TAKASE KUNIKATSU
| Emeritus Professor etc. | Emeritus Professor |
Researcher Information
Field Of Study
Educational Background
Research Activity Information
MISC
- Network Distributed Systems for Support of Elderly and Disabled People
Dec. 2002, 第３回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, 141-142 - 知的情報インフラ活用型パーソナルロボットシステム
Dec. 2002, 第３回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, 139-140 - iGPSを用いたカート型搬送ロボットの軌道追従制御
Dec. 2002, 第３回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, 143-144 - 環境側情報インフラを用いた搬送作業ロボットシステム —CORBAを用いた分散型システムの設計と実装—
Dec. 2002, 第３回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, 141-142 - 知的情報インフラ活用型ロボットの思想—工学としてのロボティクスへの道—
Dec. 2002, 第３回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, 137-138 - Robotic Systems Integration Using Common Object Request Broker Architecture
Dec. 2002, Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV 2002), 1250-1255 - Network Distributed Systems for Support of Elderly and Disabled People
Dec. 2002, 第３回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, 141-142 - Robotic Systems Integration Using Common Object Request Broker Architecture
Dec. 2002, Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV 2002), 1250-1255 - Internet-Based Control for Distributed Robotic Systems Using CORBA as Communication Architecture
Oct. 2002, Conference on Control, Automation and Systems (ICCAS 2002), 1278-1283 - 環境側情報インフラを用いた搬送作業ロボットシステムの研究—複数台移動ロボットのタスクスケジューリング—
Oct. 2002, 第２０回日本ロボット学会学術講演会, 3B18(2) - エアホッケーロボットの打ち返し精度向上と攻撃力強化
Oct. 2002, 第２０回日本ロボット学会学術講演会, 1K17(2) - 環境側情報インフラを用いた搬送作業ロボットシステム—カート型搬送ロボットの開発—
Oct. 2002, 第２０回日本ロボット学会学術講演会, 3A37(2) - 上半身の姿勢変化に基づく全方向移動車椅子の操縦—実証実験用モデルの開発—、
Oct. 2002, 第２０回日本ロボット学会学術講演会, 3L23(2) - Internet-Based Care Robotic Systems for Support of the Aged and Disabled
Oct. 2002, 第２０回日本ロボット学会学術講演会, 3F13(2) - 環境側情報インフラを用いた搬送作業ロボットシステム—CORBAを用いた分散型システムの設計—
Oct. 2002, 第２０回日本ロボット学会学術講演会, 3F18(2) - テレオペレーションの過去未来
Oct. 2002, 第２０回日本ロボット学会学術講演会特別セッション 「ロボット工学過去未来」 - Robot Operation Management in Telecare System
Oct. 2002, International Conference on Control, Automation and Systems, 557-262 - The Maneuvering System of Omnidirectional Wheelchair by Changing User's Posture
Oct. 2002, International Conference on Control, Automation and Systems (ICCAS 2002), 1438-1443 - Internet-Based Control for Distributed Robotic Systems Using CORBA as Communication Architecture
Oct. 2002, Conference on Control, Automation and Systems (ICCAS 2002), 1278-1283 - Internet-Based Care Robotic Systems for Support of the Aged and Disabled
Oct. 2002, 3F13(2) - Robot Operation Management in Telecare System
Oct. 2002, International Conference on Control, Automation and Systems, 557-262 - The Maneuvering System of Omnidirectional Wheelchair by Changing User's Posture
Oct. 2002, International Conference on Control, Automation and Systems (ICCAS 2002), 1438-1443 - Trend of Robotics for Social Application in Japan
Sep. 2002, Beijin University of Chemical Technology Seminar, 1-14 - Trend of Robotics for Social Application in Japan
Sep. 2002, Beijin University of Chemical Technology Seminar, 1-14 - Internet-based robotic system using CORBA as communication architecture
SM Jia; K Takase
In this paper, we propose the Internet-based robotic system that uses Common Object Request Broker Architecture (CORBA) to implement networking connections between a client and a remote robotic system. The client can transparently invoke a method on a server across the network without any need to know where the application servers are located, or what programming language and operating system are used. This lets the system overcome the shortcomings of the other typical Internet robotic system. To cope with time delays on the communication path, we have implemented the robot control server, which allows the user to control the telerobotic system at a task-level. We have also implemented the live image feedback server, which provides live image feedback for a remote user. The proposed system gives the users the ability to operate the remote robotic system to retrieve and manipulate the desired tableware or other things to support the aged and disabled over the Internet by using the intuitive user interface., KLUWER ACADEMIC PUBL, Jun. 2002, JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 34, 2, 121-134, English, 0921-0296, WOS:000175785700001 - Distributed Telecare Robotic Systems Using CORBA as a Communication Architectuire
