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| Author | Title | Journal/Proceedings | Year | BibTeX type | DOI/URL/PDF |
|---|---|---|---|---|---|
| Hayet, J.-B., Esteves, C., Arechavaleta, G., Stasse, O. & Yoshida, E. | Humanoid Locomotion Planning for Visually-Guided Tasks | International Journal of Humanoid Robotics | 2012 | article | |
| Abstract: In this work, we propose a landmark-based navigation approach that integrates 1) high-level motion planning capabilities that take into account the landmarks position and visibility and 2) a stack of feasible visual servoing tasks based on footprints to follow. The path planner computes a collision-free path that considers sensory, geometric, and kinematic constraints that are specific to humanoid robots. Based on recent results in Movement Neuroscience that suggest that most humans exhibit nonholonomic constraints when walking in open spaces, the humanoid steering behavior is modeled as a differential-drive wheeled robot. The obtained paths are made of geometric primitives that are the shortest in distance in free spaces. The footprints around the path and the positions of the landmarks to which the gaze must be directed are used within a stack-of-tasks (SoT) framework to compute the whole-body motion of the humanoid. We provide some experiments that verify the effectiveness of the proposed strategy on the HRP-2 platform. | |||||
| Note: accepted | |||||
BibTeX:
@article{Esteves12IJHR,
author = {Jean-Bernard Hayet and Claudia Esteves and Gustavo Arechavaleta and Olivier |
|||||
| Perrin, N., Stasse, O., Baudouin, L., Lamiraux, F. & Yoshida, E. | Fast Humanoid Robot Collision-free Footstep Planning using Swept Volume Approximations | IEEE Transaction on Robotics | 2012 | article | |
| Abstract: In this paper, we propose a novel and coherent framework for fast footstep planning for legged robots on a flat ground with 3D obstacle avoidance. We use swept volume approximations computed offline in order to considerably reduce the time spent in collision checking during the online planning phase, in which an RRT variant is used to find collision-free sequences of half-steps (produced by a specific walking pattern generator). Then, an original homotopy is used to smooth the sequences into natural motions avoiding gently the obstacles. The results are experimentally validated on the robot HRP-2. | |||||
| Note: accepted | |||||
BibTeX:
@article{Perrin12TRO,
author = {Nicolas Perrin and Olivier Stasse and Léo Baudouin and Florent Lamiraux and Eiichi Yoshida},
title = {Fast Humanoid Robot Collision-free Footstep Planning using Swept Volume Approximations},
journal = {IEEE Transaction on Robotics},
year = {2012},
note = {accepted}
}
|
|||||
| Kanoun, O., Laumond, J.-P. & Yoshida, E. | Planning Foot Placements for a Humanoid Robot: a Problem of Inverse Kinematics [BibTeX] |
International Journal of Robotics Research Vol. 30(4), pp. 476-485 |
2011 | article | DOI [PDF] |
BibTeX:
@article{Kanoun11IJRR,
author = {Oussama Kanoun and Jean-Paul Laumond and Eiichi Yoshida},
title = {Planning Foot Placements for a Humanoid Robot: a Problem of Inverse Kinematics},
journal = {International Journal of Robotics Research},
year = {2011},
volume = {30},
number = {4},
pages = {476-485},
doi = {http://dx.doi.org/10.1177/0278364910368147}
}
|
|||||
| Suleiman, W., Miura, K., Kanehiro, F. & Yoshida, E. | Enhancing Zero Moment Point-Based Control Model: System Identification Approach [BibTeX] |
Advanced Robotics Vol. 26(3), pp. 427-446 |
2011 | article | DOI [PDF] |
BibTeX:
@article{Suleiman11AR,
author = {Wael Suleiman and Kanako Miura and Fumio Kanehiro and Eiichi Yoshida},
title = {Enhancing Zero Moment Point-Based Control Model: System Identification Approach},
journal = {Advanced Robotics},
year = {2011},
volume = {26},
number = {3},
pages = {427-446},
doi = {http://dx.doi.org/10.1163/016918610X551773}
}
|
|||||
| 吉田英一, 金広文男, 横井一仁 & Gergondet, P. | 経路の変形と再探索を併用したオンライン動作再計画 [BibTeX] |
日本ロボット学会誌 Vol. 29(8), pp. 716-725 |
2011 | article | [PDF] |
BibTeX:
@article{Yoshida11JRSJ,
author = {吉田英一 and 金広文男 and 横井一仁 and Pierre Gergondet},
title = {経路の変形と再探索を併用したオンライン動作再計画},
journal = {日本ロボット学会誌},
year = {2011},
volume = {29},
number = {8},
pages = {716--725}
}
|
|||||
| Baudouin, L., Perrin, N., Stasse, O., Moulard, T., Lamiraux, F. & Yoshida, E. | Real-time Replanning Using 3D Environment for Humanoid Robot | Proc. 2011 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 584-589 | 2011 | inproceedings | [PDF] |
| Abstract: In this paper, we illustrate experimentally an original real-time replanning scheme and architecture for humanoid robot reactive walking. Based on a dense set of actions, our approach uses a large panel of the humanoid robot capabilities and is particularly well suited for 3D collision avoidance. Indeed A-* approaches becomes difficult in such situation, thus the method demonstrated here relies on RRT. Combined with an approximation of the volume swept by the robot legs while walking, our method is able to cope with 3D obstacles while maintaining real-time computation. We experimentally validate our approach on the robot HRP-2. | |||||
BibTeX:
@inproceedings{Baudouin11Humanoids,
author = {Léo Baudouin and Nicolas Perrin and Olivier Stasse and Thomas Moulard and Florent Lamiraux and Eiichi Yoshida},
title = {Real-time Replanning Using 3D Environment for Humanoid Robot},
booktitle = {Proc. 2011 IEEE-RAS Int. Conf. on Humanoid Robots},
year = {2011},
pages = {584-589}
}
|
|||||
| Perrin, N., Stasse, O., Lamiraux, F. & Yoshida, E. | A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction | Proc. 2011 IEEE Int Conf. Robotics and Automation, pp. 1270-1275 | 2011 | inproceedings | [PDF] |
| Abstract: We present a new biped walking pattern generator based on “half-steps”. Its key features are a) a 3-dimensional parametrization of the input space, and b) a simple homotopy that efficiently smooths the walking trajectory corresponding to a fixed sequence of steps. We show how these features can be ideally combined in the framework of sampling-based footstep planning. We apply our approach to the robot HRP-2 and are able to quickly produce smooth and dynamically stable trajectories that are solutions to a difficult problem of footstep planning. | |||||
BibTeX:
@inproceedings{Perrin11ICRA,
author = {Nicolas Perrin and Olivier Stasse and Florent Lamiraux and Eiichi Yoshida},
title = {A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction},
booktitle = {Proc. 2011 IEEE Int Conf. Robotics and Automation},
year = {2011},
pages = {1270-1275}
}
|
|||||
| Perrin, N., Stasse, O., Lamiraux, F. & Yoshida, E. | Weakly Collision-free Paths for Continuous Humanoid Footstep Planning | Proc. 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4408-4413 | 2011 | inproceedings | [PDF] |
| Abstract: In this paper we demonstrate an original equivalence between footstep planning problems, where discrete sequences of steps are searched for, and the more classical problem of motion planning for a 2D rigid shape, where a continuous collision-free path has to be found. This equivalence enables a lot of classical motion planning techniques (such as PRM, RRT, etc.) to be applied almost effortlessly to the specific problem of footstep planning for a humanoid robot. | |||||
BibTeX:
@inproceedings{Perrin11IROS,
author = {Nicolas Perrin and Olivier Stasse and Florent Lamiraux and Eiichi Yoshida},
title = {Weakly Collision-free Paths for Continuous Humanoid Footstep Planning},
booktitle = {Proc. 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2011},
pages = {4408-4413}
}
|
|||||
| Yoshida, E. & Kanehiro, F. | Reactive Robot Motion using Path Replanning and Deformation | Proc. 2011 IEEE Int. Conf. on Robotics and Automation, pp. 5457-5462 | 2011 | inproceedings | [PDF] |
| Abstract: We present a reactive method for online robot motion replanning in dynamically changing environments by combining path replanning and deformation. Path deformation is newly integrated in our replanning method featured by efficient roadmap reuse and parallel planning and execution. This enhancement allows the planner to deal with more dynamic environments including continuously moving obstacles, by smoothly deforming the path during execution. Simulation results are shown to validate the effectiveness of the proposed method. | |||||
BibTeX:
@inproceedings{Yoshida11ICRA,
author = {Eiichi Yoshida and Fumio Kanehiro},
title = {Reactive Robot Motion using Path Replanning and Deformation},
booktitle = {Proc. 2011 IEEE Int. Conf. on Robotics and Automation},
year = {2011},
pages = {5457-5462}
}
|
|||||
| Harada, K., Hattori, S., Kurokawa, H., Morisawa, M., Kajita, S. & Yoshida, E. | Two-Stage Time-Parametrized Gait Planning for Humanoid Robots [BibTeX] |
IEEE/ASME Trans. on Mechatronics Vol. 15(5), pp. 694-703 |
2010 | article | |
BibTeX:
@article{Harada10TME,
author = {Kensuke Harada and Shizuko Hattori and Haruhisa Kurokawa and Mitsuharu Morisawa and Shuuji Kajita and Eiichi Yoshida},
title = {Two-Stage Time-Parametrized Gait Planning for Humanoid Robots},
journal = {IEEE/ASME Trans. on Mechatronics},
year = {2010},
volume = {15},
number = {5},
pages = {694--703}
}
|
|||||
| 金広文男, 森澤光晴, Suleiman, W., 金子健二 & 吉田英一 | 実機の物理的制約を考慮した即応的脚動作生成手法 [BibTeX] |
日本ロボット学会誌 Vol. 28(10), pp. 1251-1261 |
2010 | article | [PDF] |
BibTeX:
@article{Kanehiro10JRSJ,
author = {金広文男 and 森澤光晴 and Wael Suleiman and 金子健二 and 吉田英一},
title = {実機の物理的制約を考慮した即応的脚動作生成手法},
journal = {日本ロボット学会誌},
year = {2010},
volume = {28},
number = {10},
pages = {1251-1261}
}
|
|||||
| Mombaur, K., Laumond, J.-P. & Yoshida, E. | An Optimal Control-Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots [BibTeX] |
Advanced Robotics Vol. 24(4), pp. 515-535 |
2010 | article | DOI [PDF] |
BibTeX:
@article{Mombaur10AR,
author = {Katja Mombaur and Jean-Paul Laumond and Eiichi Yoshida},
title = {An Optimal Control-Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots},
journal = {Advanced Robotics},
year = {2010},
volume = {24},
number = {4},
pages = {515--535},
doi = {http://dx.doi.org/10.1163/016918610X487090}
}
|
|||||
| Suleiman, W., Kanehiro, F., Yoshida, E., Laumond, J.-P. & Monin, A. | Time Parameterization of Humanoid Robot Paths [BibTeX] |
IEEE Trans. on Robotics Vol. 26(3), pp. 458-468 |
2010 | article | DOI [PDF] |
BibTeX:
@article{Suleiman10TRO,
author = {Wael Suleiman and Fumio Kanehiro and Eiichi Yoshida and Jean-Paul Laumond and André Monin},
title = {Time Parameterization of Humanoid Robot Paths},
journal = {IEEE Trans. on Robotics},
year = {2010},
volume = {26},
number = {3},
pages = {458--468},
doi = {http://dx.doi.org/10.1109/TRO.2010.2047531}
}
|
|||||
| Yoshida, E., Poirier, M., Laumond, J.-P., Kanoun, O., Lamiraux, F., Alami, R. & Yokoi, K. | Pivoting based manipulation by a humanoid robot | Autonomous Robots Vol. 28(1), pp. 77-88 |
2010 | article | DOI URL [PDF] |
| Abstract: In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a pivoting manipulation method that allows the humanoid to displace an object without lifting, but by the support of the ground contact. First, the small-time controllability of pivoting is demonstrated. On its basis, an algorithm for collision-free pivoting motion planning is established taking into account the naturalness of motion as nonholonomic constraints. Finally, we present a whole-body motion generation method by a humanoid robot, which is verified by experiments. | |||||
BibTeX:
@article{Yoshida10Auro,
author = {Eiichi Yoshida and Mathieu Poirier and Jean-Paul Laumond and Oussama Kanoun and Florent Lamiraux and Rachid Alami and Kazuhito Yokoi},
title = {Pivoting based manipulation by a humanoid robot},
journal = {Autonomous Robots},
publisher = {Springer Netherlands},
year = {2010},
volume = {28},
number = {1},
pages = {77--88},
url = {http://www.springerlink.com/content/ d47r262762502912/},
doi = {http://dx.doi.org/10.1007/s10514-009-9143-x}
}
|
|||||
| Harada, K., Yoshida, E. & Yokoi, K. | Motion Planning for Humanoid Robots [BibTeX] |
2010 | book | URL | |
BibTeX:
@book{Harada10SpringerBook,
author = {Kensuke Harada and Eiichi Yoshida and Kazuhito Yokoi},
title = {Motion Planning for Humanoid Robots},
publisher = {Springer},
year = {2010},
url = {http://www.springer.com/engineering/robotics/book/978-1-84996-219-3}
}
|
|||||
| Lallee, S., Yoshida, E., Mallet, A., Nori, F., Natale, L., Metta, G., Warneken, F. & Dominey, P.F. | Human-Robot Cooperation Based on Interaction Learning | Vol. 264From Motor Learning to Interaction Learning in Robots, pp. 491-536 |
2010 | incollection | DOI URL |
| Abstract: Robots are now physically capable of locomotion, object manipulation, and an essentially unlimited set of sensory motor behaviors. This sets the scene for the corresponding technical challenge: how can non-specialist human users interact with these robots for human robot cooperation? Crangle and Suppes stated in [1] : the user should not have to become a programmer, or rely on a programmer, to alter the robots behavior, and the user should not have to learn specialized technical vocabulary to request action from a robot. To achieve this goal, one option is to consider the robot as a human apprentice and to have it learn through its interaction with a human. This chapter reviews our approach to this problem. | |||||
BibTeX:
@incollection{Lallee2010,
author = {S. Lallee and E. Yoshida and A. Mallet and F. Nori and L. Natale and G. Metta and F. Warneken and P. F. Dominey},
title = {Human-Robot Cooperation Based on Interaction Learning},
booktitle = {From Motor Learning to Interaction Learning in Robots},
publisher = {Springer Berlin / Heidelberg},
year = {2010},
volume = {264},
pages = {491--536},
url = {http://springerlink.com/content/8223p21v45827470/},
doi = {http://dx.doi.org/10.1007/978-3-642-05181-4_21}
}
|
|||||
| Yoshida, E., Esteves, C., Kanoun, O., Poirier, M., Mallet, A., Laumond, J.-P. & Yokoi, K. | Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation [BibTeX] |
Motion Planning for Humanoid Robots, pp. 99-128 | 2010 | incollection | DOI [PDF] |
BibTeX:
@incollection{Yoshida10STAR,
author = {Eiichi Yoshida and Claudia Esteves and Oussama Kanoun and Mathieu Poirier and |
|||||
| Arbulu, M., Kheddar, A. & Yoshida, E. | An approach of generic solution for Humanoid stepping over motion | Proc. 2010 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 474-479 | 2010 | inproceedings | |
