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Akihiro Matsumoto

    Department of Mechanical Engineering　Professor
    Research Institute of Industrial Technology　Researcher
    Course of Advanced Mechatronics Systems　Professor
Last Updated :2025/04/19

Researcher Information

Degree

  • Doctor of Engineering（The University of Tokyo）
  • Master of Engineering（The University of Tokyo）
  • Bachelor of Engineering（The University of Tokyo）

J-Global ID

Research Interests

  • Robotics   Mechatronics   Automation   Manufacturing System   

Research Areas

  • Informatics / Mechanics and mechatronics
  • Informatics / Robotics and intelligent systems

Academic & Professional Experience

  • 2004/04 - Today  Toyo UniversityProfessor
  • 2023/04 - 2025/03  Toyo UniversityFaculty of Science and EngineeringDean
  • 2022/04 - 2023/03  Toyo UniversityFaculty of Science and Engineering Department of Mechanical EngineeringHead
  • 2012/04 - 2016/03  Toyo UniversityResearch Institute of Industrial TechnologyDirector
  • 2013/04 - 2015/03  Toyo UniversityDepartment of Mechanical Engineering, Faculty of Science and EngineeringHead
  • 2009/04 - 2011/03  Toyo UniversityVice-Dean, Faculty of Science and Engineering
  • 1990/04 - 2004/03  Toyo UniversityAssociate Professor
  • 1988/04 - 1990/03  Toyo UniversityAssistant Professor
  • 1983/04 - 1988/03  The University of TokyoResearch Associate

Education

  • 1981/04 - 1983/03  Graduate School of The University of Tokyo  工学系研究科  Department of Precision Machinery Engineering
  • 1977/04 - 1981/03  The University of Tokyo  Faculty of Engineering  Department of Precision Machinery Engineering

Association Memberships

  • The Japan Society of Mechanical Engineers   Japan Robot Association   日本ロボット学会   The Japan Society for Precision Engineering   Japan Association for Automation Advancement   日本IFToMM会議   THE SOCIETY OF LIFE SUPPORT ENGINEERING   計測自動制御学会   IEEE(The Institute of Electrical and Electronics Engineers,Inc.)   

Published Papers

Books etc

  • 松元, 明弘; 田中, 克昌(経営学); 松島, 桂樹; 磯部, 大 (Joint translation)Carone, Timothy E. 東京化学同人 2020/03 9784807909889 xviii, 212p
  • ロボットメカニクス ～機構学・機械力学の基礎～
    松元明弘; 横田和隆 (Joint work)オーム社 2018/12 9784274507175 209
  • Design of a Desktop Microassembly Machine and its Industrial Application to Micro Solder Ball Manipulation
    Akihiro MATSUMOTO; Kunio YOSHIDA; Yusuke MAEDA (Joint work)Wiley-IEEE Press ("Robotic Microassembly", M. Gauthier, S. Regnier eds.) 2010/10
  • ロボットメカニクス ～構造と機械要素・機構～
    松元明弘; 横田和隆 (Joint work)オーム社 2009/06 9784274207228
  • おもしろメカワールド
    日本機械学会編 (Joint work)オーム社 2006/07
  • 中型ロボットの基礎技術
    松元 明弘; 中村恭之; 高橋泰岳 共立出版 2005/12
  • ハンディブック・メカトロニクス（第2版）
    三浦宏文; 監修; 松元 明弘 オーム社 2005/11
  • Modeling Environment and Tasks for Cooperative Team Play
    Yokota,K; Ozaki,K; Matsumoto,A; Kawabata,K; Kaetsu,H; Asama,H (Joint work)"Distributed Autonomous Robotic Systems 3", Springer 1998/11
  • Decision Making by the Characteristics and the Interaction
    Akihiro MATSUMOTO; Hiromasa NAGAI (Joint work)"RoboCup-97: Robot Soccer World Cup I (Lecture Notes in Computer Science, No.1395)(Kitano (ed.))", Springer 1998/07
  • Omni-directional Autonomous Robots Cooperating for Team Play
    松元 明弘; Yokota, K; sunomiya Uni; Ozaki, K; sunomiya Uni; Kawabata; K. (RIKEN; Kaetsu H. (RIKEN; Asama; H. (RIKEN "RoboCup-97: Robot Soccer World Cup I (Lecture Notes in Computer Science, No.1395)(Kitano (ed.))", Springer 1998/07
  • The Modeling of the Team Strategy of Robotic Soccer as a Multi-Agent Robot System
    松元 明弘; Nagai, H Distributed Autonomous Robotic System (Asama, et al eds.), Springer-Verlag Tokyo 1996/10
  • 産業用ロボット言語 "SLIM"
    松元 明弘; 新井民夫; 石井 博; 野システム; 毛利峻治; 針木和夫; 森 俊二; 西本克史; 吉田邦夫; 日本ビクター 日本規格協会 1994/09
  • 最先端の産業用ロボット (共著)
    技術調査会 1988
  • The most advanced industrial robots
    1988

Conference Activities & Talks

  • Activity report 2023 of Digital Engineering Academy  [Not invited]
    Akihiro MATSUMOTO
    日本機械学会 IIP2024 情報・知能・精密機器部門講演会  2024/03  Oral presentation
  • Development of Robotic IV pole for Reducing Risk of Falling  [Not invited]
    Tomoya OGURI; Sho YOKOTA; Akihiro MATSUMOTO; Daisuke CHUGO; Satoshi MURAMATSU; Hiroshi HASHIMOTO
    Information, Intelligence and Precision Equipment Division 2023  2023/03  Oral presentation
  • Measurement of mouth movement in speaking English (Integration of EMG, voice and image signals)  [Not invited]
    Takeaki AMANO; Atsushi SAKURAI; Akihiro MATSUMOTO; Sho YOKOTA
    Information, Intelligence and Precision Equipment Division 2023  2023/03  Oral presentation
  • Digital Engineering Academy: industry-academia-finance collaboration activities for manufacturing DX  [Not invited]
    Akihiro Matsumoto
    Information, Intelligence and Precision Equipment Division 2023  2023/03  Oral presentation
  • Control of Omni-directional Low-Floor Mobility
    鈴木満裕; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    電気学会研究会資料(Web)  2022
  • Training System with Auditory Feedback for Golf Putting
    河野響輝; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    電気学会研究会資料(Web)  2022
  • System design of a guidance robot-Reaction to the looking away behavior of the person to be guided-
    矢部真也; 松元明弘; 横田祥
    日本機械学会情報・知能・精密機器部門講演会論文集(CD-ROM)  2022
  • Investigation of assist torque of walking promotion orthosis that induces trunk rotation using lower limb force
    大木治宇; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022
  • Basic experiment for estimating speaker’s emotion from the acoustic information of speech.
    瀬沼涼; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022
  • Study on Weight Balance of controller-type bamboo sword for VR kendo practice
    西郷優希; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022
  • Proposed Load-Sensitive Locking Joint for Hands-Free Crutch
    川嵜篤; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022
  • EMG measurement of muscles around the oral cavity in speaking English-Vowel identification-
    天野岳昂; 松元明弘; 横田祥
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2021
  • Development of a clock position presentation system to assist the visually handicapped in eating: Demonstration experiment of food detection and development of a clock position estimation algorithm
    細淵雅紀; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2021
  • System design of a guidance robot Manuscript-Analysis of looking away behavior of the person to be guided-
    矢部真也; 松元明弘; 横田祥
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2021
  • Development of Cart with Unchanged Operability Regardless of Load: 1st Report: Steering Control Caster with Active and Passive Switching Mechanism
    青木舜哉; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2021
  • Personal Mobility with assistive Walker: 5th Report: Measurement of electromyography in walking assist mode.
    藤井正彬; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2020
  • Development of Flexible and Stretchable Soft Robot Joint: 1st Report: Basic Experiment for Concept Confirmation
    磯村駿; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2020
  • Consideration of a Release timing in Hand-Over Motion
    鈴木翼; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2020
  • Development of Omni-Directional Low Floor Mobility Considering Inverted Pendulum Model and Human Posture Control Model 1st Report : Body Posture Estimation based on Load Distribution on Boarding Surface  [Not invited]
    Mitsuhiro SUZUKI; Sho YOKOTA; Akihiro MATSUMOTO; Daisuke CHUGO; Hiroshi HASHIMOTO
    第20回システムインテグレーション部門講演会（SI2019）  2019/12
  • Investigation of Sensor Weight which does not affect the feeling of putter swing - Toward Online Feedback Training System for Golf Putting -  [Not invited]
    Hibiki KAWANO; Sho YOKOTA; Akihiro MTSUMOTO; Daisuke CHUGO; Hiroshi HASHIMOTO
    第20回システムインテグレーション部門講演会（SI2019）  2019/12
  • Remote-controlled robot expressing physiological phenomena 1st Report : Development of handshake robot hand with body temperature and heartbeat  [Not invited]
    Yoshiaki TAMINAMI; Sho YOKOTA; Akihiro MATSUMOTO; Daisuke CHUGO; Hiroshi HASHIMOTO
    第20回システムインテグレーション部門講演会（SI2019）  2019/12
  • Development of Walking Improvement Device using Arm Swing Induced by Parametric Excitation 1st Report : Feasibility Study on the Proposed Concept  [Not invited]
    Kazuki YAMADA; Sho YOKOTA; Akihiro MTSUMOTO; Daisuke CHUGO; Hiroshi HASHIMOTO
    第20回システムインテグレーション部門講演会（SI2019）  2019/12
  • ソフトロボットアーム関節の角度制御  [Not invited]
    Hirofusa Ogasawara; Sho Yokota; Akihiro Matsumoto; Daisuke Chugo; Hiroshi Hashimoto
    電気学会研究会資料（IIS-20)  2019/03  Oral presentation
  • 新井雄介; 横田祥; 山田和明; 松元明弘; 中後大輔; 橋本洋志
    電気学会全国大会講演論文集(CD-ROM)  2019/03
  • 内田圭祐; 横田祥; 山田和明; 松元明弘; 中後大輔; 松村聡; 橋本洋志
    電気学会全国大会講演論文集(CD-ROM)  2019/03
  • 大内光宣; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2018/12
  • 田南吉章; 横田祥; 松元明弘; 中後大輔; 橋本洋志
    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2018/12
  • 横田祥; 中後大輔; 橋本洋志; 松元明弘
    日本機械学会年次大会講演論文集(CD-ROM)  2017/09
  • ロボット屋から見た異文化理解の楽しさと難しさ  [Invited]
    松元 明弘
    生産システム懇談会2017年3月例会  2017/03  Public discourse
  • 林 大輔; 横田 祥; 松元 明弘; 中後 大輔; 橋本 洋志
    電気学会研究会資料. PI = The papers of Technical Meeting on "Perception Information", IEE Japan,  2017/03  電気学会
  • MAETA Shunsuke; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers
     

