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2007 Fiscal Year Final Research Report Summary

Study on Dynamics based Intelligence of Hyper-redundant Mechanical Systems with Variable Constraints

Research Project

Project/Area Number 17360105
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionThe University of Electro-Communications

Principal Investigator

MATSUNO Fumitoshi  The University of Electro-Communications, Faculty of Electro-Communications, Professor (00190489)

Co-Investigator(Kenkyū-buntansha) FUKUSHIMA Hiroaki  The University of Electro-Communications, Faculty of Electro-Communications, Assistant Professor (40377015)
Project Period (FY) 2005 – 2007
KeywordsHyper-redundant Systems / Flexible Mechanical Systems / Dynamic based Control / Dynamics based Intelligence / Nonholonomic Constraint / Infinite dimensional systems / Learning Algorithm / Snake-like Robot
Research Abstract

We have extended the concept of "Dynamic based Control" of the nonlinear system to the nonholonomic hyperredundant systems. We have proposed the reinforcement learning algorithm for the hyperredundant systems based on the dynamics based control.
The results obtained in the research are as follows:
1. Derivation of dynamic model of hyperredundant systems with nonholonomic constraints
2. Construction of model based control law for hyperredundant systems with nonholonomic constraints and experimental demonstration of effectiveness of the proposed control law
3. Construction of dynamics based control law for infinite dimensional systems and experimental demonstration of effectiveness of the proposed control law for flexible mechanical systems
4. Design of the reinforcement learning algorithm for the hyperredundant systems based on the dynamics based control
5. Experimental demonstration of effectiveness of the proposed reinforcement learning method by using a redundant snake-like robot

  • Research Products

    (56 results)

All 2007 2006 2005 Other

All Journal Article (21 results) Presentation (35 results)

  • [Journal Article] Neuro-Fuzzy State Modeling Flexible Robotic Arm Employing Dynamically Varying Cognitive and Social Componet Based PSO2007

    • Author(s)
      Amitava, Chatterjee, Ranajit, Chatterjee, Fumitoshi, Matsuno, Takahiro, Endo
    • Journal Title

      Measurement Vol. 40, No. 6

      Pages: 628-643

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] A Neuro-Fuzzy assisted Extended Kalman Filter based approach for Simultaneous Localization and Mapping (SLAM) Problems2007

    • Author(s)
      Amitava, Chatterjee, Fumitoshi, Matsuno
    • Journal Title

      IEEE Transactions on Fuzzy Systems Vol. 15, No. 5

      Pages: 984-997

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] 動力学モデルに基づく蛇型ロボットの軌道追従制御2006

    • Author(s)
      佐藤博毅, 田中基康, 松野文俊
    • Journal Title

      計測自動制御学会論文誌 42-6

      Pages: 651-658

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] 衝突回避を考慮した複数移動体のモデル予測編隊制御2006

    • Author(s)
      根和幸, 福島宏明, 松野文俊
    • Journal Title

      計測自動制御学会論文集 42-8

      Pages: 877-883

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Neuro-Fuzzy State Modeling Flexible Robotic Arm Employing Dynamically Varying Cognitive and Social Componet Based PSO2006

    • Author(s)
      Amitava Chatterjee, Ranajit Chatterjee, Fumitoshi Matsuno, and Takahiro Endo
    • Journal Title

      Measurement 40-6

      Pages: 628-643

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] ねじ推進ヘビ型ロボットのモデリングと制御2006

    • Author(s)
      里村章悟, 原正哉, 福島宏明, 亀川哲志, 五十嵐広希, 松野文俊
    • Journal Title

      日本ロボット学会誌 25-5

      Pages: 779-784

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] A Neuro-Fuzzy assisted Extended Kalman Filter based approach for Simultaneous Localization and Mapping(SLAM)Problems2006

    • Author(s)
      Amitava Chatterjee and Fumito shi Matsuno
    • Journal Title

      IEEE Transactions on Fuzzy Systems 15-5

      Pages: 984-997

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] 衝突回避問題に適合した分枝限定法に基づく複数移動体の編隊制御2006

