, for generating the virtual force. Therefore, when the virtual force is out of the feasible region of the brake control, the performances of the path following function and collision avoidance function are decreased. In this paper, we propose a distributed motion control algorithm of the multiple passive mobile robots by considering the feasible region of brake control of each robot, and the proposed algorithm applied to two PRPs experimentally for illustrating its validity.

  60. 1P1-J14 装着型下肢支援システムによる日常動作支援制御

    岩野 卓也, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2009 "1P1-J14(1)"-"1P1-J14(4)" 2009年5月25日

    出版者・発行元:一般社団法人日本機械学会

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    In this paper, we introduce a wearable assistive robot "Wearable Lower Extremity Assist System" that was developed for the purpose of assisting people to conduct various kinds of daily activities. To control this system, we don't use biological signals such as EMG signals because it is difficult to measure them exactly. Instead, we control this system with a model based control algorithm. In the algorithm, assistive torque for the user's knee or hip joint is calcurated based on a human body model. In this paper, we intend to support the user's daily activities such as walking, standing up and sitting down motions, going up or down stairs and so on. We first describe the Wearable Lower Extremity Assist System that was developed for supporting the user's motions of the knee and the hip joints. In addition, we validate the effectiveness of the system by conducting experiments with several subjects.

  61. 人間の状態推定に基づく歩行支援機の制御

    平田 泰久, 小菅 一弘

    ナノ医工学年報 3 (1) 169-178 2009年

    出版者・発行元:東北大学グローバルCOEプログラム「新世紀世界の成長焦点に築くナノ医工学拠点」

    ISSN:1882-4692

  62. サーボブレーキを用いたパッシブ型ダンスパートナーロボットの協調運動制御

    小池良典, 平田 泰久, 小菅 一弘

    ロボティクス メカトロニクス講演会, 2009 "1A2-D18(1)"-"1A2-D18(2)" 2009年

    出版者・発行元:一般社団法人日本機械学会

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    In this research, we develop a Passive Dance partner Robot (PDR) for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. In this paper, we propose a motion control algorithm of the PDR for realizing the ballroom dance with a male dancer based on the estimation of the next dance step intended by him.

  63. パッシブロボティクスに基づく人間支援ロボット

    平田泰久

    ロボコンマガジン (58) 108-111 2008年6月13日

    出版者・発行元:オーム社

  64. 1A1-G10 車両の搬送を目的とした複数ロボット協調システム-iCART- : 第1報 車両の搬送に特化した複数ロボットシステム(作業をするロボット)

    遠藤 央, 廣瀬 健治, 平田 泰久, 小菅 一弘, 神林 隆, 大本 充一, 阿久根 圭, 新井 浩幸, 篠塚 博之, 鈴木 公基

    ロボティクス・メカトロニクス講演会講演概要集 2008 "1A1-G10(1)"-"1A1-G10(2)" 2008年6月6日

    出版者・発行元:一般社団法人日本機械学会

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    We propose a new car trasnportation system called iCART(intelligent Cooperative Autonomous Robot Transporters). This system is composed with two robot systems specialized for the car transportation. Robot systems are controlled by using a decentralized control algorithm for transporting the car in coordination. This car trasnportation system can transport any size of car, and is available for any kind of car transportations: parking, ballet parking, tow away service, and the transportation of cars at a factory, ferry, parking area, etc. The robot system of the car transportation system is composed with three modules: Mobile Base module, Lifter module and Connecting module. This paper describes details of mechanism of each module to transport the car. Experimental results illustrate the validity of the car transportation system.

  65. 1A1-G11 車両の搬送を目的とした複数ロボット協調システム-iCART- : 第2報 車両へのアプローチのための軌道生成(作業をするロボット)

    廣瀬 健治, 遠藤 央, 平田 泰久, 小菅 一弘, 神林 隆, 大本 充一, 阿久根 圭, 新井 浩幸, 篠塚 博之, 鈴木 公基

    ロボティクス・メカトロニクス講演会講演概要集 2008 "1A1-G11(1)"-"1A1-G11(2)" 2008年6月6日

    出版者・発行元:一般社団法人日本機械学会

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    We propose a new car trasnportation system called iCART(intelligent Cooperative Autonomous Robot Transporters). This system is composed with two robot systems. These two robots lift up a car from left side and right side respectively to transport it in coordination with an endeffector specilized for the transportaion of the car. To lift up the car, these two robots approach the side of the car, one is left side and another is right side. When robots approach the car, they need moving along a path generated from a current position to a desired position without collisions with each other or obstacles. In this paper, we explain the way of the trajectory generation for approaching the car. Experimental results also illustrate the validity of the way of trajectory generation we proposed in this system.

  66. 2P1-E22 人間モデルに基づくパッシブ型知的歩行支援機の運動制御(医療・福祉ロボティクス・メカトロニクス)

    小松田 慎二, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2008 "2P1-E22(1)"-"2P1-E22(4)" 2008年6月6日

    出版者・発行元:一般社団法人日本機械学会

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    As aging progresses, the fall accident of the user of the walker is an acute problem. It is necessary to know the situation of the user's fall to prevent it. In this paper, we propose a method for estimating the user's fall by modeling the user in real time as a solid body and paying attention to the center of gravity of the model. We also propose a method for controlling a passive intelligent walker to prevent the user's fall according to the support polygon and the walking characteristic of the user. The proposed control method is applied to the passive intelligent walker called RT Walker experimentally and experimental results illustrate the validity of it.

  67. 2P1-E23 手すりと昇降式電動ベッドによる使用者に適応した立ち上がり支援(医療・福祉ロボティクス・メカトロニクス)

    樋口 淳一, 平田 泰久, 初雁 卓郎, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2008 "2P1-E23(1)"-"2P1-E23(4)" 2008年6月6日

    出版者・発行元:一般社団法人日本機械学会

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    In this paper, we propose a user adapted support system for a sit-to-stand movement from a bed. The support system consists of a handrail and an electric bed which moves up and down. To develop it, evaluation indexes of a sit-to-stand movement based on a human model are introduced. By using these indexes, conditions of stabilizing the user's posture and constraining burdens of the user's muscles are set. A method of setting the handrail position, the final position of the bed and the foot position based on the conditions is proposed. Finally, experimental results for illustrating the validity of the method are explained.

  68. Cheek to chip: Dancing robots and al's future

    Jean-Julien Aucouturier, Katsushi Ikeuchi, Takaaki Shiratori, Shunsuke Kudoh, Hirohisa Hirukawa, Shinichiro Nakaoka, Fumio Kanehiro, Tetsuya Ogata, Hideki Kozima, Hiroshi G. Okuno, Marek P. Michalowski, Yuta Ogai, Takashi Ikegami, Kazuhiro Kosuge, Takahiro Takeda, Yasuhisa Hirata

    IEEE INTELLIGENT SYSTEMS 23 (2) 74-84 2008年3月

    出版者・発行元:IEEE COMPUTER SOC

    DOI: 10.1109/MIS.2008.22  

    ISSN:1541-1672

    eISSN:1941-1294

  69. Dancing with a Robot : The Human Leads

    Kazuhiro Kosuge, Takahiro Takeda, Yasuhisa Hirata

    IEEE Intelligent Systems 23 (2) 82-84 2008年3月

    出版者・発行元:IEEE Computer Society

    DOI: 10.1109/MIS.2008.22  

  70. 人間モデルに基づく歩行支援機使用者の状態推定 (第28回バイオメカニズム学術講演会 SOBIM2007 予稿集)

    小松田 慎二, 平田 泰久, 小菅 一弘

    バイオメカニズム学術講演会予稿集 28 237-240 2007年11月10日

    出版者・発行元:バイオメカニズム学会

  71. 安定した立ち上がり動作支援のための使用者に適した手すり位置の検討 (第28回バイオメカニズム学術講演会 SOBIM2007 予稿集)

    樋口 淳一, 平田 泰久, 小菅 一弘

    バイオメカニズム学術講演会予稿集 28 241-244 2007年11月10日

    出版者・発行元:バイオメカニズム学会

  72. MF111 肘を支点として起立動作を簡便・安全にする自立支援システム(MF11 起立・歩行支援1,あたり前のことを知る)

    初雁 卓郎, 三宅 徳久, 樋口 淳一, 平田 泰久, 小菅 一弘

    福祉工学シンポジウム講演論文集 2007 37-40 2007年9月30日

    出版者・発行元:一般社団法人日本機械学会

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    In this article, we propose a standing-up motion support system with elbow support face for elderly people and physically-handicapped persons, which enables the comfortable and stable human posture change based on physical and motion characteristic. Effectiveness of the standing-up motion support system is evaluated by using Organoleptic Evaluation, EMG and PHM. We demonstrate the effectiveness of the system by using these evaluating measure.

  73. 1A1-D05 複数移動マニピュレータによる力センサを用いない物体の協調ハンドリング(複数ロボットの協調制御)

    久米 洋平, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2007 "1A1-D05(1)"-"1A1-D05(2)" 2007年5月11日

    出版者・発行元:一般社団法人日本機械学会

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    In this paper, we propose a decentralized control system of multiple mobile manipulators handling a single object in coordination without using force/torque sensors. In this system, the grasping point of each robot is controlled as if it has an impedance dynamics without using a force/torque sensor, by using the identified parameters of each robot. These robots handle a single object in coordination using a leader-follower type control algorithm. We also consider the effect of parameter identification errors and propose a method to reduce the effect of them. The proposed control system is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control system.

  74. 2P1-I03 物体搬送のためのパッシブ型移動ロボットの制御 : ブレーキングトルクの解析と運動制御(作業移動ロボット・メカトロニクス)

    王 志東, 深谷 憲太, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2007 "2P1-I03(1)"-"2P1-I03(4)" 2007年5月11日

    出版者・発行元:一般社団法人日本機械学会

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    In this paper, we propose a concept on realizing impedance-based motion control of a passive type robot for transporting a single object in coordination with a human operator. In this research, we control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on RT Porter with human's pushing. This allows RT Porter to track a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors and multi RT Porters to work cooperatively on handling a single object.