| Abstract: This paper deals with a novel solution for humanoid robots stepping over motion. It covers kinematics and dynamics problem, on the development of dynamically stable stepping over motion around an obstacle of any dimensions and configuration, between two generic footprints. The approach is solved taking into account the geometric constraints, by the use of oriented bounding boxes (OBB), the ZMP based and contact wrench dynamical constraints. This approach is validated successfully, by simulation and actual tests on the HRP-2 humanoid robot platform. | |||||
BibTeX:
@inproceedings{Arbulu10Humanoids,
author = {Mario Arbulu and Abderrahmane Kheddar and and Eiichi Yoshida},
title = {An approach of generic solution for Humanoid stepping over motion},
booktitle = {Proc. 2010 IEEE-RAS Int. Conf. on Humanoid Robots},
year = {2010},
pages = {474--479}
}
|
|||||
| Dune, C., Herdt, A., Stasse, O., Wieber, P.-B., Yokoi, K. & Yoshida, E. | Cancelling the sway motion of dynamic walking in visual servoing [BibTeX] |
Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3175-3180 | 2010 | inproceedings | |
BibTeX:
@inproceedings{Dune10IROS,
author = {C. Dune and A. Herdt and O. Stasse and P.-B. Wieber and K. Yokoi and E. Yoshida},
title = {Cancelling the sway motion of dynamic walking in visual servoing},
booktitle = {Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2010},
pages = {3175--3180}
}
|
|||||
| Kanehiro, F., Morisawa, M., Suleiman, W., Kaneko, K. & Yoshida, E. | Integrating Geometric Constraints into Reactive Leg Motion Generation [BibTeX] |
Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4069-4076 | 2010 | inproceedings | |
BibTeX:
@inproceedings{Kanehiro10IROS,
author = {Fumio Kanehiro and Mitsuharu Morisawa and Wael Suleiman and Kenji Kaneko and Eiichi Yoshida},
title = {Integrating Geometric Constraints into Reactive Leg Motion Generation},
booktitle = {Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2010},
pages = {4069-4076}
}
|
|||||
| Lengagne, S., Mathieu, P., Kheddar, A. & Yoshida, E. | Generation of Dynamic Multi-Contact Motions: 2D case studies [BibTeX] |
Proc. 2010 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 14-20 | 2010 | inproceedings | |
BibTeX:
@inproceedings{Lengagne10Humanoids,
author = {Sebastien Lengagne and Paul Mathieu and Abderrahmane Kheddar and Eiichi Yoshida},
title = {Generation of Dynamic Multi-Contact Motions: 2D case studies},
booktitle = {Proc. 2010 IEEE-RAS Int. Conf. on Humanoid Robots},
year = {2010},
pages = {14--20}
}
|
|||||
| Lengagne, S., Mathieu, P., Kheddar, A. & Yoshida, E. | Generation of Dynamic Motions Under Continuous Constraints: Efficient Computation Using B-Splines and Taylor polynomials [BibTeX] |
Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 698-703 | 2010 | inproceedings | |
BibTeX:
@inproceedings{Lengagne10IROS,
author = {Sebastien Lengagne and Paul Mathieu and Abderrahmane Kheddar and Eiichi Yoshida},
title = {Generation of Dynamic Motions Under Continuous Constraints: Efficient Computation Using B-Splines and Taylor polynomials},
booktitle = {Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2010},
pages = {698--703}
}
|
|||||
| Morisawa, M., Kanehiro, F., Kaneko, K., Mansard, N., Sola, J., Yoshida, E., Yokoi, K. & Laumond, J.-P. | Combining Suppression of the Disturbance and Reactive Stepping for Recovering Balance [BibTeX] |
Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3150-3156 | 2010 | inproceedings | |
BibTeX:
@inproceedings{Morisawa2010IROS,
author = {Mitsuharu Morisawa and Fumio Kanehiro and Kenji Kaneko and Nicolas Mansard and Joan Sola and Eiichi Yoshida and Kazuhito Yokoi and Jean-Paul Laumond},
title = {Combining Suppression of the Disturbance and Reactive Stepping for Recovering Balance},
booktitle = {Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2010},
pages = {3150--3156}
}
|
|||||
| Perrin, N., Stasse, O., Lamiraux, F. & Yoshida, E. | Approximation of Feasibility Tests for Reactive Walk on HRP-2 [BibTeX] |
Proc. 2010 IEEE Int Conf. Robotics and Automation, pp. 4243-4248 | 2010 | inproceedings | |
BibTeX:
@inproceedings{Perrin10ICRA,
author = {Nicolas Perrin and Olivier Stasse and Florent Lamiraux and Eiichi Yoshida},
title = {Approximation of Feasibility Tests for Reactive Walk on HRP-2},
booktitle = {Proc. 2010 IEEE Int Conf. Robotics and Automation},
year = {2010},
pages = {4243--4248}
}
|
|||||
| Suleiman, W., Kanehiro, F., Miura, K. & Yoshida, E. | Generating Dynamically Stable Walking Patterns for Humanoid Robots Using Quadratic System Model | Proc. of 2010 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics | 2010 | inproceedings | |
| Abstract: The approximation of humanoid robot by an inverted pendulum is one of the most used model to generate a stable walking motion using a planned Zero Moment Point (ZMP) trajectory. Many studies have been carried out to improve the reliability of this model. One of the proposed models is the quadratic system model, which has been validated by conducting real experiments on the humanoid robot. In this paper, we propose several controlling algorithms for the quadratic system. Some of these algorithms are devoted for on-line walking pattern generation and the others for off-line walking pattern generation for the humanoid robot. In order to validate these algorithms dynamically stable walking patterns have been generated. The stability and feasibility of walking patterns have been confirmed using dynamical simulation and conducting real experiments on the humanoid robot HRP-4C. | |||||
BibTeX:
@inproceedings{Suleiman10AIM,
author = {Wael Suleiman and Fumio Kanehiro and Kanako Miura and Eiichi Yoshida},
title = {Generating Dynamically Stable Walking Patterns for Humanoid Robots Using Quadratic System Model},
booktitle = {Proc. of 2010 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics},
year = {2010}
}
|
|||||
| Yoshida, E., Yokoi, K. & Gergondet, P. | Online Replanning for Reactive Robot Motion: Practical Aspects [BibTeX] |
Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 5927-5933 | 2010 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida10IROS,
author = {Eiichi Yoshida and Kazuhito Yokoi and Pierre Gergondet},
title = {Online Replanning for Reactive Robot Motion: Practical Aspects},
booktitle = {Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2010},
pages = {5927--5933}
}
|
|||||
| Dominey, P.F., Mallet, A. & Yoshida, E. | Real-Time Spoken-Language Programming for Cooperative Interaction with a Humanoid Apprentice | International Journal of Humanod Robotics Vol. 6(2), pp. 147-171 |
2009 | article | |
| Abstract: through this interaction, acquire knowledge and skill in the given task domain. A humanoid apprentice should have a useful repertoire of sensory-motor acts that the human can command with spoken language, along with a real-time behavioral sequence acquisition ability. The learned sequences should function as executable procedures that can operate in a flexible manner that are not rigidly sensitive to initial conditions. Our study integrates these capabilities in a real-time system on the HRP-2 humanoid, for learning a cooperative assembly task. We previously defined a system for Spoken Language Programming (SLP) that allowed the user to guide the robot through an arbitrary, task relevant, motor sequence via spoken commands, and to store this sequence as re-usable macro. Here we significantly extend the SLP system: It integrates vision and motion planning into the SLP framework, providing a new level of flexibility in the actions that can be created, and it allows the user to create "generic" functions with arguments (e.g. Give me X), and it allows multiple functions to be created | |||||
BibTeX:
@article{Dominey09IJHR,
author = {Peter Ford Dominey and Anthony Mallet and Eiichi Yoshida},
title = {Real-Time Spoken-Language Programming for Cooperative Interaction with a Humanoid Apprentice},
journal = {International Journal of Humanod Robotics},
year = {2009},
volume = {6},
number = {2},
pages = {147-171}
}
|
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| 金広文男, 吉田英一, Lamiraux, F., Kanoun, O. & Laumond, J.-P. | 任意の多面体間に適用可能な干渉回避運動生成法 [BibTeX] |
日本ロボット学会誌 Vol. 27(1), pp. 63-70 |
2009 | article | [PDF] |
BibTeX:
@article{Kanehiro09JRSJ,
author = {金広文男 and 吉田英一 and Florent Lamiraux and Oussama Kanoun and Jean-Paul Laumond},
title = {任意の多面体間に適用可能な干渉回避運動生成法},
journal = {日本ロボット学会誌},
year = {2009},
volume = {27},
number = {1},
pages = {63-70}
}
|
|||||
| Yoshida, E., Laumond, J.-P., Esteves, C., Kanoun, O., Mallet, A., Sakaguchi, T. & Yokoi, K. | Motion Autonomy for Humanoids: Experiments on HRP-2 No. 14 [BibTeX] |
Computer Animation and Virtual Worlds Vol. 20(5-6), pp. 511-522 |
2009 | article | DOI URL [PDF] |
BibTeX:
@article{Yoshida09CAVW,
author = {Eiichi Yoshida and Jean-Paul Laumond and Claudia Esteves and Oussama Kanoun and Anthony Mallet and Takeshi Sakaguchi and Kazuhito Yokoi},
title = {Motion Autonomy for Humanoids: Experiments on HRP-2 No. 14},
journal = {Computer Animation and Virtual Worlds},
year = {2009},
volume = {20},
number = {5-6},
pages = {511-522},
url = {http://www3.interscience.wiley.com/cgi-bin/fulltext/122201925/PDFSTART},
doi = {http://dx.doi.org/10.1002/cav.280}
}
|
|||||
| Sanada, H., Yoshida, E. & Yokoi, K. | Passing under Obstacles with Humanoid Robots [BibTeX] |
Springer Tracts in Advanced Robotics: Experimental Robotics: The Eleventh International Symposium, pp. 283-291 | 2009 | incollection | DOI URL |
BibTeX:
@incollection{Sanada09STAR,
author = {Hiroki Sanada and and Eiichi Yoshida and Kazuhito Yokoi}
editor = {Oussama Khatib and Vijay Kumar and George Pappas},
title = {Passing under Obstacles with Humanoid Robots},
booktitle = {Springer Tracts in Advanced Robotics: Experimental Robotics: The Eleventh International Symposium},
publisher = {Springer-Verlag},
year = {2009},
pages = {283-291},
url = {http://springerlink.com/content/126g5016168645q3/},
doi = {http://dx.doi.org/10.1007/978-3-642-00196-3_34}
}
|
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| Hayet, J.-B., Esteves, C., Arechavaleta, G. & Yoshida, E. | Motion Planning for a Vigilant Humanoid Robot | Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, pp. 196-201 | 2009 | inproceedings | |
| Abstract: This paper presents a motion planner for a vigilant humanoid robot. In this context of surveillance, the robot task is to keep a distinctive point in the environment in sight during all of its motion. The method we propose consists of three main ingredients: (1) A motion planner for an appropriate simplified model of the walking robot, adapted to the particular needs of humanoid robots, that outputs an admissible path with local optimality properties. This path is guaranteed to satisfy the visibility constraints resulting both from the landmark and from the angular limits of the mechanical system; (2) A generic walking pattern generator that produces stable walking motions; (3) A generalized inverse-kinematics module to satisfy the remaining collisions and posture constraints, in particular the gaze direction. The effectiveness of this method is shown with several examples on the humanoid robot platform HRP-2. | |||||
BibTeX:
@inproceedings{Hayet09Humanoids,
author = {Jean-Bernard Hayet and Claudia Esteves and Gustavo Arechavaleta and Eiichi Yoshida},
title = {Motion Planning for a Vigilant Humanoid Robot},
booktitle = {Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots},
year = {2009},
pages = {196-201}
}
|
|||||
| Kanehiro, F., Suleiman, W., Miura, K., Morisawa, M. & Yoshida, E. | Feasible Pattern Generation Method for Humanoid Robots | Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, pp. 542-548 | 2009 | inproceedings | |
| Abstract: This paper proposes a feasible pattern generation method for humanoid robots. One of the difficulties in pattern generation for humanoid robots is that generated patterns must satisfy many constraints such as physical limits, self-collision and so on to be feasible in addition to constraints to achieve a specified task. In reality, some of these constraints are not often taken into account during the pattern generation and they are just checked afterwards and unsatisfied constraints are fixed by hand. It is not easy to find a parameter set to get a feasible motion for humanoid robot and these pattern generators need to be used carefully when they are used online. The proposed method integrates the feasibility constraints into the pattern generation algorithm and enables to use it online more safely and releases human from parameter tuning. Moreover, a stiffness varying constraint is introduced to improve the feasibility. | |||||
| Note: Best Paper Award Finalist | |||||
BibTeX:
@inproceedings{Kanehiro09Humanoids,
author = {Fumio Kanehiro and Wael Suleiman and Kanako Miura and Mitsuharu Morisawa and Eiichi Yoshida},
title = {Feasible Pattern Generation Method for Humanoid Robots},
booktitle = {Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots},
year = {2009},
pages = {542-548},
note = {Best Paper Award Finalist}
}
|
|||||
| Kanoun, O., Yoshida, E. & Laumond, J.-P. | An optimization formulation for footsteps planning | Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, pp. 202-207 | 2009 | inproceedings | |
| Note: Best Paper Award Finalist | |||||
BibTeX:
@inproceedings{Kanoun09Humanoids,
author = {Oussama Kanoun and Eiichi Yoshida and Jean-Paul Laumond},
title = {An optimization formulation for footsteps planning},
booktitle = {Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots},
year = {2009},
pages = {202-207},
note = {Best Paper Award Finalist}
}
|
|||||
| Kanoun, O., Lamiraux, F., Wieber, P.-B., Kanehiro, F., Yoshida, E. & Laumond, J.-P. | Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots [BibTeX] |
Proc. 2009 IEEE Int. Conf. on Robotics and Automation, pp. 2939-2944 | 2009 | inproceedings | |
BibTeX:
@inproceedings{Kanoun09ICRA,
author = {Oussama Kanoun and Florent Lamiraux and Pierre-Brice Wieber and Fumio Kanehiro and Eiichi Yoshida and Jean-Paul Laumond},
title = {Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots},
booktitle = {Proc. 2009 IEEE Int. Conf. on Robotics and Automation},
year = {2009},
pages = {2939-2944}
}
|
|||||
| Morisawa, M., Harada, K., Kajita, S., Kaneko, K., Sola, J., Yoshida, E., Mansard, N., Laumond, J.-P. & Yokoi, K. | Reactive Stepping to Prevent Falling for Humanoids | Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, pp. 528-534 | 2009 | inproceedings | |
