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IWATANI Yasushi

    Department of Robotics　Professor
Last Updated :2024/05/19

Researcher Information

Degree

  • Doctor of Engineering（Tokyo Institute of Technology）

Research funding number

  • 10400300

J-Global ID

Research Interests

  • Control Engineering   Robotics   

Research Areas

  • Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Control and systems engineering / Control Engineering
  • Informatics / Mechanics and mechatronics / Robotics
  • Informatics / Robotics and intelligent systems / Robotics

Academic & Professional Experience

  • 2023/04 - Today  Kindai UniversityFaculty of Engineering, Department of RoboticsProfessor
  • 2009/10 - 2023/03  Hirosaki UniversityGraduate School of Science and TechnologyAssociate Professor
  • 2005/06 - 2009/09  Tohoku UniversityGraduate School of Information SciencesResearch Associate
  • 2003/04 - 2005/05  Japan Society for the Promotion of ScienceResearch Fellowship for Young Scientists

Education

  • 2001/04 - 2004/03  Tokyo Institute of Technology  Graduate School of Information Science and Engineering  Department of Mechanical and Environmental Informatics
  • 1999/04 - 2001/03  Tokyo Institute of Technology  Interdisciplinary Graduate School of Science and Engineering  Department of Computational Intelligence and Systems Science
  • 1995/04 - 1999/03  Tokyo Institute of Technology  School of Engineering  Department of Systems and Control Engineering

Association Memberships

  • THE ROBOTICS SOCIETY OF JAPAN   IEEE   計測自動制御学会   

Published Papers

  • A mathematical model of collisions in passive dynamic walking of a compass-like biped walker with an angle limiter
    Yasushi Iwatani; Jialun Zhang; Tetsuya Kinugasa
    SICE Annual Conference 832 - 837 2023/09 [Refereed]
     
    This research considers a passive compass-like biped robot with an angle limiter, and derives a mathematical model of impulsive dynamics at the time of collision of the limiter.
  • Kazuhide Kiuchi; Hisashi Shidara; Yasushi Iwatani; Hiroto Ogawa
    iScience Elsevier BV 26 (8) 107345  2589-0042 2023/08 [Refereed]
  • Yosuke Ikejiri; Yuki Tanimoto; Kosuke Fujita; Fumie Hiramatsu; Shuhei J. Yamazaki; Yuto Endo; Yasushi Iwatani; Koichi Fujimoto; Koutarou D. Kimura
    Neuroscience Research Elsevier BV 191 77 - 90 0168-0102 2023/06 [Refereed]
  • Yasushi Iwatani; Tetsuya Kinugasa
    SICE Journal of Control, Measurement, and System Integration Informa UK Limited 15 (2) 211 - 217 1882-4889 2022/11 [Refereed]
  • Yasushi Iwatani; Toshinobu Takei
    SICE Journal of Control, Measurement, and System Integration Informa UK Limited 15 (2) 99 - 108 1882-4889 2022/07 [Refereed]
  • Takashi Hara; Shuya Hasegawa; Yasushi Iwatani; Atsuo S. Nishino
    Journal of Experimental Biology The Company of Biologists 225 (13) jeb243828  0022-0949 2022/06 [Refereed]
  • A necessary condition for passive dynamic walking
    Yasushi Iwatani; Tetsuya Kinugasa
    American Control Conference 1885 - 1890 2022/06 [Refereed]
  • Yasushi Iwatani
    SICE Journal of Control, Measurement, and System Integration Informa UK Limited 15 (1) 1 - 9 1882-4889 2022/02 [Refereed]
  • Equations of collision of rimless wheel robots
    Yasushi Iwatani
    SICE Annual Conference 1309 - 1314 2021/09 [Refereed]
  • Nasono Obayashi; Yasushi Iwatani; Midori Sakura; Satoshi Tamotsu; Ming-Chung Chiu; Takuya Sato
    Current Biology Elsevier BV 31 (12) R777 - R778 0960-9822 2021/06 [Refereed]
  • High-speed servosphere
    Yasushi Iwatani
    IEEE/SICE International Symposium on System Integration 613 - 618 2021/01 [Refereed]
  • Yasushi Iwatani; Hiroto Ogawa; Hisashi Shidara; Midori Sakura; Takuya Sato; Masaru K. Hojo; Atsushi Honma; Kaori Tsurui-Sato
    Advanced Robotics TAYLOR & FRANCIS LTD 33 (3-4) 183 - 194 0169-1864 2019/01 [Refereed]
     
    Servospheres are robotized observation equipments that produce endless fields for behavior observation of wandering animals. This paper first proposes a markerless visual tracking technique for estimation of the position and the heading direction of wandering animals, since existing techniques for servospheres require special markers or do not estimate the heading direction. The proposed markerless visual tracking technique is then integrated with a visual servo controller for a servosphere. The integrated markerless visual servo controller is available for wandering animals whose shapes in the image plane are represented by long bodies and thinner parts than their bodies. This paper demonstrates that the proposed controller is available for ants, crickets, mantises and spiders, while the shapes of their bodies and legs are different from each other.
  • Yasushi Iwatani; Kaori Tsurui; Atsushi Honma
    IEEE International Conference on Mechatronics and Automation Institute of Electrical and Electronics Engineers Inc. 364 - 369 2017/08 [Refereed]
     
    The wolf spiders are important predators of some agricultural pests. They are a natural candidate for a model organism for studying behavioral dynamics, since the population of the wolf spiders is large enough to be easily captured in the field compared to other predatory animals, and since they have a body size suitable for observation of hunting locomotion in the laboratory. This paper presents an image processing algorithm that estimates the orientation of a wolf spider in an observation box from top-view image sequences, where the orientation implies the direction the spider faces. The proposed estimation algorithm first extracts the abdomen-tip of the spider from a captured image, when the spider is motionless. Then, it tracks the abdomen-tip in a given image sequence. The orientation is computed from the abdomen-tip position and the center of gravity of the body in an image coordinate frame, where the center of gravity is used in the sense of image processing, not of physical measurement. An experimental result demonstrates that the orientation estimation algorithm proposed in this paper provides the best performance compared to existing algorithms.
  • Yasushi Iwatani; Shoji Kasai; Hiroyuki Torikai
    SICE Journal of Control, Measurement, and System Integration 10 (4) 277 - 281 2017/07 [Refereed]
  • Yasushi Iwatani; Kaori Tsurui; Atsushi Honma
    IEEE International Conference on Robotics and Biomimetics IEEE 1966 - 1971 2016/12 [Refereed]
     
    The wolf spider is an important predator of some agricultural pests. The final objective in this research is to characterize hunting locomotion of the spider and to design a hunting robot that mimics the spider's hunting locomotion. To this end, this paper proposes an image processing procedure to estimate the two-dimensional position and direction of a wolf spider in an observation box from video images. A spider is first extracted from each captured image by background subtraction and extraction of the largest connected component. The extracted spider image is divided into the body part and the leg part in order to estimate the position and the direction in the following steps. The position of the spider is determined as the center of the body part. The direction of the spider is estimated by a combination of an initialization operation and a sequential computation. The initialization is executed by using image moments and the difference between the centers of the body part and the leg part. The sequential computation is performed by using directions at the previous or subsequent time step. The proposed estimation procedure is applied to three wolf spider individuals. This paper demonstrates that the proposed estimation procedure is valid for the three individuals and it is unaffected by sexual differences or differences in leg arrangements. The proposed estimation procedure is available for locomotion analysis of spiders.
  • Yasushi Iwatani; Hiroyuki Torikai
    IEEE/SICE International Symposium on System Integration IEEE 534 - 539 2015/12 [Refereed]
     