May 2002, Proc. of 2002 IEEE International Conference on Robotics and Automation( ICRA2002), 2202-2207 - Switching remote robot manipulation in Internet TeleCare systems
CH Hou; SM Jia; G Ye; K Takase
In this paper, a Java and common object request broker architecture (CORBA) based management server is presented to switch the robot manipulating rights among the authorized caregivers in Internet TeleCare systems. A software switch, a chat room and a media control unit (MCU), which connect to database by Java database connectivity (JDBC), are developed as server software. The client software is programmed as two applets, robot remote manipulation and chat client, and embedded into a web page in the management server. CORBA HOP is employed as communication platform between the robot control server program of C++ and the software switch of Java. The whole TeleCare system with image and video monitor is verified in campus networks. The developed robot manipulating management system will improve the Internet robot TeleCare system topology, and adapt to the mass application in the future., IEEE, 2002, IEEE ICIT' 02: 2002 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS I AND II, PROCEEDINGS, 886-891, English, WOS:000183624400166 - Indoor navigation of multiple mobile robots in a dynamic environment using iGPS
Y Hada; K Matsukuma; K Takase; R Hirata; K Ohgaki; S Okumura
A delivery service system employing multiple mobile robots, which enables many users to use the delivery service simultaneously, needs the capability to reliably direct robots to their destinations in an office-like environment. In the preliminary stages-of our work, we achieved deadlock-free navigation of such a multi-robot system in a static environment, where obstacles did not move. The next stage, which is presented in this paper, progressed to the robust navigation of a multi-robot system in a dynamic environment, where obstacles, such as chairs or people, are moving. To do this, we used two methods. The first method recognizes obstacles by a mark-based vision technique and updates the environmental map with iGPS. The. second method is a conventional one that detects unknown obstacles by an onboard laser range finder. To test our navigation methods, we conducted actual multi-robot experiments in an office-like environment., IEEE, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2682-2688, English, WOS:000178573200423 - Remote Control for Robotic Systems Using CORBA as Communication Architecture
2002, Chinese Journal of Scientific Instrument, 23, 3, 968-974 - Switching remote robot manipulation in Internet TeleCare systems
CH Hou; SM Jia; G Ye; K Takase
In this paper, a Java and common object request broker architecture (CORBA) based management server is presented to switch the robot manipulating rights among the authorized caregivers in Internet TeleCare systems. A software switch, a chat room and a media control unit (MCU), which connect to database by Java database connectivity (JDBC), are developed as server software. The client software is programmed as two applets, robot remote manipulation and chat client, and embedded into a web page in the management server. CORBA HOP is employed as communication platform between the robot control server program of C++ and the software switch of Java. The whole TeleCare system with image and video monitor is verified in campus networks. The developed robot manipulating management system will improve the Internet robot TeleCare system topology, and adapt to the mass application in the future., IEEE, 2002, IEEE ICIT' 02: 2002 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS I AND II, PROCEEDINGS, 886-891, English, WOS:000183624400166 - Distributed telecare robotic systems using CORBA as a communication architecture
SM Jia; Y Hada; G Ye; K Takase
Because the elderly population is growing while the number of people to take care of them is declining, the aging problem is becoming an increasingly important social issue. Thus, developing the inexpensive support system for these elderly people staying alone at home or small-scale distributed facilities is becoming particularly and timely important. This paper proposes a basic platform design of a network distributed telecare robotic systems using CORBA as communication architecture, which has high scaling and inter-operating ability that allows the different supporter groups to make their own independent computing decisions develop their applications. It also has remote accessibility for caregivers, and the other. helpers from any location where a Web browser is available. Using the developed platform, we implemented task-level robot arm server, mobile robot control server, and live image feedback server, which realized some basic telecare services for the aged and disabled., IEEE, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2202-2207, English, WOS:000178573200346 - Indoor navigation of multiple mobile robots in a dynamic environment using iGPS
