Papers - YOKOMICHI Masahiro
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Obstacle avoidance of snake robot by switching control constraint Reviewed
Yasunobu Hitaka, Toshikazu Yoshitake, Masahiro Yokomichi
Artificial Life and Robotics 17 2012.7
Language：English Publishing type：Research paper (scientific journal)
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曲面鏡の制度判定検査に関する研究 –有理関数曲線によるドアミラーの製品良否検査システム- Reviewed
外山 真也，横道 政裕，北添 徹郎，杉田 武親，野田 雄一郎，榎木 敏寿
精密工学会誌 78 ( 5 ) 406 - 409 2012.5
Language：Japanese Publishing type：Research paper (scientific journal)
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SAKAMOTO Makoto, UCHIDA Yasuo, HAMADA Takashi, ITO Takao, YOSHINAGA Tsunehiro, YOKOMICHI Masahiro, IKEDA Satoshi, FURUTANI Hiroshi
電子情報通信学会総合大会講演論文集 2012 ( 1 ) 2012.3
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：一般社団法人電子情報通信学会
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Analysis of manipulator in consideration of impact absorption between link and object(共著) Reviewed
A.Sato, O.Sato, N. Takahashi, M.Yokomichi
Proc. 17th Int. Symp. on Artificial Life and Robotics OS11-2 2012.1
Language：English Publishing type：Research paper (international conference proceedings)
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Dynamic Window-based obstacle avoidance in the presence of moving obstacles(共著) Reviewed
H.Harada, M.Yokomichi, O.Sato
Proc. 17th Int. Symp. on Artificial Life and Robotics OS12-3 2012.1
Language：English Publishing type：Research paper (international conference proceedings)
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Multimodal MSEPF for visual tracking(共著) Reviewed
M.Yokomichi, Y.Nakagama
Proc. 17th Int. Symp. on Artificial Life and Robotics OS12-4 2012.1
Language：English Publishing type：Research paper (international conference proceedings)
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Analysis of manipulator in consideration of collision between link and object
Sato A., Sato O., Takahashi N., Yokomichi M.
Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 95 - 98 2011.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
In this paper, equations of motion of a manipulator are derived in consideration of characteristics of driving source. Considering the collision between the link and object, and considering the active motion to absorb kinetic energy of the object, trajectories for saving energy are calculated by iterative dynamic programming. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are analyzed theoretically and investigated experimentally. © 2011 ISAROB.
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Observer-based control of a manipulator system with structured uncertainty Reviewed
N.Takahashi, M.Yokomichi, O.Sato, and M.Kono
Artificial Life and Robotics 16 ( 2 ) 234 - 238 2011.9
Language：English Publishing type：Research paper (scientific journal)
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Analysis of Manipulator in relation to collision between link and object Reviewed
A.Sato, O.Sato, N.Takahashi, M.Yokomichi
Artificial Life and Robotics 16 ( 2 ) 169 - 173 2011.9
Language：English Publishing type：Research paper (scientific journal)
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Analysis of a manipulator in relation to collision between a link and an object
Sato A., Sato O., Takahashi N., Yokomichi M.
Artificial Life and Robotics 16 ( 2 ) 169 - 173 2011.9
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
In this article, equations of motion of a manipulator are derived after consideration of the characteristics of the driving source. By considering a collision between a link and an object, and considering the active motion to absorb the kinetic energy of the object, the trajectories for saving energy are calculated by the iterative dynamic programming (IDP) method. The dynamic characteristics of manipulator control based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).
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Observer-based control of a manipulator system with structured uncertainty
Takahashi N., Yokomichi M., Sato O., Kono M.
Artificial Life and Robotics 16 ( 2 ) 234 - 238 2011.9
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
In this article, we show a derivation of an uncertain system of a two-link RR manipulator with uncertainties in the two rotation angles of each joint. For this system, we apply a guaranteed cost control based on a linear upper bound. In our method, uncertainties are included in the state, input, and also output matrices. Parameter tuning of γ i in the linear upper bound is effective in designing a feedback gain which has appropriate characteristics. In the numerical simulation, we show that the state observer is effective at reducing the influence of signal noise in a state vector. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).
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Estimation of Number of Sound Sources in Multi-Pitch Extraction by Power Decay Model in Fundamental Frequancy
40 251 - 256 2011.7
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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Modeling of a small mobile robot with compass sensor
40 257 - 261 2011.7
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)
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SUZUKI Tatsuo, TAKAHASHI Nobuya, YOKOMICHI Masahiro, KONO Michio
Transactions of the Institute of Systems, Control and Information Engineers 24 ( 3 ) 73 - 75 2011.3
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
DOI： 10.5687/iscie.24.73
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Analysis of Manipulator in consideration of collision between link and object Reviewed
A.Sato, O.Sato, N.Takahashi, M.Yokomichi
Proc. 16th conference on artificial life and robotics 95 - 98 2011.1
Language：English Publishing type：Research paper (international conference proceedings)
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An improvement in MSEPF for visual tracking（共著） Reviewed
Y.Nakagama,M.Yokomichi
International Journal of Artificial Life and Robotics 2010.12
Language：English Publishing type：Research paper (scientific journal)
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Reachability of Networked Control Systems with Periodic Communication Constraints --- No Output Holder Case"jointly worked" Reviewed
24 ( 3 ) 2010.12
Language：Japanese Publishing type：Research paper (scientific journal)
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An improvement in MSEPF for visual tracking
Nakagama Y., Yokomichi M.
Artificial Life and Robotics 15 ( 4 ) 534 - 538 2010.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
Recently, many approaches to applying a particle filter to a visual tracking problem have been proposed. However, it is hard to implement such a filter in a real-time system because it requires a great deal of computation time and considerable resources to achieve a high accuracy. In order to overcome this difficulty, especially the computation time, Shan and other workers have proposed combining a particle filter and mean shift in order to maintain the accuracy with a small number of particles. In their approach, the state of each particle moves to the point in the window with the highest likelihood value. It is known that the accuracy of an estimation depends on the size of the window, but a larger window size makes the computation slower. In this article, we propose a method for exploring the highest likelihood more quickly by means of random sampling. Moreover, the likelihood is also modified in terms not only of color cues, but also of motion cues for a greater accuracy in object tracking. The effectiveness of the proposed method is evaluated by real image sequence experiments. © 2010 International Symposium on Artificial Life and Robotics (ISAROB).
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An improvement of MSEPF for visual tracking
Nakagama Y., Yokomichi M.
Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 1038 - 1041 2010.12
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
Recently, many approaches on applying particle filter to visual tracking problem have been proposed. However, it is hard to implement it to the real-time system because it requires a lot of computation and resources in order to achieve higher accuracy. As a method for reduce the computation time, Shan and coworkers proposed combining particle filter and Mean-Shift in order to keep the accuracy with small number of particles. In their approach, the state of each particle moves to the point in the window with the highest likelihood value. It is known that the accuracy of estimation depends on the size of the window, but the larger window size make the computation slower. In this paper, the authors propose method for exploring the highest likelihood more quickly by means of random sampling. Moreover, our approach defines likelihood in terms of not only color cue but also motion cue for higher-accuracy object tracking. The effectiveness of the proposed method is evaluated by real image sequence experiments. © 2010 ISAROB.
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Development of experiment system for autonomous wheelchair robot
39 287 - 292 2010.9
Language：Japanese Publishing type：Research paper (bulletin of university, research institution)