    • Author(s)
      根和幸, 福島宏明, 松野文俊
    • Journal Title

      計測自動制御学会論文集 44-1

      Pages: 36-43

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] 非ホロノミック機械システムの制御2006

    • Author(s)
      松野文俊, 田中基康
    • Journal Title

      計測と制御 45-7

      Pages: 626-631

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] 2リンク柔軟アームに対するPDS制御器の局所漸近安定性2005

    • Author(s)
      遠藤孝浩, 松野文俊
    • Journal Title

      計測自動制御学会論文誌 41-3

      Pages: 226-233

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] 1リンク柔軟マニピュレータの力制御問題と指数安定化2005

    • Author(s)
      遠藤孝浩, 松野文俊
    • Journal Title

      計測自動制御学会論文誌 41-5

      Pages: 452-459

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] 超冗長系の状態空間分割による学習の効率化2005

    • Author(s)
      木下健太, 伊藤一之, 松野文俊
    • Journal Title

      システム制御情報学会 18-6

      Pages: 193-202

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Boundary control of translating tensioned beam with varying speed2005

    • Author(s)
      Kyung-Jinn Yang, Keum-Shik Hong and Fumitoshi Matsuno
    • Journal Title

      IEEE/ASME Transactions on Mechatronics 10-5

      Pages: 594-597

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Robust Boundary Control of an Axially Moving String by Using a PR Transfer Function2005

    • Author(s)
      Kyung-Jinn Yang, Keum-Shik Hong and Fumitoshi Matsuno
    • Journal Title

      IEEE Transactions on Automatic Control 50-12

      Pages: 2053-2058

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Energy-Based Control of Translating Beams: Varying Tension, Varying Speed, and Disturbance Adaptation2005

    • Author(s)
      Kyung-Jinn Yang, Keum-Shik Hong and Fumitoshi Matsuno
    • Journal Title

      IEEE Transactions on Control Systems Technology 13-6

      Pages: 1045-1054

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] 2台のヘビ型ロボットの協調制御2005

    • Author(s)
      田中基康, 吉川雅人, 松野文俊
    • Journal Title

      日本ロボット学会誌 24-3

      Pages: 4000-4007

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Boundary control of translating tensioned beam with varying speed2005

    • Author(s)
      Kyung-Jinn, Yang, Keum-Shik, Hong, Fumitoshi, Matsuno
    • Journal Title

      IEEE/A SME Transactions on Mechatronics Volume 10, No. 5

      Pages: 594-597

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Robust Boundary Control of an Axially Moving String by Using a PR Transfer Function2005

    • Author(s)
      Kyung-Jinn, Yang, Keum-Shik, Hong, Fumitoshi, Matsuno
    • Journal Title

      IEEE Transactions on Automatic Control Vol. 50, No. 12

      Pages: 2053-2058

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Energy-Based Control of Translating Beams : Varying Tension, Varying Speed, and Disturbance Adaptation2005

    • Author(s)
      Kyung-Jinn, Yang, Keum-Shik, Hong, Fumitoshi, Matsuno
    • Journal Title

      IEEE Transactions on Control Systems Technology Vol. 13, No. 6

      Pages: 1045-1054

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Augmented Stable Fuzzy Control for Flexible Robotic Arm Using LMI Approach and Neuro-Fuzzy State Space Modeling

    • Author(s)
      Amitava Chatterjee, Ranajit Chatterjee, Fumitoshi Matsuno and Takahiro Endo
    • Journal Title

      IEEE Transactions on Industrial Electronics (accepted)

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Augmented Stable Fuzzy Control for Flexible Robotic Arm Using LMI Approach and Neuro-Fuzzy State Space Modeling

    • Author(s)
      Amitava, Chatterjee, Ranajit, Chatterjee, Fumitoshi, Matsuno, Takahiro, Endo
    • Journal Title

      IEEE Transactions on Industrial Electronics (accepted)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] The Control of Constrained System with Time -delay and Its Experimental Evaluations Using RC Model Helicopter2007

    • Author(s)
      Shinsuke Oh-hara, Yuki Urano and Fumitoshi Matsuno
    • Organizer
      International Conference on Control, Automation and Systems 2007
    • Place of Presentation
      Seoul, Korea
    • Year and Date
      20071100
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] State-Predictive Control of an Autonomous Blimp in the Presence of Time Delay and Disturbance2007