Y Hada; K Matsukuma; K Takase; R Hirata; K Ohgaki; S Okumura
A delivery service system employing multiple mobile robots, which enables many users to use the delivery service simultaneously, needs the capability to reliably direct robots to their destinations in an office-like environment. In the preliminary stages-of our work, we achieved deadlock-free navigation of such a multi-robot system in a static environment, where obstacles did not move. The next stage, which is presented in this paper, progressed to the robust navigation of a multi-robot system in a dynamic environment, where obstacles, such as chairs or people, are moving. To do this, we used two methods. The first method recognizes obstacles by a mark-based vision technique and updates the environmental map with iGPS. The. second method is a conventional one that detects unknown obstacles by an onboard laser range finder. To test our navigation methods, we conducted actual multi-robot experiments in an office-like environment., IEEE, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2682-2688, English, WOS:000178573200423 - Remote Control for Robotic Systems Using CORBA as Communication Architecture
2002, Chinese Journal of Scientific Instrument, 23, 3, 968-974 - Internet-based robotic system using CORBA as communication architecture
2002, Journal of Intelligent & Robotic Systems (Kluwer Academic Publishers), 34, 2, 121-134, 0921-0296 - Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Using a Neural System Model
Nov. 2001, Proc. of ISRR2001, (accepted) - Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Using a Neural System Model
Nov. 2001, Proc. of ISRR2001, (accepted) - Towards 3D Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain by Using Neural System Model
Oct. 2001, Proc. of IEEE&RSJ IROS2001, accepted) - Dynamic Tactual Image Acquisition Based upon Tactual Sensing Behaviors
Oct. 2001, Proc. of 5th Franco-Japanese Congress(Mecatronics'01), 319-324 - Multiple Mobile Robot Navigation Using The Indoor Global Positioning System (iGPS)
Oct. 2001, Proc. of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, WB-3 - Towards 3D Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain by Using Neural System Model
Oct. 2001, Proc. of IEEE&RSJ IROS2001, accepted) - Dynamic Tactual Image Acquisition Based upon Tactual Sensing Behaviors
Oct. 2001, Proc. of 5th Franco-Japanese Congress(Mecatronics'01), 319-324 - Multiple Mobile Robot Navigation Using The Indoor Global Positioning System (iGPS)
Oct. 2001, Proc. of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, WB-3 - 3D Adaptive Dynamic Walking of a Quadruped Robot by Using Neural System Model
Sep. 2001, Proc. of 4th Int. Conf. on Climbing and Walking Robots (CLAWAR2001), Karlsruhe, 97-104 - Guidance System for Omnidirectional Power Wheelchair -Integration of Manual Input and Automatic Control-
Sep. 2001, Preprint of the 4th IFAC Sympo. on Intell. Autonomous Vehicles, 97-102 - iGPSを用いた搬送ロボットの可動障害物回避と位置決め
Sep. 2001, 第19回日本ロボット学会学術講演会予稿集，1M25 - 3D Adaptive Dynamic Walking of a Quadruped Robot by Using Neural System Model
Sep. 2001, Proc. of 4th Int. Conf. on Climbing and Walking Robots (CLAWAR2001), Karlsruhe, 97-104 - Guidance System for Omnidirectional Power Wheelchair -Integration of Manual Input and Automatic Control-
Sep. 2001, Preprint of the 4th IFAC Sympo. on Intell. Autonomous Vehicles, 97-102 - Implementation of Dynamic Manipulation with Visual Feedback and Its Application to Pick and Place Task
May 2001, Proc. of IEEE International Symposium on Assembly and Task Planning (ISATP2001) - Implementation of Dynamic Manipulation with Visual Feedback and Its Application to Pick and Place Task
May 2001, Proc. of IEEE International Symposium on Assembly and Task Planning (ISATP2001) - CORBA-Based Teleoperation Human Assist Robotic System
Apr. 2001, 32nd Intern. Sympo. on Robotics, 1288-1293 - CORBA-Based Teleoperation Human Assist Robotic System
