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2010 Fiscal Year Final Research Report

Study on dynamics based control and swarm intelligence for redundant mechanical systems with switching functions

Research Project

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Project/Area Number 20360107
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, 大学院・工学研究科, 教授 (00190489)

Project Period (FY) 2008 – 2010
Keywords可変拘束 / 可変構造 / 冗長機械系 / 制御 / 群知能
Research Abstract

In this study we consider dynamics based control for redundant mechanical systems with switching functions and expand the concept to swarm behavior. We construct motion controller considering dynamics and behavior algorithm for swarm intelligence. To demonstrate effectiveness of proposed methods simulations and experiments are carried out.

  • Research Products

    (50 results)

All 2011 2010 2009 2008 Other

All Journal Article (30 results) (of which Peer Reviewed: 30 results) Presentation (19 results) Book (1 results)

  • [Journal Article] Transformation Control to an Inverted Pendulum Mode of a Mobile Robot with Wheel-Arms Using Partial Linearization2011

    • Author(s)
      Hiroaki Fukushima, Satoru Shinmura, Fumitoshi Matsuno
    • Journal Title

      Proc.IEEE Int.Conf.on Robotics and Automation

      Pages: 1683-1688

    • Peer Reviewed
  • [Journal Article] Motion Planning of an Autonomous Mobile Robot Considering Regions with Velocity Constraint2010

    • Author(s)
      Kiyohiro Goto, Kazukuki Kon, Fumitoshi Matsuno
    • Journal Title

      Proc.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010), Taipei

      Pages: 3269-3274

    • Peer Reviewed
  • [Journal Article] Optimal Shape of a Snake Robot for Jumping2010

    • Author(s)
      Keiichi Hoshino, Motoyasu Tanaka, Fumitoshi Matsuno
    • Journal Title

      Proc.IEEE Int.Conf on, Robotics and Automation

      Pages: 697-702

    • Peer Reviewed
  • [Journal Article] 速度制約領域を考慮した自律移動ロボットの行動計画2010

    • Author(s)
      後藤清宏, 根和幸, 松野文俊
    • Journal Title

      日本ロボット学会誌 vol.28, no.8

      Pages: 930-937

    • Peer Reviewed
  • [Journal Article] A Geese PSO tuned Fuzzy Supervisor for EKF based Solutions of Simultaneous Localization and Mapping (SLAM) Problems in Mobile robots2010

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

      Expert Systems With Applications Vol.37

      Pages: 5542-5548

    • Peer Reviewed
  • [Journal Article] ねじ推進ヘビ型ロボットの先頭追従制御2010

    • Author(s)
      福島宏明, 田中基康, 亀川哲志, 松野文俊
    • Journal Title

      日本ロボット学会誌 Vol.28, No.6

      Pages: 707-714

    • Peer Reviewed
  • [Journal Article] 脆弱環境下での移動を実現するための4脚移動ロボットの足探り動作による足場認識と歩行の実現2010

    • Author(s)
      亀川哲志, 鈴木隆司, 大谷浩一, 松野文俊
    • Journal Title

      日本ロボット学会誌 Vol.28, No.2

      Pages: 215-222

    • Peer Reviewed
  • [Journal Article] 予測時刻間の衝突回避を考慮した複数移動体のモデル予測編隊制御2010

    • 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 Vol.46, No.7

      Pages: 383-390

    • Peer Reviewed
  • [Journal Article] フェロモン場を用いて誘引を行うロボット群の開発2009

    • Author(s)
      藤澤隆介, 今村光, 橋本敬, 松野文俊
    • Journal Title

      情報処理学会論文誌数理モデル化と応用(TOM) Vol.2, No.2

      Pages: 80-91

    • Peer Reviewed
  • [Journal Article] 予測時刻間の障害物回避を考慮したモデル予測制御に基づく軌道計画法2009

    • 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 Vol.45, No.8

      Pages: 406-413

    • Peer Reviewed
  • [Journal Article] むだ時間と拘束条件を考慮したRCヘリコプターの制御系設計と実験による検証2009

    • Author(s)
      大原伸介, 浦野裕樹, 松野文俊
    • Journal Title

      Vol.75, No.760

      Pages: 3216-3222

    • Peer Reviewed
  • [Journal Article] Simple Boundary Cooperative Control of Two One-Link Flexible Arms for Grasping2009