    • Author(s)
      Hiroaki Fukushima, Kazuyuki Kon, Yasushi Hada, Fumitoshi Matsuno, Kuniaki Kawabata, Hajime Asama
    • Organizer
      IEEE Int. Conf. on Control Applications
    • Place of Presentation
      Singapore
    • Year and Date
      20071000
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Simple Boundary Control of Two One-Link Flexible Arms for Grasping2007

    • Author(s)
      Takahiro Endo, Fumitoshi Matsuno, and Haruhisa Kawasaki
    • Organizer
      IEEE Int. Conf. on Control Applications
    • Place of Presentation
      Singapore
    • Year and Date
      20071000
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Multi-vehicle formation control based on branch-and-bound method compatible with collision avoidance problem2007

    • Author(s)
      Kazuyuki Kon, Hiroaki Fukushima, Fumitoshi Matsuno
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      San Diego, USA
    • Year and Date
      20071000
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] The Control of Constrained System with Time-delay and Its Experimental Evaluations Using RC Model Helicopter2007

    • Author(s)
      Shinsuke, Oh-hara, Yuki, Urano, Fumitoshi, Matsuno
    • Organizer
      International Conference on Control, Automation and Systems 2007
    • Place of Presentation
      Seoul, Korea
    • Year and Date
      20071000
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Swarm Intelligence of Multi-Robot Using Pheromone Trail2007

    • Author(s)
      Ryusuke Fujisawa, Hikaru Imamura, Takashi Hashimoto and Fumitoshi Matsuno
    • Organizer
      2nd International Symposium on Mobiligence in Awaji
    • Place of Presentation
      Awaji, Japan
    • Year and Date
      20070700
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Experimental study of Redundant Snake Robot Based on Kinematic Model2007

    • Author(s)
      Motoyasu Tanaka and Fumitoshi Matsuno
    • Organizer
      IEEE Int. Conf. on Robotics and Automation(ICRA'07)
    • Place of Presentation
      Roma, Italy
    • Year and Date
      20070400
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Control of a Snake-Like Robot Using the Screw Drive Mechanism2007

    • Author(s)
      Masaya Hara, Shogo Satomura, Hiroaki Fukushima, Tetsushi Kamegawa, Hiroki Igarashi, and Fumitoshi Matsuno
    • Organizer
      IEEE Int. Conf. on Robotics and Automation(ICRA'07)
    • Place of Presentation
      Roma, Italy
    • Year and Date
      20070400
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Development of Three-legged Modular Robots and Demonstration of Collaborative Task Execution2007

    • Author(s)
      Masaki Ohira, Ranajit Chatterjee, Tetsushi Kamegawa, and Fumitoshi Matsuno
    • Organizer
      IEEE Int. Conf. on Robotics and Automation(ICRA'07)
    • Place of Presentation
      Roma, Italy
    • Year and Date
      20070400
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Experimental study of Redundant Snake Robot Based on Kinematic Model2007

    • Author(s)
      Motoyasu Tanaka and Fumitoshi Matsuno
    • Organizer
      IEEE Int. Conf. on Robotics and Automation (ICRA'07)
    • Place of Presentation
      Roma, Italy
    • Year and Date
      20070400
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Control of a Snake-Like Robot Using the Screw Drive Mechanism2007

    • Author(s)
      Masaya, Hara, Shogo, Satomura, Hiroaki, Fukushima, Tetsushi, Kamegawa, Hiroki, Igarashi, Fumitoshi, Matsuno
    • Organizer
      IEEE Int. Conf. on Robotics and Automation (ICRA'07)
    • Place of Presentation
      Roma, Italy
    • Year and Date
      20070400
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development of Three-legged Modular Robots and Demonstration of Collaborative Task Execution2007

    • Author(s)
      Masaki, Ohira, Ranajit, Chatterjee, Tetsushi, Kamegawa, Fumitoshi, Matsuno
    • Organizer
      IEEE Int. Conf. on Robotics and Automation (ICRA'07)
    • Place of Presentation
      Roma, Italy
    • Year and Date
      20070400
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Distributed Model Predictive Control for Multi-Vehicle Formation with Collision Avoidance Constraints2006

