Yoshihiro Nakata

Yoshihiro Nakata
The University of Electro-Communications | UEC

Ph. D. (Engineering)

About

55
Publications
3,080
Reads
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149
Citations
Citations since 2016
37 Research Items
118 Citations
20162017201820192020202120220510152025
20162017201820192020202120220510152025
20162017201820192020202120220510152025
20162017201820192020202120220510152025
Introduction
Skills and Expertise
Additional affiliations
August 2013 - October 2016
Osaka University
Position
  • Professor (Assistant)

Publications

Publications (55)
Article
Full-text available
Synchronization between humans is often observed in our daily lives, for example in breathing, in hand clapping in crowds, and in walking. It has been reported that pedestrian gait synchronization maximizes walking flow efficiency. As increasingly more mobile robots are being developed for practical use, it is important to consider how robots may i...
Article
Full-text available
When a person uses a single modality to obtain information from multiple sources, the modality experiences resource competition, affecting perception. To avoid such human resource conflicts, we investigated whether a person could multitask efficiently by using tactile perception instead of visual perception to recognize the robot in a scenario wher...
Article
Full-text available
This paper investigates the influence of adding an upper body to a bipedal robot on its stable walking behavior. The robot’s parts are mutually interconnected through an actuator network system. Therefore, the movement pattern of the upper body depends on the type of interactions created with other limbs. Throughout the experiments, various interac...
Article
Robots are required to be significantly compliant and versatile to work in unstructured environments. In a number of studies, robots have positively exploited the environments during interactions and completed tasks from a morphological viewpoint. Modular robots can help realize real-world adaptive robots. Researchers have been investigating the ac...
Article
Full-text available
Humans can express their emotions with not only facial expressions or gestures but also whole-body motion, even while walking, which are essential for our interpersonal relationships and our interaction with others. Communication with people is also considered an important task for robots, however emotional expressions by wheeled mobile humanoid ro...
Article
Expressing emotions through various modalities is a crucial function not only for humans but also for robots. The mapping method from facial expressions to the basic emotions is widely used in research on robot emotional expressions. This method claims that there are specific facial muscle activation patterns for each emotional expression and peopl...
Article
Full-text available
In this paper, we present an electrically driven childlike android named ibuki equipped with a wheeled mobility unit that enables it to move in a real environment. Since the unit includes a vertical oscillation mechanism, the android can replicate the movements of the human center of mass and can express human-like upper-body movements even when mo...
Article
Full-text available
We propose a new wearable agent“, FinU (Friend in You)”, based on the hypothesis that inducing social facilitation effect, i.e., the effect of having other agents around to increase the task performance, is possible, even for wearable agents with a single sensory modality, by establishing beliefs about the agent in advance. Our agent system, FinU,...
Article
Full-text available
Feed screws are used in various industrial machines and robots to convert rotational motions into linear motions. Mechanical screws, such as ball screws and slide screws, transmit force via frictional contacts through which noise and heat are being generated; thus, the drive efficiency is decreased. To address these problems, we have proposed some...
Article
We, humans, have an instinct of a social nurturing of children. We are researching a robot system that can gather and process necessary information effectively in the real world with the help of people. By using an android with a child-like appearance, the system might keep eliciting active involvement from the human side, just like an adult takes...
Article
Full-text available
In diverse situations, humans produce natural and adaptable bipedal locomotion by cooperatively manipulating the interactions among the different parts of their bodies and the environment. Therefore, to realize a robot with adaptable behavior, it should be enabled to adjust its morphology accordingly in response to environmental changes. From this...
Article
Full-text available
Realizing adaptability to environmental changes requires the robot’s body to change according to the environment. From this perspective, several studies have considered variable compliant actuation to change the physical characteristics of the robot as it interacts with the environment. Robots with this ability show a variety of efficient stable mo...
Article
Force-controllable actuators are essential for guaranteeing safety in human-robot interactions. Magnetic lead screws (MLSs) transfer force without requiring contact between parts. These devices can drive the parts with high efficiency and no frictional contact, and they are force limited when overloaded. We have developed a novel MLS that does not...
Article
This paper describes the rotation angle sensorless drive of a helical teethed linear actuator (HTLA) for artificial muscle. The position control with vector controller is required the linear and rotary position of the mover of the HTLA. However, to simultaneously measurement the linear and rotary signals is required complicated structure. The propo...
Article
Android robots: humanoids with realistic human appearance can serve as a telecommunication medium (teleoperated humanoids). We have anticipated that if teleoperated humanoids acquired with not only their human appearances, but also an ability of to realize human-like head motions, the telecommunication and the system operability through androids wo...
Article
Humanoids are being applied into society gradually in the aspect of human–robot interaction recently. The human spine plays an important role when performing natural human upper body postures. However, most of the humanoids only show tense body postures due to the limitations of their simple mechanical structures. We investigated that the human nat...
Article
This paper presents a novel magnetic lead screw actuator without helical permanent magnets. Magnetic lead screw actuator is high efficiency due to its non-contact transmission. It is expected to be applicable to interactive robots with human because of its compliance to external forces. The proposed actuator has simple structure comparing to the co...
Article
Recently, robots are expected to support actions performed in a real-life environment in our daily lives. However, robots encounter several interferences while performing physical interactions, such as shaking hands, hugging, and holding various objects. Therefore, it is difficult for the robots to perform such actions flexibly owing to the unexpec...
Article
This paper presents a shoulder joint for a human-like robotic arm. This joint mechanism is composed of two ball joints laying back to back and the range of motion is larger than that of a usual ball joint. Since the joint is driven by the mutually inter-connected air cylinders, the control signal can be operated equally with a normal ball joint sho...
Article
