研究者データベース

近野 敦(コンノ アツシ)
情報科学研究院 システム情報科学部門 システム融合学分野
教授

基本情報

所属

  • 情報科学研究院 システム情報科学部門 システム融合学分野

職名

  • 教授

学位

  • 博士(工学)(東北大学)

ホームページURL

J-Global ID

研究分野

  • 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
  • 情報通信 / 知能ロボティクス
  • 情報通信 / 知覚情報処理

職歴

  • 2020年04月 - 現在 北海道大学大学院情報科学研究院 副研究院長(教育担当)
  • 2012年04月 - 現在 北海道大学 大学院情報科学研究科 教授
  • 2007年04月 - 2012年03月 東北大学 大学院工学研究科 准教授
  • 1998年04月 - 2007年03月 東北大学 大学院工学研究科 助教授
  • 1995年04月 - 1998年03月 東京大学 大学院工学系研究科 助手
  • 1993年04月 - 1995年03月 東北大学 工学部 助手

学歴

  • 1988年04月 - 1993年03月   東北大学   大学院工学研究科   精密工学専攻
  •         - 1993年   東北大学
  • 1984年04月 - 1988年03月   東北大学   工学部   精密工学科
  •         - 1988年   東北大学

所属学協会

  • 日本IFToMM会議   日本コンピュータ外科学会   日本機械学会   計測自動制御学会   日本ロボット学会   IEEE   

研究活動情報

論文

  • Koki Ebina, Takashige Abe, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Kiyohiko Hotta, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Atsushi Konno, Nobuo Shinohara
    Surgical endoscopy 2020年09月09日 [査読有り][通常論文]
     
    BACKGROUND: Our aim was to characterize the motions of multiple laparoscopic surgical instruments among participants with different levels of surgical experience in a series of wet-lab training drills, in which participants need to perform a range of surgical procedures including grasping tissue, tissue traction and dissection, applying a Hem-o-lok clip, and suturing/knotting, and digitize the level of surgical competency. METHODS: Participants performed tissue dissection around the aorta, dividing encountered vessels after applying a Hem-o-lok (Task 1), and renal parenchymal closure (Task 2: suturing, Task 3: suturing and knot-tying), using swine cadaveric organs placed in a box trainer under a motion capture (Mocap) system. Motion-related metrics were compared according to participants' level of surgical experience (experts: 50 ≤ laparoscopic surgeries, intermediates: 10-49, novices: 0-9), using the Kruskal-Wallis test, and significant metrics were subjected to principal component analysis (PCA). RESULTS: A total of 15 experts, 12 intermediates, and 18 novices participated in the training. In Task 1, a shorter path length and faster velocity/acceleration/jerk were observed using both scissors and a Hem-o-lok applier in the experts, and Hem-o-lok-related metrics markedly contributed to the 1st principal component on PCA analysis, followed by scissors-related metrics. Higher-level skills including a shorter path length and faster velocity were observed in both hands of the experts also in tasks 2 and 3. Sub-analysis showed that, in experts with 100 ≤  cases, scissors moved more frequently in the "close zone (0  ≤ to < 2.0 cm from aorta)" than those with 50-99 cases. CONCLUSION: Our novel Mocap system recognized significant differences in several metrics in multiple instruments according to the level of surgical experience. "Applying a Hem-o-lok clip on a pedicle" strongly reflected the level of surgical experience, and zone-metrics may be a promising tool to assess surgical expertise. Our next challenge is to give completely objective feedback to trainees on-site in the wet-lab.
  • Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    IEEE Transactions on Medical Robotics and Bionics 2 3 356 - 363 2020年08月 [査読有り][招待有り]
  • Development and validation of a measurement system for laparoscopic surgical procedures
    Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Yo Kurashima, Nobuo Shinohara, Atsushi Konno
    SICE Journal of Control, Measurement, and System Integration 13 4 191 - 200 2020年07月 [査読有り][招待有り]
  • 可変ピッチプロペラクアッドチルトロータドローンの開発と推力応答評価
    小水内俊介, 浦岡雅史, 近野敦
    計測自動制御学会論文集 56 5 310 - 316 2020年05月 [査読有り][通常論文]
  • Shunsuke Komizunai, Noriyo Colley, Atsushi Konno
    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 311 - 316 2020年01月12日 [査読有り][通常論文]
     
    © 2020 IEEE. With the spread of home medical care, it is important to increase the number of care providers who received a standard nursing education, including person except doctors and nurses. This paper describes the development of an experience-based nursing education system that supports proficiency in procedures, taking as examples endotracheal suctioning. Whole-body motion and gaze of practitioners during suctioning are measured. By reflecting measured data in a humanoid model in a virtual reality (VR) space, it is possible to reproduce and observe the procedure. By using this system, learners can re-experience exemplary procedures from first person viewpoint, and instructors can observe the learner's technique from a free viewpoint and quantitatively analyze/evaluate it. By substituting the attentive guidance with the imitation of users, it can be assisted the transmission of the tips and skill that are difficult to verbalize.
  • Noriyo Colley, Shunsuke Komizunai, Shinji Ninomiya, Tadayoshi Asaka, Hiroki Mani, Hana Takizawa, Sarina Umesawa, Yuya Taira, Eri Murata, Misuzu Nakamura, Sozo Inoue, Satoshi Kanai, Atsushi Konno
    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 500 - 503 2020年01月12日 [査読有り][通常論文]
     
    © 2020 IEEE. Endotracheal suctioning is a life-threatening technique which requires correct decision-making and immediate reaction to maintain airway clearance. To avoid risks of suctioning, the Closed Suction System (CSS) have been developed. However, there is no consensus regarding the priority use of the CSS compared to the Open Suction System (OSS); the usage of the OSS is still common for long-term ventilator users for economical reason. Education is a key factor to prevent secondary infection by suctioning. Therefore, this paper aims to focus on the prevention of secondary infection by the OSS, and to develop a quantitative evaluation system for aseptic technique using bilateral dorsum manus total travel distance.
  • Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 1388 - 1393 2020年01月12日 [査読有り][通常論文]
     
    © 2020 IEEE. Presenting correct reaction force is an important functional element of a haptic surgical simulator which is used to practice surgical techniques by novice surgeons. Particularly, in neurosurgeries, novice surgeons rely on the force felt at their hands in many situations. However, it is difficult to accurately calculate the deformation and reaction force of brain tissues in real-time because of the nonlinearity of the brain tissues. In this study, a simple numerical calculation method for nonlinear brain tissues is proposed. The simulation is constructed based on the finite element method, and the nonlinear characteristics of brain tissues are reproduced. When a force is applied to the brain parenchyma, the reaction force nonlinearly increases as the deformation proceeds. The phenomenon is reproduced by increasing a scale factor of the stiffness matrix as the von Mises stress of the element increases. To validate the proposed calculation method, experiments were performed using porcine brains. In experiments, the longitudinal cerebral fissure of the brain was retracted at 1 mm/s and 10 mm/s. Necessary parameters for the proposed calculation method were identified by using experimental data of 1 mm/s. By comparing the simulation results and experimental data of 10 mm/s with the same parameters, the validity and accuracy of the proposed nonlinear calculation method of brain tissue were proved.
  • Atsushi Konno, Noriyuki Shido, Kazuya Sase, Xiaoshuai Chen, Teppei Tsujita
    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 39 - 44 2020年01月12日 [査読有り][通常論文]
     
    © 2020 IEEE. This paper presents a way to make a hepatobiliary pancreatic FE (Finite Element) model from medical images preserving the structural topology for dynamic surgery simulation. Medical images are generally composed of a sequence of sliced images, and they can be transformed into a 3D geometric model by using any image analyzing software. However, because of incompleteness of the geometric model transformed from the sliced images, volume meshing (FE model generation) is not very easy. In order to cope with the incompleteness of the geometric model, embedding is used, in which the geometric model is embedded into hexahedral meshes. If multiple parts of different segments are included in a hexahedral element, the element is replicated for each segment using SLPs: Separation Label Pairs to preserve structural topology. Haptic simulation was performed using the generated hepato-biliary-pancreatic FE model.
  • 長内 真理乃, コリー 紀代, 小水内 俊介, 二宮 伸治, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 村田 恵理, 萬井 太規, 近野 敦
    日本小児呼吸器学会雑誌 30 2 172 - 180 日本小児呼吸器学会 2020年01月 [査読有り][通常論文]
     
    気管内吸引は、気管や気管支粘膜などの損傷や損傷に伴う大量出血、低酸素症、嘔吐、疼痛といったリスクがあり侵襲度が高い技術であるとされる。より実践的な指導により免許取得後の安全な吸引を実施するためにも、客観的な数値や尺度による評価が必要になるが、気管内吸引技術の習熟度を示す指標を検討している先行研究は多くはない。そこで本研究はモーションキャプチャを用い、気管内吸引シミュレーション中の看護師群と看護学生群の習熟度の評価指標や教育項目を検討した。また、NASA-TLXを用いて精神的負担感を調査した。動作解析より、所要時間、左手背総移動距離、左右の手背の停留回数・停留時間について群間に有意差が認められ、NASA-TLXの結果からは学生群の方が時間の余裕のなさや作業結果への不満足というストレスが大きいことが示された。従って、これらが気管内吸引の習熟度の客観的評価項目として有用である可能性が示唆された。(著者抄録)
  • 竹内 由佳, コリー 紀代, 二宮 伸治, 小水内 俊介, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 村田 恵理, 萬井 太規, 近野 敦
    医工学治療 31 3 171 - 180 (NPO)日本医工学治療学会 2019年11月 [査読有り][通常論文]
     
    本研究では視線計測に基づく教育評価項目や評価指標の抽出を目的とし、気管内吸引シミュレーション中の看護師と看護学生を対象に両眼構成視線計測装置(Pupil、Pupil Labs社)を用いた視線計測により手技の所要時間、視線の停留回数・停留時間、停留点移動速度を比較した。視線計測後には、NASA-TLXを用いて作業負担度を調査した。その結果、所要時間、視線の停留時間、視線の停留回数・停留時間に有意差が認められた。作業負担度には有意差が見られなかったことから、両群とも模擬環境において同等のストレスがあったと推測される。不慣れな環境においてもパフォーマンスに差が現れることから、手技の所要時間や視線の停留回数・停留時間は習熟度を評価する客観的な指標となりうることが示された。(著者抄録)
  • Vessel Dissection Simulation for Neurosurgery Simulators Considering Subarachnoid Space Structure
    Xiaoshuai Chen, Mio Hashimoto, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    Proceedings of the 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS2019) Paper 006-1 - 6 2019年09月 [査読有り][通常論文]
  • 小水内 俊介, 近野 敦, 金井 理, 浅賀 忠義, 井上 創造, 村田 恵理, 萬井 太規, 高橋 望, 二宮 伸治, コリー 紀代
    日本シミュレーション医療教育学会雑誌 7 89 - 93 日本シミュレーション医療教育学会 2019年08月 [査読無し][通常論文]
     
    【背景】在宅医療の浸透に伴い、医師や看護師ではない範囲も含め、一定水準の看護教育を受けたケア提供者を増やすことは重要な課題となる。【目的】気管内吸引を例に、手技の習熟を支援する体験型の看護教育システムを開発する。【方法】気管内吸引中の実施者の全身動作および視線を計測する。仮想現実(Virtual reality:VR)空間で人型モデルに計測データを反映することで手技の再現・観察を可能とする。【結果】学習者が模範手技を一人称視点で追体験することが可能であるとともに、指導者が学習者の手技を自由な視点から観察し定量的に分析・評価するための手段にもなる。【考察】手取り足取りの指導を使用者自身の模倣で代替することにより、言語化しにくいコツや巧みさの伝達を支援しうる。(著者抄録)
  • Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 118 - 123 2019年04月 [査読有り][通常論文]
     
    © 2019 IEEE. Splitting brain fissure is an important operative procedure in neurosurgeries. Arachnoid membrane that covers brain parenchyma is generally opened with sharp dissection using microscissors, while connective tissues such as arachnoid trabeculae are fractured by blunt dissection to split a brain fissure. However, most earlier studies about neurosurgery simulation have not given enough detailed model of connective tissues because consideration of connective tissues in simulation requires high computational cost. The objective of this paper is to conduct a brain fissure splitting simulation considering damage of connective tissues. Assuming that connective tissues are homogeneously distributed in a brain fissure, a damage model of connective tissue is proposed. To verify the splitting brain fissure simulation, longitudinal fissure splitting experiments were performed by using porcine brains with different splitting velocities. By comparing the experimental data and the simulation results, simulations can reproduce the reaction force of the brain fissure splitting with connective tissues.
  • XiaoShuai Chen, Ryosuke Shirai, Ken Masamune, Manabu Tamura, Yoshihiro Muragaki, Atsushi Konno
    IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, January 14-16, 2019 112 - 117 2019年 [査読有り][通常論文]
  • Alireza Bilesan, Saeed Behzadipour, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
    12th Asian Control Conference, ASCC 2019, Kitakyushu-shi, Japan, June 9-12, 2019 504 - 509 IEEE 2019年 [査読有り][通常論文]
  • JaeSung Yang, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
    12th Asian Control Conference, ASCC 2019, Kitakyushu-shi, Japan, June 9-12, 2019 498 - 503 IEEE 2019年 [査読有り][通常論文]
  • Shunsuke Komizunai, Shinji Ninomiya, Atsushi Konno, Satoshi Kanai, Tadayoshi Asaka, Eri Murata, Hiroki Mani, Nozomi Takahashi, Noriyo Colley
    International Journal of Automation Technology 13 4 490 - 498 2019年 [査読有り][通常論文]
  • Ryosuke Shirai, XiaoShuai Chen, Kazuya Sase, Shunsuke Komizunai, Teppei Tsujita, Atsushi Konno
    58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019, Hiroshima, Japan, September 10-13, 2019 1113 - 1118 2019年 [査読有り][通常論文]
  • Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, XiaoShuai Chen, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Yo Kurashima, Nobuo Shinohara, Atsushi Konno
    58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019, Hiroshima, Japan, September 10-13, 2019 1099 - 1106 2019年 [査読有り][通常論文]
  • Alireza Bilesan, Mohammadhasan Owlia, Saeed Behzadipour, Shuhei Ogawa, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
    Proceedings of the IFAC symposium on Robot Control (SYROCO) 2018年08月 [査読有り][通常論文]
  • JaeSung Yang, Shuhei Ogawa, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
    Proceedings of the IFAC symposium on Robot Control (SYROCO) 2018年08月 [査読有り][通常論文]
  • Jaesung Yang, Atsushi Konno, Satoko Abiko, Masaru Uchiyama
    ROBOMECH Journal 5 19 2018年08月 [査読有り][通常論文]
  • Xiaoshuai Chen, Kazuya Sase, Akito Ema, Atsushi Konno, Teppei Tsujita
    日本コンピュータ外科学会誌 20 1 22 - 32 2018年02月 [査読有り][通常論文]
  • Teppei Tsujita, Kazuya Sase, XiaoShuai Chen, Masashige Tomita, Atsushi Konno, Masano Nakayama, Atsuhiro Nakagawa, Koyu Abe, Masaru Uchiyama
    IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, December 12-15, 2018 898 - 903 IEEE 2018年 [査読有り][通常論文]
  • コリー 紀代, 清水 弘美, 高橋 望, 小水内 俊介, 近野 敦, 金井 理, 二宮 伸治, 大塚 健, 浅賀 忠義
    医学教育 49 2 117 - 125 日本医学教育学会 2018年 [査読有り][通常論文]
     

    背景 : 在宅医療の高度化により, 気管内吸引等の高度ケアを担う人材の育成が喫緊の課題である.方法 : 気管内吸引を行う看護師と看護学生の眼球運動を測定し, 気管内吸引中の認知・判断面を含めた多重タスク構造を気管内吸引オントロジーとして可視化した.結果 : 構築された気管内吸引オントロジーの階層構造からは, 手順という手続き的知識のみならず, 医療機器に関する知識, 気管内吸引が無効であった際の選択肢に関する知識など, 多岐にわたった専門知識が要求される行為であることが示された.考察 : オントロジーは「できる」能力の範囲や評価すべき能力の定義を示す教育評価ツールとしても活用の可能性がある表現法と考えられた.

  • 小水内 俊介, 近野 敦, 金井 理, 二宮 伸治, 浅賀 忠義, 高橋 望, コリー 紀代
    日本シミュレーション医療教育学会雑誌 = Journal of Japan Association for Simulation-based Education in Healthcare Professionals 6 99 - 103 日本シミュレーション医療教育学会 2018年 [査読無し][通常論文]
  • 二宮 伸治, コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 高橋 望, 浅賀 忠義
    日本シミュレーション医療教育学会雑誌 = Journal of Japan Association for Simulation-based Education in Healthcare Professionals 6 92 - 98 日本シミュレーション医療教育学会 2018年 [査読無し][通常論文]
  • Atsushi Oosedo, Satoko Abiko, Atsushi Konno, Masaru Uchiyama
    AUTONOMOUS ROBOTS 41 5 1143 - 1159 2017年06月 [査読有り][通常論文]
     
    A quadrotor equipped with a fixed-wing (hereinafter referred to as the quadrotor tail-sitter UAV) has been developed by authors. The quadrotor tail-sitter UAV can hover like a quadrotor and can fly like a fixed-wing airplane. The remarkable characteristic of the developed quadrotor tail-sitter UAV is that it does not use any control surfaces during any form of flight; hovering, transition flight or level flight. This paper discusses an optimal transition from hovering to level flight for the quadrotor tail-sitter UAV because transition flight is most likely to be unstable throughout flight owing to stalling of the fixed-wing. The paper proposes three transition strategies: (i) normal transition (PID feedback to a step input), (ii) minimizing the transition time, and (iii) minimizing the transition time with keeping altitude constant. To realize the above optimal transition strategies, the aerodynamic parameters of the developed quadrotor tail-sitter UAV are measured by the wind tunnel test in advance. The three strategies are experimentally verified and the comparison among the three strategies is presented.
  • Kazuya Sase, Teppei Tsujita, Atsushi Konno
    日本コンピュータ外科学会誌 19 2 89 - 99 2017年04月 [査読有り][通常論文]
  • 葛西 光希, 木村 圭司, 塩見 慶, 近野 敦, 田殿 武雄, 堀 雅裕
    地理学論集 92 1 17 - 36 北海道地理学会 2017年 [査読有り][通常論文]
  • A. Nakagawa, T. Kumabe, Y. Ogawa, T. Hirano, T. Kawaguchi, K. Ohtani, T. Nakano, C. Sato, M. Yamada, T. Washio, T. Arafune, T. Teppei, A. Konno, S. Satomi, K. Takayama, T. Tominaga
    SHOCK WAVES 27 1 1 - 14 2017年01月 [査読有り][通常論文]
     
    The high-speed liquid (water) jet has distinctive characteristics in surgical applications, such as tissue dissection without thermal damage and small blood vessel preservation, that make it advantageous over more conventional instruments. The continuous pressurized jet has been used since the first medical application of water jets to liver surgery in the 1980s, but exhibited drawbacks partly related to the excess water supply required and unsuitability for application to microsurgical instruments intended for deep, narrow lesions (endoscopic instrumentation and catheters) due to limitations in miniaturization of the device. To solve these issues, we initiated work on the pulsed micro-liquid jet. The idea of the pulsed micro-liquid jet originated from the observation of tissue damage by shock/bubble interactions during extracorporeal shock wave lithotripsy and evolved into experimental application for recanalization of cerebral embolisms in the 1990s. The original method of generating the liquid jet was based on air bubble formation and microexplosives as the shock wave source, and as such could not be applied clinically. The air bubble was replaced by a holmium:yttrium-aluminum-garnet (Ho:YAG) laser-induced bubble. Finally, the system was simplified and the liquid jet was generated via irradiation from the Ho:YAG laser within a liquid-filled tubular structure. A series of investigations revealed that this pulsed laser-induced liquid jet (LILJ) system has equivalent dissection and blood vessel preservation characteristics, but the amount of liquid usage has been reduced to less than 2 l per shot and can easily be incorporated into microsurgical, endoscopic, and catheter devices. As a first step in human clinical studies, we have applied the LILJ system for the treatment of skull base tumors through the transsphenoidal approach in 9 patients (7 pituitary adenomas and 2 chordomas), supratentorial glioma (all high grade glioma) in 8 patients, including one with fine perforating vessel involvement, and cerebrovascular disease (1 arteriovenous malformation and 2 intracerebral hemorrhages) in 3 patients. Precise dissection and mass reduction of the tumor were obtained in all tumor cases except for one chordoma with significant fibrosis. Small arteries down to 100 were preserved, allowing subsequent microsurgical devascularization. Veins were also preserved occasionally. The arachnoid membrane and the tumor capsule were resistant to the LILJ except for one case with prolonged exposure. No complications related to use of the LILJ system were observed. No disturbance of the surgical field by splashing, aerosol, or dissemination of pathological tissue occurred with placement of the optimal suction system. The Ho:YAG LILJ system enhances the advantages of commercialized pressure-driven continuous liquid jet instrumentation in terms of small vessel preservation and accessibility in confined spaces for minimally invasive neurosurgery, and solves some of the drawbacks involved with excessive liquid use and size.
  • XiaoShuai Chen, Akito Ema, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    IEEE/SICE International Symposium on System Integration, SII 2017, Taipei, Taiwan, December 11-14, 2017 899 - 904 IEEE 2017年 [査読有り][通常論文]
  • Teppei Tsujita, Tadamasa Kitahara, Ryoya Tahara, Satoko Abiko, Atsushi Konno
    2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, Macao, December 5-8, 2017 2474 - 2479 IEEE 2017年 [査読有り][通常論文]
  • Teppei Tsujita, Odpurev Altangerel, Satoko Abiko, Atsushi Konno
    2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, Macao, December 5-8, 2017 221 - 226 IEEE 2017年 [査読有り][通常論文]
  • 小水内俊介, 小貫督仁, WU Meng Hung, 辻田哲平, 近野敦
    日本ロボット学会誌 35 7 548 - 556 2017年 [査読有り][通常論文]
  • Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita, Shunsuke Komizunai
    Journal of Biomechanical Science and Engineering 11 4 16-00323  2016年10月 [査読有り][通常論文]
  • Atsushi Oosedo, Satoko Abiko, Shota Narasaki, Atsushi Kuno, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 30 5 326 - 337 2016年03月 [査読有り][通常論文]
     