| Abstract: This paper proposes a reactive motion controller for a humanoid robot to maintain balance against a large disturbance, by relatively stepping. A reactive step is performed by the robot, so that it reduces the disturbance force. Severalproblems are addressed: first the motion is designed to ensure the respect of stepping constraints such as a dynamical stability, motion feasibility of the swing leg and so on. Moreover the stepping has to be generated in real-time and to be updated as quick as possible after the disturbance. To overcome these problems, we extend simultaneous the center of gravity (COG) and the zero-moment point (ZMP) planning based on a generic analytical solution of the linear inverted pendulum. The ZMP fluctuation and the modification of foot placement are determined by numerical optimization according to the position and velocity error of the COG due to the disturbance. All these computations are performed at low cost. The proposed method is validated through several simulations. | |||||
BibTeX:
@inproceedings{Morisawa09Humanoids,
author = {Mitsuharu Morisawa and Kensuke Harada and Shuuji Kajita and Kenji Kaneko and Joan Sola and Eiichi Yoshida and Nicolas Mansard and Jean-Paul Laumond and Kazuhito Yokoi},
title = {Reactive Stepping to Prevent Falling for Humanoids},
booktitle = {Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots},
year = {2009},
pages = {528-534}
}
|
|||||
| Suleiman, W., Kanehiro, F., Miura, K. & Yoshida, E. | Improving ZMP-based Control Model Using System Identification Techniques | Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, pp. 74-80 | 2009 | inproceedings | |
| Abstract: The approximation of humanoid robot by an inverted pendulum is one of the most used model to generate a stable motion using a planned Zero Moment Point (ZMP) trajectory. In this paper, we aim at proposing to improve the reliability of this model using system identification techniques. To achieve this goal, we propose an identification method which is the result of the comprehensive application of system identification to dynamic systems. Moreover, we propose a controlling algorithm for the identified model in oder to track a desired trajectory of ZMP. The efficiency of the method is shown using dynamical simulation and conducting real experiments on the humanoid robot HRP-4C. | |||||
BibTeX:
@inproceedings{Suleiman09Humanoids,
author = {Wael Suleiman and Fumio Kanehiro and Kanako Miura and Eiichi Yoshida},
title = {Improving ZMP-based Control Model Using System Identification Techniques},
booktitle = {Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots},
year = {2009},
pages = {74-80}
}
|
|||||
| Weiss, A., Bernhaupt, R., Tscheligi, M. & Yoshida, E. | Addressing User Experience and Societal Impact in a User Study with a Humanoid Robot | AISB2009: Proceedings of the Symposium on New Frontiers in Human-Robot Interaction, pp. 150-157 | 2009 | inproceedings | |
| Abstract: Using a preliminary exploratory case study the presented work investigates the feasibility of methods for the evaluation of user experience factors in human-humanoid interaction as well as measurements of societal impact in user studies. The case study is based on two tasks participants had to perform with the HRP-2 robot. The robot was controlled by the participants via speech commands to pick up (task1) and put down (task2) an object onto another place. Main goal of the case study was to explore the methodological concept on how to measure novice users? experiences during the collaboration with the humanoid robot HRP-2 via speech commands and if the general attitude towards robotics changes because of the interaction with the robot. To address users? experiences during the user study, participants were asked after each task to state their thoughts and feelings they had during the interaction (retrospective think aloud). Furthermore, participants were interviewed by means of two validated standardized questionnaires (NARS and AttrakDiff) and an especially developed questionnaire. The preliminary results show that retrospective think aloud is a good way to gather qualitative data on users? experiences. Furthermore a final interview on societal impact of humanoid robots gave insights into how novice users imagine a future society with robots. | |||||
BibTeX:
@inproceedings{Weiss09AISB,
author = {Astrid Weiss and Regina Bernhaupt and Manfred Tscheligi and Eiichi Yoshida},
title = {Addressing User Experience and Societal Impact in a User Study with a Humanoid Robot},
booktitle = {AISB2009: Proceedings of the Symposium on New Frontiers in Human-Robot Interaction},
year = {2009},
pages = {150-157}
}
|
|||||
| Yokoi, K., Yoshida, E. & Sanada, H. | Unified Motion Planning of Passing under Obstacles with Humanoid Robots | Proc. 2009 IEEE Int Conf. Robotics and Automation, pp. 1185-1190 | 2009 | inproceedings | |
| Abstract: A motion planning method for humanoid robots to pass under obstacles is proposed. The proposed motion planner can calculate a goal configuration and connect it with an initial configuration in a collision-free dynamically stable motion. The method can generate not only a body motion but also the footstep sequence. The effectiveness of the proposed method was validated by experiments with the humanoid robot HRP-2. | |||||
BibTeX:
@inproceedings{Yokoi09ICRA,
author = {Kazuhito Yokoi and Eiichi Yoshida and Hiroki Sanada},
title = {Unified Motion Planning of Passing under Obstacles with Humanoid Robots},
booktitle = {Proc. 2009 IEEE Int Conf. Robotics and Automation},
year = {2009},
pages = {1185-1190}
}
|
|||||
| Yoshida, E., Poirier, M., Laumond, J.-P., Kanoun, O., Lamiraux, F., Alami, R. & Yokoi, K. | Regrasp Planning for Pivoting Manipulation by a Humanoid Robot [BibTeX] |
Proc. 2009 IEEE Int. Conf. on Robotics and Automation, pp. 2467-2472 | 2009 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida09ICRA,
author = {Eiichi Yoshida and Mathieu Poirier and Jean-Paul Laumond and Oussama Kanoun and Florent Lamiraux and Rachid Alami and Kazuhito Yokoi},
title = {Regrasp Planning for Pivoting Manipulation by a Humanoid Robot},
booktitle = {Proc. 2009 IEEE Int. Conf. on Robotics and Automation},
year = {2009},
pages = {2467--2472}
}
|
|||||
| 原田研介, 服部静子, 比留川博久, 森澤光晴, 梶田秀司 & 吉田英一 | 動歩行するヒューマノイドロボットの干渉回避計画 [BibTeX] |
日本機械学会論文集 C編 Vol. 74(745), pp. 2272-2280 |
2008 | article | |
BibTeX:
@article{Harada08JSME,
author = {原田研介 and 服部静子 and 比留川博久 and 森澤光晴 and 梶田秀司 and 吉田英一},
title = {動歩行するヒューマノイドロボットの干渉回避計画},
journal = {日本機械学会論文集 C編},
year = {2008},
volume = {74},
number = {745},
pages = {2272-2280}
}
|
|||||
| Yoshida, E., Esteves, C., Belousov, I., Laumond, J.-P., Sakaguchi, T. & Yokoi, K. | Planning 3D Collision-Free Dynamic Robotic Motion through Iterative Reshaping [BibTeX] |
IEEE Trans. on Robotics Vol. 24(5), pp. 1186-1198 |
2008 | article | DOI [PDF] |
BibTeX:
@article{Yoshida08TRO,
author = {Eiichi Yoshida and Claudia Esteves and Igor Belousov and Jean-Paul Laumond and Takeshi Sakaguchi and Kazuhito Yokoi},
title = {Planning 3D Collision-Free Dynamic Robotic Motion through Iterative Reshaping},
journal = {IEEE Trans. on Robotics},
year = {2008},
volume = {24},
number = {5},
pages = {1186-1198},
doi = {http://dx.doi.org/10.1109/TRO.2008.2002312}
}
|
|||||
| Yoshida, E., Laumond, J.-P., Esteves, C., Kanoun, O., Sakaguchi, T. & Yokoi, K. | Whole-Body Locomotion, Manipulation and Reaching for Humanoids | Motion in Games, Lecture Notes in Computer Science, pp. 210-221 | 2008 | incollection | DOI URL |
| Abstract: This paper deals with motion planning and dynamic control for humanoid robots. The first part addresses simultaneous locomotion and manipulation planning while the second part deals with reaching tasks. The validity of the proposed methods is verified by experiments using humanoid platform HRP-2. | |||||
BibTeX:
@incollection{Yoshida08MIG,
author = {Eiichi Yoshida and Jean-Paul Laumond and Claudia Esteves and Oussama Kanoun and Takeshi Sakaguchi and Kazuhito Yokoi}
editor = {Arjan Egges and Arno Kamphuis and Mark Overmars},
title = {Whole-Body Locomotion, Manipulation and Reaching for Humanoids},
booktitle = {Motion in Games, Lecture Notes in Computer Science},
publisher = {Springer},
year = {2008},
pages = {210-221},
url = {http://www.springerlink.com/content/y28u6n1092420jqw/},
doi = {http://dx.doi.org/10.1007/978-3-540-89220-5_21}
}
|
|||||
| Kanehiro, F., Suleiman, W., Lamiraux, F., Yoshida, E. & Laumond, J.-P. | Integrating Dynamics into Motion Planning for Humanoid Robots | Proc. 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 660-667 | 2008 | inproceedings | |
| Abstract: This paper proposes an whole body motion planning method for humanoid robots in which dynamics is integrated. The method consists of two stages. A collision-free and statically stable path is planned in the first stage and it is transformed into a dynamically stable trajectory in the second stage. Contributions of the method is summarized as follows. (1) A local method plans a C1 path while avoiding collisions between non-strictly convex objects. (2) The second stage gives the minimum time trajectory by time parameterization under dynamic balance constraints. (3) Any path reshaping for recovering collision-freeness is not required since the second stage doesn't change shape of the path. Effectiveness of the method is examined by applying it to scenarios of a humanoid robot HRP-2. |
|||||
BibTeX:
@inproceedings{Kanehiro08IROS,
author = {Fumio Kanehiro and Wael Suleiman and Florent Lamiraux and Eiichi Yoshida and Jean-Paul Laumond},
title = {Integrating Dynamics into Motion Planning for Humanoid Robots},
booktitle = {Proc. 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2008},
pages = {660-667}
}
|
|||||
| Kanehiro, F., Lamiraux, F., Kanoun, O., Yoshida, E. & Laumond, J.-P. | A Local Collision Avoidance Method for Non-strictly Convex Polyhedra | Proceedings of Robotics: Science and Systems (RSS 08) | 2008 | inproceedings | |
| Abstract: This paper proposes a local collision avoidance method for non-strictly convex polyhedra with continuous velocities. The main contribution of the method is that non-strictly convex polyhedra can be used as geometric models of the robot and the environment without any approximation. The problem of the continuous interaction generation between polyhedra is reduced to the continuous constraints generation between polygonal faces and the continuity of those constraints are managed by the combinatorics based on Voronoi regions of a face. A collision-free motion is obtained by solving an optimization problem defined by an objective function which describes a task and linear inequality constraints which do geometrical constraints to avoid collisions. The proposed method is examined using example cases of simple objects and also applied to a humanoid robot HRP-2. | |||||
BibTeX:
@inproceedings{Kanehiro08RSS,
author = {Fumio Kanehiro and Florent Lamiraux and Oussama Kanoun and Eiichi Yoshida and Jean-Paul Laumond},
title = {A Local Collision Avoidance Method for Non-strictly Convex Polyhedra},
booktitle = {Proceedings of Robotics: Science and Systems (RSS 08)},
year = {2008}
}
|
|||||
| Mombaur, K., Laumond, J.-P. & Yoshida, E. | An optimal control model unifying holonomic and nonholonomic walking | Proceedings of 8th IEEE-RAS International Conference on Humanoid Robots, pp. 646-653 | 2008 | inproceedings | |
| Abstract: In this paper we explore the underlying principles of natural locomotion path generation of human beings. The knowledge of these principles is useful to implement biologically inspired path planning algorithms on a humanoid robot. The key is to formulate the path planning problem as optimal control problem. We propose a single dynamic model valid for all situations, unifying nonholonomic and holonomic parts of the motion, as well as a carefully designed unified objective function. The choice between holonomic and nonholonomic behavior appears, along with the optimal path, as result of the optimization by powerful numerical techniques. The proposed model and objective function are successfully tested in six different locomotion scenarios. The resulting paths are implemented on the HRP2 robot in the simulation environment OpenHRP as well as in the experiment on the real robot. | |||||
BibTeX:
@inproceedings{Mombaur08Humanoids,
author = {Katja Mombaur and Jean-Paul Laumond and Eiichi Yoshida},
title = {An optimal control model unifying holonomic and nonholonomic walking},
booktitle = {Proceedings of 8th IEEE-RAS International Conference on Humanoid Robots},
year = {2008},
pages = {646-653}
}
|
|||||
| Sanada, H., Yoshida, E. & Yokoi, K. | Passing Under Obstacles with Humanoid Robot | Proc. International Symposium on Experimental Robotics | 2008 | inproceedings | |
| Abstract: This paper presented a motion planning method of humanoid robots to pass under obstacles. The proposed motion planner can find an initial and a goal configurations and connect them by a collisionfree dynamically stable motion. The effectiveness of the proposed method was validated by experiments with humanoid robot HRP-2. | |||||
BibTeX:
@inproceedings{Sanada08ISER,
author = {Hiroki Sanada and Eiichi Yoshida and Kazuhito Yokoi},
title = {Passing Under Obstacles with Humanoid Robot},
booktitle = {Proc. International Symposium on Experimental Robotics},
year = {2008}
}
|
|||||
| Suleiman, W., Yoshida, E., Laumond, J.-P. & Monin, A. | Optimizing Humanoid Motions Using Recursive Dynamics and Lie Groups | Proceedings of International Conference on Information and Communication Technologies: From Theory to Applications, pp. 1-6 | 2008 | inproceedings | |
| Abstract: In this paper, we present a recursive method for the optimization of humanoid robot motions. The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The algorithm makes use of the theory of Lie groups and Lie algebra. The main objective of this method is to smooth the pre-calculated humanoid motions by minimizing the efforts, and at the same time improving the stability of the humanoid robot during the execution of the planned tasks. Experimental results using HRP-2 platform are provided to validate the proposed method |
|||||
BibTeX:
@inproceedings{Suleiman2008ICICT,
author = {Wael Suleiman and Eiichi Yoshida and Jean-Paul Laumond and André Monin},
title = {Optimizing Humanoid Motions Using Recursive Dynamics and Lie Groups},
booktitle = {Proceedings of International Conference on Information and Communication Technologies: From Theory to Applications},
