KINDAI UNIVERSITY


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KOYACHI Noriho

Profile

FacultyDepartment of Robotics / Research Institute of Fundamental Technology for Next Generation / Graduate School of System Enginnering
PositionProfessor
Degree
Commentator Guidehttps://www.kindai.ac.jp/meikan/1251-koyachi-noriho.html
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Last Updated :2020/09/01

Education and Career

Education

  •   1975 04  - 1979 03 , Kyoto University, Faculty of Engineering

Academic & Professional Experience

  •   2014 04 ,  - 現在, Professor, Department of Robotics, Faculty of Engineering, Kindai University
  •   2001 04 ,  - 2013 03 , Field Robotics RG, Intelligent Systems RI, National Institute of Advanced Industrial Science and Technology (AIST)
  •   1979 04 ,  - 2001 03 , Autonomous Machinery Division, Robotics Department, Mechanical Engineering Laboratory

Research Activities

Research Areas

  • Informatics, Mechanics and mechatronics, Robotics

Research Interests

  • Robot for Construction and Mining, Personal Robot, Locomation, Field Robotics

Published Papers

  • Pile Shape Measuring in Excavating and Loading by Wheel Loader, KOYACHI Noriho, SARATA Shigeru, ISHIMOTO Hidefumi, Proceedings of 22nd International Symposium on Mine Planning and Equipment Selection (MPES 2013), Proceedings of 22nd International Symposium on Mine Planning and Equipment Selection (MPES 2013), 921 - 929, Oct. 2013 , Refereed
  • Path Planning and Position Control for Autonomous Loading Operation by Wheel Loader, SARATA Shigeru, KOYACHI Noriho, Proceedings of International Symposium on Mine Planning and Equipment Selection (MPES 2010), Proceedings of International Symposium on Mine Planning and Equipment Selection (MPES 2010), 293 - 300, Dec. 2010 , Refereed
  • Stride Over Step by Four Wheeled and Four Legged Flexible Personal Robot |Step detection by tri-camera vision and hybrid motion by wheels and legs|-, KOYACHI Noriho, MARUYAMA Ken-ichi, KAWAI Yoshihiro, Tomita Fumiaki, Journal of Robotics Society of Japan, Journal of Robotics Society of Japan, 27(8), 825 - 832, Oct. 2009 , Refereed
  • Scoop and Loading Execution by the Autonomous Wheel Loader "Yamazumi-4"--Task Control and Path Following Control--, KOYACHI Noriho, SARATA Shigeru, SUGAWARA Kazuhiro, Journal of Robotics Society of Japan, Journal of Robotics Society of Japan, 26(6), 514 - 524, Sep. 2008 , Refereed
  • A high stability, smooth walking pattern for a biped robot, Huang Q, Kajita S, Koyachi N, Kaneko K, Yokoi K, Arai H, Komoriya K, Tanie K, IEEE, Icra '99: Ieee International Conference on Robotics and Automation, Vols 1-4, Proceedings, Icra '99: Ieee International Conference on Robotics and Automation, Vols 1-4, Proceedings, 65 - 71, 1999 , Refereed
  • Walk Measurements Using a Novel Rollator with a Free Rotating Chest Pad and an Analysis of its Effectiveness in Walk Assistance, Jian Huang, Noriho Koyachi, Hiroaki Ashida, Takashi Harada, 2019 IEEE 5th International Conference on Mechatronics System and Robots (ICMSR), 2019 IEEE 5th International Conference on Mechatronics System and Robots (ICMSR), May 2019 , Refereed
  • Evaluating the Assistance Effectiveness of a Newly Developed Rollator Mounted with a Freely Rotating Chest Support Pad, Jian Huang, Noriho Koyachi, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 1185 - 1190, 2016 , Refereed
    Summary:In recent years, wearable assistance robots and gait trainers with weight bearing facility have been developed to enable elderly people to walk autonomously. However, the effectiveness of these devices in walking assistance has not been investigated. In this study, the effectiveness of a newly developed rollator having a chest pad equipped with a one-degree-of-freedom rotational mechanism, was evaluated. A rotary sensor was mounted on the back of the chest pad to measure its angle of rotation. A motion capture system with six CCD cameras was used to record movements of the legs during walking tests with the new rollator for five young healthy subjects. The results are analyzed and the relationship between the pad rotation and other factors, such as waist rotation, extension of the knee, distance between feet and heel height, are investigated to evaluate the effectiveness.
  • Sensor-based walking on rough terrain for legged robots, Yasushi Mae, Tatsuhi Mure, Kenji Inoue, Tatsuo Arai, Noriho Koyachi, Springer Tracts in Advanced Robotics, Springer Tracts in Advanced Robotics, 24, 255 - 264, 2006 , Refereed
    Summary:A simple sensor-based walking on rough terrains for legged robots using an acceleration sensor attached to the body is described. The algorithm is implemented to a developed proto-type robot with limb mechanism, which has six limbs that can be used for both locomotion and manipulation. The six limbs are arranged on the body radially to have uniform property in all directions. This symmetrical structure allows the robot to generate a gait trajectory for omnidirectional locomotion in a simple manner. The trajectory of the sensorbased walking is obtained by a small conversion of this simple trajectory. The proto-type robot walks on the uneven ground while adjusting the pose of the body to keep high stability margin. Finally, adequate footholds of supporting limbs are examined for manipulation tasks by two neighboring limbs of the robot. © Springer-Verlag Berlin Heidelberg 2006.
