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TOMOKUNI Nobuyasu

    Department of Robotics　Lecturer
Last Updated :2024/04/19

Researcher Information

Degree

  • Ph.D.（Engineering)（2005/03 Yokohama National University）

URL

J-Global ID

Research Areas

  • Informatics / Mechanics and mechatronics

Published Papers

  • Nobuyasu Tomokuni
    Journal of Robotics and Mechatronics Fuji Technology Press Ltd. 34 (1) 47 - 53 0915-3942 2022/02 
    This paper presents a miniature motorcycle robot developed for the purpose of research on attitude control at the time of traveling and resting a motorcycle mobile body. The miniaturization has been achieved by developing a small board using MPU and FPGA as a controller. This motorcycle mobile robot has a mechanism featuring the use of an inertial rotor in addition to the steering mechanism of a common motorcycle. The use of the inertial rotor enables the balance to be maintained even at the time of rest. Using this function of being able to maintain balance even at the time of resting, we measured the effect of a steering operation on balance and successfully compared it with the theory. Furthermore, balanced traveling is achieved by using only an inertial rotor at a low speed and only steering at high speed.
  • Koyachi Noriho; Huang Jian; Tatsuno Junya; Shirai Atsushi; Shibata Mizuho; Tomokuni Nobuyasu; Tagami Masaharu; Matsutani Yuki
    Journal of Robotics and Mechatronics Fuji Technology Press Ltd. 34 (1) 6 - 9 0915-3942 2022 

    An outline of the Advanced Robotic Technology Research Center, Kindai University Fundamental Technology for Next Generation Research Institute is given. The research activities of the Advanced Robotic Technology Research Center are classified into the following five fields, field robotics, medical and welfare robot, dynamics controlled robot, soft-robotics, and parallel link robot.

  • Yuya Onozuka; Nobuyasu Tomokuni; Genki Murata; Motoki Shino
    ROBOMECH Journal Springer Science and Business Media LLC 7 (1) 2020/12 
    AbstractThe wheelchair is the major means of transport for elderly and physically disabled people in their daily lives. However it cannot overcome architectural barriers such as curbs and stairs. In this study, we developed an inverted-pendulum-type robotic wheelchair for climbing stairs. This wheelchair has a seat slider and two rotary links between the front and rear wheels on each side. When climbing stairs, the wheelchair rotates the rotary links while maintaining an inverted state of a mobile body by controlling the position of the center of gravity using a seat slider. In previous research, we confirmed that the wheelchair can climb by applying the control method consisting of a center-of-gravity control phase and rotary link control phase. However, it took approximately 15 s to rotate the rotary links during climbing because faster climbing causes the movement of wheels and the wheelchair to fall. This paper focuses on a control method to restrain the movement of the wheels when the stair climbing speed is increased. We realized that the movement was caused by forces acting on the pitch angle, such as the inertial force and the reaction of the driving force. We proposed the method considering the dynamic equilibrium of the pitch angle and confirmed the effect of the restraining wheels’ movement when the proposed method was applied.
  • Fall Avoidance Control of Wheeled Inverted Pendulum Type Robotic Wheelchair While Climbing Stairs
    Nan Ding; Motoki Shino; Nobuyasu Tomokuni; Genki Murata
    World Academy of Science, Engineering and Technology International Journal of Medical, Health, Biomedical, Bioengineering and Pharmaceutical Engineering 11 (4) 2017/03 [Refereed]
  • 黄 健; 岡 正人; 矢野 智昭; 小谷内 範穗; 樹野 淳也; 友國 伸保; 柴田 瑞穂
    近畿大学次世代基盤技術研究所報告 = Kindai University Research Institute of Fundamental Technology for Next Generation 近畿大学次世代基盤技術研究所 7 (7) 21 - 26 2185-8802 2016/07 
    1. センター活動
  • 黄 健; 岡 正人; 矢野 智昭; 小谷内 範穗; 樹野 淳也; 友國 伸保; 柴田 瑞穂
    近畿大学次世代基盤技術研究所報告 = Kinki University Research Institute of Fundamental Technology for Next Generation 近畿大学次世代基盤技術研究所 6 (6) 20 - 26 2185-8802 2015/06 
    1. センター活動
  • 黄 健; 岡 正人; 樹野 淳也; 友國 伸保; 柴田 瑞穂
    近畿大学次世代基盤技術研究所報告 = Kinki University Research Institute of Fundamental Technology for Next Generation 近畿大学次世代基盤技術研究所 5 (5) 20 - 23 2185-8802 2014/06
  • Nobuyasu Tomokuni; Motoki Shino
    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) IEEE 5367 - 5372 2153-0858 2012 [Refereed]
     
