Papers - YOKOMICHI Masahiro
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Obstacle avoidance for a non-Holonomic snake robot in a narrow space
Hitaka Y., Yokomichi M., Hamamatsu H.
International Journal of Mechatronics and Automation 4 ( 2 ) 73 - 83 2014
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：International Journal of Mechatronics and Automation
In this paper, we propose a strategy of obstacle avoidance for a non-Holonomic snake robot in a narrow space. In our strategy, the motion of the snake robot is restricted to a gliding curve and the curve is designed such that the snake robot does not come into contact with both obstacles and walls. To generate a desired gliding curve, we use some kind of serpenoid curve which is like a trace of natural snakes and tune its shape. By our strategy, the obstacle avoidance is simplified to designing the gliding curve in two-dimensional field. In this paper, we denote details of our strategy and demonstrate the effectiveness of our strategy by numerical simulations. ©2014 Inderscience Enterprises Ltd.
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Obstacle avoidance of a non-holonomic snake robot by tracking a desired gliding curve
Hitaka Y., Yokomichi M.
2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 463 - 468 2013.11
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Snake robots move by undulating their slender body. From the fact, it is expected that a snake robot can pass through a narrow hallway even if there are some obstacles by adjusting its gliding form not to contact with both obstacles and walls. In this paper, we present a tracking control method for the obstacle avoidance. It is based on feedback linearization and imposes a holonomic control constraint on the snake robot possessing a nonholonomic property. By our method, the snake robot moves along the desired gliding curve designed to achieve the obstacle avoidance even if there are initial errors or impulse disturbances. In this paper, we demonstrate the effectiveness of our idea for the obstacle avoidance by numerical simulations. © 2013 IEEE.
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4) Stabilization of LTI Systems with Periodic Communication Constraints by Using LQR Method Reviewed
N. Takahashi, T.Suzuki, M. Yokomichi, O.Sato
Proc. of SICE 2013 Annual Conference 2013 2013.9
Language：English Publishing type：Research paper (international conference proceedings)
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RRTを用いた動的環境における移動ロボットのリアルタイム経路計画
松川翔太, 横道政裕, 甲斐崇浩
宮崎大学工学部紀要 42 251 - 256 2013.8
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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重なり文字を含む手書き文字画像からの文字切り出し
西大地, 横道政裕
宮崎大学工学部紀要 42 257 - 262 2013.8
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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Obstacle avoidance of a non-holonomic snake robot by tracking a desired gliding curve Reviewed
Y.Hitaka, M.Yokomichi
Proc. Of IEEE Int. Conf. on Mechatronics and Automation 463 - 468 2013.8
Language：English Publishing type：Research paper (international conference proceedings)
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Remarks on Recognizability of Four-Dimensional Topological Components Reviewed
M.Sakamoto, M.Nagatomo, T.Kurogi, T.Ito, Y.Uchida, T.Yoshinaga, S.Ikeda,M.Yokomichi, H.Furutani
Proceedings of the 18th International Symposium on Artificial Life and Robotics, Daejeon Convention Center, Daejeon, Korea ( OS2-3 ) 45 - 48 2013.1
Language：English Publishing type：Research paper (international conference proceedings)
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Homogeneous Systolic Pyramid Automata with n-Dimensional Layers Reviewed
M.Sakamoto, T.Ito, T.Kurogi, M.Nagatomo, Y.Uchida, T.Yoshinaga, S.Ikeda, M.Yokomichi, H.Furutan
Proceedings of the 18th International Symposium on Artificial Life and Robotics, Daejeon Convention Center, Daejeon, Korea ( OS14-1 ) 300 - 303 2013.1
Language：English Publishing type：Research paper (international conference proceedings)
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Stabilization of LTI systems with periodic communication constraints by using LQR method
Takahashi N., Suzuki T., Yokomichi M., Sato O.
Proceedings of the SICE Annual Conference 1217 - 1222 2013
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Proceedings of the SICE Annual Conference
This paper deals with the stabilization of a networked control system (NCS) whose sensors and actuators exchange information with a controller through a shared communication medium. To control a linear time-invariant (LTI) discrete-time plant via a bus with limited capacity, we introduce a holder and a communication sequence which follows a given w-periodic pattern. In the previous paper, we have shown that controllability and stabilizability of the plant are preserved in NCS. Moreover, we have shown that reconstructibility and detectability of the plant are preserved in NCS. In this paper, on the basis of reconstructibility and detectability, we design a middle order periodic observer and periodic state feedback by the periodic LQR method and show the validity of our proposed method by simulation.