  • Remote actuation mechanism for MR-compatible manipulator using leverage and parallelogram - Workspace analysis, workspace control, and stiffness evaluation, Y Koseki, N Koyachi, T Arai, K Chinzei, 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 652 - 657, 2003 , Refereed
    Summary:In this paper, a novel mechanism of remote actuation was proposed and its mechanical problems were discussed. This mechanism consists of leverage and parallelogram mechanism and transmits 3 d.o.f translational and 3 d.o.f rotational motions from the input to output. Such a remote actuation is significantly useful for robotic assist around MRI where the strong and precise magnet is used for imaging, because mutual effect between MRI and robot are inverse proportional to the distance. In this paper, the basic ideas of mechanism were introduced firstly. The discussions of its stiffness and workspace conclude their trade-off. Our new idea of workspace control for mechanical safety is preliminary discussed.
  • A hybrid drive parallel arm for heavy material handling, T Arai, K Yuasa, Y Mae, K Inoue, K Miyawaki, N Koyachi, IEEE ROBOTICS & AUTOMATION MAGAZINE, IEEE ROBOTICS & AUTOMATION MAGAZINE, 9(1), 45 - 54, Mar. 2002
    Summary:The Hybrid Drive Parallel Arm Will Decrease Dangers to Human Operators and Production Limitations.
  • Control of walk and manipulation by a hexapod with Integrated Limb Mechanism: MELMANTIS-1, N Koyachi, H Adachi, M Izumi, T Hirose, N Senjo, R Murata, T Arai, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 3553 - 3558, 2002 , Refereed
    Summary:This paper describes on a dual mode control of walk and manipulation of a prototype hexapod with "Integrated Limb Mechanism," named "MELMINTIS-1." MELMANTIS-1 uses the six-bar linkages with four degrees-of-freedom as an integrated limb mechanism with dual use for a leg and for an arm. The omni-directional drive control is introduced to the hexapod walk with alternative tripod gait. The new transformation way from hexapod walking style into the combination of dual arms and quadruped platform is introduced. A remote control to handle an object by dual arms is experimented in a simple application of trash pitcher.
  • Multimodal control of hexapod mobile manipulator MELMANTIS-1, N Koyachi, H Adachi, M Izumi, T Hirose, N Senjo, R Murata, T Arai, CLIMBING AND WALKING ROBOTS, CLIMBING AND WALKING ROBOTS, 471 - 478, 2002 , Refereed
    Summary:Authors introduced a new concept involving robots with manipulators boarded on leg mechanism and named such multi-limb systems as "Integrated Limb Mechanism." Such kind of robots are expected to work in the various fields and complex area like construction, agriculture, forestry industry, and home, as well as in the conventional factories. According to the analysis on dual use performance, authors manufactured a prototype hexapod machine with legs transformable into arms, named "MELMANTIS-1." A transformation from hexapod to quadruped of MELMANTIS-1 is introduced to make the workspace of dual arm. It consists of two transformations. One is the transformation of body. Another is the transformation of legs. A remote control of dual arm manipulation using master/slave following control between the right arm and the left arm is introduced. Remote operator pushes down the corresponding key in PC ten-keys to change the arm position. Though this kind of mobile manipulator is expected to perform the both motion of walk and manipulation at the same time, the object handling makes the normal crawl gait unstable. Authors made the stable intermittent crawl gait as the composition of the straight crawl gait and the twisted box motion of the body. The simplest and fastest gait for hexapod machine is the alternative tripod gait. A remote omni-directional walk control by ten keys is implemented for an easy human interface. The advantage of the legged systems is the adaptability to the rugged terrain and the rough terrain compared to the wheeled mobile systems. The alternative tripod gait is expanded for the rugged terrain. This multimodal control is implemented on RT-Linux system as the combination of the mode selection menu and driving mode by PC ten-keys.
  • Sensor-based walking of limb mechanism on rough terrain, T Mure, K Inoue, Y Mae, T Arai, N Koyachi, CLIMBING AND WALKING ROBOTS, CLIMBING AND WALKING ROBOTS, 479 - 486, 2002 , Refereed
    Summary:We designed a new working robot. it was built on the basis of the concept "Limb Mechanism" that integrates functions of legged locomotion and arm manipulation. The developed robot has six limbs that can be used for both locomotion and manipulation. Omni-directional movements were attained by the characteristic hexagonal design of the robot. And to make omni-directional gait simply even on rough terrain, a trajectory generating method is proposed. Finally the gait control strategies are proposed.