    Fire extinguishment approaches with inert gas such as carbon dioxide (CO2) or nitrogen (N-2) have several advantages compared with ones with water. On the other hand, they have low extinguishment performance and put lives at risk. To enhance the extinguishment performance and to reduce risk to life, the authors have proposed a robotic fire extinguishment approach with massive aerial extinguishers with inert gas. This paper proposes a control algorithm for multiple aerial extinguishers without any markers, while a single extinguisher with an easily extracted marker has been controlled in our previous work. This paper also demonstrates flight control of two extinguishers and flame extinguishment by cooperation with two extinguishers. The cooperative behavior in the flame extinguishment experiment is not explicitly programmed, and the two extinguishers are simply controlled by trajectory tracking using PID controllers.
  • Takahiro Hatakeyama; Takuya Numata; Yasushi Iwatani
    IEEE International Conference on Robotics and Biomimetics IEEE 1880 - 1885 2014/12 [Refereed]
     
    This paper addresses the visual servo control problem of a nano-scale quadcopter with a monocular onboard camera. The total weight of the helicopter with the camera is 48 g, and the helicopter belongs to a class of nano-scale aerial vehicles. The camera is a wireless device, and it is installed beneath the helicopter. The camera looks downward, and it captures an image of the ground at each time step. The captured image data are transferred via a receiver to a computer at a ground station. The computer processes the image data, and it generates a control signal by the markerless visual servo control algorithm proposed in our previous paper. The control signal is then supplied through a transmitter to the helicopter. It is demonstrated that five-minutes hovering flight can be achieved by markerless visual servo control. The controller is not new. The contribution of this paper is to confirm that the markerless visual servo controller is also valid for a nano-scale quadcopter, while a coaxial counter-rotating micro helicopter has been controlled by markerless visual servo control in our previous paper.
  • Satoshi Ogawa; Shinya Kudo; Masahiro Koide; Hiroyuki Torikai; Yasushi Iwatani
    IEEE International Conference on Robotics and Biomimetics IEEE 1320 - 1325 2014/12 [Refereed]
     
    Fire extinguishment approaches with inert gases such as carbon dioxide (CO2) and nitrogen (N-2) have several advantages compared with ones with water. On the other hand, they have low extinguishment performance and put lives at risk. To enhance the extinguishment performance and to reduce risk to life, the authors have proposed a robotic fire extinguishment approach and a prototype of an aerial extinguisher with an inert gas. The prototype can transport only a small volume of an inert gas, and it can extinguish a very small flame. In this paper, we develop a quadcopter type of aerial extinguisher with a rubber balloon filled with helium. The extinguisher is easily adapted to the volume of helium by changing the length of rods between the motors and the center. It is shown that the extinguisher can be controlled by using a depth sensor. It is also demonstrated that the extinguisher with 5 L of helium achieves flame extinguishment for a diffusion flame of methane with a 10 L/min. flow rate.
  • Yasushi Iwatani; Takuya Numata
    SICE Journal of Control, Measurement, and System Integration 7 (5) 291 - 296 2014/09 [Refereed]
  • Shinya Kagechika; Yasushi Iwatani; Kaori Tsurui; Atsushi Honma
    SICE Annual Conference IEEE 572 - 577 1550-0322 2014/09 [Refereed]
     
    This paper proposes a concept of a robotized system for encouraging grasshoppers to jump, since automatic control of the distance and direction between a target grasshopper and an encouragement action is required for analysis of jumping locomotion in grasshoppers. The proposed system has a simple mechanism with a rotational stage and an XY stage. This paper also develops a rotational stage, and investigates the performance of the rotational stage. In experiments, more than eighty percent trials in four of six individuals met all of the following three: (1) the rotational stage made a target grasshopper face a certain direction within a tolerance of +/- 1.5 degrees by using a visual servo control technique, (2) the grasshopper did not jump during the rotational stage worked, and (3) the rotational stage stopped automatically after the grasshopper stopped walking.
  • Yasushi Iwatani; Hiroyuki Torikai
    SICE Journal of Control, Measurement, and System Integration 7 (3) 168 - 172 2014/05 [Refereed]
  • Kaori Tsurui; Shota Narita; Yasushi Iwatani; Atsushi Honma
    Entomological Science WILEY-BLACKWELL 17 (2) 181 - 190 1343-8786 2014/04 [Refereed]
     
    Autotomy is the ability to spontaneously self-amputate a limb or other appendage, often as a reflexive action. This limb amputation typically occurs as a specialized defensive response to an attack from a predator and thereby enables the prey to escape from predation. Despite the benefits of escape, autotomized organisms lose the body part and its associated function. Here, we investigated the jumping behavior and performance of one-leg-autotomized and intact rice grasshoppers, Oxya yezoensis, to examine changes in jumping behavior after autotomy. The take-off elevation of autotomized grasshoppers was 7.8 degrees lower than in intact grasshoppers, resulting in nearly a 45 degrees angle of take-off, which maximized the jumping distance. Kinematic analyses of the jumping manner revealed that the angle of the femur during jumping differed between intact and autotomized grasshoppers, suggesting that the grasshoppers behaviorally change the take-off elevation after autotomy. According to analyses of jumping performance, the degree of decline in performance differed between horizontal distance and vertical height. Even though they jumped on only one hind leg, one-leg-autotomized grasshoppers realized 69% performance along a horizontal distance relative to intact grasshoppers. In contrast, autotomized grasshoppers realized only a 44% performance in vertical height compared to intact grasshoppers. The difference in take-off elevation between autotomized and intact grasshoppers is likely related to the observed difference in the magnitude of the decline in performance between horizontal distance and vertical height. These results suggest that rice grasshoppers may alter their take-off elevation after limb autotomy to minimize the reduction in jumping distance.
  • Yasushi Iwatani; Yuki Kubota; Takuya Numata
    SICE Journal of Control, Measurement, and System Integration 7 (1) 63 - 68 2014/01 [Refereed]
  • Yasushi Iwatani
    Advanced Robotics TAYLOR & FRANCIS LTD 27 (17) 1351 - 1359 0169-1864 2013/12 [Refereed]
     
    This paper proposes a robust template-based visual tracking algorithm. The proposed algorithm combines global optimization and local optimization. The global optimization is performed in translational matching, and the local optimization is implemented by gradient descent in homography-based matching. Translational matching is robust to large translation of the reference image, although it is not robust to rotation, or scaling. In contrast, homography-based matching is robust to rotation, and scaling, although it is not robust to large translation. The proposed algorithm is a feedback combination of the two matching algorithms. Translational matching modifies the initial value for gradient descent in homography-based matching. Homography-based matching updates the reference image for translational matching. The proposed feedback combination inherits advantages from both translational matching and homography-based matching. Robot experiments demonstrate the robustness of the proposed feedback combination to composite transformations of translation, rotation, and scaling.
  • Yuki Kubota; Takuya Numata; Yasushi Iwatani
    SICE Annual Conference IEEE 2057 - 2062 1550-0322 2013/09 [Refereed]
     
    This paper proposes a vision-based localization and control algorithm for a micro helicopter with a wireless camera in a room. The 3D position, the posture and noise information are derived by a parallel template matching technique with edge detections and Gaussian filtering. The proposed algorithm achieves long-time hovering in a room. The flight experiment does not require any specified markers, texture information given in advance, or any special settings.
  • Taiki Fujiwara; Tomohiro Muramatsu; Yasushi Iwatani
    SICE Annual Conference SOC INSTRUMENT CONTROL ENGINEERS JAPAN 301 - 306 2012/08 [Refereed]
     
    The authors have developed an interactive desktop system for control of a line-follower. The user can draw lines on the field where a line-follower moves, and the user can control the line-follower by gestures. Each line component is automatically eliminated after a given time period, in order to avoid that the projection field is fill with lines. The automatic elimination method produces some problems on control of the line-follower. This paper proposes another elimination method based on localization of the line-follower.
  • Taiki Fujiwara; Yasushi Iwatani
    IEEE International Conference on Robotics and Biomimetics 2037 - 2042 2011/12 [Refereed]
     