  75. 2P1-I04 人間の操作力減少を考慮したパッシブ型移動ロボットのための物体協調搬送制御(作業移動ロボット・メカトロニクス)

    宋 河, 平田 泰久, 王 志東, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2007 "2P1-I04(1)"-"2P1-I04(4)" 2007年5月11日

    出版者・発行元:一般社団法人日本機械学会

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    In this paper, we introduce a passive type mobile robot referred to as "PRP" to realize a transportation of an object in cooperation with a human based on a concept of passive robotics. PRP consists of support frame, three onmi-directional wheels with servo brakes (MR Brakes) and a controller. It can manipulate an object by controlling the external force/moment applied by human based on the control of the servo brakes. In this case, when the required external force/moment becomes large, tue transportation can be out of control. To overcome this problem, we propose a system in which the PRP grabs an object by using a Free .Joint so that compared to the previous version of PRP, t;he human operator can transport the object without considering the orientation of the robot, and the required intentional force for transporting the object could be reduced, Addlitionally, in this paper, we propose motion control algorithm for this system and we illustrate the decrease of handling force which is needed for transportation by using this algorithm.

  76. パッシブロボティクスとその応用に基づく知的歩行支援機の開発

    平田泰久, 小菅一弘

    精密工学会誌 73 (3) 301-304 2007年3月5日

    DOI: 10.2493/jjspe.73.301  

  77. 2E1-01 個人特性に適応する立ち上がり動作支援システム(起立・歩行支援)

    初雁 卓郎, 黒子 詩穂, 三宅 徳久, 樋口 淳一, 平田 泰久, 小菅 一弘

    福祉工学シンポジウム講演論文集 2006 166-167 2006年9月10日

    出版者・発行元:一般社団法人日本機械学会

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    In this article, we propose a standing-up motion support system for elderly people and physically-handicapped persons, which enables the comfortable and stable human posture change based on physical and motion characteristic. Effectiveness of the standing-up motion support system is evaluated by using joint torques. We demonstrate the effectiveness of the system by using these evaluating measure.

  78. ダンスパートナロボット"PBDR"

    平田 泰久

    日本機械学會誌 = Journal of the Japan Society of Mechanical Engineers 109 (1051) 446-447 2006年6月5日

    出版者・発行元:一般社団法人日本機械学会

    ISSN:0021-4728

  79. メカライフ ダンスパートナロボット"PBDR"

    平田泰久

    日本機械学会誌 109 (1051) 18-19 2006年6月

  80. ロボット研究最前線 -生活支援を目指したロボットパートナの開発-

    平田泰久

    特殊鋼 55 (3) 15-18 2006年5月

    出版者・発行元:特殊鋼倶楽部

    ISSN:0495-7644

  81. ダンスパートナロボット「PBDR」

    平田泰久, 小菅一弘

    日本ロボット学会誌 24 (2) 49-49 2006年3月

  82. ダンスパートナロボット「PBDR」

    平田泰久, 小菅一弘

    日本ロボット学会誌 24 (2) 49-49 2006年2月

  83. 2P1-D04 複数移動マニピュレータと人との協調による作業空間拡大のための物体ハンドリングシステム

    松田 康宏, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2006 "2P1-D04(1)"-"2P1-D04(2)" 2006年

    出版者・発行元:一般社団法人日本機械学会

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    In this paper, we propose a motion control algorithm for handling a single object by multiple mobile manipulators in coordination with a human. In this algorithm, the representative point of each robot is controlled as if it was a caster-like dynamics in 3D space so that robots could manipulate an object without using the information of the object size and the geometric relation between robots. In addition, singular points of the manipulator are decreased in this control algorithm so that we could handle the object extensively in 3D space.

  84. 2P1-D08 ダンスパートナロボットシステム-MS DanceR- : 第6報:隠れマルコフモデルを用いたダンスステップのミス検出手法

    竹田 貴博, 平田 泰久, 王 志東, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2006 "2P1-D08(1)"-"2P1-D08(4)" 2006年

    出版者・発行元:一般社団法人日本機械学会

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    We have proposed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interactions. In the previous research, an estimation system for dance steps has been improved, which estimates the next dance step intended by a human. Although estimating the intended step is important for realizing the human-robot coordination, the cases that the estimation is failed and that the robot selects an incorrect step are not considered. Such cases have to be discussed carefully for realizing the effective human-robot coordination. This paper focuses on error detections of dance step selections. Experimental results illustrate the validity of a error detection method.

  85. 2P1-D09 人とパッシブ型搬送ロボットによる物体の協調搬送制御

    深谷 憲太, 王 志東, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2006 "2P1-D09(1)"-"2P1-D09(4)" 2006年

    出版者・発行元:一般社団法人日本機械学会

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    The goal of this research is to develop transportation system in cooperation with human by using passive-type mobile robot based on Passive Robotics. The concept of Passive Robotics is not only to achieve sophisticated functions using various RT (Robot Technology) but also to be very useful in cooperation with human and have safety in society. In this paper, we develop a prototype passive-type transportation mobile robot referred to as "PRP" and describe its special control characteristics. In addition, we propose a basic motion control algorithm for passive-type mobile robot by weighing the differences between active type mobile robot characteristics and passive ones. The proposed algorithm is experimentally applied to PRP and illustrated by the experimental results.

  86. 1P1-A07 身体・環境特性変化に基づく歩行機利用者の状態推定パラメータの更新

    平田 泰久, 村木 亜沙美, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2006 "1P1-A07(1)"-"1P1-A07(3)" 2006年

    出版者・発行元:一般社団法人日本機械学会

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    In this article, we pay attention to method for estimating the human state during the use of intelligent walker and renew of estimation parameters of user state using walker based on changes of physical and environmental characteristics. The proposed control algorithm is experimentally applied to inteligent passive-type walker referred to as RT Walker, and the validity of the proposed control algorithm is illustrated by the experimental results.

  87. 1A1-B17 複数移動ロボットによる動的物体ケージングの拘束

    王 志東, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2006 "1A1-B17(1)"-"1A1-B17(4)" 2006年

    出版者・発行元:一般社団法人日本機械学会

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    In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm.

  88. 2A1-C02 地面拘束型センサヘッドマニピュレーションによる地雷探知システム

    金浜 充彦, 平田 泰久, 王 志東, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2006 "2A1-C02(1)"-"2A1-C02(2)" 2006年

    出版者・発行元:一般社団法人日本機械学会

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    In this article, we propose a Ground Hook Manipulation method by which the mine detection robot is able to measure the mine field clearly even in the shaking state. If the strong wind blows, it is likely that the mine detection robot developed in our JST project shakes because of flexible structure. When the mine detection robot is shaking, accuracy of robot's hand/GPR sensor head position decreases and GPR could not detect the buried object precisely. To overcome this problem, Ground Hook method, which compensates the shaking motion of the system using stereo camera system, is proposed, and the experiments are done for illustrating the validity of the proposed method.

  89. 2P1-D10 RoBEを用いたモバイルマニピュレータの実時間自己衝突回避制御 : 第8報環境・作業状態に適応可能な協調動作への拡張

    瀬戸 文美, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2006 "2P1-D10(1)"-"2P1-D10(4)" 2006年

    出版者・発行元:一般社団法人日本機械学会

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    We have proposed a real-time self-collision avoidance motion generation method for the manipulator of the robot which is used for human-robot cooperation. In this method, we represent the robots&#039; body by using elastic elements referred to as &quot;RoBE (Representation of Body by Elastic elements)&quot;. The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, we expand this method to control not only robots&#039; manipulator, but also its mobile base. Furthermore, we focus on the range of joint movement of the robot, and propose the self-collision avoidance motion generation method considering it. Because of these expansion and consideration, the self-collision motions which could deal with task/environmental constraints could be generated on the mobile manipulator cooperating with a human. The proposed motion generation method is implemented in the planar 4-DOF mobile manipulator, and computer simulations are done for illustrating the validity of the proposed method.

  90. 2005 IEEE International Conference on Robotics and Automation (ICRA 2005)

    平田 泰久

    計測と制御 = Journal of the Society of Instrument and Control Engineers 44 (11) 812-812 2005年11月10日

    ISSN:0453-4662

  91. 18・2 人間機械協調(18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)

    平田 泰久, 小菅 一弘

    日本機械学會誌 108 (1041) 663-663 2005年8月5日

    出版者・発行元:一般社団法人日本機械学会

    ISSN:0021-4728

  92. 「機械工学年鑑」18.ロボティクス・メカトロニクス

    大築康生, 平田泰久, 小菅一弘, 松野文俊, 鎮西清行, 本間敬子, 新井健生, 横井浩史, 千葉龍介, 原田研介, 安藤吉伸

    日本機械学会誌 108 (1041) 663-666 2005年8月5日

    ISSN:0021-4728

  93. 機械工学年鑑

    平田泰久, 小菅一弘

    日本機械学会誌 108 (1041) 67-67 2005年8月

    出版者・発行元:日本機械学会

    ISSN:0021-4728

  94. 2A1-N-057 音楽・環境情報に基づき人をリードするダンスパートナロボットの運動制御手法(人間機械協調3,生活を支援するロボメカ技術のメガインテグレーション)

    大石 康広, 小菅 一弘, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2005 146-146 2005年6月9日

    出版者・発行元:一般社団法人日本機械学会

  95. 1P1-N-025 地形適応型センサヘッドマニピュレーションによる地雷探査システム(作業移動ロボット2,生活を支援するロボメカ技術のメガインテグレーション)

    金浜 充彦, 藪下 英典, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2005 52-52 2005年6月9日

    出版者・発行元:一般社団法人日本機械学会

  96. 1P1-N-057 ダンスパートナロボットシステム-MS DanceR- : 第5報:隠れマルコフモデルを用いたダンスステップの推定と複数のユーザへの適用(人間機械協調1,生活を支援するロボメカ技術のメガインテグレーション)

    竹田 貴博, 小菅 一弘, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2005 59-59 2005年6月9日

    出版者・発行元:一般社団法人日本機械学会

  97. 1P1-N-125 操作性向上を目指したキャスタ特性に基づくパッシブ型歩行支援システムの運動制御(医療福祉ロボティクス・メカトロニクス1,生活を支援するロボメカ技術のメガインテグレーション)

    村木 亜沙美, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2005 73-73 2005年6月9日

    出版者・発行元:一般社団法人日本機械学会

  98. 1P2-S-030 Designing An Algorithm for Testing Object Caging Condition by Multiple Mobile Robots(Cooperation Control of Multi Robot,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Wang ZhiDong, Hirata Yasuhisa, Kosuge Kazuhiro

    ロボティクス・メカトロニクス講演会講演概要集 2005 124-124 2005年6月9日

    出版者・発行元:一般社団法人日本機械学会

  99. 1A1-N-084 三次元地形適応型合成開口レーダ(3次元計測/センサフュージョン1,生活を支援するロボメカ技術のメガインテグレーション)