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Hierarchies Based on the Number of Cooperating Systems of Finite Automata on Four-Dimensional Input Tapes Reviewed
M.Sakamoto,Y.Uchida,M.Nagatomo,T.Ito,T.Yoshinaga,S.keda,M.Yokomichi,H.Furutani
Proceedings of the International Conference onComputer and InformationEngineering,WASET2012, Phuket, Thailand 123 - 128 2012.12
Language：English Publishing type：Research paper (international conference proceedings)
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Hierarchies Based on the Number of Cooperating Systems of Finite Automata on Four-Dimensional Input Tapes Reviewed
M.Sakamoto,Y.Uchida,M.Nagatomo,T.Ito,T..Yoshinaga,S.keda,M..Yokomichi,H.Furutani
World Academy of Science, Engineering and Technology 72 1068 - 1073 2012.12
Language：English Publishing type：Research paper (scientific journal)
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Analysis of manipulator in consideration of impact absorption between link and object
Sato O., Sato A., Takahashi N., Yokomichi M.
Artificial Life and Robotics 17 ( 2 ) 211 - 215 2012.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
In this article, equations of motion of a manipulator are derived in consideration of characteristics of driving source. By considering impact force absorption between a link and an object, trajectories for saving energy are calculated by the iterative dynamic programming method. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally. © 2012 ISAROB.
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Obstacle avoidance of snake robot by switching control constraint
Hitaka Y., Yoshitake T., Yokomichi M.
Artificial Life and Robotics 17 ( 2 ) 180 - 185 2012.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
In this paper, we propose an obstacle avoidance method for autonomous locomotion control of a snake robot. The snake robot consists of rigid links, active joints and passive wheels, and can move only by varying its shape. The pass planning for the obstacle avoidance is a complicated problem because the snake robot has many states, control inputs and the under-actuated property. In our proposed method, the snake motion is restricted to a periodic undulate curve (called a serpenoid curve) by an additional control constraint and the undulate curve is tuned by switching the control constraint in order that the snake robot avoids the obstacle. Therefore, the path planning is simplified and the snake robot will achieve the obstacle avoidance with an efficient path. In this paper, we denote the details of our method and investigate the effectiveness of our strategy by numerical simulations. © 2012 ISAROB.
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Multimodal MSEPF for visual tracking
Yokomichi M., Nakagama Y.
Artificial Life and Robotics 17 ( 2 ) 257 - 262 2012.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
Recently, particle filter has been applied to many visual tracking problems and it has been modified in order to reduce the computation time or memory usage. One of them is the Mean-Shift embedded particle filter (MSEPF, for short) and it is further modified as Randomized MSEPF. These methods can decrease the number of the particles without the loss of tracking accuracy. However, the accuracy may depend on the definition of the likelihood function (observation model) and of the prediction model. In this paper, the authors propose an extension of these models in order to increase the tracking accuracy. Furthermore, the expansion resetting method, which was proposed for mobile robot localization, and the changing the size of the window in Mean-Shift search are also selectively applied in order to treat the occlusion or rapid change of the movement. © 2012 ISAROB.
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Obstacle avoidance of a snake robot in narrow hallway
Hitaka Y., Yokomichi M.
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 214 - 219 2012.10
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
In this paper, we propose a method of obstacle avoidance in narrow hallway for a snake robot which consists of rigid links, active joints and passive wheels. This type of snake robot can move with a periodic undulate gliding form. Therefore, if the gliding form can be tuned to an appropriate shape for width of the hallway, size or placement of the obstacle, the snake robot will pass through the hallway without any collisions with the obstacle or the side walls. In our method, motion of the snake robot is restricted to some kind of a serpenoid curve which is like a trace of natural snake, and the serpenoid curve is tuned to avoid contact between the body and the obstacle or the walls. In this paper, we denote the detail of our method and investigate the effectiveness of our method by numerical simulations. © 2012 IEEE.
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Multimodal MSEPF for visual tracking Reviewed
M.Yokomichi, Y.Nakagama
Artificial Life and Robotics 17 2012.8
Language：English Publishing type：Research paper (scientific journal)
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RGB-D SLAMにおける画像特徴抽出方法の比較・検討
横道政裕，佐々木駿，甲斐崇浩
宮崎大学工学部紀要 41 307 - 310 2012.8
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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ステレオ視を用いた3次元ユーザーインターフェイスの実現
作前亮次，横道政裕，甲斐崇浩，高橋伸弥
宮崎大学工学部紀要 41 311 - 316 2012.8
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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Obstacle Avoidance of a Snake Robot in a narrow Hallway Reviewed
Y.Hitaka, M.Yokomichi
Proceedings of 2012 IEEE International Conference on Mechatronics and Automation 2012.8
Language：English Publishing type：Research paper (international conference proceedings)
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Analysis of Manipulator in Consideration of Impact Absorption between Link and Object Reviewed
A.Sato, O.Sato, N.Takahashi, M.Yokomichi
Artificial Life and Robotics 17 2012.7
Language：English Publishing type：Research paper (scientific journal)