    Quadrotor unmanned aerial vehicles (UAVs) have been actively used in various fields. However, only the altitude and the attitude in three degrees of freedom can be independently controlled since quadrotor UAVs are underactuated systems. A quad tilt rotor UAV solves the problem of an underactuated system in a general quadrotor UAV. The quad tilt rotor UAV can control both position and attitude independently by tilting the directions of the propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, for example a UAV can fly and hover with a 90 [GRAPHICS] pitch angle, and it can even flip over when the thrust direction is tilted in a wide enough range. In this paper, we present the attitude transition flight control system for pitch angles ranging from 0 [GRAPHICS] to 90 [GRAPHICS] since flight conditions with a 90 [GRAPHICS] pitch angle significantly differs from that in a conventional quadrotor UAV flight. We construct an adequate control system for a flight with a wide range of attitude conditions.
  • Shunsuke Komizunai, Kyohei Wada, Takuya Kijima, Atsushi Konno
    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2016 SII 508 - 513 2016年 [査読有り][通常論文]
     
    This paper described a interaction system with midair images projected by using mist screen. In comparison with the previously developed system, the new system has some advantages as follows: visibility and presence of midair images, tracking accuracy of a finger tip, interactivity with midair images. In the system, three new components: a high-power mist screen generation device, an accurate hand motion tracking method and a proper screen surface calibration algorithm are introduced. These advantages enhance quality of experience in interaction with midair images and enable quantitative evaluation of performance of the system. In the results of user evaluation test, positions of a CG object as midair image and user's finger tip are well corresponding. These results indicate that, position of midair images in the system can be recognized easily, and the system shows excellent performance as a midair image display system.
  • Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita
    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2016 SII 490 - 495 2016年 [査読有り][通常論文]
     
    This paper presents a viscoelastic model of brain parenchyma which is based on the generalized Maxwell model but considers also inertial force. The proposed model is implemented in finite element method (FEM). The viscoelastic behavior of brain parenchyma was confirmed by stress relaxation tests using porcine brain parenchyma. The stress relaxation characteristics were measured at strain 0.1, 0.2 and 0.3. The strains were applied by strain rates of 0.1 (s(-1)) and 1.0 (s(-1)). Viscoelastic parameters were identified by solving an optimization problem using experimental data and dynamic simulations. In order to verify the consistency and quality of the experimental data and the dynamic simulation, stress relaxation simulations were performed using the identified parameters.
  • Kazuya Sase, Teppei Tsujita, Atsushi Konno
    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) 2016 ROBIO 1594 - 1600 2016年 [査読有り][通常論文]
     
    The handling of contacts between virtual objects is a fundamental problem of 6 DOF haptic rendering in virtual environments. Especially, the haptic rendering of the contact between rigid and deformable objects is challenging because the physics simulation with high computational burden must be calculated in real time with good stability. In this paper, we introduce a fast and stable contact handling method that can be used for 6 DOF haptic rendering. The two-way contact response is formulated based on a penalty method. To enhance the numerical stability in large time step, the penalty-based contact force is integrated using implicit time integration. The method was evaluated by experiments using a haptic device combined with a physics simulator based on finite element method.
  • Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita
    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) 2016 ROBIO 485 - 490 2016年 [査読有り][通常論文]
     
    In this paper, a damage and fracture model of brain parenchyma is proposed for a haptic brain surgery simulation. It is assumed that microscopic damage begins by von Mises yield criterion, and the microscopic damage grows rate in proportion to volume strain. Tensile tests with two different strain rate were conducted using porcine brain parenchyma (tensile velocities: 0.1 (mm/s) and 1.0 (mm/s), mean length of specimens: 15 (mm)). Mechanical properties and proposed damage model parameters were identified by solving optimization problem with fitted curves of experimental data at 0.1 (mm/s). The proposed model and identified parameters were verified by comparing the simulation result and experimental data with tensile velocity of 1.0 (mm/s). A conventional damage model, simplified Lemaitre model, was implemented for comparison. Tensile simulations were performed with two models, proposed model and simplified Lemaitre model, with tensile velocity of 0.1 (mm/s). The simulation results were compared with the experimental result. It is confirmed that the proposed model well reproduce damage and fracture mechanics of brain parenchyma, while the simplified Lemaitre model could not well reproduce the ductility.
  • Kazuya Sase, Teppei Tsujita, Atsushi Konno
    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 9902 116 - 123 2016年 [査読有り][通常論文]
     
    The generation of a patient-specific finite element (FE) model of organs is important for preoperative surgical simulations. Although methods for generating a mesh from a 3D geometric model of organs are well established,the reproduction of complex structures,such as holes,branches,and jaggy boundaries,remains difficult. To approximate the deformation of complex structures,an approach for embedding a fine geometry in a coarse volumetric mesh can be used. In this paper,we introduce a volume embedding method that preserves the topology of a complicated structure on the basis of segmented medical images. Our evaluation shows that the generated FE model precisely reproduces the topology of a human brain according to a segmented medical image.
  • Shunsuke Komizunai, Keisuke Nishizaki, Kyohei Wada, Takuya Kijima, Atsushi Konno
    JRM 28 6 798 - 798 2016年 [査読有り][通常論文]
  • A. Fukuhara, T. Tsujita, K. Sase, A. Konno, A. Nakagawa, T. Endo, T. Tominaga, X. Jiang, S. Abiko, M. Uchiyama
    ADVANCED ROBOTICS 30 19 1245 - 1259 2016年 [査読有り][通常論文]
     
    In neurosurgery, surgeons sometimes retract brain tissue to prepare an operating field around a lesion. In addition, they are required to plan a safe surgical pathway for deep-brain regions while considering tissue damage caused by excessive stress. The goal of this study is to develop a technique for automatically generating a surgery pathway for lesions in the deep-brain region, focusing on securing an operating field around the lesion as a first step and also considering brain tissue deformation. In previous studies, securing the operating field has been treated as a single-objective optimization problem in order to maximize the viewable area of the lesion. However, in this study, the task of securing the operating field is formulated as a multi-objective optimization problem. Using a technique that combines finite element analysis and an optimization method, the principal stress on the brain is constrained to less than a certain threshold value, and the position and orientation of the surgical instrument are optimized for safe retraction of the brain according to various weighting factors.
  • Meng-Hung Wu, Shuhei Ogawa, Atsushi Konno
    ADVANCED ROBOTICS 30 2 131 - 149 2016年01月 [査読有り][通常論文]
     
    A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some of the follower humanoid robots may lose their balance and fall down. The symmetry type cooperation discussed in this paper solves this problem because it enables all humanoid robots to move synchronously. The proposed framework is verified by dynamic simulations.
  • GPU-accelerated surgery simulation for opening a brain fissure
    Kazuya Sase, Akira Fukuhara, Teppei Tsujita, Atsushi Konno
    ROBOMECH Journal 2 1 Article 17  2015年12月 [査読有り][通常論文]
  • Garam Park, Atsushi Konno
    ADVANCED ROBOTICS 29 9 639 - 656 2015年05月 [査読有り][通常論文]
     
    In this paper, an imitation learning framework that includes an evolutionary process based on principal component analysis (PCA) is presented. The framework comprises offline and online processes. In the offline process, human demonstrations are used to develop a motion database. The database covers the workspace and includes robot properties. The evolved database has a clustered structure for efficiency. In the online process, a robot can generate desired motions using a real-time motion reconstruction method based on PCA. The performance of this method is verified through two case studies. The proposed framework is applied to the generation of reaching motions to an object on a table and a shelf.
  • Rajat Mittal, Atsushi Konno, Shunsuke Komizunai
    1ST INTERNATIONAL CONFERENCE ON COMPUTING COMMUNICATION CONTROL AND AUTOMATION ICCUBEA 2015 29 - 34 2015年 [査読有り][通常論文]
     
    This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. We put forward the existing knowledge on humanoid walking in a concise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre of Mass for generating a walking motion pattern. The walking motion pattern is generated in Matlab which is then fed to OpenHRP simulation to test stable walking of the humanoid. The paper also discusses some stabilization algorithms which have been implemented on the humanoid in order to account for variations like surface unevenness and backlash which are encountered by the humanoid during walking in the real world.
  • Atsushi Oosedo, Satoko Abiko, Shota Narasaki, Atsushi Kuno, Atsushi Konno, Masaru Uchiyama
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2015 Vol.3 2326 - 2331 2015年 [査読有り][通常論文]
     
    Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underacuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, e.g. a UAV flying and hovering with a 90 [degrees] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the attitude transition flight control system for pitch angles ranging 0 [degrees] to 90 [degrees] since flight condition with a 90 [degrees] pitch angle significantly differs from that in a conventional quadrotor UAV flight, and then adequate control system and sufficient experimental validation are necessary for stable flight in a wide range of attitude conditions.
  • Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014 1656 - 1661 2014年 [査読有り][通常論文]
     
    Dissection and removal of lesion area are fundamental operations in brain surgery. In order to correctly reproduce dissection and removal in brain surgery haptic simulation, mechanical properties of brain tissue must be investigated. In this work, porcine brains are used as specimens. Mechanical properties such as density, Poisson's ratio, Young's modulus, damping coefficient, and fracture stress of porcine brain parenchyma are measured and identified. Since haptic simulations require real-time computation of deformation and fracture of brain tissue, a linear finite element model and Rayleigh damping model are used. The Rayleigh damping coefficients are identified by solving optimization problems, so that the error between experimental results and simulation results is minimized.
  • Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014 588 - 594 2014年 [査読有り][通常論文]
     
    In neurosurgery, effects of deformation should be considered to avoid damaging brain tissues. The goal of this study is to develop an automatic path planner considering the deformation of brain tissues. This paper shows a scheme which combines FEM (Finite Element Method) and an optimization method for optimization of retraction in order to approach a deep part of a brain. Also, evaluations of two optimization results are discussed. One optimization is for retraction of a simple shape model for comparing two solvers, Pattern Search and Genetic Algorithm. Pattern Search Algorithm obtained maximum view size for the simple model when the principal stress of the tissue is not more than the threshold 500 (Pa). The other optimization is for retraction of a brain fissure model. Based on the result of the simple shape model, Pattern Search Algorithm is used for this optimization. It successfully generated optimal position and posture of a spatula for opening the fissure model which has same mechanical property with the human brain. These results show the effectiveness of the proposed scheme.
  • Meng-Hung Wu, Atsushi Konno, Shuhei Ogawa, Shunsuke Komizunai
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2014 Vol.5 3446 - 3451 2014年 [査読有り][通常論文]
     
    This research aims to create a framework of transporting an object by multiple humanoid robots. In this work, a symmetric hybrid position/force control is adapted to two humanoid robots. The reference object position and attitude are given by an operator online, and the two humanoid robots generate its whole body motion to follow the reference object position properly. The result of proposed method is verified with a dynamics simulation.
  • Takuya Kameyama, Teppei Tsujita, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    2014 IEEE HAPTICS SYMPOSIUM (HAPTICS) 283 - 288 2014年 [査読有り][通常論文]
     
    For improving surgical techniques of novice surgeons or preoperative planning, development of practical surgical simulators utilizing virtual reality technology have been expected in the medical field. During surgery, a surgeon uses a variety of surgical instruments. Therefore, a haptic interface should be able to display reaction force through various surgical instruments. Based on this concept, a novel encountered-type haptic interface using MR (Magneto-Rheological) fluid for surgical simulators was developed. In this paper, a force feedback control scheme using a force sensor mounted on a MR fluid container is proposed. By using this scheme, performance of frequency response and effectiveness of the proposed control scheme are evaluated. In this frequency response experiment, it is evaluated that a force bandwidth of the closed-loop controller for the fluid is 200 [Hz] and it has sufficient performance to replicate vibratory cutting force of soft tissue. Moreover, by moving the container, the proposed scheme can display force based on reference force while the knife stops. Therefore, the proposed method can replicate cutting force of soft tissue correctly, and has sufficient performance to be used as surgical simulators.
  • Teppei Tsujita, Takuya Kameyama, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    IEEE Haptics Symposium, HAPTICS 2014, Houston, TX, USA, February 23-26, 2014 1  IEEE 2014年 [査読有り][通常論文]
  • Development of a Brain Surgery Simulator
    Atsushi Konno, Masano Nakayama, Xiaoshuai Chen, Akira Fukuhara, Kazuya Sase, Teppei Tsujita, Satoko Abiko
    Proceedings of the International Symposium on Interdisciplinary Research and Education on Medical Device Developments 2013年09月 [査読無し][招待有り]
  • Fumihito Sugai, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    Advanced Robotics 27 12 907 - 917 2013年08月01日 [査読有り][通常論文]
     
    In order to develop space robotic technologies, the feasibility and reliability of the systems have to be verified by repetitive operation tests. A hybrid simulator (also referred to as a Hardware-in-the-loop simulator) is one of the effective ways to examine orbital operations on the ground. The simulator embeds a hardware experiment in a numerical simulation loop. However, it is known that the hybrid simulator has a serious problem that energy increase arises in contact with a hardware experiment in the loop. In general, the energy increase in the hybrid simulator occurs due to the dead time in the system. However, this paper presents that dead band in force/torque measuring also causes the energy increase. The dead band in the force/torque measuring is necessary to avoid unexpected motion of the hybrid simulator due to the noise data in the force/torque sensor. This paper proposes two compensation methods for the energy increase problem due to the dead band. The first method is to insert a virtual damper to absorb the increased energy during the contact. The second method is to extrapolate force/torque data that is lost through the dead band processing right after the contact. The experimental verification with uniaxial contact in hybrid simulator is carried out to validate the proposed compensation methods. © 2013 Taylor & Francis Group, LLC.
  • Teppei Tsujita, Kazuya Sase, Atsushi Konno, Masano Nakayama, Xiaoshuai Chen, Koyu Abe, Masaru Uchiyama
    Advanced Robotics 27 7 525 - 540 2013年05月01日 [査読有り][通常論文]
     
    A novel encountered-type haptic interface for surgical simulators is proposed. This interface has a container of MR (Magneto-Rheological) fluid, and an operator puts a surgical instrument into the fluid and can feel resistance force. The advantage of this interface is that an operator can move an instrument freely when it does not contact with MR fluid and change instruments easily. If an instrument is mounted mechanically on a haptic interface driven by servomotors, it is difficult to change surgical tools. On the other hand, the developed device does not require a procedure for changing tools and can increase a sense of reality. However, MR fluid cannot display large deformation of a tissue since its elastic region is small. Therefore, a container of the fluid is moved by servomotors. In this paper, concept and design of the interface and performance evaluations are described. In order to specify required display force, cutting force of a liver is analysed, and the maximum force is about 1.6 [N]. The device is designed based on this required force. Relationship between coil current and display force is measured, and the interface can exert 2.7 [N] when the current is 1 [A]. In addition, the validness of the proposed scheme using servomotors is evaluated. © 2013 Taylor & Francis and The Robotics Society of Japan.
  • Atsushi Oosedo, Satoko Abiko, Atsushi Konno, Takuya Koizumi, Tatuya Furui, Masaru Uchiyama
    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 317 - 322 2013年 [査読有り][通常論文]
     
    This paper presents development of a quad rotor tail-sitter VTOL UAV (Vertical Takeoff and Landing Unmanned Aerial Vehicle) which is composed of four rotors and a fixed wing. The conventional VTOL UAVs have a drawback in the accuracy of the attitude control in stationary hovering because they were developed based on a fixed-wing aircraft and they used the control surfaces, such as aileron, elevator, and rudder for the attitude control. To overcome such a drawback, we developed a quad rotor tail-sitter VTOL UAV. The quad rotor tail-sitter VTOL UAV realizes high accuracy in the attitude control with four rotors like a quad rotor helicopter and achieves level flight like a fixed-wing airplane. The remarkable characteristic of the developed quad rotor tail-sitter VTOL UAV is that it does not use any control surfaces even in the level flight. This paper shows the design concept of the developed UAV and experimental verification of all flight modes including hovering, transition flight and level flight.
  • Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Xin Jiang, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 9 4 2012年12月 [査読有り][通常論文]
     
    Most of the studies on biped walking on even or uneven terrain have assumed stiff ground. This paper proposes a dynamic contact model between foot and loose soil. The proposed contact model provides sinkage of the foot, slip of the sole and reactive force acting on the foot on loose soil. Sinkage of the foot and slip of the sole are calculated utilizing terramechanics model, which are important characteristics for biped robot to walk on loose soil. Reactive force acting on the foot on loose soil is calculated using spring-damper model between the foot and the deformed ground. By applying the proposed contact model to a usual dynamics simulator, dynamic sinkage and slip phenomenon during biped walking on loose soil are simulated. Additionally, in order to verify the simulation result, experiments were carried out using a humanoid robot.
  • Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 9 2 2012年06月 [査読有り][通常論文]
     
    In order to exert a large force on an environment, it is effective to apply impulsive force. We describe the motions in which tasks are performed by applying impulsive force as "impact motions." This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. The impact motion is optimized based on a three dimensional model using sequential quadratic programming (SQP). In this research, a nailing task is taken as an example of impact motion. A dominant parameter for driving a nail strongly is revealed and motions which maximize the parameter are generated considering the robot's postural stability. In order to evaluate the proposed scheme, a life-sized humanoid robot drives nails into a plate made of chemical wood. The optimized motion is compared with a motion designed heuristically by a human. Average driving depth is clearly increased by the proposed method.
  • Shuhei Ogawa, Atsushi Konno
    2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 99 - 104 2012年 [査読有り][通常論文]
     
    This paper presents a method for generating whole body motion including the walking based on the hand trajectory. It is necessary to generate the hand and walking trajectory considering the interaction between manipulation and walking for mobile manipulation. However, to generate the walking trajectory, many elements need to be considered simultaneously. This study aims to generate whole body motion, including the walking based on only the hand trajectory. Firstly, a virtual joint model, which substitutes the biped model, is proposed. The walking trajectory is generated based on the hand trajectory by using this model. Secondly, a method for generating whole body motion including walking is presented. Finally, the effectiveness of the proposed method is evaluated by simulations and experiments.
  • Yoshikazu Satake, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 5046 - 5051 2012年 [査読有り][通常論文]
     
    A hybrid simulator is a simulator which embeds a hardware experiment in a numerical simulation. However, the hybrid simulator is generally subjected to an inherent problem of energy increase in collision of two hardwares in the loop because of delay times. To solve this problem, Osaki et al. proposed a compensation method of delay time that can realize a variable coefficient of restitution [1]. However, the above method has a drawback that a model error of the system degrades the accuracy of the compensation method. This paper describes the influence of the model error and proposes a new approach to improve the accuracy of delay time compensation based on the coefficient of restitution by introducing a new model of the system. A collision experiment by the hybrid simulator is carried out to validate the accuracy of the proposed compensation method compared with the conventional compensation method.
  • Teppei Tsujita, Manabu Ohara, Kazuya Sase, Atsushi Konno, Masano Nakayama, Koyu Abe, Masaru Uchiyama
    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 1044 - 1049 2012年 [査読有り][通常論文]
     
    In open abdominal surgical procedures, many surgical instruments, e. g., knives, cutting shears and clamps, are generally used. Therefore, a haptic interface should display reaction force of a soft biological tissue through such a surgical instrument. Simplest solution for this difficulty is that an actual instrument is mechanically mounted on the traditional haptic interface driven by servomotors. However, operators lose a sense of reality when they change the instrument since they must perform a procedure which is not required in actual surgery for attaching/detaching the instrument to/from the haptic interface. Therefore, a novel haptic interface using MR (Magneto-Rheological) fluid is developed in this research. Rheological property of MR fluid can be changed in a short time by applied magnetic flux density. By cutting the fluid using a surgical instrument, operators can feel resistance force as if they cut tissue. However, MR fluid cannot display large deformation of soft tissues since elastic region of MR fluid is small. Therefore, a container of the fluid is moved by a motion table driven by servomotors. In this paper, concept and design of the haptic interface and performance evaluations are described.
  • Atsushi Oosedo, Atsushi Konno, Takaaki Matsumoto, Kenta Go, Koji Masuko, Masaru Uchiyama
    ADVANCED ROBOTICS 26 3-4 307 - 326 2012年 [査読有り][通常論文]
     