    An interactive desktop system for robot control is presented in this paper. The system consists of a digital desk, a markerless gesture interface and a line-follower. The digital desk is a network system composed of a camera, a computer and a projector. Hand motion is captured by the camera, and available gestures are recognized by the computer. The projector draws lines on the field where the line-follower moves. Lines are drawn or eliminated in accordance with user's gestures under an operation rule. The user can control the line-follower by gestures. © 2011 IEEE.
  • Yuki Kubota; Yasushi Iwatani
    IEEE International Conference on Robotics and Biomimetics 1279 - 1284 2011/12 [Refereed]
     
    This paper presents a takeoff and landing controller for a small-scale helicopter with a wireless camera. The camera is a single sensor for control of the helicopter, and it is a wireless device. The camera looks downward, and it takes an image of a specified mark on the ground every frame. Feedback controllers do not work well at a low altitude, since the camera does not take a correct image of the mark. To avoid this, the presented controller for takeoffs and landings consists of a combination of feedback controllers and feedforward controllers. Feedforward controllers are used, when the helicopter is near to the ground. When the helicopter is at a high altitude, the helicopter is controlled by a dependable feedback controller proposed by the authors. The dependable feedback controller decides whether each captured image is noisy or noise-free in real-time, since the wireless camera sometimes captures noisy images. If the current image is determined as noise-free, then the helicopter is controlled by a PD controller. If the current image is decided as noisy, then a feedforward controller is used. Noisy images are not used to make the control signal. © 2011 IEEE.
  • Shogo Arai; Yasushi Iwatani; Koichi Hashimoto
    IEEE Transactions on Automatic Control IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC 56 (8) 1900 - 1905 0018-9286 2011/08 [Refereed]
     
    This technical note addresses a sensor scheduling problem for a class of networked sensor systems whose sensors are spatially distributed and measurements are influenced by state dependent noise. A concept of sensor types is introduced without loss of generality to reduce combinatorial complexity. The computation time of the proposed algorithm increases exponentially with the number of the sensor types, while that of standard algorithms is exponential in the number of the sensors. This confirms high speed performance of the proposed algorithm, since the number of sensor types is usually far less than the number of sensors.
  • Yuki Kubota; Yasushi Iwatani
    International Conference on Advanced Robotics 476 - 481 2011/06 [Refereed]
     
    This paper presents a dependable visual controller for a small-scale helicopter with a wireless camera. The wireless camera sometimes captures noisy images caused by communication errors or swinging motion of the helicopter. If all captured images are used to generate feedback control signals, then the helicopter is out of control in our experiences. Noisy images are classified into three types. Three image features are introduced so as to find noisy images. Noisy images are not used to make control signals. The proposed dependable controller enables the helicopter to achieve long-time hovering flight. © 2011 IEEE.
  • Shogo Arai; Yasushi Iwatani; Koichi Hashimoto
    SICE Journal of Control, Measurement, and System Integration 4 (3) 249 - 253 2011/05 [Refereed]
  • Yasushi Iwatani; Shogo Arai; Koichi Hashimoto
    SICE Journal of Control, Measurement, and System Integration 3 (5) 368 - 371 2010/09 [Refereed]
  • Yasushi Iwatani
    IEEE Transactions on Robotics IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC 26 (4) 720 - 725 1552-3098 2010/08 [Refereed]
     
    This paper discusses the problem of task selection in active-vision systems. It is shown that optimization of motion perceptibility does not work as the primary task. On the other hand, it is demonstrated that optimization of motion perceptibility under target tracking produces reasonable camera motion. The perceptibility measure is induced by a certain Jacobian matrix and not by the interaction matrix. The interaction matrix does not produce cooperative behavior of multiple active cameras.
  • Shogo Arai; Yasushi Iwatani; Koichi Hashimoto
    American Control Conference IEEE 2785 - 2790 2010/06 [Refereed]
  • 荒井 翔悟; 岩谷 靖; 橋本 浩一
    システム制御情報学会論文誌 22 (9) 324 - 330 2009/09 [Refereed]
  • Fast sensor scheduling for estimation of networked sensor systems
    Shogo Arai; Yasushi Iwatani; Koichi Hashimoto
    ICROS-SICE International Joint Conference 1240 - 1243 2009/08 [Refereed]
  • Shogo Arai; Yasushi Iwatani; Koichi Hashimoto
    American Control Conference IEEE 2785 - 2790 0743-1619 2009/07 [Refereed]
     
    This paper addresses a sensor scheduling problem for a class of networked sensor systems whose sensors are spatially distributed and measurements are influenced by state dependent noise. Sensor scheduling is required to achieve power saving since each sensor operates with a battery power source. A networked sensor system usually consists of a large number of sensors, but the sensors can be classified into a few different types. We therefore introduce a concept of sensor types in the sensor model to provide a fast and optimal sensor scheduling algorithm for a class of networked sensor systems, where the sensor scheduling problem is formulated as a model predictive control problem. The computation time of the proposed algorithm increases exponentially with the number of the sensor types, while that of standard algorithms is exponential in the number of the sensors. In addition, we propose a fast sensor scheduling algorithm for a general class of networked sensor systems by using a linear approximation of the sensor model.
  • 岩谷 靖; 渡部 渓; 橋本 浩一
    日本ロボット学会誌 27 (1) 55 - 62 2009/01 [Refereed]
  • Shogo Arai; Yasushi Iwatani; Koichi Hashimoto
    IEEE Conference on Decision and Control 459 - 464 0191-2216 2008/12 [Refereed]
     
    This paper addresses a sensor scheduling problem for a class of networked sensor systems whose sensors are spatially distributed and measurements are influenced by state dependent noise. Sensor scheduling is required to achieve power saving since each sensor operates with a battery power source. The scheduling problem is formulated as a model predictive control problem with single sensor measurement per time. It is assumed that all sensors have state dependent noise and have the same characteristics, which follows from the properties of networked sensor systems. We propose a fast and optimal sensor scheduling algorithm for a class of networked sensor systems. Computation time of the proposed algorithm is proportional to the number of sensors and does not depend on the prediction horizon. In addition, we provide a fast sensor scheduling algorithm for a general class of systems by using a linear approximation of the sensor model. © 2008 IEEE.
  • 岩谷 靖
    計測自動制御学会論文集 44 (12) 1043 - 1045 2008/12 [Refereed]
  • 荒井 翔悟; 岩谷 靖; 橋本 浩一
    システム制御情報学会論文誌 21 (12) 417 - 419 2008/12 [Refereed]
  • 荒井 翔悟; 岩谷 靖; 橋本 浩一
    システム制御情報学会論文誌 21 (10) 327 - 335 2008/10 [Refereed]
  • Kei Watanabe; Yasushi Iwatani; Kenichiro Nonaka; Koichi Hashimoto
    IEEE/RSJ International Conference on Intelligent Robots and Systems IEEE 822 - 827 2008/09 [Refereed]
     
    This paper proposes an assistant and training system for controlling an unmanned helicopter. The unmanned helicopter does not have any sensors which measure its position or posture. Stationary cameras are placed on the flight field. The helicopter is controlled by using a visual servo technique as follows. An operator steers the helicopter using sticks on a hand-held input device. The sticks make reference signals. The assistant system designs control signals such that the helicopter tracks the reference signals. The proposed system has the following four functions: automatic takeoff and landing, control channel selection, flight in a desired area, and automatic motion generation. They enables beginners to control an unmanned helicopter. The system provides real actions of unmanned helicopters. This is the main difference from flight simulators.
  • Shogo Arai; Yasushi Iwatani; Koichi Hashimoto
    SICE Annual Conference IEEE 2341 - 2345 2008/08 [Refereed]
     
