Search results for: Koichi Osuka

Items from 1 to 20 out of 50 results

article

Analysis of push-forward model for swarm-like collective motions

Yuichiro Sueoka, Yuto Sato, Makihiko Ishitani, Koichi Osuka

Artificial Life and Robotics > 2019 > 24 > 4 > 460-470

A system that operates as a whole through interactions between its constituent individuals, each of which operates autonomously, is called an autonomous decentralized system. This type of system is increasingly attracting attention in the fields of biology and engineering as a system that flexibly adapts to changes in external environments. In this paper, a push-forward model is proposed as a simple...

article

Manipulation of the entire group navigation based on dynamic goal-preference switching

Yuichiro Sueoka, Yusuke Tsunoda, Koichi Osuka

Artificial Life and Robotics > 2019 > 24 > 1 > 88-93

In this paper, we propose a brand-new navigation strategy for artificial creatures, such as autonomous mobile robots. The novelty of our proposed method is in group decision-making, based on majority consensus and dynamic switching of individual goal-preferences. First, we introduce a group model with three subpopulations: one subgroup is designed to have the preference of one goal, and the second...

chapter

Myriapod robot i-CentiPot via passive dynamics — Emergence of various locomotions for foot movement

Tetsuya Kinugasa, Naoki Miyamoto, Koichi Osuka, Ryota Hayashi, more

2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) > 7 - 9

2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)

The purpose of the research is to develop a myriapod robot i-CentiPot ??? that achieves significant mobility against unpredictable environment via passive dynamics. In the paper, we change foot phase, and observe locomotion. We also consider about the analogy between i-CentiPot ??? and some myriapoda.

chapter

Mechanisms of ultra-high speed movement in the trap jaw ant

Hitoshi Aonuma, Koichi Osuka, Kyohsuke Ohkawara

2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) > 15 - 18

2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)

The ant Ondontomuchus kuroiwae has a trap jaw that snaps quickly to capture a prey. The ant opens the trap jaw, locks it and closes quickly if it detects a prey using a sensory hair on the jaw. We here analyze 3-dimensional structure of the trap jaw muscles by using a micro volume imaging with an X-ray micro-computed tomography (micro-CT) to elucidate the mechanism of the exoskeletal muscular system...

article

Development of a small and lightweight myriapod robot using passive dynamics

Tetsuya Kinugasa, Koichi Osuka, Ryota Hayashi, Naoki Miyamoto, more

Artificial Life and Robotics > 2017 > 22 > 4 > 429-434

Typical myriapod robots were originally large and heavy for actuating numerous joints. Therefore, it is difficult for these robots to synthesise aspects of intelligence, such as adaptability of Myriapoda. The aim of this study is to develop a light, simple, and adaptive myriapod robot by implementing passive dynamics. In the paper, we develop a prototype of the myriapod robot, the i-CentiPot P (implicit...

chapter

Adaptive control of nonlinear mechanical systems

Koichi Osuka

Lecture Notes in Control and Information Sciences > Adaptive Control Strategies for Industrial Use > 261-277

In this paper, we show a design method of model reference adaptive control system for nonlinear mechanical systems using the special features of the mechanical system, without using any linearizations or approximations. The proposed MRACS assures the global asymptotic stability and the boundedness of internal signals of the whole system. Furthermore, to illustrate the effectiveness of the proposed...

chapter

Robust control of nonlinear mechanical systems — Case Studies —

Koichi Osuka

Lecture Notes in Control and Information Sciences > Robust Control > 130-137

In this paper, we showed some case studies of robust control of mechanical systems. In this paper, dividing the uncertainties in the dynamical model of robot systems into two cases, that is (i) Structured Uncertainty and (ii) Unstructured Uncertainty, and then we showed control strategy which suited for each case through some experiments. We can say that the next step in the field of robot...