year = {2008},
pages = {1-6}
}
|
|||||
| Yoshida, E., Poirier, M., Laumond, J.-P., Kanoun, O., Lamiraux, F., Alami, R. & Yokoi, K. | Whole-body motion planning for pivoting based manipulation by humanoids [BibTeX] |
Proc. 2008 IEEE Int. Conf. on Robotics and Automation, pp. 1712-1717 | 2008 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida08ICRA,
author = {Eiichi Yoshida and Mathieu Poirier and Jean-Paul Laumond and Oussama Kanoun and Florent Lamiraux and Rachid Alami and Kazuhito Yokoi},
title = {Whole-body motion planning for pivoting based manipulation by humanoids},
booktitle = {Proc. 2008 IEEE Int. Conf. on Robotics and Automation},
year = {2008},
pages = {1712--1717}
}
|
|||||
| Yoshida, E., Hugel, V., Plazevic, P., Yokoi, K. & Harada, K. | Dexterous humanoid whole-body manipulation by pivoting | Humanoid Robots: Human-like Machines, pp. 459-474 | 2007 | incollection | [PDF] |
| Abstract: Pivoting has such advantages as dexterity and safety over such methods as pushing or lifting to manipulate bulky or heavy objects. The technique of pivoting is used by humans to move large and bulky furniture from one place to another. This work intends to apply the technique of pivoting using a humanoid platform towards dexterous whole-body manipulation. The robot should be able to pivot the object and to walk with it to displace it to a specific location. In this paper, an elementary whole-body motion of pivoting by a humanoid robot is studied. First, the object is manipulated by two arms of a humanoid robot using impedance control for grasping, together with body balancing control while the robot stays at the same place. Next, the movement of the humanoid robot itself is performed by stepping with the help of resolved momentum control (RMC) to guarantee the robot stability. The proposed manipulation method is validated through dynamic simulation and hardware experiment using the humanoid platform HRP-2. | |||||
BibTeX:
@incollection{Yoshida07ITech,
author = {Eiichi Yoshida and Vincent Hugel and Pierre Plazevic and Kazuhito Yokoi and Kensuke Harada}
editor = {Matthias Hackel},
title = {Dexterous humanoid whole-body manipulation by pivoting},
booktitle = {Humanoid Robots: Human-like Machines},
publisher = {I-Tech Education and Publishing},
year = {2007},
pages = {459-474}
}
|
|||||
| Dominey, P.F., Mallet, A. & Yoshida, E. | Real-Time Cooperative Behavior Acquisition by a Humanoid Apprentice | Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots, pp. 270-275 | 2007 | inproceedings | |
| Abstract: An apprentice is an able-bodied individual that should interactively assist an expert, and through this interaction, they should acquire knowledge and skill in the given task domain. In this context the robot should have a useful repertoire of sensory-motor acts that the human can command with spoken language. In order to address the additional requirements for learning new behaviors, the robot should additionally have a real-time behavioral sequence acquisition capability. The learned sequences should function as executable procedures that can operate in a flexible manner that are not rigidly sensitive to initial conditions. The current research develops these capabilities in a real-time control system for the HRP-2 humanoid. The task domain involves a human and the HRP-2 working together to assemble a piece of furniture. We previously defined a system for Spoken Language Programming (SLP) that allowed the user to guide the robot through an arbitrary, task relevant, motor sequence via spoken commands, and to store this sequence as re-usable macro. The current research significantly extends the SPL system: It integrates vision and motion planning into the SLP framework, providing a new level of flexibility in the behavior that can be created. Most important it allows the user to create "generic" functions with arguments (e.g. Give me X), and it allows multiple functions to be created. We thus demonstrate - for the first time - a humanoid robot equipped with vision based grasping, and the ability to acquire multiple sensory motor behavioral procedures in real-time through SLP in the context of a cooperative task. The humanoid robot thus acquires new sensory motor skills that significantly facilitate the cooperative human-robot interaction. | |||||
BibTeX:
@inproceedings{Dominey07Humanoids,
author = {Peter Ford Dominey and Anthony Mallet and Eiichi Yoshida},
title = {Real-Time Cooperative Behavior Acquisition by a Humanoid Apprentice},
booktitle = {Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots},
year = {2007},
pages = {270-275}
}
|
|||||
| Harada, K., Hattori, S., Hirukawa, H., Morisawa, M., Kajita, S. & Yoshida, E. | Motion Planning for Walking Pattern Generation of Humanoid Robots | Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4227-4233 | 2007 | inproceedings | |
| Abstract: In this paper, we plan the collision free motion for walking pattern generation of a humanoid robot. Our motion planner can take into account several features of the walking pattern generator. The effectiveness of the proposed method is confirmed by simulation and experiment. | |||||
BibTeX:
@inproceedings{Harada07IROS,
author = {Kensuke Harada and Shizuko Hattori and Hirohisa Hirukawa and Mitsuharu Morisawa and Shuuji Kajita and Eiichi Yoshida},
title = {Motion Planning for Walking Pattern Generation of Humanoid Robots},
booktitle = {Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2007},
pages = {4227-4233}
}
|
|||||
| Sanada, H., Yoshida, E. & Yokoi, K. | Passing Under Obstacles with Humanoid Robots | Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4028-4034 | 2007 | inproceedings | |
| Abstract: A motion planning method that allows humanoid robots to pass under obstacles is developed. From experimental analyses of human motions, we find a new category of the motion: a human turns sideways and passes under an obstacle. In order to realize this kind motion with humanoid robot HRP-2, statically stable and geometrically possible initial and goal configurations are analyzed. A motion planning method that can connect two configurations with dynamic stability is proposed. It consists of Motion Path Planner and Motion Timing Planner. Motion Path Planner can generate statically stable motion under considering joint movable range and collision avoidance. Motion Timing Planner can generate dynamically stable motion under considering ZMP conditions and maximum joint velocities. The effectiveness of the proposed method is experimentally confirmed with humanoid robot HRP-2. |
|||||
BibTeX:
@inproceedings{Sanada07IROS,
author = {Hiroki Sanada and Eiichi Yoshida and Kazuhito Yokoi},
title = {Passing Under Obstacles with Humanoid Robots},
booktitle = {Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2007},
pages = {4028-4034}
}
|
|||||
| Suleiman, W., Yoshida, E., Laumond, J.-P. & Monin, A. | On Humanoid Motion Optimization | Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots, pp. 180-187 | 2007 | inproceedings | |
| Abstract: In this paper, we present a recursive method for the optimization of humanoid robot motions. The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The algorithm makes use of the theory of Lie groups and Lie algebra. The main objective of this method is to smooth the pre-calculated humanoid motions by minimizing the efforts, and at the same time improving the stability of the humanoid robot during the execution of the planned tasks. Experimental results using HRP-2 platform are provided to validate the proposed method. | |||||
BibTeX:
@inproceedings{Suleiman07Humanoids,
author = {Wael Suleiman and Eiichi Yoshida and Jean-Paul Laumond and André Monin},
title = {On Humanoid Motion Optimization},
booktitle = {Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots},
year = {2007},
pages = {180-187}
}
|
|||||
| Yoshida, E., Mallet, A., Lamiraux, F., Kanoun, O., Stasse, O., Poirier, M., Dominey, P.F., Laumond, J.-P. & Yokoi, K. | "Give me the Purple Ball" -- he said to HRP-2 N.14 [BibTeX] |
Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots, pp. 89-95 | 2007 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida07humanoids,
author = {Eiichi Yoshida and Anthony Mallet and Florent Lamiraux and Oussama Kanoun and Olivier Stasse and Mathieu Poirier and Peter Ford Dominey and Jean-Paul Laumond and Kazuhito Yokoi},
title = {"Give me the Purple Ball" -- he said to HRP-2 N.14},
booktitle = {Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots},
year = {2007},
pages = {89--95}
}
|
|||||
| Yoshida, E., Poirier, M., Laumond, J.-P., Alami, R. & Yokoi, K. | Pivoting Based Manipulation by Humanoids: a Controllability Analysis | Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1130-1135 | 2007 | inproceedings | [PDF] |
| Abstract: Pivoting manipulation has such advantages as dexterity and safety over other methods to move bulky or heavy objects. In this paper we aim to show that a polyhedral object can be displaced to arbitrary position and orientation on a plane (i.e. such a pivoting system is controllable). More than that we show it is small time controllable, i.e. the reachable space from a starting point contains always a neighbor no matter how cluttered the environment is. As a consequence of this analysis, we propose a steering method to plan a manipulation path to be performed by a humanoid robot: first we use a classical nonholonomic path planner that accounts for the robot motion constraints, then we transform that path into a sequence of pivoting operations. While the feasibility of elementary pivoting tasks has been already experienced by the humanoid robot HRP-2, we present here the very first simulations of the plans generated by our steering method. | |||||
BibTeX:
@inproceedings{Yoshida07iros,
author = {Eiichi Yoshida and Mathieu Poirier and Jean-Paul Laumond and Rachid Alami and Kazuhito Yokoi},
title = {Pivoting Based Manipulation by Humanoids: a Controllability Analysis},
booktitle = {Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2007},
pages = {1130-1135}
}
|
|||||
| Kurokawa, H., Yoshida, E., Tomita, K., Kamimura, A., Murata, S. & Kokaji, S. | Self-reconfigurable M-TRAN structures and walker generation | Robotics and Autonomous Systems Vol. 54(2), pp. 142-149 |
2006 | article | |
| Abstract: The M-TRAN is a modular robot capable of both three-dimensional self-reconfiguration and whole body locomotion. Introducing regularity in allowed structures reduced difficulties of its reconfiguration problems. Several locomotion patterns in various structures were designed systematically using CPG controller model and GA optimization. Then they were verified by experimentation. Results showed a feasible scenario of operation with multiple M-TRAN modules, which is presented herein, including metamorphosis of a regular structure, generation of walkers from the structure, walker locomotion, and reassembling of walkers to the structure. | |||||
BibTeX:
@article{Kurokawa06RAS,
author = {Haruhisa Kurokawa and Eiichi Yoshida and Kohji Tomita and Akiya Kamimura and Satoshi Murata and Shigeru Kokaji},
title = {Self-reconfigurable M-TRAN structures and walker generation},
journal = {Robotics and Autonomous Systems},
year = {2006},
volume = {54},
number = {2},
pages = {142-149}
}
|
|||||
| Yoshida, E., Blazevic, P., Hugel, V., Yokoi, K. & Harada, K. | Pivoting a large object: whole-body manipulation by a humanoid robot [BibTeX] |
J. of Applied Bionics and Biomechanics Vol. 3(3), pp. 227-235 |
2006 | article | [PDF] |
BibTeX:
@article{Yoshida06JABB,
author = {Eiichi Yoshida and Pierre Blazevic and Vincent Hugel and Kazuhito Yokoi and Kensuke Harada},
title = {Pivoting a large object: whole-body manipulation by a humanoid robot},
journal = {J. of Applied Bionics and Biomechanics},
year = {2006},
volume = {3},
number = {3},
pages = {227--235}
}
|
|||||
| Yoshida, E., Kanoun, O., Esteves, C., Laumond, J.-P. & Yokoi, K. | Task-driven Support Polygon Reshaping for Humanoids | Proceedings of 6th IEEE-RAS International Conference on Humanoid Robots, pp. 827-832 | 2006 | inproceedings | [PDF] |
| Abstract: In this paper we address a task-driven motion generation method that allows a humanoid robot to make whole-body motions including support polygon reshaping to achieve the given tasks. In the proposed method, generalized inverse kinematics (IK) is employed with floating-base to generate humanoid whole-body motions that enable the robot to accomplish the tasks according to given priorities. During the motion, several criteria such as manipulability or end-effector position error are tracked. If the desired task cannot be done because of those criteria, a geometric planner for support polygon is activated. Then the whole-body motion is computed again always using the generalized IK solver including stepping motion that realizes the deformed support polygon by using dynamic walking pattern generator. This method provides a way to perform tasks that could not be done without changing the humanoid’s support state. We have verified the proposed framework through simulations and experiments using humanoid robot HRP-2. | |||||
BibTeX:
@inproceedings{Yoshida06Humanoids,
author = {Eiichi Yoshida and Oussama Kanoun and Claudia Esteves and Jean-Paul Laumond and Kazuhito Yokoi},
title = {Task-driven Support Polygon Reshaping for Humanoids},
booktitle = {Proceedings of 6th IEEE-RAS International Conference on Humanoid Robots},
year = {2006},
pages = {827--832}
}
|
|||||
| Yoshida, E., Esteves, C., Sakaguchi, T. & Jean-Paul Laumond, K. | Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion [BibTeX] |
Proc. 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 208-213 | 2006 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida06IROS,
author = {Eiichi Yoshida and Claudia Esteves and Takeshi Sakaguchi and Jean-Paul Laumond, KazuhitoYokoi},
title = {Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion},
booktitle = {Proc. 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2006},
pages = {208-213}
}
|
|||||
| Kamimura, A., Kurokawa, H., Yoshida, E., Murata, S., Tomita, K. & Kokaji, S. | Automatic Locomotion Design and Experiments for a Modular Robotic System | IEEE-ASME Trans. on Mechatronics Vol. 10(3), pp. 314-325 |
2005 | article | [PDF] |