Apr. 2001, 32nd Intern. Sympo. on Robotics, 1288-1293 - 人間との対戦能力有するエアホッケーロボットの開発
Mar. 2001, 電気学会システム制御研究会, 71-76 - 人間動作の観察に基づくエアホッケーロボットの戦術の研究
2001, 第19回日本ロボット学会学術講演会予稿集, 919-920 - 力フィードバックマウスを用いた仮想ロボットアームの操作
2001, 第19回日本ロボット学会学術講演会予稿集 - 上半身の姿勢変化に基づく全方向車椅子の操縦
2001, 第１９回日本ロボット学会学術講演会, 151-152 - Robotics for Social Use (Tunis, 2001)
2001, 日本ーチュニジア科学技術会議（TJASST 2001） - An Internet robotic system based Common Object Request Broker Architecture
SM Jia; K Takase
Because the elderly population is growing while the number of people to take care of them is declining, ive propose an Internet telerobotic system to assist the aged or disabled in their homes when their caregivers (ire away. In this paper we analyze typical teleoperation robotic, systems and design an Internet telerobotic system using CORBA (Common Object Request Broker Architecture). We detail the systems features, architecture, find implementation. The proposed system gives users the ability to control the robotic system remotely by an intuitive user interface. The client can transparently invoke methods on the application servers across the network without knowing where the application servers are located, what programming language the application is written in, or what operating system is being used This is because, in developing and implementing the system, CORBA for the distributed, object-oriented applications was used., IEEE, 2001, 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 1915-1920, English, 1050-4729, WOS:000172615800305 - Internet-based robotic system using CORBA as communication architecture
2001, Journal of Intelligent & Robotic Systems (Kluwer Academic Publishers)(2001 Accepted) - A CORBA-Based Internet Robotic System
2001, Advanced Robotics, vo.15, no. 6 - 四足ロボットを用いた創発現象としての不整地動歩行の実現
2001, 第19回日本ロボット学会学術講演会予稿集，1D28 - 不整地走行車のカメラ制御のためのロバストトラッキング
2001, 第19回日本ロボット学会学術講演会予稿集，3L18 - Concept of the Network Distributed Healthcare Robotic System Using CORBA
2001, 第19回日本ロボット学会学術講演会予稿集，3B27 - インターネットを介した遠隔操作ロボットシステム
2001, 第19回日本ロボット学会学術講演会予稿集，3B24 - 知的情報インフラ活用型パーソナルロボットシステム
2001, 第19回日本ロボット学会学術講演会予稿集，3B35 - PC104CPUモジュールとRT-Linuxを用いた小型ロボットコントローラ
2001, 第19回日本ロボット学会学術講演会予稿集，3K36 - Study on Internet Robot System Using CORBA
2001, 第６回ロボティクスシンポジア, 367-372 - 屋内大域位置同定システム（iGPS）を用いた複数台移動ロボットのナビゲーションの研究
2001, 第６回ロボティクスシンポジア, 354-359 - 全方向移動車椅子の操縦システムの研究ー手動と自動の統合化ー
2001, 第６回ロボティクスシンポジア, 249-254 - Network-Based Human-Assist Robotic System Using CORBA
Jan. 2001, Proc. of the 6th AROB, 105-108 - An Approach to Developing Integrated Software for Robots in a Uniform Programming Style based on BeNet and Java
OKA Tetsushi; TASHIRO Junya; UESAKA Gakuji; TAKASE Kunikatsu
This paper presents an approach to developing integrated software for robots in a uniform style of description. First, we introduce a programming style for describing autonomous systems uniformly as platform independent portable modular programs, which is based on BeNet, a real-time parallel computation model, and Java. Then, we propose an approach to developing modifiable modular software for robots in our programming style. In this approach, developers can easily modify and extend an existing information system by adding software modules of two types, Behavior Units (BUs) and Data Holding Objects (DHOs) . Our approach is suitable for building real-time systems for robot behavior control by integrating diverse algorithms for recognition, motion control, planning, learning and communication. By showing how to build an integrated system for a quadruped mobile robot that can communicate with humans, we demonstrate the effectiveness of our approach., The Robotics Society of Japan, 2001, JRSJ, 19, 2, 59-68, Japanese, 0289-1824, 10010814190, AN00141189 - Robotics for Social Use (Tunis, 2001)
2001 - An Internet robotic system based common object request broker architecture
S. Jia; K. Takase
Because the elderly population is growing while the number of people to take care of them is declining, we propose an Internet telerobotic system to assist the aged or disabled in their homes when their caregivers are away. In this paper we analyze typical teleoperation robotic systems and design an Internet telerobotic system using CORBA (Common Object Request Broker Architecture). We detail the system's features, architecture, and implementation. The proposed system gives users the ability to control the robotic system remotely by an intuitive user interface. The client can transparently invoke methods on the application servers across the network without knowing where the application servers are located, what programming language the application is written in, or what operating system is being used. This is because, in developing and implementing the system CORBA for the distributed, object-oriented applications was used., 2001, Proceedings - IEEE International Conference on Robotics and Automation, 2, 1915-1920, English, 1050-4729, 0034868656 - Internet-based robotic system using CORBA as communication architecture