chapter

Design Guidelines for Human Interface for Rescue Robots

Yasuyoshi Yokokohji, Takashi Tsubouchi, Akichika Tanaka, Tomoaki Yoshida, more

Rescue Robotics > 131-144

In this chapter, we summarize the findings and knowhow in the individual developments of rescue robots and attempt to establish design guidelines for the human interface for rescue robots. The guidelines for image display were established on the basis of some case studies in the DDT project and RoboCupRescue. Since the established guidelines are general and independent of the purpose of a robot, we...

chapter

In-Rubble Robot System for USAR Under Debris

Koichi Osuka, Tomoharu Doi, Satoshi Tadokoro, Naoji Shiroma, more

Rescue Robotics > 71-103

This paper introduces the activities of the In-Rubble Robot System Mission Unit during the DDT project. The objective of the mission unit (MU) was to develop effective systems that can search for victims under debris. The main activities of the MU were as follows: (1) developing advanced search system based on IRS Souryu; (2) developing advanced tools such as jack robot, cutter robot, intelligent...

chapter

An Overview of the DDT Project

Satoshi Tadokoro, Fumitoshi Matsuno, Hajime Asama, Masahiko Onosato, more

Rescue Robotics > 17-31

The DDT Project on rescue robots and related technologies was carried out in Japan’s fiscal years 2002–2006 by nationwide researchers, and was organized by International Rescue System Institute. The objective of this project was to develop practical technologies related to robotics as a countermeasure against earthquake disasters, and include robots, intelligent sensors, information equipment, and...

chapter

Demonstration Experiments on Rescue Search Robots and On-Scenario Training in Practical Field with First Responders

Takashi Tsubouchi, Koichi Osuka, Fumitoshi Matsuno, Hajime Asama, more

Rescue Robotics > 161-174

This chapter presents a process of making connections between researchers who develop rescue search devices and first responders, and presents scenario training experiments utilizing the devices operated by the responders. The development of the rescue search devices is aimed at practical deployment in the future so that the development researchers must have taken a pragmatic approach. It was crucial...

chapter

On-Rubble Robot Systems for the DDT Project

Fumitoshi Matsuno, Takashi Tsubouchi, Shigeo Hirose, Iwaki Akiyama, more

Rescue Robotics > 105-129

Intelligent rescue systems with advanced information and robot technology have been expected to mitigate disaster damage, particularly in Japan after the 1995 Hanshin-Awaji Earthquake. It is important that the robots developed for search and rescue tasks can actually work at a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building...

chapter

Tripedal walking robot with fixed coxa driven by radially stretchable legs

Kentaro Oki, Masato Ishikawa, Yu Li, Naoto Yasutani, more

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 5162 - 5167

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

In this paper, we propose a new kind of tripedal locomotion—namely, robotic walking with three legs. We develop a prototype robot, which we call Martian III, having three stretchable legs fixed to each other at the center of the body. Therefore the coxa (the hip joint) is completely fixed in this robot, and the only control we have are the linear actuators to stretch the three legs in the radial directions...

chapter

Cooperative control for multi-agent systems in microgrid distributed generation

Frank L. Lewis, Hongnian Yu, Koichi Osuka, Xinkai Chen

Proceedings of the 2014 International Conference on Advanced Mechatronic Systems > 1 - 5

2014 International Conference on Advanced Mechatronic Systems (ICAMechS)

With aging power distribution systems and new opportunities for renewable energy generation, the smart grid and microgrid are becoming increasingly important. Microgrid allows the addition of local loads and local distributed generation (DG) including wind power, solar, hydroelectric, fuel cells, and micro-turbines. Microgrid holds out the hope of scalable growth in power distribution systems by distributed...

article

Measurement System for Flexed Shape of Flexibly Articulated Mobile Track

Tetsuya Kinugasa, Tetsuya Akagi, Takafumi Haji, Koji Yoshida, more

Journal of Intelligent & Robotic Systems > 2014 > 75 > 1 > 87-100

This paper proposes and validates a system for measuring the flexed posture of the flexible mono-tread mobile track (FMT) using a flexible displacement sensor (FDS). The FMT proposed previously has a single track and vertebral structure. The flexed posture of the FMT determines its turning radius and direction; thus, knowing its posture is important. However, it is impossible to measure the shape...