| Abstract: Self-reconfigurable modular robotic system has been attracting many researchers for its versatility. The capabilities such as self-reconfiguration and locomotion in various configurations enable adaptation to the environment and given tasks. Considering a practical use of such modular robotic systems, locomotion capability is considered as a most essential function. There are two types of locomotion utilized for modular robots; one type is realized by repeating self-reconfiguration and the other is realized as a whole body motion such as walking and crawling. Even for the latter type of locomotion, designing control method is more difficult than ordinary robots. This is because configurations made by modules are a multi-degree of freedom system and there are a wide variety of possible configurations. In this paper we address the latter type of locomotion for modular robots and propose an offline method to generate a locomotion pattern automatically suited for a given module configuration. The proposed method utilizes a neural oscillator as a controller of the joint motor and evolutionary computation method for optimization of the neural oscillator network, which determines the pattern of locomotion. We confirm the validity of the method by software simulation and hardware experiments. We also show experiments on a series of locomotion and transformation to prove the performance of our modular robotic system named M-TRAN II. | |||||
BibTeX:
@article{Kamimura05TME,
author = {Akiya Kamimura and Haruhisa Kurokawa and Eiichi Yoshida and Satoshi Murata and Kohji Tomita and Shigeru Kokaji},
title = {Automatic Locomotion Design and Experiments for a Modular Robotic System},
journal = {IEEE-ASME Trans. on Mechatronics},
year = {2005},
volume = {10},
number = {3},
pages = {314-325}
}
|
|||||
| Kurokawa, H., Tomita, K., Kamimura, A., Yoshida, E., Kokaji, S. & Murata, S. | Distributed Self-reconfiguration Control of Modular Robot M-TRAN [BibTeX] |
Proceedings of 2005 IEEE International Conference on Mechatronics and Automation, pp. 254-259 | 2005 | inproceedings | |
BibTeX:
@inproceedings{Kurokawa05ICMA,
author = {Haruhisa Kurokawa and Kohji Tomita and Akiya Kamimura and Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata},
title = {Distributed Self-reconfiguration Control of Modular Robot M-TRAN},
booktitle = {Proceedings of 2005 IEEE International Conference on Mechatronics and Automation},
year = {2005},
pages = {254-259}
}
|
|||||
| Yokoi, K., Sian, N.E., Sakaguchi, T., Arisumi, H., Yoshida, E., Stasse, O., Kawai, Y., ichi Maruyama, K., Yoshimi, T. & Kajita, S. | Humanoid Robot HRP-2 No.10 with Human Supervision | Proceedings of 36th International Symposium on Robotics | 2005 | inproceedings | |
| Abstract: We developed humanoid robot HRP-2 No.10 that can look for lost items or suspicious objects while avoiding or removing objects that get it in its way in the kind of semi-unfamiliar environment where a human can function. A remote control method for humanoid robots that integrates human operator's intention with robot's autonomy is developed. The effectiveness of the method is experimentally confirmed by using humanoid robot HRP-2 No.10 whose hands and head are modified to increase its performance. At the EXPO 2005 Aichi, HRP-2 No.10 found and retrieved a can on the table and a bag on the floor. | |||||
BibTeX:
@inproceedings{Yokoi05ISR,
author = {Kazuhito Yokoi and Neo Ee Sian and Takeshi Sakaguchi and Hitoshi Arisumi and Eiichi Yoshida and Olivier Stasse and Yoshihiro Kawai and Ken-ichi Maruyama and Takashi Yoshimi and Shuuji Kajita},
title = {Humanoid Robot HRP-2 No.10 with Human Supervision},
booktitle = {Proceedings of 36th International Symposium on Robotics},
year = {2005}
}
|
|||||
| Yoshida, E., Belousov, I., Esteves, C. & Laumond, J.-P. | Humanoid Motion Planning for Dynamic Tasks [BibTeX] |
Proceedings of 5th IEEE-RAS International Conference on Humanoid Robots, pp. 1-6 | 2005 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida05Humanoids,
author = {Eiichi Yoshida and Igor Belousov and Claudia Esteves and Jean-Paul Laumond},
title = {Humanoid Motion Planning for Dynamic Tasks},
booktitle = {Proceedings of 5th IEEE-RAS International Conference on Humanoid Robots},
year = {2005},
pages = {1-6}
}
|
|||||
| Yoshida, E., Guan, Y., Sian, N.E., Hugel, V., Blazevic, P., Kheddar, A. & Yokoi, K. | Motion Planning for Whole Body Tasks by Humanoid Robots [BibTeX] |
Proceedings of 2005 IEEE International Conference on Mechatronics and Automation, pp. 1784-1789 | 2005 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida05ICMA,
author = {Eiichi Yoshida and Yisheng Guan and Neo Ee Sian and Vicent Hugel and Pierre Blazevic and Abderrahmane Kheddar and Kazuhito Yokoi},
title = {Motion Planning for Whole Body Tasks by Humanoid Robots},
booktitle = {Proceedings of 2005 IEEE International Conference on Mechatronics and Automation},
year = {2005},
pages = {1784-1789}
}
|
|||||
| Yoshida, E., Hugel, V. & Blazevic, P. | Pivoting Manipulation of a Large Object: A Study of Application using Humanoid Platform | Proc. 2005 IEEE Int. Conf. on Robotics and Automation, pp. 1052-1-57 | 2005 | inproceedings | [PDF] |
| Abstract: Pivoting manipulation can be an alternative to pushing operation when the floor is not flat enough, or when the object to manipulate is too heavy. The technique of pivoting is used by humans to move large and bulky furniture from one place to another. The decomposition of the task of pivoting has already been studied, in particular with the use of two fingers of a robotic arm. This work intends to apply the technique of pivoting using an humanoid platform. The robot should be able to pivot the object and to walk with it to displace it to a specific remote location. The research achievements proposed here take place in a more long term objective aimed at improving the dexterity and the autonomy of humanoid robots. As a matter of fact, such robots should be able to handle objects and move around in the environment in an autonomous way. This paper describes the algorithm designed to perform the displacement of a large object using the pivoting technique. It also presents the results of the dynamic simulation of the HRP-2 platform performing the task. | |||||
BibTeX:
@inproceedings{Yoshida05ICRA,
author = {Eiichi Yoshida and Vincent Hugel and Pierre Blazevic},
title = {Pivoting Manipulation of a Large Object: A Study of Application using Humanoid Platform},
booktitle = {Proc. 2005 IEEE Int. Conf. on Robotics and Automation},
year = {2005},
pages = {1052-1-57}
}
|
|||||
| Yoshida, E. | Humanoid Motion Planning using Multi-Level DOF Exploitation based on Randomized Method [BibTeX] |
Proc. 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 25-30 | 2005 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida05iros,
author = {Eiichi Yoshida},
title = {Humanoid Motion Planning using Multi-Level DOF Exploitation based on Randomized Method},
booktitle = {Proc. 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2005},
pages = {25--30}
}
|
|||||
| 神村明哉, 黒河治久, 吉田英一, 村田智, 富田康治 & 小鍜治繁 | モジュール型ロボットの移動パターン自動生成に関する研究 [BibTeX] |
日本機械学会論文集 C編 Vol. 70(690), pp. 459-466 |
2004 | article | |
BibTeX:
@article{Kamimura04JSME,
author = {神村明哉 and 黒河治久 and 吉田英一 and 村田智 and 富田康治 and 小鍜治繁},
title = {モジュール型ロボットの移動パターン自動生成に関する研究},
journal = {日本機械学会論文集 C編},
year = {2004},
volume = {70},
number = {690},
pages = {459--466}
}
|
|||||
| Groen, F., Amato, N., Bonarini, A. & Yoshida, E. | Initelligent Autonomous Systems 8 [BibTeX] |
2004 | book | ||
BibTeX:
@book{Yoshida04BookIAS,
author = {Frans Groen and Nancy Amato and Andreas Bonarini and Eiichi Yoshida},
title = {Initelligent Autonomous Systems 8},
publisher = {IOS press},
year = {2004}
}
|
|||||
| Yoshida, E., Kurokawa, H., Kamimura, A., Murata, S., Tomita, K. & Kokaji, S. | Planning Behaviors of Modular Robots with Coherent Structure using Randomized Method | Distributed Autonomous Robotics Systems 6, pp. 149-158 | 2004 | incollection | [PDF] |
| Abstract: A behavior planning method is presented for reconfigurable modular robots with coherent structure using a randomized planning. Coherent structure is introduced to cope with difficulty in planning of many degrees of freedom, in terms of control system and robot config¬uration. This is realized by a phase synchronization mechanism together with symmetric robot configuration, which enables the robot to generate various coherent dynamic motions. The pa¬rameters of control systems are explored using a randomized planning method called rapidly exploring random trees (RRTs). The RRT planner has an advantage of simple implementation as well as possibility of integrating differential constraints. The dynamic robot motion is thus planned and preliminary simulation results are shown to demonstrate the proposed planning scheme can generate appropriate behaviors according to environments. | |||||
BibTeX:
@incollection{Yoshida04DARS,
author = {Eiichi Yoshida and Haruhisa Kurokawa and Akiya Kamimura and Satoshi Murata and Kohji Tomita and Shigeru Kokaji}
editor = {Rachid Alami and Raja Chatila and Hajime Asama},
title = {Planning Behaviors of Modular Robots with Coherent Structure using Randomized Method},
booktitle = {Distributed Autonomous Robotics Systems 6},
publisher = {Springer},
year = {2004},
pages = {149-158}
}
|
|||||
| Kamimura, A., Kurokawa, H., Yoshida, E., Murata, S., Tomita, K. & Kokaji, S. | Distributed Adaptive Locomotion by a Modular Robotic System, M-TRAN II (From Local Adaptation to Global Coodinated Motion Using CPG Controllers) | Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2370-2377 | 2004 | inproceedings | [PDF] |
| Abstract: A modular robot has a distributed mechanical composition which can make various configurations and also make locomotion in a wide variety of configurations. Modular robots are thought to be useful in extreme or unknown environments by adaptively changing their shape and locomotion patterns. As for locomotion, two types can be used; one is whole-body fixed-configuration locomotion and the other is locomotion by self-reconfiguration. In this paper we deal with the former type of locomotion where module configurations are fixed and locomotion is realized by coordinated joint actuation. So far, proposed control methods for whole-body locomotion by modular robots have been based on predefined locomotion sequences. However, locomotion based on predefined sequences cannot adapt to changing terrain conditions such as uphill, downhill, slippery and sticky grounds. To solve such problems, we apply a distributed control mechanism using a CPG controller to realize adaptive locomotion by modular robots. Besides the CPG control we introduce an additional control mechanism for detecting the situation that the robot is stuck and initiating transformation. The results of hardware experiments by 4-legged structure prove the feasibility of the method for adaptive locomotion and transformation by our M-TRAN II modules. |
|||||
BibTeX:
@inproceedings{Kamimura04IROS,
author = {Akiya Kamimura and Haruhisa Kurokawa and Eiichi Yoshida and Satoshi Murata and Kohji Tomita and Shigeru Kokaji},
title = {Distributed Adaptive Locomotion by a Modular Robotic System, M-TRAN II (From Local Adaptation to Global Coodinated Motion Using CPG Controllers)},
booktitle = {Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2004},
pages = {2370-2377}
}
|
|||||
| Kurokawa, H., Yoshida, E., Tomita, K., Kamimura, A., Murata, S. & Kokaji, S. | Deformable Multi M-TRAN Structure Works as Walker Generator | Proceedings of Intelligent Autonomous Systems 8, pp. 746-753 | 2004 | inproceedings | |
| Abstract: The M-TRAN is a modular robot capable of both three dimensional self-reconfiguration and whole body locomotion. The difficulties of its self-reconfiguration problem were reduced by introducing regularity in allowed structures. Several locomotion patterns in various structures were designed systematically and verified by experiments. Based on those results, a feasible scenario of operation with multiple M-TRAN modules is presented, including metamorphosis of a deformable multi-module structure, generation of walkers from the structure, walker locomotion and reassembling of walkers to the structure. | |||||
BibTeX:
@inproceedings{Kurokawa04IAS,
author = {Haruhisa Kurokawa and Eiichi Yoshida and Kohji Tomita and Akiya Kamimura and Satoshi Murata and Shigeru Kokaji},
title = {Deformable Multi M-TRAN Structure Works as Walker Generator},
booktitle = {Proceedings of Intelligent Autonomous Systems 8},
year = {2004},
pages = {746-753}
}
|
|||||
| Yoshida, E., Kurokawa, H., Kamimura, A., Murata, S., Tomita, K. & Kokaji, S. | Planning Behaviors of a Modular Robot: an Approach Applying a Randomized Planner to Coherent Structure | Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2056-2061 | 2004 | inproceedings | [PDF] |
| Abstract: A Method for behavior planning is presented for a modular robot that applies a randomized planner to coherent structure of the robot. To cope with difficulty in planning of many degrees of freedom (DOFs) of a modular robot, we adopted “coherent structure” in terms of control system and robot configuration. As the control system, a simple phase synchronization mechanism is introduced that can control the robot with many DOFs with reduced number of parameters. Together with coherency in configuration, which is symmetrical shape, this control system can generate various dynamic motions. To plan the behaviors of the modular robot determined by the parameters of the control system, we adopt a randomized planner called rapidly exploring random trees (RRTs). This can benefit from a number of advantages of RRT planner, including simple implementation, uniform search, and applicability to a dynamic system with differential constraints. By exploring parameter space of the coherent control system, behaviors including dynamic motions can be planned. We have applied the proposed planner to MTRAN modular robot to demonstrate the effectiveness of the proposed method through preliminary simulation results. | |||||
BibTeX:
@inproceedings{Yoshida04IROS,
author = {Eiichi Yoshida and Haruhisa Kurokawa and Akiya Kamimura and Satoshi Murata and Kohji Tomita and Shigeru Kokaji},
title = {Planning Behaviors of a Modular Robot: an Approach Applying a Randomized Planner to Coherent Structure},
booktitle = {Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2004},
pages = {2056-2061}
}
|
|||||
| Kamimura, A., Murata, S., Yoshida, E., Kurokawa, H., Tomita, K. & Kokaji, S. | Research on Self-Reconfigurable Modular Robot System (Experiments on Reconfiguration and Locomotion with Several Modules) | JSME International Journal Series C - Mechanical Elements and Manufacturing Vol. 46(4), pp. 1490-1496 |