  • Kinematic analysis of a translational 3-d.o.f. micro-parallel mechanism using the matrix method, Y Koseki, T Tanikawa, N Koyachi, T Arai, ADVANCED ROBOTICS, ADVANCED ROBOTICS, 16(3), 251 - 264, 2002
    Summary:In this paper, we applied the matrix method to kinematic analysis of our translational 3-d.o.f. micro-parallel mechanism for an instance of general flexure mechanisms. The matrix method has been well developed in architecture to analyze frame structures. We found that this method is well suited to such a flexure mechanism with circular notched hinges as our micro-parallel mechanism because it can be approximated to a Rahmen structure, Our matrix method can calculate a compliance matrix with less matrix nodes than the conventional finite element method. First, the compliance matrices of a circular notched hinge and some other beams are defined, and the coordinate transformations of the compliance matrix are introduced. Secondly, an analysis of our micro-parallel mechanism is demonstrated.
  • Planning walking patterns for a biped robot, Q Huang, K Yokoi, S Kajita, K Kaneko, H Arai, N Koyachi, K Tanie, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 17(3), 280 - 289, Jun. 2001
    Summary:Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. When the ground conditions and stability constraint are satisfied, it is desirable to select a walking pattern that requires small torque and velocity of the joint actuators. In this paper, we first formulate the constraints of the foot motion parameters. By varying the values of the constraint parameters, we can produce different types of foot motion to adapt to ground conditions. We then propose a method for formulating the problem of the smooth hip motion with the largest stability margin using only two parameters, and derive the hip trajectory by iterative computation. Finally, the correlation between the actuator specifications and the walking patterns is described through simulation studies, and the effectiveness of the proposed methods is confirmed by simulation examples and experimental results.
  • Mobile manipulation of limbed robots - Proposal on mechanism and control, K Inoue, T Arai, Y Mae, Y Takahashi, H Yoshida, N Koyachi, MOBILE ROBOT TECHNOLOGY, PROCEEDINGS, MOBILE ROBOT TECHNOLOGY, PROCEEDINGS, 101 - 106, 2001 , Refereed
    Summary:Two proposals on mobile manipulation of "limbed robots" -defined as robots which have both arms and legs-are described. 1) "Limb Mechanism", using one linkage for both legged locomotion and arm manipulation, enlarges arm's working space and augments arm's versatility in mobile manipulation. Based on this concept, a six-limb robot is developed. 2) Coordinating with the arm motion for performing objective tasks, the legs autonomously change some motion patterns such as standing and stepping; that enables dexterous, stable and efficient manipulation by the arms. This control method is applied to humanoid robots, which have two arms and two legs. Copyright (C) 2001 IFAC.
  • Force control system for autonomous micro manipulation, T Tanikawa, M Kawai, N Koyachi, T Arai, T Ide, S Kaneko, R Ohta, T Hirose, 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 610 - 615, 2001 , Refereed
    Summary:A dexterous micro manipulation system was developed for applications such as assembling micro machines, manipulating cells, and micro surgery. Ve have proposed a concept of a two-fingered micro hand, anti designed and built a prototype. We succeeded in performing basic micro manipulations, including the,grasp, release, and rotation of a microscopic object. The micro hand is controlled with a position control only. An operator has to guess a micro force on grasping from a behavior of object in a microscope image. The accurate micro manipulation depends on a skill of the operator Yet. For an easy manipulation and an automatic manipulation, it is necessary to measure the micro forces between the finger and the object. A micro force sensor has developed for a force control in micro manipulation on a corroboration research of Mechanical Engineering Laboratory and Olympus Optical Cooperation. Its resolution is 0.5 [nN] in theoretically. In this paper, we will mention the micro force sensor and to perform an automatic micro manipulation with installing the sensor and a force control. Basic experiment shows excellent micro capability.
  • Omni-directional mobility of limb mechanism robot, T Arai, Y Takahashi, H Maeda, Y Mae, K Inoue, N Koyachi, CLIMBING AND WALKING ROBOTS, CLIMBING AND WALKING ROBOTS, 635 - 642, 2001 , Refereed
    Summary:A new working robot has been designed and built on the basis of the concept "Limb Mechanism" that integrates functions of legged locomotion and arm manipulation, The developed robot has six limbs that can be used for both locomotion and manipulation. The six limbs are arranged on the vertices of a regular hexagonal body. This symmetrical structure allows the robot to generate gait trajectory in a simple manner even in a narrow environment since it has omni-directional mobility. To evaluate the omni-directional mobility, a stroke and a stability margin are examined in all walking directions during six-legged and four-legged locomotion. Two models are compared in this aspect, then the proto-type robot is designed and built, and finally the gait control strategies are proposed.
