Faculty Profiles - WAGATSUMA Hiroaki

Papers - WAGATSUMA Hiroaki

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A supportive system focusing on the body coordination for neurocognitive rehabilitation Reviewed International journal

Fukudome, M., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 216 - 217 2011.12

Problems of temporal granularity in robot control: Levels of adaptation and a necessity of self-confidence Reviewed International journal

2670 - 2675 2011.10

An extension mechanism of Theo Jansen linkage for walking in bump condition

KOMODA Kazuma, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 241 ) 77 - 82 2011.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Since ancient times the wheels have been used to transport heavy loads. In addition, Crawler has been used in rough terrain. On the other hand, organisms are often moved by the feet and repeat the basic dynamics of muscle contraction. Leg's movements are similar to an elliptical orbit. This is the trajectory of ground legs and floating legs. Theo Jansen has reproduced this linkage in 8 node orbit. Thus, Theo Jansen has been attracting attention recently. In this study, we don't apply an additional new mechanism. We naturally extend the original link characteristics Theo Jansen Mechanism and propose a new framework for overcoming. Thus, we can develop a multi-leg mechanism. In the future, we can be expected to be a promising candidate as a mechanism to walk rough terrain on the multi-legs instead of wheels or crawlers.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110008900432

A study of orbit vehicle behavior by using the VDP oscillator

ONO Kosuke, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 241 ) 41 - 46 2011.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Many of the vehicle robots using the sensors, they drive avoid collision with obstacle to get outside information on real-time. However, they are considering the information ahead of present location when the majority of drivers drive a car. Because Motorsports drivers circling the circuits at very fast speeds, and has been driving the circuit with only current information is unlikely. With all these factors, instead of relying on sensor information the robot vehicle when traveling on course, a robot that can move that may vary depending on the situation, such as when there are obstacles in front of you while maintaining the image of the entire course were considered necessary. The study is not using a sensor to a vehicle robot; a vehicle driving in the rhythm experiments based non-linear mathematical models. This model used to van der Pol (VDP) oscillator. First driving simulation experiments, second experiments using small vehicle robot e-puck, confirmed the integrity of the VDP model. If you can incorporate into the trajectory of a real robot to draw a circular orbit VDP oscillator can be expected to be available to other non-linear trajectory models in the future.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110008900426

A proposal of plastic muscle by using the S-shaped structure with high-speed reflection

SONE Masafumi, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 241 ) 71 - 76 2011.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Flexibility and quickness of biological muscles is of interest in recent robotics. We attempt to reproduce an artificial muscle based on elastic-plastic materials and investigate rebound characteristics in a S-shaped structure. Experimental results demonstrated that a cyclic motion in the controller induces the S-shaped structure to generate instantaneous force enough for flick off a ball.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110008900431

Analyses of information flow in the cycle of action and perception in an object-pursuit task of the humanoid robot

TOMONAGA Yousuke, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 241 ) 143 - 148 2011.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Biologically-inspired robots have been studied on biological intelligence that provides complex behaviors. Humanoid robot is a trend to investigate how the human body works such as bipedal walking, but we focus on on-demand planning and rescheduling of it in dynamic environment. In the object pursuit task, experimental results demonstrated a online circulation between the internal controller and the environment to prevent fluctuations by an irregular noise, and to enable the robot to reach the target position, without the endless loop of the same motion that frequently occur in real time robotics.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110008900443

Focusing on the body coordination to enhance neurocognitive rehabilitation

FUKUDOME Marie, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 241 ) 59 - 64 2011.10

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

In this study, to develop a support equipment for rehabilitation of children with cerebral palsy. Incorporating the concept of cognitive exercise that focus on brain plasticity, to associate the movement and perception. Fusing the knowledge of brain science and robotics with support this therapy. Especially it is important to balance the trunk for brain control and the structure of the body, expect the effect of further rehabilitation by synchronize the movement of the right and left. Therefore, used Wii remote and to get or save the state of rehabilitation motion. In this way, I can check the balance right-and-left and it is expected to be able to an indicator for set the difficulty level or tasks setting.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110008900429

Modeling of clash avoidance in automobile race using real robot-simulation matching system Reviewed International journal

5 ( 10 ) 3907 - 3912 2011.10

Modeling of Clash Avoidance in Automobile Race Using Real Robot - Simulation Matching System, Reviewed International journal

Ono, K., Wagatsuma, H

ICIC Express Letters 5. ( 10 ) 3907 - 3912 2011.10

A testable robotic platform for brain-based architecture implementation using analog-digital parallel wireless communication Reviewed International journal

5 ( 9 B ) 3477 - 3482 2011.09

A Testable Robotic Platform for Brain-Based Architecture Implementation Using Analog-Digital Parallel Wireless Communication Reviewed International journal