2003 | article | |
| Abstract: Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In this paper, we propose a novel three-dimensional self-reconfigurable robotic module. Each module has a very simple structure that consists of two semi-cylindrical parts connected by a link. The modular system is capable of not only building static structure but also generating dynamic robotic motion. We present details of the mechanical / electrical design of the developed module and its control system architecture. Experiments using ten modules with centralized control demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion. | |||||
BibTeX:
@article{Kamimura03JSME,
author = {Akiya Kamimura and Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
title = {Research on Self-Reconfigurable Modular Robot System (Experiments on Reconfiguration and Locomotion with Several Modules)},
journal = {JSME International Journal Series C - Mechanical Elements and Manufacturing},
year = {2003},
volume = {46},
number = {4},
pages = {1490-1496}
}
|
|||||
| 黒河治久, 吉田英一, 神村明哉, 富田康浩, 村田智 & 小鍛治繁 | 変形し移動する自立モジュール型ロボット (M-TRAN) [BibTeX] |
日本ロボット学会誌 Vol. 21(8), pp. 855-859 |
2003 | article | |
BibTeX:
@article{Kurokawa03RSJ,
author = {黒河治久 and 吉田英一 and 神村明哉 and 富田康浩 and 村田智 and 小鍛治繁},
title = {変形し移動する自立モジュール型ロボット (M-TRAN)},
journal = {日本ロボット学会誌},
year = {2003},
volume = {21},
number = {8},
pages = {855-859}
}
|
|||||
| Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. | Evolutionary Motion Synthesis for a Modular Robot using Genetic Algorithm | Journal of Robotics and Mechatronics Vol. 15(2), pp. 227-237 |
2003 | article | [PDF] |
| Abstract: An evolutionary motion synthesis method using genetic algorithm (GA) is presented for selfreconfigurable modular robot M-TRAN designed to realize various robotic motions and threedimensional structures. The proposed method is characterized by its capacity to derive feasible solutions for complex synthesis problem of M-TRAN through natural genetic representation. For this purpose, the behavior of the robot is described using a motion sequence including both the dynamic motions and configuration changes of the robot. It is a series of segments each of which can specify simultaneous motor actuations and self-reconfiguration by connection/disconnection, starting from a given initial configuration. This simple description can be straightforwardly encoded into genetic representation to which genetic operations can be applied in a natural manner. We adopt traveling distance achieved by the evolved motion as the fitness function of GA. To verify the effectiveness of the proposed method, we have conducted simulations of evolutionary motion synthesis for certain initial configurations. Consequently, we confirm various adaptive motions are acquired according to different initial configurations and fitness functions. We also verify the physical feasibility of the evolved motions through experiments using hardware module M-TRAN II. | |||||
BibTeX:
@article{Yoshida03JRM,
author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
title = {Evolutionary Motion Synthesis for a Modular Robot using Genetic Algorithm},
journal = {Journal of Robotics and Mechatronics},
year = {2003},
volume = {15},
number = {2},
pages = {227-237}
}
|
|||||
| Murata, S., Yoshida, E., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. | Homogeneous Distributed Mechanical Systems [BibTeX] |
Morpho-Functional Machines the New Species, pp. 167-193 | 2003 | incollection | |
BibTeX:
@incollection{Murata03Morpho,
author = {Satoshi Murata and Eiichi Yoshida and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji}
editor = {Fumio Hara and Rolf Pfeifer},
title = {Homogeneous Distributed Mechanical Systems},
booktitle = {Morpho-Functional Machines the New Species},
publisher = {Springer Tokyo},
year = {2003},
pages = {167-193}
}
|
|||||
| Kamimura, A., Kurokawa, H., Yoshida, E., Tomita, K., Murata, S. & Kokaji, S. | Automatic Locomotion Pattern Generation for Modular Robots | Proc. 2003 IEEE Int Conf. Robotics and Automation, pp. 714-710 | 2003 | inproceedings | [PDF] |
| Abstract: Locomotion, one of the most basic robotic functions, has been widely studied for several types of robots. As for self-reconfigurable modular robots, there are two types of locomotion; one type is realized as a series of self-reconfiguration and the other is realized as a whole body motion such as walking and crawling. Even for the latter type of locomotion, designing control method is more difficult than ordinary robots. This is because the module configuration includes many degrees of freedom and there are a wide variety of possible configurations. We propose an offline method to generate a locomotion pattern automatically for a modular robot in an arbitrary module configuration, which utilizes a neural oscillator as a controller of the joint motor and evolutionary computation method for optimization of the neural oscillator network, which determines the performance of locomotion. We confirm the validity of the method by software simulation and hardware experiments. | |||||
BibTeX:
@inproceedings{Kamimura03ICRA,
author = {Akiya Kamimura and Haruhisa Kurokawa and Eiichi Yoshida and Kohji Tomita and Satoshi Murata and Shigeru Kokaji}
editor = {September},
title = {Automatic Locomotion Pattern Generation for Modular Robots},
booktitle = {Proc. 2003 IEEE Int Conf. Robotics and Automation},
year = {2003},
pages = {714-710}
}
|
|||||
| Kurokawa, H., Kamimura, A., Yoshida, E., Tomita, K., Murata, S. & Kokaji, S. | M-TRAN II: Metamorphosis from a Four-Legged Walker to a Caterpillar | Proc. 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2452-2459 | 2003 | inproceedings | |
| Abstract: We have been developing a self-reconfigurable modular robotic system (M-TRAN) which can make various 3D configurations and motions. In the second prototype (M-TRAN II), various improvements are integrated in order to realize complicated reconfigurations and versatile whole body motions. Those are a reliable connection/detachment mechanism, onboard multi-computers, high speed inter-module communication system, low power consumption, precise motor control, etc. Programing environments are also integrated to design self-reconfiguration processes, to verify motions in dynamics simulation, and to realize distributed control on the hardware. Hardware design, developed software and experiments are presented in this paper. | |||||
BibTeX:
@inproceedings{Kurokawa03IROS,
author = {Haruhisa Kurokawa and Akiya Kamimura and Eiichi Yoshida and Kohji Tomita and Satoshi Murata and Shigeru Kokaji},
title = {M-TRAN II: Metamorphosis from a Four-Legged Walker to a Caterpillar},
booktitle = {Proc. 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2003},
pages = {2452-2459}
}
|
|||||
| Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. | Evolutionary Synthesis of Dynamic Motion and Reconfiguration Process for a Modular Robot M-TRAN | Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2003), pp. 1004-1010 | 2003 | inproceedings | [PDF] |
| Abstract: In this paper we present a couple of evolutionary motion generation methods using genetic algorithms (GA) for self-reconfigurable modular robot M-TRAN and demonstrate their effectiveness through hardware experiments. Using these methods, feasible solutions with sufficient performance can be derived for a motion generation problem with high complexity coming from huge configuration and motion possibilities of the robot. The first method called ERSS (Evolutionary Reconfiguration Sequence Synthesis) applies GA (Genetic Algorithm) to evolution of motion sequence including configuration changes though natural genetic representation. The effectiveness of the generated full-body dynamic motions are verified through hardware experiments. The second method called ALPG (Automatic Locomotion Pattern Generation) Method seeks locomotion pattern using a neural oscillator as a CPG (Central Pattern Generator) model and GA to optimize the parameters for locomotion. A number of efficient locomotion patterns has been derived, which are also experimentally verified. | |||||
BibTeX:
@inproceedings{Yoshida03CIRA,
author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
title = {Evolutionary Synthesis of Dynamic Motion and Reconfiguration Process for a Modular Robot M-TRAN},
booktitle = {Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2003)},
year = {2003},
pages = {1004-1010}
}
|
|||||
| Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. | Self-Reconfigurable Modular Robots - Hardware and Software Development in AIST - | Proceedings of IEEE International Conference on Robotics, Intelligent Systems and Signal Processing (RISSP 2003) | 2003 | inproceedings | [PDF] |
| Abstract: In this paper we present the development of hardware and software of self-reconfigurable modular robots in National Institute of Advanced Industrial Science and Technology (AIST), Japan. Thanks to their flexibility, versatility and fault-tolerance, self-reconfigurable modular robots are expected to be used in various application fields, such as space, rescue or micro-sized world. Our research group has been pioneering this new field and developed several hardware prototypes and corresponding software that exploit the robots' potential. We have been successfully demonstrated the feasibility of the self-reconfigurable modular robots based on experiments from different aspects. Starting from two-dimensional (2D) self-assembling and self-repairing machine Fractum, we review hardware development in diverse directions, like to micro-world, three-dimensional (3D) structures and motions; as well as the progress of control software, including distributed control and recent evolutionary motion acquisition. | |||||
BibTeX:
@inproceedings{Yoshida03RISSP,
author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
title = {Self-Reconfigurable Modular Robots - Hardware and Software Development in AIST -},
booktitle = {Proceedings of IEEE International Conference on Robotics, Intelligent Systems and Signal Processing (RISSP 2003)},
year = {2003}
}
|
|||||
| 神村明哉, 村田智, 吉田英一, 黒河治久, 富田康治 & 小鍜治繁 | 自己組立可能なモジュール型ロボットシステムに関する研究 : 複数ユニットによる変形・移動実験 [BibTeX] |
日本機械学会論文集 C編 Vol. 68(667), pp. 886-892 |
2002 | article | |
BibTeX:
@article{Kamimura02JSME,
author = {神村明哉 and 村田智 and 吉田英一 and 黒河治久 and 富田康治 and 小鍜治繁},
title = {自己組立可能なモジュール型ロボットシステムに関する研究 : 複数ユニットによる変形・移動実験},
journal = {日本機械学会論文集 C編},
year = {2002},
volume = {68},
number = {667},
pages = {886-892}
}
|
|||||
| Murata, S., Yoshida, E., Kamimura, A., Kurokawa, H., Tomita, K. & Kokaji, S. | M-TRAN: Self-Reconfigurable Modular Robotic System [BibTeX] |
IEEE-ASME Trans. on Mechatronics Vol. 7(4), pp. 431-441 |
2002 | article | [PDF] |
BibTeX:
@article{Murata02TME,
author = {Satoshi Murata and Eiichi Yoshida and Akiya Kamimura and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
title = {M-TRAN: Self-Reconfigurable Modular Robotic System},
journal = {IEEE-ASME Trans. on Mechatronics},
year = {2002},
volume = {7},
number = {4},
pages = {431-441}
}
|
|||||
| Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. | A Self-Reconfigurable Modular Robot : Reconfiguration Planning and Experiments | International Journal of Robotics Research Vol. 21(10), pp. 903-916 |
2002 | article | [PDF] |
| Abstract: In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult problem due to the many combinatorial possibilities of modular configurations. In this paper, we develop a two-layered planning method for locomotion of a class of regular structures. This locomotion mode is based on multi-module blocks. The upper layer plans the overall cluster motion called flow to realize locomotion along a given desired trajectory; the lower layer determines locally cooperative module motions, called motion schemes, based on a rule database. A planning simulation demonstrates that this approach effectively solves the complicated planning problem. Besides the fundamental motion capacity of the module, the hardware feasibility of the planning locomotion is verified through a self-reconfiguration experiment using the prototype modules we have developed. | |||||
BibTeX:
@article{Yoshida02IJRR,
author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
title = {A Self-Reconfigurable Modular Robot : Reconfiguration Planning and Experiments},
journal = {International Journal of Robotics Research},
year = {2002},
volume = {21},
number = {10},
pages = {903-916}
}
|
|||||
| Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. | A Motion Generation Method for a Modular Robot [BibTeX] |
Journal of Robotics and Mechatronics Vol. 14(2), pp. 177-185 |
2002 | article | [PDF] |
BibTeX:
@article{Yoshida02JRM,
author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
title = {A Motion Generation Method for a Modular Robot},
journal = {Journal of Robotics and Mechatronics},
year = {2002},
volume = {14},
number = {2},
pages = {177-185}
}
|
|||||
| Yoshida, E., Murata, S., Kokaji, S., Kamimura, A., Tomita, K. & Kurokawa, H. | Get Back In Shape! A Hardware Prototype Self-Reconfigurable Modular Microrobot that Uses Shape Memory Alloy [BibTeX] |
IIEEE Robotics and Automation Magazine Vol. 9(4), pp. 54-60 |
2002 | article | [PDF] |
BibTeX:
@article{Yoshida02RAM,
author = {Eiichi Yoshida and Satoshi Murata and Shigeru Kokaji and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa},
title = {Get Back In Shape! A Hardware Prototype Self-Reconfigurable Modular Microrobot that Uses Shape Memory Alloy},
journal = {IIEEE Robotics and Automation Magazine},
year = {2002},
volume = {9},
number = {4},
pages = {54-60}
}
|
|||||
| Kamimura, A., Yoshida, E., Murata, S., Kurokawa, H., Tomita, K. & Kokaji, S. | A Self-Reconfigurable Modular Robot (MTRAN) -Hardware and Motion Planning Software - | Distributed Autonomous Robotic Systems 5, pp. 17-26 | 2002 | incollection | [PDF] |
| Note: DARS2002 Best Paper Award | |||||
BibTeX:
@incollection{Kamimura02DARS,
author = {Akiya Kamimura and Eiichi Yoshida and Satoshi Murata and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji}
editor = {Hajime Asama and Tamio Arai and Toshio Fukuda and Tsutomu Hasegawa},
title = {A Self-Reconfigurable Modular Robot (MTRAN) -Hardware and Motion Planning Software -},
booktitle = {Distributed Autonomous Robotic Systems 5},
publisher = {Springer},