    The purpose of this research is to improve the accuracy of the calculation of localization of a stationary object by combining cellular automata with particle filter. We conducted position estimation experiment of a stationary red object in order to verify of the proposed method. As a result, the error of estimated position decreased compared to the traditional particle filter approach. Since the significant improvement was not obtained, we continue to discuss the combination method of particle filter and cellular automata.

  • 複数ドローンを用いたケーブル・チューブの協調曳航による送液システム  [Not invited]
    鈴木 聖也; 横田 祥; 松元 明弘; 今津 篤志; 中後 大輔; 橋本 洋志
    計測自動制御学会システムインテグレーション部門講演会  2017
  • Webカメラと虹彩を用いた着座状態における顔位置推定  [Not invited]
    大内 光宣; 横田 祥; 松元 明弘; 中後 大輔; 橋本 洋志
    計測自動制御学会システムインテグレーション部門講演会  2017
  • 歩行支援機能付きパーソナルモビリティの開発  [Not invited]
    小野澤 正紘; 横田 祥; 松元 明弘; 中後 大輔; 橋本 洋志
    計測自動制御学会システムインテグレーション部門講演会  2017
  • 片手駆動車いすシステムのための能動操舵前輪設計  [Not invited]
    林 大輔; 横田 祥; 松元明弘; 中後大輔; 橋本洋志
    電気学会知覚情報／次世代産業システム合同研究会  2017
  • ロボットによる日本型ものづくり～人間の作業環境の改善は永遠の課題～  [Invited]
    松元 明弘
    東洋大学現代社会総合研究所公開シンポジウム  2016/11  Nominated symposium
  • 機械の知能化・機能化を目指して  [Invited]
    松元 明弘
    2016年度日本機械学会年次大会  2016/09  Keynote oral presentation
  • 東洋大学におけるロボティクス教育プログラム  [Not invited]
    松元 明弘
    第34回日本ロボット学会学術講演会(RSJ2016)  2016/09  Oral presentation
  • G-P-3 Downsizing of an ankle rehabilitation device and the consideration on its position/force control
    SUNAMI Yoshiki; KUBOI Yuki; MATSUMOTO Akihiro
    Conference on Information, Intelligence and Precision Equipment : IIP  2016/03  The Japan Society of Mechanical Engineers
     
    As welfare application of robotics/mechatronics technology, we focus on rehabilitation support of the ankle motion. We redesigned an ankle rehabilitation support device and its control strategy such that both intrinsic safety and functional safety are well secured. By the usage of 3D-CAD with its internal CAE functionality, the rehabilitation support device became 80% smaller in length and 33% smaller in weight, compared with the old model. We discussed the position/force control strategy by considering the usage of rehabilitation purpose.
  • G-P-4 EMG signal analysis of facial muscles in utterance
    YANG Xu; MATSUMOTO Akihiro
    Conference on Information, Intelligence and Precision Equipment : IIP  2016/03  The Japan Society of Mechanical Engineers
     
    This study proposes the hypothesis that we use different facial muscles in the utterance of English/Japanese words. In order to experimentally prove this hypothesis, we measured and compared the electromyography signals of the facial muscles. The experiments include the comparison of English/Japanese words, the effect of pronunciation training, and the comparison of vowels with similar sound. The experimental results show that the used muscles are different depending on the language, and voice training with teacher voice are effective to activate muscle usage that are not usually used so far. This result indicates possibility to provide foreign language learners about the guide function of foreign language voice training.
  • G-P-2 Trial of modifying measurement range of a laser range sensor by a mirror
    OKAZERI Kyotaro; MATSUMOTO Akihiro
    Conference on Information, Intelligence and Precision Equipment : IIP  2016/03  The Japan Society of Mechanical Engineers
     
    We use one or two laser rage sensor(s) for our mobile robots in order to navigate mobile robots and to measure length to surrounding objects. In order to detect objects that are located outside its own measurement rang of the laser range sensor, we used a mirror to modify the measurement range of a laser range sensor, and experimentally evaluated the performance of this trial. Basic experiments are done for different mirror layouts. The experiments showed satisfactory results, thus showed the validity of the proposed method. Yet the efforts for eliminating noises in the measured data must be continued for outdoor use.
  • YOKOTA Sho; MATSUMOTO Akihiro; CHUGO Daisuke; HASHIMOTO Hiroshi
    Conference on Information, Intelligence and Precision Equipment : IIP  2016/03  一般社団法人日本機械学会
     
    We have proposed the assistive caster unit for step climbing for manual wheelchair users so far. This caster unit is composed by two functions: The lock function which fixes the caster rotation in case of step climbing, and The assistive plates which have same climbing ability as large wheel imaginary in the confined space between footrest and main wheel. By these two functions, the user can climb a step with small driving force not only frontal approach but also oblique approach to a step. In particular, this paper reports the improvement of the step detection mechanism activating the lock function.
  • 東洋大学における地域主導型産学連携活動の現状と課題  [Invited]
    松元 明弘
    第33回日本ロボット学会学術講演会  2015/09  Nominated symposium
  • 1P2-J04 The EMG measurement of facial muscles in pronouncing English words
    Yang Xu; MATSUMOTO Akihiro
    ロボティクス・メカトロニクス講演会講演概要集  2015/05  The Japan Society of Mechanical Engineers
     