    • Author(s)
      Takahiro Endo, Fumitoshi Matsuno, Haruhisa Kawasaki
    • Journal Title

      IEEE Trans.on Automatic Control Vol.54, No.10

      Pages: 2470-2476

    • Peer Reviewed
  • [Journal Article] Trajectory Generation based on Model Predictive Control with Obstacle Avoidance between Prediction Time Steps2009

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

      SYROCO

    • Peer Reviewed
  • [Journal Article] Control of a Snake Robot on a CylindricalSurface Based on a Kinematic Model2009

    • Author(s)
      Hiroaki Tsukano, Motoyasu Tanaka, Fumitoshi Matsuno
    • Journal Title

      SYROCO

    • Peer Reviewed
  • [Journal Article] A study on sinus-lifting motion of a snake robot with switching constraints2009

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

      Proc.IEEE Int. Conf on Robotics and Automation

      Pages: 2270-2275

    • Peer Reviewed
  • [Journal Article] Path-Tracking Control of a Snake-like Robot using Screw Drive Mechanism2008

    • Author(s)
      福島宏明, 田中基康, 亀川哲志, 松野文俊
    • Journal Title

      Proc.IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 1624-1629

    • Peer Reviewed
  • [Journal Article] Singular Configuration Avoidance of a Snake-like Robot with Screw Drive Units2008

    • Author(s)
      Yong Gao, Motoyasu Tanaka, Hiroaki Fukushima, Fumitoshi Matsuno
    • Journal Title

      Proc. SICE Annual Conference 2008

      Pages: 3080-3085

    • Peer Reviewed
  • [Journal Article] The Driving Control System for Articulated Mobile Robots2008

    • Author(s)
      Shinsuke Oh-hara, Tomoya Itoh, Fumitoshi Matsuno
    • Journal Title

      Proc.SICE Annual Conference 2008

      Pages: 2410-2413

    • Peer Reviewed
  • [Journal Article] Formation Control of Multiple Rescue Robots with Collision Avoidance2008

    • Author(s)
      大原伸介, 松野文俊
    • Journal Title

      Proc.SICE Annual Conference 2008

      Pages: 1638-1641

    • Peer Reviewed
  • [Journal Article] Modeling and Control of a Snake Robot with Switching Constraints2008

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

      Proc.SICE Annual Conference 2008

      Pages: 3076-3079

    • Peer Reviewed
  • [Journal Article] Control of 3-dimensional Snake Robots by Using Redundancy2008

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

      Proc.IEEE Int.Conf.on Robotics and Automation

      Pages: 1156-1161

    • Peer Reviewed
  • [Journal Article] Dependency by Concentration of Pheromone Trail for Multiple Robots2008

    • Author(s)
      Ryusuke Fujisawa, Shigeto Dobata, Daisuke Kubota, Hikaru Imamura, Fumitoshi Mstauno
    • Journal Title

      Proc.Sixth International Conference on Ant Colony Optimization and Swarm Intelligence

      Pages: 283-290

    • Peer Reviewed
  • [Journal Article] Communication Using Pheromone Field for Multiple Robots2008

    • Author(s)
      Ryusuke Fujisawa, Hikaru Imamura, Takashi Hashimoto, Fumitoshi Matsuno
    • Journal Title

      Proc.IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems

    • Peer Reviewed
  • [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2008

    • 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 Vol.44, No.1

      Pages: 36-43

    • Peer Reviewed
  • [Journal Article] Augmented Stable Fuzzy Control for Flexible Robotic Arm Using LMI Approach and Neuro-Fuzzy State Space Modeling2008

