KINDAI UNIVERSITY


*A space between the first name and last name, please enter

MATSUTANI Yuki

Profile

FacultyDepartment of Robotics / Research Institute of Fundamental Technology for Next Generation
PositionAssistant Professor
DegreePh.D. in engineering
Commentator Guidehttps://www.kindai.ac.jp/meikan/2328-matsutani-yuki.html
URL
Mail
Last Updated :2020/09/12

Education and Career

Education

  •   2006 04  - 2010 03 , Fukuoka Institute of Technology, Faculty of Engineering
  •   2010 04  - 2012 03 , Fukuoka Institute of Technology, Graduate School of Engineering

Academic & Professional Experience

  •   2019 04 ,  - 現在, Faculty of Engineering, Department of Robotics, Kindai University
  •   2015 04 ,  - 2019 03 , Department of Mechanical and Intelligent Systems Engineering, Kumamoto National College of Technology

Research Activities

Research Areas

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

Published Papers

  • An inter-departmental collaborative program to motivate first-year KOSEN students to learn English, M. Hirano, M. Nishi, Y. Matsutani, K. Goto, H. Irie, F. Seki, The 13th International Symposium on Advances in Technology Education, The 13th International Symposium on Advances in Technology Education, 3035015, Sep. 2019 , Refereed
  • Stability conditions of an ODE arising in human motion and its numerical simulation, T. Kosugi, H. Kino, M. Goto, Y. Matsutani, Results in Applied Mathematics, Results in Applied Mathematics, 3, 100063, Sep. 2019 , Refereed
  • Set-point control of a musculoskeletal system under gravity by a combination of feed-forward and feedback manners considering output limitation of muscular forces, Y. Matsutani, K. Tahara, H. Kino, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 31(4), 612 - 620, Aug. 2019 , Refereed
  • Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay, Y. Matsutani, K. Tahara, H. Kino, H. Ochi, Advanced Robotics, Advanced Robotics, 32(8), 411 - 425, Mar. 2018 , Refereed
  • Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms, Y. Matsutani, K. Tahara, H. Kino, H. Ochi, IEEE-RAS 17th International Conference on Humanoid Robotics, IEEE-RAS 17th International Conference on Humanoid Robotics, 213 - 218, Nov. 2017 , Refereed
  • Sensorless point-to-point control for amusculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons, H. Kino, H. Ochi, Y. Matsutani, K. Tahara, Advanced Robotics, Advanced Robotics, 31(16), 851 - 864, Sep. 2017 , Refereed
  • Prototype of a tensegrity robot with nine wires for switching locomotion and calculation method of the balancing internal force, H. Kino, Y. Matsutani, S. Katakabe, H. Ochi, Procedia Computer Science, Procedia Computer Science, 105, 1 - 6, Feb. 2017 , Refereed
  • Determination Method of Tendon Arrangement using Genetic Algorithm for Feedforward Positioning of Musculoskeletal System, H. Ochi, H. Kino, K. Tahara, Y. Matsutani, 47th ISCIE International Symposium on Stochastic Systems Theory and Its Applications, 47th ISCIE International Symposium on Stochastic Systems Theory and Its Applications, 161 - 162, Dec. 2015 , Refereed
  • Study of Human Motion Generation Based on Redundancy of Musculoskeletal Structure: Analysis of Potential Generated by Internal Force For Two-Link System, H. Kino, H. Ochi, K. Tahara, Y. Matsutani, R. Ishibashi, IEEE Workshop on Advanced Robotics and its Social Impacts, IEEE Workshop on Advanced Robotics and its Social Impacts, 1 - 6, Nov. 2013 , Refereed
  • Variable Combination of Feed-forward and Feedback Manners for Set-Point Control of a Musculoskeletal Arm Considering the Maximum Exertable Muscular Force, Kenji Tahara, Yuki Matsutani, Daisuke Nakagawa, Masataka Sato, Hitoshi Kino, PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 815 - 820, 2016 , Refereed
    Summary:In this paper, our previously proposed set-point control method for a musculoskeletal system is improved to reduce required muscular forces and to avoid a saturation of muscular forces during movement. The previous method is robust against a considerable time-delay in sensory information, but it still requires large muscular forces to accomplish a desired position, and the maximum exertable muscular force has not yet been taken into consideration. To cope with these two issues, two variable parameters are newly introduced. One is for changing the combination ratio of feed-forward and feedback controllers to reduce necessary muscular forces. The other is for avoiding the saturation of muscular forces during movement. The effectiveness of the proposed controller is demonstrated through several numerical simulation results.
  • Geometric conditions for feedforward positioning of musculoskeletal tendon-driven structure, Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Yuki Matsutani, IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 1109 - 1114, 2015 , Refereed
    Summary:The human body possesses a musculoskeletal structure in which muscles exist around the bones and joints. The musculoskeletal tendon-driven robot utilizes this structure. This robotic system uses sets of mechanical tendons, such as wire-cables and actuators instead of the vital muscles. The redundant actuation is necessary for the system when it does not actively use any external force nor a tensioner because the mechanical tendon can transmit only a tensile force. This structural characteristic enables feedforward motion-generation that does not need any sensory feedback. However, the convergent posture strongly depends on the tendon-arrangement. Targeting the tendon-driven manipulator, which has two links and six tendons, this paper expands the mathematical conditions for the convergence into the geometric conditions of tendon-arrangement. Based on the geometric conditions, a design method of the tendon-arrangement is discussed.