    In this paper, we describe the motion control for a personal mobility robot (PMR) that is a wheeled inverted pendulum vehicle. The structure of the PMR consists of a seat slider and two independent leg wheels attached on either side; this enables the driver to mount the PMR by changing the vehicle's height from the squatting position to the standing position. In addition, this structure can control the roll posture of the vehicle and thus prevent the PMR from toppling over because of a short tread. The seat slider facilitates a stable pitch posture with suitable control. We present an overview of the kinematic structure, three-dimensional dynamics model, and control method based on the linear-quadratic regulator (LQR), in order to achieve stable control of the PMR.
  • N Tomokuni; M Saiga; T Yabuta
    2005 5TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS IEEE 259 - 264 2164-0572 2005 [Refereed]
     
    This paper describes the design issues of distributed control system for compact humanoid robots. First, structure of distributed servo controller is proposed which is connected to a real-time serial interface. This servo-controller system has torque control function by improving a servo-controller of a conventional radio-control servomechanism. By use of this proposed distributed controller, a compact humanoid robot with 22 degrees of freedom is made which has compliance control function. Experimental results give good evidence of the proposed distributed controller architecture.
  • 友國 伸保; 藤堂勇雄; 藪田哲郎
    日本機械学会論文集Ｃ編 日本機械学会 71 (708) 920 - 927 2005
  • SAIGA Masaru; TOMOKUNI Nobuyasu; HUANG Jian; YABUTA Tetsuro
    Transactions of the Society of Instrument and Control Engineers The Society of Instrument and Control Engineers 141 (11) 939 - 941 0453-4654 2005 
    A compact humanoid named as "ALPHA" was developed with 22 conventional radio-control servomotors whose servocontrol systems were newly designed to add both torque control and sensing system. By use of these functions, compliance controls were applied to the humanoid legs so as to give soft stiffness to its joints. We examined jumping action and analysis of the humanoid although the jumping action of the humanoid is usually very difficult to be realized due to its body weight. The results show that the soft stiffness obtained by the proposed compliance control is very useful for impact absorption especially at the knee joints.
  • TOMOKUNI N.; SAIGA Masaru; YABUTA Tetsuro
    Transactions of the Japan Society of Mechanical Engineers. Series C. The Japan Society of Mechanical Engineers 71 (708) 2578 - 2585 0387-5024 2005 
    This paper describes a torque control servomechanism for small size robots. As a well known actuator for small size robot, a radio-control servomechanism has been used recently. These radiocontrol servomechanisms on the market has its position-controller inside. Robot system can use these servomechanisms as the open-loop type position servo system. Though, the controller has not the torque control ability which is essential function for robot system. Thus, we made a motor driver for the radio-control servomechanism which can control output torque by controlling current supplied to motor. In this paper, we confirm torque control function of the motor driver. Then, a small size humanoid was made up by use of the motor controller and radio-control servomechanisms, which has the torque control function. Experimental results show that smart compliance control can be realized. It gives softness of the robot movement, which such a small humanoid has not obtained yet.