    藪下 英典, 金浜 充彦, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2005 24-24 2005年6月9日

    出版者・発行元:一般社団法人日本機械学会

  100. 1P1-N-059 RoBEを用いたモバイルマニピュレータの実時間自己衝突回避制御 : 第6報 一般性を有する自己衝突回避動作の実機による検証(人間機械協調1,生活を支援するロボメカ技術のメガインテグレーション)

    瀬戸 文美, 小菅 一弘, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2005 59-59 2005年6月9日

    出版者・発行元:一般社団法人日本機械学会

  101. (13)仮想3-Dキャスタ特性を有した複数の移動マニピュレータと人間との協調による物体のハンドリング(論文,日本機械学会賞〔2004年度(平成16年度)審査経過報告〕)

    平田 泰久, 久米 洋平, 王 志東, 小菅 一弘

    日本機械学會誌 108 (1038) 349-350 2005年5月5日

    出版者・発行元:一般社団法人日本機械学会

    ISSN:0021-4728

  102. 2A1-N-033 アシスト用直動アクチュエータユニット(中小企業基盤整備機構プロジェクト戦略的基盤技術強化事業(ロボット部品開発),生活を支援するロボメカ技術のメガインテグレーション)

    三宅 徳久, 小菅 一弘, 平田 泰久, 津屋 和夫, 山田 明夫, 嘉悦 早人, 川端 邦明, 松日楽 信人, 橋本 英昭, 初雁 卓郎, 浅間 一

    ロボティクス・メカトロニクス講演会講演概要集 2005 (0) 141-141 2005年

    出版者・発行元:一般社団法人 日本機械学会

  103. Cagingを用いた物体の搬送のための複数ロボットのフォーメーション制御の提案(複数ロボットの協調制御)

    王 志東, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2004 154-154 2004年6月18日

    出版者・発行元:一般社団法人日本機械学会

  104. Cooperative Control Algorithm for Object Transportation by Multiple Robot System with a Pushing Leader

    Wang Z, Takano Y, Hirata Y, Kosuge K

    ロボティクス・メカトロニクス講演会講演概要集 2004 154-154 2004年6月18日

    出版者・発行元:一般社団法人日本機械学会

  105. パッシブロボティックスによる全方向移動歩行支援システムの開発(医療・福祉ロボティクス・メカトロニクス2)

    ネジャトバクシュ ナエメ, 原 麻美, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2004 43-43 2004年6月18日

    出版者・発行元:一般社団法人日本機械学会

  106. ダンスパートナロボットシステム-MS DanceR- : 第3報:ニューラルネットワークを利用したダンスステップの推定(人間機械協調2)

    平田 泰久, 林 智大, 竹田 貴博, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2004 183-183 2004年6月18日

    出版者・発行元:一般社団法人日本機械学会

  107. 生活支援ロボットシステム-MARY- : 第4報:遠隔ナビゲーションを伴う支援作業の実現(ホームロボット・メカトロニクス2)

    相澤 伸, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2004 207-207 2004年6月18日

    出版者・発行元:一般社団法人日本機械学会

  108. RoBEを用いたモバイルマニピュレータの実時間自己衝突回避制御 : 第3報人間とのインタラクションを考慮した自己衝突回避(人間機械協調1)

    瀬戸 文美, 小菅 一弘, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2004 137-137 2004年6月18日

    出版者・発行元:一般社団法人日本機械学会

  109. パッシブ型知的歩行支援システムRT Walker の環境適応運動制御

    原, 平田 泰久, 小菅 一弘

    日本機械学会ロボティクス メカトロニクス講演会'04講演論文集, 2004 42-43 2004年

    出版者・発行元:一般社団法人日本機械学会

  110. 209 囲い込みを用いた物体搬送実験

    脇田 淳一, 王 志東, 平田 泰久, 小菅 一弘

    講演論文集 2003 (38) 66-67 2003年3月15日

    出版者・発行元:一般社団法人日本機械学会

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    This paper addresses the problem of multi-robots caging and transporte single object by using the concept of Object Closure. The formation based control strategy and system design for cooperative object caging by multiple mobile robots are described. The proposed system is implemented in a robot system including three mobile-manipulators.

  111. 2P2-2F-C8 利用者の体力を考慮したパワーアシスト自転車の制御

    藪下 英典, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2003 129-129 2003年

    出版者・発行元:一般社団法人日本機械学会

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    利用者の体力を考慮して, トレーニングやりハビリテーションに適した走行負荷を実現するパワーアシスト自転車を提案する。また, 実験によってこの自転車の有効性を確認する。

  112. 2P2-1F-D2 複数モバイル・マニピュレータによる物体の Caging の制御

    王 志東, 脇田 淳一, 平田 泰久, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2003 121-121 2003年

    出版者・発行元:一般社団法人日本機械学会

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    This paper addresses the problem of multi-robots object cagingand transportation by using the concept of Object Closure. The concept CC-Closure Object which is used for efficient testing of Object Closure and the control strategy of cooperative objectcaging by multiple mobile-manipulators is described.

  113. 2P2-1F-C3 複数の双腕移動ロボットによるリーダ・フォロワ型協調ハンドリングシステム

    平田 泰久, 沢田 拓郎, 王 志東, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2003 120-120 2003年

    出版者・発行元:一般社団法人日本機械学会

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    本稿では, 複数の双腕移動ロボットを用いた, リーダ・フォロワ型の単一物体の協調ハンドリングシステムを提案する。本システムでは, 各ロボットが相互の把持点間の幾何学的情報を必要とせずに物体のハンドリングを実現することが可能である。

  114. 全方向移動型歩行支援システム-walking Helper-

    平田, 馬場 貴大, 小菅 一弘

    日本機械学会ロボティクスメカトロニクス講演会'03講演論文集 101-101 2003年

    出版者・発行元:一般社団法人日本機械学会

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    本研究では, Walking Helperと呼ばれる全方向移動可能でかつ安全性を考慮した歩行支援システムを開発し, 人間との力学的相互作用を前提とした力覚情報に基づく制御システムを提案する。

  115. 2A1-1F-F4 人とロボットの協調における特異姿勢を考慮したマニピュレータの制御

    中井 健太郎, 小菅 一弘, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2003 68-69 2003年

    出版者・発行元:一般社団法人日本機械学会

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    人とロボットがインテンショナルフォースに基づき, 協調して作業を行う場合に起こるマニピュレータの特異姿勢について考察を行い, マニピュレータが特異姿勢となっても自然に作業を続行できる方法について提案する。

  116. 1P1-3F-C4 RoBE を用いたモバイルマニピュレータの実時間自己衝突回避制御 : 第 1 報冗長自由度を用いた自己衝突回避動作

    瀬戸 文美, 小菅 一弘, 須田 理央, 平田 泰久

    ロボティクス・メカトロニクス講演会講演概要集 2003 55-55 2003年

    出版者・発行元:一般社団法人日本機械学会

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    RoBEという弾性要素を用いる手法でロボット形状を表現し, その反力を用いたモバイルマニピュレータにおける実時間自己衝突制御を提案, 双腕型移動ロボット&quot;MR Helper&quot;に実装して, その有効性を検証する。

  117. 人間支援ロボットシステム-ロボットヘルパー-

    平田泰久

    病院設備 45 (1) 57-64 2003年1月

  118. 2P2-I09 複数の全方向移動マニピュレータによる物体の協調搬送

    久米 洋平, 平田 泰久, 王 志東, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2002 119-119 2002年

    出版者・発行元:一般社団法人日本機械学会

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    移動マニピュレータを複数台用いれば, 1台では実現できないような大型物体のハンドリングや, より複雑な作業など, 様々な協調作業が実現できる。本研究では, その中でも, 単一物体の協調ハンドリングに注目し, 複数の全方向移動マニピュレータにより単一物体を協調搬送するための分散協調制御系を提案する。また, 提案した制御系を全方向移動移動マニピュレータ適用し, 物体の協調搬送実験を行うことにより, その有効性を示す。

  119. 2P1-K06 体力適応型パワーアシスト自転車の制御

    平田 泰久, 藪下 英典, 小菅 一弘

    ロボティクス・メカトロニクス講演会講演概要集 2002 100-100 2002年

    出版者・発行元:一般社団法人日本機械学会

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    人の負担を軽減することを目的として, 多くのパワーアシスト自転車が開発され, 市販されているが, 現在市販されているパワーアシスト自転車は, 利用者の力を2倍に増幅する機能を有するものが一般のである。しかし, このような自転車は利用者の体力の上限を考慮していないという問題点がある。そこで, 本研究では, 利用者の体力やその状態に応じて, 体感走行抵抗を調整できる, 体力適応型パワーアシスト自転車のための制御系を提案する。

  120. 2A1-K07 地図情報を持った複数移動ロボットと人との物体の協調搬送

    高木 健雄, 平田 泰久, 小菅 一弘, 淺間 一, 嘉悦 早人, 川端 邦明

    ロボティクス・メカトロニクス講演会講演概要集 2002 (0) 78-78 2002年

    出版者・発行元:一般社団法人 日本機械学会

    詳細を見る 詳細を閉じる

    一般に大型物体や長尺物を操るとき, 物体の姿勢を変化させるために, オペレータは物体に大きなモーメントを加えなければならない。また, 目的地まで物体を搬送するためには, 障害物に衝突しないように正確な力・モーメントを物体に加えることが要求される。このため, これまで大型物体や長尺物の搬送は, オペレータにとって負担の大きい作業であった。そこで本研究では, 大型物体や長尺物の搬送におけるオペレータの負担を軽減する方法として, 地図情報を利用した複数移動ロボットと人との協調搬送システムを提案する。

  121. 2A1-H4 人間・ロボット協調システム-DR Helpers-による単一物体のハンドリング(70. 人間機械協調I)

    平田 泰久, 小菅 一弘, 淺間 一, 嘉悦 早人, 川端 邦明

    ロボティクス・メカトロニクス講演会講演概要集 2001 (0) 47-47 2001年

    出版者・発行元:一般社団法人 日本機械学会

  122. 2P2-76-100 人間と協調する分散型ロボットヘルパーの制御

    平田 泰久, 小菅 一弘, 淺間 一, 嘉悦 早人, 川端 邦明

    ロボティクス・メカトロニクス講演会講演概要集 2000 (0) 106-106 2000年

    出版者・発行元:一般社団法人 日本機械学会

    詳細を見る 詳細を閉じる

    今後, 様々な分野でロボットが用いられ, 人間とロボットが協調して作業を実現することが有効であると考えられる。そこで, 本研究では, 分散制御された複数の移動ロボットと人間が協調することにより作業を実現するロボットシステム, Distributed Robot Helpersを提案する。今回は, 様々な協調作業の中で単一物体のハンドリング問題を取り上げ, 人間を助け, その負担を軽減するロボットヘルパーの制御系を考える。