    In order to improve our way of English pronunciation, we focused on the movement of mouth and tongue, and measured EMG signals of facial muscles. First, we measured EMG signals for some English sentences. After listening teacher's voice by CD, we measured EMG signals and investigated the effect of pronunciation training. Next, we measured similarly for some words that we Japanese have difficulty in distinguishing pronunciation. We analyzed the result of the experiment from the viewpoint of skill acquisition.
  • FAN-14-003 Estimating Product / Service Value On Reputation Information Sites : Application of Particle Filter
    TAKAHASHI Azusa; YAMADA Kazuaki; MATSUMOTO Akihiro
    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies  2014/09  The Japan Society of Mechanical Engineers
  • FAN-14-004 A Long Term Prediction System Using Recurrent RBF Networks : Improvement of Learning Speed Using BPTT
    GOTO Takuma; YAMADA Kazuaki; MATSUMOTO Akihiro
    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies  2014/09  The Japan Society of Mechanical Engineers
  • Value estimation of product/service in buzz marketing sites  [Not invited]
    TAKAHASHI Azusa; YAMADA Kazuaki; MATSUMOTO Akihiro
    FAN2014  2014/09  Oral presentation 
    最優秀論文賞を受賞
  • 2A2-X05 Content Value Estimations using Reputation Information(Swarm Robotics)
    TAKAHASHI Azusa; YAMADA Kazuaki; MATSUMOTO Akihiro
    ロボティクス・メカトロニクス講演会講演概要集  2014/05  The Japan Society of Mechanical Engineers
     
    This paper proposes a new method to evaluate content values from reputation information by using a particle filter. In reputation information sites such as Tabelog and Amazon.com, a user can post reviews and vote the evaluation of contents such as books, camera and restaurant. Reputation information sites estimate content values by statistically processing the evaluations which many users have voted, and provide an information for making a decision when many users to select contents. However, it is not always true that all users can vote the content values always correctly. So we need to correct the content value voted by users. In this paper, we model the reputation information site, to consider how to implement the particle filter.
  • 1P1-R05 Design and Development of Pace Making Robot for Long-Distance Runners : 1st Report: Design Considerations(RoboCup and Robot Contest)
    MATSUMOTO Akihiro; LEE Kim Foon
    ロボティクス・メカトロニクス講演会講演概要集  2014/05  The Japan Society of Mechanical Engineers
     
    This paper introduces the design considerations of an outdoor use autonomous mobile robot that travels in an athlete track at a speed of about 20 km/h. This robot is intended to use for the pace making training of long distance runners. First, based on the interview on pace running method to long-distance runner, we discussed design considerations for such robot, and decided its working environment to 400m track field. Also, we designed remote monitoring function that presents runners' condition in real time to the remote coaches. Next, we explained the prototype of mobile mechanism, and its evaluation result through experiments. Last, we described future plan of the development.
  • 1A1-X06 A Long Term Prediction System using Recurrent RBF Networks(Evolution and Learning for Robotics)
    GOTO Takuma; YAMADA Kazuaki; MATSUMOTO Akihiro
    ロボティクス・メカトロニクス講演会講演概要集  2014/05  The Japan Society of Mechanical Engineers
     
    This paper proposes a new predictive control system using recurrent RBF networks (RRBFN) and Fuzzy rules. This system is constructed from a prediction system and a Fuzzy control system. The prediction system predicts the state of the controlled object on time t+n. The Fuzzy control system controls the controlled object based on the prediction results of the long-term prediction system. We test the proposed method under an outfielder problem in order to investigate its efficiency.
  • G-2-3 Long-Term State Prediction of A Controlled Object using RRBFN
    GOTO Takuma; YAMADA Kazuaki; MATSUMOTO Akihiro
    Conference on Information, Intelligence and Precision Equipment : IIP  2014/03  The Japan Society of Mechanical Engineers
     
    This paper proposes a new predictive control system using recurrent RBF networks (RRBFN) and Fuzzy rules. This system is constructed from two kinds of prediction systems and a Fuzzy control system. The prediction systems are constructed from a short-term prediction system and a long-term prediction system. In the short-term prediction system, a RRBFN is inputted the current state of a controlled object, and learns to output the next state of it. In the long-term prediction system, the RRBFN is inputted the state of a controlled object, that was predicted by the short-term prediction system, and predicts the next state of it. The long-term prediction system is repeated this operation n times, and predicts the state of the controlled object on time t+n. The Fuzzy control system controls the controlled object based on the prediction results of the long-term prediction system. We test the proposed method under an outfielder problem in order to investigate its efficiency.
  • 2P1-I05 Acquisition of Conflict Avoidance Behaviors in Multi-Agent Systems : An Approach by Replication of Policies(Swarm Robotics)
    WATANABE Satomi; YAMADA Kazuaki; MATSUMOTO Akihiro
    ロボティクス・メカトロニクス講演会講演概要集  2013/05  The Japan Society of Mechanical Engineers
     
    Multi-agent systems (MAS) can construct flexible and robust system in dynamic environment. However, conflicts occur among agents because they share time and space with others. To resolve these conflicts, we used reliability-based reinforcement learning as an agent's controller, and showed its effectiveness through dispersion games. In this paper, we propose a new method named 'Replication of Policies', to moreover performance of MAS in the environment that agents are added periodically.
  • 7-330 The current status and issues of course work framework for engineers in small-sized enterprises that is organized by local industry-academia collaboration 2011
    MATSUMOTO Akihiro; TSUBAKI Kotaro; MARUYAMA Toshikazu
    工学教育研究講演会講演論文集  2012/08  Japanese Society for Engineering Education
  • 2-344 The current status and issues of long-term internship framework that is developed by local industry-academia collaboration in 2011
    MATSUMOTO Akihiro; OISHI Yoshitaka
    工学教育研究講演会講演論文集  2012/08  Japanese Society for Engineering Education
  • TSUBAKI K.; KANDA Y.; MATSUMOTO A.; FUJIKURA M.; HASUMI H.; FURUYA T.
    Proceedings of Annual Conference of Japanese Society for Engineering Education  2011  Japanese Society for Engineering Education
  • FUKUDA Kazuhito; IWASA Yuki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    In RoboCup middle-size league (MSL), we have been using the positions of color goals and corner poles as landmarks, and localized the position of mobile robots. According to the change of the regulation of RoboCup MSL, we obliged to use other objects as landmarks since color information has been removed. This paper describes the self-localization method based on position of lamps on the ceiling as the landmarks. Provided that the ceiling is horizontal and the lamps on the ceiling are allocated along a straight line, the position of a mobile robot can be specified. We conducted experiments in the corridor and confirmed the validity of the idea.
  • SANADA Katsuya; TOMONO Masahiro; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    This paper deals with the exploration of a mobile robot in an unknown environment. Map building, path planning, and 2D space exploration were implemented for a small sized mobile robot equipped with a laser scanner. First, we built 2D map by using a scan matching method, then we converted 2D map to a grid map for path planning. Second, we separated free space and obstacle cells by expanding obstacles area, and then we expressed movable routes by connecting free cells as arcs of graph expression. Third, we calculated the shortest path among the multiple route candidates by a Dijkstra method. We implemented these algorithms and verified its validity from the experimental results.
  • TANAKA Toshikazu; TOMONO Masahiro; MATUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    Localization and mapping is an important factor for mobile robots. 3D map information is preferred even for mobile robots that move in a 2D space. In order to build 3D map of an unknown environment, we used only one laser scanner, and obtained 3D environmental information by continuously tilting the laser scanner itself using a pulse motor. We applied 2D scan matching method by extracting a horizontal space data of scan information in order to connect scan data for 3D map building. Then, we conducted 3D map building experiments and confirmed that 3D map was obtained in a quite high speed, and the resolution is the same as 2D map.
  • MIYAUCHI Yuji; Ogino Takashi; Akimoto Toshinari; Matsumoto Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    We are involved in the research into navigation of mobile robots for indoor and outdoor use. In order to localize the position of a mobile robot, 3D map rather than 2D map is preferred especially for outdoor application. In order to build 3D map of an unknown environment, we combined two laser scanners for different orientation, and obtained 3D environmental information .We applied 2D scan matching method for the horizontal scan information, and the other scan information is incorporated for 3D map building. We evaluated the performance of scan matching method for the translation and rotation motion of our mobile robot, and then conducted 3D map building experiments in the university campus and confirmed that 3D map was obtained in a quite enough resolution.
  • KONDO Shuhei; IWASA Yuki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    We participate RoboCup humanoid league and middle-size league. Color information is specified in RoboCup regulations in order to ease object recognition, yet color recognition is one of the big issues because illumination condition varies depending on the competition site. We examined a simple yet robust color recognition technique against illumination condition change. The position of specified color area is once taught by human operator, and the corresponding cubic region in HSV space is used as a color template and is used for color recognition. Depending on the change of illumination change, the different region in HSV space of the specified area is used for color matching. We conducted color recognition experiments in both indoor and outdoor environment.
  • OGINO Takashi; AKIMOTO Toshinari; TOMONO Masahiro; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    For the future cohabitation of humans and robots, we are making research on home use robots, where positions of robot, human and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the performance of the map building by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We implemented the motion extraction algorithm for the human following application.
  • MATSUMOTO Akihiro; YAMAKAWA Satoko; TOMONO Masahiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    Kawagoe festival is the traditional Japanese festival that is held in Kawagoe, Saitama, where multiple "Dashi's", or floats, move around the city center with music and dance on each of them. We have decided to simulate this festival by using small simple robot kits and to hold a robot contest for high school students. This event includes preparatory seminars and contest itself, and students plan their ideas in the technical part and artistic part of robot design. The purpose of this contest is to let high students know the traditional Japanese culture as well as to get technical interests on robots. This paper reports the philosophy of holding a robot contest for high school students, technical rules and regulations, as well as some considerations of this event.
  • IWASA Yuuki; YAMADA Takumi; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    We started to participate in RoboCup humanoid league. Based on the previous experience, more lightweight robots are needed for this application. Then we adopted a commercial legged robot "e-nuvo" by ZMP Inc., and added two arms as well as a camera, a board PC and batteries. Total weight of the new humanoid robot is 1.8kg, which is only 0.5kg bigger than the weight of the original e-nuvo. Two arms are driven by the same processor with other leg angles and incorporated in the same architecture, so that the arms are controlled in the same software system. We adopted OpenCV on Windows for the image processing library, and implemented image recognition modules to detect ball and goal positions. We are now developing the total software system that is sufficient for the RoboCup competition.
  • OYAMA Yuusuke; KANAMOTO Kaname; ISHII Yoshikazu; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    We are making research on a kicking mechanism that can kick a ball like a professional soccer player. We measured human kicking motion by using high speed camera as well as electromyograph sensors and analyzed the motion of knee and ankle. Based on the modeling as a two-link mechanism, we decided the design parameters for the control of the kicking mechanism, and manufactured a first prototype kicking machine. Next, we simulated human kicking motion using MATLAB/Simulink, then we made some real kicking experiments using the same motion algorithm. Currently, the maximum kicking speed is set below the desired value so that the kicking impact force may not damage to the mechanism. We show these design considerations of this first prototype of kicking machine in this report.
  • SUGIE Hiroki; MAEDA Hiroki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    We are involved in the development of "toilet assist" that supports excretion care for elderly and handicapped people. The "toilet assist" is a mobile toilet robot that moves to the appropriate position autonomously and supports stand-up/sit-down by lifting up/down the toilet seat. In this report, we used the prototype toilet assist with omnidirectional motion mechanism and two laser range sensors in the limited space of the toilet room in the care house. We confirmed by experiments the validity of the previously developed localization method in the environment where human exists in the working space. Using this localization algorithm, we controlled the toilet assist using various speed for the given trajectory, and compared final positioning accuracy. We confirmed the slow measurement and calculation time for the localization affects the result of the positioning as well as big inertia of the toilet robot.
  • SEKIGUCHI Toru; TAKAHASHI Yuji; OYAMA Yusuke; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2008  The Japan Society of Mechanical Engineers
     
