Skill Reproduction and Motion Feature Extraction Based on Haptic Information

• Project/Area Number: 16H04311
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Saitama University
• Principal Investigator: TSUJI Toshiaki 埼玉大学, 理工学研究科, 准教授 (60434031)
• Research Collaborator: Kubota Keisuke ; Okawara Hiroshi
• Project Period (FY): 2016-04-01 – 2019-03-31
• Project Status: Completed (Fiscal Year 2018)
• Budget Amount: ¥15,470,000 (Direct Cost: ¥11,900,000、Indirect Cost: ¥3,570,000); Fiscal Year 2018: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000); Fiscal Year 2017: ¥7,670,000 (Direct Cost: ¥5,900,000、Indirect Cost: ¥1,770,000); Fiscal Year 2016: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
• Keywords: 運動制御 / 機械学習 / 運動技能 / 力制御 / 技能運動 / マニピュレーション / 電気機器 / 制御工学 / モーションコントロール / 電気機器学

Outline of Final Research Achievements

This project aimed at develping a motion control technique for dexterous manipulation. Since dexterous manipulation needs to solve the trajectory planning under physical constraints, a neural network system learning from database generated by simulation based on model predictive control was developed. The experimental demonstration of a pancake flapping motion shows that the proposed method solves the trajectory planning issue under kinodynamic constraints. It was also shown that the proposed method shows a high generalization performance. An algorithm to identify success/failure of the motion was added to improve the learning performance of the system.

Academic Significance and Societal Importance of the Research Achievements

本研究課題は、ロボットがモデル予測制御に基づくシミュレーション結果の集積により、力学的制約を持つ動作を自律的に取得できるようになることを実証している。また、お好み焼きをひっくり返すという動作は強度の力学的制約を持つことから、高度な運動技能を持つロボットにも本理論を適用できることが示されている。ロボットによる高次技能運動の実現は自動化技術を発展させるうえで欠かせない目標であり、本研究成果はその核となる課題を解決していることから、その学術的・社会的意義は大きい。