  • Kinematic analysis of translational 3-DOF micro parallel mechanism using matrix method, Y Koseki, T Tanikawa, N Koyachi, T Arai, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 786 - 792, 2000 , Refereed
    Summary:In this paper, we applied the matrix method to kinematic analysis of our translational 3-DOF (Degrees Of Freedom) micro parallel mechanism for an instance of general flexure mechanisms. The matrix: method has been well developed in architecture to analyze a frame structure. We found that this method is well applicable to such a flexure mechanism with circular notched hinges as our micro parallel mechanism because it is approximate to a Rahmen structure. Our matrix method can calculate a compliance matrix with less nodes of matrix than conventional FEM (Finite Element Method). Firstly, the compliance matrices of a circular notched hinge and some other beams are defined and the coordinate transformations of compliance matrix are introduced. Secondly, an analysis of our micro parallel mechanism is demonstrated.
  • Development of a spiral micro-structure for an active catheter, Y Koseki, N Koyachi, T Arai, ADVANCED ROBOTICS, ADVANCED ROBOTICS, 14(5), 407 - 409, 2000 , Refereed
  • Hybrid drive parallel arm and its motion control, H Kamishima, T Arai, K Yuasa, Y Mae, K Inoue, K Miyawaki, N Koyachi, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 516 - 521, 2000 , Refereed
    Summary:A hybrid cylinder/cable drive parallel arm and its motion control are discussed in this paper The basic idea of the hybrid parallel arm is to make Use Best we of mixture of the high power cable drive and the cylinder actuation to obtain a heavy-duty manipulator in construction and ship building applications. A prototype arm has been designed and built based on Use analysis and the comparative study of several types of hybrid drive mechanisms, Use Stewart platform, and a wire drive mechanism. The tension of wire has to be maintained properly in the hybrid mechanism during its motion. The proposed hybrid arm is a kind Of actuation-redundant mechanism and its internal force can be freely controlled. The proposed control algorithm is to give wires proper tension during its motion by exploiting the internal force. The required tension and cylinder force can be obtained by compensating each link position command based on its compliance. The repeatability tests show Use effectiveness of Use proposed algorithm in maintaining the overall stiffness of the arm.
  • Robotic assist for MR-guided surgery using leverage and parallelepiped mechanism, Y Koseki, K Chinzei, N Koyachi, T Arai, MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2000, MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2000, 1935, 940 - 948, 2000 , Refereed
    Summary:In this paper, we would propose a novel mechanism of surgical manipulator, which assists the surgeon in precise positioning and handling of surgical devices, like biopsy needle, endscope, in MR-guided surgery. This mechanism can transmit 3 translational and 3 rotational motion from the outside to the inside of MR imaging area using leverage and parallelepiped mechanism. Such a remote actuation is significantly helpful for robotic assist under MR-guided surgery because the strong magnet of MR denies the existence of magnetic and electric devices around imaging area. This mechanism also has merits of the mechanical safety and simple shape. The combination of stereotactic imaging and precise positioning would enable a less invasive surgery in brain and spine surgery.
  • Development of multi-limb robot with omnidirectional manipulability and mobility, Y Takahashi, T Arai, Y Mae, K Inoue, N Koyachi, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 2012 - 2017, 2000 , Refereed
    Summary:In order to develop a high performance working robot, we designed and developed a new robot based on the concept of "Limb mechanism "for integration of legged locomotion and arm manipulation The developed robot has six limbs which can be used for both locomotion and manipulation. Six limbs are set on vertices of regular hexagonal body so that this robot can have ominidirectional manipulability and mobility. We evaluated the stroke and the stability margin in all walking directions on six-legged and four-legged locomotion. As a result, this robot has higher omnidirectinal mobility than conventional mechanisms.
  • Development of a leg-wheel hybrid mobile robot "walk'n roll", H Adachi, N Koyachi, T Arai, A Halme, PROCEEDINGS OF THE ICMA'98 - ADVANCED MECHATRONICS: FIRST-TIME-RIGHT, VOLS 1 AND 2, PROCEEDINGS OF THE ICMA'98 - ADVANCED MECHATRONICS: FIRST-TIME-RIGHT, VOLS 1 AND 2, 145 - 154, 1998 , Refereed