    We are designing a rehabilitation device for the ankle joint motion. In order to ease rehabilitation and training exercise, the motions must be soft yet repetitive. We adopted McKibben type pneumatic actuators in order to drive softly gimbal mechanism for two dimensional motion for ankle joint. Users put their soles onto the gimbal mechanism. In the passive mode, users just let ankle move according the motion of the mechanism for a consecutive period of time, which helps widen the motion range of ankles for the rehabilitation. And in the active mode, users can exert ankle torque against the motion of the mechanism, which helps to train the muscle force. By using the goniometers and EMG sensors, we measured the ankle motion and leg muscle activation, and evaluated the usage of the rehabilitation device.
  • OYAMA Yuusuke; KANAMOTO Kaname; ISHII Yoshikazu; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2008  The Japan Society of Mechanical Engineers
     
    We are making research on a kicking mechanism that can kick a ball like a professional soccer player. We measured the human kicking motion for the purpose of searching optimal control algorithm of the kicking mechanism that is designed in parallel with this measurement. We analyzed several human kicks with/without approach steps of the free kick using a high speed camera, goniometers, and electro myoelectric signals (EMG). We confirmed from the experiments that the legs motion is like a whip in order to use kinetic energy effectively as literature says. The result of the analysis is feedbacked to the control of the current version of the kicking mechanism as well as the mechanical design of the next version.
  • OGINO Takashi; AKIMOTO Toshinari; TOMONO Masahiro; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2008  The Japan Society of Mechanical Engineers
     
    For the future cohabitation of humans and robots, we are making research on home use robots, where human motion and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the map building capability by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We confirmed the adaptability of scan matching algorithm to the human motion recognition which is the key to the human following by robots.
  • SEKIGUCHI Toru; AKIMOTO Toshinari; MATSUMOTO Akihiro
    日本機械学会関東支部ブロック合同講演会講演論文集  2008  日本機械学会関東支部
     
    We are designing a rehabilitation unit for the ankle joint motion. In order to ease rehabilitation and training exercise, the motions must be soft yet repetitive. We adopted McKibben type pneumatic actuators in order to softly drive gimbal mechanism for two dimensional motion for ankle joint. This rehabilitation unit for ankle joint is used for two purposes: to expand the motion range of ankle and to strengthen the muscles for moving ankle. This time, we applied the rehabilitation unit to the person of single fracture of ankle in our research group. Range of motion of ankle and iEMG for ankle muscles are measured for two weeks. The experimental results show that this rehabilitation unit helps to recover the motion range and muscles for ankle.
  • TAKEUCHI Kentaro; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2008  The Japan Society of Mechanical Engineers
     
    Based on the past experiments of the leg orthosis with powered knee joint for the spinal cord injured, we realized the necessity of stiffness/compliance design, smooth control of the mechanism, and energy saving concept. We are designing several types of quasi-passive walking machine from this viewpoint, and made many experiments so far. This time we designed ankle driven type of quasi-passive walking machine assuming to be applicable to the leg orthosis in the future. We described the design considerations of the driving mechanism and kinematic structure, and showed the basic experiments to evaluate the validity of machine design.
  • YAMADA Takumi; AKIMOTO Toshinari; MATSUMOTO Akihiro; TAKARADA Keitaro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2008  The Japan Society of Mechanical Engineers
     
    We are developing a quasi-passive dynamic walking robot with swinging torso. Our experimental approach over several years to the real walking is really successful so far, and the robot walks not only on the horizontal plane but also on the gentle slope, yet the theoretical analysis of motion of this robot has been left unsolved. This time, we modeled the robot as underactuated mechanical links and formalized motion equations from the viewpoint of sagittal and lateral plane. We made discussions on the several assumptions in the modeling for the simulation experiments of the robot.
  • MAEDA Hiroki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2007  The Japan Society of Mechanical Engineers
     
    We are involved in the development project of mobile toilet robot that assists defecating behavior of the handicapped/aged persons. The current mobile toilet robot has differential drive wheel mechanism, and is equipped with laser range sensors instead of vision sensors. By considering the working space of the mobile toilet, we adopted template matching method for localization where laser range sensor data were converted to vision images and then compared. We experimented on the method for the mobile toilet, and evaluated the localization results.
  • AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2007  The Japan Society of Mechanical Engineers
     
    We designed and developed an ankle-driven type of quasi-passive dynamic walking machine. Then we modeled the machine by paying attention to the double stance phase for accurate analysis of realistic motion. And we used the method of penalty function to formulate motion equation. We succeeded to change the walking speed of ankle-driven walking machine by changing kick torque as well as brake torque. We analyzed the mechanism and confirmed by computer simulation. We discussed the validity of brake torque from the energy point of view s well as the stability of walking.
  • YAMADA Takumi; TAKARADA Keitaro; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2007  The Japan Society of Mechanical Engineers
     