year = {2002},
pages = {17-26},
note = {DARS2002 Best Paper Award}
}
|
|||||
| Kurokawa, H., Kamimura, A., Yoshida, E., Tomita, K., Murata, S. & Kokaji, S. | Self-Reconfigurable Modular Robot (M-TRAN) and its Motion Design [BibTeX] |
Proceedings of 7th International Conference on Control, Automation, Robotics And Vision (ICARV 02), pp. 51-56 | 2002 | inproceedings | |
BibTeX:
@inproceedings{Kurokawa02ICARV,
author = {Haruhisa Kurokawa and Akiya Kamimura and Eiichi Yoshida and Kohji Tomita and Satoshi Murata and Shigeru Kokaji},
title = {Self-Reconfigurable Modular Robot (M-TRAN) and its Motion Design},
booktitle = {Proceedings of 7th International Conference on Control, Automation, Robotics And Vision (ICARV 02)},
year = {2002},
pages = {51-56}
}
|
|||||
| Murata, S., Yoshida, E., Kurokawa, H., Tomita, K. & Kokaji, S. | Concept of Self-Reconfigurable Modular Robotic System [BibTeX] |
Artificial Intelligence in Engineering Vol. 15(4), pp. 383-387 |
2001 | article | |
BibTeX:
@article{Murata01AIE,
author = {Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
title = {Concept of Self-Reconfigurable Modular Robotic System},
journal = {Artificial Intelligence in Engineering},
year = {2001},
volume = {15},
number = {4},
pages = {383-387}
}
|
|||||
| Murata, S., Yoshida, E., Kurokawa, H., Tomita, K. & Kokaji, S. | Self-Repairing Mechanical Systems | Autonomous Robots Vol. 10(1), pp. 7-21 |
2001 | article | DOI URL |
| Abstract: This paper reviews several types of self-repairing systems developed in the Mechanical Engineering Laboratory. We have developed a modular system capable ofself-assemblyself-assemblyandandself-repair.self-repair.The former means a set of units can form a given shape of the system without outside help; the latter means the system restores the original shape if an arbitrary part of the system is cut off. We show both two-dimensional and three-dimensional unit designs, and distributed algorithms for the units.The former means a set of units can form a given shape of the system without outside help; the latter means the system restores the original shape if an arbitrary part of the system is cut off. We show both two-dimensional and three-dimensional unit designs, and distributed algorithms for the units. | |||||
BibTeX:
@article{Murata2001Auro,
author = {Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
title = {Self-Repairing Mechanical Systems},
journal = {Autonomous Robots},
publisher = {Springer Netherlands},
year = {2001},
volume = {10},
number = {1},
pages = {7--21},
url = {http://www.springerlink.com/content/wj4405r2p1758638/},
doi = {http://dx.doi.org/10.1023/A:1026540318188}
}
|
|||||
| Yoshida, E., Murata, S., Kokaji, S., Tomita, K. & Kurokawa, H. | Micro Self-Reconfigurable Modular Robot Using Shape Memory Alloy [BibTeX] |
Journal of Robotics and Mechatronics Vol. 13(2), pp. 212-291 |
2001 | article | [PDF] |
BibTeX:
@article{Yoshida01JRM,
author = {Eiichi Yoshida and Satoshi Murata and Shigeru Kokaji and Kohji Tomita and Haruhisa Kurokawa},
title = {Micro Self-Reconfigurable Modular Robot Using Shape Memory Alloy},
journal = {Journal of Robotics and Mechatronics},
year = {2001},
volume = {13},
number = {2},
pages = {212-291}
}
|
|||||
| Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. | Motion Planning of Self-reconfigurable Modular Robot [BibTeX] |
Experimental Robotics VII, Lecture Notes in Control and Information Sciences, pp. 384-394 | 2001 | incollection | [PDF] |
BibTeX:
@incollection{Yoshida01ISER,
author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji}
editor = {Daniela Rus and Sanjiv Singh},
title = {Motion Planning of Self-reconfigurable Modular Robot},
booktitle = {Experimental Robotics VII, Lecture Notes in Control and Information Sciences},
publisher = {Springer},
year = {2001},
pages = {384-394}
}
|
|||||
| Kamimura, A., Murata, S., Yoshida, E., Kurokawa, H., Tomita, K. & Kokaji, S. | Self-Reconfigurable Modular Robot - Experiments on Reconfiguration and Locomotion - | Proc. 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 606-612 | 2001 | inproceedings | [PDF] |
| Abstract: We have proposed a self-reconfigurable robotic module, which has a very simple structure. The system is capable of not only building static structure but generating dynamic robotic motion. We also developed a simulator for motion planning. In this paper, we present details of the mechanical / electrical design of the developed module and its control system architecture. Experiments using ten modules demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion. | |||||
BibTeX:
@inproceedings{Kamimura2001IROS,
author = {Akiya Kamimura and Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
title = {Self-Reconfigurable Modular Robot - Experiments on Reconfiguration and Locomotion -},
booktitle = {Proc. 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2001},
pages = {606-612}
}
|
|||||
| Yoshida, E., Kokaji, S., Murata, S., Kamimura, A., Tomita, K. & Kurokawa, H. | Proceedings of The 3rd. IFToMM International Micromechanisms Symposium [BibTeX] |
Proceedings of The 3rd. IFToMM International Micromechanisms Symposium, pp. 8-12 | 2001 | inproceedings | |
BibTeX:
@inproceedings{Yoshida01IFToMM,
author = {Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa},
title = {Proceedings of The 3rd. IFToMM International Micromechanisms Symposium},
booktitle = {Proceedings of The 3rd. IFToMM International Micromechanisms Symposium},
year = {2001},
pages = {8-12}
}
|
|||||
| Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. | Reconfiguration Planning for a Self-Assembling Modular Robot [BibTeX] |
Proc. 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 276-281 | 2001 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida01IROS,
author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
title = {Reconfiguration Planning for a Self-Assembling Modular Robot},
booktitle = {Proc. 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2001},
pages = {276-281}
}
|
|||||
| Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. | Reconfiguration Planning for a Self-Assembling Modular Robot | Proc. 2001 IEEE Int. Symp. on Assembly and Task Planning (ISATP2001), pp. 276-281 | 2001 | inproceedings | [PDF] |
| Note: Outstanding Paper Award Finalist | |||||
BibTeX:
@inproceedings{Yoshida01ISATP,
author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
title = {Reconfiguration Planning for a Self-Assembling Modular Robot},
booktitle = {Proc. 2001 IEEE Int. Symp. on Assembly and Task Planning (ISATP2001)},
year = {2001},
pages = {276-281},
note = {Outstanding Paper Award Finalist}
}
|
|||||
| Yoshida, E. & Arai, T. | Performance Analysis of Local Communication by Cooperating Mobile Robots [BibTeX] |
IEICE Transactions on Communications Vol. E83B(5), pp. 1048-1059 |
2000 | article | [PDF] |
BibTeX:
@article{Yoshida00IEICE,
author = {Eiichi Yoshida and Tamio Arai},
title = {Performance Analysis of Local Communication by Cooperating Mobile Robots},
journal = {IEICE Transactions on Communications},
year = {2000},
volume = {E83B},
number = {5},
pages = {1048-1059}
}
|
|||||
| Yoshida, E., Kokaji, S., Murata, S., Tomita, K. & Kurokawa, H. | Miniaturization of Self-reconfigurable Robotic System using Shape Memory Alloy Actuator [BibTeX] |
Journal of Robotics and Mechatronics Vol. 12(2), pp. 96-102 |
2000 | article | |
BibTeX:
@article{Yoshida00JRM,
author = {Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata and Kohji Tomita and Haruhisa Kurokawa},
title = {Miniaturization of Self-reconfigurable Robotic System using Shape Memory Alloy Actuator},
journal = {Journal of Robotics and Mechatronics},
year = {2000},
volume = {12},
number = {2},
pages = {96-102}
}
|
|||||
| Yoshida, E., Murata, S., Kokaji, S., Tomita, K. & Kurokawa, H. | Micro Self-Reconfigurable Robotic System using Shape Memory Alloy [BibTeX] |
Distributed Autonomous Robotic Systems 4, pp. 145-154 | 2000 | incollection | [PDF] |
BibTeX:
@incollection{Yoshida00DARS,
author = {Eiichi Yoshida and Satoshi Murata and Shigeru Kokaji and Kohji Tomita and Haruhisa Kurokawa}
editor = {Lynne E. Parker and George Bekey and Jacob Barhen},
title = {Micro Self-Reconfigurable Robotic System using Shape Memory Alloy},
booktitle = {Distributed Autonomous Robotic Systems 4},
publisher = {Springer},
year = {2000},
pages = {145-154}
}
|
|||||
| Murata, S., Yoshida, E., Kurokawa, H., Kokaji, S. & Tomita, K. | Self-Reconfigurable Robot - Module Design and Simulation [BibTeX] |
Proceedings of Intelligent Autonomous Systems 6, pp. 911-917 | 2000 | inproceedings | |
BibTeX:
@inproceedings{Murata00IAS,
author = {Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Shigeru Kokaji and Kohji Tomita},
title = {Self-Reconfigurable Robot - Module Design and Simulation},
booktitle = {Proceedings of Intelligent Autonomous Systems 6},
year = {2000},
pages = {911-917}
}
|
|||||
| Murata, S., Yoshida, E., Tomita, K., Kurokawa, H., Kamimura, A. & Kokaji, S. | Hardware Design of Modular Robotic System [BibTeX] |
Proc. 2000 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2210-2217 | 2000 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Murata00IROS,
author = {Satoshi Murata and Eiichi Yoshida and Kohji Tomita and Haruhisa Kurokawa and Akiya Kamimura and Shigeru Kokaji},
title = {Hardware Design of Modular Robotic System},
booktitle = {Proc. 2000 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {2000},
pages = {2210--2217}
}
|
|||||
| Tomita, K., Murata, S., Yoshida, E., Kurokawa, H., Kamimura, A. & Kokaji, S. | Development of a Self-reconfigurable Modular Robotic System [BibTeX] |
Vol. 4196Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems III, pp. 469-476 |
2000 | inproceedings | |
BibTeX:
@inproceedings{Tomita00SPIE,
author = {Kohji Tomita and Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Akiya Kamimura and Shigeru Kokaji},
title = {Development of a Self-reconfigurable Modular Robotic System},
booktitle = {Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems III},
year = {2000},
volume = {4196},
pages = {469-476}
}
|
|||||
| Tomita, K., Murata, S., Kurokawa, H., Yoshida, E. & Kokaji, S. | A Self-Assembly and Self-Repair Method for a Distributed Mechanical System [BibTeX] |
IEEE Trans. on Robotics and Automation Vol. 15(6), pp. 1035-1045 |
1999 | article | [PDF] |
BibTeX:
@article{Tomita99TRA,
author = {Kohji Tomita and Satoshi Murata and Haruhisa Kurokawa and Eiichi Yoshida and Shigeru Kokaji},
title = {A Self-Assembly and Self-Repair Method for a Distributed Mechanical System},
journal = {IEEE Trans. on Robotics and Automation},
year = {1999},
volume = {15},
number = {6},
pages = {1035-1045}
}
|
|||||
| Yoshida, E., Kokaji, S., Murata, S., Tomita, K. & Kurokawa, H. | Miniature Self-reconfigurable Modular Machine using Shape Memory Alloy [BibTeX] |
Advanced Robotics Vol. 13(3), pp. 337-338 |
1999 | article | |
BibTeX:
@article{Yoshida99AR1,
author = {Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata and Kohji Tomita and Haruhisa Kurokawa},
title = {Miniature Self-reconfigurable Modular Machine using Shape Memory Alloy},
journal = {Advanced Robotics},
year = {1999},
volume = {13},
number = {3},
pages = {337-338}
}
|
|||||
| Yoshida, E., Murata, S., Kurokawa, H., Tomita, K. & Kokaji, S. | A Distributed Method for Reconfiguration of 3-D Homogeneous Structure [BibTeX] |
Advanced Robotics Vol. 13(4), pp. 363-380 |
1999 | article | DOI [PDF] |
BibTeX:
@article{Yoshida99AR2,
author = {Eiichi Yoshida and Satoshi Murata and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
title = {A Distributed Method for Reconfiguration of 3-D Homogeneous Structure},
journal = {Advanced Robotics},
year = {1999},
volume = {13},
number = {4},
pages = {363-380},
doi = {http://dx.doi.org/10.1163/156855399X00234}
}
|
|||||
| Yoshida, E., Murata, S., Tomita, K., Kurokawa, H. & Kokaji, S. | An Experimental Study on a Self-repairing Modular Machine [BibTeX] |
Robotics and Autonomous Systems Vol. 29(1), pp. 79-89 |
1999 | article | [PDF] |
BibTeX:
@article{Yoshida99RAS,
author = {Eiichi Yoshida and Satoshi Murata and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
title = {An Experimental Study on a Self-repairing Modular Machine},
journal = {Robotics and Autonomous Systems},
year = {1999},
volume = {29},
number = {1},
pages = {79-89}
}
|
|||||
| Murata, S., Yoshida, E., Tomita, K., Kurokawa, H. & Kokaji, S. | Self-Reconfigurable Modular Robotic System [BibTeX] |
Proceedings of International Workshop on Emergent Synthesis (IWES99), pp. 113-118 | 1999 | inproceedings | |
BibTeX:
@inproceedings{Murata99IWES,
author = {Satoshi Murata and Eiichi Yoshida and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
title = {Self-Reconfigurable Modular Robotic System},
booktitle = {Proceedings of International Workshop on Emergent Synthesis (IWES99)},
year = {1999},
pages = {113-118}
}
|
|||||
| Murata, S., Yoshida, E., Kurokawa, H., Tomita, K. & Kokaji, S. | Self-Repairing Mechanical System [BibTeX] |
Vol. 3839Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems II, pp. 202-213 |
1999 | inproceedings | |
BibTeX:
@inproceedings{Murata99SPIE,
author = {Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
title = {Self-Repairing Mechanical System},
booktitle = {Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems II},
year = {1999},
volume = {3839},
pages = {202-213}
}
|
|||||
| Yoshida, E., Murata, S., Kurokawa, H., Kokaji, S. & Tomita, K. | Self-Reconfiguration of 3-Dimensional Homogeneous Modular Structure [BibTeX] |
Video Proc. 2009 IEEE Int Conf. Robotics and Automation | 1999 | inproceedings | |
BibTeX:
@inproceedings{Yoshida99ICRAV,
author = {Eiichi Yoshida and Satoshi Murata and Haruhisa Kurokawa and Shigeru Kokaji and Kohji Tomita},
title = {Self-Reconfiguration of 3-Dimensional Homogeneous Modular Structure},
booktitle = {Video Proc. 2009 IEEE Int Conf. Robotics and Automation},
year = {1999}
}
|
|||||
| Yoshida, E., Kokaji, S., Murata, S., Tomita, K. & Kurokawa, H. | Miniaturized Self-reconfigurable System using Shape Memory Alloy [BibTeX] |
Proc. 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1579-1585 | 1999 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida99IROS,
author = {Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata and Kohji Tomita and Haruhisa Kurokawa},
title = {Miniaturized Self-reconfigurable System using Shape Memory Alloy},
booktitle = {Proc. 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {1999},
pages = {1579-1585}
}
|
|||||