    Summary:In this paper, a new locomotion system that combines legs and wheels is proposed. The system has merits such as fast locomotion on flat terrain and high adaptability for rough terrain. A prototype mobile robot that adopts the system was constructed. The robot has four legs, and a wheel is attached at the end of each leg. The front leg has three joints and a passive wheel. The rear leg has one joint and an active wheel. In order to make the best of the system, three locomotion modes are development, The first one is for smooth terrain locomotion using wheels, the second is for rough terrain using legs and wheels. The third one is for adapting a large step.
  • Symmetric damping bilateral control for parallel manipulators, P Huynh, Y Nakamura, T Arai, T Tanikawa, N Koyachi, 8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97, 8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97, 401 - 406, 1997 , Refereed
    Summary:A symmetric damping bilateral master-slave control scheme is proposed in order to enable the stable contact between the slave manipulator end-effector and the rigid environment. In the conventional force reflecting position control method, control loops in master and slave sides are connected to each other in series and that causes unstable motion when the slave manipulator contacts with rigid objects. The new method has more stable dynamic characteristic, since lag rime of the control loop is smaller due to the symmetric structure of the system. The master-slave system consists of two isomorphic parallel manipulators. Good features with parallel manipulator also improve the system stability. The stability of the proposed control method including the simple operator and object dynamics is analyzed by using the Hurwitz stability criterion and then compared with the conventional controller. Metal-to-metal contact and peg-in-hole experiments show practical and wide applicability of the control method.
  • Optimal velocity based control of a parallel manipulator with fixed linear actuators, P Huynh, T Arai, N Koyachi, T Sendai, IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3, IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3, 1125 - 1130, 1996 , Refereed
    Summary:High speed motion and positioning accuracy are the most important performance requirements of robot manipulators for the pick and place and assembly tasks. This paper focuses on the kinematic control system applied to a New Parallel Manipulator (NPM) with fixed linear direct drive actuators specially designed for high-speed trajectory applications. For this, an optimal velocity based cona ol method for high speed straight line trajectory of the NPM is proposed. The method is based on the maximum velocity zones analysis consisting of algebraic inequalities describing the constraints on the kinematics model. The proposed control algorithm is then implemented in off-line trajectory planning and in real time position servoing for kinematic control in the sense of achieving optimal trajectory performance. Digital PD control structure of the NPM is presented in order to satisfy, the requirements in the actual manufacturing automation. The experimental straight line trajectory is satisfactory controlled by a speed of 1.5m/s without considering degree of accuracy.
  • Human-operated walking control of a quadruped by event-driven method, H Adachi, N Koyachi, T Arai, Y Shinohara, IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3, IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3, 260 - 265, 1996 , Refereed
    Summary:This paper describes a walking control scheme for a quadruped robot. Irt conventional walking control scheme, the leg motion is generated from the robot moving trajectory beforehand, and it is difficult to control in real time. The proposed control scheme employs a real time command from a human operator instead of the moving trajectory. The operator gives a current planar moving velocity command to the robot. Body propulsive action is basically continued according with the command unless a problem arises. When afoot reaches the border of the work space of the leg, the body propulsive action is interrupted aid a supporting foot pattern is changed. That is, afoot arrival at the border is considered as an event to trigger an recovery action for the body propulsion. The recovery actions are decided to converge to the intermittent crawl gait when straight walking command is continued The proposed control scheme is evaluated using actual walking robot.
  • Design and control of hexapod with integrated limb mechanism: MELMANTIS, N Koyachi, T Arai, H Adachi, IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, 877 - 882, 1996 , Refereed
    Summary:This paper describes the mechanical design and basic control of a prototype hexapod with ''Integrated Limb Mechanism,'' named ''MELMANTIS.'' MELMANTIS uses a six-bar linkage with four degrees-of-freedom as an example of integrated limb mechanism with both advantages for leg and for arm. The kinematic analysis is done for mechanical design. Basic control program of MELMANTIS is developed to experiment simple walking motion and transformation from a leg into an arm.
