著者

松野 文俊

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.35, no.6, pp.428-431, 2017 (Released:2017-08-15)

参考文献数

24

被引用文献数

5

著者

松野 文俊

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.59, no.2, pp.141-144, 2020-02-10 (Released:2020-02-19)

参考文献数

14

著者

松野 文俊 茂木 一貴

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.36, no.12, pp.1108-1116, 2000-12-31 (Released:2009-03-27)

参考文献数

9

被引用文献数

4 7

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In this paper, we derive a kinematic model and a control law for snake robots which have wheeled link mechanism. First, we define the redundancy controllable system and derive a condition and a control law for the snake robot that the system becomes redundancy controllable. We find that introduction of links without wheels and of shape controllable points in the snake robot's body makes the system redundancy controllable. Using redundancy, it becomes possible to accomplish both main objective of controlling the position and the posture of the snake robot head, and sub-objectives of the singular configuration avoidance, the obstacle avoidance and other tasks. Next, by introducing the concept of an unit for the system, we find the relation of the numbers of actuators, redundancy and shape controllable points, and propose the system design method of the snake robot. Finally, in order to demonstrate the validity of the proposed controller, simulations have be carried out. From simulation results we find that the crawling motion of the snake robot is natural.

著者

佐藤 博毅 田中 基康 松野 文俊

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.42, no.6, pp.651-658, 2006-06-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

4 4

---

In this paper, we derive a dynamic model and a trajectory tracking control law for snake robots, which have passive wheels and active joints. We remove passive wheels of some links, and introduce shape controllable points in the snake robot's body. For a trajectory tracking control of snake robots, it is one of the important problem to avoid the singular configuration like a straight line. Using input-ouput linearization for only the head position of snake robots based on dynamic model, we can control the head position by PD feedback, but the robot will converge to the singular configuration. In order to solve this problem, we propose a control law for shape controllable points, based on an index related to the singular configuration. Using the proposed control law, the robot can accomplish trajectory tracking of the head position without converging to the singular configuration. Simulation results show the effectiveness of the proposed control law.

著者

安部 祐一 青井 伸也 土屋 和雄 松野 文俊

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.52, no.11, pp.639-652, 2016 (Released:2016-11-23)

参考文献数

26

被引用文献数

1

---

Multi-legged animals show several types of ipsilateral interlimb coordination. Millipedes show the direct wave gait in which the swing leg movements propagate from posterior to anterior. On the other hand, some centipedes show the retrograde wave gait in which the swing leg movements propagate from anterior to posterior. Interestingly, when some millipede walks in a specific way, it is reported that both direct and retrograde waves of the leg movements can coexist with a source part of the waves (we call it as source wave gaits). However, the mechanism behind the gait generation is still unclear because of the complex nature of the interaction between neural control and body dynamic systems. In this paper, we propose a simple model to gain a better understanding of the mechanism, especially how a local sensory feedback affects multi-legged locomotion. We design a planar multi-legged model and its locomotion control system based on biologically-inspired oscillators with a local sensory feedback, phase resetting. Each oscillator controls each leg, and there are no direct interactions among oscillators. Our simulation results reveal three types of gaits, which have different ipsilateral phase relationships (Direct, retrograde and source wave gaits like animals). These gaits are neither predesigned or predetermined, but emerge through the interaction between the neural control and body dynamic systems through phase resetting. These results suggest that the local sensory feedback is important to form proper interlimb coordination and thereby effectively generates multi-legged gaits. In addition, our mathematical analysis with the simple model successfully extracts the essential feature of these gaits, and suggests that these types of locomotion can exist regardless of the number of legs in our system.

著者

松野 文俊

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.40, no.6, pp.417-425, 2001-06-10 (Released:2009-11-26)

参考文献数

30

著者

松野 文俊

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.35, no.6, pp.428-431, 2017

被引用文献数

5

著者

藤原 始史 竹森 達也 斉 偉 亀川 哲志 鈴木 陽介 坂東 宜昭 奥乃 博 松野 文俊

出版者

システム制御情報学会

雑誌

システム制御情報学会研究発表講演会講演論文集

巻号頁・発行日

vol.62, 2018-05-16

著者

伊藤 一之 松野 文俊

出版者

一般社団法人 人工知能学会

雑誌

人工知能学会論文誌 (ISSN:13460714)

巻号頁・発行日

vol.16, no.6, pp.510-520, 2001 (Released:2002-02-28)

参考文献数

19

被引用文献数

2 7

---

Reinforcement learning has recently received much attention as a learning method for complicated systems, e.g., robot systems. It does not need prior knowledge and has higher capability of reactive and adaptive behaviors. However increase in dimensionality of the action-state space makes it diffcult to accomplish learning. The applicability of the existing reinforcement learning algorithms are effective for simple tasks with relatively small action-state space. In this paper, we propose a new reinforcement learning algorithm: “Q-learning with Dynamic Structuring of Exploration Space Based on Genetic Algorithm ”. The algorithm is applicable to systems with high dimensional action and interior state spaces, for example a robot with many redundant degrees of freedom. To demonstrate the effectiveness of the proposed algorithm simulations of obstacle avoidance by a 50 links manipulator have been carried out. It is shown that effective behavior can be learned by using the proposed algorithm.