    In this paper, a sensor scheduling problem for a class of mobile sensor networks is addressed. It is assumed that the measurement noises of the sensors depend on the state of the system and all sensors have the same characteristics. In mobile sensor networks, the positions of the sensors have stochastic uncertainties. We show consider a sensor model which has stochastic uncertainties for the positions of the mobile sensors. The sensor scheduling problem is formulated as the model predictive control problem and a fast and optimal sensor scheduling algorithm is proposed. Computation time of the proposed algorithm is proportional to the number of the sensors and does not depend on the prediction horizon.
  • Yasushi Iwatani; Kohou; Koichi Hashimoto
    SICE Annual Conference IEEE 2331 - 2334 2008/08 [Refereed]
     
    This paper presents a multi-camera visual servo system for unmanned micro helicopters. IEEE 1394 cameras are placed on the ground, and they are linked in a network. A vision-based control method with occlusion handling is implemented to overcome the occlusion problem.
  • Automatic take-off and landing of an unmanned helicopter using vision-based control with occlusion handling
    Yasushi Iwatani; Kei Watanabe; Koichi Hashimoto
    CISM-IFToMM Symposium on Robot Design, Dynamics, and Control 11 - 18 2008/07 [Refereed]
  • Kei Watanabe; Yuta Yoshihata; Yasushi Iwatani; Koichi Hashimoto
    Advanced Robotics TAYLOR & FRANCIS LTD 22 (2-3) 381 - 393 0169-1864 2008 [Refereed]
     
    This paper proposes an image-based visual servo control method for a micro helicopter. The helicopter does not have any sensors to measure its position or posture on the body. A stationary camera is placed on the ground and it obtains image features of the helicopter. The differences between current features and given reference features are computed. PID controllers then make control input voltages for helicopter control and they drive the helicopter. The proposed controller can avoid some major difficulties in computer vision such as numerical instability due to image noise or model uncertainties, since the reference is defined in the image frames. An experimental result demonstrates that the proposed controller can keep the helicopter in a stable hover. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.
  • Yasushi Iwatani; Kei Watanabe; Koichi Hashimoto
    IEEE International Conference on Robotics and Automation IEEE 101 - 106 1050-4729 2008 [Refereed]
     
    This paper proposes a visual tracking method which is robust to occlusion. This paper also integrates the visual tracking method and visual servo control into a vision-based control method with occlusion handling. The proposed method chooses a set of correctly extracted image features, and it then obtains an estimate of all the image features from the correctly extracted image features. The estimation procedure makes it possible to track image features even when occlusion occurs. The method has low computational complexity, since the image Jacobian is used for the image feature selection and estimation. In addition, even when the controller fails to track a moving image feature, it can find the failed image feature without a global search over the entire image plane. As a result, it can track the failed image feature again quickly.
  • Yuta Yoshihata; Kei Watanabe; Yasushi Iwatani; Koichi Hashimoto
    IEEE/RSJ International Conference on Intelligent Robots and Systems IEEE 2615 - 2620 2007/10 [Refereed]
     
    This paper proposes a switched visual feedback control method for a micro helicopter under occlusions. Two stationary cameras are placed on the ground. They track four black balls attached to rods connected to the bottom of the helicopter. The control input is computed by using the errors between the positions of the tracked objects and pre-specified reference values for them. The multi-camera configuration is redundant for helicopter control, but it enables us to design a switched controller which is robust against occlusions. An occlusion occurs when an object moves across in front of a camera or when the background color happens to be similar to the color of a tracked object. Multi-camera systems are suitable for designing a robust controller under occlusions, since even when a tracked object is not visible in a camera view, other cameras may track it. The authors have proposed a camera selection approach: If an occlusion is detected in a camera view then the other camera is used to control the helicopter. This paper presents another switched visual feedback control method for a micro helicopter under occlusions. This is called the image feature selection approach. This paper assumes that at most one tracked object is occluded at each time to simplify notations, although we can draw general conclusions. The errors between the positions of the tracked objects and pre-specified references are used to compute the control input, when all the tracked objects are visible. If one of the tracked objects is invisible, then the controller uses the errors given by the other three tracked objects. The position of the occluded object is also estimated by using the other three tracked objects.
  • Yuta Yoshihata; Kei Watanabe; Yasushi Iwatani; Koichi Hashimoto
    the 13th International Conference on Advanced Robotics SPRINGER-VERLAG BERLIN 370 785 - 790 0170-8643 2007/08 [Refereed]
     
    This paper proposes a switched visual feedback control method for a micro helicopter under occlusions. Two stationary cameras are placed on the ground. They track four black balls attached to rods connected to the bottom of the helicopter. The control input is computed by using the errors between the positions of the tracked objects and pre-specified reference values for them. The multi-camera configuration enables us to design a switched controller which is robust against occlusions. The proposed controller selects a camera which correctly measures all of the tracked object positions at each time. If a camera loses a tracked object, then the camera searches for the four tracked objects by using an image data captured from the other camera. The proposed controller can keep the helicopter in a stable hover even when one of the cameras loses tracked objects due to occlusions.
  • A cellular automaton model for collective motion of microorganisms
    Yasushi Iwatani; Koichi Hashimoto; Yuki Deguchi
    11th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems 161 - 166 2007/07 [Refereed]
  • Shogo Arai; Yasushi Iwatani; Koichi Hashimoto
    American Control Conference IEEE 1027 - 1032 0743-1619 2007/07 [Refereed]
     
    This paper examines sensor scheduling problems for multi-sensor systems when only one sensor is allowed to take a measurement at each time. In particular, this paper formulates an optimal sensor scheduling problem for mobile robot exploration and navigation using a sensor network whose sensors are placed on the ground. The sensors are position sensors, and each measurement noise depends on the distance between the positions of the sensor and the robot. This paper provides an optimal sensor selection policy which minimizes a given quadratic cost function. In addition, we characterize the set of points where the available sensor is switched under the optimal sensor scheduling.
  • Yasushi Iwatani; Shinji Hara
    Automatica PERGAMON-ELSEVIER SCIENCE LTD 42 (10) 1685 - 1695 0005-1098 2006/10 [Refereed]
     
    This paper provides several stability tests for piecewise linear systems and proposes a method of stabilization for bimodal systems. In particular, we derive an explicit and exact stability test for planar systems, which is given in terms of coefficients of transfer functions of subsystems. Restricting attention to the bimodal and planar case, we show simple stability tests. In addition, we drive a necessary stability condition and a sufficient stability condition for higher-order and bimodal systems. They are given in terms of the eigenvalue loci and the observability of subsystems. All the stability tests provided in this paper are computationally tractable, and our results are applied to the stabilizability problem. We confirm the exactness and effectiveness of our approach by illustrative examples. (C) 2006 Elsevier Ltd. All rights reserved.
  • Kei Watanabe; Yasushi Iwatani; Koichi Hashimoto; Shingo Kagami; Yves Minier
    SICE-ICASE International Joint Conference IEEE 2692 - 2697 2006/10 [Refereed]
     
    This paper presents relationships between camera performance and control performance in visual control systems. The control system consists of an inverted pendulum system, two vision sensors, an LQ regulator. Numerical examples demonstrate that a high speed vision system must have a high resolution to balance the pendulum upright under difference approximation, but a full-order observer makes the control performance good for high speed vision systems.
  • An exact stability test for planar and multi-modal piecewise linear systems
    Yasushi Iwatani; Shinji Hara
    16th IFAC World Congress 466 - 471 2005/07 [Refereed]
  • Yasushi Iwatani; Shinji Hara
    American Control Conference IEEE 1879 - 1884 0743-1619 2004/06 [Refereed]
     