  • Control of a manipulator mounted on a quadruped, H Adachi, N Koyachi, T Arai, K Nishimura, IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, 883 - 888, 1996 , Refereed
    Summary:This paper describes a control method of a manipulator mounted on a quadruped walking robot. One of the advantages of legged robots is the capability to change the body position and posture without changing the foot points. When a manipulator is mounted on a legged robot, it obtains extra motion from the body. By coordinating leg motion and manipulator motion, the end-effector has more sophisticated motion. When six degrees of freedom velocity command of the end-effector is supplied the proposed control method gives each joint velocity of the manipulator and the legs. This control method is experimentally evaluated using actual robot.
  • Six degrees of freedom position and posture control for a quadruped robot, H Adachi, T Arai, N Koyachi, K Homma, INTELLIGENT AUTONOMOUS VEHICLES 1995, INTELLIGENT AUTONOMOUS VEHICLES 1995, 133 - 138, 1995 , Refereed
  • Geometric design of hexapod with integrated limb mechanism of leg and arm, N KOYACHI, T ARAI, H ADACHI, K ASAMI, Y ITOH, IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3, IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3, 291 - 296, 1995 , Refereed
  • Hexapod with integrated limb mechanism of leg and arm, N KOYACHI, T ARAI, H ADACHI, K ASAMI, Y ITOH, PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, 1952 - 1957, 1995 , Refereed
  • ADAPTIVE GAIT FOR QUADRUPED WALKING ROBOT USING FORCE SENSOR, H ADACHI, N KOYACHI, T NAKAMURA, E NAKANO, INTELLIGENT AUTONOMOUS SYSTEMS : IAS-3, INTELLIGENT AUTONOMOUS SYSTEMS : IAS-3, 54 - 63, 1993 , Refereed
  • STAIR-CLIMBABLE HEXAPOD WALKING ROBOT (1ST REPORT - DESIGN AND CONTROL OF HEXAPOD WALKING ROBOT WITH FIXED GAIT, MELCRAB-1, AND DESIGN OF SELF-CONTAINED HEXAPOD WALKING ROBOT WITH SEMI-FIXED GAIT, MELCRAB-2), N KOYACHI, H ADACHI, T NAKAMURA, E NAKANO, JOURNAL OF MECHANICAL ENGINEERING LABORATORY, JOURNAL OF MECHANICAL ENGINEERING LABORATORY, 46(2), 94 - 112, Mar. 1992 , Refereed
    Summary:Two prototype hexapod walking robots were developed. One is called MELCRAB - 1, a hexapod walking robot with fixed gait, which is capable to go straight forwards or backwards over stair steps or rough terrains. The other is called MELCRAB - 2, a self contained hexapod walking robot with semi-fixed gait, which can go straight forwards and backwards on rough terrains including stairs and turn to the right or to the left. MELCRAB - 1 is one third scale size prototype for MELCRAB - 2, and they made the methodology of geometric design of hexapod walking machine for going up and down stairs. A special linkage mechanism was used to make the leg motion to walk on a flat floor. A new actuation category. "MDA: Motion Decoupled Actuation," was proposed additionally to "GDA: Gravitationally Decoupled Actuation." MELCRAB - 1 succeeded to go up and down stairs, and evidenced the MDA makes it easy to make control program adaptive to rough terrains. MELCRAB - 2 succeeded to be constructed as a self contained walking robot with DC motor actuator system powered by electric batteries. It owed to the effect to make the weight lighter by MDA.
  • PERFORMANCE EVALUATION OF WALKING ROBOTS THROUGH SIMULATION, T NAKAMURA, N KOYACHI, H ADACHI, JOURNAL OF MECHANICAL ENGINEERING LABORATORY, JOURNAL OF MECHANICAL ENGINEERING LABORATORY, 46(2), 268 - 283, Mar. 1992 , Refereed
    Summary:Technology on walking robots is high enough to be applied to various fields in unstructured environments. Simulation is an effective tool to develop the mechanism and control of robots. Although simulation techniques have been used by many researchers, these simulations have been confined to single motions of specific robots in specific environments. Therefore, a general purpose simulator for walking robots is required as a design tool for development of practical walking robots. Research on Evaluation Technology of Walking Robots has been conducted as a part of Advanced Robotics Projects. This paper presents a general and flexible method of simulation for evaluation of walking robots. It consists of two parts: The first part proposes a distributed algorithm for computation of forward and inverse dynamics of robots when constraints at feet and equations of motion are given. Constraint forces at joints and feet are included in the formulation to make it possible to decide the changes of constraints at feet as locomotion proceeds and to evaluate dynamic quantities of the mechanism. Also, a method to solve statically indeterminate problems which appear in inverse dynamics is proposed. The second part proposes a general computational method of interactions such as friction and collision between feet and environments. Three types of constraint for foot are taken into consideration: free, sliding and sticking constraints. The constraints are automatically changed based on the interference of the foot with the environment and its interacting forces. Simulation results are given to show the effectiveness using a prototype simulator developed in this research.