| 倉林大輔, 太田順, 新井民夫 & 吉田英一 | 掃引作業における移動ロボット群の動作計画 [BibTeX] |
日本ロボット学会誌 Vol. 16(2), pp. 181-188 |
1998 | article | |
BibTeX:
@article{Kura98JRSJ,
author = {倉林大輔 and 太田順 and 新井民夫 and 吉田英一},
title = {掃引作業における移動ロボット群の動作計画},
journal = {日本ロボット学会誌},
year = {1998},
volume = {16},
number = {2},
pages = {181-188}
}
|
|||||
| 吉田英一, 新井民夫 & 太田順 | 多数の移動ロボットの局所的通信システムの性能評価 : 大域的通信との比較 [BibTeX] |
日本機械学会論文集 C編 Vol. 64(619), pp. 966-971 |
1998 | article | |
BibTeX:
@article{Yoshida09JSME,
author = {吉田英一 and 新井民夫 and 太田順},
title = {多数の移動ロボットの局所的通信システムの性能評価 : 大域的通信との比較},
journal = {日本機械学会論文集 C編},
year = {1998},
volume = {64},
number = {619},
pages = {966-971}
}
|
|||||
| Yoshida, E., Arai, T. & Ota, J. | Local Communication of Multiple Mobile Robots: Design of Group Behavior for Efficient Communication [BibTeX] |
Advanced Robotics Vol. 11(8), pp. 759-779 |
1998 | article | DOI [PDF] |
BibTeX:
@article{Yoshida98AR,
author = {Eiichi Yoshida and Tamio Arai and Jun Ota},
title = {Local Communication of Multiple Mobile Robots: Design of Group Behavior for Efficient Communication},
journal = {Advanced Robotics},
year = {1998},
volume = {11},
number = {8},
pages = {759-779},
doi = {http://dx.doi.org/10.1163/156855398X00325}
}
|
|||||
| Yoshida, E., Arai, T., Yamamoto, M. & Ota, J. | Local Communication of Multiple Mobile Robots: Design of Optimal Communication Area for Cooperative Tasks [BibTeX] |
Journal of Robotic Systems Vol. 15(7), pp. 407-419 |
1998 | article | [PDF] |
BibTeX:
@article{Yoshida98JRS,
author = {Eiichi Yoshida and Tamio Arai and Masakazu Yamamoto and Jun Ota},
title = {Local Communication of Multiple Mobile Robots: Design of Optimal Communication Area for Cooperative Tasks},
journal = {Journal of Robotic Systems},
year = {1998},
volume = {15},
number = {7},
pages = {407-419}
}
|
|||||
| Kurokawa, H., Murata, S., Yoshida, E., Tomita, K. & Kokaji, S. | A 3-D Reconfigurable Structure and Experiments [BibTeX] |
Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 860-865 | 1998 | inproceedings | |
BibTeX:
@inproceedings{Kurokawa98IROS,
author = {Haruhisa Kurokawa and Satoshi Murata and Eiichi Yoshida and Kohji Tomita and Shigeru Kokaji},
title = {A 3-D Reconfigurable Structure and Experiments},
booktitle = {Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {1998},
pages = {860-865}
}
|
|||||
| Murata, S., Kurokawa, H., Yoshida, E., Tomita, K. & Kokaji, S. | A 3-D Self-Reconfigurable Structure [BibTeX] |
Proc. 1998 IEEE Int Conf. Robotics and Automation, pp. 432-439 | 1998 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Murata98ICRA,
author = {Satoshi Murata and Haruhisa Kurokawa and Eiichi Yoshida and Kohji Tomita and Shigeru Kokaji},
title = {A 3-D Self-Reconfigurable Structure},
booktitle = {Proc. 1998 IEEE Int Conf. Robotics and Automation},
year = {1998},
pages = {432-439}
}
|
|||||
| Yoshida, E., Murata, S., Kurokawa, H., Tomita, K. & Kokaji, S. | Experiment of Self-repairing Modular Machine | Distributed Autonomous Robotics Systems 3, pp. 119-128 | 1998 | inproceedings | |
| Note: DARS98 Best Paper Award | |||||
BibTeX:
@inproceedings{Yoshida98DARS,
author = {Eiichi Yoshida and Satoshi Murata and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
title = {Experiment of Self-repairing Modular Machine},
booktitle = {Distributed Autonomous Robotics Systems 3},
year = {1998},
pages = {119-128},
note = {DARS98 Best Paper Award}
}
|
|||||
| Yoshida, E., Murata, S., Kurokawa, H., Tomita, K. & Kokaji, S. | A Distributed Reconfiguration Method for 3-D Homogeneous Structure [BibTeX] |
Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 852-859 | 1998 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida98IROS,
author = {Eiichi Yoshida and Satoshi Murata and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
title = {A Distributed Reconfiguration Method for 3-D Homogeneous Structure},
booktitle = {Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {1998},
pages = {852-859}
}
|
|||||
| 太田順, 宮田 なつき, 新井 民夫, 吉田 英一, 倉林 大輔 & 佐々木 順 | 持ち替え動作を導入した移動ロボット群による大型対象物の搬送制御 [BibTeX] |
日本機械学会論文集 C編 Vol. 63(605), pp. 174-181 |
1997 | article | |
BibTeX:
@article{Ota97JSME,
author = {太田順 and 宮田 なつき and 新井 民夫 and 吉田 英一 and 倉林 大輔 and 佐々木 順},
title = {持ち替え動作を導入した移動ロボット群による大型対象物の搬送制御},
journal = {日本機械学会論文集 C編},
year = {1997},
volume = {63},
number = {605},
pages = {174-181}
}
|
|||||
| 吉田英一, 山本正和, 新井民夫, 太田順 & 倉林大輔 | 多数移動ロボットシステムの最適な局所的通信範囲の設計 [BibTeX] |
日本ロボット学会誌 Vol. 15(3), pp. 394-401 |
1997 | article | |
BibTeX:
@article{Yoshida97JRSJ,
author = {吉田英一 and 山本正和 and 新井民夫 and 太田順 and 倉林大輔},
title = {多数移動ロボットシステムの最適な局所的通信範囲の設計},
journal = {日本ロボット学会誌},
year = {1997},
volume = {15},
number = {3},
pages = {394-401}
}
|
|||||
| Arai, T. & Yoshida, E. | Design of Local Communication for Cooperation in Distributed Mobile Robot Systems [BibTeX] |
Proc. 3rd Int. Symp. on Autonomous Decentralized Systems (ISADS 97), pp. 238-246 | 1997 | inproceedings | |
BibTeX:
@inproceedings{Arai97ISADS,
author = {Tamio Arai and Eiichi Yoshida},
title = {Design of Local Communication for Cooperation in Distributed Mobile Robot Systems},
booktitle = {Proc. 3rd Int. Symp. on Autonomous Decentralized Systems (ISADS 97)},
year = {1997},
pages = {238-246}
}
|
|||||
| Yoshida, E., Murata, S., Tomita, K., Kurokawa, H. & Kokaji, S. | Distributed Formation Control for a Modular Mechanical System [BibTeX] |
Proc. 1997 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1090-1097 | 1997 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida97IROS,
author = {Eiichi Yoshida and Satoshi Murata and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
title = {Distributed Formation Control for a Modular Mechanical System},
booktitle = {Proc. 1997 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {1997},
pages = {1090-1097}
}
|
|||||
| 佐々木順, 太田順, 新井民夫, 吉田英一 & 倉林大輔 | 複数移動ロボットによる未知対象物の協調把持 [BibTeX] |
日本ロボット学会誌 Vol. 14(7), pp. 1010-1017 |
1996 | article | |
BibTeX:
@article{Sasaki96JRSJ,
author = {佐々木順 and 太田順 and 新井民夫 and 吉田英一 and 倉林大輔},
title = {複数移動ロボットによる未知対象物の協調把持},
journal = {日本ロボット学会誌},
year = {1996},
volume = {14},
number = {7},
pages = {1010-1017}
}
|
|||||
| Kurabayashi, D., Ota, J., Arai, T. & Yoshida, E. | Cooperative Sweeping by Multiple Mobile Robots [BibTeX] |
Proc. 1996 IEEE Int Conf. Robotics and Automation, pp. 1744-1749 | 1996 | inproceedings | |
BibTeX:
@inproceedings{Kura96ICRA,
author = {Daisuke Kurabayashi and Jun Ota and Tamio Arai and Eiichi Yoshida},
title = {Cooperative Sweeping by Multiple Mobile Robots},
booktitle = {Proc. 1996 IEEE Int Conf. Robotics and Automation},
year = {1996},
pages = {1744-1749}
}
|
|||||
| Miyata, N., Ota, J., Arai, T., Yoshida, E., Kurabayashi, D., Sasaki, J. & Aiyama, Y. | Cooperative Transport with Regrasping of Torque-Limited Mobile Robots [BibTeX] |
Proc. 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 304-309 | 1996 | inproceedings | |
BibTeX:
@inproceedings{Miyata96IROS,
author = {Natsuki Miyata and Jun Ota and Tamio Arai and Eiichi Yoshida and Daisuke Kurabayashi and Jun Sasaki and Yasumichi Aiyama},
title = {Cooperative Transport with Regrasping of Torque-Limited Mobile Robots},
booktitle = {Proc. 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {1996},
pages = {304-309}
}
|
|||||
| Yamamoto, M., Yoshida, E., Arai, T., Ota, J. & Kurabayashi, D. | Design of Local Communication Area in Multiple Mobile Robot System [BibTeX] |
Vol. 4Proc. of Proceedings of the World Automation Congress (WAC '96), pp. 775-780 |
1996 | inproceedings | |
BibTeX:
@inproceedings{Yamamoto96WAC,
author = {Masakazu Yamamoto and Eiichi Yoshida and Tamio Arai and Jun Ota and Daisuke Kurabayashi},
title = {Design of Local Communication Area in Multiple Mobile Robot System},
booktitle = {Proc. of Proceedings of the World Automation Congress (WAC '96)},
year = {1996},
volume = {4},
pages = {775-780}
}
|
|||||
| Yoshida, E., Ota, J., Arai, T., Yamamoto, M. & Kurabayashi, D. | Evaluating the Efficiency of Local and Global Communication in Distributed Mobile Robotic Systems [BibTeX] |
Proc. 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1661-1666 | 1996 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida96IROS,
author = {Eiichi Yoshida and Jun Ota and Tamio Arai and Masakazu Yamamoto and Daisuke Kurabayashi},
title = {Evaluating the Efficiency of Local and Global Communication in Distributed Mobile Robotic Systems},
booktitle = {Proc. 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {1996},
pages = {1661-1666}
}
|
|||||
| 吉田英一 | 移動ロボットの局所的通信による情報伝播モデルの解析 | School: 東京大学大学院工学系研究科精密機械工学専攻 | 1996 | phdthesis | [PDF] |
| Note: 井上研究奨励賞（井上科学振興財団）受賞 | |||||
BibTeX:
@phdthesis{Yoshida96thesis,
author = {吉田英一},
title = {移動ロボットの局所的通信による情報伝播モデルの解析},
school = {東京大学大学院工学系研究科精密機械工学専攻},
year = {1996},
note = {井上研究奨励賞（井上科学振興財団）受賞}
}
|
|||||
| 吉田英一, 三木友由, 新井民夫 & 太田順 | 複数移動ロボット系における局所的通信に対する群行動の効果 [BibTeX] |
日本ロボット学会誌 Vol. 13(5), pp. 727-733 |
1995 | article | |
BibTeX:
@article{Yoshida95JRSJ,
author = {吉田英一 and 三木友由 and 新井民夫 and 太田順},
title = {複数移動ロボット系における局所的通信に対する群行動の効果},
journal = {日本ロボット学会誌},
year = {1995},
volume = {13},
number = {5},
pages = {727-733}
}
|
|||||
| Arai, T., Yoshida, E., Miki, T. & Ota, J. | A Study on Group Behavior for Efficient Local Communication in Distributed Mobile Robot System [BibTeX] |
Proc. 1995 IEEE Int. Confe. on Systems, Man and Cybernetics, pp. 3292-3297 | 1995 | inproceedings | |
BibTeX:
@inproceedings{Arai95SMC1,
author = {Tamio Arai and Eiichi Yoshida and Tomoyoshi Miki and Jun Ota},
title = {A Study on Group Behavior for Efficient Local Communication in Distributed Mobile Robot System},
booktitle = {Proc. 1995 IEEE Int. Confe. on Systems, Man and Cybernetics},
year = {1995},
pages = {3292-3297}
}
|
|||||
| Arai, T., Ota, J., Yoshida, E. & Kurabayashi, D. | Acquisition and Utilization of Motion Skills Planning of Multiple Mobile Robots [BibTeX] |
Proc. 1995 IEEE Int. Confe. on Systems, Man and Cybernetics, pp. 3712-3717 | 1995 | inproceedings | |
BibTeX:
@inproceedings{Arai95SMC2,
author = {Tamio Arai and Jun Ota and Eiichi Yoshida and Daisuke Kurabayashi},
title = {Acquisition and Utilization of Motion Skills Planning of Multiple Mobile Robots},
booktitle = {Proc. 1995 IEEE Int. Confe. on Systems, Man and Cybernetics},
year = {1995},
pages = {3712-3717}
}
|
|||||
| Kurabayashi, D., Ota, J., Arai, T. & Yoshida, E. | An Algorithm of Dividing a Work Area to Multiple Mobile Robots [BibTeX] |
Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 286-291 | 1995 | inproceedings | |
BibTeX:
@inproceedings{Kura95IROS,
author = {Daisuke Kurabayashi and Jun Ota and Tamio Arai and Eiichi Yoshida},
title = {An Algorithm of Dividing a Work Area to Multiple Mobile Robots},
booktitle = {Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {1995},
pages = {286-291}
}
|
|||||
| Ota, J., Miyata, N., Arai, T., Yoshida, E., Kurabayashi, D. & Sasaki, J. | Transferring and Regrasping a Large Object by Cooperation of Multiple Mobile Robots [BibTeX] |
Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 543-548 | 1995 | inproceedings | |
BibTeX:
@inproceedings{Ota95IROS,
author = {Jun Ota and Natsuki Miyata and Tamio Arai and Eiichi Yoshida and Daisuke Kurabayashi and Jun Sasaki},
title = {Transferring and Regrasping a Large Object by Cooperation of Multiple Mobile Robots},
booktitle = {Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {1995},
pages = {543-548}
}
|
|||||
| Sasaki, J., Ota, J., Yoshida, E., Kurabayashi, D. & Arai, T. | Cooperating Grasping of a Large Object by Multiple Mobile Robots [BibTeX] |
Proc. 1995 IEEE Int Conf. Robotics and Automation, pp. 1205-1210 | 1995 | inproceedings | |
BibTeX:
@inproceedings{Sasaki95ICRA,
author = {Jun Sasaki and Jun Ota and Eiichi Yoshida and Daisuke Kurabayashi and Tamio Arai},
title = {Cooperating Grasping of a Large Object by Multiple Mobile Robots},
booktitle = {Proc. 1995 IEEE Int Conf. Robotics and Automation},
year = {1995},
pages = {1205-1210}
}
|
|||||
| Yoshida, E., Yamamoto, M., Arai, T., Ota, J. & Kurabayashi, D. | A Design Method of Local Communication Area in Multiple Mobile Robot System [BibTeX] |
Proc. 2009 IEEE Int Conf. Robotics and Automation, pp. 2567-2572 | 1995 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida95ICRA,
author = {Eiichi Yoshida and Masakazu Yamamoto and Tamio Arai and Jun Ota and Daisuke Kurabayashi},
title = {A Design Method of Local Communication Area in Multiple Mobile Robot System},
booktitle = {Proc. 2009 IEEE Int Conf. Robotics and Automation},
year = {1995},
pages = {2567-2572}
}
|
|||||
| Yoshida, E., Yamamoto, M., Arai, T., Ota, J. & Kurabayashi, D. | A Design Method of Local Communication Range in Multiple Mobile Robot System [BibTeX] |
Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 274-279 | 1995 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida95IROS,
author = {Eiichi Yoshida and Masakazu Yamamoto and Tamio Arai and Jun Ota and Daisuke Kurabayashi},
title = {A Design Method of Local Communication Range in Multiple Mobile Robot System},
booktitle = {Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {1995},
pages = {274-279}
}
|
|||||
| 新井民夫, 吉田英一 & 太田順 | 複数移動ロボット系の局所的な通信に関する研究 [BibTeX] |
日本ロボット学会誌 Vol. 12(6), pp. 108-114 |
1994 | article | |
BibTeX:
@article{Yoshida94JRSJ,
author = {新井民夫 and 吉田英一 and 太田順},
title = {複数移動ロボット系の局所的な通信に関する研究},
journal = {日本ロボット学会誌},
year = {1994},
volume = {12},
number = {6},
pages = {108-114}
}
|
|||||
| Yoshida, E., Arai, T., Ota, J. & Miki, T. | Effect of Grouping in Local Communication System of Multiple Mobile Robots [BibTeX] |
Proc. 1994 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 808-815 | 1994 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida94IROS,
author = {Eiichi Yoshida and Tamio Arai and Jun Ota and Tomoyoshi Miki},
title = {Effect of Grouping in Local Communication System of Multiple Mobile Robots},
booktitle = {Proc. 1994 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
year = {1994},
pages = {808-815}
}
|
|||||
| Arai, T., Yoshida, E. & Ota, J. | Information Diffusion by Local Communication of Multiple Mobile Robots [BibTeX] |
Proc. 1993 IEEE Int. Confe. on Systems, Man and Cybernetics, pp. 535-540 | 1993 | inproceedings | [PDF] |
BibTeX:
@inproceedings{Yoshida93SMC,
author = {Tamio Arai and Eiichi Yoshida and Jun Ota},
title = {Information Diffusion by Local Communication of Multiple Mobile Robots},
booktitle = {Proc. 1993 IEEE Int. Confe. on Systems, Man and Cybernetics},
year = {1993},
pages = {535-540}
}
|
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Created by JabRef on 21/11/2011.