2001, Journal of Intelligent & Robotic Systems (Kluwer Academic Publishers)(2001 Accepted) - A CORBA-Based Internet Robotic System
2001, Advanced Robotics, vo.15, no. 6 - Concept of the Network Distributed Healthcare Robotic System Using CORBA
2001 - Study on Internet Robot System Using CORBA
2001, 367-372 - Network-Based Human-Assist Robotic System Using CORBA
Jan. 2001, Proc. of the 6th AROB, 105-108 - Implementation of Dynamic Manipulation Skill with Visual Feedback
Oct. 2000, Proc. of the 2000 International Symposium on Mechatronics and Intelligent Mechanical System for 21 Century, 70-75 - Implementation of Dynamic Manipulation Skill with Visual Feedback
Oct. 2000, Proc. of the 2000 International Symposium on Mechatronics and Intelligent Mechanical System for 21 Century, 70-75 - 四足歩行ロボットにおける筋骨格系に適した神経系パラメータの調整
Sep. 2000, 第18回日本ロボット学会学術講演会予稿集, 207-208 - 不整地移動車のためのカメラ姿勢制御
May 2000, ロボティクス・メカトロニクス講演会2000講演論文集,2P2-46-066 - 不整地移動車のためのカメラ姿勢制御
2000, 電気学会システム・制御研究会、sc-00-6 - マークベースト3次元ビジョンシステムの開発
2000, 電気学会論文誌C, 120-C, 5, 625-633 - 可動式PSDセンサを用いた移動ロボットのための局所センシングの研究
2000, 第18回日本ロボット学会学術講演会, 1253-1254 - Study on a Internet Robotic System Using CORBA
2000, 第18回日本ロボット学会学術講演会, 1041-1042 - 走触性機能を有するT-OMNI型ロボットの開発
2000, 第18回日本ロボット学会学術講演会, 1021-1022 - 力フィードバックマウスによるGUI操作
2000, 第18回日本ロボット学会学術講演会, 985-986 - 環境側情報インフラを用いたロボットの屋内ナビゲーションー分散カメラを用いた大域的位置同定システムの開発ー
2000, 第18回日本ロボット学会学術講演会, 889-890 - 全方向移動車椅子の操縦システムの研究ー手動と自動の統合化ー
2000, 第18回日本ロボット学会学術講演会, 545-546 - Development of a Robotic Receptionist
2000, 第18回日本ロボット学会学術講演会, 541-542 - エアホッケーロボットの高速動作の制御と戦術の研究
2000, 第18回日本ロボット学会学術講演会, 279-280 - マークベースト３次元ビジョンの開発
2000, 電気学会論文誌, 120-C, 5, 625-633 - 家庭用遠隔作業システムの研究
2000, 電気学会システム・制御研究会,sc-00-1 - Study on a Internet Robotic System Using CORBA
2000, 1041-1042 - Development of a Robotic Receptionist
2000, 541-542 - Object-oriented BeNet programming for data-focused bottom-up design of autonomous agents
T Oka; J Tashiro; K Takase
This paper proposes a programming method for developing autonomous agents that behave intelligently in unpredictable environments, by extending their descriptions to realize larger behavioral repertoires. In our programming method, an agent is described as a concurrent program which updates a finite set of data objects in real time at regular intervals in an object-oriented programming language so that its description can be modular and reusable. The description of an agent specifies its property independent of hardware platforms. The proposed method is suitable for developing an agent difficult to develop based on a top-down approach alone. (C) 1999 Published by Elsevier Science B.V. All right reserved., ELSEVIER SCIENCE BV, Aug. 1999, ROBOTICS AND AUTONOMOUS SYSTEMS, 28, 2-3, 127-139, English, 0921-8890, 1872-793X, 30004016886, WOS:000082461700004 - Object-oriented BeNet programming for data-focused bottom-up design of autonomous agents
T Oka; J Tashiro; K Takase
This paper proposes a programming method for developing autonomous agents that behave intelligently in unpredictable environments, by extending their descriptions to realize larger behavioral repertoires. In our programming method, an agent is described as a concurrent program which updates a finite set of data objects in real time at regular intervals in an object-oriented programming language so that its description can be modular and reusable. The description of an agent specifies its property independent of hardware platforms. The proposed method is suitable for developing an agent difficult to develop based on a top-down approach alone. (C) 1999 Published by Elsevier Science B.V. All right reserved., ELSEVIER SCIENCE BV, Aug. 1999, ROBOTICS AND AUTONOMOUS SYSTEMS, 28, 2-3, 127-139, English, 0921-8890, 1872-793X, 30004016886, WOS:000082461700004 - WebTop上に仮想環境モデル操作システムの研究
Mar. 1999, 電気学会システム・制御研究会, 1-6 - ダイナミック・マニピューションの研究
Mar. 1999, 電気学会システム・制御研究会, 69-72 - 屋内搬送ロボットの研究
Mar. 1999, 電気学会システム・制御研究会SC99-15, 25-30 - 災害時ビル内探索遠隔ロボットシステムの研究〜ジェスチャと音声を用いた情報伝達〜