    We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed flat plane walking as well as slope climbing by experiments. We analyzed walking condition and succeeded slope climbing of variable inclination angle. Then, we discussed the estimation algorithm of slope inclination angle without using inclination angle sensor. Next, we experimentally realized dynamic walking where inertial force was considered. From the heuristic searches by changing swinging period of torso, we found several patterns in the results. They were compared with walking speed and the walking pitch. Then we discussed the walking condition depending on the swinging of the torso, including the change of walking direction.
  • OYAMA Yusuke; AKIMOTO Toshinari; MATSUMOTO Akihiro
    埼玉ブロック大会(講演会)講演論文集  2007  日本機械学会関東支部
  • YAMADA Takumi; TAKARADA Keitaro; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2007  The Japan Society of Mechanical Engineers
     
    We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed flat plane walking as well as slope climbing by experiments. Past experiments were static walking, but this time we experimentally realized dynamic walking where inertial force was considered. From the heuristic searches by changing swinging period of torso, we found several patterns in the results. They were compared with walking speed and the walking pitch. Then we discussed the walking condition depending on the swinging of the torso.
  • MAEDA Hiroki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2007  The Japan Society of Mechanical Engineers
     
    We are involved in the development project of mobile toilet robot that assists defecating behavior of the handicapped/aged persons. The current mobile toilet robot has differential drive wheel mechanism, and is equipped with laser range sensors instead of vision sensors. We developed a localization method of mobile robot by pattern matching between two environmental maps of grid map format, and experimentally evaluated the performance of the method. Next, the path planning for the mobile robot in the narrow space is designed and experimentally evaluated using the developed localization method. We obtained satisfactory result that shows the validity of the approach.
  • KANAMOTO Kaname; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2007  The Japan Society of Mechanical Engineers
     
    The purpose of this research is to realize a kicking mechanism that can kick a soccer ball like professional soccer player. First we observed human kicking action by high speed camera, and estimated that the contact time of ball and foot during kicking action is 0.01 second. Next we calculated the force given to the ball and the motion of leg. In order to realize the desired kicking speed and necessary torque by two link mechanism that simulates human leg, the suitable combination of AC motors for hip and knee joints were selected from enormous numbers of combination of two motors. Finally the mechanical design of robot leg was performed.
  • MATSUMOTO Akihiro; TSUIKI Kenta; YOSHIDA Kunio
    The proceedings of the JSME annual meeting  2007  The Japan Society of Mechanical Engineers
     
    We are developing micro assembly machines that assemble MEMS components or optical parts with 1μm positioning accuracy. We report the basic design considerations of our micro assembly machine, and also shows some of the trials to the further step toward the better positioning accuracy.
  • AKIMOTO Toshinari; YATOMI Akira; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers
     
    We designed and developed an ankle-driven type of quasi-passive dynamic walking machine by considering the possible application to orthosis with powered joint for the handicapped. In this paper we modeled the machine by paying attention to the double stance phase for accurate analysis of realistic motion. And we used the method of penalty function to formulate motion equation. By the numerical simulation of the model, we obtained different walking speed depending on the ankle torque pattern, which is novel in quasi-passive walking machine. Finally, we analyzed this model from the viewpoint of energy efficiency, and discussed the results for different walking patterns.
  • TAKARADA Keitaro; AKIMOTO Toshinari; MATSUMOTO Akihiro; YOKOI Hiroshi; ARAI Tamio
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers
     
    We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed it can climb up a slope in a certain condition from some experiments so far. We tried to use this walking robot for different slope inclination angle. First, we discussed the strategy of climbing up slope of variable inclination angle. We verified through presumption and experiments that the simplest way is to change the ankle angle depending on the slope inclination angle. Next, we verified the validity of the strategy by experiments of different slope inclination angle. Finally, we discussed on the treatment of contiguous/noncontiguous change of inclination angle with some experimental results.
  • KANAMOTO Kaname; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers
     
    We have been participating RoboCup middle size league by using omnidirectional mobile robot with omnidirectional vision sensor. Ball handling technique as well as vision processing technique is the important issue of RoboCup robot. This time we designed and developed a small-sized ball kicking mechanism that enables loop shoot. We used CAD and CAE software for obtaining some design parameters of the kicking mechanism. Next, we measured the kicking capability by experiments and evaluated its performance. The trajectory of the kicked ball is not as good as we have expected by CAE, but enough satisfactory for the real RoboCup games.
  • SHIMIZU Hideaki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    埼玉ブロック大会(講演会)講演論文集  2006  日本機械学会関東支部
  • MAEDA Hiroki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    埼玉ブロック大会(講演会)講演論文集  2006  日本機械学会関東支部
  • KANAMOTO Kaname; AKIMOTO Toshinari; MATSUMOTO Akihiro
    埼玉ブロック大会(講演会)講演論文集  2006  日本機械学会関東支部
  • TAKAHASHI Yuji; YAMAMIYA Yusuke; AKIMOTO Toshinari; MATSUMOTO Akihiro
    埼玉ブロック大会(講演会)講演論文集  2006  日本機械学会関東支部
  • YAMAMIYA Yusuke; SUZUKI Takao; AKIMOTO Toshinari; TAKAHASHI Yuji; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2006  The Japan Society of Mechanical Engineers
     
    We designed a rehabilitation unit for ankle and knee joint using pneumatic actuators. Joints are position controlled by allocating two actuators in an antagonistic way, and compliance is controlled by changing a air pressure of the actuators. We made experiments on changing compliance of the joint by using the simplified model of the rehabilitation unit, and confirmed the design policy.
  • TAKARADA Keitaro; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2006  The Japan Society of Mechanical Engineers
     
    We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed it can climb up a slope in a certain condition from some experiments. First, we made the strategy of climbing up slope of variable inclination angle. Next, we verified the validity of the strategy by experiments. Finally, we discussed on the treatment of contiguous/noncontiguous change of inclination angle.
  • YATOMI Akira; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2006  The Japan Society of Mechanical Engineers
     
    We designed and developed an ankle-driven type quasi-passive dynamic walking machine by considering the possible application to orthosis with powered joint for the handicapped. We made considerations on stabilizing of walking from energy point of view. We calculated energy efficiency of this walking machine by two different evaluation methods from the literatures, and compared the results.
  • SHIMIZU Hideaki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2006  The Japan Society of Mechanical Engineers
     
    We participate in RoboCup competition using omnidirectional mobile robot with omnidirectional vision. In RoboCup environment, we assumed two goals as colored landmarks and implemented localization algorithms using omnidirectional images in two ways: with angle and distance and with angles only. We compared those algorithms by experiments and showed that experimental results are not always the same as mathematical solution. We also made numerical analysis of the localization algorithm for the evaluation of localization errors.
  • Akimoto Toshinari; Matsumoto Akihiro
    Proceedings of JSPE Semestrial Meeting  2006  The Japan Society for Precision Engineering
     
    本研究では，股関節にアクチュエータを持たず足首のみにアクチュエータを用いる足首駆動型準受動歩行機械を対象として，歩行条件の解析を拘束条件にペナルティー関数を導入した数値シミュレーションにより行い，準受動歩行において可変速制御を行う新たな歩行制御手法を提案するとともに，提案した制御手法が有効であるかを数値シミュレーションにより検証を行った．
  • Shimizu Hideaki; Akimoto Toshinari; Matsumoto Akihiro
    埼玉ブロック大会(講演会)講演論文集  2005  日本機械学会関東支部
     
    我々は全方位カメラを搭載した全方向移動ロボットを用いてロボットサッカー大会RoboCupに参加している.RoboCup環境において,2個のゴールをランドマークとし,ゴールへの方位角情報を用いて,幾何的にロボットの位置を計算する.我々はロボットによってゴールの一部分が隠れた場合でも対応できるようにしたので報告する.
  • Takarada Keitaro; Akimoto Toshinari; Matsumoto Akihiro; Matsushita Kojiro; Yokoi Hiroshi; Arai Tamio
    埼玉ブロック大会(講演会)講演論文集  2005  日本機械学会関東支部
     
    我々は,股関節にアクチュエータのない歩行ロボットの上半身をモーターによって左右に振ることで前進歩行するような上半身駆動型準受動歩行ロボットはついて研究している.この準受動歩行ロボットを使って登坂歩行の実験に成功した.この際,斜面の傾斜角に応じて足首の角度を変えることによって登坂する.このロボットの登坂歩行において登坂条件について考察し,実験によって確認したので報告する.
  • Yamamiya Yusuke; Suzuki Takao; Akimoto Toshinari; Matsumoto Akihiro
    埼玉ブロック大会(講演会)講演論文集  2005  日本機械学会関東支部
     