︎全件表示 ︎最初の5件までを表示

書籍等出版物 11

  1. Asia-Pacific region: Japan

    2023年10月27日

  2. AI ロボットによる在宅ケア:テクノロジーが変える介護の未来

    平田 泰久, 渡部 達也

    日本在宅ケア学会誌 VOL. 27 2023年9月

  3. 機械工学年鑑2022

    平田 泰久

    日本機械学会 2022年7月

  4. 2021 IEEE RAS Seasonal School on Rehabilitation and Assistive Robotics Based on Soft Robotics

    F. Taffoni, Y.Hirata, MJ. Johnson, S. Mazzoleni, L. Zollo

    IEEE Robotics & Automation Magazine Volume: 28, Issue: 3 Page(s): 187 - 190 2021年9月

  5. 連続炭素繊維を用いたアディティブ・マニュファクチャリング

    平田泰久, 山本晃平

    日本ロボット学会誌 Vol.39 No.4 pp.314~317, 2021 2021年5月

  6. Top Researchers

    平田泰久

    2020年2月

  7. パワーアシスト・ロボットに関する材料,電子機器,制御と実用化,その最新技術

    平田泰久

    技術情報協会 2015年4月

  8. 絵でわかるロボットのしくみ

    瀬戸文美, 平田泰久

    講談社 2014年1月

  9. 機械工学便覧 メカトロニクス・ロボティクス

    瀬戸文美, 平田泰久, 小菅一弘他

    日本機械学会 2008年11月28日

  10. 新版ロボット工学ハンドブック

    平田泰久, 王志東, 小菅一弘他

    コロナ社 2005年6月23日

  11. Coordinated Motion Control of Multiple Manipulators

    Kazuhiro Kosuge, Yasuhisa Hirata

    Robotics and Automation Handbook 2005年

︎全件表示 ︎最初の5件までを表示

講演・口頭発表等 69

  1. Adaptable AI-enabled Robots to Create a Vibrant Society

    Yasuhisa Hirata

    AROB-ISBC-SWARM 2024 2024年1月25日

  2. Synergizing Multi-Robot Assistive Care: An IoT-Driven Framework for Elderly Support in a Simulated Smart Living Lab

    Ankit A. Ravankar

    2024年1月25日

  3. Semantic Scene Understanding and Region Classification for Navigation of Service Robots in Care Scenarios

    AROB-ISBC-SWARM 2024 2024年1月25日

  4. 介護現場での使用を想定したIoT データセット構築システムの開発

    阿部 圭汰

    第24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(SI2023) 2023年12月14日

  5. ナビゲーションとヘルスセンシングの機能を有するオフィスロボットのためのシステム提案

    山本花

    第24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(SI2023) 2023年12月14日

  6. 活力ある社会を創る適応自在AIロボット 招待有り

    平田 泰久

    第28回日本在宅ケア学会学術集会 2022年11月11日

  7. すべての人が積極的に社会参画できる活力ある社会をめざしたロボット開発 招待有り

    平田 泰久

    第28回日本在宅ケア学会学術集会 公開ワークショップ 社会生活を彩るロボットの可能性 2023年11月11日

  8. 総合知で創るAIロボット共生社会

    平田 泰久

    東北大学知識行動オープン・プラットフォーム「SOKAP」キックオフシンポジウム 2023年11月6日

  9. VR・ロボット統合型リハビリテーション・生活訓練システム ~人の挑戦を後押しする支援方法の創出を目指して~

    平田 泰久

    2023年度 福島県作業療法士会 医療保険部 研修会 2023年11月2日

  10. ムーンショット研究が拓くロボット・VRを用いた福祉・介護支援

    平田 泰久

    日本機械学会 2023年度 年次大会 市民フォーラム 2023年9月3日

  11. 「ムーンショットプロジェクトと共創研究による自立支援の革新」 ―テクノロジー活用とICT人材育成の視点から―

    平田 泰久

    2023年度 第31回日本介護福祉学会大会 2023年9月3日

  12. 適応自在なロボットが拓く未来の作業療法の可能性 招待有り

    平田 泰久

    第33回東北作業療法学会 2023年6月25日

  13. Japanese Moonshot project

    2023年3月29日

  14. みんなで一緒に!インクルーシブなロボット車いす開発

    平田 泰久

    「見える」が変わると「世界」が変わる『カラダとココロのおもしろ体験イベント2Days!』 2023年3月11日

  15. AIロボットが活躍する未来の介護施設の実現を目指して!~次世代AIロボット開発に向けたニーズ・シーズ共創研究~

    平田 泰久

    第6回医療と介護のロボット展 2023年3月11日

  16. 未来で活躍する介護ロボットの開発 -ムーンショット型プロジェクトの取り組み-

    平田 泰久

    仙台大学健康福祉フォーラム ICT/介護ロボットと歩む未来 2023年3月5日

  17. Adaptable AI-enabled Robots to Create a Vibrant Society - Moonshot R&D Program in Japan –

    2023年2月23日

  18. 活力ある社会を創る適応自在AIロボット群:ムーンショットプロジェクトの目指す2050年の社会とは

    平田 泰久

    東北大学グリーンゴールズパートナー 第13回研究会(非公開) 2023年2月16日

  19. 障害物回避機能を搭載したアバターロボットによる没入型バーチャルウォーキング

    阪田 葵, ラワンカル アンキット, サラザル ホセ, タフリシ セイエド アミル, 平田 泰久

    第23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(SI2022) 2022年12月14日

  20. 2040年の日本のカタチ~AIやロボットの活用で生活はどう変わる?

    平田 泰久

    第11回 日本支援工理学療法学会学術大会 2022年12月4日

  21. ムーンショットプロジェクトにおけるバイオメカニズムの活用 招待有り

    平田 泰久

    第43回バイオメカニズム学術講演会 2022年11月26日

  22. オーガナイズドセッション「ムーンショット研究が描く2050年の福祉・介護のカタチ」

    平田 泰久

    LIFE2022(第21回日本生活支援工学会大会,日本機械学会 福祉工学シンポジウム2022,第37回ライフサポート学会大会) 2022年8月21日

  23. Towards Smarter Inclusive Society by Moonshot and Living Lab Project in Japan

    Yasuhisa Hirata

    World Robot Conference 2022 2022年8月18日

  24. Adaptable AI-enabled Robots to Create a Vibrant Society

    Yasuhisa Hirata

    International Conference on Slips, Trips, and Falls Sendai 2022 (STF Sendai 2022) 2022年7月22日

  25. 活力ある社会を創る適応自在AIロボット群:ムーンショットプロジェクトの目指す2050年の社会とは

    平田 泰久

    「人の幸せを大切にするIoT社会のデザイン」クロージング・シンポジウム 2022年6月4日

  26. ムーンショットプロジェクトが拓く2050年のAIロボット共生社会

    平田 泰久

    日本ロボット工業会・ロボット産業ビジョンWG講義(非公開) 2022年5月24日

  27. 介護ロボットプラットフォーム事業における相談対応事例

    平田泰久

    第1回東北Kaigo-Tech実践研究会 2022年2月21日

  28. ムーンショットプロジェクトによるAIロボット研究と次世代3Dプリンタへの期待

    平田 泰久

    マルチマテリアル研究拠点・第4回シンポジウム 2022年1月24日

  29. 青森県協議会における入浴支援のニーズおよび機器アイディアの紹介

    平田 泰久

    ひょうごKOBE介護・医療ロボット開発・導入支援窓口 介護現場におけるお困りごと発表会 2022年1月20日

  30. The 2022 IEEE/SICE International Symposium on System Integration (SII 2022)

    Yasuhisa Hirata

    Adaptable AI-enabled Robots to Create a Vibrant Society 2022年1月10日

  31. Modality Influence on the Motor Learning of Ballroom Dance with a Mixed-Reality Human-Machine Interface

    Sebastian Fernando Chinchilla Gutierrez, Jose Victorio, Salazar Luces, Yasuhisa Hirata

    2022 IEEE/SICE International Symposium on System Integrations 2022年1月10日

  32. Tempo Synchronization of Physical Activities with a Mixed-Reality Human-Machine-Interface

    Sebastian Chinchilla, Jose Salazar, Yasuhisa Hirata

    IEEE ROBIO 20/21 2021年12月28日

  33. Evaluation of an Avatar Robot with a Physically Immersive Telepresence

    Koen Hertenberg, Jose Victorio Salazar Luces, Seyed Amir Tagrishi, Ankit A. Ravankar, Yasuhisa Hirata

    IEEE ROBIO 20/21 2021年12月28日

  34. A Geometric Assistive Controller for the Users of Wheeled Mobile Robots without Desired States

    Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces and Yasuhisa Hirata

    IEEE ROBIO 20/21 2021年12月27日

  35. Robotic Guidance System for Visually Impaired Users Running Outdoors Using Haptic Feedback,

    Zhenyu Liao, Jose Salazar, and Yasuhisa Hirata

    2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021年9月30日

  36. Towards a Life Innovation Robots for Improving Human Self-Efficacy 招待有り

    Yasuhisa Hirata

    China-Japan Intelligent Healthcare Forum in Beijing, China during World Robot Conference 2021 2021年9月12日

  37. 自己効力感の向上を実現する次世代介護ロボットの実現を目指して 招待有り

    平田 泰久

    第2回 CareTEX 仙台’21 2021年9月2日

  38. Mobility Assistive Robots and Future Soft Robots

    Yasuhisa Hirata

    The Seasonal School on “Rehabilitation and Assistive Technologies based on Soft Robotics” (SofTech-Rehab) 2021年6月16日

  39. Robotic Cycling Wheelchair for Outdoor Mobility Assistance and Indoor Training 招待有り

    Yasuhisa Hirata

    10th International IEEE EMBS Conference on Neural Engineering Mini symposium "Robotics for Restoration of Movements in SCI and Stroke Patients: Evidence-Based Findings and Challenges for the Next Decade" 2021年5月5日