chapter

On discrete-valued modeling of nonholonomic mobile robot systems

Takuto Kita, Masato Ishikawa, Koichi Osuka

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) > 2024 - 2031

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

In this paper, we pursuit possibility of discrete-valued version of nonholonomic mobile robot systems. Instead of the special Euclidean space SE(2), we suppose the hexagonal cellular space as the field of planar locomotion. We then consider discrete equivalent of wheeled mobile robot governed by nonholonomic kinematic constraints, which is defined by discrete-valued difference equations rather than...

chapter

Analysis of implicit control structure in object clustering phenomena

Yuichiro Sueoka, Yasuhiro Sugimoto, Masato Ishikawa, Koichi Osuka, more

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) > 2120 - 2125

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Living things exhibit adaptive and supple locomotion under the real world characterized by rapid changes, high uncertainty, and limited availability of information. But the systematic design of the behavior of living things like ants or bees (e.g. constructing very big and complicated nests) whose brains have very tiny memory abilities, has not been well established. In recent research, this design...

chapter

Discrete analysis of obstacle clustering by distributed robots

Yuichiro Sueoka, Takuto Kita, Masato Ishikawa, Yasuhiro Sugimoto, more

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) > 1881 - 1886

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

In this paper, we discuss some phenomena of obstacle clustering by distributed autonomous robots, in the light of space-discretization (or cellular automata) approach. This work was motivated by Swiss Robots which collect scattered obstacles into some clusters without any global information nor intelligent concentrated controller. In order to evaluate these phenomena from quantitative and statistical...

chapter

Self-stabilizing function of two dimensional human lower limb musculoskeletal system

Handdeut Chang, Yasuhiro Sugimoto, Koichi Osuka, Yoshiyuki Sankai

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) > 390 - 395

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Recently, the importance of musculoskeletal system's self-stability for its movements has been focused. Self-stability of a system is defined as the ability of a system to return to its original state after a disturbance by its own quality without any controls. In this study, with a Lyapunov function, we analytically derive the sufficient condition which gives self-stabilizing function to the 2-dimensional...

chapter

Study on a practical robotic follower to support Home Oxygen Therapy patients — Prototype cart development applying the inverted pendulum control

Masatsugu Iribe, Ryoichi Dasai, Gen Endo, Toshio Takubo, more

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) > 1230 - 1235

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

We have proposed a practical power assist robotic cart, which we call ‘Robotic Follower’, to support daily lives of the patients undergoing Home Oxygen Therapy (HOT). And to achieve the purpose, we have developed several types of Robotic Follower. In this paper, we describe our newly developed Robotic Follower with which the inverted pendulum control technology is applied to control Robotic Follower,...

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INFONA - science communication portal

Search results for: Koichi Osuka

Analysis of push-forward model for swarm-like collective motions

Manipulation of the entire group navigation based on dynamic goal-preference switching

Myriapod robot i-CentiPot via passive dynamics — Emergence of various locomotions for foot movement

Mechanisms of ultra-high speed movement in the trap jaw ant

Development of a small and lightweight myriapod robot using passive dynamics

Adaptive control of nonlinear mechanical systems

Robust control of nonlinear mechanical systems — Case Studies —

Design Guidelines for Human Interface for Rescue Robots

In-Rubble Robot System for USAR Under Debris

An Overview of the DDT Project

Demonstration Experiments on Rescue Search Robots and On-Scenario Training in Practical Field with First Responders

On-Rubble Robot Systems for the DDT Project

Tripedal walking robot with fixed coxa driven by radially stretchable legs

Cooperative control for multi-agent systems in microgrid distributed generation

Measurement System for Flexed Shape of Flexibly Articulated Mobile Track

On discrete-valued modeling of nonholonomic mobile robot systems

Analysis of implicit control structure in object clustering phenomena

Discrete analysis of obstacle clustering by distributed robots

Self-stabilizing function of two dimensional human lower limb musculoskeletal system

Study on a practical robotic follower to support Home Oxygen Therapy patients — Prototype cart development applying the inverted pendulum control

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