Conference Activities & Talks

  • Walk measurement and analysis by the rollator with a free rotational chest pad, ASHIDA Hiroaski, ABE Ryosuke, HUANG Jian, KOYACHI Noriho, HARADA Takashi, 2019 RSJ 37th Annual Conference,   2019 09 06
  • Development of a Rollator Equipped with an Active Driving Chest Pad, ASHIDA Hiroaki, HUANG Jian, KOYACHI Noriho, HARADA Takashi, 2019 JSME Conference on Robotics and Mechatronics,   2019 06 07
  • Rigid design and driving control of small 4-wheeled 4-legged robot, KASAHARA Hiroki, KOYACHI Noriho, 2019 JSME Conference on Robotics and Mechatronics,   2019 06 07
  • Robot design of the electric skateboard, NAKAO Kazuto, KOYACHI Noriho, 2019 JSME Conference on Robotics and Mechatronics,   2019 06 07
  • Position Control Based Impedance Control of Stewart Platform Aiming to a Multi Axis Load Test Device, TAGAMI Masaharu, KOYACHI Noriho, 2019 JSME Conference on Robotics and Mechatronics,   2019 06 07
  • Line-trace Robot for the Practice of Creative Challenge of Robotics., TOMOKUNI Nobuyasu, HUANG Jian, KOYACHI Noriho, SHIBATA Mizuho, TAGAMI Masaharu, 2019 JSME Conference on Robotics and Mechatronics,   2019 06 06
  • Walk analysis by the rollator with free rotational chest pad, ASHIDA Hiroaki, HUANG Jian, KOYACHI Noriho, HARADA Takashi, 2018 RSJ 36th Annual Conference,   2018 09 07
  • Analysis of steering mechanism of skateboard, NAKAO Kazuto, KOYACHI Noriho, 2018 JSME Conference on Robotics and Mechatronics,   2018 06 06
  • Design and Control of Small-scaled 4 wheeled and 4 legged Robot, KASAHARA Hiroki, KOYACHI Noriho, 2018 JSME Conference on Robotics and Mechatronics 2018,   2018 06 05
  • Development of a New Rollator with a Free Rotating Chest Pad Integrated with Multiple Sensors and Investigation of its Effectiveness on Walk Assistance, HUANG Jian, KOYACHI Noriho, 2017 IEEE International Conference on Robotics and Biomimetics,   2017 12 05
  • Evaluating the Assistance Effectiveness of a Newly Developed Rollator Mounted with a Freely Rotating Chest Support Pad, HUANG Jian, KOYACHI Noriho, 2016 IEEE International Conference on Robotics and Biomimetics,   2016 12 03
  • Proposal of a design technique of parallel links that focused on the single axis operation, TAGAMI Masaharu, KOYACHI Noriho, TAGUCHi Takao, JSME Dynamics and Design Conference 2015,   2015 08 25
  • Stair Overpass of Four Wheeled and Four Legged Flexible Personal Robot - Body pitch adapting to stairs and swing with shuffle -, KOYACHI Noriho, MARUYAMA Kenichi, MORIKAWA Yasushi, KAWAI Yoshihiro, TOMITA Fumiaki, RSJ 28th Annual Conference 2010,   2010 09 24

