Developmental Cognitive Machines Laboratory

Research Achievements

１．Journals

• Kojiro Matsushita, Hiroshi Yokoi, Tamio Arai: Plastic-Bottle-Based Robots in Educational Robotics Courses -Understanding Embodied Artificial Intelligence-, Journal of Robotics and Mechatronics, Vol.19, No.2, (2007 (採録決定済，4月に出版))
• Kojiro Matsushita, Hiroshi Yokoi, Tamio Arai: Pseudo-Passive Dynamic Walkers Designed by Coupled Evolution of Controller and Morphology, Robotics and Autonomous Systems, Vol. 54, Issue 8, pp.674-685, (2006)
• Chee Siong Loh, Hiroshi Yokoi, Tamio ARAI: Natural Heat-Sinking Control Method for Fast Actuation of the SMA, International Journal of Advanced Robotics Systems, Vol.3, No.4, pp.303-312, (2006)
• Kahori Kita, Ryu Kato, Hiroshi Yokoi, Tamio Arai: Analysis of Skill Acquisition Process -A Case Study of Arm Reaching Task-, Journal of Robotics and Autonomous System (投稿中, 2007)
• Ryu Kato, Hiroshi Yokoi, Alejandro Hernandez Arieta, Takashi Ohnishi, Wenwei Yu, Tamio Arai: Mutual Adaptation among Man and Machine by Using f-MRI Analysis, Journal of Robotics and Autonomous System (投稿中, 2007)
• Alejandro Hernandez Arieta, Ryu Kato, Hiroshi Yokoi, Wenwei Yu: Development of a multi-DOF electromyography prosthetic system using the adaptive joint mechanism, Applied Bionics and Biomechanics, Vol.3, No.2, pp.101-111, (2006)
• 横井浩史, “アメーバ状ロボットの駆動と制御”, 機械の研究，養賢堂, pp1129-1139, (2006)
• Yuko Ishikawa, Tomohiro Yoshida, Hiroshi Yokoi and Yukinori Kakazu: An Approach to the Piano Mover's Problem Using Hierarchic Reinforcement Learning, IEICE TRANSACTIONS on Information and Systems, Vol. E87-D No. 8 pp. 2106-2113, (2004)
• Hiroshi Yokoi, Alejandro Hernandez Arieta, Ryu Katoh, Wenwei Yu, Ichiro Watanabe, and Masaharu Maruishi: Mutual Adaptation in a Prosthetics Application, Embodied Artificial Intelligence, Springer verlag, pp.146-159, (2004)
• Hiroshi Yokoi, Max Lungarella, Miriam Fend, and Rolf Pfeifer Artificial Whiskers: Structural Characterization and Implications for Adaptive Robots, Journal of Robotics and Mechatronics, Vol.17 No.5, pp.584-595, (2005)
• Hiroshi Yokoi, Andy Adamatzky, Ben De Lacy Costello, Chris Melhuish, Excitable Chemical Medium Controller for a Robotic Hand: Closed-Loop Experiments, International Journal of Bifurcation and Chaos, Vol.14, No.9, World Scientific Publishing Company, pp.3347-3354, (2004)
• Satoshi Kawai, Keitaro Naruse, Hiroshi Yokoi, and Yukinori Kakazu , An Analysis of Human Motion for Control of a Wearable Power Assist System, Journal of Robotics and Mechatronics Vol.16 No.3 Jun. 2004, Special Issue on Selected Papers from ROBOMEC'03 (II), Fuji Technology Press Ltd, pp.237-244, (2004)
• Ikuo Suzuki, Masaru Fujii, Keitaro Naruse, Hiroshi Yokoi, and Yukinori Kakazu, Acquisition of Adaptive Behavior for the SMA-Net Robot Using Chaotic Neural Networks, Journal of Robotics and Mechatronics Vol.16 No.4, Fuji Technology Press Ltd , pp.411-419, (2004)
• Keitaro Naruse, Satoshi Kawai, Hiroshi Yokoi, and Yukinori Kakazu, Design of Wearable Power-Assist Device for Lower Back Support, Journal of Robotics and Mechatronics Vol.16 No.5, Fuji Technology Press Ltd , pp.489-496, (2004)
• Wenwei Yu, Ryu Kato, Fukuda Fabio, Hiroshi Yokoi, Yukinori Kakazu: An EMG keyboad for forearm amputees, Applied Bionics and Biomechanics 2003: I(1) pp.33-43.(2003)
• 牧野勤，成瀬継太郎，横井浩史，嘉数侑昇, “ポテンシャル場によるエージェントの協調作業の導入に関する研究”, 情報処理学会論文誌:数理モデル化と応用, Vol.44, No.SIG7, pp. 69-81, (2003)
• Hiroshi Yokoi, Takashi Nagai, Takashi Ishida, Masaru Fujii, and Takayuki Iida: Amoeba-like Robots in the Perspective of Control Architecture and Morphology/Materials, Springer-Verlag, Morpho-functional Machines: The New Species, pp.99-129, (2003), ISBN4-431-70333-0.