  40. 活力ある社会を創る適応自在AIロボット群 招待有り

    平田 泰久

    ムーンショット目標1&目標3 キックオフシンポジウム 2021年3月28日

  41. Adaptable AI-enabled Robots to Create a Vibrant Society 招待有り

    HIRATA Yasuhisa

    Moonshot International Symposium for Goal 1 and Goal 3 2021年3月28日

  42. 『デジタルツインが拓く次世代モノづくり革新』 招待有り

    平田 泰久

    2021年度 公益社団法人砥粒加工学会 先進テクノフェア(ATF2021) 講演会「こんな今だから考える ~加工工場の省人化技術と無人化への道~」 2021年3月3日

  43. Assistive Robots for Enhancing and Encouraging Physical Activities 国際会議 招待有り

    平田 泰久

    Workshop on “Robotics and Artificial Intelligence” 2019年9月11日

  44. Safe Assistive Robots for Encouraging Human Physical Activities 招待有り

    平田 泰久

    台湾国立大学機械工程学系研究所セミナー 2019年8月23日

  45. ロボット・ハプティックデバイスを用い た作業支援システム 招待有り

    平田 泰久

    東北大学 電気通信研究所 共同プロジェクト研究会 「未来オフィス空間とインタラクション」 2019年2月26日

  46. Assistive Robots for Enhancing and Encouraging Physical Activities 国際会議 招待有り

    平田 泰久

    Korea-Japan Joint Workshop on Next Generation Robotics 2018年12月22日

  47. Human Assistive Devices Developed based on Passive Robotics Concept 国際会議 招待有り

    平田 泰久

    When AI Meets Human Science: The 2nd Tohoku-NTU International Symposium on Interdisciplinary AI and Human Studies 2018年11月24日

  48. 自ら動くことがない新しロボットのかたち - 福祉の現場から月面探査まで幅広い応用を目指して- 招待有り

    平田 泰久

    東京大学先端知能機械情報学セミナー 2018年5月29日

  49. 昨年度開始した産学共同ロボット研究のその後の展開報告

    青葉工業会 講演・交流会「ロボット化・AI応用」 2016年11月17日

  50. モーターがないロボット!?安全な人間支援ロボットと今後の展開

    第107回寺子屋せんだい 2016年10月18日

  51. Human Assistive Robots based on Passive Robotics 国際会議 招待有り

    International Workshop on Cyborg and Bionic Systems 2016年4月25日

  52. 東北大学機械系におけるロボット研究

    青葉工業会関東地区支部・東京支部 平成27年度 「講演・交流会」 2015年11月26日

  53. Mobility Assistance Robots Controlled by Servo Brakes

    IEEE/RSJ IROS Workshop on Cognitive Mobility Assistance Robots: Scientific Advances and Perspectives 2015年9月28日

  54. Motion Control of Human Assistive Robots with Servo Brakes 国際会議

    France, German and Japan Joint Seminar on Human-Centric Robotics 2015年7月9日

  55. 日欧のロボット技術最前線

    青葉技術会ビジネス交流会 2013年3月13日

  56. 足こぎ車いすのための最新アシスト制御技術

    第3回足こぎ車いす研究会年次学術集会 2013年2月

  57. Human Assistive Technology based on Physical Interaction –From the point of view of Passive Robotics 国際会議

    Let’s Talk about the Future of Robotics 2012年11月

  58. 回生ブレーキ制御による足こぎ車椅子の高機能化

    第2回足こぎ車いす研究会年次学術集会 2012年2月

  59. 人間とロボットの力学的相互作用に基づく作業・運動支援の実現

    ヒューマンインタフェースシンポジウム2011 2011年9月13日

  60. Human Assistive Robot Systems Controlled by Servo Brakes 国際会議

    IEEE/RSJ IROS Workshop on New and Emerging Technologies in Assistive Robotics 2011年9月

  61. パッシブロボティクスに基づく安全な人間支援型ロボットの開発

    異業種ジョイント技術動向研究会開催 2009年2月26日

  62. パッシブロボティクスに基づく安全な人間支援システムの開発

    第40回寺子屋せんだい 2008年11月20日

  63. Development of Intelligent Walking Assist Robot Based on Passive Robotics 国際会議

    First France-Japan Research Workshop on Human-Robot Interaction 2008年10月28日

  64. 人間支援型ロボットパートナシステム

    SuperHオープンフォーラム 2007年8月24日

  65. パッシブロボティクスに基づく安全かつ安心な知的歩行支援システム

    応用物理学会スクール 2007年3月28日

  66. 安全性・操作性を考慮したパワーアシスト型移動台車システム

    JST新技術説明会 2006年11月30日

  67. 力学的相互作用に基づく人間支援システム

    SICE中部支部講演会 2005年12月27日

  68. 人とロボットの相互作用に基づく人間・ロボット協調システム -ロボットパートナの開発 -

    SI2003講演会 2003年12月19日

  69. Robot Technologies for Human-Robot Cooperation Systems in Ubiquitous Age 国際会議

    2003 International Symposium on Microelectronics 2003年11月18日

︎全件表示 ︎最初の5件までを表示

産業財産権 12

  1. 車両移動装置

    産業財産権の種類: 特許権

  2. 物体移動装置

    産業財産権の種類: 特許権

  3. 車両移動方法

    産業財産権の種類: 特許権

  4. 物体移動装置

    産業財産権の種類: 特許権

  5. 身体状態判定システム及び運動状態判定システム並びにこれらシステムを備える移動台車

    平田泰久, 小菅一弘

    特許第4665173

    産業財産権の種類: 特許権

  6. パッシブ型移動台車

    小菅一弘, 平田泰久

    4411415

    産業財産権の種類: 特許権

  7. Translatory Actuator Unit

    Hajime Asama, Kuniaki Kawabata, Hayato Kaetsu, Kazuhiro Kosuge, Yasuhisa Hirata

    US 7,081,731 B2

    産業財産権の種類: 特許権

  8. 車両移動装置

    特許第4749442

    産業財産権の種類: 特許権

  9. 物体移動装置

    特許第4667439

    産業財産権の種類: 特許権

  10. パワーアシスト型移動台車

    平田泰久, 小菅一弘

    4523244

    産業財産権の種類: 特許権

  11. Method for Mobile Robot Motion Control

    Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata, Kazuhiro Kosuge, Yasuhisa Hirata

    6453212

    産業財産権の種類: 特許権

  12. 移動ロボットの移動制御方法

    淺間一, 嘉悦早人, 川端邦明, 小菅一弘, 平田泰久

    3719585

    産業財産権の種類: 特許権

︎全件表示 ︎最初の5件までを表示

共同研究・競争的資金等の研究課題 17

  1. 知的歩行支援システムに関する研究 競争的資金

    制度名:JST Basic Research Programs (Precursory Research for Embryonic Science and Technology :PRESTO)

    2001年4月 ~ 継続中

  2. パワーアシストシステムに関する研究 競争的資金

    制度名:The Other Research Programs

    2000年4月 ~ 継続中

  3. 人間・機械協調に関する研究 競争的資金

    制度名:The Other Research Programs

    1999年4月 ~ 継続中

  4. 複数ロボットの協調に関する研究 競争的資金

    制度名:The Other Research Programs

    1998年4月 ~ 継続中

  5. 活力ある社会を創る適応自在AIロボット群

    2020年9月 ~ 2025年11月

  6. 複数の振動刺激を用いて人間の運動修正を誘発させるウェアラブルデバイス

    平田 泰久

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

    研究種目:Grant-in-Aid for Scientific Research (B)

    研究機関:Tohoku University

    2017年4月1日 ~ 2022年3月31日

    詳細を見る 詳細を閉じる

    本研究では,昨年度開発した目標運動方向呈示手法が実現可能な振動モータ付きリストバントデバイスを開発した.本デバイスは6つの振動モータを有しており,それを手首周りに取り付けられるようになっている.6つの振動振動モータの振動強度や振動の順番を適切に制御することにより,人に目標の運動方向を知覚させることが可能となる.6つのモータしか用いなくても,ファントムセンセーションと呼ばれる錯覚現象を利用することで,人は360度すべての方向で振動を知覚することができる.実際に本デバイスを用いて手首を目標運動方向に誘導する実験を行い,その有効性を確認した. また,ゴルフの素振りのような運動フォームを学習させるために,目標の運動フォームと実際の運動フォームとの差異を人に提示する手法を開発した.本手法では,人の動作をモーションキャプチャで計測し,例えば,手首の理想運動と実際の手首の運動との間に差異がある場合に,修正すべき運動方向に対して振動呈示を行うものである.人はその振動情報に基づいて運動の修正を行うことで結果的に目標の運動フォームに近い運動が実現できるようになる.実際に開発したデバイスおよび制御手法を用いて実験を行い,その有効性を確認した.さらに,振動の方向とタイミング等を調整することにより,人に運動速度を提示する手法の検討を行った. そのほか,開発したデバイスおよび振動呈示手法をスポーツ等の運動教示への応用だけでなく,人を目的地に誘導することや,歩行器や車いす使用者の誘導,危険呈示等にも応用することを考え,より広い範囲の誘導システムの検討を行った. 構築したデバイスやその制御アルゴリズム等の成果をまとめ,国内学会,国際学会等で発表を行った.

  7. 介護ロボットの開発・実証・普及のプラットフォーム事業

    2021年6月 ~ 2022年3月

  8. 安全かつ低消費電力な高機能福祉システムを実現するハイブリッド型運動制御手法の構築(国際共同研究強化)

    平田 泰久

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Fund for the Promotion of Joint International Research (Fostering Joint International Research)

    研究種目:Fund for the Promotion of Joint International Research (Fostering Joint International Research)

    研究機関:Tohoku University

    2016年 ~ 2019年

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    本研究では,日本とフランスの国際共同研究にて,車いすや歩行器といった福祉システムをより効果的に社会に組み込むために必要となる機能を検討し,高齢者や障がい者の意欲的な社会参加を促すシステムの研究開発はもちろん,家族,医療・福祉関係者,行政などが協力して高齢者や障がい者を見守ることができる新しい社会システム構築の足掛かりとなる技術を研究開発する. 本年度は,利用者の状態を推定する手法の開発を行い,例えば歩行器に搭載されたセンサを用いて使用者が,立ち上がりたいのか,歩行をしたいのか,もしくは転倒等の危険な状態にあるのかといった状態を推定する手法の検討を行った.これにより,人間の状態に応じてシステムの支援機能を変更することが可能となる. また,人間の状態推定は,歩数計のような一般的な活動量計以上の情報であり,このような情報をクラウドサーバに蓄積し,遠隔地から見守りを行うことができるシステムに応用することが可能となった.さらには,情報を様々な福祉機器間で共有することで,それぞれの福祉機器が近くに存在する場合に,より安全で効率的な移動支援を行うことができるシステムの開発に取り組んだ. そのほか,歩行器や車いすの研究にとどまらず,障がい者支援という観点から様々共同研究の検討を行った.例えば,障害を持つダンサーの支援や,障がい者ゴルファーのための支援など,障がい者がより積極的に社会参加することを支援する技術の研究開発を検討している.特に障がい者ダンサーの支援のために,当該研究室の学生がパリ・サクレ―大学に滞在し,共同研究を始めている.