    In this paper, we consider convergence and stability analysis for a class of bimodal piecewise linear systems. We first discuss some properties of trajectories of bimodal piecewise linear systems and derive a necessary condition and a sufficient condition for the stability. The conditions are given in terms of the eigenvalue loci and the detectability of subsystems. In addition, we provide two necessary and sufficient conditions for the planar bimodal piecewise linear systems to be stable : These two conditions are given in terms of eigenvalue loci of subsystems and coefficients of characteristic polynomials, respectively. Furthermore, we discuss a stabilizing controller design based on the derived sufficient condition.
  • 岩谷 靖; 石川 将人; 原 辰次
    計測自動制御学会論文集 39 (12) 1159 - 1161 2003/12 [Refereed]
  • 岩谷 靖; 原 辰次
    計測自動制御学会論文集 39 (11) 1048 - 1053 2003/11 [Refereed]
  • 岩谷 靖; 石川 将人; 原 辰次
    計測自動制御学会論文集 計測自動制御学会 38 (10) 839 - 846 0453-4654 2002/10 [Refereed]
  • 相補性システム表現を持つフィードバック制御系：well-posedness 解析と非ホロノミック系の切替制御
    岩谷 靖; 石川 将人; 原 辰次
    システム制御情報学会論文誌 15 (5) 238 - 245 2002/05 [Refereed]
  • Yasushi Iwatani; Masato Ishikawa; Shinji Hara
    American Control Conference IEEE 2516 - 2521 0743-1619 2002/05 [Refereed]
     
    This paper proposes a switching control strategy for a class of symmetric affine systems whose accessibility Lie algebras are spanned by the input vector fields and their first order Lie brackets. The key idea here is to-decompose a given system into several (chained) subsystems, and then to apply a conventional control method for these subsystems in sequence. As for the conventional part, we adopt the time-state control method. The proposed strategy guarantees convergence of the state to an arbitrarily given neighborhood of the origin. Finally, with a numerical example,, we show that a new type of mobile robot which can be approximated by a system in the class applied to the strategy is valid as well.
  • Yasushi Iwatani; Masato Ishikawa; Shinji Hara
    5th IFAC Symposium on Nonlinear Control Systems PERGAMON-ELSEVIER SCIENCE LTD 921 - 926 0962-9505 2001/07 [Refereed]
     
    This paper is concerned with hybrid control of nonholonomic systems by hybrid controllers having complementarity system representations. At first, we consider feedback interconnections of complementarity systems, and derive a sufficient condition for the resulting closed loop systems to be well-posed. Secondary we apply the result to the design of a hybrid controller which belongs to a class of complementarity systems for a class of nonholonomic systems. In the resulting feedback system, the well-posedness is automatically guaranteed with the aid of the former conditions. Copyright (C) 2001 IFAC.
  • 池田 貴幸; 岩谷 靖; 巣瀬 浩一; 美多 勉
    システム制御情報学会論文誌 14 (5) 233 - 243 2001/05 [Refereed]
  • Takayuki Ikeda; Koichi Suse; Yasushi Iwatani; Tsutomu Mita
    IEEE Conference on Control Application 496 - 501 1999/08 [Refereed]