    In this paper, we present the development of a quad-rotor tail-sitter unmanned aerial vehicle (UAV) that is composed of quad rotors and a fixed wing. The developed UAV can hover like a quad-rotor helicopter and can fly long distance like a fixed-wing airplane. The main wing of the developed UAV is taken from a commercially available radio-controlled airplane and other parts such as the body frame are newly developed. A microcomputer, various sensors and a battery are mounted on the UAV for autonomous flight without any support from a ground system. Attitude and altitude control systems are developed for the UAV. In order to verify the designed controller, a three-dimensional flight simulator of a quad-rotor tail-sitter UAV is developed by use of MATLAB/Simulink. This paper also describes attitude control experiments. The results show that the propeller slipstream has a negative influence on attitude control. Solutions for the negative influence of the propeller slipstream are also discussed in this paper. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2012
  • Atsushi Konno, Tomoya Myojin, Takaaki Matsumoto, Teppei Tsujita, Masaru Uchiyama
    International Journal of Robotics Research 30 13 1596 - 1608 2011年11月 [査読有り][通常論文]
     
    When a human needs to generate a large force, they will try to apply an impulsive force with dynamic cooperation of the whole body. In this paper we first discuss impact dynamics of humanoid robots and then propose a way to generate impact motions for a humanoid robot to exert a large force while keeping a balance. In the impact motion generation, Sequential Quadratic Programming (SQP) is used to solve a non-linear programming problem in which an objective function and constraints may be non-linear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized. Breaking wooden boards with a Karate chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of breaking the wooden boards experiments clearly show the effectiveness of the proposed method. © SAGE Publications 2011.
  • Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Shunsuke Komizunai, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 8 4 98 - 109 2011年09月 [査読有り][通常論文]
     
    Humanoid robots posses the unique ability to cross obstacles by stepping over or upon them. However, conventional 2D methods for robot navigation fail to exploit this ability and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a novel approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Design methodology for obstacle stepping over motion designed for use with this algorithm is also presented. The paper puts forth simulation results of footstep planning as well as experimental results for the stepping over trajectory designed for use with hardware execution of the footstep plan.
  • Xin Jiang, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 25 6-7 805 - 823 2011年 [査読有り][通常論文]
     
    This paper addresses a vision-based method for estimating vibration excited in the tip of a flexible-link manipulator. In this method, estimation of vibration is achieved by observing the variation of image features projected on a wrist camera. It mimics the situation of utilizing a wrist camera in tip vibration control of a space manipulator. In space, a vision sensor can be expected to be a feasible means for measuring the elastic vibration of the space manipulators, since they are more reliable compared with sensors like strain gauges. The method proposed in this paper takes advantage of the frequential characteristics of visual information that are reflected as a blurred background scene. With the high-frequency component of the projected image features, a Kalman filter-based observer is implemented as the estimator for the vibration. This implementation is characterized by the considerations of incorporating the slow sensor of the camera in the fast servo loop and compensation of the time delay due to image processing. With the vibration estimator, vibration suppression control relying solely on a wrist camera becomes possible. This scheme is successfully verified by experiments. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011
  • Masano Nakayama, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 333 - 338 2011年 [査読有り][通常論文]
     
    Blunt dissection is a fundamental technique in brain surgery to expose an affected or to separate tissues without cutting. This paper addresses a linear elastic fracture model to simulate blunt dissection in a virtual brain surgery. Blunt dissection is simulated by fracturing a linear elastic finite elements when the stress applied to the element exceeds the specified fracture stress. However if an element is fractured without any consideration for connections with adjacent elements, the fracture may produce some structurally unstable elements. The structurally unstable elements cause computational instability. In order to avoid this instability problem, an element fracture method is proposed. The fracture model is verified by comparing the results of blunt dissection simulation with the result of experiments.
  • SongGi Lee, Xin Jiang, Koyu Abe, Satoko Abiko, Atsushi Konno, Masaru Uchiyama
    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 416 - 421 2011年 [査読有り][通常論文]
     
    Recently, industrial robots are widely employed in various fields for automation. However, some assembly tasks still need intervention of human workers, because of the complicated assembly skills involved. In order to assist the assembly tasks, some industrial partner robot have been introduced into the assembly line. These devices are designed merely for supporting the weight of the heavy parts, and sometimes they embarrass the human work from applying their skills. In this research we propose a new system in which robots and human workers cooperate complementarily in an assembly task. This paper describes a prototype robot designed following this idea.
  • Masano Nakayama, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    Journal of Robotics and Mechatronics 23 4 589 - 597 2011年 [査読有り][通常論文]
     
    Soft-tissue fracture simulation is a key to surgery simulation virtually reproducing cutting, dissection, and removal. Soft-tissue fracture is modeled by finite element fracture in which elements are removed if their stress exceeds a specified fracture stress. Removing elements without considering connection to adjacent elements may produce structurally unstable elements, that cause computational instability. We propose geometric limitation and element fracture method to avoid this instability. We confirmed the feasibility of our proposals by comparing blunt dissection simulation results to blunt dissection experiment results using agar.
  • Xin Jiang, Kyong-mo Koo, Kohei Kikuchi, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 25 3-4 473 - 489 2011年 [査読有り][通常論文]
     
    This paper addresses an engineering attempt of utilizing multiple robot arms in the assembly of deformable parts. The robot system developed in this research simulates a practically existing assembly process in an automobile plant where wrapped cables (wire harness) have to be fixed on the body of a car. This operation is performed by skilled workers and is considered to be difficult for automation. In this paper, a synthetic robotized solution is proposed for this process. For the first time, it realizes robotized assembly of a complex deformable object (wire harness) under a condition similar to an actual plant. Although some of the problems are simplified in the implementation, those critical to assemblies involving deformable objects are investigated and solved with experimental validation. Therefore, this research is expected to contribute to exploring the feasibility and potential of robotized assembly using deformable parts in actual plants. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011
  • Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    Journal of Robotics and Mechatronics 23 6 907 - 918 2011年 [査読有り][通常論文]
     
    This article discusses a motion planner for manipulating deformable linear objects with multiple manipulators. When multiple manipulators grip a rigid body, hand positions and postures of those manipulators are dependent variables of the positions and postures of the gripped rigid body. On the other hand, when multiple manipulators grip a deformable linear object, constraint conditions are eased compared to those for a rigid body. However, there is another problem: the need for consideration of deformation of a deformable linear object by the motion plan of a robot. In this research, in order to grip and operate such deformable linear objects with multiple manipulators, we developed a sampling-based robot motion planner. By combining basic motions generated by the developed robot motion planner, we will show that a complicated task, such as the assembly of a deformable linear object with the multiple manipulators, is possible. Using the example of a wire harness assembly work on an automobile production line, we perform motion planning using the developed motion planner, and we verify its effectiveness through simulations.
  • Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 8 2 378 - 384 2010年04月 [査読無し][通常論文]
     
    In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type singularities, i.e., overmobility, undermobility and combined singularities, have been presented.
  • Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    ROBOTICA 28 1 107 - 118 2010年01月 [査読無し][通常論文]
     
    This paper deals with the design, implementation, and performance evaluation of a new type of 4-DOF parallel mechanism providing three translations and one rotation for high-speed handling and machining. This parallel mechanism is named H4. A necessary condition and system configuration of the H4 are also described. Hardware and kinematics of the H4 is addressed and the manipulability ellipsoid which is one of the widely used methods to examine the design of parallel mechanisms is addressed. The performance evaluation is carried out to demonstrate the H4 robot. The Simulation and experimental results show that three different controllers, the PD, PD + velocity feed-forward, and dynamic compensation controller, dramatically improve the trajectory tracking accuracy.
  • Tuning of MPID Control for a Flexible Manipulator Using a Neural Network
    Tamer Mansour, Atsushi Konno, Masaru Uchiyama
    Journal of Robotics and Mechatronics 22 1 82 - 90 2010年 [査読無し][通常論文]
  • Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 24 1-2 159 - 177 2010年 [査読無し][通常論文]
     
    This paper addresses the inverse dynamics of a 4-d.o.f. parallel robot, H4. Simplified inverse dynamics models have been proposed so far in which the inertia of a rod is neglected. Computation of the inertia of the rod was a heavy load for past computers and, hence, the simplified inverse dynamics were useful for online computation. However, owing to the recent great progress in computer hardware, online computation of the full dynamics is no longer a heavy load for modern computers. Therefore, a detailed inverse dynamics model of H4 is proposed in this paper. The Newton-Euler method is adopted for generating inverse dynamics solutions for H4 which have four (S-S)(2) (two spherical-spherical) chains in each rod. In order to evaluate the proposed inverse dynamics model, three controllers are tested: (i) PD controller, (ii) PD controller with velocity feed-forward and (iii) dynamic compensation controller based on the proposed dynamics model. The experimental results are presented and analyzed. It is also shown that the simplified dynamics model can be used without clear deterioration of control quality. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
  • Takaaki Matsumoto, Koichi Kita, Ren Suzuki, Atsushi Oosedo, Kenta Go, Yuta Hoshino, Atsushi Konno, Masaru Uchiyama
    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 54 - 59 2010年 [査読無し][通常論文]
     
    The application range of UAVs (unmanned aerial vehicles) is expanding along with performance upgrades. Vertical take-off and landing (VTOL) aircraft has the merits of both fixed-wing and rotary-wing aircraft. Tail-sitting is the simplest way for the VTOL maneuver since it does not need extra actuators. However, conventional hovering control for a tail-sitter UAV is not robust enough against large disturbance such as a blast of wind, a bird strike, and so on. It is experimentally observed that the conventional quaternion feedback hovering control often fails to keep stability when the control compensates large attitude errors. This paper proposes a novel hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance. In order to verify the proposed hovering control strategy, simulations and experiments on hovering of the UAV are performed giving large attitude errors. The results show that the proposed control strategy successfully compensates initial large attitude errors keeping stability, while the conventional quaternion feedback controller
  • Samuel Okodi, Xin Jiang, Satoko Abiko, Atsushi Konno, Masaru Uchiyama
    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 5576 - 5581 2010年 [査読有り][通常論文]
     
    This paper presents a robust and efficient method of generating manipulation motion skill for non-force-feedback high speed constrained compliant robot motion. Using a non-structured teaching environment, the inherent task in the captured demonstration force and position data is estimated and reconstructed from three sets of complimentary models, including analytical mathematical modelling, empirical modelling and human skill demonstration modelling. The approach addresses task specification accuracy deficiencies, and involves outward interface simplifications, with embedded rigorous analytical methodologies that enable users to realise complex and robust constrained compliant robot motion without dealing with the low level motion generation aspects. Function based task representation supports an intuitive approach to generate robust constrained motion by skill superimposition, as exemplified by peg-in-hole with crank turning.
  • Xin Jiang, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 24 4 467 - 488 2010年 [査読有り][通常論文]
     
    This paper discusses a vision-based approach to implement task-level control in flexible-link manipulators. The proposed approach emphasizes the advantage of using vision in the control of flexible manipulators. It is pointed out that taking advantage of the inherent robustness, implementation of an image-based visual servo can be regarded as a synthetic solution to precise task-level control of flexible manipulators. This approach is implemented in a three-dimensional flexible-link manipulator. The implementation makes good use of filters in decoupling task-level control and vibration suppression control. Moreover, we point out that although the robustness of the approach can help to overcome the difficulty in control resulting from the complex measurement of the link's elastic deformation, it lacks in capability of tip trajectory specification. This problem is analyzed in this research and it leads to the proposal for the integration of the image interpolation technique. This technique makes the proposed approach adequate for tasks involved with complex tip trajectories. For flexible-link manipulators, the proposed approach with the remedy is the first vision-based synthetic solution that attempts to make a flexible manipulator usable for a practical task. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
  • Kohei Osaki, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 24 8-9 1081 - 1098 2010年 [査読有り][通常論文]
     
    A hybrid simulation, which is also referred to as a hardware-in-the-loop (HIL) simulation, includes a hardware experiment within a numerical simulation loop. The hybrid simulation is an effective method to test space robotic operations providing a virtual microgravity environment on the ground. However, hybrid simulation generally suffers from the problem of energy increase when two hardwares in the loop collide with each other because of delay times. This paper presents a compensation method for the energy increase problem. A dead time model that represents various delay times of the system is introduced and it is clarified how the energy of the system is increased by the dead time. Based upon the dead time model, a compensation for the dead time is proposed. This compensation method realizes the desired energy consumption at a collision, which is represented by the coefficient of restitution in the hybrid simulation. Experiments of uniaxial collision are conducted to validate the proposed compensation. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
  • Yuki Nomura, Takahiro Kikuchi, Atsushi Konno, Masaru Uchiyama
    Proceedings of the International Conference on Advanced Mechatronics 498 - 503 2010年 [査読有り][通常論文]
  • Takaaki Matsumoto, Atsushi Konno, Ren Suzuki, Atsushi Oosedo, Kenta Go, Masaru Uchiyama
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 1612 - 1617 2010年 [査読有り][通常論文]
     
    Miniature vertical take-off and landing unmanned aerial vehicles (VTOL UAVs) make various missions possible alone such as surveillance in partially-destroyed building and at broad hazard area where many obstacle exist. In such missions, agile turnaround using post-stall maneuvers is useful to avoid obstacles. This paper discusses agile turnaround strategies utilizing post-stall maneuvers for tail-sitter VTOL UAVs. Two agile turn strategies are studied in this paper: (1) minimum travel distance turn, and (2) minimum radius turn. The proposed strategies are formulated and optimization problems are solved. Through computer simulation, the proposed strategies are evaluated in terms of travel distance and turning radius comparing with conventional Immelmann turn strategy.
  • Xin Jiang, Kyong-mo Koo, Kohei Kikuchi, Atsushi Konno, Masaru Uchiyama
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 490 - 495 2010年 [査読有り][通常論文]
     
    This paper addresses an engineering attempt of utilizing multiple robot arms in assemblies of deformable parts. The developed robot system simulates a practically existing assembly process in an automobile plant where wrapped cables (wire harness) have to be fixed on the body of a car. This operation has been performed by skilled workers and is considered to be difficult for automatization. During the development of the system, solutions are proposed for various engineering problems confronted. The problems are all due to the deformable properties of a wire harness. Many of them are general for other operations involved with deformable objects. The proposed methods in the research are verified by a successful demonstration of wire harness assembly under a condition similar to a real plant.
  • Ren Suzuki, Takaaki Matsumoto, Atsushi Konno, Yuta Hoshino, Kenta Go, Atsushi Oosedo, Masaru Uchiyama
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 1618 - 1623 2010年 [査読有り][通常論文]
     
    Vertical take-off and landing unmanned aerial vehicles (VTOL UAVs) are expected to perform dangerous mission such as rescue and exploring disaster site alone. As for the operation of a UAV in a rescue mission, teleoperation is preferred. This paper describes teleoperation of a miniature tail-sitter VTOL UAV. A teleoperation system is developed to navigate a tail-sitter UAV. A velocity estimation method for outdoor flight is described and a velocity control strategy based on attitude control for indoor hovering of tail-sitter VTOL UAVs is proposed. In order to verify the teleoperation system and velocity control strategy, indoor exploration and target tracking teleoperation are performed in this paper. Through the experiments, the operator successfully controlled a teleoperated tail-sitter VTOL UAV with non-line-of-sight. In addition, a preliminary obstacle avoidance system is also implemented to assist operator.
  • Satoko Abiko, Atsushi Konno, Masaru Uchiyama
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 5034 - 5041 2010年 [査読有り][通常論文]
     
    This paper presents an asymmetric stiffness characteristic of a human hand. In human support robotics or medical robotics, the detail comprehension of physical human body is important to develop safe and high performed robots to work cooperatively with a human and to replace human dexterous tasks. It is known that a human arm generates variable stiffness depending on tasks by coactivation of agonist and antagonist muscles. Previous related researches have been presented impedance characteristics of a human upper limb in static posture and dynamic motion. These characteristics are represented by ellipsoids. However, the above analyses are based on a simple muscle model and conventional kinematic and dynamics of an articulated body system. In this paper, perturbation-excited method is carried out for estimating the stiffness of a human hand. The experimental results demonstrate nonlinear property of the stiffness of a human hand. To illustrate the observed stiffness characteristic, this paper proposes nonlinear stiffness model of the human hand.
  • Teppei Tsujita, Atsushi Konno, Masaru Uchiyama
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 718 - 725 2010年 [査読有り][通常論文]
     
    In order to exert large force on an environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." The objective of an impact motion is to exert large force on an environment, however if the impulsive force is too large, the robot may fall down due to the reaction force. This paper presents an optimization scheme to generate impact motions for humanoid robots. The advantage of the proposed scheme is that impulsive force exerted on a target by a humanoid robot's whole body is maximized while guaranteeing the stability. A punching motion is generated by the scheme as an example and evaluated by performing simulations.
  • Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 61 - 66 2010年 [査読有り][通常論文]
     
    This paper addresses the development of a dynamics simulator that for a biped robot on loose soil. Especially, the paper focuses on the method of sinkage calculation which is one of the characteristics for walking on loose soil. The calculation algorithm is changed dynamically according to the support condition of the legs. Considering ground projection of center of mass (GCoM) as a center of rotation of a robot, angle of trim is also estimated. Additionally, to describe the dynamical variation of sinkage, a filtering method is proposed for the calculation result. By applying the proposed method, sinkage phenomenon of a biped robot during stepping is simulated realistically. ©2010 IEEE.
  • Xiaoshuai Chen, Masano Nakayama, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    Proceedings of 2010 IEEE/SICE International Symposium on System Integration 90 - 95 2010年 [査読有り][通常論文]
  • Yuki Nomura, Shuhei Ogawa, Takahiro Kikuchi, Atsushi Konno, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 206 - 211 2010年 [査読有り][通常論文]
     
    The robots are expected to perform daily tasks in human environment. To realize such a robotic system, it is necessary to develop intelligent robotic technology to observe the environmental condition and to accomplish tasks. In practice, it is required to develop a robot system which is robust against changes of tasks and environments. This study aims to develop such a robust robot system by using RT component. As an example of a daily task performed by the robot, the task of clearing a table is selected. This paper presents simulation result of the task with several types of robots by applying common RT component. ©2010 IEEE.
  • Kouji Masuko, Ippei Takahashi, Shuhei Ogawa, Meng-Hung Wu, Atsushi Oosedo, Takaaki Matsumoto, Kenta Go, Fumihito Sugai, Atsushi Konno, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 248 - 253 2010年 [査読有り][通常論文]
     
    In this study, we work for autonomous takeoff and landing of a miniature size unmanned aerial vehicle (UAV). We get the information of attitude and altitude by using a small Linux computer and various sensors equipped with fuselage. Attitude and altitude feedback control scheme and autonomous takeoff and landing strategies are proposed. We also develop a landing system that recognize landing site by visual feedback. ©2010 IEEE.
  • Atsushi Oosedo, Atsushi Konno, Takaaki Matumoto, Kenta Go, Kouji Masuko, Satoko Abiko, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 254 - 259 2010年 [査読有り][通常論文]
     
    In this paper, we present the design and concept of a quad rotor tail-sitter UAV (unmanned aerial vehicle). The designed UAV is composed of quad rotors and a fixed wing. It can hover like a helicopter, and can cruise like a fixed wing airplane. In order to verify this concept, a simulator of a quad rotor tail-sitter UAV is developed. Simulation results show the advantage in energy efficiency of the proposed UAV over a conventional quad rotor helicopter type UAV. This paper also describes the development of the quad rotor tail-sitter UAV. ©2010 IEEE.
  • Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 287 - 292 2010年 [査読有り][通常論文]
     
    This paper presents more reliable and fast path planning method for end effector constrained 7DOF redundant manipulators. Conventional path planning for redundant manipulators used jacobian based planning method for convenience. But it is not easy to apply in case of constrained tasks and redundant manipulators. On the contrary in this paper we uses position based path planning by inverse kinematics. Position based path planning is cost effective than jacobian methods and more easy to avoid joint limit and singularity. Usual path planning problems of pick and place with constraint are considered and demonstrated the usefulness of proposed planner. ©2010 IEEE.
  • Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 293 - 298 2010年 [査読有り][通常論文]
     
    Robot is now expending their ability from simple repetitive tasks to complex assembling tasks for supporting human life activities and advanced manufacturing automations. Manufacturing automation needs more narrow tolerance to assemble parts than human life support. In manufacturing automation, insertion tasks are the most frequently used primitive tasks. It is simple but impossible assembling tasks for robots without calibrations by high precision sensory devices. Laser displacement sensors are more fast, robust, and high precision one than any other measuring devices. The high precision performance of laser displacement sensor makes robots use it as a calibrations and feature extractions device. This paper will address how to find out the hole position and insertion direction vector from the acquired point clouds. Experiments will show the automated precision insertion task of manipulators. ©2010 IEEE.
  • Koichi Kita, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 24 5-6 763 - 781 2010年 [査読有り][通常論文]
     
    This paper presents the vertical takeoff, landing and transition between level flight and hovering of a tail-sitter vertical takeoff and landing (VTOL) aerial robot. The tail-sitter is suitable for micro aerial vehicles because it does not need any extra equipment for the VTOL maneuver. The developed tail-sitter aerial robot is equipped with four actuators for controlling ailerons, an elevator, a rudder and a propeller. A micro computer, various sensors and a battery are mounted on the aerial robot for autonomous flight without any support from a ground system. A transition flight strategy is constructed so that the transition finishes in the shortest time restricting an altitude change. In order to achieve the transition strategy, the reference trajectory of the pitch angle is computed offline by using an optimization technique. In the transition flight control system, a PID feedback controller is applied to attitude control, while a feedforward controller is applied to altitude control. The gain scheduling is applied to the control of the rudder and aileron. The experimental results on the transition between level flight and hovering, takeoff, and landing are presented. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
  • Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 7 5 858 - 864 2009年10月 [査読有り][通常論文]
     