    足首のリハビリは上下に動かしたり回したりと,柔軟な動作を行う.足首のリハビリ運動のような柔軟な動作を再現するためには人の筋肉のような動作が可能であることが望ましく,機械的親和性を考えると軽量・柔軟なソフトアクチュエータを使用することが望ましい.そこで,空気圧アクチュエータであるMcKibben型人工筋アクチュエータを使用した足首関節のリハビリユニットを試作し,関節の回転運動に関して位置制御および力制御の観点から実験を行ったので報告する.
  • Takarada Keitaro; Akimoto Toshinari; Matsumoto Akihiro; Matsushita Kojiro; Yokoi Hiroshi; Arai Tamio
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2005  The Japan Society of Mechanical Engineers
  • Akimoto Toshinari; Yatomi Akira; Matsumoto Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2005  The Japan Society of Mechanical Engineers
  • Suzuki Takao; Yamamiya Yusuke; Akimoto Toshinari; Matsumoto Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2005  The Japan Society of Mechanical Engineers
  • SUZUKI Takao; YAMAMIYA Yusuke; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2005  The Japan Society of Mechanical Engineers
     
    The authors applied pneumatic actuators to the rehabilitation support of knee and ankle joint motion. Considering the characteristics of the actuator, the authors combined plural actuators as an antagonistic way. First, several layout of the actuators are examined for the knee joint motion and the motion is compared depending on the layout of the actuators. Next, the four actuators are combined for the two DoF motion of the ankle joint, and the motion is compared with and without load. Then, the authors have discussed the availability of the pneumatic actuator to the rehabilitation support, and have confirmed that the actuation is applicable to the coercive joint motion for expanding the joint angle range and the resistive motion for the training of muscles.
  • AKIMOTO Toshinari; YATOMI Akira; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2005  The Japan Society of Mechanical Engineers
     
    After the experimental development of the orthosis with powered joint for the handicapped, this paper deals with the passivity of dynamics in the control of the walking machine. First, the passive dynamic walking machine that walks down the slope is modeled and analyzed from the energy point of view. Then, ankle-driven type of quasi-passive dynamic walking machine is designed and developed by considering the possible application to the orthosis. Experiment of the walking on the horizontal plane is done, and the result is compared with the numerical analysis, that shows the validity of the idea.
  • 松元 明弘; 秋元 俊成; 北川 武史
    センシングフォ-ラム資料  2004/09  〔計測自動制御学会〕
  • Sugiyama M; Matsumoto A
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2004  The Japan Society of Mechanical Engineers
  • Matsumoto A; Tsukuda S; Kitagawa T
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2004  The Japan Society of Mechanical Engineers
  • MATSUMOTO Akihiro; OHTA Yuji
    日本機械学会関東支部ブロック合同講演会講演論文集  2004  日本機械学会関東支部
  • SUZUKI Takao; MATSUMOTO Akihiro
    日本機械学会関東支部ブロック合同講演会講演論文集  2004  日本機械学会関東支部
  • Matsumoto Akihiro; Akimoto Toshinari; Yoshida Kunio; Inoue Hiroki; Kamijo Ken'ichi
    Proceedings of JSPE Semestrial Meeting  2003  The Japan Society for Precision Engineering
     
    近年、光通信などに使われる超小型部品の開発が盛んに行われている。しかし、それらの部品を組立る際の小型で安価な微小組立装置は開発されていない。そこで、レーザダイオードチップの組立を一例にして微小組立装置を設計した。微小組み立て装置による基礎的実験を行い,組み立てる際の精度についての問題点について解明するとともに,開発した微小組み立て装置の評価,及び精度向上の可能性について検討を行った。
  • Tsukuda S.; Yoshita G.; Matsumoto A.
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2003  The Japan Society of Mechanical Engineers
     
    我々は全方位視覚センサを搭載した全方向移動ロボットによる特徴画像を用いた教示再生に関する研究をおこなっている。本報告では, 教示再生時の誤差補正手法を提案し検証実験を行う。
  • Tanaka S.; Akimoto T.; Matsumoto A.; Ohta Y.
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2003  The Japan Society of Mechanical Engineers
     
    私たちは脊髄損傷者用の歩行補助装具の開発を行っている。歩行補助装具を円滑に制御するには受動的歩行が適用できると考えられる。そこで受動的歩行機器の予備実験およびシミュレーションを行った。
  • Yamaguchi Yutaka; Kitagawa Takeshi; Matsumoto Akihiro
    Proceedings of JSPE Semestrial Meeting  2003  The Japan Society for Precision Engineering
     
    本研究室では，理化学研究所と共同開発した3自由度独立駆動型全方向移動機構ZENを用いて研究を行ってきた．自動車の機構や二輪独立駆動型の機構の場合，軌道生成には拘束条件が生ずるが，全方向移動機構の場合制約がないので，数学的に生成した軌道をそのまま実現することができ，さらにロボットの姿勢角を軌道と独立に設定できるという特性を持っている．本報告では，このZENの特性を保持したまま，部品点数を減らしたシンプルな駆動機構の設計·製作を行い，その機構の走行特性実験·比較評価を行った．
  • 松本 篤史; 松元 明弘
    精密工学会大会学術講演会講演論文集  2002/10
  • 好田 剛介; 松元 明弘
    精密工学会大会学術講演会講演論文集  2002/10
  • 篠谷 洋一郎; 太田 裕治; 松元 明弘
    精密工学会大会学術講演会講演論文集  2002/03
  • 明石 知也; 松元 明弘
    精密工学会大会学術講演会講演論文集  2002/03
  • 加藤 健一; 松元 明弘
    精密工学会大会学術講演会講演論文集  2002/03
  • 高橋 宏爾; 松元 明弘
    精密工学会大会学術講演会講演論文集  2002/03
  • 木花 勇; 松元 明弘; 好田 剛介; 山口 豊
    精密工学会大会学術講演会講演論文集  2002/03
  • 好田 剛介; 松元 明弘
    精密工学会大会学術講演会講演論文集  2002/03
  • Akamatsu T.; Kawabata K.; Takeda D.; Asama H.; Matsumoto A.
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2002  The Japan Society of Mechanical Engineers
     
    自律移動ロボットの自己診断システムには, 詳細な状態認識のために複数のセンサを実装させている.しかしながら, 現在は自己診断を行うために全てのセンサシステム常時通電しているため, 消費電力に負担がかかることが問題となっている.センサシステムを効率的に利用する必要がある.そこで本報告では, 外界情報を優先的に利用し, 装置の故障事態時に故障を予測し, 自己診断を行うためのセンサシステムの効率利用について検討する.
  • Kawabata K.; Suzuki T.; Yokota K.; Matsumoto A.; Kaetsu H.; Asama H.; Ozaki K.; Uttori United2002
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2002  The Japan Society of Mechanical Engineers
     
    宇都宮大学, 東洋大学, 理化学研究所は, 通信を用いた協調を特徴として, 合同チーム : Uttori United として RoboCup に参加してきた。現在もこれらの参加経験にもとづいて, 実世界でロボットを協調動作させるための技術開発を続けている。本稿では, Uttori United2002が本年のRobocup国際大会のために開発を行ってきたシステムについて紹介する。また, 春に行われるスプリング・キャンプの内容についても報告する。
  • Matsumoto A.; Matsumoto A.
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2002  The Japan Society of Mechanical Engineers
     
    我々は, 今までのパラレルリンク機構にはない特色を持ったパラレルリンク機構として, アクチュエータにSMA(形状記憶合金)を用いたコンプライアンス可変型パラレルリンク機構を設計・開発している。今回, 8本のSMAアクチュエータを使用した2次元版SMAパラレルリンク機構を新たに試作し, 力覚センサを用いてパラレルリンク可動部の剛性を測定し, コンプライアンス制御の可能性について検討したので報告する。
  • YAMAGUCHI Yutaka; YOSHITA Gosuke; TSUKUDA Shoji; MATSUMOTO Akihiro
    日本機械学会関東支部ブロック合同講演会講演論文集  2002  日本機械学会関東支部
     