Conference Activities & Talks

  • フィードフォワード動的二足歩行制御系の安定解析  [Not invited]
    岩谷靖; 衣笠哲也
    計測自動制御学会 第11回 制御部門マルチシンポジウム  2024/03
  • 複数のモデルによる二足受動歩行の衝突における速度変化の解析  [Not invited]
    張嘉倫; 松浦一翔; 衣笠哲也; 岩谷靖; 林良太; 吉田浩治
    日本機械学会 中国四国支部 第62期総会・講演会  2024/03
  • ハイスピードカメラ映像を用いた受動歩行における衝突前後の角速度変化の解析について  [Not invited]
    松浦一翔; 張嘉倫; 衣笠哲也; 岩谷靖; 林良太; 吉田浩治
    日本機械学会 中国四国学生会 第54回学生員卒業研究発表講演会  2024/03
  • 境界値問題への帰着による歩行の周期解の導出  [Not invited]
    岩谷靖; 衣笠哲也
    第24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  2023/12
  • フィードフォワード動的二足歩行  [Not invited]
    岩谷靖; 衣笠哲也
    第23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  2022/12
  • カタユウレイボヤ幼生の尾部の付け根には約20秒を測るタイマーが存在する  [Not invited]
    長谷川 修也; 原 隆志; 岩谷 靖; 西野 敦雄
    日本動物学会 令和4年度東北支部大会  2022/07
  • 運動状態によるコオロギ気流逃避行動の変化とその神経基盤  [Not invited]
    小川 宏人; 木内 和秀; 設樂 久志; 岩谷 靖
    NEURO 2022（第45回日本神経科学大会）  2022/07
  • 粘液を介した貝類の情報戦  [Not invited]
    和田 葉子; 岩谷 靖; 佐藤 拓哉; 野田 隆史
    第69回 日本生態学会大会  2022/03
  • 受動歩行の衝突相における角運動量保存の必要十分条件  [Not invited]
    岩谷 靖; 衣笠 哲也
    第22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  2021/12
  • リムレスホイールロボットの草地における環境調和性の評価  [Not invited]
    岩谷 靖; 久我 立; 粕谷 英一
    第22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  2021/12
  • コオロギ気流誘導性逃避行動は刺激時の運動状態によって変化する
    木内 和秀; 設樂 久志; 岩谷 靖; 小川 宏人
    第92回 日本動物学会 オンライン米子大会  2021/09
  • コバネイナゴの跳躍における疲労の解析  [Not invited]
    毛利 無限; 岩谷 靖
    計測自動制御学会東北支部 第333回研究集会  2021/06
  • 伸張する布を用いた二次元トレッドミルの開発  [Not invited]
    岩谷 靖
    日本機械学会 ロボティクス・メカトロニクス講演会  2021/06
  • 自発運動中のコオロギにおける気流誘導性逃避行動  [Not invited]
    木内 和秀; 設樂 久志; 岩谷 靖; 小川 宏人
    日本動物学会北海道支部 第65回大会  2021/03
  • ハリガネムシ感染カマキリの入水行動に寄与する活動量と水平偏光走性の影響評価  [Not invited]
    大林 奈園; 岩谷 靖; 佐倉 緑; 保 智己; 佐藤 拓哉
    第68回 日本生態学会大会  2021/03
  • 深度カメラの意図的な誤差を利用した微小物体のトラッキング  [Not invited]
    岩谷 靖; 大林 奈園; 佐倉 緑; 佐藤 拓哉
    第21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  2020/12
  • 草地環境に調和する移動ロボット  [Not invited]
    岩谷 靖; 久我 立; 粕谷 英一
    第21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  2020/12
  • サーボスフィアの並進制御における最適モータ配置  [Not invited]
    岩谷 靖
    日本機械学会 ロボティクス・メカトロニクス講演会  2020/05
  • 貝類粘液を介した種間相互作用網“ネバネバネットワーク”の提唱  [Not invited]
    和田 葉子; 佐藤 拓哉; 岩谷 靖
    第67回 日本生態学会 名古屋大会  2020/03
  • 緻密な行動操作？:ハリガネムシ感染コオロギにおける活動パターンの状況依存性  [Not invited]
    大林 奈園; 岩谷 靖; Ming-Chung CHIU; 佐々木 敦成; 佐倉 緑; 佐藤 拓哉
    第67回 日本生態学会 名古屋大会  2020/03
  • サーボスフィアの最適モータ配置  [Not invited]
    岩谷 靖
    第20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  2019/12
  • 無限平面装置を用いたコバネイナゴの跳躍運動解析  [Not invited]
    岩谷 靖; 山川 凌平; 鶴井 香織; 本間 淳
    日本昆虫学会 第79回大会  2019/09
  • カタユウレイボヤ幼生の遊泳運動における自動的形状解析  [Not invited]
    岩谷 靖; 長谷川 修也; 西野 敦雄
    日本動物学会 第90回 大阪大会  2019/09
  • サーボスフィアの高速ビジュアルサーボ  [Not invited]
    岩谷 靖
    日本ロボット学会 学術講演会  2019/09
  • 傾斜や溝を有しない無限平面システムの駆動機構の開発  [Not invited]
    岩谷 靖; 鶴井 香織; 本間 淳
    日本機械学会 ロボティクス・メカトロニクス講演会  2019/06
  • コモリグモの行動解析のための画像処理における誤差解析  [Not invited]
    岩谷 靖; 鶴井 香織; 本間 淳
    第19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  2018/12
  • 傾斜や溝を有しない無限平面システムの開発  [Not invited]
    岩谷 靖; 鶴井 香織; 本間 淳
    日本ロボット学会 学術講演会  2018/09
  • 傾斜や溝を有しない無限平面システムの提案  [Not invited]
    岩谷 靖; 鶴井 香織; 本間 淳
    日本機械学会 ロボティクス・メカトロニクス講演会  2018/06
  • 不活性ガスを充填したゴム風船の輸送速度と消火特性の関係  [Not invited]
    村岡 龍之介; 鳥飼 宏之; 岩谷 靖
    平成30年度 日本火災学会 研究発表会  2018/05
  • ウミガメの行動解析のためのビジュアルトラッキング  [Not invited]
    岩谷 靖; 小林 博樹; 槇田 篤哉; 工藤 宏美
    第62回 システム制御情報学会 研究発表講演会  2018/05
  • コモリグモの行動観察のための画像抽出  [Not invited]
    岩谷 靖; 鶴井 香織; 本間 淳
    第18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  2017/12
  • 能動音波による空気中を漂うガス流の位置特定センサの提案  [Not invited]
    岩谷 靖; 葛西 昭治; 鳥飼 宏之
    第18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  2017/12
  • 火源への消火カプセル標的輸送とその消火効果  [Not invited]
    岩谷 靖; 鳥飼 宏之
    計測自動制御学会東北支部 第309回研究集会  2017/06
  • バーチャル ボール バランシング：バーチャルリアリティ教育教材の開発  [Not invited]
    岩谷 靖
    計測自動制御学会東北支部 第309回研究集会  2017/06
  • アクティブソナーとマイクロフォンアレイによる火炎位置の特定  [Not invited]
    岩谷 靖; 葛西 昭治; 鳥飼 宏之
    平成29年度 日本火災学会 研究発表会  2017/05
  • 煙の充満した火災現場でも動作する火災位置特定センサ  [Not invited]
    岩谷 靖
    科学技術振興機構 新技術説明会  2017/03
  • ハラヒシバッタの運動解析のための位置・方向推定  [Not invited]
    岩谷 靖; 鶴井 香織; 本間 淳
    第17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  2016
  • 消火剤の分散散布による消火能力の向上  [Not invited]
    岩谷 靖; 鳥飼 宏之
    平成28年度 日本火災学会 研究発表会  2016
  • アクティブ音波を利用した火炎位置特定センサの開発  [Not invited]
    岩谷 靖; 鳥飼 宏之
    平成28年度 日本火災学会 研究発表会  2016
  • 身近なイナゴから広がる科学－自切を生態学と工学から考える－  [Not invited]
    鶴井 香織; 本間 淳; 西田 隆義; 岩谷 靖
    日本昆虫学会 第75回大会  2015
  • 複数の航空消火ロボットの協調による消火実験  [Not invited]
    八木橋 諒; 岩谷 靖; 鳥飼 宏之
    日本機械学会 Dynamics and Design Conference  2015
  • 不活性ガスカプセルを輸送する航空消火ロボットのマーカレス状態推定  [Not invited]
    八木橋 諒; 岩谷 靖; 鳥飼 宏之
    日本機械学会 ロボティクス・メカトロニクス講演会  2015
  • 航空消火ロボット群による最適な消火活動を目指して  [Not invited]
    岩谷 靖; 鳥飼 宏之
    計測自動制御学会東北支部 50周年記念学術講演会  2014
  • 自切イナゴの一本脚跳躍に学ぶタフなロボットの構築を目指して  [Not invited]
    岩谷 靖; 鶴井 香織; 本間 淳
    計測自動制御学会東北支部 50周年記念学術講演会  2014
  • 学生が授業のために購入可能なロボット教材の開発  [Not invited]
    岩谷 靖; 佐川 貢一; 城田 農; 本井 幸介
    第57回 自動制御連合講演会  2014
  • 不活性ガスカプセルを輸送する航空消火ロボットの開発  [Not invited]
    小川 慧; 小出 真広; 岩谷 靖; 鳥飼 宏之
    計測自動制御学会東北支部 第289回研究集会  2014
  • バッタ類の跳躍解析のための跳躍誘発装置の開発  [Not invited]
    影近 伸哉; 岩谷 靖; 鶴井 香織; 本間 淳
    計測自動制御学会東北支部 第289回研究集会  2014
