Faculty Profiles - WAGATSUMA Hiroaki

Papers - WAGATSUMA Hiroaki

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A Displacement Calculation of Theo Jansen Mechanism by Piecewise Jacobians to Enhance a Systematic Robust Stability Analysis

KOMODA Kazuma, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 112 ( 227 ) 115 - 120 2012.10

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

The displacement calculation is necessary for detail analyses of movements of planar manipulators, and the Jacobian matrix is conventionally used for the calculation of position, angular and torque displacements. We have been investigated the potential and the extension of the Theo Jansen mechanism, which represent a smooth motion of the animal locomotion kinematically, and we found the possibility of what the mechanism is decomposed into parts of four-link planar manipulators, as subspaces of the original Jacobian. In our analyses, the decomposition is examined to be able to compose the whole system again. which is approximately fit in the original Jacobian. This may contributes a further extension of the Theo Jansen mechanism systematically, such as trot and climbing types.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110009636973

授業の形成的評価を支援するWebシステム“Key Words Meeting”の開発 Reviewed

栗島一博, 我妻広明, 金子宗司, 内田信二, Doosub Jahng

教育システム情報学会誌 29 ( 4 ) 180 - 189 2012.10

Trade-off problem between the accurate object recognition and real-time responses:a path-finding operation in the process map

TOMONAGA Yousuke, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 112 ( 227 ) 121 - 126 2012.09

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

Biologically-inspired robots have been studied to mimic biological intelligence that provides complex behaviors. In the purpose of the real-time information processing in the real world, robots are required to manage many information processing in the same time yet it is difficult to complete in a short time because of the limitation of the processing power that is implemented in the robot. We focus on on-demand skipping of steps in the visual processing according to the situation that allows a low-resolution picture for recognition because the target object is already captured in the current running direction. This concept may apply an online re-organizing method in the complex parallel processing to reduce the calculated load of the robot's controller.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110009636974

A Displacement Calculation of Theo Jansen Mechanism by Piecewise Jacobians to Enhance a Systematic Robust Stability Analysis

KOMODA Kazuma, WAGATSUMA Hiroaki

112 ( 227 ) 105 - 120 2012.09

An auto-cruise control system by using attractor dynamics to navigate a mobile robot to trace the desired orbit

ONO Kosuke, WAGATSUMA Hiroaki

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 112 ( 227 ) 27 - 32 2012.09

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

In consideration of bio-inspired architectures, we have developed a method to implement spontaneous orbit generations by autonomous differential equations into the vehicle motion. A serious problem is that how to transform an orbit represented in two dimensional (x-y) coordinates to the equation of motion that is constrained right and left wheels (wheel speeds). In this paper, we designed a transformation system from the x-y coordinates to the vehicle motion and demonstrated a smooth orbit by using the transformation system from the original of an autonomous differential equation, such as the VDP oscillator. In experiments of theoretical simulations and real-vehicle robot running experiments, we investigated the error between the simulation and the real robot orbits, suggesting the difference is small enough to control real vehicles in principle.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110009636807

Guest editorial: Biologically inspired human-robot interactionsdeveloping more natural ways to communicate with our machines Invited Reviewed International journal

4 ( 3 ) 190 - 191 2012.09

Extending the World to Sense and Behave: A Supportive System Focusing on the Body Coordination for Neurocognitive Rehabilitation Reviewed International journal

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

Proceedings of The Fourth International Conference on Advanced Cognitive Technologies and Applications (COGNITIVE 2012) 171 - 174 2012.07

A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function Reviewed International journal

Komoda, K., Wagatsuma, H.

Dynamic Walking Conference 2012 2012.05

海馬の理論研究：ニューロンから行動まで Reviewed

佐藤直行, 大森敏明, 我妻広明

情報・システムソサイエティ誌 ( 一般社団法人電子情報通信学会 ) 17 ( 2 ) 4 - 5 2012.01

Development of Web-Based Formative Assessment Support System "Key Words Meeting" Reviewed

Kurishima Kazuhiro, Wagatsuma Hiroaki, Kaneko Shuji, Uchida Shinji, Jahng Doosub

Transactions of Japanese Society for Information and Systems in Education ( Japanese Society for Information and Systems in Education ) 29 ( 4 ) 180 - 189 2012.01

Language：Japanese Publishing type：Research paper (scientific journal)

<p>Formative assessment, which focuses on the use of learners' responses, is an important concept for instructional improvement. This paper presents a web-designed class support system called Key Words Meeting (KWM). KWM stores information on teacher's pre-class key words and their description as well as the student's post class responses to them with memorized key words and their descriptions. By comparing these, the teacher can obtain scales that represent how well each instructional content is transmitted and understood by the students. Teachers can also refer to KWM indicators to manage which key words need to be supplemented. The teacher provides feedbacks to the students by commenting based on their responses and estimated comprehensions. Our experimental results show that KWM helps teachers manage feedbacks and helps students review the class effectively throughout the semester.</p>

DOI： 10.14926/jsise.29.180

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130006728697

SUDOKU puzzle: the neurodynamics of intelligence to choose the right solution from many possible options in a hypothetical reasoning Reviewed International journal

Wagatsuma, H.

Proceedings of International Joint Conference on Neural Networks (IJCNN 2011) 99 - 99 2011.12

Problems of Temporal Granularity in Robot control: Levels of Adaptation and a Necessity of Self-Confidence Reviewed International journal

Wagatsuma, H., Tomonaga

Proceedings of International Joint Conference on Neural Networks (IJCNN 2011) 2670 - 2675 2011.12

A stress-generated backlash power in S-shaped plates for the development of robotic plastic muscles Reviewed International journal

Sone, M., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 188 - 189 2011.12

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

Tomonaga, Y., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 190 - 191 2011.12

A study of availability and extensibility of Theo Jansen mechanism toward climbing over bumps Reviewed International journal

Komoda, K., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 192 - 193 2011.12

Modeling of spontaneous orbit generation by using the VDP oscillator toward adaptive cruise control systems Reviewed International journal

Ono, K., Wagatsuma, H

Proceedings of the 21st Annual Conference of the Japanese Neural Networks Society (JNNS 2011) 204 - 205 2011.12

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

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Papers - WAGATSUMA Hiroaki