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Passive Mobile Robotics RealizingHuman Support with Safety and High Performance

Research Project

Project/Area Number 19686028
Research Category

Grant-in-Aid for Young Scientists (A)

Allocation TypeSingle-year Grants
Research Field Control engineering
Research InstitutionTohoku University

Principal Investigator

HIRATA Yasuhisa  Tohoku University, 大学院・工学研究科, 准教授 (20323040)

Project Period (FY) 2007 – 2009
Project Status Completed (Fiscal Year 2009)
Budget Amount *help
¥23,140,000 (Direct Cost: ¥17,800,000、Indirect Cost: ¥5,340,000)
Fiscal Year 2009: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
Fiscal Year 2008: ¥6,760,000 (Direct Cost: ¥5,200,000、Indirect Cost: ¥1,560,000)
Fiscal Year 2007: ¥10,010,000 (Direct Cost: ¥7,700,000、Indirect Cost: ¥2,310,000)
Keywordsパッシブモバイルロボティクス / 移動ベース / ブレーキ制御 / 人間適応型制御 / 環境適応型制御 / 人間の運動計測・解析 / 人間の動作推定 / 環境認識
Research Abstract

In this research, we proposed a new concept called Passive Mobile Robotics and designed mobile robots and their motion control algorithms for supporting humans effectively with keeping the safety. In this concept, the mobile robots move based on the external force/moment applied by a human, and brake systems attached to the wheels control their motions appropriately. Based on this brake control, we realized several functions for supporting humans.

Report

(4 results)
  • 2009 Annual Research Report   Final Research Report ( PDF )
  • 2008 Annual Research Report
  • 2007 Annual Research Report
  • Research Products

    (29 results)

All 2010 2009 2008 2007

All Journal Article (10 results) (of which Peer Reviewed: 10 results) Presentation (18 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Development of passive wearable walking helper controlled by servo brake2010

    • Author(s)
      Yasuhisa Hirata, Tadashi Isoda, Kazuhiro Kosuge
    • Journal Title

      International Journal of Mechatronics and Manufacturing Systems 3

      Pages: 291-306

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 人間モデルに基づく歩行支援機使用者の動作判別2009

    • Author(s)
      平田泰久, 小松田慎二, 小菅一弘
    • Journal Title

      計測自動制御学会論文集 45(5)

      Pages: 276-282

    • NAID

      10024758283

    • Related Report
      2009 Annual Research Report 2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Transporting an Object by a Passive Mobile Robot with Servo Brakes in Cooperation with a Human2009

    • Author(s)
      Yasuhisa Hirata, Zhidong Wang, Kenta Fukaya, Kazuhiro Kosuge
    • Journal Title

      Advanced Robotics 23(4)

      Pages: 387-404

    • NAID

      10027462715

    • Related Report
      2009 Annual Research Report 2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Transporting an Object by a Passive Mobile Robot with Servo Brakes in Cooperation with a Human2009

    • Author(s)
      Yasuhisa Hirata
    • Journal Title

      Advanced Robotics 23

      Pages: 387-404

    • NAID

      10027462715

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Passive-type Intelligent Walker Controlled Based on Caster-like Dynamics2007

    • Author(s)
      Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge
    • Journal Title

      Rehabilitation Robotics, Advanced Robotic Systems

      Pages: 187-202

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Motion Control of Passive Intelligent Walker Using Servo Brakes2007

    • Author(s)
      Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge
    • Journal Title

      IEEE Transactions on Robotics 23(5)

      Pages: 981-990

    • NAID

      120002070227

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] A Control Approach Based on Passive Behavior to Enhance User Interaction2007

    • Author(s)
      Oscar Ylaya Chuy, Jr., Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge
    • Journal Title

      IEEE Transactions on Robotics 23(5)

      Pages: 899-908

    • NAID

      120002070226

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Passive-type Intelligent Walker Controlled Based on Caster-like Dynamics2007

    • Author(s)
      Yasuhisa Hirata
    • Journal Title

      Rehabilitation Robotics, Advanced Robotic Systems

      Pages: 187-202

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Motion Control of Passive Intelligent Walker Using Servo Brakes2007

    • Author(s)
      Yasuhisa Hirata
    • Journal Title

      IEEE Transactions on Robotics 23(5)

      Pages: 981-990

    • NAID

      120002070227

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Control Approach Based on Passive Behavior to Enhance User Interaction2007

    • Author(s)
      Oscar Ylaya Chuy
    • Journal Title

      IEEE Transactions on Robotics 23(5)

      Pages: 899-908

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Presentation] Motion Control of Passive Dance Partner Robot by Using Servo Brakes2009

    • Author(s)
      Yasuhisa Hirata, Yoshinori Koike, Kazuhiro Kosuge
    • Organizer
      2009 IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      桂林, 中国
    • Year and Date
      2009-12-20
    • Related Report
      2009 Annual Research Report 2009 Final Research Report
  • [Presentation] Motion Control of Passive Mobile Robot Consisting of Casters with Servo Brakes2009

    • Author(s)
      Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge
    • Organizer
      2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      セントルイス, 米国
    • Year and Date
      2009-10-12
    • Related Report
      2009 Annual Research Report 2009 Final Research Report
  • [Presentation] Kazuhiro Kosuge Development of Intelligent Passive Cane Controlled by Servo Brakes2009

    • Author(s)
      Shinji Suzuki, Yasuhisa Hirata
    • Organizer
      18th IEEE International Symposium on Robot and Human Interactive Communication
    • Place of Presentation
      富山
    • Year and Date
      2009-09-29
    • Related Report
      2009 Final Research Report
  • [Presentation] Development of Intelligent Passive Cane Controlled by Servo Brakes2009