  • ナノスケール小型ヘリコプタの自律飛行制御  [Not invited]
    畠山 隆大; 沼田 拓也; 岩谷 靖
    日本機械学会 ロボティクス・メカトロニクス講演会  2014
  • 不活性ガスカプセルを輸送する航空ロボット試作機による消火実験  [Not invited]
    佐藤 未来; 鳥飼 宏之; 岩谷 靖
    日本機械学会 ロボティクス・メカトロニクス講演会  2013
  • 小型ヘリコプタの低コントラスト環境下マーカレスビジュアルサーボ  [Not invited]
    久保田 祐樹; 沼田 拓也; 岩谷 靖
    日本機械学会 ロボティクス・メカトロニクス講演会  2013
  • コバネイナゴの跳躍方向解析  [Not invited]
    影近 伸哉; 岩谷 靖; 鶴井 香織; 本間 淳
    第57回 日本応用動物昆虫学会大会  2013
  • 失敗から学ぶゲインチューニング  [Not invited]
    岩谷 靖; 葛西 昭治
    第55回 自動制御連合講演会  2012
  • ビジュアルトラッキング手法の性能評価のためのロボット制御  [Not invited]
    岩谷 靖
    日本機械学会 Dynamics & Design Conference  2012
  • 多段階最適化によるロバストなテンプレートトラッキング  [Not invited]
    岩谷 靖
    日本機械学会 ロボティクス・メカトロニクス講演会  2012
  • 小型ヘリコプタのマーカレス高信頼ビジュアルサーボ  [Not invited]
    沼田 拓也; 久保田 祐樹; 岩谷 靖
    日本機械学会 ロボティクス・メカトロニクス講演会  2012
  • インタラクティブなライントレースロボットシステムの開発：ジェスチャ領域と投影領域の統合化  [Not invited]
    藤原大樹; 岩谷靖
    日本機械学会 ロボティクス・メカトロニクス講演会  2012
  • 後脚自切によるコバネイナゴの跳躍戦術の変化  [Not invited]
    成田 章太; 岩谷 靖; 鶴井 香織; 本間 淳
    第56回 日本応用動物昆虫学会大会  2012
  • マルチセンサシステムにおける非同期優位性条件  [Invited]
    岩谷 靖
    第3回 計測自動制御学会 制御部門 プラントモデリング部会研究会  2011/12
  • 顕微鏡下マイクロマニピュレーション  [Invited]
    岩谷 靖
    第3回 次世代医療システム産業化フォーラム  2011/08
  • 顕微鏡下マイクロマニピュレーションのための球面関節機構の開発  [Not invited]
    油川 駿; 福田 眞; 岩谷 靖
    計測自動制御学会東北支部 第265回研究集会  2011
  • 無線カメラを有する小型ヘリコプタの高信頼ビジュアルサーボ：離着陸制御系の設計  [Not invited]
    久保田 祐樹; 岩谷 靖
    計測自動制御学会東北支部 第265回研究集会  2011
  • インタラクティブなライントレースロボットシステムの開発：ロボット座標の推定とフィードバック  [Not invited]
    藤原 大樹; 岩谷 靖
    計測自動制御学会東北支部 第265回研究集会  2011
  • 無線カメラを有する小型ヘリコプタの高信頼ビジュアルサーボ  [Not invited]
    久保田 祐樹; 岩谷 靖
    日本機械学会 ロボティクス・メカトロニクス講演会  2011
  • ジェスチャ認識で動作するインタラクティブライントレースロボットシステムの開発  [Not invited]
    藤原 大樹; 岩谷 靖
    第55回 システム制御情報学会 研究発表講演会  2011
  • 隠れにロバストなビジュアルサーボのための重み付き画像特徴量選択  [Not invited]
    松川 隆典; 岩谷 靖; 橋本 浩一
    日本機械学会 ロボティクス・メカトロニクス講演会  2009
  • センサ間通信を考慮した高速センサスケジューリング  [Not invited]
    荒井 翔悟; 岩谷 靖; 橋本 浩一
    第37回 計測自動制御学会 制御理論シンポジウム  2008
  • 同期・非同期センサシステムの解析  [Not invited]
    荒井 翔悟; 岩谷 靖; 橋本 浩一
    第37回 計測自動制御学会 制御理論シンポジウム  2008
  • 画像ベースビジュアルサーボ系の非干渉化  [Not invited]
    岩谷 靖
    第37回 計測自動制御学会 制御理論シンポジウム  2008
  • 小型ヘリコプタの協調制御  [Not invited]
    岩谷 靖; 呼和; 橋本 浩一
    日本機械学会 ロボティクス・メカトロニクス講演会  2008
  • ビジュアルサーボを用いた小型ヘリコプタの操縦支援システム  [Not invited]
    渡部 渓; 岩谷 靖; 野中 謙一郎; 橋本 浩一
    日本機械学会 ロボティクス・メカトロニクス講演会  2008
  • 運動性細胞の応答可視化と運動制御  [Not invited]
    橋本 浩一; 五十嵐 康伸; 小原 健; 岩谷 靖; 費仙鳳
    第52回 システム制御情報学会 研究発表講演会  2008
  • 高速センサスケジューリング  [Not invited]
    荒井 翔悟; 岩谷 靖; 橋本 浩一
    第8回 計測自動制御学会 制御部門大会  2008
  • 視覚情報を用いた小型ヘリコプタのフォーメーション制御  [Not invited]
    岩谷 靖; 渡部 渓; 橋本 浩一
    第8回 計測自動制御学会 制御部門大会  2008
  • 無人ヘリコプタのマルチカメラ視覚フィードバック制御  [Not invited]
    渡部 渓; 岩谷 靖; 橋本 浩一
    第50回 自動制御連合講演会  2007
  • ビジュアルサーボのための画像特徴量の動的選択  [Not invited]
    岩谷 靖; 渡部 渓; 橋本 浩一
    第36回 計測自動制御学会 制御理論シンポジウム  2007
  • オクルージョンを考慮した画像ベースビジュアルサーボによる小型ヘリコプタの制御  [Not invited]
    吉畑 友太; 渡部 渓; 岩谷 靖; 橋本 浩一
    日本機械学会 ロボティクス・メカトロニクス講演会  2007
  • 微生物群行動モデルにおけるパラメータ同定  [Not invited]
    岩谷 靖; 出口 雄規; 橋本 浩一
    第7回 計測自動制御学会 制御部門大会  2007
  • 画像ベースビジュアルサーボによる小型ヘリコプタのPID制御  [Not invited]
    渡部 渓; 吉畑 友太; 岩谷 靖; 橋本 浩一
    第7回 計測自動制御学会 制御部門大会  2007
  • ロボット誘導のためのセンサネットワークにおける最適センサスケジューリング  [Not invited]
    荒井 翔悟; 岩谷 靖; 橋本 浩一
    第7回 計測自動制御学会 制御部門大会  2007
  • ヘリコプタの特徴ベースビジュアルサーボ  [Not invited]
    徳多 正行; 橋本 浩一; 岩谷 靖; 鏡 慎吾
    日本機械学会 ロボティクス・メカトロニクス講演会  2006
  • 動物群行動制御則の群ロボット系への適用とその有効性  [Not invited]
    古市 淳也; 橋本 浩一; 岩谷 靖; 鏡 慎吾
    日本機械学会 ロボティクス・メカトロニクス講演会  2006
  • ゾウリムシ群行動のセルオートマトンモデル  [Not invited]
    出口 雄規; 岩谷 靖; 橋本 浩一
    第6回 計測自動制御学会 制御部門大会  2006
  • 離散凸解析から見た切換システムの最適制御問題の複雑さ  [Not invited]
    岩谷 靖; 橋本 浩一
    第6回 計測自動制御学会 制御部門大会  2006
  • センサネットワークにおける最適センサ切換  [Not invited]
    荒井 翔悟; 岩谷 靖; 橋本 浩一
    第35回 計測自動制御学会 制御理論シンポジウム  2006
  • 制御工学における離散凸解析  [Not invited]
    岩谷 靖; 橋本 浩一
    第35回 計測自動制御学会 制御理論シンポジウム  2005
  • 三叉ヘビ型移動ロボットの動力学モデリングと周期フィードバック制御  [Not invited]
    石川 将人; 岩竹 隆裕; 岩谷 靖; 原 辰次
    第4回 計測自動制御学会 制御部門大会  2004
  • 固有値に着目した多モード区分的 2 次区分的線形システムの安定解析  [Not invited]
    岩谷 靖; 原 辰次
    第46回 自動制御連合学術講演会  2003
  • 固有値に着目した 2 モード区分的線形システムの安定解析  [Not invited]
    岩谷 靖; 原 辰次
    第3回 計測自動制御学会 制御部門大会  2003
  • 一次の可制御構造を持つ対称アフィン系のフィードバック制御：時間軸状態制御形に基づく切替制御戦略  [Not invited]
    岩谷 靖; 石川 将人; 原 辰次
    第30回 計測自動制御学会 制御理論シンポジウム  2001
  • 三又蛇型移動ロボットの運動解析と制御  [Not invited]
    岩谷 靖; 石川 将人; 原 辰次
    第30回 計測自動制御学会 制御理論シンポジウム  2001
  • Complementarity system 表現に基づく非ホロノミックシステムのハイブリッド制御  [Not invited]
    岩谷 靖; 石川 将人; 原 辰次
    第23回 計測自動制御学会 Dynamical System Theory シンポジウム  2000
  • 複数のジェネレータを持つ対称アフィンシステムの位相構造と不連続フィードバック制御  [Not invited]
    石川 将人; 岩谷 靖; 原 辰次
    第23回 計測自動制御学会 Dynamical System Theory シンポジウム  2000
  • ネコ型走行ロボットの開発  [Not invited]
    巣瀬 浩一; 池田 貴幸; 岩谷 靖; 美多 勉
    第38回 SICE 学術講演会  1999
  • 動物の走行運動の解析と脚式ロボットの走行制御への応用  [Not invited]
    岩谷 靖; 池田 貴幸; 美多 勉
    第38回 SICE 学術講演会  1999
  • 脚式ロボットの開発と走行制御  [Not invited]
    池田 貴幸; 巣瀬 浩一; 岩谷 靖; 美多 勉
    日本機械学会 ロボティクス・メカトロニクス講演会  1999
  • Sagittal平面内の２足ロボットの走行制御  [Not invited]
    池田 貴幸; 巣瀬 浩一; 岩谷 靖; 美多 勉
    第43回 システム制御情報学会 研究発表講演会  1999
  • ２足ロボットの着地時の走行制御  [Not invited]
    池田 貴幸; 巣瀬 浩一; 岩谷 靖; 美多 勉
    第28回 計測自動制御学会 制御理論シンポジウム  1999
  • 脚式ロボットの走行制御：着地時バランスの解析とキック制御による走行の実現  [Not invited]
    池田 貴幸; 巣瀬 浩一; 岩谷 靖; 美多 勉
    第4回 ロボティクス・シンポジア  1999