    An omni-directional mobile robot, which can move in any direction without changing its orientation, has been investigated. The wheels are installed on all four sides of the vehicle that are independently driven. This paper shows the design philosophy of the mechanism, kinematic analysis, and trajectory generation. Currently, the mechanism has been developed with computer and vision system on it, and the basic characteristic of mobility has been measured.
  • Yoshita Gosuke; Matsumoto Akihiro
    Proceedings of JSPE Semestrial Meeting  2002  The Japan Society for Precision Engineering
     
    人が道案内をする場合，建物や曲がり角などの特徴的な物の説明をし，そこで右折や直進といった動作指示をする．その際，間にある道路などの情報は省かれる．ロボットの場合でも同様に，あらかじめ特徴のある場所の画像と，それに付随する動作を与えておくことにより，外界の観測から動作を決定することが可能であると考えられる．これは，移動ロボットにおける教示再生と言える．本研究室ではこの考えに基づき，過去に通常のCCDカメラを使って全方向移動ロボットにおける教示再生を行っている．今回はこのアプローチを拡張して，全方位視覚センサを用いて教示再生を行い，過去の実験との比較をしたので報告する．
  • 松本 篤史; 松田 隆義; 松元 明弘
    精密工学会大会学術講演会講演論文集  2001/09
  • Akamatsu T.; Kawabata K.; Okina S.; Fujii T.; Asama H.; Matsumoto A.; Endo I.
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2001  The Japan Society of Mechanical Engineers
  • Tanaka M.; Kawabata K.; Asama H.; Endo I.; Matsumoto A.
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2001  The Japan Society of Mechanical Engineers
  • Suzuki T.; Asama H.; Kaetsu H.; Sugimoto Y.; Matsumoto A.; Endo I.
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2001  The Japan Society of Mechanical Engineers
  • Matsumoto A.; Yoshita G.; Yamaguchi Y.; Shimizu Y.; Kihana I.
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2001  The Japan Society of Mechanical Engineers
  • YOSHITA Gosuke; MATSUMOTO Akihiro
    日本機械学会関東支部ブロック合同講演会講演論文集  2001  日本機械学会関東支部
     
    We have adopted omni-directional vision for omni-directional mobile robot for the autonomous de-centralized robot system. One of the application of this robot is RoboCup, I.e., robot soccer application. The coupling of the omni-directional system expanded the functionality of the mobile robot. In this report, we describe the design idea how to utilize omni-directional vision, and the way of self-localization by using color information of the environment instead of shape information.
  • MATSUMOTO Atsushi; MATSUMOTO Akihiro; MATSUI Satoshi
    日本機械学会関東支部ブロック合同講演会講演論文集  2001  日本機械学会関東支部
     
    We have designed a parallel link mechanism by using prismatic actuators by SMA (shape memory alloy). This SMA parallel link has flexibility by the characteristic of SMA, and it can control different compliance as well as position in any desired directions. We have experimentally evaluated the characteristics of SMA actuator and have shown that it can be modeled as a temperature dependent linear spring. Then We have derived the kinematic analysis equations of the parallel link mechanism for the purpose of position/force control, and compared them with experimental results.
  • 冨永 泰輝; 松元 明弘
    精密工学会大会学術講演会講演論文集  2000/09
  • 高橋 宏爾; 松元 明弘
    精密工学会大会学術講演会講演論文集  2000/09
  • 太田 裕治; 田辺 昭; 岡本 弘志; 松元 明弘
    精密工学会大会学術講演会講演論文集  2000/03
  • 谷口 直宗; 松元 明弘; 冨永 泰輝
    精密工学会大会学術講演会講演論文集  2000/03
  • 松元 明弘; 水川 真; 小山 俊彦; 松家 英雄
    精密工学会大会学術講演会講演論文集  2000/03
  • 松下 尊弘; 松元 明弘
    ロボティクス・メカトロニクス講演会講演概要集  2000  一般社団法人 日本機械学会
     
    近年ロボット技術の活躍の場は従来の工場などの人と隔離された環境から, 医療福祉・サービスなどのより人と接する環境へと広がりを見せている。これらの新しい分野では, 環境を実時間で認識し, 対応することが要求される。本研究では実時間動画像処理を用いて運動物体の追跡を行い, また物体の運動特性を考慮した手法により物体の運動を予測することを目的とする。
  • 赤沼 智弘; 松元 明弘
    ロボティクス・メカトロニクス講演会講演概要集  2000  一般社団法人 日本機械学会
     
    本研究ではマン・マシン・インタフェースの手法として, 画像処理を用いたジェスチャ認識を行う。ジェスチャをする人間の手の特徴量抽出法として, パターン認識には正規化相関を用いたテンプレートによる局所的な範囲でのパターンマッチングを行い, 動き情報として色情報から得られる手の重心の速度ベクトルを抽出することとする。これらの処理を併用し, ジェスチャ認識を行うための手法を提案する。
  • 内海 孝志; 谷 真; 山本 健二; 松元 明弘
    精密工学会大会学術講演会講演論文集  1999/03
  • 小山 大輔; 清水 芳昭; 松元 明弘
    精密工学会大会学術講演会講演論文集  1999/03
  • 松元 明弘
    精密工学会春季大会. シンポジウム資料  1999/03
  • 永井 宏昌; 赤江 俊彦; 谷口 直宗; 松元 明弘
    精密工学会大会学術講演会講演論文集  1998/03
  • 浅川 雄二; 松元 明弘
    精密工学会大会学術講演会講演論文集  1998/03
  • 石田 悟; 松元 明弘
    精密工学会大会学術講演会講演論文集  1998/03
  • 井村 了; 松元 明弘
    精密工学会大会学術講演会講演論文集  1998/03
  • 内海 孝志; 松元 明弘
    精密工学会大会学術講演会講演論文集  1998/03
  • SMAピストンによるパラレルリンク機構
    松元明弘
    日本ロボット学会学術講演会論文集  1998
  • 浅間 一; 藤井 輝夫; 宇佐見 哲也; 松元 明弘; 嘉悦 早人; 遠藤 勲
    精密工学会大会学術講演会講演論文集  1997/10
  • 浅川 雄二; 松元 明弘
    精密工学会大会学術講演会講演論文集  1997/10
  • 山田 篤史; 高田 祥三; 平岡 弘之; 淺間 一; 幸田 武久; 松元 明弘
    精密工学会大会学術講演会講演論文集  1997/03
  • 塩野 寛; 高田 祥三; 平岡 弘之; 淺間 一; 幸田 武久; 松元 明弘
    精密工学会大会学術講演会講演論文集  1996/09
  • 塩野 寛; 高田 祥三; 平岡 弘之; 浅間 一; 琴坂 信哉; 幸田 武久; 松元 明弘
    精密工学会大会学術講演会講演論文集  1996/03
  • 斎藤 大典; 平岡 弘之; 高田 祥三; 浅間 一; 琴坂 信哉; 幸田 武久; 松元 明弘
    精密工学会大会学術講演会講演論文集  1996/03
  • 松元 明弘
    精密工学会大会学術講演会講演論文集  1996/03
  • 佐藤 雅俊; 嘉悦 早人; 淺間 一; 尾崎 功一; 松元 明弘; 遠藤 勲
    精密工学会大会学術講演会講演論文集  1995/09
  • 尾崎功一; 浅間一; 石田慶樹; 横田和隆; 嘉悦早人; 松元明弘; 遠藤勲
    自律分散システム・シンポジウム資料  1995/01

Works

  • 日本工業規格 JIS B3602 工業自動化システム～製造メッセージ仕様～ロボット附帯規格 (共著)
    1995
  • 日本工業規格 JIS B8440 産業用ロボット～中間コードSTROLIC (共著)
    1995
  • JIS (Japanese Industrial Standard) B3602 Industrial automation systems -Manufacturing Message Specification- Part 3 : Companion standard for robotics
    1995
  • JIS (Japanese Industrial Standard) B8440 Industrial robots -Intermediate code STROLIC
    1995
  • 日本工業規格 JIS B8439 産業用ロボット～ロボット言語SLIM (共著)
    1992
  • JIS(Japanese Industrial Standerd) B8439 Robot Language SLIM
    1992