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

      IEEE Transactions on Industrial Electronics Vol.55, No.3

      Pages: 1256-1270

    • Peer Reviewed
  • [Journal Article] Compact Image Stabilization System Using Camera Posture Information2008

    • Author(s)
      Ryo Miyauchi, Naoji Shiroma, Fumitoshi Matsuno
    • Journal Title

      Journal of Field Robotics Vol.25, No.4-5

      Pages: 268-283

    • Peer Reviewed
  • [Journal Article] 平面を移動する3次元ヘビ型ロボットの協調制御2008

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

      日本ロボット学会誌 Vol.26, No.6

      Pages: 493-501

    • Peer Reviewed
  • [Journal Article] Development of a High Mobility wheeled Rescue Robot with a 1-DOF Arm2008

    • Author(s)
      Noritaka Sato, Fumitoshi Matsuno
    • Journal Title

      Int.J.Advanced Mechatronic Systems Vol.1, No.1

      Pages: 10-23

    • Peer Reviewed
  • [Journal Article] 3次元ヘビ型ロボットの冗長性を利用した制御2008

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

      計測自動制御学会論文集 Vol.44, No.12

      Pages: 970-978

    • Peer Reviewed
  • [Journal Article] Path planning of an autonomous mobile robot considering region with velocity constraint in real environment

    • Author(s)
      Tae Hyon Kim, Kiyohiro Goto, Hiroki Igarashi, Kazuyuki Kon, Noritaka Sato, Fumitoshi Matsuno
    • Journal Title

      Proc.of The Sixteenth International Symposium on Artificial Life and Robotics 2011 (AROB 16th'11)(Beppu, Jan, Japan.)

      Pages: 842-845

    • Peer Reviewed
  • [Presentation] Rescue robot systems -From snake-like robots to human interface-, Plenary Talk2011

    • Author(s)
      松野文俊
    • Organizer
      Proc.of The Sixteenth International Symposium on Artificial Life and Robotics 2011 (AROB 16th'11)
    • Place of Presentation
      Beppu, Oita, Japan
    • Year and Date
      20110127-20110129
  • [Presentation] 自律と操縦に対応した移動ロボット用RTCの開発第20報確率的自己位置推定と速度制約を考慮した軌道生成法2010

    • Author(s)
      金兌〓
    • Organizer
      第11回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      仙台市
    • Year and Date
      2010-12-23
  • [Presentation] 速度履歴に基づくねじ推進ヘビ型ロボットの先頭追従制御2010

    • Author(s)
      有泉亮
    • Organizer
      第28回日本ロボット学会学術講演会
    • Place of Presentation
      名古屋市
    • Year and Date
      2010-09-23
  • [Presentation] Constructive understanding of intelligent behavior of animals-From redundant system to swarm-, Invited Talk2010

    • Author(s)
      松野文俊
    • Organizer
      Seventh Int.Symposium on Neural Networks (ISNN2010)
    • Place of Presentation
      Shanghai, Chaina
    • Year and Date
      2010-06-08
  • [Presentation] Rescue robot systems-Development of high-functionality multiple robot system and robust/scalable information infrastructure?, Plenary Talk2010

    • Author(s)
      松野文俊
    • Organizer
      The 3rd SJTU-UEC Joint Workshop on Robotics and Artifical Intelligence
    • Place of Presentation
      Shanghai, Chaina
    • Year and Date
      2010-06-08
  • [Presentation] RTとITを基盤とした国際救助隊サンダーバードを目指して,招待講演2010

    • Author(s)
      松野文俊
    • Organizer
      計測自動制御学会中国支部特別講演会
    • Place of Presentation
      広島大学
    • Year and Date
      2010-05-22
  • [Presentation] 生物の運動知能の構成論的理解冗長系から群れへ2010