著者

松野 文俊 神澤 貴雄

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.15, no.5, pp.789-794, 1997-07-15

被引用文献数

1

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In this paper, stability analysis and robust control of a force-controlled arm having a rigid tip body, of which the mass centerr lies on the central axis of the arm. We consider link flexibility as uncertainty and derive dynamic equations of the force-controlled arm. As the obtained boundary condition is nonhomogeneous, we introduce a change of variables to derive homogeneous boundary conditions. On the basis of a finite-dimensional modal model of distributed-parameter systems, stability of the force feedback is analyzed by using the root locus technique, and an optimal controller with low-pass property as a robust controller is constructed. Simulations have been carried out.

著者

松野 文俊 笠井 正三郎 田中 美和子 若城 邦子

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.32, no.7, pp.1011-1019, 1996-07-31

被引用文献数

4 1

---

In this paper we consider robust force control of a one-link flexible arm. Since the tip of the flexible arm contacts with a given constraint surface, a constraint condition should be satisfied. By using Lagrange multiplier method and Hamilton's principle, we derive dynamic equations of the joint angle (an ordinary differential equation), the vibration of the flexible arm (a partial differential equation), and the constraint force. The boundary condition of the derived distributed parameter system is nonhomogeneous. We introduce a new variable and derive a homogeneous boundary condition. By solving an eigenvalue problem, eigenvalues and corresponding eigenfunctions are derived. On the basis of the eigenfunction expansion we derive a finite dimensional modal model. To compensate the spillover instability an optimal controller with low-pass property and a robust <i>H</i>_∞ controller are constructed. The stability of the direct force feedback and the compliance control considering uncertainty of the arm flexibility is analyzed. To demonstrate the validity of the derived model and the effectiveness of the proposed controllers, a set of experiments has been carried out. Experimental results confirm that the robust controllers perform well.

著者

福島 宏明 新村 諭 松野 文俊

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.29, no.6, pp.554-561, 2011-07-15

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This paper presents a shape transformation control method of a mobile robot with wheel-arms. The proposed method aims at transformation from a four-wheeled mode for high speed mobility to an inverted pendulum mode, which has advantages of high viewing position and small turning radius. The transformation starts with lifting up the wheel-arms to raise the center of gravity of the whole body. From such initial states, the body is lifted up and controlled to the target angle by partial linearization, while returning the arms to the initial angle. Then, the wheels are slowed down by properly changing the target pitch angle of the body. Stability analysis is carried out by taking into account the transient response of the body angle to the target value, which is neglected in existing work. The effectiveness of the proposed method is demonstrated by experiments.

著者

藤澤 隆介 今村 光 松野 文俊

雑誌

研究報告数理モデル化と問題解決(MPS)

巻号頁・発行日

vol.2011, no.9, pp.1-6, 2011-05-10

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蟻は,フェロモン用いてコミュニケーションすることが知られており,その社会は高度に洗練されている.このコミュニケーションは,フェロモン・コミュニケーションと呼ばれている.群れは,個体の内部状態を遷移させることによって総体の状態を複雑に変化させることができ,外的な問題に対して柔軟に対応する.本論文では,我々はロボット群に焦点を当て,そのロボット群が化学物質を用いて協調運搬を実現する.新規に設計した群行動アルゴリズムによって現実のロボット群は餌を蟻の巣に模した場所まで協調運搬する.我々は,ロボット群が餌を発見して巣に持ち帰るまでの時間 (タスク解決時間) に注目し実験をした.その結果,環境中の個体密度が低いときにフェロモン・コミュニケーションが有効に働くことを発見した.Ants communicate with each other using pheromones, and their society is highly sophisticated. When foraging, they transport cooperatively with interplay of forces. The swarm is robust against changes in internal state, and shows flexibility in dealing with external problems. In this brief paper, we focus on the robot swarm that achieves cooperative transportation making use of ethanol as a substantial artificial pheromone. We also propose a swarm system with a newly developed algorithm that enables cooperative transportation of real robots. They will transport food to the nest analogous to the behaviour of a swarm of ants. Emphasis will be placed on the systematic task solution process. As the result, we found when low individual density, pheromone communication is effective.

著者

松野 文俊

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.42, no.9, pp.699-704, 2003-09-10 (Released:2009-11-26)

参考文献数

28

被引用文献数

2

著者

松野 文俊

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.28, no.2, pp.138-141, 2010 (Released:2012-01-25)

参考文献数

3