Rover Wheel Assistive Grouser Shape Effects on Traction Force in Flat Soft Terrain
I. N. A. C. Aziz; A. N. Ibrahim; I. Basri; Y. Fukuoka, ラスト(シニア)オーサー, IEEE
2023 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS), 2023年07月31日, ［査読有り］
Rover Wheel Assistive Grouser Angle of Attack Effects on Traction Force in Soft Terrain
I. N. A. C. Aziz; A. N. Ibrahim; I. Basri; Y. Fukuoka, ラスト(シニア)オーサー, IEEE
Proc. of the 19th IEEE International Colloquium on Signal Processing & Its Applications (CSPA), 2023年04月, ［査読有り］
Mechanical designs for field undulatory locomotion by a wheeled snake-like robot with decoupled neural oscillators
Y. Fukuoka; K. Otaka; R. Takeuchi; K. Shigemori; K. Inoue, 筆頭著者, IEEE
IEEE Transactions on Robotics, 2023年04月, ［査読有り］
Effect of cortical extracellular GABA on motor response
O. Hoshino; M. Zheng and Y. Fukuoka, ラスト(シニア)オーサー, Springer
Journal of Computational Neuroscience, 2022年06月, ［査読有り］
Pace running of a quadruped robot driven by pneumatic muscle actuatorsY. Fukuoka; R. Komatsu; K. Machii; M. Yokota; M. Tobe; A. N. Ibrahim; T. Fukui; Y. Habu, 筆頭著者, Our goal is to design a neuromorphic locomotion controller for a prospective bioinspired quadruped robot driven by artificial muscle actuators. In this paper, we focus on achieving a running gait called a pace, in which the ipsilateral pairs of legs move in phase, while the two pairs together move out of phase, by a quadruped robot with realistic legs driven by pneumatic muscle actuators. The robot is controlled by weakly coupled two-level central pattern generators to generate a pace gait with leg loading feedback. Each leg is moved through four sequential phases like an animal, i.e., touch-down, stance, lift-off, and swing phases. We find that leg loading feedback to the central pattern generator can contribute to stabilizing pace running with an appropriate cycle autonomously determined by synchronizing each leg’s oscillation with the roll body oscillation without a human specifying the cycle. The experimental results conclude that our proposed neuromorphic controller is beneficial for achieving pace running by a muscle-driven quadruped robot., MDPI
Applied Sciences, 2022年04月20日,
［査読有り］ Negotiating Uneven Terrain by a Simple Teleoperated Tracked Vehicle with Internally Movable Center of Gravity
Y. Fukuoka; K. Oshino; A. N. Ibrahim, 筆頭著者, MDPI
Applied Sciences, 2022年01月05日, ［査読有り］
Gait Transition from Pacing by a Quadrupedal Simulated Model and Robot with Phase Modulation by Vestibular Feedback
T. Fukui; S. Matsukawa; Y. Habu and Y. Fukuoka, ラスト(シニア)オーサー, MDPI
Robotics, 2021年12月25日, ［査読有り］
Autonomous speed adaptation by a muscle-driven hind leg robot modeled on a cat without intervention from brain
Y. Fukuoka; Y. HABU; K. Inoue; S. Ogura and Y. Mori, 筆頭著者, SAGE
International Journal of Advanced Robotic Systems, 2021年09月01日, ［査読有り］
脊髄神経系に基づくネコの後脚シミュレーションモデルによる自律歩様調節
羽部 安史; 石原 淳也; 井上 晃汰; 小倉 聡司; 福岡 泰宏, ラスト(シニア)オーサー
日本機械学会論文集（C編）, 2020年10月25日, ［査読有り］
Three-dimensional walking of a simulated muscle-driven quadruped robot with neuromorphic two-level central pattern generators
Yasushi Habu; Keiichiro Uta; Yasuhiro Fukuoka, 責任著者, SAGE
International Journal of Advanced Robotic Systems, 2019年11月, ［査読有り］
Autonomous Gait Transition and Galloping over Unperceived Obstacles of a Quadruped Robot with CPG Modulated by Vestibular Feedback
Fukui, T; Fujisawa, H; Otaka, K; Fukuoka, Y, 責任著者, Elsevier
Robotics and Autonomous Systems, 2019年01月, ［査読有り］
Paceを基本歩容とする4脚ロボットのための自律歩容遷移手法
福井 貴大・松川 宗一郎・福岡 泰宏, 責任著者
日本機械学会論文集（Ｃ編）, 2019年, ［査読有り］