    It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.
  • Koichi Kita, Atsushi Konno, Masaru Uchiyama
    Journal of Robotics and Mechatronics 21 2 277 - 283 2009年 [査読有り][通常論文]
  • Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Masaru Uchiyama
    2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 156 - + 2009年 [査読有り][通常論文]
     
    Humanoid robots posses the unique ability to cross obstacles by stepping over or upon them. However, conventional 2D methods for robot navigation fail to exploit it and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we illustrate our novel approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal and report on progress towards its implementation on humanoid robot hardware. Unlike existing hardware executions of footstep planning approaches, we consider obstacles of non-zero height while planning. Specific strategies are adopted to cater for these, both in dodging obstacles by circumvention as well as in design of stepping over trajectories. Experimental results of its implementaion on HRP-2 humanoid robot are also presented.
  • Teppei Tsujita, Atsushi Konno, Masaru Uchiyama
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 447 - 452 2009年 [査読有り][通常論文]
     
    In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." This paper presents a contact dynamics model of a humanoid robot for such a motion. Multibody dynamics and effect of a servo controller on impulsive force are also considered in the proposed model. The proposed model can estimate impulsive force at low computation cost compared with full-featured dynamics computation methods. The estimation results of each motion are compared with simulation results by OpenfIRP3. The maximum error of impulse is about 6 (%). Therefore, the proposed model is useful for estimating dynamics behavior of a humanoid robot.
  • Analysis of Human Dexterity While Performing Tasks and Its Implementation on a Humanoid Robot
    Shunsuke Komizunai, Atsushi Konno, Masaru Uchiyama
    Proceedings of the Sixth International Conference on Flow Dynamics 350 - 351 2009年 [査読有り][通常論文]
  • Yasar Ayaz, Takuya Owa, Teppei Tsujita, Atsushi Konno, Khalid Munawar, Masaru Uchiyama
    9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 361 - 366 2009年 [査読有り][通常論文]
     
    The unique ability of humanoid robots to step over or upon obstacles is left unexploited if ordinary mobile robot navigation strategies are used for humanoids as well. Recently presented path planning strategies that make use of this capability, however, are very time consuming due to high computational complexity. We have presented a novel approach to humanoid robot footstep planning in obstacle cluttered environments that employs a human-like approach to terrain traversal. This paper mainly centers on providing a proof of concept for the algorithm while also bringing about some improvements. Unlike previous statically stable simulation work, here we present footstep plans including dynamic walk together with practical results of HRP-2 humanoid robot navigating in various scenarios with different obstacle characteristics. These also include catering for body sway dynamics as well as planning and executing stepping over obstacles encountered at angles not perpendicular to the robot's line of motion. ©2009 IEEE.
  • 船川幸寛, 近野敦, 内山勝
    日本機械学会論文集 C編 74 744 2045 - 2051 2008年08月25日 [査読有り][通常論文]
  • Yoshihisa Yamamoto, Hideaki Togashi, Atsushi Kato, Yuya Takahashi, Atsushi Konno, Yuden Teraoka, Akitaka Yoshigoe, Hidehito Asaoka, Maki Suemitsu
    Applied Surface Science 254 19 6232 - 6234 2008年07月30日 [査読有り][通常論文]
     
    Initial adsorption of oxygen molecules on the Si(1 1 0)-16 × 2 surface and subsequent modification of the bonding states induced by mild (300 °C) annealing have been studied by synchrotron-radiation photoemission spectroscopy and scanning-tunneling microscopy. It has been shown that upon annealing, the intensity and the energy positions of the Si 2p suboxide components shift towards the values characteristic for the thermal oxide. This indicates the presence of a metastable chemisorption state of oxygen on the Si(1 1 0)-16 × 2 surface. © 2008 Elsevier B.V. All rights reserved.
  • T. Mansour, A. Konno, M. Uchiyama
    ADVANCED ROBOTICS 22 4 433 - 449 2008年 [査読有り][通常論文]
     
    The use of flexible links in robots has become very common in different engineering fields. The issue of position control for flexible link manipulators has gained a lot of attention. Using the vibration signal originating from the motion of the flexible-link robot is one of the important methods used in controlling the tip position of the single-link arms. Compared with the common methods for controlling the base of the flexible arm, vibration feedback can improve the use of the flexible-link robot systems. In this paper a modified PID control (MPID) is proposed which depends only on vibration feedback to improve the response of the flexible arm without the massive need for measurements. The arm moves horizontally by a DC motor on its base while a tip payload is attached to the other end. A simulation for the system with both PD controller and the proposed MPID controller is performed. An experimental validation for the control of the single-link flexible arm is shown. The robustness of the proposed controller is examined by changing the loading condition at the tip of the flexible arm. The response results for the single-link flexible arm are presented with both the PI and MPID controller used. A study of the stability of the proposed MPID is carried out. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.
  • Ryohei Takahashi, Hiroto Ise, Atsushi Konno, Masaru Uchiyama, Daisuke Sato
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 1201 - + 2008年 [査読有り][通常論文]
     
    In order to verify orbital operations of a dual-arm space robot on the ground, a hybrid simulator (hardware in the loop simulator) is developed. The hybrid simulator includes a 14-degrees-of-freedom (14-DOF) dual-arm robot and 9-DOF motion table. A hybrid simulator has a great advantage in simulating complicated collision with multiple contacts, because it is difficult for a numerical simulation to get reliable and accurate results of such complicated phenomena. In this paper, the system architecture and the motion planning for three motion tables are presented. Two experiments are performed to confirm the basic motion and simulate a free-flying dual-arm space robot colliding with a floating object. The feasibility of robot operation is discussed from showing the position and force data obtained in the motion simulation.
  • Masanori Hayakawa, Keiko Hara, Daisuke Sato, Atsushi Konno, Masaru Uchiyama
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 2013 - + 2008年 [査読有り][通常論文]
     
    This paper describes a procedure of avoiding singularity for a redundantly-driven, dual-arm, master-slave robotic system. In cooperative operation, the procedure starts with a periodic check if one of the dual arms is close to a singular configuration by examining the manipulability of the arm. If it is close to a singularity, then the system stops its cooperative operation and control scheme switches to redundancy control. Then the operator manipulates the joint until the arm moves away from the singular configuration by inputing angular velocity to a redundant axis. The fact that the operator can select a new arm configuration to avoid singular configuration in teleoperation is the contribution of this research. After moving away from the singular configuration, the system can resume cooperative operation. Because this manual operation applies to a redundant axis only (in the null space of the Jacobian matrix), it does not affect the current end-effector pose and force status. Experimental examples are provided to demonstrate the proposed method.
  • Shohei Fujino, Daisuke Sato, Koyu Abe, Atsushi Konno, Masaru Uchiyama
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 2067 - + 2008年 [査読有り][通常論文]
     
    In this paper, a method for displaying feeling of cutting by a micro-scissors type haptic device is described. Micro-scissors are a type of surgical instrument, which is frequently used in brain surgery under a microscope. A prototype of a micro-scissors type haptic device consists of three components: an interface, a drive member, and force sensors. The interface is designed to equip features of a pair of micro-scissors and has a blade spring on its end. The drive member is composed of two DC-motors and two crank-lever mechanisms as decelerators. The force sensors are composed of strain gauges with H-slits, and implemented into each handle of the interface. For the aid of applying the force sensors to feedback control of cutting resistance forces, compensation for influence of a blade spring on the force sensors is added. Evaluation experiment for basic performance of the device is carried out, and the device is proved to be able to generate the computed cutting resistance forces. Virtual cutting experiment by six subjects is carried out, and it is proved that the device is able to display feeling of cutting.
  • Tamer Mansour, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 2896 - 2901 2008年 [査読無し][通常論文]
     
    This paper presents a MPID (Modified Proportional-Integral-Derivative) controller used to suppress vibration of flexible manipulator moving vertically. To attain the vibration suppression a vibration variable should play role in the control signal which drives the flexible manipulator. The proposed controller is based on the conventional PID control but the integral term is replaced with another one which mainly depends on the vibration of the end effector. Camera becomes an inherent part of space manipulator, using the MPID controller with the visual information recorded by the camera makes the strain measuring circuits and amplifiers unnecessary. This means reducing the hardware used in the control of flexible manipulator. The novelty of the results lies in the fact that the measurement of the rate of change in deflection, which is used as a vibration variable, has been done without the need of numerical differentiation. Experiments successfully demonstrate that using the visual data with an observer based on Kalman filer can achieve a noticeable damping of the end effector vibration of the flexible manipulator.
  • Kyong-mo Koo, Xin Jiang, Kohei Kikuchi, Atsushi Konno, Masaru Uchiyama
    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 862 - 867 2008年 [査読無し][通常論文]
     
    In this paper, the development of a robot car wiring system is addressed. It is designed to be used for automatically assembling wire harness into a car body. This operation is among the most difficult tasks of vehicle assembly and is not yet automated. Based on an analysis of the requirements for a robot car wiring system, we propose a solution which is capable of automatically completing assembly of wire harness into instrument panel frame of a car. The development of its prototype experimental system and the results of its verification experiments are described.
  • Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Takuya Owa, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama
    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 1024 - 1029 2008年 [査読無し][通常論文]
     
    In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion:" In this research, a nailing task is taken as an example of impact motion. This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. In order to validate the proposed scheme, experiments are carried out using life-sized humanoid robot HRP-2. The motion for nailing task generated by the proposed method is compared with the motion designed heuristically by a human. The driving depth is clearly increased by the proposed method.
  • Experiments on Hammering a Nail by a Humanoid Robot HRP-2
    Shunsuke Komizunai, Teppei Tsujita, Fumiya Nishii, Yuki Nomura, Takuya Owa, Atsushi Konno, Masaru Uchiyama
    Proceedings of the 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control 325 - 331 2008年 [査読無し][通常論文]
  • 高橋遼平, 佐藤大祐, 近野敦, 内山勝
    日本ロボット学会誌 26 6 590 - 598 2008年 [査読無し][通常論文]
  • Atsushi Konno, Tomoya Myojin, Teppei Tsujita, Masaru Uchiyama
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 647 - 652 2008年 [査読無し][通常論文]
     
    When a human needs to generate a large force, the human will try to apply an impulsive force cooperating whole body. This paper proposes a way to generate impact motions for humanoid robots to exert a large force keeping a balance. In the proposed method, the Sequential Quadratic Programming (SQP) is used to solve a nonlinear programming problem in which an objective function and constraints may be nonlinear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized to keep stability. Breaking wooden boards by Karate-chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate-chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out rising a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of the breaking wooden boards experiments clearly show the effectiveness of the proposed method.
  • Xin Jiang, Yosuke Yabe, Atsushi Konno, Masaru Uchiyama
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 3783 - 3788 2008年 [査読無し][通常論文]
     
    In this paper, a vision-based vibration control approach is proposed to deal with the vibration appearing at the end-point of a flexible-link manipulator. It is achieved by utilizing the information obtained from end-effector camera. Particularly, the image features necessary for this approach are not specified to those obtained from assumed objects like artificial markers. This property enables the approach to be applied in a completely unknown environment. In that case, end-effector camera automatically collects the visual information needed for vibration damping. This paper shows feasibility of this strategy.
  • Samuel Okodi, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 961 - 966 2008年 [査読無し][通常論文]
     
    Robot operation requires a succinct interface with fewer parameters to specify. This paper presents an algorithm to interface an integrated torque control law, and human task demonstration data. The data is comprised of 6 degrees of freedom, pendant force and position data, and hand posture tracking data. The aim is to automatically specify all the required parameters for the control law, which include constrained and non-constrained trajectories, reference task frames and distal end compliance. The algorithm is embedded with functions to optimise, filter, synchronise and enhance safety.
  • Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Takuya Owa, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 1570 - 1575 2008年 [査読無し][通常論文]
     
    In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion". In this research, a nailing task is taken as an example of impact motion. This paper presents a relationship between driving depth and force or impulse and analysis of impulsive force prediction model.
  • 白田聡, 近野敦, 内山勝
    日本機械学会論文集 C 73 734 2734 - 2741 2007年10月25日 [査読無し][通常論文]
  • 三浦 郁奈子, 近野 敦, 庄司 道彦
    日本バーチャルリアリティ学会論文誌 12 3 305 - 313 日本バーチャルリアリティ学会 2007年09月 [査読有り][通常論文]
     
    We propose a mixed reality application that uses a humanoid robot as a CG character's tangible body. The system consists of a synchronized pair of a humanoid robot and a virtual avatar, and an HMD that overlays the avatar onto the robot. And this research experiments the evaluation of the present enhancement of CG character through physical interaction with a robot which the character is overlaid onto it. The application requires that the motion data should be the processed motion-capture data to enhance its reality, the robot should be light-weight and have flexible link arms to make it safe.
  • 辻田 哲平, 近野 敦, 内山 勝
    計測自動制御学会論文集 43 5 418 - 427 計測自動制御学会 2007年05月 [査読無し][通常論文]
  • Yasar Ayaz, Khalid Munawar, Mohammad Bilal Malik, Atsushi Konno, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 4 1 125 - 149 2007年03月 [査読無し][通常論文]
     
    Unlike wheeled robots, humanoid robots are able to cross obstacles by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of the Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.
  • Xin Jiang, Atsushi Konno, Masaru Uchiyama
    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 3427 - + 2007年 [査読無し][通常論文]
     
    This paper addresses a vision-based endpoint trajectory and vibration control approach for flexible manipulators. In this approach, both the trajectory and vibration control are implemented by using an endpoint camera. In order to estimate link vibrations from the visual information, Kalman filter is used. To make the endpoint to follow a specified trajectory, image interpolation approach is introduced. The experimental results prove the effectiveness of the proposed control strategy.
  • Satoru Shirata, Atsushi Konno, Masaru Uchiyama
    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 3641 - 3646 2007年 [査読無し][通常論文]
     
    Performance of a human size humanoid robot is strictly limited by performance of the motor. The progress of a motor has not been remarkable compared with the progress of electronics. Therefore, the great progress of the performance of the motor cannot be expected, at least in the present circumstances. In this paper, a gravity compensation mechanism is designed which is applicable to a general biped robot. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. A humanoid robot Saika-4 is equipped with the gravity compensation mechanism in the legs. To evaluate effectiveness of the gravity compensation mechanism, preliminary experiments are performed using the humanoid robot.
  • 杉村武昭, 小西雄太, 出口淳, 石原聡之, 福島誉史, 近野敦, 内山勝, 小柳光正
    電子情報通信学会論文誌 D J89-D 6 1141-1152 - 1152 2006年06月01日 [査読無し][通常論文]
  • Impact Motion Humanoid Robot HRP-2
    Masaru Uchiyama, Atsushi Konno
    Journal of the Robotics Society of Japan,Robotics Society of Japan 24 2 189 - 189 2006年 [査読無し][通常論文]
  • Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 1224 - + 2006年 [査読無し][通常論文]
     
    This paper discusses an approach to apply visual servoing to a 3D flexible-link manipulator. The proposed approach is composed of an end-effector position control based on eye-in-hand visual servoing and a vibration suppression control. In order to decouple the end-effector position control and the vibration control, the end-effector position control is applied in a low frequency domain, while the vibration control is applied in a high frequency domain. To decouple the frequency domain, a high-pass filter and a low-pass filter are used. Stability of the whole system is analyzed by investigating the pole of the system. Using the proposed approach, the 3D flexible-link manipulator succeeds to insert a peg into a hole whose clearance is 0.5mm. However, it is difficult for the flexible-link manipulator to insert the peg into a hole whose clearance is 0.1mm, if there is no force control. Therefore, an impedance control is also tested together with the end-effector position control and the vibration control. Using the modified approach, the flexible-link manipulator succeeds to insert the peg into the hole whose clearance is 0.1mm.
  • Atsushi Konno, Ryo Uchikura, Toshiyuki Ishihara, Teppei Tsujita, Takeaki Sugimura, Jun Deguchi, Mitsumasa Koyanagi, Masaru Uchiyama
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 1372 - 1377 2006年 [査読無し][通常論文]
     
    In order to achieve human-like quick eye movements and image processing for intelligent mobile robots, a high speed vision system is developed. The vision system is composed of a binocular camera head and high speed image sensors. The camera head is originally designed to mount neuromorphic vision chips fabricated using three-dimensional integration technology. The prototype of the neuromorphic vision chip has three layers: (1) photoreceptor layer, (2) horizontal and bipolar cell layer, and (3) ganglion cell layer. An image sensor is separately developed, which corresponds to the photoreceptor layer of the layered vision chip. The image sensors are tentatively mounted on the camera head, since the resolution of the prototype of the layered vision chip is not sufficient at this stage. The camera head has an azimuth DOF for each eye and a common elevation DOF. The weight of the camera head is strictly limited, since it is mounted on a mobile robot. In order to satisfy both demands for the quick movements and light weight, the camera head is designed based upon a simple parallel mechanism. The total performance of the vision system is examined in this work. Saccadic eye movement and frequency response are experimentally reviewed.
  • Yasar Ayaz, Khalid Munawar, M. Bilal Malik, Atsushi Konno, Masaru Uchiyama
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 5490 - + 2006年 [査読無し][通常論文]
     
    Unlike wheeled robots, humanoid robots are able to overcome obstacles in the environment by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, globalized algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.
  • Takaaki Matsumoto, Atsushi Konno, Linlin Gou, Masaru Uchiyama
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 5919 - + 2006年 [査読無し][通常論文]
     
    When a human needs to generate a large force, the human will try to apply an impulsive force cooperating whole body. However, exerting impulsive force is one of the most difficult tasks for humanoid robots, because a reaction force caused by the applied impulsive force may bring the humanoid robot down. This paper discusses a humanoid robot motion to generate a large force utilizing an impact. Breaking wooden boards by Karate-chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate-chop is carefully designed to maximize the speed of a hand keeping the stability. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. In the experiments, three kinds of wooden boards are tested to break by the Karate-chop. The strength of wooden boards is estimated striking the boards with a free-falling plummet. Stabilizing control is also applied to the robot in order to stabilize the body after the impact. The experimentation results are reported in the paper.
  • Michihiko Shoji, Kanako Miura, Atsushi Konno
    ACM SIGGRAPH 2006: Emerging Technologies 2006年 [査読有り][通常論文]
  • 杉村武昭, 出口淳, 小西雄太, 中谷好博, 福島誉史, 近野敦, 栗野浩之, 内山勝, 小柳光正
    電子情報通信学会技術研究報告 105 43(RECONF2005 15-29) 79-84  2005年05月06日 [査読無し][通常論文]
  • 黄潤權, 近野敦, 小笠原克久, 猪平栄一, 内山勝
    日本ロボット学会誌 23 1 113 - 123 2005年 [査読無し][通常論文]
  • T Tsujita, A Konno, M Uchiyama
    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 785 - 792 2005年 [査読無し][通常論文]
     
    In order to achieve human-like quick eye movements and image processing for intelligent mobile robots, a high speed binocular camera head is developed. The aim of the binocular camera head is to provide a platform to reproduce the human brain information processing. Two neuromorphic vision chips with lenses, which are developed imitating human retinas, will be mounted on the camera head. The camera head has an azimuth DOF for each camera and a common elevation DOF, thus there are three DOF in total. The weight of the camera head is strictly limited, since it is mounted on a mobile robot. In order to satisfy both demands for the quick movements and light weight, the camera head is designed based upon a simple parallel mechanism. Consequently, all motors are mounted on the base. The characteristics of the camera head are quickness, lightweight and simple mechanism. This paper presents the design, development and evaluation of the camera head. The inverse and forward kinematics are also discussed in this paper.
  • A Konno, Y Tanida, K Abe, M Uchiyama
    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1470 - 1475 2005年 [査読無し][通常論文]
     
    This paper addresses a plantar H-slit force sensor for humanoid robots to detect the reaction force. The zero moment point (ZMP) is calculated from the detected reaction force balance. The H-slit force sensors are structuralized on a plantar frame. Since a H-slit beam unidirectionally deforms, only the normal force from the ground is selectively detected without being affected from the friction force between the sole and ground. The plantar H-slit force sensors are developed for a humanoid robot. A model is proposed to simulate the sensor output. The simulated outputs are compared with results of the finite element analysis (FEA) and the experimentation results.
  • A Konno, Y Hwang, S Tamada, M Uchiyama
    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1788 - 1793 2005年 [査読無し][通常論文]
     
    When a human needs to apply a large force to an environment, the human will take an appropriate posture to produce a large manipulation force. This paper discusses appropriate working postures for a humanoid robot to apply a force effectively to an environment. An objective function is defined and the Sequential Quadratic Programming (SQP) is used to find a solution. The pushing a wall and turning a valve are taken as examples of tasks for a humanoid robot, and simulations and experimentations are performed. The results show that the consideration of working postures clearly contribute to make the manipulation force larger.
  • A Humanoid Robot to Perform Tasks in Which Impact Dynamics is Utilized
    M. Uchiyama, A. Konno, D. Sato, T. Matsumoto, Y. Ishida, T. Ishihara
    Proceedings of 36th International Symposium on Robotics TH1C1-TH1C1  2005年 [査読無し][通常論文]
  • 杉村武昭, 出口淳, 小西雄太, 中谷好博, 福島誉史, 近野敦, 栗野浩之, 内山勝, 小柳光正
    電子情報通信学会技術研究報告 104 521(ICD2004 183-192) 49-54  2004年12月09日 [査読無し][通常論文]
  • CHOI H-B, COMPANY O, PIERROT F, 近野敦, 渋川哲郎, 阿部幸勇, 佐藤大祐, 内山勝
    日本機械学会論文集 C 70 691 798 - 803 2004年03月25日 [査読無し][通常論文]
  • T Miyabe, A Konno, M Uchiyama, M Yamano
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 23 3 275 - 291 2004年03月 [査読有り][通常論文]
     