  9. 安全かつ低消費電力な高機能福祉システムを実現するハイブリッド型運動制御手法の構築

    平田 泰久

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (A)

    研究種目:Grant-in-Aid for Young Scientists (A)

    研究機関:Tohoku University

    2012年4月1日 ~ 2016年3月31日

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    本研究では,複数の支援機能を持つ車いすや歩行支援機,ハプティックデバイスなどの人間支援システムを開発した.このような人間支援システムを制御するために,本研究ではDCサーボモータを回生ブレーキとして利用し,そのブレーキ力を制御することで,様々な支援機能が安全に実現できることを示した.また,回生ブレーキを用いることで,ブレーキ制御中の電力をバッテリーに蓄えることを可能とし,一時的に能動的な駆動力を発揮できるシステムを開発した.これにより,上り坂の登坂支援のようなブレーキ制御では実現できない補助的な能動支援も実現することが可能となり,安全かつ低消費電力な高機能人間支援システムを実現した.

  10. スポーツ支援を目的とした広範囲・高速度・高安全運動支援システムの開発

    平田 泰久

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research

    研究種目:Grant-in-Aid for Challenging Exploratory Research

    研究機関:Tohoku University

    2012年4月1日 ~ 2015年3月31日

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    本研究では,スポーツトレーニングの支援を行うためサーボブレーキと複数のワイヤから構成される受動的運動支援システムを開発した.複数の低慣性なワイヤを用いることで高速で広範囲な運動支援が可能となり,またそのワイヤ張力をブレーキを用いて制御するため,非常に安全な支援システムが実現できた.本研究ではブレーキ制御可能領域を考慮した新しい制御手法を設計し,スポーツトレーニングの支援が行えることを実験によって確認した.

  11. 異種支援形態による協調型歩行支援システムに関する研究

    平田 泰久, 小野寺 宏

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research

    研究種目:Grant-in-Aid for Challenging Exploratory Research

    研究機関:Tohoku University

    2009年 ~ 2011年

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    本研究では, 装着型の歩行支援機と車輪型の歩行支援機を協調して用いる新しい歩行支援システムのコンセプトを提案した. 本システムでは, 二つの異なる支援形態を持つ歩行支援機を協調させることにより, 一台では不十分な機能を補完し, 使用者のバランス維持はもちろんのこと, 使用者の意図を適切に装着型歩行支援機に伝える新しい歩行支援形態を実現した.

  12. 複数ロボットシステムの動的環境情報取得と非完全拘束型協調作業の統合に関する研究

    王 志東, 小菅 一弘, 平田 泰久

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

    研究種目:Grant-in-Aid for Scientific Research (B)

    研究機関:Chiba Institute of Technology

    2008年 ~ 2011年

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    広範囲での移動や組み立て作業を行うため、非拘束型協調搬送を実現する協調型動的作業環境情報システムを考案し、環境センシングおよび作業の不確実さを考慮した基本要素システムの設計を行った。動的環境における人間の存在履歴及び行動履歴を確率的表現する人間行動マップというコンセプトを提案し、環境のマップと同時に構築する手法を確立した。マップのデータ構造を設計し、異なる観測実験データの蓄積・統合アルゴリズムも実装し、有効性の検証を行った。

  13. 安全かつ高度な人間支援を実現するパッシブモバイルロボティクスに関する研究

    平田 泰久

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (A)

    研究種目:Grant-in-Aid for Young Scientists (A)

    研究機関:Tohoku University

    2007年 ~ 2009年

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    本研究では,パッシブモバイルロボティクスという新しいコンセプトを提案し,安全かつ高度に人間を支援する移動ロボットハードウエアおよびその運動制御系を構築した.提案するコンセプトでは,移動ロボットの駆動力を主に人間の操作力として考え,その操作力をサーボブレーキを用いて制御することで移動ロボットの運動特性を変化させる.これにより,安全な機能を維持しながら多くの人間支援機能を実現することが可能となった.

  14. パッシブロボティクスに基づく装着型自立支援システムの新展開

    平田 泰久

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Exploratory Research

    研究種目:Grant-in-Aid for Exploratory Research

    研究機関:Tohoku University

    2006年 ~ 2008年

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    近年の高齢化社会に対応して, 高齢者の介護を行うことは必要であるが, それ以上に高齢者が自立して生活を送ることが最も重要であると言われている. しかし, 高齢者になるとその体力や筋力の衰えから, 自らの脚を使っての離床や歩行が困難になる場合がある. そこで, 本研究では特にシステムを高齢者に直接装着し, 一般的な生活環境下で健常者と同等の生活を送ることを目的とした, 装着型の自立支援システムの研究開発を行った. 本年度は, サーボモータや表面筋電位情報を用いることなく, 安全に利用者の運動を支援することが可能なパッシブ機構を利用した装着型自立支援システムおよび人間動的モデルに基づく運動制御系の研究開発を行った. 特に, 各関節に加わるトルクをサーボブレーキを用いてそれぞれ制御することにより, 結果的に装着型支援システムのコンフィギュレーションを制御する手法を検討した. また, 研究開発してきた運動制御手法を, 人間の運動状態に応じて適切に切り替えることができれば, 様々な状況において利用者がシステムに対して何らかの操作を行い制御アルゴリズムを変更することなく, 容易に装着型支援システムを利用することが可能となる. そこで, 時々刻々変化する人間の情報を時系列解析し, その運動状態を推定する手法を検討した. また, それらの情報を基に, 人間が次に行うであろう運動を常に予測し, 人間の状態に適応して自然に制御アルゴリズムを切り替える手法の検討を行った.

  15. 社交ダンスにおける人とロボットとの協調機能発現とその一般化に関する研究

    小菅 一弘, 平田 泰久, 王 志東

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)

    研究種目:Grant-in-Aid for Scientific Research (A)

    研究機関:Tohoku University

    2003年 ~ 2006年

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    社会の少子高齢化や労働力の減少が切実な問題になりつつあり,この問題の解決策のひとつとして,日常生活環境下でのロボット技術の利用が期待されている.日常生活環境下でロボットを利用するには,人との共存・協調を前提としたロボット制御システムの開発が不可欠であり,そのためには,環境への適応能力のみならず,人間や環境との力学的な相互作用を前提とした,高い操作性と,高い安全性を有するロボットシステムの実現が必要である.ロボットが人間の意図を推定し,人間の意図に基づいて能動的に行動することができれば,人と協調し,効率的に多くの作業を実現することが可能になるが,相手の意図を推定することは,人間同士でも容易なことではない.しかし,物体の協調ハンドリング,スポーツを行う上でのチーム内の協調,社交ダンス等,ある限定された運動・作業に関しては,人は効果的に他者の意図を推定し,効率的な協調運動・作業を実現することができる.これは,人間同士のコミュニケーションに関する多くのことを示唆していると思われる. 本研究では,社交ダンスを題材に取り上げ,人とロボットとによる社交ダンスを実現することによって,人とロボットのコミュニケーションシステムの構築を図ると共に,人間の意図推定メカニズムについて考察した.また,社交ダンスロボットの研究・開発で得られる知見に基づき,人間を支援する様々な作業に適用可能な人間意図推定メカニズムについて考察し,その一般化を行った.さらにその一般化したメカニズムを歩行支援システムや他の人間・ロボット協調作業システムに適用し,それらのシステムの有効性を確認した.そして,最後に研究成果をまとめ,報告書を作成した.

  16. 分散型ロボットヘルパーの知能化に関する研究

    平田 泰久

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B)

    研究種目:Grant-in-Aid for Young Scientists (B)

    研究機関:Tohoku University

    2001年 ~ 2002年

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    今年度は,視覚センサなどの外界センサを利用した軌道生成手法を提案し,その軌道と前年度に提案した協調ハンドリング技術を組み合わせることにより,人とロボットがお互いに機能を補完し合いながら協調ハンドリングを実現する技術を確立した.具体的には以下のような制御系を提案した. 1.軌道生成手法の開発 障害物が存在する環境下において,目的地まで障害物に衝突することなく物体をハンドリングするため,ロボットに軌道を持たせることを考え,複数の移動ロボットによる物体のハンドリングのための軌道生成手法を開発した.具体的には,拡散方程式とスプライン関数を用い,与えれた環境から低い計算コストで容易に移動ロボットのための経路を作成する手法を提案した. 2.環境情報を有した複数移動ロボットと人との協調技術 視覚センサなどの外界センサによって生成された軌道と力覚に基づく人とロボットのコミュニケーション技術を組み合わせ,互いの機能を補完し合うことにより,複数のロボットとそれらが把持する物体が障害物に衝突せず,さらに人の負担を軽減し,より効率的に単一物体のハンドリングを実現するシステムを開発した.具体的には,1.で開発した起動生成手法と仮想外力による移動ロボットの起動追従・障害物回避手法を組み合わせ,人間が環境情報に基づいて効果的に物体のハンドリグを実現する手法を提案した.開発した制御系は前年度に開発した分散型ロボットヘルパーのプロトタイプシステムに適用し実験を行い,その有効性を確認した. 3.報告書の作成 環境情報を有した分散型ロボットヘルパーと人との協調による単一物体のハンドリング技術の考察を行い,報告書を作成した.