２．International conferences with review

• Kojiro Matsushita, Hiroshi Yokoi, Tamio Arai: Investigation of Reality Constraints: Morphology and Controller of Two-Link Legged Locomotors for Dynamically Stable Locomotion, LNCS4095: From Animals to Animats 9, Springer, ISBN 978-3-540-38608-7, pp.101-112, (2006)
• Kojiro Matsushita, Hiroshi Yokoi, Tamio Arai: Robotics in Education: Plastic Bottle Based Robots for Understanding Morph-Functionality, The 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN06), pp.62-667, (2006)
• Kojiro Matsushita, Hiroshi Yokoi, Tamio Arai: Designing Dynamical Stable Locomotors Across the Reality Gap, Proceedings of the 50th Anniversary Summit of Artificial Intelligence, pp.203-204, (2006)
• Kojiro Matsushita, Hiroshi Yokoi, Tamio Arai: Analysis of Dynamical Locomotion of Two-Link Locomotors, The 9th International Conference on Intelligent Autonomous Systems 9 (IAS-9), IOS Press, ISBN 1-58603-595-9, pp.574-581, (2006)
• Chee Siong Loh, Kojiro Matsushita, Hiroshi Yokoi, Tamio Arai: A New Heating Method for the Actuation of the Shape Memory Alloy (SMA) Actuator, The 9th International Conference on Intelligent Autonomous Systems 9 (IAS-9), IOS Press, ISBN 1-58603-595-9, pp.839-846, (2006)
• Chee Siong Loh, Hiroshi Yokoi, Tamio Arai: New Shape Memory Alloy Actuator: Design and Application in the Prosthetic Hand, IEEE 2005 International Conference of the Engineering in Medicine and Biology Society (EMBC 2005), pp.929-932, (2005)
• Alejandro Hernandez Arieta, Ryu Kato, Hiroshi Yokoi, Takashi Ohnishi, Tamio Arai: An fMRI Study on the Effects of Electrical Stimulation as Biofeedback, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006), pp 4336-4342, (2006)
• Alejandro Hernandez Arieta, Hiroshi Yokoi: The Man-Machine Interaction: FMRI Study for an EMG Prosthetic Hand with Biofeedback, Proceedings of 50th Anniversary Summit of Artificial Intelligence, pp.101-102, (2006)
• Alejandro Hernandez Arieta, Wenwei Yu, Hiroshi Yokoi, Tamio Arai: A fMRI study of the Cross-Modal Interaction in the Brain with an Adaptable EMG Prosthetic Hand with Biofeedback, IEEE 2006 International Conference of the Engineering in Medicine and Biology Society (EMBC 2006), pp.1280-1284, (2006)
• Alejandro Hernandez Arieta, Hiroshi Yokoi, Takashi Ohnishi, Tamio Arai: An f-MRI Study of an EMG Prosthetic Hand Biofeedback System, The 9th Intelligent Autonomous Systems 9 (IAS-9), IOS Press, ISBN 1-58603-595-9, pp.921-929, (2006)
• Ryu Kato, Hiroshi Yokoi, Arai Tamio: Real-time learning method for Adaptable motion-discrimination using surface EMG signal, Proceedings of the 2006 IEEE/RSJ International conference on Intelligent Robots and Systems (IROS2006) , pp.2127-2132, (2006)
• Ryu Kato, Alejandro Hernandez Arieta, Kojiro Matsushita, Hiroshi Yokoi: Acquirement of Body Schema using Intelligent EMG Prosthetic Hand, Proceedings of 50th Anniversary Summit of Artificial Intelligence, pp.187-188, (2006)
• Ryu Kato, Tetsushiro Fujita, Hiroshi Yokoi and Tamio Arai: Adaptable EMG Prosthetic Hand using On-line Learning Method -Investigation of Mutual Adaptation between Human and Adaptable Machine, The 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN06), pp.599-604, (2006)
• Ryu Kato, Hiroshi Yokoi, Tamio Arai: Competitive Learning Method for Robust EMG-to-Motion Classifier, The 9th International Conference on Intelligent Autonomous Systems 9 (IAS-9), IOS Press, ISBN 1-58603-595-9, pp.946-953, (2006)