    The recent developments in space technology demand various services to uncontrollable satellites, such as refueling and repairing, in order to extend their lifespans. However there has so far been no research on such practical applications with flexible manipulators. In this paper, we address automated object capture with a two-arm flexible manipulator which is a basic technology for such services in space. This object capturing strategy includes symmetric cooperative control, visual servoing, the resolution of the inverse kinematics problem and the optimization of the configuration of a two-arm redundant flexible manipulator For the performance improvement oil the rise time of the internal forces at the instant of making contact, a transition control strategy is also proposed considering the resultant mechanical compliance associated with the internal forces. Moreover we present the control system configuration for this task. This control system is based on IBM-compatible personal computers (PCs), and the computational loads for the task execution are distributed to several PCs connected to each other through the Ethernet. The effectiveness of the proposed control system and task sequence is validated with the experiments.
  • R Sellaouti, A Konno, FB Ouezdou
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS 1577 - 1581 2004年 [査読無し][通常論文]
     
    In order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named ROBIAN, is developed. In this paper, the conceptual design of the biped prototype ROBIAN and the first experiments are presented. The features of the ROBIAN are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1-DOF active/passive joint between the heel and the toe. The ROBIAN will have 18-DOFs in total: 6-DOFs for each leg, 1-DOF passive or active joint for each foot and 4-DOFs for the upper limb. One of the major application of the ROBIAN will be the efficient development of a real testbed of active/passive prosthesis for the disabled.
  • M Yamano, JS Kim, A Konno, M Uchiyama
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 39 1 1 - 15 2004年01月 [査読無し][通常論文]
     
    This paper discusses cooperative control of a dual-flexible-arm robot to handle a rigid object in three-dimensional space. The proposed control scheme integrates hybrid position/force control and vibration suppression control. To derive the control scheme, kinematics and dynamics of the robot when it forms a closed kinematic chain is discussed. Kinematics is described using workspace force, velocity and position vectors, and hybrid position/force control is extended from that on dual-rigid-arm robots. Dynamics is derived from constraint conditions and the lumped-mass-spring model of the flexible robots and an object. The vibration suppression control is calculated from the deflections of the flexible links and the dynamics. Experiments on cooperative control are performed. The absolute positions/orientations and internal forces/moments are controlled using the robot, each arm of which has two flexible links, seven joints and a force/torque sensor. The results illustrate that the robot handled the rigid object damping links' vibration successfully in three-dimensional space.
  • FEM Analysis of a Directional Deflection Sensor Beam Structure for Small Force/Torque Measurement
    Koyu ABE, Yusuke TANIDA, Atsushi KONNO, Masaru UCHIYAMA
    Proceedings of the International Conference on Precision Engineering 628 - 634 2004年 [査読無し][通常論文]
  • Satoru Shirata, Atsushi Konno, Masaru Uchiyama
    Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems 148 - 153 2004年 [査読有り][通常論文]
  • Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems 3501 - 3506 2004年 [査読有り][通常論文]
  • ROBIAN Biped Robot : Design and Experiments
    F.B. Ouezdou, R. Sellaouti, A. Konno, B. Mohamed, V. Scesa, P. Henaff, C. Zaoui, O. Bruneau
    Proceedings of HLR Workshop on Humanoid and Legged Robots 2004年 [査読無し][通常論文]
  • 猪平栄一, 近野敦, 内山勝
    日本ロボット学会誌 22 8 1021 - 1030 2004年 [査読無し][通常論文]
  • Y Hwang, E Inohira, A Konno, M Uchiyama
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 31 - 36 2003年 [査読無し][通常論文]
     
    This paper describes an efficient dynamic simulation of a humanoid robot. In the simulation, an order n formulation is used to solve the inverse dynamics and forward dynamics of a multi-body system. The formulation can deal with a tree structure and multiple contacts with the environment. In order to simulate a collision with friction between the foot and a floor, a virtual spring-damper contact model is proposed. By introducing this model, computation of contact becomes easier and faster compared with other method such as plastic contact. A simulation of ascending steep stairs is carried out in order to demonstrate the validity of the simulation. The results of the simulation are presented and discussed.
  • HB Choi, O Company, F Pierrot, A Konno, T Shibukawa, M Uchiyama
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 1185 - 1190 2003年 [査読無し][通常論文]
     
    This paper deals with the design and dynamic control simulation of a new type of 4-DOFs parallel mechanism providing 3 translations and 1 rotation for highspeed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMS(TM). In addition, the Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the dynamic control dramatically improves the trajectory tracking accuracy.
  • T Miyabe, A Konno, M Uchiyama
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 2529 - 2534 2003年 [査読無し][通常論文]
     
    The recent developments in the space technology demand various services to the exhausted or damaged satellites such as refueling and repairing in order to extend their life spans. In this paper, an automated object capturing with a two-arm flexible manipulator is addressed, which is a basic technology for such services. This object capturing includes the symmetric cooperative control, the visual servoing, the resolution of the inverse kinematics problem and the optimization of the configuration of a two-arm redundant flexible manipulator. There have been no researches on such a practical application with the flexible manipulators so far. The effectiveness of this capturing sequence is validated with the experiment.
  • E Inohira, A Konno, M Uchiyama
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 4060 - 4065 2003年 [査読無し][通常論文]
     
    This paper presents the software system architecture with the dynamic reconfigurability for highly autonomous systems. The proposed architecture is based on multi-agent model, which is suitable for autonomous, open and distributed systems. Since an agent is too sophisticated as the minimal component that we handle, we define a unit as a simple component of an agent. We present the advanced capability to dynamically reconfigure autonomous systems because their goals and environments vary frequently. We determine the specification of units and agents in order to analyze the behavior of overall system and to implement the dynamic reconfiguration as easy and simple as possible. In this paper, we also discuss the method to guarantee the system behavior during the dynamic reconfiguration in order to operate the robotic system without a hitch at any time, especially while reconfiguring.
  • SINGULARITY ANALYSIS OF A NOVEL 4-DOFS PARALLEL ROBOT H4 BY USING SCREW THEORY
    Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    Proceedings of DETC’03, ASME 2003 Design Engineering Technical Conferences and Computers and Information in Engineering Conference 1 - 9 2003年 [査読無し][通常論文]
  • A Konno, K Ogasawara, Y Hwang, E Inohira, M Uchiyama
    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 589 - 594 2003年 [査読無し][通常論文]
     
    This paper proposes an adaptive intermittent crawl gait for quadruped robots to walk on a slope. In the proposed method, the inclination of a floor is estimated in real time by the displacement of the projection of the center of gravity from the nominal position. Depending upon the estimated inclination, the gait is changed in order to gain the longitudinal stability margin. Experiments and dynamic simulations are performed to validate the proposed method. The results are presented and discussed.
  • K Abe, Y Tanida, A Konno, M Uchiyama
    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1056 - 1061 2003年 [査読無し][通常論文]
     
    We proposed an H-slit type parallel beam which can be effectively utilized to achieve a highly unidirectional deformable structure for force/torque sensors. The structure is an extension of the parallel beam structure. And hence, the proposed design structure will result in 4-bar link closed mechanism the joints of which are deformable, so the strain gauges are fixed at these positions. This is the basic idea and unique feature of our proposed design. The H-slit beam can be used to measure very small generated forces. In this paper, we present above characteristics of the both beam structures with Finite Element Method (FEM) analysis, and outline of a small force/torque sensor using H-slit beams. Moreover reported in this article is over load protection mechanism which exhibits beam's effectiveness and its ability to withstand over load conditions without much deformations. This is due to the protection provided in the cross section of the beam.
  • Y Hwang, A Konno, M Uchiyama
    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1901 - 1906 2003年 [査読無し][通常論文]
     
    Human beings utilize a whole body motion such as weight shift to generate a large force while doing heavy works. Momentum is harnessed to increase an action force to the object. This paper discusses whole body cooperative motions of a humanoid robot for heavy works and the static stability during the motion. Pushing a wall and twisting a valve are taken as examples of heavy works in this study. Several whole body motion patterns are examined using a dynamic simulator which efficiently solves dynamic equations of serial rigid body system using an O(n) algorithm. Static stability is evaluated through simulation results that include external force, joint torques, position of the center of gravity and ZMP, etc.
  • HB Choi, A Konno, M Uchiyama
    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 3312 - 3317 2003年 [査読無し][通常論文]
     
    This paper present closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4. Many researchers have tried to obtain closed-form solutions of 3- and 6-DOFs parallel robots, i.e., planar, Delta, Stewart platform and Hexapod robots, in a single variable polynomial equation. Indeed, there are just few effort have been devoted in the past to 4-DOFs parallel robot. Therefore, we focus on the forward kinematics of a 4-DOFs parallel robot H4. Solutions of the forward kinematic yields a 16(th) degree polynomial in a single variable which indicates that there may be up to 16 different configurations for the travelling plate for a given set of motor's angle. The results are presented via a numerical example.
  • A Konno, DM Liu, M Uchiyama
    ROBOTICA 20 6 637 - 651 2002年11月 [査読無し][通常論文]
     
    This paper focuses on using a singularly perturbed approach to derive a vibration damping control law in which a pole assignment feedback method is utilized. The composite control system is characterized by two components which can be computed separately. The one is Cartesian-based PI control which drives the end-effector of a flexible manipulator to track the desired time-based trajectory. The other is pole assignment feedback control which damps out vibrations during and at the end of trajectory tracking. An advantage of this composite control method in real implementation is that it does not require a derivative of the end-effector's position, and the derivatives of signals from the strain gauges. From the characteristics and implementation points of view, it appears to be simple to use. Laboratory experiments were conducted to evaluate the performance of the proposed control method.
  • 宮部友博, 山野光裕, 近野敦, 内山勝
    日本機械学会論文集 C 68 672 2374 - 2379 2002年08月25日 [査読無し][通常論文]
  • R Sellaouti, A Konno, F Ben Ouezdou
    ROMANSY 14 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS 438 387 - 396 2002年 [査読無し][通常論文]
     
    This paper presents a novel 3-DOFs parallel-actuated mechanism for the hip joint of the biped robot named ROBIAN This mechanism allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Simulations are conducted to validate a kinematic model and to find a set of optimal parameters for the actual design. An experimental prototype and the ROBIAN hip are also shown in this paper.
  • A Konno, N Kato, Y Mitsuya, M Uchiyama
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 1056 - 1061 2002年 [査読無し][通常論文]
     
    In order to meet the demand for a research platform of intelligent robotics, a quadrupedal research platform JROB-2 has been developed. This paper presents the design and development of the quadrupedal walking robot JROB-2. The JROB-2 consists of five parts: quadrupedal walking mechanism, an embedded PC, servo amplifiers, power supplies, and a high speed stereo camera head. The stereo camera head can track the sinusoidal joint trajectory of the 15 [] amplitude and about 30 [Hz] frequency. The performance of the developed camera head is high enough to imitate the human eye movement such as saccade and pursuit. Almost all components of the JROB-2 are commercially available, and thus, its development cost is reduced and its maintenance becomes much easier. It is expected that the JROB-2 will serve as a good research platform for the studies of robotics and artificial intelligence.
  • R Sellaouti, A Konno, FB Ouezdou
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 1161 - 1166 2002年 [査読無し][通常論文]
     
    This paper deals with a novel approach to carry out the design of 3 DOF actuated joints for humanoid robots. Instead of common serial mechanism, a more robust parallel mechanism was developed. This kind of structure allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Simulations were conduced to validate the kinematic model and optimize the design. Experimental prototype was developed to perform realistic tests on the control of this kind of mechanism.
  • A Konno, R Sellaouti, FB Arnar, FB Ouezdou
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 1384 - 1389 2002年 [査読無し][通常論文]
     
    In order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named as ROBIAN, is developed. In this paper, the conceptual design of the biped prototype ROBIAN is,discussed. The features of the ROBIAN are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1-DOF active/passive joint between the heel and the toe. The ROBIAN will have 18-DOFs in total: 6-DOFs for each leg, 1-DOF passive or active joint for each foot and 4-DOFs for the upper limb. One of the major application of the ROBIAN will be the efficient development of a real testbed of active/passive prosthesis for the disabled.
  • FB Ouezdou, A Konno, R Sellaouti, F Gravez, B Mohamed, O Bruneau
    CLIMBING AND WALKING ROBOTS 375 - 382 2002年 [査読無し][通常論文]
     
    In order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named as ROBIAN, is developed. In this paper, the conceptual design of the biped prototype ROBIAN is discussed. The features of the ROBIAN are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1-DOF active/passive joint between the heel and the toe. The ROBIAN will have 18-DOFs in total: 6-DOFs for each leg, 1-DOF passive or active joint for each foot and 4-DOFs for the upper limb. One of the major application of the ROBIAN will be the efficient development of a real testbed of active/passive prosthesis for the disabled.
  • T Miyabe, A Konno, M Uchiyama
    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS 2708 - 2713 2002年 [査読無し][通常論文]
     
    This paper discusses a cooperative control of a two-arm spatial flexible manipulator with redundancy. Two different approaches are discussed to solve the kinematics of this manipulator. Moreover, several performance criteria are also discussed for this system in order to get the optimal kinematics solution. Some of the criteria discussed are peculiar to the cooperation of the two-arm spatial flexible manipulators, and they have not been discussed so far. Finally, the criteria and kinematics solutions are evaluated with the experimental implementations.
  • A Konno, Y Mitsuya, N Kato, M Uchiyama
    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II 57 - 62 2001年 [査読無し][通常論文]
     
    For an easier and natural teleoperation of the quadruped walking robots, a user interface is developed with a Steering wheel and an assembly of pedals. In order to change the speed and the direction of the quadruped walking robots according to the operation of the steering wheel and the pedals, an on-line gait transition method is developed. Using this human-machine interface and on-line gait transition, the operator can control the quadruped walking robots almost in the same way as a driver drives a car. A quadruped walking robot named JROB-2 is used in the experiments. As the steering wheel is also equipped with various control buttons, it is possible to assign various single command tasks like "stand up" and "sit down" etc., to these buttons and hence control the robot for these tasks without even touching the keyboard or mouse. This paper presents the details of this interface.
  • T Miyabe, M Yamano, A Konno, M Uchiyama
    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 907 - 912 2001年 [査読無し][通常論文]
     
    This paper discusses an object's recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object's surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.
  • A Konno, T Yoshiike, K Nagashima, M Inaba, H Inoue
    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 43 2 401 - 407 2000年06月 [査読無し][通常論文]
     
    This paper presents preliminary experiments on automatic programming of motions of a humanoid robot by human demonstrations. Aiming to develop the "teaching by human demonstrations" system, three preliminary experiments are performed: (a) on-line recognition of human postures, (b) on-line imitation of human postures, and (c) recognition of the pick and place task and generation of a motion of a robot arm to play it back. The humanoid robot having its head with stereo camera arrangement, a 2-DOF neck and dual 7-DOF arms, is used in these experiments. The experimental results prove the potential of an easy and natural teaching by human demonstrations.
  • S Kagami, A Konno, R Kageyama, M Inaba, H Inoue
    EXPERIMENTAL ROBOTICS VI 250 499 - 507 2000年 [査読無し][通常論文]
     
    A wheel type humanoid robot "H4" is developed as a platform for the research on vision-tactile-action coupling in intelligent behavior of robots. The H4 has the features as follows : 1) upper-body consists of 19DOF (3DOF waist, 6DOF arm, 4DOF head), light weight and enough space to attach skin, 2) multi-value tactile switch and matrix gel tactile sensor, two types soft and distributed sensor skin covers upperbody, 3) each tactile sensor module has microprocessor module which is connected via I-2 C serial bus and make sensor network, 4) PC/AT compatible onboard computer which is controlled by RT-linux and connected to a network via radio ethernet, 5) 3D vision facility and 6) self-contained. This paper describe the design, implementation and experiment of H4, which is expected to be a common test-bed in experiment and discussion for tactile based aspects of intelligent robotics.
  • Experiments on Capturing a Floating Object by Two Flexible Manipulators
    Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama
    Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, California, USA 482 - 487 2000年 [査読無し][通常論文]
  • 山野 光裕, 金 鎮秀, 近野 敦, 内山 勝
    日本機械学会論文集(C編) 66 649 3063 - 3068 2000年 [査読無し][通常論文]
     
    This paper discusses cooperative control of a dual-arm flexible manipulator to handle a rigid object in three dimensional space. The proposed control scheme integrates hybrid position/force control and vibration suppression control. In order to derive the control scheme, kinematics and dynamics of the manipulator when it forms a closed kinematic chain are discussed. Kinematics is described using workspace force, velocity and position vectors, and hybrid position/force control is extended from that on dual-arm rigid manipulators. Dynamics is derived from constraint conditions and the lumped-mass-spring model of the flexible manipulator and an object. The vibration suppression control is calculated from the deflections of the flexible links and the dynamics. Experiments on cooperative control are performed. The absolute positions/orientations and internal forces/moments are controlled using the manipulator, each arm of which have two flexible links, seven joints and a force/torque sensor. The results illustrate that the manipulator handles the rigid object damping links’ vibration successfully in three dimensional space. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.
  • A Konno, N Kato, S Shirata, T Furuta
    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS 1565 - 1570 2000年 [査読無し][通常論文]
     
    In order to meet the demand of a research platform for intelligent robotics, a humanoid robot named Saika-3 is developed. It is a self-sustaining biped robot with. a dual arm and a robotic head. rt is equipped with a PC (IBM PC/AT clone), batteries, a wireless ethernet modem, a gyroscope and motor drivers inside its body. Saika-3 can be teleoperated via wireless ethernet communication. A graphic dynamic simulator is also developed to study control strategy. This paper presents an outline of the hardware of Saika-3 and a simulation result.
  • M Yamano, A Konno, M Uchiyama, T Miyabe
    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS 2036 - 2041 2000年 [査読無し][通常論文]
     
    This paper discusses a way of capturing a spinning object using two flexible manipulators. We propose a capturing procedure using hybrid position/force control and vibration suppression control. The procedure is established so that the manipulators capture the object automatically measuring position and rotational velocity of the object. The motion of the two hands of the manipulators are synchronized with the rotation of the object. The hands make contact with the spinning object safely, considering link flexibility, and then brake the spin smoothly. The effectiveness of our method is shown in experiments using two 3D manipulators, each of which has two flexible links and seven joints.
  • 香山 健太郎, 長嶋 功一, 近野 敦, 稲葉 雅幸, 井上 博允
    日本機械学会論文集(C編) 65 632 1524 - 1529 1999年 [査読無し][通常論文]
  • 吉池 孝英, 近野 敦, 長嶋 功一, 稲葉 雅幸, 井上 博允
    日本機械学会論文集(C編) 65 632 1565 - 1570 1999年 [査読無し][通常論文]
  • Flexible Manipulator Trajectory Learning Control with Input Preshaping Method
    Liu Deman, Atsushi Konno, Masaru Uchiyama
    Proceeding of the 38th SICE Annual Conference, International Session Papers, Morioka, Japan 967 - 972 1999年 [査読無し][通常論文]
  • Vibration Suppression Control of Two Cooperative Flexible Manipulators Working in 3D Space
    Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama
    Proceedings of the Ninth International Conference on Advanced Robotics ('99 ICAR), Tokyo, Japan 385 - 390 1999年 [査読無し][通常論文]
  • 近野 敦, 多田 充徳, 長嶋 功一, 稲葉 雅幸, 井上 博允
    日本機械学会論文集(C編) 65 638 4070 - 4075 1999年 [査読無し][通常論文]
     
    This paper addresses the development of a three fingered anthropomorphic hand and discusses a strategy for grasping unknown objects by groping. In the former part of the paper, the design of the developed robot hand is presented. The robot hand has a thumb, an index finger and a middle finger with a total of nine degrees of freedom. The location of thumb is designed considering the opposability seen in a human hand. Eighty seven touch sensors are distributed over the palm and fingers of this hand. In the latter part of this paper, a strategy for grasping unknown objects by groping, using the devoloped hand, is discussed. Groping is a kind of “active sensing”. When the system does not have any models available for the objects to be grasped, active sensing becomes inevitable. The aim of the groping is to find a grasping configuration for the unknown objects. A ball, a can, a cone, a rectangular cube, and cube arc chosen as the unknown objects in the experiments. Experimental results demonstrate the capability of the strategy for grasping unknown objects. This strategy needs neither models of the objects nor any complicated computations, and therefore, is useful especially for tasks in the real world. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.
  • S Kagami, M Kabasawa, K Okada, T Matsuki, Y Matsumoto, A Konno, M Inaba, H Inoue
    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 146 - 151 1998年 [査読無し][通常論文]
     