  17. 環境適応型複数移動ロボットの機能補完型知的協調制御システムに関する研究

    小菅 一弘, 平田 泰久, 王 志東, 竹尾 光治

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)

    研究種目:Grant-in-Aid for Scientific Research (A)

    研究機関:Tohoku University

    2000年 ~ 2002年

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    社会の高齢化に伴い,人と共存・共生し,人を多面的に支援できる新しいロボットシステムの研究開発が望まれている.人との共存・共生を前提としたロボットは,安全性や,人に対する威圧感などを考慮すると,必然的に小型であることが望まれるが,小型のロボットは,作業範囲が狭い,出せるパワーが小さいなど,その能力が限られるため,移動機能により作業空間を広げるとともに,複数のロボットや複数のロボットと人とが協調して作業を行うなど,環境に応じてその能力を最大限に発揮できる,新しい複数移動ロボットシステムと,それらを効率的に制御するための新しい知的制御システムの研究が必要である. そこで,本研究課題では,一般環境で利用可能な環境適応型複数移動ロボットシステムと,他のロボットや人とが互いに能力を補完しあうことにより,効率的に作業が行える,機能補完型知的協調制御システムの研究・開発を通じて,絶対に避けられない人や環境との接触を前提とした,環境適応型複数移動ロボットシステムの提案・試作を行った.そして,複数移動ロボットと人との協調作業の実現に必要な知的協調運動制御技術と,未知形状物体協調ハンドリング技術を確立した. また,他のロボットと互いに機能を補完しあうことにより,ロボットの能力を最大限に利用することを目的とした,複数移動ロボットの機能補完型知的協調制御技術を確立するとともに,人と能力を補完しあうことにより,ロボットだけでは不可能な作業を可能にする,人と複数移動ロボットとの機能補完型知的協調制御技術を確立した.本研究課題で提案した制御技術は,実際に本研究で開発された環境適応型移動ロボットシステムに適用され,様々な実験を行い,その有効性を確認した.

︎全件表示 ︎最初の5件までを表示

社会貢献活動 66

  1. 大ロボット博

    2007年10月26日 ~ 2008年1月15日

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    ダンスパートナロボットPBDR展示・デモ

  2. 東北大学100周年記念イベント

    2007年8月25日 ~ 2007年8月26日

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    ダンスパートナロボット展示・デモ

  3. グッドデザイン賞2次審査

    2007年8月23日 ~ 2007年8月26日

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    ダンスパートナロボットPBDR展示

  4. 産業フェアin善光寺

    2006年11月2日 ~ 2006年11月3日

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    ダンスパートナロボットPBDR展示・デモ

  5. 諏訪工業メッセ2006

    2006年10月19日 ~ 2006年10月21日

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    ウオーキングパートナロボット展示・デモ

  6. Wired NEXTFEST2006

    2006年9月29日 ~ 2006年10月1日

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    ダンスパートナロボットの展示・デモンストレーション