• Kahori Kita, Ryu Kato, Hiroshi Yokoi, Tamio Arai: Development of Autonomous Assistive Devices -Analysis of change of human motion patterns-, 2006 IEEE International Conference on Systems, Man, and Cybernetics (SMC2006) , pp.316-321, (2006)
• Kahori Kita, Ryu Kato, Hiroshi Yokoi, Tamio Arai: Development of Autonomous Assistive Devices -Analysis of change of human motion patterns-, The 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN06), pp.593-598, (2006)
• Kahori Kita, Ryu Kato, Hiroshi Yokoi, Tamio Arai: Analysis of Skill Acquisition Process -A Case Study of Arm Reaching Task-, The 9th International Conference on Intelligent Autonomous Systems (IAS-9), IOS Press, ISBN 1-58603-595-9, pp.991-998, (2006)
• Alejandro Hernandez Arieta, Wenwei Yu, Hiroshi Yokoi, Tamio Arai: Study on the Effects of Electrical Stimulation on the Pattern Recognition for an EMG Prosthetic Application, IEEE 2005 International Conference of the Engineering in Medicine and Biology Society (EMBC 2005), pp.979-982, (2005)
• Kahori Kita, Ryu Katoh, Wenwei Yu, Hiroshi, Yokoi, Yukinori Kakazu: Analysis of Skill Acquiring Pattern Using Electromyogram and Performance Evaluation, The 8th world Multi-Conference on SYSTEMICS, CYBERNETICS AND INFORMATICS, Vol.1, pp.512-517, (2004)
• Alejandro Hernandez Arieta, Wenwei Yu, Hiroshi Yokoi, Tamio Arai: FES as Biofeedback for an EMG Controlled Prosthetic Hand, Proceedings Tencon’05 conference of the IEEE Region 10.(TENCON05), 49, (2005)
• Chee Siong LOH, Hiroshi YOKOI and Tamio ARAI. Improving Heat Sinking in Ambient Environment for the Shape Memory Alloy (SMA). Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005), 2277, (2005)
• Kojiro Matsushita, Max Lungarella, Chandana Paul, and Hiroshi Yokoi: Locomoting with less computation but more morphology. Proceedings of 20th International Conference on Robotics and Automation (ICRA2005), pp.2020-2025, (2005)
• Hiroshi Yokoi, Andy Adamatzky, Ben De Lacy Costello, Chris Melhuish: Nonlinear Cyclic Pattern Generation Using an Excitable Chemical Medium Controller for a Robot Hand, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.112-117 (2004)
• Hiroshi Yokoi, Miriam Fend, and Rolf Pfeifer: Development of a Whisker Sensor System and Simulation of Active Whisking for Agent Navigation, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.607-612 (2004)
• Kahori Kita, Ryu Katoh, Wenwei Yu, Hiroshi Yokoi, Yukinori Kakazu: Using Electromyogram to Analyze Skill Acquiring Patterns in Reaching Tasks, Proc. of Int. Conf. on the Advanced Mechatronics(ICAM'04), pp.19-24 (2004)
• Hiroshi Yokoi, and Rolf Pfeifer: An Analogical Interface with Statistic Mechanics for the Dynamics of Morpho-Functional Machine, Proc. of Int. Conf. on the Advanced Mechatronics(ICAM'04), pp.69-74 (2004)
• Satoshi Kawai, Keitaro Naruse, Hiroshi Yokoi, and Yukinori Kakazu: Development of a Small Size Controller for Control of a Wearable Power Assist Device, Proc. of Int. Conf. on the Advanced Mechatronics(ICAM'04), pp.407-412 (2004)
• Wenwei Yu, Takahiro Arai, Hiroshi Yokoi, and Yukinori Kakazu: The effect of Pitch Accenting on Japanese Text-to-Speech Understanding, Proc. of Int. Conf. on the Advanced Mechatronics(ICAM'04), pp.559-564 (2004)
• Chandana Paul, Hiroshi Yokoi, Kojiro Matsushita: Design and Control of Humanoid Robot Locomotion with Passive Legs and Upper Body Actuation, Proc. of Int. Symp. on Robotics (ISR'04), (2004)
• Kojiro Matsushita, Hiroshi Yokoi, and Rolf Peifer: Morphology and Material Property of a Biped Robot. In The IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2003), pp.1227-1232, (2003)