Development of a Standing Style Transfer System ABLE with Novel Crutches for a Person with Disabled Lower LimbsY. Mori; T. Taniguchi; K. Inoue; Y. Fukuoka; N. Shiroma, A standing style transfer system, ABLE, is designed to assist a person with disabled lower limbs to travel in a standing position, to stand up from and sit down in a chair, and to go up and down steps. The ABLE system comprises three modules: a pair of telescopic Lofstrand crutches, a powered lower extremity orthosis, and a pair of mobile platforms. In this paper, the telescopic Lofstrand crutch is mainly discussed. This crutch has no actuator, and its length is switched between two levels; it assists the person when standing up and sitting down in the short length state, while it maintains the body stability in a standing position when traveling in the long length state. The experimental results related to the traveling in the standing position and standing up motion confirm the design's effectiveness., The Japan Society of Mechanical Engineers
Journal of System Design and Dynamics, 2011年,
［査読有り］ Dynamic Locomotion of Quadrupeds “Tekken3&4” Using Simple Navigation
Fukuoka, Y; Katabuchi, H; Kimura, H, 筆頭著者
Journal of Robotics and Mechatronics, 2010年, ［査読有り］
車体屈折式操向車両の非線形直線経路追従制御
城間 直司,石川 哲史,井上 康介,福岡 泰宏,森 善一
日本機械学会論文集（Ｃ編）, 2010年, ［査読有り］
同一機構で歩行・走行する４脚ロボット福岡泰宏・木村浩, 筆頭著者, Many quadruped walking robots and running robots have been so far developed, but it is very difficult for a robot with fixed mechanism to walk and run. Our quadruped robot 'Tekken' has been able to walk dynamically by walking and trotting gait. It has a local virtual spring-damper system of which we can adjust the parameters of the stiffness. By enhancing the parameter of the system further, we succeeded in making the same mechanism robot run as well as walk. In this paper, we show the experimental result of bouncing with Tekken., 一般社団法人 日本機械学会
日本機械学会論文集（Ｃ編）, 2009年,
［査読有り］ ４足ロボットの生物規範型不整地適応動歩行－自立型「鉄犬２」による屋外歩行の実現－福岡泰宏・木村浩, 筆頭著者, We describe efforts to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We so far reported our experimental results of dynamic walking on terrains of medium degrees of irregularity with a planar quadruped robot "Patrush" and a three-dimensional quadruped robot "Tekkenl". What we discussed and experimentally examined in those studies was how to design sensorimotor coordination system for adaptive dynamic walking. In this paper, we make the definition of biologically inspired control and summarize how to construct the neural system while introducing the nervous system of animals, relating studies on computational neuroscience and robotics, and our former studies using Patrush and Tekkenl. We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and design the mechanical system and the neural system by comparing biological concepts with those necessary conditions described in physical terms. PD-controller at joints constructs the virtual spring-damper system as the visco-elasticity model of a muscle. The neural system model consists of a CPG (central pattern generator), reflexes and responses. We add several new reflexes and responses in order to satisfy the necessary conditions for stable dynamic walking in outdoor environment. We validate the effectiveness of the proposed neural system model control by making a self-contained quadruped robots called "Tekkenl" walk on natural ground. Consequently, we successfully propose the method to integrate CPGs and sensory feedback for adaptive dynamic walking of a quadruped., The Robotics Society of Japan
日本ロボット学会誌, 2007年,
［査読有り］ 神経振動子を用いた４足歩行ロボット「鉄犬４」による不整地動的旋回運動の実現
福岡泰宏・木村浩, 筆頭著者
日本機械学会論文集（Ｃ編）, 2006年, ［査読有り］
４足ロボットの生物規範型不整地適応動歩行-体性感覚・前庭感覚による調節-福岡泰宏・木村浩, 筆頭著者, We are trying to induce a quadruped robot to walk dynamically on irregular terrain by using a nervous system model. In this paper, we integrate several reflexes such as stretch reflex, vestibulospinal reflex, and extensor and flexor reflex into CPG (Central Pattern Generator) . We try to realize adaptive walking up and down a slope of 12 degrees, walking over an obstacle 3 [cm] in height, and walking on terrain undulation consisting of bumps 3 [cm] in height with fixed parameters of CPG and reflexes. The success in walking on such irregular terrain in spite of stumbling and landing on obstacles shows that the biologically inspired control proposed in this study has an ability of autonomous adaptation to unknown irregular terrain., The Robotics Society of Japan
日本ロボット学会誌, 2001年,
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