  7. 産学官連携推進会議

    2006年6月10日 ~ 2006年6月11日

    詳細を見る 詳細を閉じる

    歩行支援システムの展示

  8. 電源システム展

    2006年4月19日 ~ 2006年4月21日

    詳細を見る 詳細を閉じる

    歩行支援機の展示

  9. 2005国際ロボット展

    2005年11月30日 ~ 2005年12月3日

    詳細を見る 詳細を閉じる

    ダンスパートナロボットPBDR展示・デモ

  10. 諏訪工業メッセ2005

    2005年10月13日 ~ 2005年10月15日

    詳細を見る 詳細を閉じる

    ダンスパートナロボットPBDR展示・デモ

  11. 愛・地球博ロボットステーション常設展示

    2005年7月12日 ~ 2005年7月24日

    詳細を見る 詳細を閉じる

    ダンスパートナロボットPBDR展示・デモ

  12. ROBOTREX2005

    2005年7月13日 ~ 2005年7月17日

    詳細を見る 詳細を閉じる

    パッシブ型歩行支援機の展示・デモ

  13. 愛・地球博プロトタイプロボット展

    2005年6月9日 ~ 2005年6月19日

    詳細を見る 詳細を閉じる

    ダンスパートナロボットPBDR展示・デモ

  14. TExCRA 2004

    2004年11月18日 ~ 2004年11月19日

    詳細を見る 詳細を閉じる

    パワーアシスト三輪車紹介

  15. 産業交流展

    2004年10月22日 ~ 2004年10月23日

  16. 仙台市科学館特別展 『知・技・夢のロボット展2004』

    2004年7月18日 ~ 2004年8月25日

    詳細を見る 詳細を閉じる

    ダンスパートナロボット,MR Helper紹介

  17. 東北大学 機械系フォーラム 2004

    2004年6月10日 ~ 2004年6月11日

  18. 東北大 機械系フォーラム 2003

    2003年5月16日 ~ 2003年5月17日

    詳細を見る 詳細を閉じる

    パワーアシスト三輪車紹介

  19. HOSPEX JAPAN 2001

    2001年11月7日 ~ 2001年11月8日

    詳細を見る 詳細を閉じる

    人間協調型全方向移動ロボット紹介

  20. 宮城県仙台第二高等学校講義

    2022年12月8日 ~

  21. インド情報技術大学ジャバルプル校 オンライン集中講義

    2022年1月21日 ~

  22. 千葉工業大学講義

    2021年6月25日 ~

  23. 宮城県仙台第二高等学校講義

    2020年12月10日 ~

  24. 千葉工業大学講義

    2020年7月24日 ~

  25. 生活文化学園大学講義

    2019年12月23日 ~

  26. 千葉工業大学特別講義

    2019年6月14日 ~

  27. 東北文化学園大学特別講義

    2018年12月3日 ~

  28. 千葉工業大学特別講義

    2018年5月18日 ~

  29. 東北文化学園大学特別講義

    2017年11月20日 ~

  30. 千葉工業大学特別講義

    2017年5月26日 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス学科での講演

  31. 宮城県仙台第二高等学校出前講義

    2016年12月8日 ~

    詳細を見る 詳細を閉じる

    宮城県仙台第二高等学校出前講義

  32. 東北高等学校文理コース出前講義

    2016年11月9日 ~

    詳細を見る 詳細を閉じる

    さまざまな生き方を考える講演会

  33. 東北文化学園大学特別講義

    2016年10月3日 ~

    詳細を見る 詳細を閉じる

    東北文化学園大学での講演

  34. 千葉工業大学特別講義

    2016年5月27日 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス学科での講演

  35. 東北文化学園大学特別講義

    2015年9月14日 ~

    詳細を見る 詳細を閉じる

    東北文化学園大学での講演

  36. 千葉工業大学特別講義2

    2015年6月 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス専攻での講演

  37. 千葉工業大学特別講義1

    2015年6月 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス学科での講演

  38. 東北文化学園大学特別講義

    2014年9月29日 ~

    詳細を見る 詳細を閉じる

    東北文化学園大学での講演

  39. 千葉工業大学特別講義2

    2014年6月27日 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス専攻での講演

  40. 千葉工業大学特別講義1

    2014年6月27日 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス学科での講演

  41. 国際ロボット展

    2013年11月 ~

    詳細を見る 詳細を閉じる

    産業用ロボットおよび歩行支援ロボットの共同研究成果展示

  42. 東北文化学園大学特別講義

    2013年10月7日 ~

    詳細を見る 詳細を閉じる

    東北文化学園大学での講演

  43. 千葉工業大学特別講義2

    2013年6月28日 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス専攻での講演

  44. 千葉工業大学特別講義1

    2013年6月28日 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス学科での講演

  45. 古川学園高等学校特別講義

    2013年6月27日 ~

    詳細を見る 詳細を閉じる

    古川学園高等学校特別講義

  46. ベルサイユ大学特別講義

    2012年9月 ~

    詳細を見る 詳細を閉じる

    ベルサイユ大学特別講義

  47. 千葉工業大学オープンレクチャー

    2011年11月 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス学科での講演

  48. 青森県立弘前中央高校特別講義

    2011年10月 ~

    詳細を見る 詳細を閉じる

    青森県立弘前中央高校特別講義

  49. 千葉工業大学特別講義

    2011年6月17日 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス専攻での講演

  50. 千葉工業大学オープンレクチャー

    2010年11月19日 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス学科での講演

  51. 平成22年度高大連携に係わる地域公開講座

    2010年7月8日 ~

    詳細を見る 詳細を閉じる

    宮城県白石高等学校での講演

  52. 千葉工業大学特別講義

    2010年6月4日 ~

    詳細を見る 詳細を閉じる

    千葉工業大学未来ロボティクス専攻での講演

  53. IEEEプレスセミナー

    2010年5月13日 ~

    詳細を見る 詳細を閉じる

    パッシブ型歩行支援機の紹介

  54. 鳥取環境大学特別講義

    2007年12月4日 ~

    詳細を見る 詳細を閉じる

    鳥取環境大学での講演

  55. 思考展開フォーラム 「最先端のロボット技術~体感!ロボットに見る未来~」

    2007年11月21日 ~

    詳細を見る 詳細を閉じる

    ダンスパートナロボット,歩行支援機の紹介

  56. 市民のためのサイエンス講座

    2007年11月18日 ~

    詳細を見る 詳細を閉じる

    ダンスパートナロボット,歩行支援機の紹介

  57. 大ロボット博 プレミアムナイト 世界初!夢のロボット舞踏会 produced by 押井守

    2007年11月6日 ~

    詳細を見る 詳細を閉じる

    ダンスパートナロボットPBDR展示・デモ

  58. SuperHオープンフォーラム

    2007年8月24日 ~

    詳細を見る 詳細を閉じる

    パッシブ型歩行支援機展示・デモ

  59. 東北大学 イノベーションフェア

    2007年2月1日 ~

    詳細を見る 詳細を閉じる

    ダンスパートナロボット,歩行支援機等紹介

  60. 東北大学 イノベーションフェア

    2006年10月18日 ~

  61. 香川大学特別講義

    2006年10月6日 ~

    詳細を見る 詳細を閉じる

    香川大学での講演

  62. さきがけライブ2005

    2005年12月22日 ~

    詳細を見る 詳細を閉じる

    パッシブ型歩行支援機展示・デモ

  63. ロボットフェスタ2005 in 愛・地球博 〜ロボット大集合〜

    2005年8月16日 ~

    詳細を見る 詳細を閉じる

    ダンスパートナロボットPBDRデモ

  64. 東北電力「でんき屋台村」

    2005年3月6日 ~

    詳細を見る 詳細を閉じる

    歩行支援機,ダンスパートナロボット紹介

  65. 東北大学 先端技術交流会

    2005年2月1日 ~

  66. さきがけライブ

    2005年1月28日 ~

︎全件表示 ︎最初の5件までを表示

メディア報道 51

  1. 私のダンス 心のままに 障害あってもAI車いすが支援

    河北新報

    2024年2月27日

    メディア報道種別: 新聞・雑誌

  2. ミライFile01.「できる」を応援してくれるAIロボット

    株式会社誠文堂新光社 雑誌『子供の科学』2023年10月号

    2023年9月10日

    メディア報道種別: 新聞・雑誌

  3. 次世代ロボットや介護技術公開 東北大青葉山キャンパスでシンポ

    河北新報社 河北新報

    2023年8月3日

    メディア報道種別: 新聞・雑誌

  4. 人手不足に期待 介護ロボット 最新技術を紹介

    東日本放送 チャージ!第1部

    2023年7月17日

    メディア報道種別: テレビ・ラジオ番組

  5. AIロボ、相棒になれるか

    日本経済新聞

    2023年6月18日

    メディア報道種別: 新聞・雑誌

  6. 介護ロボ研究者が講演 柴田「人に寄り添うAI目指す」

    読売新聞

    2023年3月18日

    メディア報道種別: 新聞・雑誌

  7. 慣性計測で安全評価 東北大がモデル開発 高齢者介護など提案

    日刊工業新聞

    2022年11月22日

    メディア報道種別: 新聞・雑誌

  8. 北大初のアウル、資金調達 東北大VPから数億円

    日刊工業新聞

    2022年11月15日

    メディア報道種別: 新聞・雑誌

  9. 次世代境に向けたロボット 東北大と三井不動産が共同研究を開始

    科学新聞、日本経済新聞

    2022年11月4日

    メディア報道種別: 新聞・雑誌

  10. 2050年までに、AIとロボットの共進化により、自ら学習・行動し人と共生するロボットを実現

    高齢者住宅新聞 10号 24-25面 「相談窓口,リビングラボ活用へ」

    2022年8月3日

    メディア報道種別: 新聞・雑誌

  11. 介護職員の不足解消へ 介護ロボット開発最前線

    仙台放送 仙台Live News イット!

    2022年5月25日

    メディア報道種別: テレビ・ラジオ番組

  12. 番組審議会 仙台放送

    産経新聞(地方)

    2022年4月28日

  13. 「自分でできる」増やす介護ロボ

    朝日新聞

    2022年4月20日

    メディア報道種別: 新聞・雑誌

  14. 人手不足 解消の切り札 特集 東北大 介護ロボット研究拠点

    東日本放送 チャージ!第1部、第2部

    2022年3月29日

    メディア報道種別: テレビ・ラジオ番組

  15. 介護現場の人手不足解消の切り札に 東北大学に介護ロボットの研究拠点

    東日本放送 チャージ!第1部、第2部(東日本放送)

    2022年3月29日

  16. 東北大、仙台に介護ロボの研究拠点

    日経産業新聞

    2022年3月2日

    メディア報道種別: 新聞・雑誌

  17. 30年後の未来を大予想★最先端 東北大学のAI研究

    仙台放送 仙台放送 開局60周年記念番組「トンデモ未来予想!? ~令和30年 人工知能は人間を超える?~」(仙台放送)

    2022年2月27日

    メディア報道種別: テレビ・ラジオ番組

  18. ”介護現場”と”メーカー”橋渡し 東北大に介護ロボ開発拠点

    東北放送 Nスタみやぎ

    2022年2月23日

    メディア報道種別: テレビ・ラジオ番組

  19. 東北大で介護ロボ研究 現場再現 実証実験 開発や実用化へ

    読売新聞

    2022年2月22日

    メディア報道種別: 新聞・雑誌

  20. ”介護現場”と”メーカー”橋渡し 東北大に介護ロボ開発拠点

    東日本放送 チャージ!第1部、第2部

    2022年2月21日

    メディア報道種別: テレビ・ラジオ番組

  21. レーザー 自己効力高める (人に寄り添うサポートロボ)

    日刊工業新聞

    2022年2月18日

    メディア報道種別: 新聞・雑誌

  22. 介護ロボの研究拠点開設 東北大、仙台に生活環境再現

    日本経済新聞、日刊工業新聞

    2022年2月17日

    メディア報道種別: 新聞・雑誌

  23. パッシブロボティクスの研究で、バリアフリー社会を実現する

    Top Researchers https://top-researchers.com/?p=3501

    2020年2月21日

    メディア報道種別: インターネットメディア

  24. 【複数協調×ロボット】 自ら動くことがない新しいロボットで世界を変革

    Web ROBOT CREATORS MAGAZINE https://robocre.com/2017/12/05/yasuhira_hirata/

    2017年12月5日

    メディア報道種別: インターネットメディア

  25. Levitating Plane-Train Fives Mass Transit a Lift

    Wired News

    2011年5月

    メディア報道種別: 新聞・雑誌

  26. 環境問題も考えた新しい交通システムを作り上げたい

    TBS 夢の扉

    2010年10月

    メディア報道種別: テレビ・ラジオ番組

  27. 手の動き的確に誘導

    ワイヤ型ハプティックデバイスの開発

    2010年7月23日

    メディア報道種別: 新聞・雑誌

  28. 食器洗浄収納パートナロボット

    ミヤギテレビ,ロボットウオッチ,ロボコンマガジンなど

    2009年3月25日

    メディア報道種別: テレビ・ラジオ番組

  29. 立体駐車場用搬送ロボット

    日刊工業新聞

    2008年6月4日

    メディア報道種別: 新聞・雑誌

  30. 大ロボット博:ダンスパートナロボットPBDR

    日本テレビ,TBS

    2007年11月

    メディア報道種別: テレビ・ラジオ番組

  31. 東北大学100周年まつり:ダンスパートナロボットPBDR(NHKてれまさむね,仙台放送)

    2007年8月

    メディア報道種別: テレビ・ラジオ番組

  32. ロボットは危険なのか?

    パソコン整備士協会 ADJUSTER

    2007年6月1日

    メディア報道種別: 新聞・雑誌

  33. ウオーキングパートナロボットの開発

    日本経済新聞,読売新聞,信濃毎日新聞,中日新聞,長野日報,茅野市民新聞他

    2006年10月18日

    メディア報道種別: 新聞・雑誌

  34. ダンスパートナロボット・歩行支援機

    NHK仙台放送局

    2006年6月26日

    メディア報道種別: テレビ・ラジオ番組

  35. Can we really create a dancing Robot?

    Royal Academy of Dance

    2006年2月

    メディア報道種別: 新聞・雑誌

  36. 進む福祉“ロボット”研究

    東北放送 イブニングニュース

    2005年11月

    メディア報道種別: テレビ・ラジオ番組

  37. ダンスパートナロボットPBDR(TIME誌,IEEE SPECTRUM, MONICAはじめ多数)

    2005年6月

    メディア報道種別: 新聞・雑誌

  38. ダンスパートナロボットPBDR(国内外各紙多数)

    2005年6月

    メディア報道種別: 新聞・雑誌

  39. ダンスパートナロボットPBDR(国内外多数メディア)

    2005年6月

    メディア報道種別: テレビ・ラジオ番組

  40. 対人地雷探知の野外試験

    日本経済新聞

    2005年3月18日

    メディア報道種別: 新聞・雑誌

  41. 安全性の観点からのダンスパートナロボットに関する研究

    NHK クローズアップ現代

    2005年3月10日

    メディア報道種別: テレビ・ラジオ番組

  42. パッシブ型歩行支援システム

    日経産業新聞

    2005年2月21日

    メディア報道種別: 新聞・雑誌

  43. 愛知万博用ダンスパートナロボット

    NHK名古屋

    2005年1月24日

    メディア報道種別: テレビ・ラジオ番組

  44. ダンスパートナロボットに関する研究

    仙台放送

    2005年1月11日

    メディア報道種別: テレビ・ラジオ番組

  45. ダンスパートナロボット

    河北新報

    2004年11月

    メディア報道種別: 新聞・雑誌

  46. パッシブ型歩行支援システムに関する研究

    ミヤギテレビ

    2004年10月1日

    メディア報道種別: テレビ・ラジオ番組

  47. 歩行支援システムに関する研究

    サイエンスチャンネル

    2004年1月

    メディア報道種別: テレビ・ラジオ番組

  48. ダンスパートナロボットの紹介

    大阪ホンワカテレビ

    2003年9月

    メディア報道種別: テレビ・ラジオ番組

  49. ダンスパートナロボット

    共同通信

    2003年7月

    メディア報道種別: テレビ・ラジオ番組

  50. 仙台のアトムたち

    河北ウイーク

    2003年4月3日

    メディア報道種別: 新聞・雑誌

  51. 荷物運ぶ「お手伝いロボ」

    日本経済新聞 DR Helper

    1999年12月25日

    メディア報道種別: 新聞・雑誌

︎全件表示 ︎最初の5件までを表示

その他 14

  1. 複数の非駆動型探査機のフォーメーション制御による高効率・低コスト広域探査技術

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    複数移動ロボットを用いた探査技術の研究

  2. 振動刺激を用いた環境情報フィードバック型ウェアラブル運動教示システム

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    振動刺激を用いた環境情報フィードバック型ウェアラブル運動教示システムに関する研究

  3. パッシブロボティクスが拓く下肢障がい者アクティブ運動支援機開発

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    下肢障がい者アクティブ運動支援機開発

  4. アシスト・制動制御付き足こぎ車いす開発研究

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    アシスト・制動制御付き足こぎ車いすの高度化に関する研究

  5. 高効率高速輸送システムの研究開発

    詳細を見る 詳細を閉じる

    エアロトレインの姿勢制御

  6. 立ち上がりを支援する人間アシスト型移動ロボット

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    立ち上がりを支援する人間アシスト型移動ロボット

  7. スポーツ動作における関節負担の導出および装着型支援デバイスによる運動支援の検討

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    装着型歩行支援システムに関する研究

  8. 食器洗浄・収納パートナロボットの研究開発

    詳細を見る 詳細を閉じる

    片付け作業用マニピュレーションRTシステム(サービスロボット分野)(食器洗浄・収納パートナロボットの研究開発)

  9. 人間の操作性を考慮した運動特性可変型パッシブ移動台車システムに関する研究

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    物体搬送システムに関する研究

  10. ダンスパートナロボットの研究開発

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    ダンスパートナロボッ トの研究開発

  11. アシスト用直動アクチュエータユニットに関する研究開発

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    アシスト用直動アクチュエータユニットに関する研究開発

  12. 人間意図推定型ダンスパートナロボットシステムの研究開発

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    ダンスロボットに関する研究

  13. 人間・環境適応型知的歩行支援システム

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    知的歩行支援システムに関する研究

  14. 環境適応型高性能対人地雷探知システムの研究開発

    詳細を見る 詳細を閉じる

    環境適応型高性能対人地雷探知システムの研究開発

︎全件表示 ︎最初の5件までを表示