We have been studying multiple mobile robot systems since 1989. We consider intelligent systems as consisting of three factors: (a) multiple robots or intelligent machines (multiple agents), (b) human-beings who operate or cooperate with multiple agents, and (c) working environments. Now we deal with “design of robotics system”, “design of large-scale production/transport systems”, and “human analysis, service, and hyper-adaptability science” based on motion planning methodology, evolutionary computation, control theory, and so on.
Our final target is to establish design methodology of multi-agent systems including artificial agents, humans and working environments through clarifying the underlying structure and function in the intelligence and mobility (mobiligence) of these agents.
Current research areas
Introduction [Japanese PDF] [English PDF]
Design of robotics system
- Development and Manipulation Planning of Small Mobile Robot[Movie]
- Contact State Estimation Using Motion
- Measurement Pose Optimization in Robot Calibration Using a Hand-eye Camera
- Design of Mechanism using Optimization According to Task
Design and management of large-scale production, transport systems, and plants
- Proposal of a Task Assignment and Movement Planning Algorithm Considering Dynamic Characteristics of AGVs[Movie]
- Skill Extraction of Expert Refinery Plant Inspectors Using Virtual Reality System[Movie]
- Modeling of Manufacturing Systems for Expert Knowledge Description
Human analysis, service, and hyper-adaptability science
- Sway Analysis of Stroke Patients in Standing Posture
- Modeling Human Postural Control by Neural Controller Considering the Vestibulospinal Tract[Movie]
- Motion Planning for Gait Initiation Focusing on Anticipatory Postural Adjustment[Movie]
- Development of the Wearable Device for Measuring Finger Joint Angle
- Method to Estimate the Muscle Activation Pattern from MRI and EMG
- Development of Robot Patients System for Learning Wheelchair Transfer Skill[Movie]
- Analysis of the Effects of Postural Feedback Training on Mental Health
Following research topic is studied by the collaboration with Dr. Tatsunori Hara (Project Associate Professor of Graduate School of Media and Governance, Keio University and Senior Project Researcher of School of Engineering, The University of Tokyo)
※These links are PDF files