    A legged robot "JROB-1" is developed for a robotics research platform as a result of inter-university research program on Intelligent Robotics supported by the Ministry of Education Grant-in-Aid for Scientific Research on Priority Areas in Japan. The JROB-1 has the features as follows : 1) self-contained, 2) RT-Linux running on PC/AT processes vision&sensor processing, motion planning and control, 3) connected to a network: via radio ethernet as to utilize network:ed resources, 4) Fujitsu color trading vision board and Hitachi general purpose vision processing board are attached, 5) all parts are commercially available, 6) it is ea;tensible with respect to sensor, sensor processing hardware and software. JROB-1 is expected to be a common test-bed for experiment and discussion, to do intelligent robotics research by integrating perception and motion.
  • K Kayama, K Nagashima, A Konno, M Inaba, H Inoue
    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 3253 - 3258 1998年 [査読無し][通常論文]
     
    In this paper, we propose an environmental description for robots to memorizes temporality and spatiality of guide-range environment. The description is region-based and the environment is described as a mosaic of regions. The description consists of three components: Panoramic Labelled Image that is a segmented color panoramic image, Region Database that has spatial and temporal information, about each region, and Regions Relation Network that describes adjacency state between regions. The description is constantly updated in the back ground of other visual processing. The description enables robots to detect changes in, the environment, to grasp their characteristics, and to memorize them. Moreover, we implement the environmental description on the humanoid robot Saika and show how it expands the robot's behavior.
  • 加賀美 聡, 椛澤 光隆, 岡田 慧, 松本 吉央, 近野 敦, 稲葉 雅幸, 井上 博允
    日本ロボット学会誌 16 5 623 - 628 1998年 [査読無し][通常論文]
  • On-line Recognition and Mimicking of Human Posture
    Takahide Yoshiike, Atsushi Konno, Koichi Nagashima, Masayuki Inaba, Hirochika Inoue
    Proceedings of the 3rd International Conference on Advanced Mechatoronics 430 - 435 1998年 [査読無し][通常論文]
  • S Kagami, K Okada, M Kabasawa, Y Matsumoto, A Konno, M Inaba, H Inoue
    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3 235 - 240 1998年 [査読無し][通常論文]
     
    View changing because of vibration while walking is one of the most fundamental problem for a vision based legged robot. To overcome this difficulty, three key issues are denoted : a) integration of color segmentation, optical flow and stereo, which is able to apply to vibrating view using correlation hardware, b) software servo loop implemented as a kernel module for the purpose of soft actuation, and c) smooth walking pattern generation using solid model and dynamics simulator. Furthermore, a quadruped legged robot "JROB-1" is developed as a platform for the research on perception-action coupling in intelligent behavior of robots.
  • A Konno, K Nishiwaki, R Furukawa, M Tada, K Nagashima, M Inaba, H Inoue
    EXPERIMENTAL ROBOTICS V 232 79 - 90 1998年 [査読有り][通常論文]
     
    This article addresses the development of a humanoid robot named Saika and skillful manipulations performed by Saika. The developed humanoid robot Saika has a two-DOF neck, dual five-DOF upper arms, a torso and a head which consists of two eyes and two ears. Saika has human-size dimension and weighs eight kilograms. This article also presents three kinds of manipulations performed by Saika: (1) hitting a bounding ball, (2) grasping unknown objects by groping and (3) catching a thrown ball. Those tasks are chosen to study behavior-based movement control and intelligence.
  • S Lopez-Linares, A Konno, M Uchiyama
    JOURNAL OF ROBOTIC SYSTEMS 14 12 823 - 837 1997年12月 [査読無し][通常論文]
     
    Research on vibration suppression control of flexible robots has concentrated mainly on the one-link and two-link planar manipulators. Most of the techniques that have been presented cannot be easily extended to the case of a general 3D flexible robot. Ln this article we present a general control scheme based on hardware velocity servo cards. The velocity commands to move the robot are calculated by adding a vibration suppression term to the joint position feedback employed in ''rigid'' robots. Two different methods are proposed to calculate this term, one based on optimum quadratic control and the other based on pseudo-inverse nonlinear decoupling. These techniques are studied numerically in the case of a real two-link three-joint flexible robot, by computing the values of the closed-loop poles at different configurations. Experiments on position stabilization of the robot prove the validity of our methods. (C) 1997 John Wiley & Sons, Inc.
  • A Konno, M Uchiyama, Y Kito, M Murakami
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 16 4 567 - 576 1997年08月 [査読有り][通常論文]
     
    In this article, the structural vibration controllability of flexible-link manipulators is discussed For some spatial flexible-link manipulators, the structural vibration controllability is configuration-dependent. Therefore, the flexible-link manipulator may have some vibration-uncontrollable configurations. To understand the physical interpretation of vibration-uncontrollable configurations, we propose the modal accessibility concept, which indicates how well the actuators can affect the structural vibration modes. The configuration in which all of the actuators cannot affect at least one of the manipulator's vibration modes is vibration uncontrollable. Main contributions of this article are the following two points: first, interesting structural vibration-uncontrollable configurations are found within the two-link three-joint-type manipulator's workspace and are verified experimentally; second, the modal accessibility index is introduced to indicate how well the corresponding vibration mode is controllable. Experimental results show that even in the controllable configurations, it becomes difficult to suppress vibration if the modal accessibility is small.
  • S LopezLinares, A Konno, M Uchiyama
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME 119 2 326 - 330 1997年06月 [査読無し][通常論文]
     
    Structural vibrations of flexible robots are not always fully controllable in all the workspace. la some cases, there exist configurations where the actuators cannot affect some of the vibration modes, and thus cannot control their vibrations. This problem has been neglected in the case of the one link and two-link planar manipulators; however, it must be dealt with in depth when trying to control a 3D flexible robot, This paper discusses the vibration controllability of flexible manipulators. Vibration uncontrollable configurations are estimated both by the minimum singular values of the controllability matrix nod the closed-loop behavior. A 2-link 3-joint prototype flexible manipulator is used for a case study, and the uncontrollable configurations Of the manipulator are found.
  • DN Nenchev, K Yoshida, P Vichitkulsawat, A Konno, M Uchiyama
    1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4 2528 - 2534 1997年 [査読無し][通常論文]
     
    The control of a dextrous manipulator mounted on a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled from the base dynamics. As a consequence of the decoupling, feedback control gains for structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. We examine experimentally the performance of the above control tasks, using a planar experimental setup.
  • K Nagasaka, A Konno, M Inaba, H Inoue
    1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4 2944 - 2949 1997年 [査読無し][通常論文]
     
    We describe the method in which a visually guided swing motion for a 16DOF two-armed bipedal robot is acquired by applying GA (genetic algorithm) to a NN (neural network) controller. The evolutionary approach to the acquisition of various motions for robots has been successfully used by many researchers, but most studies have been carried out only through computer simulations. In this research, we adopt a real robot with a complicated body used in a noisy environment. The evolutionary processes are examined in a virtual world constructed on a CRS-CS6400 parallel computer which simulates such factors as swing dynamics, visual processes, noise reduction processes, and timelags in a control system. It took about 2 hours for an artificial evolution io create a successful individual after 50 generations from an initial population af 200 unsuccessful genes. Using the NN decoded from the most successful individual of the fast generation, a real two-armed bipedal robot that could swing successfully was obtained.
  • Dexterous Manipulations of Humanoid Robot Saika
    Atsushi Konno, Koichi Nishiwaki, Ryo Furukawa, Mitsunori Tada, Koichi Nagashima, Masayuki Inaba, Hirochika Inoue
    Priprints of Fifth Int. Symp. on Experimental Robots 46 - 57 1997年 [査読無し][通常論文]
  • A Konno, M Tada, K Nagashima, M Inaba, H Inoue
    1997 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP'97) - TOWARDS FLEXIBLE AND AGILE ASSEMBLY AND MANUFACTURING 72 - 77 1997年 [査読無し][通常論文]
     
    This paper addresses the development of a three-fingered hand and discusses a strategy for grasping unknown. objects by groping. In the former part of the paper, the design of the developed robot hand is presented. The robot hand has thumb, index finger and middle finger with a total of eight degrees-of-freedom, The location of thumb is designed considering opposability of human hand. Eighty-seven touch sensors are distributed over the surface of palm and fingers of the robot hand. In the latter part of the paper, a strategy for grasping unknown objects by groping using the developed hand is discussed. Groping is a kind of ''active sensing.'' When the system does not have any models of objects to grasp, active sensing becomes inevitable. The aim of the groping is to find a grasping configuration for unknown objects. A can, a ball, a cone, a elate, and it cube are chosen for the unknown objects in the experiments. Experimental results demonstrate the capability of the strategy for grasping unknown objects. This strategy needs neither models of objects nor complicated computation, and therefore, useful especially for assembly tasks in the real world.
  • K Nishiwaki, A Konno, K Nagashima, M Inaba, H Inoue
    RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS 94 - 99 1997年 [査読無し][通常論文]
     
    This peeper addresses ball-catching behavior by the humanoid robot Saika. The aim of this study is to implement human skills on the humanoid in the same manner as human performs them. The behavior of catching a falling and a thrown ball is chosen as on example of dynamic skillful manipulation. Considering the human behavior, we realize ball-catching behavior by three steps: (a) localization of the ball by the vision system, (b) prediction of the ball's path to determine the catching point, and (c) reaching out the hand to the catching point by a neural network inverse kinematics model. Experimental results demonstrate the validity of the catching strategies.
  • K Nagashima, T Yoshiike, A Konno, M Inaba, H Inoue
    RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS 100 - 105 1997年 [査読無し][通常論文]
     
    In this paper, we discuss attention-based interaction between robot Chiye and human. The visual attention is conducted by the three asynchronous parallel processing units: (1) target detection block, (2) target management block and (3) target observation block. The robot Chiye interacts with human according to the status of gazed objects. Two binds of attention-based robot's behaviors are examined: (a) orientation behavior toward a human, and (b) handing-over behavior.
  • KIM J‐S, 近野敦, 内山勝
    日本機械学会論文集 C 62 602 4005 - 4011 1996年10月 [査読無し][通常論文]
  • 近野 敦, 内山 勝, 貴答 豊, 村上 真人
    計測自動制御学会論文集 32 1 78 - 86 計測自動制御学会 1996年01月31日 [査読無し][通常論文]
  • JS Kim, K Suzuki, A Konno, M Uchiyama
    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4 635 - 640 1996年 [査読無し][通常論文]
  • A Konno, M Uchiyama
    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3 223 - 229 1996年 [査読無し][通常論文]
     
    An approach to modeling flexible manipulators consisting of rotary joints and flexible links is proposed in this paper. In the proposed approach, flexible manipulators are modeled by lumped-masses and massless springs on the basis of Holzer's model, which is known as an approximate model for vibration analysis of flexible systems. Due to its simplicity, the constructed model is advantageous to the study of kinematics, dynamics and control strategy of complicated systems such as three dimensional multi-link multi-DOF flexible manipulators. Based on the model, dynamic equations of motion are derived using Lagrange's equation. Kinematics and the relationship between the dynamics of rigid manipulators and flexible manipulators are also discussed. The effectiveness of the model is evaluated by comparing the results of simulation with those of the experiment.
  • Modeling, Controllability and Vibration Suppression of 3D Flexible Robots
    Masaru Uchiyama, Atsushi Konno
    Robotics Research, The Seventh International Symposium, Georges Giralt and Gerhard Hirzinger (Eds), Springer 90 - 99 1996年 [査読無し][通常論文]
  • A Konno, K Nagashima, R Furukawa, K Nishiwaki, T Noda, M Inaba, H Inoue
    IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3 805 - 810 1996年 [査読無し][通常論文]
     
    This article addresses the development of a lightweight, human-size and low-cost developing humanoid robot named Saika. Saika has a 2-DOF neck, two 5-DOF upper arms, a torso and a head. Several types of hands and forearms are developed. They are chosen depending upon the tasks to perform. The features of Saika are: (a) Saika is modularized to reduce the developing cost and to make maintenance easy, (b) the total weight of the heard, the neck, the two zipper arms rand the torso is only eight kilograms and (c) most of the motors are installed inside the arms and the torso.
  • 近野 敦, 内山 勝
    日本機械学會論文集. C編 61 591 4345 - 4350 The Japan Society of Mechanical Engineers 1995年11月25日 [査読無し][通常論文]
     
    In some three-dimensional flexible manipulators, the relationship between vibrations and actuators depends upon the manipulators' configuration. It has been reported that fixed gain vibration control in such manipulators makes the system unstable. Therefore, configuration dependence of such manipulators must be considered. In this paper, a configuration-dependent variblegain vibration-suppression control strategy for three-dimensional flexible manipulators is presented. The vibration control scheme computes the feedback control gain in real time depending upon the configuration. Thus, the s...
  • A KONNO, M UCHIYAMA
    CONTROL ENGINEERING PRACTICE 3 9 1315 - 1321 1995年09月 [査読無し][通常論文]
     
    In spatial 3D flexible manipulators, some parameters change, depending upon the arm's configuration. The relationship between vibrations and actuators might be configuration-dependent. Therefore, such configuration dependency has to be considered in the control of 3D spatial flexible manipulators. Linear quadratic regulator (LQR) would be one of the solutions. However, state feedback gains must be computed at various configurations and the gain table would be quite large in the case of multi-DOF manipulators. In this paper, a configuration-dependent variable-gain vibration-suppression control strategy for 3D spatial flexible manipulator is discussed. The vibration control scheme computes the link deflection feedback gain depending upon the current configuration during each sampling period. Thus, no large gain table is needed, and the scheme would be effective in the case of multi-DOF 3D spatial manipulators. The control scheme is examined in the case of a 2-link 7-joint type manipulator through experiments. The stability of the control scheme is also discussed.
  • Hybrid Position/Force Control of Flexible Manipulators
    Jin-Soo Kim, Kuniaki Suzuki, Atsushi Konno, Masaru Uchiyama
    Proceedings of the 10th KOREA AUTOMATIC CONTROL CONFERENCE, International Program, Seoul, Korea 408 - 411 1995年 [査読無し][通常論文]
  • 近野敦, 内山勝
    日本ロボット学会誌 12 7 1021 - 1028 1994年10月 [査読無し][通常論文]
  • A KONNO, M UCHIYAMA, Y KITO, M MURAKAMI
    1994 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: PROCEEDINGS, VOLS 1-4 308 - 314 1994年 [査読無し][通常論文]
  • Controllability of Flexible Manipulators
    S. LÓPEZ-LINARES, A. KONNO, M. UCHIYAMA
    Preprints of the Fourth IFAC Symposium on Robot Control, Capri, Italy 509 - 516 1994年 [査読無し][通常論文]
  • S LOPEZLINARES, A KONNO, M UCHIYAMA
    IROS '94 - INTELLIGENT ROBOTS AND SYSTEMS: ADVANCED ROBOTIC SYSTEMS AND THE REAL WORLD, VOLS 1-3 1429 - 1437 1994年 [査読無し][通常論文]
  • Vibration Suppression Control of Spatial Flexible Manipulators
    A. KONNO, M. UCHIYAMA
    Preprints of the Fourth IFAC Symposium on Robot Control, Capri, Italy 517 - 523 1994年 [査読無し][通常論文]
  • Lumped-Parameter Modeling of Flexible Manipulator Dynamics
    Jin-Soo Kim, Atsushi Konno, Masaru Uchiyama, Kazuaki Usui, Kazuki Yoshimura
    Proceedings of the 9th KOREA AUTOMATIC CONTROL CONFERENCE, International Sessions, Taejeon, Korea 117 - 122 1994年 [査読無し][通常論文]
  • 近野 敦, 内山 勝, 貴答 豊, 村上 真人
    日本ロボット学会誌 12 8 1166 - 1174 1994年 [査読無し][通常論文]
  • Configuration-Dependent Controllability of Flexible Manipulators
    A. Konno, M. Uchiyama, Y. Kito, M. Murakami
    Experimental Robotics III: The 3rd International Symposium, Tsuneo Yoshikawa and Fumio Miyazaki (Eds.), Lecture Notes in Control and Information Sciences 200 531 - 544 1994年 [査読無し][通常論文]
  • Configuration-Dependent Controllability of Flexible Manipulators
    A. Konno, M. Uchiyama, Y. Kito, M. Murakami
    Preprints of the Third International Symposium on Experimental Robotics 276 - 282 1993年 [査読無し][通常論文]
  • Configuration-Dependent Vibration Control of Multi-Link Spatial Flexible Manipulators
    Atsushi Konno, Masaru Uchiyama
    Transactions of the IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems, Edited by Toshi TAKAMORI, Kazuo TSUCHIYA 937 - 942 1993年 [査読無し][通常論文]
  • Configuration-Dependent Vibration Control of Multi-Link Spatial Flexible Manipulators
    Atsushi Konno, Masaru Uchiyama
    Proceedings of the IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems '92 Kobe 1461 - 1466 1992年 [査読無し][通常論文]
  • Computed Acceleration Control for the Vibration Suppression of Flexible Robotic Manipulators
    M. Uchiyama, A. Konno
    Proceedings of the Fifth International Conference on Advanced Robotics, Pisa 126 - 131 1991年 [査読無し][通常論文]
  • Development of a Flexible Dual-Arm Manipulator Testbed for Space Robotics
    M. Uchiyama, A. Konno, T. Uchiyama, S. Kanda
    Proc. IEEE Int. Workshop on Intelligent Robots and Systems '90, Tsuchiura 375 - 381 1990年 [査読無し][通常論文]
  • Laser Optical Measurement of Robot Structural Deflections
    M. Uchiyama, A. Konno
    Proceedings of the International Conference on Advanced Mechatronics, Tokyo 353 - 357 1989年 [査読無し][通常論文]

書籍

  • Nenchev Dragomir N, Konno Atsushi, Tsujita Teppei (担当:共著)
    Butterworth-Heinemann 2019年 (ISBN: 9780128045602)
  • 最先端医療機器の病院への普及展望と今後の製品開発
    近野敦, 陳暁帥, 佐瀬一弥 (担当:共著範囲:第4章6節「VR・ARを応用した脳神経外科手術シミュレータ」)
    技術情報協会 2018年05月
  • JSMEテキストシリーズ 機械工学総論
    近野敦, 内山勝 (担当:共著範囲:2.3節「ロボット」)
    日本機械学会 2012年10月
  • ロボットテクノロジー
    横井一仁, 近野敦 (担当:共著範囲:第2編第1章「ヒューマノイドロボット」)
    オーム社 2011年08月 (ISBN: 9784274210723)
  • PID Control Implementation and Tuning
    Tamar Mansour, Atsushi Konno, Masaru Uchiyama (担当:共著範囲:Chapter 8, Neural Network Based Tuning Algorithm for MPID Control)
    InTech 2011年04月 (ISBN: 9789533071664)
  • Cutting Edge Robotics
    Teppei Tsujita, Atsushi Konno, Yuki Nomura, Shunsuke Komizunai, Yasar Ayaz, Masaru Uchiyama (担当:共著範囲:Chapter 11, An Impact Motion Generation Support Software)
    In-Tech 2010年09月 (ISBN: 9789533070629)
  • Advances in Robot Manipulators
    Tamar Mansour, Atsushi Konno, Masaru Uchiyama (担当:共著範囲:Chapter 24, Vibration Based Control for Flexible Link Manipulator)
    In-Tech 2010年04月 (ISBN: 9789533070902)
  • Mobile Robots Navigation
    Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Masaru Uchiyama (担当:共著範囲:Chapter 11, Navigation Planning with a Human-Like Approach)
    In-Tech 2010年03月
  • Humanoid Robots - Human-like Machines -
    Yasar Ayaz, Khalid Munawar, Mohammad Bilal Malik, Atsushi Konno, Masaru Uchiyama (担当:共著範囲:Chapter 15, A Human-Like Approach to Footstep Planning)
    In-Tech 2007年07月 (ISBN: 9783902613073)
  • Humanoid Robots - New Developments -
    Atsushi Konno, Takaaki Matsumoto, Yu Ishida, Daisuke Sato, Masaru Uchiyama (担当:共著範囲:Chapter 29, Drum Beating and a Martial Art Bojutsu Performed by a Humanoid Robot)
    In-Tech 2007年07月 (ISBN: 9783902613004)
  • 新版ロボット工学ハンドブック
    近野 敦 (担当:共著範囲:第5編「システム化技術」,9.2節「構造設計」,9.3節「制御系設計」)
    コロナ社 2005年06月

