Faculty Profiles - WAGATSUMA Hiroaki

Papers - WAGATSUMA Hiroaki

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A proposal of expansion and contraction mechanism for changing wheel distances in the bio-inspired multi-wheel vehicle connected with elastic materials

URATA Tatsuyuki, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 113 ( 382 ) 55 - 60 2014.01

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

Wheels are used for transporting objects and people in a wide range of areas. In principle, wheels require a well-prepared road surface for preventing a slipping, and basically it is not suitable for climbing slope with a high gradient. Crawler vehicle is an effective option as climbing mechanisms, which is currently popular in rescue robots, while multi-wheel vehicle is still used for planetary explorers because of less complexity in the assembly level rather than crawlers. We have been investigated a possibility of multi-wheel vehicles for an application to stairs-climbing, by using a bio-inspired linkage mechanism with elastic materials. In our past report, we demonstrated that the vehicle has an ability to climb stars in some level, but a spontaneous flexibility of the material is not enough for wheel engagement with star surface. In the present study, we proposed a contraction mechanism of the distance between wheels, like muscle, by using a sensori-motor feedback control with two elastic blades. In our real robotic experiment, the proposed mechanism works depending on a suitable elasticity difference of upper and lower blades.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110009825561

Analyses of the optimal timing to change the running direction in the parking problem : An automated tricycle model with the linearized path tracking control and its target axis rotation

ISHIKAWA Takuro, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 113 ( 382 ) 43 - 48 2014.01

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

In this study, we investigated methods for steering systems with nonholonomic and environmental constraints based on the path tracking controller by using exact linearization technique and non-linear time scale transformation originally proposed by Sampei and Ito [1] and proposed a target axis rotation to maximize the usefulness to be obtained from the original method in terms of a parking path planning in the narrow space. A problem of our proposed target axis rotation method was instability to determine the center of axis rotations triggered by obstacle detections with walls. In this paper, we calculated an ideal trajectory of the parking by using geometrical analyses from the minimum rotation radius of the vehicle. In computer experiments, our improved method demonstrated a fitting trajectory with the ideal one in the condition of best parameters in the linear quadratic (LQ) optimal control.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110009825559

Improvement of Simulation Platform for Providing Reliable and Easy Use Model Simulation Environment Reviewed International journal

2014.01

A Method to Deal With Prospective Risks at Home in Robotic Observations by Using a Brain-Inspired Model Reviewed International journal

Chik, D., Tripathi, G. N., Wagatsuma, Hv

Neural Information Processing, Lecture Notes in Computer Science 8228 33 - 40 2013.12

How Difficult is it for Robots to Maintain Home Safety? - A Brain-Inspired Robotics Point of View Reviewed International journal

Tripathi, G. N., Chik, D., Wagatsuma, H

Neural Information Processing, Lecture Notes in Computer Science 8226 528 - 536 2013.12

The Neurodynamics of Intelligence to Choose the Right Solution from Many Possible Options in a Hypothetical Reasoning Reviewed International journal

Wagatsuma, H

Advances in Cognitive Neurodynamics (III) 363 - 368 2013.12

ロボット言語指示課題に向けた文法構造を反映した構文解析ツリーの検討

相川大輔，我妻広明

第9回ネットワークが創発する知能研究会(JWEIN'13)論文集 78 - 83 2013.08

数独解法アルゴリズムにおける脳内計算過程の検討

赤池早紀，我妻広明

第9回ネットワークが創発する知能研究会(JWEIN'13)論文集 41 - 46 2013.08

粒子モデルにおける壁面形状複雑度に依存した運動軌道稠密性と壁面衝突周期不規則性の関係

齋藤萌香，我妻広明

第9回ネットワークが創発する知能研究会(JWEIN'13)論文集 37 - 40 2013.08

Phase Response Curves Explain How Multiplicative Feedback on Neural Phase Elements Differs from Adaptive Physical Feedback in Robotic Motion Controls Reviewed International journal

Nakada, K, Miura, K., Wagatsuma, H.

The International Joint Conference on Neural Networks (IJCNN 2013) 2013.08

Rethinking Intelligence(<Special Issue>Singularity Age: Coevolution with Superhuman Intelligence)

CHURCHILL Elizabeth F., WAGATSUMA Hiroaki, Elizabeth F. Churchill, Hiroaki Wagatsuma

28 ( 3 ) 439 - 443 2013.05

ダイナミクスから知能を考える(<特集>編集委員今年の抱負2013)

我妻広明, Hiroaki Wagatsuma

人工知能学会誌 = Journal of Japanese Society for Artificial Intelligence 28 ( 1 ) 2013.01

An application of attractor dynamics to autocruise control systems by using a mobile robot and real-time simulator Reviewed International journal

Ono, K., Wagatsuma, H

Proceedings of RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing (NCSP'12) 513 - 514 2012.12

Attractor dynamics approach to vehicle behavior control: a transformation between different state-space of nonlinear dynamics Reviewed International journal

Wagatsuma, H., Ono, K.

Proceedings of RISP International Workshop on Nonlinear Circuit and Signal Processing (NCSP'12) 511 - 512 2012.12

Robotic rehabilitation tool supporting up and down motions in the bathroom-analyses of the catapult-assisted taking-off mechanism Reviewed International journal

Sone, M., Wagatsuma, H., Tachibana, K., Sakamoto, K.

Proceedings of 9th International Conference on Disability, Virtual Reality and Associated Technologies (ICDVRAT 2012) 511 - 514 2012.12

Neurocognitive rehabilitation approach for cerebral palsy syndrome by using the rhythm-based tapping tool to extend fields of perception and motion Reviewed International journal

Fukudome, M., Wagatsuma, H., Tachibana, K., Sakamoto, K.

Proceedings of 9th International Conference on Disability, Virtual Reality and Associated Technologies (ICDVRAT 2012) 451 - 454 2012.12

A kinetic model of failure occurrences in a chain reaction and an analysis using Bernstein polynomials and the Brownian motion with some relativity Reviewed International journal

Wagatsuma, H

Proceeding of the 6th International Conference on Soft Computing and Intelligent Systems, and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012) IEEE, 2012 332 - 335 2012.12

Theoretical basis of Theo Jansen linkage for analysis of dynamics by using kinematic constraint formulations, Reviewed International journal

Komoda, K., Wagatsuma, H

Proceedings of the 22st Annual Conference of the Japanese Neural Networks Society (JNNS 2012) 3 - 16 2012.12

An expansion and contraction of links in the syntactic parsing tree during a compensation process between the human instruction and robot operations in the real world Reviewed International journal

Wagatsuma, H., Aikawa, M

Proceedings of the 22st Annual Conference of the Japanese Neural Networks Society (JNNS 2012) 3 - 18 2012.12

A phenomenological model of emotional intelligence - emotion prevents a dispute Reviewed International journal

Wagatsuma, H., Saito, M

Proceedings of the 22st Annual Conference of the Japanese Neural Networks Society (JNNS 2012) 3 - 23 2012.12

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Papers - WAGATSUMA Hiroaki