  • Set-Point Control of a Musculoskeletal Arm by the Complementary Combination of a Feedforward and Feedback Manner, Yuki Matsutani, Kenji Tahara, Hitoshi Kino, Hiroaki Ochi, Motoji Yamamoto, 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 5908 - 5914, 2014 , Refereed
    Summary:This paper proposes a novel set-point control method of a musculoskeletal system by combining a feedforward and feedback manner to complement each drawback each other. In our previous work, a feedforward positioning method of the musculoskeletal arm model was proposed which does not need any realtime sensory information. Its performance, however, depends on a muscular arrangement and an attitude of the arm, and thereby a large initial muscular internal force is necessary to make a good performance. On the other hand, it is well-known that a visual servoing is effective and versatile for the set-point control. However, there is a considerable time-delay due to a computational burden to acquire useful information from an image and an insufficient sampling period to capture each image when using a video frame rate camera. Thus in this paper, the feedforward and feedback signal are linearly combined into one in order to mutually complement each drawback. The combined control signal is newly designed and then numerical simulation results are shown to demonstrate the effectiveness and usefulness of the proposed method.
  • Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force, Yuki Matsutani, Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Motoji Yamamoto, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, 7 - 12, 2013 , Refereed
    Summary:This paper proposes a new feed-forward positioning method for a musculoskeletal-like robotic system considering a muscle-like nonlinear viscosity, and a new determination method of the internal force using the reinforcement learning scheme. In our previous works, a feed-forward positioning method for the musculoskeletal-like robotic systems has been proposed. In the method, the position regulation of the system can be accomplished by inputting a desired internal force balancing at a desired position. It has been quite effective for the muscle-like driven mechanism because no sensor is necessary to regulate the position. However, this method often induces an overshoot phenomenon when performing a set-point control. In addition, there is another intrinsic problem that musculoskeletal-like redundant-driven mechanisms own the ill-posed problems that the internal force is unable to determine uniquely. In this paper, for the farmer problem, a muscle-like nonlinear viscosity is newly added to the controller to reduce such an overshoot phenomenon and then to expand the stable region of the manipulator. For the latter problem, a determination method of the internal force using a reinforcement learning scheme is newly proposed. In what follows, firstly a new feed-forward controller which considers the muscle-like viscosity is introduced, and shows its effectiveness through numerical simulations. Next, the determination method of the internal force using a reinforcement learning scheme is proposed and its effectiveness is also shown through numerical simulations. © 2013 IEEE.
  • Numerical analysis of feedforward position control for non-pulley musculoskeletal system: a case study of muscular arrangements of a two-link planar system with six muscles, Hitoshi Kino, Shiro Kikuchi, Yuki Matsutani, Kenji Tahara, Takahiro Nishiyama, ADVANCED ROBOTICS, ADVANCED ROBOTICS, 27(16), 1235 - 1248, 2013 , Refereed
    Summary:In a musculoskeletal system like a tendon-driven robot, redundant actuation is necessary because muscles (or mechanical parts such as tendons) can transmit tension only unidirectionally. This redundancy yields internal force among muscles, which has a particular field of potential energy. Using internal force as a feedforward input, a musculoskeletal system can achieve feedforward position control with no sensory feedback. This paper studies the feedforward position control coming from the redundancy for a non-pulley musculoskeletal system. Targeting a planar two-link system with six muscles as a case study, the motion convergence depending on the muscular arrangement is examined quasi-statically. The results point out that the convergence is extremely sensitive to the muscular arrangement, and adding small offsets for the muscular connected points can remarkably improve the positioning performance.

Conference Activities & Talks

  • Linear Combination of Feedforward and Feedback Manners to a Musculoskeletal System for Robust Set-Point Control, Y. Matsutani, K. Tahara, H. Kino, H. Ochi, M. Yamamoto, 9th Joint Workshop on Machine Perception and Robotics,   2013 11
  • Feed-forward Positioning of Musculoskeletal-like Robotic Systems: Determination of Adequate Internal Force by Reinforcement Learning, Y. Matsutani, H. Ochi, H. Kino, K. Tahara, M. Yamamoto, 8th Joint Workshop on Machine Perception and Robotics,   2012 10