講演・口頭発表等

作品等

  • パートナーロボット(中量物)の開発
    2011年 -2012年
  • ロボット行動計画技術,冗長自由度利用技術,力覚制御技術開発の研究開発
    2011年 -2012年
  • Study for production process improvement
    2011年 -2012年
  • パートナーロボット(中量物)の開発
    2011年 -2012年
  • ロボット行動計画技術,冗長自由度利用技術,力覚制御技術開発の研究開発
    2011年 -2012年
  • Study for production process improvement
    2011年 -2012年
  • 双腕ロボットの高速・高精度位置決め制御技術の開発
    2010年 -2012年
  • 双腕ロボットの高速・高精度位置決め制御技術の開発
    2010年 -2012年
  • ロバストに作業を実行するための作業知能モジュール群の開発
    2008年 -2012年
  • ロバストに作業を実行するための作業知能モジュール群の開発
    2008年 -2012年
  • パートナーロボット(中量物)の開発
    2010年 -2011年
  • ロボット行動計画技術,冗長自由度利用技術,力覚制御技術開発の研究開発
    2010年 -2011年
  • 低騒音バックルの開発
    2010年 -2011年
  • Feasibility study for production process improvement
    2010年 -2011年
  • パートナーロボット(中量物)の開発
    2010年 -2011年
  • ロボット行動計画技術,冗長自由度利用技術,力覚制御技術開発の研究開発
    2010年 -2011年
  • 低騒音バックルの開発
    2010年 -2011年
  • Feasibility study for production process improvement
    2010年 -2011年
  • パートナーロボット(中量物)の開発
    2009年 -2010年
  • パラレルロボットに関する研究
    2009年 -2010年
  • ロボット行動計画技術,冗長自由度利用技術,力覚制御技術開発の研究開発
    2009年 -2010年
  • パートナーロボット(中量物)の開発
    2009年 -2010年
  • パラレルロボットに関する研究
    2009年 -2010年
  • ロボット行動計画技術,冗長自由度利用技術,力覚制御技術開発の研究開発
    2009年 -2010年
  • 新製品開発テーマの最適仕様・設計・製造へのご指導並び助言
    2008年 -2010年
  • 新製品開発テーマの最適仕様・設計・製造へのご指導並び助言
    2008年 -2010年
  • パートナーロボット(中量物)の開発
    2008年 -2009年
  • パートナーロボット(中量物)の開発
    2008年 -2009年
  • 自動車生産ラインにおける柔軟物取り付け作業の自動化
    2006年 -2009年
  • 自動車生産ラインにおける柔軟物取り付け作業の自動化
    2006年 -2009年
  • ロバストに作業を実行するための作業知能モジュール群の開発
    2008年 -2008年
  • ロバストに作業を実行するための作業知能モジュール群の開発
    2008年 -2008年
  • French-Japanese research collaboration on cooperative robots
    2007年 -2008年
  • French-Japanese research collaboration on cooperative robots
    2007年 -2008年
  • ヒューマノイドロボットインパクト動作ライブラリーの開発
    2006年 -2008年
  • ヒューマノイドロボットインパクト動作ライブラリーの開発
    2006年 -2008年
  • ヒューマノイド型双腕フレキシブルロボットの制御の研究
    2006年 -2007年
  • ヒューマノイド型双腕フレキシブルロボットの制御の研究
    2006年 -2007年
  • ヒューマノイド型双腕フレキシブルロボットの制御の研究
    2005年 -2006年
  • HRP-2用インパクト動作生成ソフトウェアの研究開発(レンタル・サポート)
    2005年 -2006年
  • 車椅子を安全・確実に固縛する装置の研究開発
    2005年 -2006年
  • ヒューマノイド型双腕フレキシブルロボットの制御の研究
    2005年 -2006年
  • HRP-2用インパクト動作生成ソフトウェアの研究開発(レンタル・サポート)
    2005年 -2006年
  • 車椅子を安全・確実に固縛する装置の研究開発
    2005年 -2006年
  • つま先自由度を持つ二足ロボットの生物規範型歩行
    2004年 -2006年
  • HRP-2用インパクト動作生成ソフトウェアの研究開発
    2004年 -2006年
  • つま先自由度を持つ二足ロボットの生物規範型歩行
    2004年 -2006年
  • HRP-2用インパクト動作生成ソフトウェアの研究開発
    2004年 -2006年
  • 軽量高速ヒューマノイドアームの振動抑制制御に関する研究
    2004年 -2005年
  • ロボットの自律性の高度化に関する研究調査と予備実験
    2004年 -2005年
  • 車椅子を安全・確実に固縛する装置の研究開発
    2004年 -2005年
  • 軽量高速ヒューマノイドアームの振動抑制制御に関する研究
    2004年 -2005年
  • ロボットの自律性の高度化に関する研究調査と予備実験
    2004年 -2005年
  • 車椅子を安全・確実に固縛する装置の研究開発
    2004年 -2005年
  • ヒューマノイドロボットの全身協調力制御
    2003年 -2005年
  • ヒューマノイドロボットの全身協調力制御
    2003年 -2005年
  • 市販のモータに対応する力制御コントローラの研究開発
    2001年 -2003年
  • 市販のモータに対応する力制御コントローラの研究開発
    2001年 -2003年
  • 脚腕協調両手作業基礎理論の開発
    2000年 -2003年
  • 脚腕協調両手作業基礎理論の開発
    2000年 -2003年
  • 人に安全な,木材を利用した内骨格型ロボットアームの研究開発
    1999年 -2001年
  • 人間型ロボットの遠隔操縦に関する研究
    1999年 -2001年
  • 人に安全な,木材を利用した内骨格型ロボットアームの研究開発
    1999年 -2001年
  • 人間型ロボットの遠隔操縦に関する研究
    1999年 -2001年
  • マイクロ・ソフトメカニクス統合体としての高度生体機能機械の研究
    1996年 -2000年
  • マイクロ・ソフトメカニクス統合体としての高度生体機能機械の研究
    1996年 -2000年
  • 視聴覚統合能動制御ロボットヘッド
    1995年 -1996年
  • 視聴覚統合能動制御ロボットヘッド
    1995年 -1996年
  • フレキシブル双腕ロボットの協調制御に関する研究
    1993年 -1994年
  • フレキシブル双腕ロボットの協調制御に関する研究
    1993年 -1994年

その他活動・業績

  • Takashige Abe, Koki Ebina, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Kiyohiko Hotta, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Atsushi Konno, Nobuo Shinohara JOURNAL OF UROLOGY 203 E686 -E686 2020年04月 [査読無し][通常論文]
  • 一人称視点で熟練者の身体動作と視線を追体験可能な没入型看護教育システム ESTE-VR
    小水内 俊介, コリー 紀代, 近野 敦, 金井 理, 浅賀 忠義, 井上 創造, 村田 恵理, 萬井 太規, 高橋 望, 二宮 伸治 日本シミュレーション医療教育学会雑誌 7 118 -118 2019年08月 [査読無し][通常論文]
  • 吸引カテーテル操作に応じた生体反応を呈するプロジェクションマッピングシミュレータ ESTE-SIM
    小水内 俊介, コリー 紀代, 近野 敦, 金井 理, 浅賀 忠義, 高橋 望, 二宮 伸治 日本シミュレーション医療教育学会雑誌 7 118 -119 2019年08月 [査読無し][通常論文]
  • 白井亮輔, 陳暁帥, 佐瀬一弥, 小水内俊介, 辻田哲平, 近野敦 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.1A3‐12 2018年12月 [査読無し][通常論文]
  • 二宮伸治, コリー紀代, 小水内俊介, 近野敦, 金井理, 高橋望, 浅賀忠義 日本シミュレーション医療教育学会雑誌 6 128‐129 2018年09月18日 [査読無し][通常論文]
  • 小水内俊介, 近野敦, 金井理, 二宮伸治, 浅賀忠義, 高橋望, コリー紀代 日本シミュレーション医療教育学会雑誌 6 126 2018年09月18日 [査読無し][通常論文]
  • コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 村田 恵理, 萬井 太規, 二宮 伸治 日本小児呼吸器学会雑誌 29 (Suppl.) 108 -108 2018年08月 [査読無し][通常論文]
  • コリー紀代, 清水弘美, 大塚健, 高橋望, 近野敦, 小水内俊介, 金井理, 二宮伸治, 井上創造, 村田恵理, 萬井太規, 浅賀忠義 医学教育 49 (Suppl.) 205 2018年07月01日 [査読無し][通常論文]
  • 白井亮輔, 陳暁帥, 佐瀬一弥, 辻田哲平, 近野敦 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) 2018 (0) ROMBUNNO.1P2‐E04 -E04 2018年06月 [査読無し][通常論文]
     
    <p>In neurosurgeries, a neuronavigator is useful for improving safety. However, the brain displacement called brain shift is a problem which makes surgical images taken before surgeries inaccurate. In this paper, we describe a method of the real-time visualization of the brain shift using augmented reality (AR) technology and real-time physics simulation.</p>
  • コリー紀代, 玉置美香, 山田真代, 八柳千佳子, 稲村道子, 近野敦, 小水内俊介, 金井理, 二宮伸治, 井上創造, 村田恵理, 萬井太規, 浅賀忠義 小児保健研究(Web) 77 (Suppl) 205 (WEB ONLY) 2018年05月31日 [査読無し][通常論文]
  • コリー 紀代, 玉置 美香, 山田 真代, 八柳 千佳子, 稲村 道子, 近野 敦, 小水内 俊介, 金井 理, 二宮 伸治, 井上 創造, 村田 恵理, 萬井 太規, 浅賀 忠義 小児保健研究 77 (講演集) 205 -205 2018年05月 [査読無し][通常論文]
  • 小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治 日本呼吸療法医学会学術集会プログラム・抄録集 40th 257 2018年 [査読無し][通常論文]
  • 二宮伸治, 小水内俊介, 村田恵理, 近野敦, 金井理, 浅賀忠義, 井上創造, 萬井太規, 高橋望, コリー紀代 日本呼吸療法医学会学術総会プログラム・抄録集 40th 260 2018年 [査読無し][通常論文]
  • コリー紀代, 小水内俊介, 村田恵理, 稲村道子, 玉置美香, 山田真代, 八柳千佳子, 近野敦, 金井理, 浅賀忠義, 井上創造, 萬井太規, 高橋望, 二宮伸治 日本呼吸療法医学会学術総会プログラム・抄録集 40th 258 2018年 [査読無し][通常論文]
  • 小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治 日本呼吸療法医学会学術総会プログラム・抄録集 40th 257 2018年 [査読無し][通常論文]
  • コリー紀代, 清水弘美, 大塚健, 金井理, 近野敦, 二宮伸治, 浅賀忠義, 小水内俊介, 萬井太規, 村田恵理, 高橋望, 井上創造 医工学治療 30 (Supplement) 128 2018年 [査読無し][通常論文]
  • 江間章斗, 佐瀬一弥, 陳暁帥, 紫藤紀行, 辻田哲平, 近野敦 日本ロボット学会学術講演会予稿集(CD-ROM) 35th ROMBUNNO.2J1‐03 2017年09月11日 [査読無し][通常論文]
  • COLLEY Noriyo, 清水弘美, 高橋望, 小水内俊介, 近野敦, 金井理, 二宮伸治, 大塚健, 浅賀忠義 医学教育 48 (Suppl.) 230 2017年08月01日 [査読無し][通常論文]
  • 近野 敦, 佐瀬 一弥, 陳 暁帥 精密工学会誌 = Journal of the Japan Society for Precision Engineering 83 (6) 504 -508 2017年06月 [査読無し][通常論文]
  • 近野 敦, 平田 泰久 計測と制御 56 (5) 381 -382 2017年 [査読無し][通常論文]
  • 近野敦, 佐瀬一弥, 陳暁帥 精密工学会誌 83 (6) 504 -508 2017年 [査読無し][招待有り]
  • 江間章斗, 佐瀬一弥, 陳暁帥, 辻田哲平, 近野敦 日本ロボット学会学術講演会予稿集(CD-ROM) 34th ROMBUNNO.1W1‐08 2016年09月07日 [査読無し][通常論文]
  • 陳暁帥, 佐瀬一弥, 近野敦, 辻田哲平 日本ロボット学会学術講演会予稿集(CD-ROM) 34th ROMBUNNO.1W1‐01 2016年09月07日 [査読無し][通常論文]
  • 術具による脳組織圧排に伴う 損傷を回避する脳深部病変への最適手術経路計画
    福原 洸, 辻田 哲平, 佐瀬 一弥, 近野 敦, 姜 欣, 安孫子 聡子, 内山 勝 第 32 回日本ロボット 学会学術講演会予稿集 3H2-01 2014年09月 [査読無し][通常論文]
  • 佐瀬 一弥, 近野 敦, 辻田 哲平, 福原 洸, 陳 暁帥, 小水内 俊介 ロボティクス・メカトロニクス講演会講演概要集 2014 "3A1 -B03(1)"-"3A1-B03(4)" 2014年05月24日 [査読無し][通常論文]
     
    This paper proposes a stable method for simulating brain tumor resection. During resection, soft tissues deform with local large rotation which is unacceptable with the small deformation theory. Furthermore, fracture simulation requires high computing cost and topology change which leads the simulation unstable. In order to calculate the large rotational deformation, we adopted corotational FEM. In addition, a stable element removal method for fracture simulation is developed. The method handles the singularity of tetrahedral mesh in real-time. Two simple fracture simulations show that these implementations works well. Finally, a brain tumor resection simulation is performed, in which instability is successfully avoided. These facts show that proposed methods are effective for simulating brain tumor resection.
  • 佐瀬 一弥, 近野 敦, 辻田 哲平, 福原 洸, 陳 暁帥, 小水内 俊介 ロボティクス・メカトロニクス講演会講演概要集 2014 "3A1 -B04(1)"-"3A1-B04(4)" 2014年05月24日 [査読無し][通常論文]
     
    This paper proposes a parallelization method for brain tumor resection simulation using General Purpose Graphics Processing Unit (GPGPU). The simulation is performed by using corotational FEM for fracture handling. However, the calculating cost is too high to execute in real-time. The bottlenecks of the simulation are solving linear system of equation and assembly procedure of global stiffness matrix. In order to achieve real-time simulation, we apply the large scale parallelization using GPGPU to the bottlenecks. The proposed method optimizes memory consumptions and calculations by taking account of symmetry property of the stiffness matrices. This paper shows that the proposed method enables the simulation to run in around one and half times faster than the case of multi-core CPU parallelization.
  • Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama ROBOMECH Journal 2014 1 (6) 2014年 [査読無し][通常論文]
  • 脳裂解法シミュレーションのた めの接触判定法の提案
    福原 洸, 辻田 哲平, 佐瀬 一弥, 近野 敦, 姜 欣, 安孫子 聡子, 内山 勝 日本機械学会ロボティクス・メカトロニクス講演会 2013 講演論文集 2A1-L02 2013年05月 [査読無し][通常論文]
  • Atsushi Konno, Koki Kikuchi, Nathan Michael Advanced Robotics 27 (9) 655 2013年 [査読無し][通常論文]
  • 庄司 怜平, 井上 祐人, 陳 暁帥, 中山 雅野, 阿部 幸勇, 姜 欣, 安孫子 聡子, 辻田 哲平, 近野 敦, 内山 勝 ロボティクス・メカトロニクス講演会講演概要集 2012 "2P1 -U04(1)"-"2P1-U04(4)" 2012年05月27日 [査読無し][通常論文]
     
    In this paper, development and evaluation of a haptic device for a brain surgery simulator are presented. The haptic device enables to simulate medical operations with both hands at the area near the tip of two surgical instruments. In this study, a module for micro scissors was developed and evaluated by force display experiment. Furthermore, force display performance of the haptic device was evaluated by push simulation using a cube model of brain tissue. The results clarify the issues of the module and the haptic device.
  • 末藤 伸幸, 高野 健, 今田 行雄, 近野 敦, 内山 勝 日本ロボット学会誌 30 (2) 160 -162 2012年03月15日 [査読無し][通常論文]
  • Nguyen Truong Thanh, Xin Jiang, Satoko Abiko, Teppei Tsujita, Atsushi Konno, Masaru Uchiyama 2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE) 1585 -1590 2012年 [査読無し][通常論文]
     
    In a multi-operator multi-robot (MOMR) teleoperation system, each human operator controls a remote slave robot via a corresponding master interface to jointly perform complex tasks. This paper provides a hardware-in-loop simulation to study collaborative haptic interaction of MOMR teleoperation systems based on decentralized control approach. This approach uses physically-based motion simulation for rendering cooperative virtual manipulation in haptic interfaces. The dynamic behavior including contact force and collision detection is calculated using Open Dynamics Engine and reflected on haptic interface to assist operators to implement cooperative tasks in graphic environment. The result of this study constitutes a significant step forward for distributed haptic collaboration.
  • Fall Avoidance of a Humanoid Robot with Online-stepping Motion
    星野 佑太, 小水内 俊介, 富田 将茂, 安孫子 聡子, 辻田,哲平, 近野 敦, 内山 勝 日本機械学会ロボティクス・メカトロニクス講演会'12 講演論文集 1A2-N02 2012年 [査読無し][通常論文]
  • Development of Real-Time Control System of Humanoid Robot HOAP-2 Based on the Linux Real-Time Preempt and Application by using RT-Components
    富田 将茂, 近野 敦, 辻田 哲平, 安孫子 聡子, 内山 勝 日本機械学会ロボティクス・メカトロニクス講演会'12 講演論文集 1P1-Q02 2012年 [査読無し][通常論文]
  • Evaluation of Real-time Performance of the Blunt Dissection Simulator using a Real Brain Model
    佐瀬 一弥, 中山 雅野, 佐竹 恵和, 安孫子 聡子, 姜 欣, 辻田 哲平, 近野 敦, 内山 勝 日本機械学会ロボティクス・メカトロニクス講演会'12 講演論文集 2P1-U03 2012年 [査読無し][通常論文]
  • MULTI-DEGREE-OF-FREEDOM DYNAMIC WIND-TUNNEL TESTING OF A DELTA WING USING A ROBOTIC MANIPULATOR
    K. Asai, A. Konno, X. Jiang, D. Numata, H. Abe, N. Nakata, T. Hara 28th Congress of the International Council of the Aeronautical Sciences 2012年 [査読無し][通常論文]
  • Biped Walking of a Humanoid Robot on Loose Soil
    Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama 4th GMSI International Symposium, University of Tokyo, Global Center of Excellence for Mechanical Systems Innovation, Tokyo, Japan 2012年 [査読無し][通常論文]
  • Delay Time Compensation of a Hardware in the Loop Simulation Based on Contact Dynamics Model
    Fumihito Sugai, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama Proceedings of Ninth International Conference on Flow Dynamics, Sendai, Japan 600 -601 2012年 [査読無し][通常論文]
  • Design and Hovering Control of an Asterisk Type Quad Rotor Tail-Sitter Unmanned Aerial Vehicle
    Atsushi Oosedo, Atsushi Konno, Satoko Abiko, Masaru Uchiyama Proceedings of Ninth International Conference on Flow Dynamics, Sendai, Japan 668 -669 2012年 [査読無し][通常論文]
  • Hybrid Simulation of Capturing a Massive Payload by Space Manipulators
    Ippei Takahashi, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama Proceedings of Ninth International Conference on Flow Dynamics, Sendai, Japan 674 -675 2012年 [査読無し][通常論文]
  • 陳暁帥, 中山雅野, 辻田哲平, 近野敦, 内山勝 日本ロボット学会学術講演会予稿集(CD-ROM) 29th ROMBUNNO.3C2-3 2011年09月07日 [査読無し][通常論文]
  • Walking Simulation of a Biped Robot on Loose Soil using Footprint Map
    小水内 俊介, 近野 敦, 安孫子 聡子, 内山 勝 日本機械学会ロボティクス・メカトロニクス講演会''11 講演論文集 2P2-I10 2011年 [査読無し][通常論文]
  • Stabilization of Hybrid Motion Simulation of Capturinga a Floating Object by a Dual-Arm Space Robot
    菅井 文仁, 姜 欣, 安孫子 聡子, 近野 敦, 内山 勝 日本機械学会ロボティクス・メカトロニクス講演会''11 講演論文集 1A2-L04 2011年 [査読無し][通常論文]
  • Hybrid simulator of H-II Transfer Vehicle capturing by Space Station Remote Manipulator System
    高橋一平, 姜欣, 安孫子聡子, 阿部幸勇, 近野敦, 内山勝, 中西洋喜, 上野浩史, 小田光茂 日本機械学会ロボティクス・メカトロニクス講演会''11 講演論文集 1A2-L05 2011年 [査読無し][通常論文]
  • Hybrid Motion Simulation of an Aircraft in Wind Tunnel
    中田 伸大, 阿部 弘之, 伊藤 崇文, 近野 敦, 姜 欣, 安孫子 聡子, 内山 勝, 沼田 大樹, 浅井 圭介 第12回SICEシステムインテグレーション部門講演会論文集 2401 -2404 2011年 [査読無し][通常論文]
  • Development of a Wire Harness Assembly Motion Planner
    Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama Journal of Robotics and Mechatronics 2011年 [査読無し][通常論文]
  • Verification of Blunt Dissection Simulation for Brain Surgery
    Masano Nakayama, Xin Jiang, Satoko Abiko, Atsushi Konno, Masaru Uchiyama Proceedings of Eighth International Conference on Flow Dynamics, Sendai, Japan 520 -521 2011年 [査読無し][通常論文]
  • Stabilization of Hardware in the Loop Simulation
    Fumihito Sugai, Xin Jiang, Satoko Abiko, Atsushi Konno, Masaru Uchiyama Proceedings of Eighth International Conference on Flow Dynamics, Sendai, Japan 616 -617 2011年 [査読無し][通常論文]
  • Slip Characteristics Identification for Biped Walking of a Humanoid Robot on Sand
    Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama Proceedings of Eighth International Conference on Flow Dynamics, Sendai, Japan 622 -623 2011年 [査読無し][通常論文]
  • Songgi LEE, Xin JIANG, Koyu ABE, Satoko ABIKO, Atsushi KONNO, Masaru UCHIYAMA Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan 732 -737 2011年 [査読無し][通常論文]
  • Xiaoshuai Chen, Masano Nakayama, Teppei Tsujita, Xin Jiang, Satoko Abiko, Koyu Abe, Atsushi Konno, Masaru Uchiyama Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan 655 -660 2011年 [査読無し][通常論文]
  • Meng-Hung Wu, Atsushi Konno, Masaru Uchiyama Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan 779 -784 2011年 [査読無し][通常論文]
  • Development of a Non-force Closure Grasping Typed Gripper for Handling Heavy Payloads
    李 成基, 姜 欣, 阿部 幸勇, 安孫子 聡子, 近野 敦, 内山 勝 第28回日本ロボット学会学術講演会予稿集 1O2-4 2010年 [査読無し][通常論文]
  • Robust grasping based on end effector vision
    小川 修平, 近野 敦, 安孫子 聡子, 内山 勝 第11回SICEシステムインテグレーション部門講演会論文集 1G2-4 2010年 [査読無し][通常論文]
  • State Estimation for Grasping of a Floating Object by a Teleoperated Space Robot
    高橋一平, 姜欣, 安孫子聡子, 近野敦, 内山勝 第11回SICEシステムインテグレーション部門講演会論文集 3F2-2 2010年 [査読無し][通常論文]
  • Touch-down hybrid simulation for asteroid exploration
    岩川 和晃, 安孫子 聡子, 姜 欣, 近野 敦, 内山 勝 第11回SICEシステムインテグレーション部門講演会論文集 3F2-4 2010年 [査読無し][通常論文]
  • Biped walking of a humanoid robot on sand
    Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama Proceedings of the Sixth International Conference on Flow Dynamics 608 -609 2010年 [査読無し][通常論文]
  • Brain Surgery Simulation using FEM
    Masano Nakayama, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama Proceedings of the Sixth International Conference on Flow Dynamics 612 -613 2010年 [査読無し][通常論文]
  • Stiffness Characteristics of Human Hand in Constrained Motion
    安孫子 聡子, サミュエル オコディ, マクモンド, 姜 欣, 近野 敦, 内山 勝 第10回SICEシステムインテグレーション部門講演会論文集 2O2-7 2009年 [査読無し][通常論文]
  • Brain Surgery Simulation Using Dynamic Deformation Model of Biological Soft Tissue
    山田 健太, 近野 敦, 姜 欣, 安孫子 聡子, 内山 勝 第10回SICEシステムインテグレーション部門講演会論文集 2009年 [査読無し][通常論文]
  • Development of an Industrial Partner Robot to Mitigate Work Load
    李 成基, 富川 正隆, 姜 欣, 阿部 幸勇, 安孫子 聡子, 近野 敦, 内山 勝 第10回SICEシステムインテグレーション部門講演会論文集 2009年 [査読無し][通常論文]
  • Drum Beating and a Martial Art Bojutsu Performed by a Humanoid Robot
    Atsushi Konno, Takaaki Matsumoto, Yu Ishida, Daisuke Sato, Masaru Uchiyama Humanoid Robots, New Developments 521 -530 2007年 [査読無し][通常論文]
  • 小菅一弘, 坪内孝司, 大須賀公一, 正宗賢, 安田隆, 近野敦, 吉見卓, 安藤吉伸 日本機械学会誌 109 (1053) 675-678 2006年08月05日 [査読無し][通常論文]
  • インパクト動作ヒューマノイドロボット「HRP-2」
    内山勝, 近野敦 日本ロボット学会誌 (社)日本ロボット学会 24 (2) 189 -189 2006年 [査読無し][通常論文]
  • 近野敦 豊田研究報告 (58) 103-108 2005年05月30日 [査読無し][通常論文]
  • 近野敦, 内山勝, 妻木勇一, 阿部幸勇 立石科学技術振興財団助成研究成果集 (10) 25-28 2001年09月 [査読無し][通常論文]
  • 電脳空間から物理空間へ
    近野敦 ESTRELA (財)統計情報研究開発センター (86) 12 -17 2001年 [査読無し][通常論文]
  • 近野 敦 日本機械学會誌 102 (966) 1999年05月 [査読無し][通常論文]
  • 内山 勝, 近野 敦 日本ロボット学会誌 16 (7) 921 -923 1998年10月15日 [査読無し][通常論文]
  • Flexible Robot
    Masaru Uchiyama, Atsushi Konno Journal of the Robotic Society of Japan,Robotic Society of Japan 16 (7) 921 -923 1998年 [査読無し][通常論文]
  • 井上博允, 稲葉雅幸, 近野敦, 金広文男 感覚と行動の統合による機械知能の発現機構の研究 平成8年度 91-94 1997年 [査読無し][通常論文]
  • 井上博允, 稲葉雅幸, 岡哲資, 近野敦 第1回重点領域研究「知能ロボット」シンポジウム予稿集 平成7年度 感覚と行動の統合による機械知能の発現機構の研究 57-60 1996年 [査読無し][通常論文]
  • 井上博允, 稲葉雅幸, 岡哲資, 近野敦 感覚と行動の統合による機械知能の発現機構の研究 平成7年度 83-86 1996年 [査読無し][通常論文]