    • Author(s)
      Hiroaki Fukushima, Kazuyuki Kon and Fumitoshi Matsuno
    • Organizer
      IEEE Conf. on Decision and Control 2005
    • Place of Presentation
      Seville, Spain
    • Year and Date
      20061200
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Model Predictive Control of an Autonomous Blimp with Input and Output Constraints2006

    • Author(s)
      Hiroaki Fukushima, Ryosuke Saito, Fumitoshi Matsuno, Yasushi Hada, Kuniaki Kawabata, and Hajime Asama
    • Organizer
      IEEE International Conference on Control Applications
    • Place of Presentation
      Munich, Germany
    • Year and Date
      20061000
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Cooperative Control of Three Snake Robots2006

    • Author(s)
      Motoyasu Tanaka, Fumitoshi Matsuno
    • Organizer
      IEEE Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      Beijing, China
    • Year and Date
      20061000
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Development and Control of a High Maneuverability Wheeled Robot with Variable-Structure Functionality2006

    • Author(s)
      Naoji Shiroma, Yu-huan Chiu, Zi Min, Ichiro Kawabuchi and Fumitoshi Matsuno
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2006)
    • Place of Presentation
      Beijing, China
    • Year and Date
      20061000
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Constrained Model Predictive Control: Applications to Multi-Vehicle Formation and an Autonomous Blimp2006

    • Author(s)
      Hiroaki Fukushima, Kazuyuki Kon, Fumitoshi Matsuno, Yasushi Hada, Kuniaki Kawabata, and Hajime Asama
    • Organizer
      SICE-ICCAS International Joint Conference
    • Place of Presentation
      Busan, Korea
    • Year and Date
      20061000
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Model Predictive Control of an Autonomous Blimp with Input and Output Constraints2006

    • Author(s)
      Hiroaki, Fukushima, Ryosuke, Saito, Fumitoshi, Matsuno, Yasushi, Hada, Kuniaki, Kawabata, Hajime, Asama
    • Organizer
      IEEE International Conference on Control Applications 2006
    • Place of Presentation
      Munich, Germany
    • Year and Date
      20061000
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development and Control of a High Maneuverability Wheeled Robot with Variable-Structure Functionality2006

    • Author(s)
      Naoji Shiroma, Yu-huan Chiu, Zi Min, Ichiro Kawabuchi and Fumitoshi Matsuno
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)
    • Place of Presentation
      Beijing, China
    • Year and Date
      20061000
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Constrained Model Predictive Control : Applications to Multi-Vehicle Formation and an Autonomous Blimp2006

    • Author(s)
      Hiroaki Fukushima, Kazuyuki Kon, Fumitoshi Matsuno, Yasushi Hada, Kuniaki Kawabata, and Hajime Asama
    • Organizer
      ICE-ICCAS International Joint Conference2006
    • Place of Presentation
      Busan, Korea
    • Year and Date
      20061000
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Force control of flexible arm by using only bending moment information2006

    • Author(s)
      Takahiro Endo and Fumitoshi Matsuno
    • Organizer
      17th International Symposium on Mathematical Theory of Networks and Systems(MTNS2006)
    • Place of Presentation
      Kyoto, Japan
    • Year and Date
      20060700
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Force control of flexible arm by using only bending moment information2006

    • Author(s)
      Takahiro, Endo, Fumitoshi, Matsuno
    • Organizer
      17th International Symposium on Mathematical Theory of Networks and Systems (MTNS2006)
    • Place of Presentation
      Kyoto, Japan
    • Year and Date
      20060700
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Cooperative Control of Two Snake Robots2006

    • Author(s)
      Motoyasu Tanaka, Fumitoshi Matsuno
    • Organizer
      IEEE Int. Conf. on Robotics and Automation
    • Place of Presentation
      Florida, USA
    • Year and Date
      20060500
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Distributed Model Predictive Control for Multi-Vehicle Formation with Collision Avoidance Constraints2005