1999, 第17回日本ロボット学会学術講演会, 831-832 - BNJによるジェスチャ生成と言語対話が可能な四脚移動ロボットの統合ソフトウェア
1999, 第17回日本ロボット学会学術講演会, 253-254 - 遠隔協調型ロボットシステムに関する研究（第２報：予測表示による衝突回避手法の検討）
1999, 第17回日本ロボット学会学術講演会, 653-654 - 全方向車椅子の機構と操作システムの研究
1999, 第17回日本ロボット学会学術講演会, 1145-1146 - 実戦的エアホッケーロボットの設計
1999, 第17回日本ロボット学会学術講演会, 463-464 - 視覚を用いたダイナミック・マニピュレーション・スキルの実装
1999, 第17回日本ロボット学会学術講演会, 873-874 - ３自由度力フィードバック・マウスの試作
1999, 第17回日本ロボット学会学術講演会, 827-828 - 環境側情報インフラを用いたロボットナビゲーションの研究
1999, 第17回日本ロボット学会学術講演会, 619-620 - 人間とエアホッケーをプレイするロボット
1999, 1999精密工学会春講演会予稿集, 21 - A Robust and Deadlock Free Navigation of Mobile Robots Based on a Task-Level Feedback Control
1999, Proceedings of the 1999IEEE/RSJ International Conference on Intelligent Robots and Systems, 2, 629-634 - Remote Collaboration through Time Delay in Multiple Teleoperation
1999, Proceedings of The 1999IEEE/RSJ International Conference Intelligent Robots and Systems, 1866-1871 - Observation of the State of Tasks through the Measurement of Frictional Forces
1999, Proc. of the First Asian Symposium on Industrial Automation and Robotics, 189-193 - Task - based Data Exchange for Teleoperation Through Communication Network
MATSUMARU Takafumi; KAWABATA Shun'ichi; KOTOKU Tetsuo; MATSHUHIRA Nobuto; KOMORIYA Kiyoshi; TANIE Kazuo; TAKASE Kunikatsu
This paper proposes the task based data exchange for teleoperation systems through communication network as an efficient transmission method of data between an operation device and a remote robot. On the task-based data exchange, the more important information according to the contents and conditions of the task which the robot performs is given priority to transmit, for example, by altering the contents of the transmitted data. We have built the experimental system in which the master arm in Tsukuba and the slave arm in Kawasaki are connected through N-ISDN and the standard techniques are utilized, such as TCP/IP, socket, JPEG, etc. A series of experimental task has been effectively carried out by the task based data exchange, that is, the crank operation which consists of grasp and revolution. The communication network with capacity limitation was used effectively and the high maneuverability in real-time with bilateral servo control has been realized. Then the effectiveness of the task based data exchange has been confirmed., The Robotics Society of Japan, 1999, JRSJ, 17, 8, 1114-1125, Japanese, 0289-1824, 10004734618, AN00141189 - Observation of the State of Tasks Through the Measurement of the Frictional Force
AMAGAI Akihiro; TAKASE Kunikatsu
A new method of observing the state of tasks is presented. When a robot rubs an object with an end effector, it generates a frictional force which contains much information on the state of tasks. Force measured with a wrist force sensor is analyzed. The friction is classified into viscous friction or Coulomb friction, according to the relation between the friction force and velocity. The state of contact can be determined by estimating the type of friction: if the friction is viscous, a surface contact is supposed, while Coulomb suggests a point contact. This function can be useful in the reliable performance of assembly tasks.
In addition, by gauging the magnitude of the frictional force, we can detect the shortage of paint held in a brush in a painting task. This function can also be applied to other tasks such as polishing a floor with wax or wiping off an oil stain.
In the experiment, surface contact between two planes is successfully achieved, and a board is uniformly painted, demonstrating the effectiveness of the proposed method., The Robotics Society of Japan, 1999, JRSJ, 17, 7, 1017-1022, Japanese, 0289-1824, 10007550793, AN00141189 - A Robust and Deadlock Free Navigation of Mobile Robots Based on a Task-Level Feedback Control
1999, Proceedings of the 1999IEEE/RSJ International Conference on Intelligent Robots and Systems, 2, 629-634 - Remote Collaboration through Time Delay in Multiple Teleoperation
1999, Proceedings of The 1999IEEE/RSJ International Conference Intelligent Robots and Systems, 1866-1871 - Observation of the State of Tasks through the Measurement of Frictional Forces
1999, Proc. of the First Asian Symposium on Industrial Automation and Robotics, 189-193 - エアホッケーロボットの研究-攻撃動作の実現-
桑原
Nov. 1998, 電気学会システム・制御研究会, 17-22, 10004626827 - Data-Focused Paralell Modular Software Design for a Communicating Autonomous Mobile robot , Edinburgh