MISC

Industrial Property Rights

  • 特許第6694636号:火炎検出センサ及び火炎検出方法  
    岩谷 靖, 鳥飼 宏之

Awards & Honors

  • 2020/12 計測自動制御学会 第21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 優秀講演賞
     深度カメラの意図的な誤差を利用した微小物体のトラッキング 
    受賞者: 岩谷 靖;大林 奈園;佐倉 緑;佐藤 拓哉
  • 2020/10 日本ロボット学会 第37回 日本ロボット学会学術講演会 優秀講演賞
     サーボスフィアの高速ビジュアルサーボ 
    受賞者: 岩谷 靖
  • 2019/12 計測自動制御学会 第20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 優秀講演賞
     サーボスフィアの最適モータ配置 
    受賞者: 岩谷 靖
  • 2017/12 計測自動制御学会 第18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 優秀講演賞
     能動音波による空気中を漂うガス流の位置特定センサの提案 
    受賞者: 岩谷 靖;葛西 昭治;鳥飼 宏之
  • 2015/10 計測自動制御学会 CPDポイント賞
     
    受賞者: 岩谷 靖
  • 2010/05 システム制御情報学会 システム制御情報学会論文賞
     
    受賞者: 荒井 翔悟;岩谷 靖;橋本 浩一

Research Grants & Projects

  • 科学研究費助成事業 基盤研究(C)
    Date (from‐to) : 2023/04 -2026/03 
    Author : 岩谷 靖; 衣笠 哲也
  • ロボットの制御しやすさの指標：再考
    科学研究費補助金・基盤研究（C）（一般）
    Date (from‐to) : 2020/04 -2023/03 
    Author : 岩谷 靖
  • 宿主操作の分子・神経メカニズムから解き明かす生態系のエネルギー流
    科学研究費補助金・挑戦的研究（萌芽）
    Date (from‐to) : 2019/04 -2021/03 
    Author : 佐藤 拓哉; 岩谷 靖; 武島 弘彦; 佐倉 緑; 橋口 康之; 入谷 亮介
  • 高速動作可能な無限平面装置の開発
    科学研究費補助金・新学術領域研究（研究領域提案型）（公募研究）
    Date (from‐to) : 2019/04 -2021/03 
    Author : 岩谷 靖
  • 消火剤の時空間分散散布による最適消火戦略の確立のための基礎的検討
    科学研究費補助金・基盤研究（C）（一般）
    Date (from‐to) : 2017/04 -2020/03 
    Author : 岩谷 靖; 鳥飼 宏之
  • 地表徘徊性動物のナビゲーション様式の観察のための無限平面装置の開発
    科学研究費補助金・新学術領域研究（研究領域提案型）（公募研究）
    Date (from‐to) : 2017/04 -2019/03 
    Author : 岩谷 靖
  • 流体制御生理学の創成 ～ホタテガイとホヤをモデルとして～
    弘前大学：異分野連携型若手研究支援事業
    Date (from‐to) : 2019 
    Author : 西野 敦雄; 城田 農; 岩谷 靖; 陳 暁帥
  • 流体制御生理学の創始 ～ホタテガイとホヤをモデルとして～
    弘前大学：異分野連携型若手研究支援事業
    Date (from‐to) : 2018 
    Author : 西野 敦雄; 城田 農; 岩谷 靖; 陳 暁帥
  • 空気中を漂うガス流の可視化のための基礎的検討
    弘前大学：若手・新任研究者支援事業
    Date (from‐to) : 2017 
    Author : 岩谷 靖
  • 消火剤の時空間分散散布制御による最適消火活動の実現
    弘前大学：科研費獲得支援事業
    Date (from‐to) : 2016 
    Author : 岩谷 靖
  • グローカル双対性とその応用
    科学研究費補助金・若手研究（B）
    Date (from‐to) : 2014 -2015 
    Author : 岩谷 靖
  • 消火剤の時空間分散散布制御による最適消火戦略の確立
    弘前大学：若手・新任研究者支援事業
    Date (from‐to) : 2015 
    Author : 岩谷 靖
  • 安全・クリーンな消火活動を実現する航空消火ロボット制御系の開発
    JKA：機械工業振興補助事業
    Date (from‐to) : 2014 
    Author : 岩谷 靖; 鳥飼 宏之
  • ナノスケール小型ヘリコプタの自律飛行制御
    大川情報通信基金：研究助成
    Date (from‐to) : 2014 
    Author : 岩谷 靖
  • 大域的最適化と局所的最適化を融合した高信頼なマーカレスビジュアルサーボ手法の確立
    弘前大学：科研費獲得支援事業
    Date (from‐to) : 2013 
    Author : 岩谷 靖
  • モデル予測アクティブセンシング手法の体系化
    科学研究費補助金・若手研究（B）
    Date (from‐to) : 2010 -2012 
    Author : 岩谷 靖
  • 人体の力学特性に調和する新駆動方式車椅子の開発
    青森県：産学連携・課題解決型医療福祉関連機器等研究開発モデル実証（ライフイノベーション新成長産業創出事業）
    Date (from‐to) : 2012 
    Author : 岩谷 靖
  • 小型無人ヘリコプタのマーカレス視覚フィードバック制御
    メカトロニクス高度化財団：メカトロニクス技術高度化「研究助成」
    Date (from‐to) : 2010 -2011 
    Author : 岩谷 靖
  • ロボティック内視鏡手術のための情報処理と制御に関する研究
    科学技術振興機構：戦略的国際科学技術協力推進事業・仏国との「コンピュータサイエンスを含む情報通信技術」分野における研究交流
    Date (from‐to) : 2006 -2009 
    Author : 橋本 浩一
  • 画像情報の直接的フィードバックによる小型無人ヘリコプタの離着陸制御
    弘前大学：若手研究者支援事業
    Date (from‐to) : 2009 
    Author : 岩谷 靖
  • 超高速ビジョンシステムを用いた飛行体ダイナミクスの学習と編隊制御
    科学研究費補助金・基盤研究（B）
    Date (from‐to) : 2006 -2008 
    Author : 橋本 浩一; 岩谷 靖
  • 離散凸解析に基づくハイブリッド制御理論の体系化
    科学研究費補助金・若手スタートアップ
    Date (from‐to) : 2006 -2007 
    Author : 岩谷 靖
  • 非二次形式リアプノフ関数アプローチによるハイブリッド制御系の安定解析と制御
    科学研究費補助金・特別研究員奨励費
    Date (from‐to) : 2005 
    Author : 岩谷 靖
  • ハイブリッドコントローラにおける論理ダイナミクスの設計
    科学研究費補助金・特別研究員奨励費
    Date (from‐to) : 2003 -2004 
    Author : 岩谷 靖

Teaching Experience

  • Instrumentation and Sensing TechnologyInstrumentation and Sensing Technology Kindai University
  • Creative Challenge of RoboticsCreative Challenge of Robotics Kindai University
  • Advanced Robot Control Experiment ⅠAdvanced Robot Control Experiment Ⅰ Kindai University
  • Seminar for Graduation ThesisSeminar for Graduation Thesis Kindai University
  • Introduction to Computer ExerciseIntroduction to Computer Exercise Kindai University
  • Robot InterfacesRobot Interfaces Kindai University
  • Programming IIProgramming II Kindai University
  • Introduction of Control EngineeringIntroduction of Control Engineering Kindai University
  • Synthetic SeminarSynthetic Seminar Kindai University

Social Contribution

  • Exhibition: Robots, Measurement and Control Systems in SICE Tohoku Chapter
    Date (from-to) : 2012/08/18-2012/08/19
    Role : Demonstrator
    Sponser, Organizer, Publisher  : The Society of Instrument and Control Engineers
    Event, Program, Title : Special Event SICE TOHOKU Chapter, SICE Annual Conference
  • ロボットはどのように走るのか？
    Date (from-to) : 2012/07/22
    Role : Appearance
    Category : Media report
    Sponser, Organizer, Publisher  : FMアップルウェーブ
    Event, Program, Title : りんご王国こうぎょくカレッジ

Other link

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