    • Author(s)
      Hiroaki, Fukushima, Kazuyuki, Kon, Fumitoshi, Matsuno
    • Organizer
      IEEE Conf. on Decision and Control 2005
    • Place of Presentation
      Seville, Spain
    • Year and Date
      20051200
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] A stable state-feedback Fuzzy controller employing linear matrix inequalities for flexible link robotic arm2005

    • Author(s)
      Amitava Chatterjee, Ranajit Chatterjee, Fumitoshi Matsuno and T. Endo
    • Organizer
      IEEE Int. Conferemce on Industrial Informatics
    • Place of Presentation
      Perth, Western Australia
    • Year and Date
      20050800
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Force control problem and exponential stability of constrained one-link flexible arm2005

    • Author(s)
      Takahiro Endo and Fumitoshi Matsuno
    • Organizer
      SICE Annual Conference 2005
    • Place of Presentation
      Okayama, Japan
    • Year and Date
      20050800
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] A stable state-feedback Fuzzy controller employing linear matrix inequalities for flexible link robotic arm2005

    • Author(s)
      Amitava, Chatterjee, Ranajit, Chatterjee, Fumitoshi, Matsuno, T., Endo
    • Organizer
      IEEE Int. Conference on Industrial Informatics
    • Place of Presentation
      Perth, Western Australia
    • Year and Date
      20050800
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Force control and exponential stability for one-link flexible arm2005

    • Author(s)
      Takahiro Endo and Fumitoshi Matsuno
    • Organizer
      IFAC World Congress 2005
    • Place of Presentation
      Prague, Czech
    • Year and Date
      20050700
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Robust Adaptive Control of Nonlinear Translating Beams with a Varying Speed2005

    • Author(s)
      Kyung-Jinn Yang, Keum-Shik Hong and Fimitoshi Matsuno
    • Organizer
      16th IFAC World Congress
    • Place of Presentation
      Prague, Czech
    • Year and Date
      20050700
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] The Rate of Change of an energy Functional for Axially Moving Continuea,2005

    • Author(s)
      Kyung-Jinn Yang, Keum-Shik Hong and Fimitoshi Matsuno
    • Organizer
      16th IFAC World Congress
    • Place of Presentation
      Prague, Czech
    • Year and Date
      20050700
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Robust Adaptive Control of Nonlinear Translating Beams with a Varying Speed2005

    • Author(s)
      Kyung-Jinn, Yang, Keum-Shik, Hong, Fimitoshi, Matsuno
    • Organizer
      IFAC World Congress 2005
    • Place of Presentation
      Prague, Czech
    • Year and Date
      20050700
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] The Rate of Change of an energy Functional for Axially Moving Continuea2005

    • Author(s)
      Kyung-Jinn, Yang, Keum-Shik, Hong, Fimitoshi, Matsuno
    • Organizer
      IFAC World Congress 2005
    • Place of Presentation
      Prague, Czech
    • Year and Date
      20050700
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Snake-like Robots-from Biologically Inspired Robots to Search and Rescue Robots2005

    • Author(s)
      Fumitoshi Matsuno, Tetsushi Kamegawa, Kentaro Suenaga, Toru Kawai, Tatsuhiro Yamasaki, and Yu-huan Chiu
    • Organizer
      2005 IEEE Int. Conf. on Robotics and Automation, Snake robots
    • Place of Presentation
      Barcelona, Spain
    • Year and Date
      20050400
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Trajectory Tracking Control of Snake Robots Based on Dynamic Model2005

    • Author(s)
      Fumitoshi Matsuno and Hiroki Sato
    • Organizer
      IEEE Int. Conf. on Robotics and Automation
    • Place of Presentation
      Barcelona, Spain
    • Year and Date
      20050400
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Snake-like Robots - from Biologically Inspired Robots to Search and Rescue Robots2005

    • Author(s)
      Fumitoshi, Matsuno, Tetsushi, Kamegawa, Kentaro, Suenaga, Toru, Kawai, Tatsuhiro, Yamasaki, Yu-huan, Chiu
    • Organizer
      IEEE Int. Conf. on Robotics and Automation, Snake robots
    • Place of Presentation
      Barcelona, Spain
    • Year and Date
      20050400
    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2010-02-04  

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