Sep. 1998, Proc. of SIRS, 37-46 - WebTopに構築された仮想環境操作システムの研究-力帰還を用いた仮想モデルの操作-
Sep. 1998, 第16回日本ロボット学会学術講演会予稿集, 835-836 - Study on a Robotic System for Clearing the Table（First Report）-Concept and Basic Experiment of a Hand-Eye System for Clearing the Table-
Sep. 1998, Proceedings of the 16th Annual Conference of the Robotics Society of Japan, 375-376 - ホロノミックな小型全方向移動ロボットの開発（第３報）-RISCタイプ高速CPUを使用した高機能制御システムの実装-
Sep. 1998, 第16回日本ロボット学会学術講演会予稿集, 211-212 - 視覚フィードバックを用いたダイナミック・マニピュレーション
Sep. 1998, 第16回日本ロボット学会学術講演会予稿集, 1287-1288 - ３次元マークベーストビジョンシステムの開発
Sep. 1998, 第16回日本ロボット学会学術講演会予稿集, 563-564 - 社会支援ロボットの目指すもの
Sep. 1998, 第16回日本ロボット学会学術講演会予稿集, 383-384 - Data-Focused Paralell Modular Software Design for a Communicating Autonomous Mobile robot , Edinburgh
Sep. 1998, Proc. of SIRS, 37-46 - Study on a Robotic System for Clearing the Table（First Report）-Concept and Basic Experiment of a Hand-Eye System for Clearing the Table-
Sep. 1998, Proceedings of the 16th Annual Conference of the Robotics Society of Japan, 375-376 - 通信回線ISDNを介したロボットの遠隔操作（運動媒体としてのロボットの活用）
Jun. 1998, ロボティクス・メカトロニクス講演会98，講演番号2B14-4 - 通信回線ISDNを介したロボットの遠隔操作（作業に応じたデータの効率的伝送手法の検討）
Jun. 1998, ロボティクス・メカトロニクス講演会98，講演番号2CI3-5 - 対話型自律移動ロボットのソフトウエア構築例とその評価
Mar. 1998, 電気学会システム・制御研究会，sc-98-27, 47-52 - 摩擦力を利用した作業状態の監視の研究
Mar. 1998, 電気学会システム・制御研究会, sc-98-19, 1-4 - 3次元マークベーストビジョンの研究
Mar. 1998, 電気学会研究会資料 システム・制御研究会 SC98-22, 15-20 - Object Oriented BeNet Programming for Data-Focused Bottom-up Design of Autonomous Agents
1998, Proc.of IAS, 399-406 - A Method of a Mobile Robot Navigation by a Task-Level Feedback Control
Jan. 1998, Proc. of Third Int. Symp. on Artificial Life and Robotics, 670-673 - Object Oriented BeNet Programming for Data-Focused Bottom-up Design of Autonomous Agents
1998, Proc.of IAS, 399-406 - A Method of a Mobile Robot Navigation by a Task-Level Feedback Control
Jan. 1998, Proc. of Third Int. Symp. on Artificial Life and Robotics, 670-673 - １０章ロボットの計測と制御、１１章ロボットの応用
1997, 計測と制御（放送大学教材）、日本放送出版協会, 149-191 - 「ロボットに心はあるか、それは必要か」
1997, 通心、電気通信大学大学院情報システム学研究科編、富士技術出版発行, 73-97 - Task Level Feedback Control of a Robot Based on the Integration of Real-time Recognition and Motion Plannig
HADA Yoshiro; TAKASE Kunikatsu
This paper discusses a methodology to allow a robot to execute the task autonomously with high confidence and its method of the systematization. Taking up the mobility of a robot without collision in the dynamic environment as an example, a concept of the feedback control for the execution of the task is introduced. The key idea is to incorporate the real-time recognition and motion planning functions into the task control loop. For real-time recognition of the environment, mark-based vision is proposed to be systematized. In additoin, algorithm to do a global motion planning in the environment where movable obstacles exist is proposed to be implemented. By integrating the real-time recognition and motion planning, we succeed in forming a control loop for the task. It is verified by experiments that mobility of a robot controled by the proposed method is done without failure except that a human handler intentionally disturbed the movement of the robot., The Robotics Society of Japan, 1997, JRSJ, 15, 2, 296-305, Japanese, 0289-1824, 10005317458, AN00141189 - Task level feedback Control of a robot based on the integration of real-time recognition and motion planning
1997, Journal of the Robotics Sociely of Japan, 15, 2, 296-305, 0289-1824 - 視覚と動作計画の実時間統合に基づく自律ロボットの構成
羽田
1995, 第13回日本ロボット学会学術講演会予稿集, 679-680, 80008660448 - 高速視覚を用いたホッケーロボットの開発
島内
1995, 第13回日本ロボット学会学術講演会予稿集, 3, 1137-1138, 10023884888 - Assembly motion teaching system using position force simulator - Extracting a sequence of contact state transition
H ONDA; H HIRUKAWA; K TAKASE
I E E E, COMPUTER SOC PRESS, 1995, IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 1, 9-16, English, WOS:A1995BE13J00002 - An Autonomous robot based on the integration of real-time vision and fast motion planning
1995, 679-680 - Development of a Hockey-Robot using Real-Time Vision
1995, 1137-1138 - Assembly motion teaching system using position force simulator - Extracting a sequence of contact state transition
H ONDA; H HIRUKAWA; K TAKASE
I E E E, COMPUTER SOC PRESS, 1995, IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 1, 9-16, English, WOS:A1995BE13J00002 - "Automatic determination of Possible Velocity and Applicable Force of Polyhedra in Contact from a Geometric Model,
HIRUKAWA H; MATSUI T; TAKASE K