MISC

Industrial Property Rights

  • 全方向移動車の駆動伝達機構
    3093580

Awards & Honors

  • 2024/03 精密工学会 功労賞
     公益社団法人精密工学会設立90周年記念功労賞 
    受賞者: 松元明弘,他
  • 2023/12 System Integration Division, SICE SI2023 Excellent presentation award
     英語発音時の舌の動きを再現するソフトロボットの開発 
    受賞者: Krisditiyawan EVAN;Sho Yokota;Akihiro MATSUMOTO;Daisuke CHUGO;Hiroshi HASHIMOTO
  • 2019/09 Robotics Society of Japan Fellow
     
    受賞者: MATSUMOTO Akihiro
  • 2017/03 IIP division, JSME division achievement award
     
    受賞者: MATSUMOTO Akihiro
  • 2014/09 FAN symposium 2014 Best paper award
     評判情報サイトにおけるプロダクト／サービスの価値推定～粒子フィルタの適用～ 
    受賞者: TAKAHASHI Azusa;YAMADA Kazuaki;MATSUMOTO Akihiro
  • 2013/01 The Japan Society of Mechanical Engineers Fellow
     
    受賞者: MATSUMOTO Akihiro
  • 2010/04 Japan Society of Mechanical Engineers Education Award
     大学・企業連携による学生のための集中技術者導入教育 JPN 
    受賞者: Sato,T;Matsumoto,A;Takahashi,H;Suzuki,K;Igarashi,H
  • 2003/10 METI METI Award (Industrial Standards)
     JPN
  • 1998 Japan Society of Artificial Intelligence JSAI Award
     JPN
  • 1995/10 Japan Standards Association Publication Award on Standardization
     "SLIM": Programming Language for Industrial Robots JPN 
    受賞者: Arai;Matsumoto;Ishii;Mouri, Hariki;Mori, Nishimoto;Yoshida
  • 1995/05 Japan Society of Mechanical Engineers ROBOMEC Award
     JPN 
    受賞者: Asama, Ozaki;Matsumoto;Kaetsu, Endo

Research Grants & Projects

  • 圧電アクチュエータに関する研究
    奨学寄付金
    Date (from‐to) : 2010 
    Author : 松元 明弘
  • 「川越まつり 山車ロボットコンテスト」の実施
    その他/理工学部長施策研究
    Date (from‐to) : 2010 
    Author : 松元 明弘
  • 「川越まつり 山車ロボットコンテスト」の実施
    その他/工学部長施策研究
    Date (from‐to) : 2009 
    Author : 松元 明弘
  • 小型ジェットエンジンを持つ飛行ロボットの自動飛行
    特別研究（共同研究）
    Date (from‐to) : 2006 -2008
  • 低周波センサーを用いた携帯型ユビキタス医療診断システムの開発
    研究所プロジェクト
    Date (from‐to) : 2006 -2008
  • 人の知覚・運動特性にもとづいたマスタースレーブ型ロボットの制御系設計
    研究所プロジェクト
    Date (from‐to) : 2006 -2008
  • ロボットサッカーに関する研究
    その他/工学部学科横断的戦略プロジェクト
    Date (from‐to) : 2005 -2008 
    Author : 松元 明弘
     
    RoboCupの国内大会,世界大会に参加.2006年世界大会にて中型リーグ技術チャレンジの世界第3位
  • 「川越まつり 山車ロボットコンテスト」の実施
    その他/工学部施策研究
    Date (from‐to) : 2008 
    Author : 松元 明弘
     
    日本機械学会ロボティクス・メカトロニクス講演会'08にて発表
  • 操作コントロールシステムの研究
    川田工業：NEDOプロジェクト「人間支援型ロボットシステム」の再委託
    Date (from‐to) : 2005 -2007 
    Author : 松元 明弘
  • 精密組立に関する研究
    奨学寄付金
    Date (from‐to) : 2002 -2007 
    Author : 松元 明弘
  • 「川越まつり 山車ロボットコンテスト」の実施
    その他/工学部施策研究
    Date (from‐to) : 2007 
    Author : 松元 明弘
  • 「川越まつり 山車ロボットコンテスト」の実施
    その他/工学部長施策研究
    Date (from‐to) : 2006 -2006 
    Author : 松元 明弘
     
    高校生向けのロボットコンテストを実施した.川越まつりの山車をモチーフとすることで独自色を出している.
  • ユニバーサルデザイン教育手法の開発と評価に関する研究
    研究所プロジェクト
    Date (from‐to) : 2004 -2006
  • マイクロ組立における位置決め精度向上に関する研究
    奨学寄付金
    Date (from‐to) : 2004 -2005 
    Author : 松元 明弘
     
    100000
  • 局所環境モニター用マイクロ擬似生物飛翔体の開発研究
    研究所内プロジェクト
    Date (from‐to) : 2003 -2005
  • 脚関節運動のリハビリテーション支援装置におけるインピーダンス制御
    その他/工業技術研究所プロジェクト
    Date (from‐to) : 2005 
    Author : 松元 明弘
  • リアリティを重視した対話型Web教材の開発
    特別研究（教材開発共同研究）
    Date (from‐to) : 2001 -2003
  • 全方位視覚を備えた全方向移動ロボットによる遠隔情報提供
    研究所内プロジェクト
    Date (from‐to) : 2002 -2002 
    Author : 松元 明弘
  • Microassembly
    Date (from‐to) : 2002
  • 人間支援メカトロニクス
    Date (from‐to) : 2001
  • Human support mechatronics
    Date (from‐to) : 2001
  • 自律分散型ロボットシステムに関する研究
    Date (from‐to) : 1988
  • Study on Decentralized Autonomous Robotic System
    Date (from‐to) : 1988
  • 日本学術振興会：科学研究費助成事業
    Date (from‐to) : 1987 -1987 
    Author : 松元 明弘
  • 日本学術振興会：科学研究費助成事業
    Date (from‐to) : 1986 -1986 
    Author : 松元 明弘
  • Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research
    Date (from‐to) : 1985 -1986 
    Author : ARAI Tamio; OKAMOTO Hirosuke; MATSUMOTO Akihiro
     
    This research deals with assembly processes of parts with complicated shapes using vibrated insertion mechanism. A inserter built with 3 electromagnetic actuator has been developed. Insertion process of round peg-into-hole problem is analyzed as a dynamic model, and studied experimentally. A round peg, which has been analyzed statically, is selected as typical representative of a simple shaped part, and compared with complicated shaped parts such as a square peg, 2 parallel round pegs, and 2 parallel square pegs. Results are obtained as follows: 1. An inserter with vibration has been developed using 3 electromagnetic actuators built in work table. This mechanism gives a compact configuration and wide working space, but low efficiency in power. The experiments indicates that vibration is effective on all kinds of part mating. 2. A dynamic model is proposed on insertion process of round peg-into-hole problem. The model is verified by simulation and experiments. 3. In comparison with the insertion process of a round peg, complicated shaped parts has much difficulties in insertion. Part mating of 2 parallel square parts with 50 micro meter is achieved even though the parts is inclined in 1.7 degree mutually. 4. The insertion process of complicated shaped parts is classified according to the possibility of the contact status among parts. 5. Two flexible wires are inserted simultaneously by the developed inserter and it is clarified that the vibrated insertion is effective on flexible parts.

Teaching Experience

  • Experiments on Mechanical Engineering
    Toyo University
  • Robotics
    Toyo University
  • Mechatronics
    Toyo University
  • Vector analysis for mechanical engineering
    Toyo University
  • Computer Systems
    Toyo University
  • Strength of materials
    Toyo University

Social Contribution

  • 川越産業フェスタ（旧名称：川越産業博覧会）における科学技術活動への協力
    Date (from-to) : 2008-Today
    Role : Planner
    Category : Seminar
    Sponser, Organizer, Publisher  : 川越産業博覧会実行委員会（川越商工会議所，川越市役所，川越観光協会）
    川越商工会議所工業部会メンバー企業向けのロボット競技会の運営，および小中学生向け「親子で学ぶロボット教室」（科学技術啓蒙活動）の実施
  • 川越まつり山車ロボットコンテストの企画運営
    Date (from-to) : 2006-Today
    Role : Planner
    Category : Seminar
    Sponser, Organizer, Publisher  : 川越まつり山車ロボットコンテスト実行委員会（東洋大学）
    高校生向けのロボットコンテストであり，ロボット作成を通じた科学技術への興味の喚起と共に，川越まつりという伝統文化を理解を目的としている．

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