特許

受賞

  • 2021年06月 日本機械学会ロボティクス・メカトロニクス部門 学術業績賞
     
    受賞者: 近野 敦
  • 2020年03月 IEEE CBS2019 Best Conference Paper Finalist
     Vessel Dissection Simulation for Neurosurgery Simulators Considering Subarachnoid Space Structure 
    受賞者: Xiaoshuai Chen, Mio Hashimoto, Kazuya Sase, Teppei Tsujita and Atsushi Konno
  • 2019年03月 計測自動制御学会 SI2018優秀講演賞(3)
     可変ピッチプロペラクアッドチルトロータドローンの性能検証 
    受賞者: 浦岡雅史;小水内俊介;近野敦
  • 2019年03月 計測自動制御学会 SI2018優秀講演賞(2)
     脳神経外科手術支援ブレインシフトAR 表示 
    受賞者: 白井亮輔;陳暁帥;佐瀬一弥;小水内俊介;辻田哲平;近野敦
  • 2019年03月 計測自動制御学会 SI2018優秀講演賞(1)
     生体反応を呈する喀痰吸引シミュレータESTE-SIMのための生体反応モデル(酸素飽和度および心拍数) 
    受賞者: 小水内俊介;コリー紀代;二宮伸治;近野敦
  • 2018年12月 IEEE ROBIO2018 Finalists of Best Conference Paper
     Development of a Surgical Simulator for Training Retraction of Tissue with an Encountered-type Haptic Interface Using MR Fluid 
    受賞者: Teppei Tsujita;Kazuya Sase;Xiaoshuai Chen;Masashige Tomita;Atsushi Konno;Masano Nakayama;Atsuhiro Nakagawa;Koyu Abe;Masaru Uchiyama
  • 2017年12月 計測自動制御学会 SI2017優秀講演賞
     提示力偏向機構を用いた携帯型 6 自由度力覚提示装置の開発 
    受賞者: 奥田悠斗;小水内俊介;近野 敦
  • 2017年12月 計測自動制御学会SI部門 貢献表彰
     SII2016実行委員長として貢献 
    受賞者: 近野 敦
  • 2017年12月 IEEE ROBIO2017 Best Paper in Biomimetics Finalist
     Analysis of Drop Test Using an One-Legged Robot Toward Parachute Landing by a Humanoid Robot 
    受賞者: Teppei Tsujita;Odpurev Altangerel;Satoko Abiko;Atsushi Konno
  • 2017年09月 一般社団法人日本ロボット学会 Advanced Robotics Best Paper Award
     Large Attitude Change Flight of a Quad Tilt Rotor Unmanned Aerial Vehicle 
    受賞者: Atsushi Oosedo;Satoko Abiko;Shota Narasaki;Atsushi Kuno;Atsushi Konno;Masaru Uchiyama
  • 2016年12月 IEEE ROBIO2016 Best Paper in Biomimetics Finalist
     Experimental and Numerical Analysis of Damage Fracture Mechanics of Brain Parenchyma 
    受賞者: Xiaoshuai Chen;Kazuya Sase;Atsushi Konno;Teppei Tsujita
  • 2015年05月 IEEE ICRA Conference Best Paper Award Finalist
     Flight Control Systems of a Quad Tilt Rotor Unmanned Aerial Vehicle for a Large Attitude Change 
    受賞者: Atsushi Oosedo;Satoko Abiko;Shota Narasaki;Atsushi Kuno;Atsushi Konno;Masaru Uchiyama
  • 2014年02月 IEEE Haptics Symposium Best Demo Award Finalist
     Encountered-Type Haptic Interface Using Magneto-Rheological Fluid for Surgical Simulators 
    受賞者: Teppei Tsujita;Takuya Kameyama;Atsushi Konno;Xin Jiang;Satoko Abiko;Masuru Uchiyama
  • 2011年12月 計測自動制御学会 SI2011優秀講演表彰
     塑性変形物体の自動組み立て動作生成 
    受賞者: Kyongmo Koo;近野敦;内山勝;野田哲男
  • 2011年11月 みやぎ産業科学振興基金 みやぎ産業科学振興基金研究奨励賞
     ヒューマノイドロボットの全身動作生成に関する研究 
    受賞者: 近野 敦
  • 2010年12月 SICE SII2010 Best Paper Award Finalist
     Development of a Static Sinkage Model for a Biped Robot on Loose Soil 
    受賞者: Shunsuke Komizunai;Atsushi Konno;Satoko Abiko;Masaru Uchiyama
  • 2010年12月 計測自動制御学会 SI2010優秀講演表彰
     垂直カナード翼を利用した航空ロボットの5自由度飛行シミュレーション 
    受賞者: 呉健太;松本剛明;大瀬戸篤司;増子弘二;近野敦;内山勝
  • 2010年10月 IEEE/RSJ/ICROS IROS Best Application Paper Award Finalist
     Robotized Assembly of a Wire Harness in Car Production Line 
    受賞者: Xin Jiang;Kyong-mo Koo;Kohei Kikuchi;Atsushi Konno;Masaru Uchiyama
  • 2010年 ICROS Best Application Paper Award Finalist
  • 2006年10月 計測自動制御学会 SI2005ベストセッション賞
     ヒューマノイドロボットHRP-2による和太鼓演奏の実現 
    受賞者: 松本剛明;近野敦;伊勢紘人;内海信之介;菊地真;佐藤大祐;阿部幸勇;内山勝
  • 2006年 SI2005ベストセッション講演賞
  • 1999年04月 日本機械学会 奨励賞(研究)
     研究用プラットフォームヒューマノイドロボット「才華」の開発 
    受賞者: 近野 敦
  • 1999年 日本機械学会奨励賞(研究)

共同研究・競争的資金等の研究課題

  • 実時間動力学シミュレーションと複合現実を用いた手術支援システム
    日本学術振興会:科学研究費補助金 基盤研究(A)
    研究期間 : 2018年04月 -2022年03月 
    代表者 : 近野 敦
  • 粒子法-有限要素法連成解析手法の開発補助事業
    公益財団法人JKA:自転車等機械振興事業に関する補助金
    研究期間 : 2018年04月 -2020年03月 
    代表者 : 近野 敦
  • 小型回転翼飛行体の制御性向上に関する研究
    川田テクノロジーズ(株):共同研究
    研究期間 : 2018年04月 -2019年03月 
    代表者 : 近野 敦
  • ドローン状態量推定技術の研究
    川田テクノロジーズ(株):共同研究
    研究期間 : 2017年04月 -2018年03月 
    代表者 : 近野 敦
  • 実時間動力学シミュレーションによる脳外科手術支援システム
    日本学術振興会:科学研究費補助金 基盤研究(A)
    研究期間 : 2015年04月 -2018年03月 
    代表者 : 近野 敦
  • 複数ヒューマノイドロボットによる協調物体搬送
    日本学術振興会:科学研究費補助金 挑戦的萌芽研究
    研究期間 : 2014年04月 -2017年03月 
    代表者 : 近野 敦
  • 力覚触覚提示装置を用いた脳外科手術シミュレータの開発
    日本学術振興会:最先端・次世代研究開発支援プログラム
    研究期間 : 2010年04月 -2014年03月 
    代表者 : 近野 敦
  • 双腕ロボットの高精度位置決め技術の開発
    川田工業(株):共同研究
    研究期間 : 2010年04月 -2013年03月 
    代表者 : 近野 敦
  • ロボット行動計画技術,冗長自由度利用技術,力覚制御技術開発の研究開発
    三菱電機(株):共同研究
    研究期間 : 2009年04月 -2012年03月 
    代表者 : 近野 敦
  • ポータブルテールシッターVTOL無人航空機の開発
    日本学術振興会:科学研究費補助金 挑戦的萌芽研究
    研究期間 : 2009年04月 -2011年03月 
    代表者 : 近野 敦
  • 衝撃力に対するヒューマノイドロボットの転倒回避制御
    日本学術振興会:科学研究費補助金 基盤研究(B)
    研究期間 : 2009年04月 -2011年03月 
    代表者 : 近野 敦
  • ロバストに作業を実行するための作業知能モジュール群の開発
    新エネルギー・産業技術総合開発機構:次世代ロボット知能化技術開発プロジェクト
    研究期間 : 2007年04月 -2011年03月 
    代表者 : 近野 敦
  • Development of a Brain Surgery Simulator
    研究期間 : 2010年
  • ヒューマノイドロボットのインパクトダイナミクス
    日本学術振興会:科学研究費補助金 基盤研究(B)
    研究期間 : 2006年04月 -2008年03月 
    代表者 : 近野 敦
  • ヒューマノイドロボットインパクト動作ライブラリーの開発
    新エネルギー・産業技術総合開発機構:産業技術研究助成事業
    研究期間 : 2005年04月 -2008年03月 
    代表者 : 近野 敦
  • 人間のダイナミック動作の力学的解明とヒューマノイドロボット作業への応用
    日本学術振興会:科学研究費補助金 萌芽研究
    研究期間 : 2005年04月 -2007年03月 
    代表者 : 近野 敦
  • 軽量高速ヒューマノイドアームの振動抑制制御に関する研究
    (株)NTTドコモ:共同研究
    研究期間 : 2004年04月 -2007年03月 
    代表者 : 近野 敦
  • つま先自由度を持つ二足ロボットの生物規範型歩行
    日本学術振興会:日仏交流促進事業共同研究
    研究期間 : 2004年04月 -2006年03月 
    代表者 : 近野 敦
  • 自由度縮退を利用したヒューマノイドロボットの全身協調力制御
    日本学術振興会:科学研究費補助金 若手研究(A)
    研究期間 : 2003年04月 -2006年03月 
    代表者 : 近野 敦
  • ヒューマノイドロボットの全身協調力制御
    財団法人豊田理化学研究所:研究嘱託
    研究期間 : 2003年04月 -2005年03月 
    代表者 : 近野 敦
  • 人間型ロボットの遠隔操縦に関する研究
    立石科学技術振興財団:研究助成
    研究期間 : 1999年04月 -2001年03月 
    代表者 : 近野 敦
  • 人に安全な,木材を利用した内骨格型ロボットアームの研究開発
    財団法人メカトロニクス技術高度化財団:研究助成
    研究期間 : 1999年04月 -2000年03月 
    代表者 : 近野 敦
  • ドライビングインタフェースによる脚型知能ロボットの遠隔操縦
    日本学術振興会:科学研究費補助金 奨励研究(A)
    研究期間 : 1999年04月 -2000年03月 
    代表者 : 近野 敦
  • 人間型ロボットの,見まねによる作業学習・技術習得
    日本学術振興会:科学研究費補助金 奨励研究(A)
    研究期間 : 1998年04月 -1999年03月 
    代表者 : 近野 敦
  • Development of Humanoid Type Intelligent Robot
    研究期間 : 1998年

教育活動情報

主要な担当授業

  • 知能システム特論
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 情報科学研究科
    キーワード : ロボット工学,宇宙ロボット,ヒューマノイドロボット,行動型制御,運動制御の計算理論
  • 知能システム特論
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 情報科学院
    キーワード : ロボット工学,宇宙ロボット,ヒューマノイドロボット,行動型制御,運動制御の計算理論
  • 知能システム特論
    開講年度 : 2019年
    課程区分 : 博士後期課程
    開講学部 : 情報科学研究科
    キーワード : ロボット工学,宇宙ロボット,ヒューマノイドロボット,行動型制御,運動制御の計算理論
  • 知能システム特論
    開講年度 : 2019年
    課程区分 : 博士後期課程
    開講学部 : 情報科学院
    キーワード : ロボット工学,宇宙ロボット,ヒューマノイドロボット,行動型制御,運動制御の計算理論
  • 英語演習
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 全学教育
    キーワード : 先端テクノロジー,ロボット,OS,通信ネットワーク,火星探査,電動飛行機
  • 力学基礎
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : 運動方程式,運動量,力学的エネルギー,解析力学,剛体の運動
  • 情報学Ⅰ
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 全学教育
    キーワード : 情報活用,情報社会,情報科学
  • 空間フィールド情報学
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : コンピュータネットワーク,プロトコル階層

大学運営

学内役職歴

  • 2020年4月1日 - 2022年3月31日 大学院情報科学研究院副研究院長

委員歴

  • 2021年06月 - 現在   日本IFToMM会議   実行委員会副委員長
  • 2013年04月 - 現在   日本ロボット学会   北海道ロボット技術研究専門委員会委員長
  • 2019年01月 - 2020年12月   計測自動制御学会北海道支部   支部長
  • 2018年04月 - 2020年03月   計測自動制御学会   学会賞委員会委員
  • 2017年01月 - 2018年12月   計測自動制御学会北海道支部   副支部長
  • 2016年09月 - 2017年03月   日本機械学会   日本機械学会賞委員会
  • 2015年04月 - 2016年03月   日本機械学会ロボティクス・メカトロニクス部門   第93期表彰委員
  • 2014年04月 - 2015年03月   日本機械学会ロボティクス・メカトロニクス部門   第92期表彰委員
  • 2013年04月 - 2014年03月   日本機械学会ロボティクス・メカトロニクス部門   第91期代議員
  • 2012年04月 - 2012年07月   日本ロボット学会   第26回論文賞選考委員
  • 2011年04月 - 2012年03月   日本機械学会ロボティクス・メカトロニクス部門   第89期表彰委員
  • 2010年04月 - 2011年03月   日本機械学会機械力学・計測部門   第88期運営委員   日本機械学会機械力学・計測部門
  • 2010年04月 - 2011年03月   日本機械学会ロボティクス・メカトロニクス部門   第88期表彰委員   日本機械学会ロボティクス・メカトロニクス部門
  • 2009年04月 - 2011年03月   日本ロボット学会   評議委員   日本ロボット学会
  • 2006年01月 - 2011年03月   計測自動制御学会東北支部   運営専門委員   計測自動制御学会東北支部
  • 2008年12月 - 2009年09月   日本ロボット学会第24回研究奨励賞選考委員会   幹事   日本ロボット学会第24回研究奨励賞選考委員会
  • 2008年04月 - 2009年03月   日本ロボット学会 事業計画委員会   委員長   日本ロボット学会 事業計画委員会
  • 2008年04月 - 2009年03月   日本ロボット学会 出版委員会   委員長   日本ロボット学会 出版委員会
  • 2008年04月 - 2009年03月   日本ロボット学会 学術講演会管理推進委員会   幹事   日本ロボット学会 学術講演会管理推進委員会
  • 2007年04月 - 2009年03月   日本ロボット学会   事業担当理事   日本ロボット学会
  • 2007年12月 - 2008年09月   日本ロボット学会 第23回研究奨励賞選考委員会   幹事   日本ロボット学会 第23回研究奨励賞選考委員会
  • 2007年04月 - 2008年03月   日本ロボット学会事   業計画委員会副委員長   日本ロボット学会事
  • 2007年04月 - 2008年03月   日本機械学会   第85期情報・知能・精密機器部門代議員   日本機械学会
  • 2003年04月 - 2007年03月   日本航空宇宙学会   北部支部幹事   日本航空宇宙学会
  • 2003年01月 - 2005年12月   IEEE Robotics and Automation Society   Japan Chapter Secretary   IEEE Robotics and Automation Society
  • 2004年04月 - 2005年03月   日本機械学会ロボティクス・メカトロニクス部門   第二地区副委員長   日本機械学会
  • 2003年 - 2005年   計測自動制御学会   東北支部事業幹事   計測自動制御学会
  • 2003年12月 - 2004年03月   日本ロボット学会   第19回研究奨励賞選考委員   日本ロボット学会
  • 2003年04月 - 2004年03月   日本機械学会   メカライフ編集委員   日本機械学会
  • 2000年10月 - 2003年12月   計測自動制御学会   東北支部広報幹事   計測自動制御学会
  • 2003年04月 - 2003年07月   日本ロボット学会   第17回論文賞選考委員   日本ロボット学会
  • 2003年04月 - 2003年07月   日本ロボット学会   第18回研究奨励賞選考委員   日本ロボット学会
  • 2001年03月 - 2003年03月   日本ロボット学会   評議員   日本ロボット学会
  • 1999年04月 - 2001年03月   日本ロボット学会   会誌編集委員会委員   日本ロボット学会
  • 1999年04月 - 2001年03月   日本ロボット学会   論文査読小委員会委員   日本ロボット学会
  • 1998年04月 - 2001年03月   日本機械学会   ロボティクス・メカトロニクス部門第二地区幹事   日本機械学会
  • 1999年01月 - 1999年12月   計測自動制御学会   東北支部運営専門委員   計測自動制御学会
  • 日本ロボット学会   出版委員会副委員長   日本ロボット学会
  • 日本ロボット学会 著作権管理委員会   委員   日本ロボット学会 著作権管理委員会


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