Research Products

• [Journal Article] Linear Logistic Regression for Estimation of Lower Limb Muscle Activations (2019)
  • Author(s): Masashi Sekiya, Sho Sakaino, and Toshiaki Tsuji
  • Journal Title: IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING Volume: 27 Issue: 3 Pages: 523-532
  • DOI: 10.1109/tnsre.2019.2898207
  • Peer Reviewed / Open Access
• [Journal Article] Sequence-to-Sequence Model for Trajectory Planning of Nonprehensile Manipulation Including Contact Model (2018)
  • Author(s): Kyo Kutsuzawa , Sho Sakaino , and Toshiaki Tsuji
  • Journal Title: IEEE ROBOTICS AND AUTOMATION LETTERS Volume: 3 Issue: 4 Pages: 3606-3613
  • DOI: 10.1109/lra.2018.2854958
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] Optimized Trajectory Generation based on Model Predictive Control for Turning Over Pancakes (2018)
  • Author(s): Toshiaki Tsuji, Kyo Kutsuzawa, Sho Sakaino
  • Journal Title: IEEJ Journal of Industry Applications Volume: 7 Issue: 1 Pages: 22-28
  • DOI: 10.1541/ieejjia.7.22
  • NAID: 130006301752
  • ISSN: 2187-1094, 2187-1108
  • Peer Reviewed / Open Access
• [Journal Article] Acceleration Control for Dynamic Manipulation of a Robot Turning Over Objects (2017)
  • Author(s): Tsuji Toshiaki、Kutsuzawa Kyo、Sakaino Sho
  • Journal Title: IEEE Robotics and Automation Letters Volume: 2 Pages: 2328-2335
  • DOI: 10.1109/lra.2017.2720848
  • Peer Reviewed
• [Journal Article] “A Control System for a Tool Use Robot: Drawing a Circle by Bringing Out Functions of a Compass, ” (2017)
  • Author(s): K. Kutsuzawa, S. Sakaino, T. Tsuji:
  • Journal Title: Journal of Robotics and Mechatronics Volume: 29 Pages: 395-404
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Contact Point Calculation on a Haptic Interface Utilizing Differentiated Force (2017)
  • Author(s): H. Kitamura, S. Sakaino, T. Tsuji:
  • Journal Title: IEEJ Journal of Industry Applications Volume: 6 Issue: 2 Pages: 151-159
  • DOI: 10.1541/ieejjia.6.151
  • NAID: 130005402043
  • ISSN: 2187-1094, 2187-1108
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] “Intrinsic Contact Sensing for Touch Interface with Movable Structure, ” (2016)
  • Author(s): T. Tsuji, T. Seki, S. Sakaino:
  • Journal Title: IEEE Trans. on Industrial Electronics Volume: 64 Issue: 9 Pages: 1-6
  • DOI: 10.1109/tie.2016.2633232
  • Peer Reviewed / Acknowledgement Compliant
• [Presentation] High Backdrivability Control Based on Estimation of Shaft Torsion Using Load Side Angle Sensor (2018)
  • Author(s): M. Kawazawa
  • Organizer: The 44th International Conference on Industrial Electronics
  • Int'l Joint Research
• [Presentation] R/Cサーボモータの軸ねじれの推定に基づく高 バックドライバビリティ制御 (2018)
  • Author(s): 川澤優大
  • Organizer: ロボティクス・メカトロニクス講演会
• [Presentation] Sequence-to-Sequence Model forTrajectory Planning of Nonprehensile Manipulation Including Contact Model (2018)
  • Author(s): K.Kutsuzawa
  • Organizer: The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2018)
  • Int'l Joint Research
• [Presentation] Hysteresis Compensation in Force/Torque Sensor based on Machine Learning (2018)
  • Author(s): R. Koike
  • Organizer: The 44th International Conference on Industrial Electronics, Control and Instrumentation(IECON2018)
  • Int'l Joint Research
• [Presentation] Desktop upper limb rehabilitation robot using omnidirectional drive gear (2018)
  • Author(s): Y. Okubo
  • Organizer: 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics
  • Int'l Joint Research
• [Presentation] LSTM learning of inverse dynamics with contact in various environments (2018)
  • Author(s): D. Furuta
  • Organizer: 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics
  • Int'l Joint Research
• [Presentation] 訓練済み軌道生成モデルを用いた新たな動作 目標への軌道最適化 (2018)
  • Author(s): 沓澤 京
  • Organizer: 日本ロボット学会学術講演会
• [Presentation] High dynamic range sensing by a multistage six-axis force sensor with stopper mechanism (2018)
  • Author(s): D. Okumura, S. Sakaino, and T. Tsuji
  • Organizer: IEEE International Conference on Robotics and Automation (ICRA2018)
  • Int'l Joint Research
• [Presentation] Deformation of Contact Motion by Neural Networks to Adapt for Various Environment Change (2018)
  • Author(s): K. Kutsuzawa, S. Sakaino, and T. Tsuji
  • Organizer: The 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2018)
  • Int'l Joint Research
• [Presentation] Trajectory planning by variable length chunk of sequence-to-sequence using hierarchical decoder (2018)
  • Author(s): T. Okamoto, K. Kutsuzawa, S. Sakaino, and T, Tsuji
  • Organizer: The 15th International Workshop on Advanced Motion Control
  • Int'l Joint Research
• [Presentation] Development of a multistage six-axis force sensor with a high dynamic range (2017)
  • Author(s): D. Okumura, S. Sakaino, and T. Tsuji
  • Organizer: The 26th IEEE International Symposium on Industrial Electronics(ISIE 2017).
  • Int'l Joint Research
• [Presentation] Sequence-to-Sequence Models forTrajectory Deformation of Dynamic Manipulation (2017)
  • Author(s): K. Kutsuzawa, S. Sakaino, and T. Tsuji
  • Organizer: The 43rd Annual Conference of the IEEE Industrial Electronics Society, pp.5227-5232
  • Int'l Joint Research
• [Presentation] Model predictive control based deep neural network for dynamic manipulation (2017)
  • Author(s): D. Furuta, K. Kutsuzawa, T. Okamoto, S. Sakaino, and T. Tsuji
  • Organizer: The 43rd Annual Conference of the IEEE Industrial Electronics Society, pp. 5215-5220
  • Int'l Joint Research
• [Presentation] 動力学拘束を考慮したモデル予測制御のディープニューラルネットワーク学習 (2017)
  • Author(s): 古田大地, 沓澤京, 岡本哲学, 境野翔, 辻俊明
  • Organizer: ロボティクス・メカトロニクス講演会2017, 1P10-I12
• [Presentation] Contact Point Estimation in Tactile Interface Using Particle Filter (2017)
  • Author(s): R. Koike, S. Sakaino, and T. Tsuji
  • Organizer: The 43rd Annual Conference of the IEEE Industrial Electronics Society, pp. 8267-8272
  • Int'l Joint Research
• [Presentation] “Estimation of individual force at three contact points on an end-effector by a six-axis force/torque sensor, ” (2016)
  • Author(s): K. Kutsuzawa, S. Sakaino, T. Tsuji:
  • Organizer: The 42th International Conference on Industrial Electronics, Control and Instrumentation
  • Place of Presentation: フィレンツェ（イタリア）
  • Year and Date: 2016-10-24
  • Int'l Joint Research
• [Presentation] “Development of a desk-type tactile interface using force sensors and an acceleration sensor, ” (2016)
  • Author(s): N. Totsu, S. Sakaino, T. Tsuji:
  • Organizer: The 42th International Conference on Industrial Electronics, Control and Instrumentation
  • Place of Presentation: フィレンツェ（イタリア）
  • Year and Date: 2016-10-24
  • Int'l Joint Research
• [Presentation] “Force control of a jumping musculoskeletal robot with pneumatic artificial muscles, ” (2016)
  • Author(s): T. Kaneko, M. Sekiya, K. Ogata, S. Sakaino, T. Tsuji:
  • Organizer: The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2016), pp. 5813-5818
  • Place of Presentation: デジョン（韓国）
  • Year and Date: 2016-10-10
  • Int'l Joint Research
• [Remarks] Research
  • URL: http://robotics.ees.saitama-u.ac.jp/research.html