Conference Activities & Talks

  • Image Presentation Area for Improving Convenience in Remote Control Using VR  [Not invited]
    Ryosuke NOMURA; Nobuyasu TOMOKUNI
    日本機械学会ロボティクス・メカトロニクス講演 会'23  2023/06
  • Controller Using A Small Linux Single Board Computer  [Not invited]
    Nobuyasu TOMOKUNI
    日本機械学会ロボティクス・メカト ロニクス講演会'23  2023/06
  • Inverted Two-Wheeled Mobile Robot with Changeable Moving Form - Development of inertia rotor for inverted control -  [Not invited]
    Nobuyasu TOMOKUNI
    日本機械学会ロボティクス・メカトロニクス講演 会'2３  2023/06
  • Design and Control of Small-scaled Dynamic Walking Quadruped Robot  [Not invited]
    Yuya OONISHI; Noriho KOYACHI; NobuyasuTOMOKUNI
    Robomech2022  2022/06
  • Motion Planning for a Two-Wheeled Mobile Robot with a Variable Mobile Configuration  [Not invited]
    Yukihiro KANEKO; Noriho KOYACHI; Nobuyasu; TOMOKUNI
    Robomech2022  2022/06
  • Design and Control of a Stair Climbing Robot with a Rotating Link Mechanism with Built-in Slider  [Not invited]
    Tsukasa YOSHIMURA; Ryo ISHIMARU; Nobuyasu TOMOKUNI; Noriho KOYACHI
    robomech2022  2022/06
  • Walking Control of a Small Biped Robot Using Raspberry Pi 4  [Not invited]
    Kousuke YOSHIGA; Nobuyasu TOMOKUNI; Noriho KOYACHI
    Robomech2022  2022/06
  • Image Presentation Method for Improving Convenience in Remote Control Using VR  [Not invited]
    Ryosuke NOMURA; Nobuyasu TOMOKUNI
    Robomech2022  2022/06
  • Design and Control of Small-scaled Dynamic Walking Quadruped Robot  [Not invited]
    Yuya OONISHI; Noriho KOYACHI; Nobuyasu; TOMOKUNI
    Robomech2021  2021/06
  • Posture stabilization measures considering behavioral characteristics of inverted pendulum type robotic with inexact parameters  [Not invited]
    Takehiro KITAHARA; Nobuyasu TOMOKUNI; Genki MURATA; Motoki SHINO
    Robomech2021  2021/06
  • Control simulation of front and rear two-wheeled robot  [Not invited]
    Yukihiro KANEKO; Noriho KOYACHI; Nobuyasu; TOMOKUNI
    Robomech2021  2021/06
  • Design and Control of Rotaly Link with Built-in Slider to improve inverted pendulum type robotic wheelchair with the ability to climb stairs  [Not invited]
    Ryo ISHIMARU; Nobuyasu TOMOKUNI; Noriho KOYACHI
    Robomech2021  2021/06
  • Control of a new stair climbing robot with a slider mechanism in a rotating link  [Not invited]
    Tsukasa YOSHIMURA; Nobuyasu TOMOKUNI; Noriho KOYACHI
    Robomech2021  2021/06
  • Measuring the environment with a depth camera using Raspberry Pi 4 and ROS2  [Not invited]
    Kousuke YOSHIGA; Nobuyasu TOMOKUNI; Noriho KOYACHI
    Robomech2021  2021/06
  • Manufacture of force plate for measuring the position of the center of gravity of a miniature bipedal robo  [Not invited]
    Shohei YANO; Nobuyasu TOMOKUNI; Noriho Koyachi
    Robomech2021  2021/06
  • 2輪倒立型階段対応車いすの重心推定  [Not invited]
    友國 伸保
    第34回日本ロボット学会学術講演会（RSJ2016）  2016/09
  • スライダ・脚車輪付き倒立2輪移動ロボットにおける外乱を考慮した倒立開始シーケンス  [Not invited]
    友國 伸保
    計測自動制御学会ＳＩ部門講演会SI2014  2015/12
  • A Development of Small-sized Realtime Controller with MCU and FPGA  [Not invited]
    TOMOKUNI Nobuyasu
    Robomec2015  2015/05
  • Stair Climbing Robot Based on Inverted Pendulum Mechanism with Seat Slider  [Not invited]
    TOMOKUNI Nobuyasu
    SI2014  2014/12
  • Control Design of a Inverted Pendulum Type Mobility with Leg-wheel and Slider  [Not invited]
    友國 伸保
    第12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  2012/12  京都  第12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
  • 友國 伸保; 小竹 元基
    IEEE/RJS International Conference on Intelligent Robots and Systems(IROS2012)  2012/10  ポルトガル  IEEE/RJS International Conference on Intelligent Robots and Systems(IROS2012)
     