    • Author(s)
      松野文俊
    • Organizer
      第54回システム制御情報学会研究発表講演会,招待講演
    • Place of Presentation
      京都リサーチパーク
    • Year and Date
      2010-05-20
  • [Presentation] 方角指定操作による複数大移動ロボットの半自律制御システムの開発2010

    • Author(s)
      大原伸介
    • Organizer
      第54回システム制御情報学会研究発表講演会
    • Place of Presentation
      京都リサーチパーク
    • Year and Date
      2010-05-20
  • [Presentation] Rescue Robot Systems From Snake-like Robots to Human Interface, Invited Talk2010

    • Author(s)
      松野文俊
    • Organizer
      Int.Conf.on Intelligent Human Computer Interaction, (Proc.Int.Conf.on Intelligent Human Computer Interaction pp. 54-70, Springer)
    • Place of Presentation
      India
    • Year and Date
      2010-01-18
  • [Presentation] 確率的自己位置推定と速度制約を考慮した軌道生成法2010

    • Author(s)
      金兌〓
    • Organizer
      つくばチャレンジ2010開催記念シンポジウム
    • Place of Presentation
      東京都
    • Year and Date
      2010-01-08
  • [Presentation] 自律と操縦に対応した移動ロボット用RTCの開発第13報:速度制約領域を考慮した自律移動ロボットの実機検証2009

    • Author(s)
      後藤清宏
    • Organizer
      第10回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      芝浦工業大学
    • Year and Date
      2009-12-24
  • [Presentation] フェロモン・コミュニケーションによるロボット群の協調運搬2009

    • Author(s)
      清水裕亮
    • Organizer
      第52回自動制御連合講演会, I4-4
    • Place of Presentation
      大阪大学豊中キャンパス
    • Year and Date
      2009-11-21
  • [Presentation] 自律と操縦に対応した移動ロボット用RTCの開発第10報:速度制約領域を考慮した自律移動ロボットの行動計画2009

    • Author(s)
      後藤清宏
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      横浜国立大学
    • Year and Date
      2009-09-17
  • [Presentation] ヘビ型ロボットの跳躍におけるベース部の形状評価2009

    • Author(s)
      星野恵一
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      横浜国立大学
    • Year and Date
      2009-09-15
  • [Presentation] フェロモン場を用いて誘引を行う群知能2008

    • Author(s)
      藤澤隆介
    • Organizer
      第20回自律分散システム・シンポジウム
    • Place of Presentation
      長野
    • Year and Date
      20080124-20080125
  • [Presentation] 生物規範ロボットからレスキューロボットまで-究極のヒューマンサポートシステムを目指して-,招待講演2008

    • Author(s)
      松野文俊
    • Organizer
      計測自動制御学会インテリジェント・システム研究会
    • Place of Presentation
      箱根
    • Year and Date
      2008-12-12
  • [Presentation] 自律と操縦に対応した移動ロボット用RTCの開発第4報:編隊制御モジュール群2008

    • Author(s)
      根和幸
    • Organizer
      第26回日本ロボット学会学術講演会
    • Place of Presentation
      神戸
    • Year and Date
      2008-09-09
  • [Presentation] Rescue Robot Systems - From Snake-like Robots to Human Interface-2008

    • Author(s)
      松野文俊
    • Organizer
      Invited Speech, SICE Annual Conference 2008
    • Place of Presentation
      Chofu Japan
    • Year and Date
      2008-08-21
  • [Presentation] レスキューロボットシステム研究開発最前線,基調講演2008

    • Author(s)
      松野文俊
    • Organizer
      情報処理学会全国大会特別セッション「最先端IT技術による防災・減災の現在と未来」
    • Place of Presentation
      立命館大学草津キャンパス
    • Year and Date
      2008-03-10
  • [Book] ロボット情報学ハンドブック2010

    • Author(s)
      松原、野田、松野、稲見、大須賀
    • Total Pages
      943
    • Publisher
      ナノオプトニクス・エナジー

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Published: 2012-01-26   Modified: 2016-04-21  

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