３．Publications

• 横井浩史, 松下光次郎 共著, “電子工作シリーズぼくらのマイコン・ロボット工作ペットボトルとH8Tinyで作ろう”, CQ出版, ISBN 4-7898-4160-X, (2006)
• Kojiro Matsushita, Hiroshi Yokoi, Tamio Arai: Analysis of Dynamical Locomotion of Two-link Locomotors, Intelligent Autonomous Systems 9, IOS Press, ISBN 1-58603-595-9, pp.574-581, (2005)
• Alejandro Hernandez Arieta, Hiroshi Yokoi, Takashi Ohnishi, and Tamio Arai: An f-MRI Study of an EMG Prosthetic Hand Biofeedback System, Intelligent Autonomous Systems 9, IOS Press, ISBN 1-58603-595-9, pp.921-929, (2005)
• Ryu Katoh, Hiroshi Yokoi, and Tamio Arai: Competitive Learning Method for Robust EMG-to-Motion Classifier, Intelligent Autonomous Systems 9, IOS Press, ISBN 1-58603-595-9, pp.946-953, (2005)
• Hiroshi Yokoi, Alejandro Hernandez Arieta, Ryu Katoh, Takashi Ohnishi, Wenwei Yu and Tamio Arai: Mutual Adaptation Among Man and MAchine by Using f-MRI Analysis, Intelligent Autonomous Systems 9, IOS Press, ISBN 1-58603-595-9, pp.954-962, (2005)
• Kahori Kita, Ryu Kato, Hiroshi Yokoi and Tamio Arai: Analysis of Skill Acquisition Process - A Case Study of Arm Reaching Task -, Intelligent Autonomous Systems 9, IOS Press, ISBN 1-58603-595-9, pp.991-998, (2005)
• Alejandro Hernandez Arieta, Wenwei Yu, Masaharu Maruishi, Hiroshi Yokoi, Yushinori Kakazu: Integration of a Muti-D.O.F. Individual Adaptive with Tactile Feedback for an EMG Prosthetic System, Intelligent Autonomous Systems 8, IOS, ISBN 1-58603-414-6, pp.1013-1021, (2004)
• Hiroshi Yokoi, Alejandro Hernandez Arieta, Ryu Katoh, Wenwei Yu, Ichiro Watanabe, and Masaharu Maruishi: Mutual Adaptation in a Prosthetics Application, LNAI3139: Embodied Artificial Intelligence, Springer, ISBN 3-540-22484-X, pp.146-159, (2004)

４．Surveys, Reports

• Alejandro Hernandez Arieta, Ryu Kato, Hiroshi Yokoi, Wenwei Yu, Rolf Pfeifer, Arai Tamio, “Cross-Modal Interaction in the Brain: An f-MRI study of an Adaptable EMG Prosthetic Hand with Biofeedback”, The Encyclopaedia of Healthcare Information Systems Eds Wickramasinghe and Geisler published by IGI, Hershey (in press)
• Liberty No.130, “知るほどに分からなくなる脳の不思議”, February, 2006年2月
• 日経産業新聞 1, 12面, “未来の技術がやってきた！”, 2006年1月12日
• ヤマハ発動機技術会会報 No.63, “特集 新たなる価値へ あたたかい機械の手”, 2006年
• Fole No.44, “特集 バイオニック医療最前線 カラダをよみがえらせるサイボーグ「大解剖図 ハイテク義手」”, 2006年5月
• 日本機械学会誌, “メカライフ特集 メカライフな学生生活『スイス3年間の海外研究体験記』”, pp.956-957, 2006年12月号
• 横井浩史，進化・学習とロボティクス，日本機械学会誌，2004.8 Vol. 107, No. 1029, pp.70
• 横井浩史，進化・学習とロボティクス，日本機械学会誌，2005.8 Vol. (in press)