    In this paper, we describe the motion control for a personal mobility robot (PMR) that is a wheeled inverted pendulum vehicle. The structure of the PMR consistsof a seat slider and two independent leg wheels attached on either side; this enables the driver to mount the PMR by changing the vehicle’s height from the squatting position to the standing position. In addition, this structure can control the roll posture of the vehicle and thus prevent the PMR from toppling over because of a short tread. The seat slider facilitates a stable pitch posture with suitable control. We present an overview of the kinematic structure, three-dimensional dynamics model, and control method based on the linear-quadratic regulator (LQR), in order to achieve stable control of the PMR.
  • Posture control of a two-leg-wheeled inverted-pendulum-type vehicle  [Not invited]
    友國 伸保; 小竹 元基; 鎌田
    日本機械学会ロボティクス・メカトロニクス講演会2009(robomec'09)  2009  日本機械学会（博多）  日本機械学会ロボティクス・メカトロニクス講演会2009(robomec'09)
  • Improving stability for a two-leg-wheeled inverted-pendulum-type vehicle equipped with a slider  [Not invited]
    友國 伸保; 小竹 元基; 鎌田
    日本機械学会第17 回交通物流部門大会講演論文集  2008  日本機械学会（川崎市）  日本機械学会第17 回交通物流部門大会講演論文集
  • Multi-Functional Active Caster Module for Distributed Actuation Devices  [Not invited]
    友國 伸保; 金 奉根; 谷川; 民生; 大場; 光太郎; 平井 成興
    SICE-ICASE International Joint Conference 2006  2006  韓国釜山BEXCO  SICE-ICASE International Joint Conference 2006

MISC

Industrial Property Rights

  • 特開2010-058604:移動体、倒立型移動体、及びその制御方法  2010/03
    友國 伸保, 小竹元基, 梶間日出輝, 仙波
  • 特開2010-058603:倒立車輪型移動体、及びその制御方法  2010/03
    友國 伸保, 小竹元基, 梶間日出輝, 仙波
  • 特開2007-193736:機能可変型ロボットシステムおよび機能可変型ロボット制御方法ならびに機能可変型ロボット制御プログラム  2007/08
    谷川 民生, 友國 伸保

Research Grants & Projects

  • 日本学術振興会：科学研究費助成事業
    Date (from‐to) : 2006 -2006 
    Author : 友國 伸保
     
    一般的な人間の生活環境下で作業を遂行するロボットには,多自由度かつ,ドア等の力学的拘束のある物体のハンドリングを行ったり,稼働中の周囲環境との予期しない接触等に対して柔軟に対応できる能力が必要である.このような力学的干渉を伴う作業を実現するためには,全身に動的な"しなやかさ"を持つロボットが必要である.平成18年度はこのようなコンパクトかつ"しなやかさ"を持つロボットを構成するためのハードウェアの開発を行った.開発したハードウェアは分散型小型モータコントローラと複数のモータコントローラを統合する小型ローカルコントローラである.開発したモータコントローラはFPGAを用い,電流からDCモータを用いたアクチュエータの出力トルクを計測・制御可能である.実際に設計,試作したハードウェアに対して性能確認を行い,PWM駆動の確認およびPWM駆動時の計測電流値の直線性を確認した.しかしながら,従来の通信プロトコルでは通信の容量および信頼性において不足が認められたため,今後これらの問題点を解決するために改良型の通信プロトコルの設計を行う.また,本モータコントローラを用いた場合のアクチュエータ全体の性能を確認するため,モータ制御性能を確認するための計測装置を新たに製作した.本計測装置は高分解能エンコーダ,パウダブレーキ,トルクセンサから構成され,モータの静特性だけでなく動特性をも計測可能とするものである.今後はこれまでに試作したハードウェアを用いて,通信プロトコルおよび電流制御を行うためのソフトウェアの開発,アクチュエータ全体での性能の確認を行ない,更に複数アクチュエータを用いたシステムへの動力学適用の問題を扱っていく.

Teaching Experience

  • Manufacture EngineeringManufacture Engineering Kindai University

Other link

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