    • Author(s)
      Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge
    • Organizer
      18th IEEE International Symposium on Robot and Human Interactive Communication
    • Place of Presentation
      富山
    • Year and Date
      2009-09-29
    • Related Report
      2009 Annual Research Report
  • [Presentation] Human Support System Based on Passive Robotics, 18th IEEE International Symposium on Robot and Human Interactive Communication2009

    • Author(s)
      Yasuhisa Hirata
    • Organizer
      Workshop on Robot-human synergies
    • Place of Presentation
      富山
    • Year and Date
      2009-09-28
    • Related Report
      2009 Final Research Report
  • [Presentation] Human Support System Based on Passive Robotics2009

    • Author(s)
      Yasuhisa Hirata
    • Organizer
      18th IEEE International Symposium on Robot and Human Interactive Communication, Workshop on Robot-human synergies
    • Place of Presentation
      富山
    • Year and Date
      2009-09-28
    • Related Report
      2009 Annual Research Report
  • [Presentation] Coordinated Motion Control of Multiple Passive Object Handling Robots Based on Environment Information2009

    • Author(s)
      Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge
    • Organizer
      2009 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      神戸
    • Year and Date
      2009-05-15
    • Related Report
      2009 Annual Research Report 2009 Final Research Report
  • [Presentation] Development of Omini-directional Mobile Base with Servo Brakes for Passive Dance Partner Robot2009

    • Author(s)
      Yasuhisa Hirata, Yoshinori Koike, Zhao Liu, Kazuhiro Kosuge
    • Organizer
      2008 IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      バンコク, タイ
    • Year and Date
      2009-02-24
    • Related Report
      2009 Final Research Report
  • [Presentation] Development of Intelligent Walking Assist Robot Based on Passive Robotics2008

    • Author(s)
      Yasuhisa Hirata
    • Organizer
      First France-Japan Research Workshop on Human-Robot Interaction
    • Place of Presentation
      仙台
    • Year and Date
      2008-10-29
    • Related Report
      2009 Final Research Report
  • [Presentation] Fall Prevention Control of Passive Intelligent Walker Based on Human Model2008

    • Author(s)
      Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge
    • Organizer
      2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      ニース, フランス
    • Year and Date
      2008-09-23
    • Related Report
      2009 Final Research Report
  • [Presentation] Fall Prevention Control of Passive Intelligent Walker Based on Human Model2008

    • Author(s)
      Yasuhisa Hirata
    • Organizer
      2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      フランス, ニース, アクロポリス
    • Year and Date
      2008-09-23
    • Related Report
      2008 Annual Research Report
  • [Presentation] Human Modeling Method for Estimating User States Using Intelligent Walker2008

    • Author(s)
      Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge
    • Organizer
      17th CISM-IFToMM Symposium on Robot Design, Dynamics, And Control
    • Place of Presentation
      東京
    • Year and Date
      2008-07-07
    • Related Report
      2009 Final Research Report
  • [Presentation] Human Modeling Method for Estimating User States Using Intelligent Walker2008

    • Author(s)
      Yasuhisa Hirata
    • Organizer
      17th CISM-IFToMM Symposium on Robot Design, Dynamics, And Control
    • Place of Presentation
      日本, 東京, 早稲田大学
    • Year and Date
      2008-07-07
    • Related Report
      2008 Annual Research Report
  • [Presentation] Variable Motion Characteristics Control of an Object by Multiple, Passive Mobile Robots in Cooperation with a Human2008

    • Author(s)
      Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge
    • Organizer
      2008 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      パサデナ, 米国
    • Year and Date
      2008-05-21
    • Related Report
      2009 Final Research Report
  • [Presentation] Variable Motion Characteristics Control of an Object by Multiple Passive Mobile Robots in Cooperation with a Human2008

    • Author(s)
      Yasuhisa Hirata
    • Organizer
      2008 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      米国, パサデナ, パサデナカンファレンスセンター
    • Year and Date
      2008-05-21
    • Related Report
      2008 Annual Research Report
  • [Presentation] Motion Control of Passive Robot Porter with Variable Motion Characteristics for Handling a Single Object2007

    • Author(s)
      Yasuhisa Hirata, Hamin Song, Kazuhiro Kosuge
    • Organizer
      2007 IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      三亜, 中国
    • Year and Date
      2007-12-17
    • Related Report
      2009 Final Research Report
  • [Presentation] Motion Control of Passive Robot Porter with Variable Motion Characteristics for Handling a Single Object2007

    • Author(s)
      Yasuhisa Hirata
    • Organizer
      2007 IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      中国、三亜、クラウンプラザホテル
    • Year and Date
      2007-12-17
    • Related Report
      2007 Annual Research Report
  • [Presentation] Control of Passive Object Handling Robot with Free Joint for Reducing Human Assistive Force2007

    • Author(s)
      Yasuhisa Hirata, Hamin Song, Zhidong Wang, Kazuhiro Kosuge
    • Organizer
      2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      サンディエゴ, 米国
    • Year and Date
      2007-11-01
    • Related Report
      2009 Final Research Report
  • [Patent(Industrial Property Rights)] パッシブ型移動台車2009

    • Inventor(s)
      小菅一弘, 平田泰久
    • Industrial Property Rights Holder
      (株)東北テクノアーチ
    • Filing Date
      2009-11-27
    • Related Report
      2009 Annual Research Report

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Published: 2007-04-01   Modified: 2016-04-21  

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