５．Poster sessions, International conferences without review

• 松下光次郎, 横井浩史, 新井民夫, “形態と制御の同時進化による動的安定二脚移動の獲得”, 日本機械学会ロボティクス・メカトロニクス講演会2006 (ROBOMEC06), 1A1-D08, (2006)
• 松下光次郎, 横井浩史, 新井民夫, “ものづくりから学ぶロボットの身体性機能”, 日本機械学会ロボティクス・メカトロニクス講演会2006 (ROBOMEC06), 2A1-B35, (2006)
• 竹中 慎吾, 松下 光次郎, 横井 浩史, 新井 民夫, “歩行特性を考慮した歩行補助機構と制御法の構築”, 第16回インテリジェント・システム・シンポジウム講演論文集(FAN'06), pp.319-320, (2006)
• 松下光次郎, 横井浩史, 新井民夫, “二足歩行ロボットの形態と移動機能”, 日本ロボット学会学術講演会予稿集, 3G33, (2005)
• 加毛誠, “形態と制御の同時進化における脚数が移動距離に与える影響”, 平成17年度先端ロボット工学合同ワークショップ講演予稿集, pp.17-18, (2005)
• 溝口勇貴, 松下光次郎, 横井浩史, 新井民夫, “干渉駆動方式を用いたロボットハンドのための3自由度関節機構の構築”, 2005年度精密工学会学生会員卒業研究発表講演会講演論文集, O-08, CD-ROM, 15-16, (2005)
• 清水広明, “5指ハンドにおける操り動作生成のためのシミュレータの構築に関する研究 -接触力センサおよび位置制御の実装-”, 平成18年度先端ロボット工学合同ワークショップ講演予稿集, pp.16-17, (2006)
• Akihiro Yamakawa, Ryu Katoh, Kojiro Matsushita, Hiroshi Yokoi, Tamio Arai: Development of Walking Assist Device: Adaptive Recognition of Individual Walking States for Patients with Leg Paralysis(下肢麻痺者の歩行補助のための個性適応型歩行状態識別法に関する研究), 第16回インテリジェント・システム・シンポジウム講演論文集 (FAN'06), pp.321-322, (2006)
• Alejandro Hernandez Arieta, Hiroshi Yokoi, Tamio Arai: Sensation Generation using Electrical Stimulation for a Prosthetic System, 2006 JSME Conference on Robotics and Mechatronics (ROBOMEC06), 2P2-B22, (2006)
• 北佳保里, 加藤龍, 横井浩史, 新井民夫, “人に適応する知的機械のための自律学習法に関する研究 -人間の運動特性変化の解析-”, 日本機械学会ロボティクス・メカトロニクス講演会2006 (ROBOMEC06), 2P2-A19, (2006)
• 加藤龍, 松本史彦, 横井浩史, 新井民夫, 大西隆, “リハビリテーションロボティクスにおける人間・機械共適応システム”, 日本機械学会ロボティクス・メカトロニクス講演2006 (ROBOMEC06), 2P2-A18 , (2006)
• 松本史彦, “把持動作における干渉駆動の理論とその応用に関する研究”, 平成17年度先端ロボット工学合同ワークショップ講演予稿集, pp.7-8, (2005)
• 溝口勇貴, “3DOF干渉駆動リンクメカニズムの開発”, 平成16年度先端ロボット工学合同ワークショップ講演予稿集, pp.43-44, (2004)
• 藤田哲士朗, “SOM解析を用いた人・機械相互学習システムの性能向上に関する研究”, 平成16年度先端ロボット工学合同ワークショップ講演予稿集, pp.16-17, (2004)
• 松下光次郎, 横井浩史, 新井民夫: 二足歩行ロボットの形態と移動機能, 日本ロボット学会学術講演会予稿集, 3G33 (2005)
• Alejandro Hernandez Arieta, Wenwei Yu, Hiroshi Yokoi, Tamio Arai: Study on the Effects of Electrical Stimulation on the Pattern Recognition for an EMG Prosthetic Application, Proc. of the 27th annual International Conference of the IEEE Engineering In Medicine and Biology Society (EMBS05), 280 (2005)
• Chee Siong LOH, Hiroshi YOKOI and Tamio ARAI. New Shape Memory Alloy Actuator: Design and Application in the Prosthetic Hand. Proc. of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2005), 929, (2005)
• Tetsushiro Fujita, Ryu Katoh, Alejandro Hernandez Arieta, Hiroshi Yokoi and Tamio Arai: SOM based Analysis of Prosthetics Application for Mutual Adaptation, Proc. of Int. Workshop on Man-Machine Symbiotic Systems, pp.231-240 (2004)
• Yuuki Mizoguchi, Chee Siong Loh, Kojiro Matsushita, Hiroshi Yokoi, Tamio Arai: Development of Interference Driven link of Prosthetic Hand, Proc. of Int. Workshop on Man-Machine Symbiotic Systems, pp.421-427 (2004)
• Alejandro Hernandez Arieta, Ryu Katoh, Wenwei Yu, Hiroshi Yokoi, Yukinori Kakazu: Prosthetic hand control with tactile sensory feedback. 2003 JSME Conference on Robotics and Mechatronics. (ROBOMEC03), 2P2-3F-A7. (2003)

６．Patents

• 瀧田正寿, 川島貴文, 加藤龍, 横井浩史, 非定常波解析システム, 特開2006-47265 (2006/02/16)