Misc

  • Semi-Autonomous Walking Based on Leg Transition at the Border of the Leg Work Space, ADACHI Hironori, KOYACHI Nohiro, ARAI Tatsuo, HOMMA Keiko, SHINOHARA Yoshihiro, NISHIMURA Ken-ichiro, Journal of the Robotics Society of Japan, 16, 3, 329, 336,   1998 04 15 , 10.7210/jrsj.16.329, http://ci.nii.ac.jp/naid/10007441469
    Summary:This paper describes a walking control scheme for a quadruped robot. In conventional walking control scheme, the leg motion is generated from the robot moving trajectory beforehand, and it is difficult to control in real time. The proposed control scheme employs a real time command from a human operator. The operator gives a current planar moving velocity command to the robot. Since the command in the future cannot be predicted, the scheme does not generate a periodic gait. Body propulsive action is basically continued according to the command unless a problem arises. When a foot reaches the border of the work space of the leg, the body propulsive action is interrupted, and a supporting foot pattern is changed according to the leg transition rule. That is, a foot arrival at the border is considered as an event to trigger an recovery action for the body propulsion. The actions are decided to converge to the intermittent crawl gait when straight walking command is continued. The proposed control scheme is evaluated using actual walking robot.
  • Integrated Kinematics for a Parallel Manipulator and a Leg Mechanism., 新井健生, 小谷内範穂, 安達弘典, 本間敬子, 日本ロボット学会学術講演会予稿集, 12th, 3, 841, 842,   1994 11 , http://jglobal.jst.go.jp/public/200902106808236286
  • Development of Excavation Robot for Underground Space. Motion Control for Four Legged Vehicle and Integration of Manipulation and Locomotion., 新井健生, 安達弘典, 本間敬子, 小谷内範穂, 中村達也, 建設ロボットシンポジウム論文集, 4th, 23, 30,   1994 07 , http://jglobal.jst.go.jp/public/200902116246702330
  • Development of a quadruped walking machine with free gait. 3rd report: Gait adaptive for the position of the center of gravity., 安達弘典, 小谷内範穂, 中村達也, 新井健生, 本間敬子, 中野栄二, 日本ロボット学会学術講演会予稿集, 8th, 1, 289, 290,   1990 11 , http://jglobal.jst.go.jp/public/200902065211875360
  • Integrated arm and leg mechanism and its kinematic analysis, T ARAI, N KOYACHI, H ADACHI, K HOMMA, PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, 1, 994, 999,   1995 , https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=0029206817&origin=inward
    Summary:The concept of 'limb mechanism' is proposed, consisting of several common link mechanisms which can be used for either arm or leg, selectively. Integrated kinematics is introduced for r legs and one arm mechanism. Based on the derived kinematics evaluation criteria are introduced in order to design mechanism itself as well as motion controller. Simulation results show how the proposed methods work effectively to analyze motion of integrated mechanism.
  • Integration of parallel arm and leg mechanism, T ARAI, H ADACHI, K HOMMA, N KOYACHI, IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3, 3, 285, 290,   1995 , https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=0029178870&origin=inward
    Summary:An excavation robot is required to build a large scale underground dome. The excavation robot is developed which is composed of a parallel manipulator and four leg locomotion machine. Although the parallel manipulator has a nice feature of producing large force required for the excavation, cooperative control should be considered to achieve effective excavation. This paper discusses integrated kinematics for r legs and parallel arm mechanism for analysis of the mechanism and its control. Based on the derived kinematics, evaluation criteria are introduced in order to design mechanism itself as well as motion controller. Numerical examples show how the proposed methods work effectively to analyze motion of the integrated mechanism.

Awards & Honors

  •   2020 05 , Robotics and Mechatronics Division, Japanese Society of Mechanical Engineers, Division Contribution Award
  •   2016 09 , Robotics Society of Japan, Fellow
  •   2010 12 , Organaizing Committee of MPES2010, Best Paper Award, Path Planning and Position Control for Autonomous Loading Operation by Wheel Loader
  •   2010 02 , manufacturing Science and Technology Center, Testimonial on IMS Center, Award for long term contribution on IMS Center
  •   2006 10 , OSARC 2006 Organizing Committee, Best Paper Award, Development of Autonomous System for Loading Operation by Wheel Loader

Research Grants & Projects

  • Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Development of a rollator with an active driving chest pad to promote walk