1994, IEEE Trans. on Robotics and Automation,, 10, 3, 309-322, 1042-296X, 80007752125 - "Automatic determination of Possible Velocity and Applicable Force of Polyhedra in Contact from a Geometric Model,
1994, IEEE Trans. on Robotics and Automation,, 10, 3, 309-322, 1042-296X, 80007752125 - A MODEL-BASED MANIPULATION SYSTEM WITH SKILL-BASED EXECUTION
T HASEGAWA; T SUEHIRO; K TAKASE
This paper describes a model-based robot system. This system was developed to replace and improve upon the conventional robot control scheme of teaching-by-showing and replay. The key concept of this system consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and the physical properties of the objects in the environment. Manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Skills are implemented within the hybrid position/velocity/force control scheme and incorporate sensing procedures to detect the state to be achieved. An experiment involving the disassembly of a valve using this system is presented., IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Oct. 1992, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 8, 5, 535-544, English, 1042-296X, WOS:A1992JU73400003 - A MODEL-BASED MANIPULATION SYSTEM WITH SKILL-BASED EXECUTION
T HASEGAWA; T SUEHIRO; K TAKASE
This paper describes a model-based robot system. This system was developed to replace and improve upon the conventional robot control scheme of teaching-by-showing and replay. The key concept of this system consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and the physical properties of the objects in the environment. Manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Skills are implemented within the hybrid position/velocity/force control scheme and incorporate sensing procedures to detect the state to be achieved. An experiment involving the disassembly of a valve using this system is presented., IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Oct. 1992, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 8, 5, 535-544, English, 1042-296X, WOS:A1992JU73400003 - A STRUCTURED APPROACH TO ROBOT PROGRAMMING AND TEACHING
K TAKASE; RP PAUL; EJ BERG
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 1981, IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 11, 4, 274-289, English, 0018-9472, WOS:A1981MB84400003 - A STRUCTURED APPROACH TO ROBOT PROGRAMMING AND TEACHING
K TAKASE; RP PAUL; EJ BERG
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 1981, IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 11, 4, 274-289, English, 0018-9472, WOS:A1981MB84400003 - Skill of Intelligent Robot,
1979, Proc of 6th International Joint Conference on Artificial Intelligence,(IJCAI1979), 1095-1100 - Skill of Intelligent Robot,
1979, Proc of 6th International Joint Conference on Artificial Intelligence,(IJCAI1979), 1095-1100 - Task-Oriented Variable Control of Manipulator and Its Software Servoing System,
1977, Proc. of IFAC Sympo. on Information -Control in Manufacturing,, 139-145 - Task-Oriented Variable Control of Manipulator and Its Software Servoing System,
1977, Proc. of IFAC Sympo. on Information -Control in Manufacturing,, 139-145 - マニピュレータの運動成分の一般的分解とその制御
1976, 計測自動制御学会論文集、12巻3号、300ー306頁(1976), 12, 3, 300-306 - The Design of an Articulated Manipulator with Torque Control Ability,
1974, Proc. of 4th Intern. sympo. of Industrial Robots,, 261-270 - The Design of an Articulated Manipulator with Torque Control Ability,
1974, Proc. of 4th Intern. sympo. of Industrial Robots,, 261-270 - 人工触覚によるパターン認識
1971, 計測自動制御学会論文集, 7, 1, 25-30
Books and other publications
- Representation and Control of Motion in Contact and Its Application to Assembly,
Robotics Research : The 5th Intern. Sympo. (MIT Press),, 1989 - Representation and Control of Motion in Contact and Its Application to Assembly,
Robotics Research : The 5th Intern. Sympo. (MIT Press),, 1989 - A Manipulation System Based on Direct-Computation Task-Coordinate Servoing,
Robotics Research : The Second Intern. Sympo. (MIT Press),, 1985 - A Manipulation System Based on Direct-Computation Task-Coordinate Servoing,
Robotics Research : The Second Intern. Sympo. (MIT Press),, 1985 - Design of Torque Controlled Manipulators Composed of Direct and Low-Reduction Ratio Drive Joints,
Robotics Research : The Second Intern. Sympo. (MIT Press),, 1984 - Design of Torque Controlled Manipulators Composed of Direct and Low-Reduction Ratio Drive Joints,
Robotics Research : The Second Intern. Sympo. (MIT Press),, 1984