Tomonaga, Y., Wagatsuma, H

ICIC Express Letters 5 ( 9B ) 3477 - 3482 2011.09

自律分散制御から知能創発の工学化への視点 Reviewed

我妻広明

コンピュータソフトウェア ( 日本ソフトウェア科学会 ) 28 ( 1 ) 2 - 20 2011.01

Authorship：Corresponding author Language：Japanese Publishing type：Article, review, commentary, editorial, etc. (scientific journal)

コンピュータの分野において，自律分散制御方式は集中型システムの開発・稼働における欠点を補うものとして注目され研究が進められて来た．今やインターネット普及等を背景に，分散した情報を知識として再集約する集合知の仕組みを考える必要性がある．全体機能や目的をシステム自身が再定義する，つまり集団全体が意志決定を行うという観点が導入されつつある．工学化において自明であるべき目的すら再構成されるとすればシステム破綻や暴走のリスクが増すことは疑いない．本論では，現実に自律分散制御の内部機構を持ちながら，自らで目的を定義し意図をもって行動計画を立てる「脳」の機能を工学的に再構成する脳型ロボットの立場から俯瞰し，要素の自律性と全体性創出の関係からある種の集合知を得る工学的方法論を模索したい．そして，ネットワークダイナミクスが発展的でありつつも，破綻に向かわない構成論と関連する「意識」の話題を解説する．

DOI： 10.11309/jssst.28.1_2

A look at the hidden side of situated cognition: A robotic study of brain- oscillation-based dynamics of instantaneous, episodic, and conscious memories Reviewed International journal

274 - 302 2011.01

Neuromorphic and brain-based robots Reviewed International journal

233 209 - 214 2011.01

Experimental platform of brain-based robots toward human-robot real-time interactions

WAGATSUMA Hiroaki

IEICE technical report ( The Institute of Electronics, Information and Communication Engineers ) 110 ( 246 ) 17 - 22 2010.10

Authorship：Lead author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

The brain is capable of various cognitive functions in perception and action, and the functions appear in a system-environmental loop, through the brain, body and environment. In studies of the robotics and artificial intelligence, the notion of the embodiment was highlighted in the last decade, which encourages a viewpoint of the relationship between the agent and the environment. However, the peripheral and central nervous systems are hierarchically organized in time and space. Ignoring of such complex organization, a priori separation of the agent from the environment misses the most important point of how the brain exhibits a single entity such as the self as a consequence of cooperation among distributed autonomous components. We propose here a research approach of the brain-based robotics, which focuses on the process of how independent autonomous components cooperatively works in the context of a task accomplishment in the real world. It therefore requires a construction of robotic systems with the real-time interaction between the simulator of internal neuronal models and environmental changes. The on-line simulator system transmits and receives data from the robot body so that it offers a way to investigate coordination mechanisms in human-robot interactions. This synthetic approach may help understanding brain functions in a social environment and a prototype of self-conscious in human developmental process.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110008106476

The Emergence of Intelligence and Dynamics of Biological Systems:Possible insights from neuro-robotic approach Reviewed

WAGATSUMA Hiroaki

Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers ( The Institute of Systems, Control and Information Engineers ) 10 ( 0 ) 85 - 85 2010.01

Authorship：Lead author Language：Japanese Publishing type：Article, review, commentary, editorial, etc. (scientific journal)

Recent expectations of what computational neuroscience contributes to the development of robotic technologies are remarkable. In dynamic environments, robots are required to work as an online and on-demand system, like humans do. However a simple conjunction of neural network models merely provides a pre-ordered circuit to control the robot, and then such a constructive approach casts doubt on the strength of the reality of brain-based robots. Nowadays, neuroscientists know the limitation of the traditional analytic science and start to explore a kind of the synthetic approach as the integration of past knowledge that have been investigated analytically. In this study, we discuss on the direction to the synthetic approach through the neuro-robotics.

DOI： 10.11509/sci.SCI10.0.85.0

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130006985670

Toward a Reality of the Brain Theory : Integration with Information Technology and Realtime Robotics Reviewed

WAGATSUMA Hiroaki

The Brain & Neural Networks ( Japanese Neural Network Society ) 16 ( 4 ) 184 - 189 2009.12

実世界における脳の数理モデルの貢献—情報工学・ロボット工学との融合を考える— Reviewed

我妻広明

日本神経回路学会誌 16 ( 4 ) 184 - 189 2009.12

A Noise-Induced Stability in the Real-time Robotic System for Object Handling Reviewed International journal

Wagatsuma, H.

Proceedings of the IEEE 8th International Conference on Development and Learning (ICDL 2009) 049 - 049 2009.12

Synchronized rhythmic signals effectively influence on-going cortical activity for decision-making: a study of the biological plausible neural network model Reviewed International journal

Wagatsuma, H., Yamaguchi, Y

Lecture Notes in Computer Science 5506 857 - 864 2009.12

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Papers - WAGATSUMA Hiroaki