This paper presents a shoulder joint for a human-like robotic arm. This joint mechanism is composed of two ball joints laying back to back and the range of motion is larger than that of a usual ball joint. Since the joint is driven by the mutually inter-connected air cylinders, the control signal can be operated equally with a normal ball joint sho...
Article
Adaptive locomotion is crucial for robots that move across rough terrain and variable ground surfaces to complete various tasks [1]. Recent advances in numerical computation allow robots to operate in real environments by using complex control frameworks based on precise models of the robots' bodies and surroundings. However, it is not always feasi...
Article
Under the effects of surroundings such as gravitational force, ambient temperature, and chemical substances, each animal has acquired an optimized body structure through its evolution. For example, vertebrate land animals have a sophisticated musculoskeletal structure including not only monoarticular muscles but also multiarticular muscles to suppo...
Article
This paper presents a cervical mechanism for human-like head motion of androids and evaluation of its tele-operability. The developed mechanism has a structure with multistage plates similar to the human cervical spine. We built a tele-operation system on which an operator can operate the robot ’s head based on his/her motion and look at its surrou...
Article
Recently, robots are expected to work alongside humans in our daily environment. To realize a safe physical interaction between the robot and its surroundings, the robot must be able to control the flexibility at the end effector to external forces. We have developed a humanlike musculoskeletal robotic arm “ HUMA ”as a robot platform for the physic...
Conference Paper
In a real environment, robots must handle contact with various objects. However, it is hard to model the contacts in advance, since there are a huge variety of objects in our daily lives. Humans have the ability to handle such physical interactions in daily life and such an ability is realized by adapting the physical characteristics produced by th...
Article
Recently, robots are expected to work in real environment to support our daily lives. However, there are a lot of disturbances in such a environment. A robot with many degrees of freedom might be beneficial in coping with various disturbances in a real environment, because it can generate many kinds of motion. However, because of its complicated st...
Article
Recently, robots are expected to work alongside humans in our daily environment. To realize a safe physical interaction between the robot and its surroundings, the robot must be able to control the flexibility at the end effector to external forces. In this research, a 2-link robotic arm with a biarticular muscle mechanism using an air cylinder was...
Article
Recently, robots are expected to support our daily lives in real environments. In such environments, however, there are a lot of obstacles and the motion of the robot is affected by them. In this research, we develop a musculoskeletal robotic arm and a system identification method for coping with external forces while learning the dynamics of compl...
Conference Paper
To achieve a realistic task by a recent complicated robot, a practical motion planning method is important. Especially in this decade, sampling-based motion planning methods have become popular thanks to recent high performance computers. In sampling-based motion planning, a graph that covers the state space is constructed based on reachability bet...
Article
In this research, we propose a 2DOF joint of quadruped robot that can dislocate to protect the robot from overload. Proposed 2DOF joint can dislocate with excess load from arbitrary orientation. The design specification is determined by motion analysis of a dog. By using this 2DOF dislocatable joint, we designed a leg of quadruped robot. The Struct...
Article
Under the influences from the environment, each animal has acquired an optimized body structure by evolutionary developmental process. For example, vertebrate land animals have sophisticated musculoskeletal structure possessing not only monoarticular muscles but also multiarticular muscles against the force of gravity. Many researchers have been de...
Article
In this paper, we developed a new human-like robotic upper limb with large working area thanks to the novel robotic shoulder using a double joint mechanism. This joint mechanism is composed of two ball joints driven by the pneumatically connected linear actuator pairs to enlarge the range of motion compared to a simple ball joint while keeping the...
Conference Paper
We have been studying small sized direct-drive electromagnetic linear actuators and their control method. These actuators were able to emulate the viscoelastic characteristics of the human muscle by PD position control to respond to external forces flexibly. However, their thrust force was not enough in order to apply to legs and shoulders of robot...
Article
The compliance of muscles with external force and the structural stability given by biarticular muscles are important features of animals for realizing dynamic whole-body motion such as running and hopping in various environments. For this reason, we have been studying an electromagnetic linear actuator. This actuator emulates the behavior of a hum...
Article
Development of mechanisms for robots in daily life to realize safe human-robot interaction is important issue of robotics. Humans have two important mechanisms to move in various environments while coping with unexpected disturbances. One is the compliance of muscles, and the other is the biarticular muscle. These mechanisms seem to be necessary to...
Conference Paper
The compliance of muscles with external forces and the structural stability given by biarticular muscles are important features of animals to realize dynamic whole body motions such as running and hopping in various environments. For this reason, we have been studying an electromagnetic linear actuator. This actuator can emulate the behavior of a h...
Article
We have been studying an interior permanent magnet linear actuator as an artificial muscle. This actuator has long stroke, high response and large thrust using interior permanent magnets effectively and can emulate the spring-dumper characteristics of a human muscle by quick control of the output force, i.e. impedance control. In this paper, we dev...
Article
We have been studying an interior permanent magnet linear actuator as an artificial muscle. This actuator has long stroke, high response and large thrust using interior permanent magnets effectively and can emulate the spring-dumper characteristics of a human muscle by quick control of the output force, i.e. impedance control. In this paper, we dev...
Article
We have been studying an interior permanent magnet linear actuator for an artificial muscle. This actuator mainly consists of a mover and stator. The mover is composed of permanent magnets, magnetic cores and a non-magnetic shaft. The stator is composed of 3-phase coils and a back yoke. In this paper, the dynamic analysis method under PID control i...
Article
For realizing androids that have very humanlike mechanisms and movements, they have been developed by using pneumatic actuators. However, pneumatic actuators require a large and powerful air compressor and controlling them is difficult. Therefore, we have been studying a new linear actuator with interior permanent magnet mover for androids. This ac...

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