Organization
School of Engineering Professor
Title
Professor
External link
OKADA MASAFUMI
News & Media
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2015/03/23 01:29
Languages： Japanese
TV： TBS 「別冊アサ秘ジャーナル」
Degree
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Doctor of Engineering ( Kyoto University )
Research Interests
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Robotics, Control engineering
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Robot engineering
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System and control theory
Research Areas
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Informatics / Intelligent robotics
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Informatics / Mechanics and mechatronics
Education
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Kyoto University Dept. of Applied System Science
- 1996
Country： Japan
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Kyoto University Faculty of Engineering
- 1992
Country： Japan
Research History
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Tokyo Institute of Technology Graduate School of Science and Engineering Asocciate Professor
2004.4 - 2015.11
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The University of Tokyo The Graduate School of Information Science and Technology Lecturer
2001 - 2004
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The University of Tokyo The Graduate School of Engineering Lecturer
2000 - 2001
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The University of Tokyo The Graduate School of Engineering Research associate
1997 - 2000
Professional Memberships
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Japanese Council of IFToMM
2000.5
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日本ロボット学会
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日本機械学会
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IEEE
Papers
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Masafumi OKADA, Kazuaki SHIODA
Transactions of the JSME (in Japanese) 91 ( 946 ) 24 - 00239 2025.6
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Ken MASUYA, Yuta IDE, Masafumi OKADA
Transactions of the JSME (in Japanese) 91 ( 941 ) 24 - 00194 2025.1
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Masafumi OKADA, Toshiki GOTO, Atsushi TAKATA
Transactions of the JSME (in Japanese) 2025
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Masafumi OKADA, Ryo KIHARA, Atsushi TAKATA
Transactions of the JSME (in Japanese) 91 ( 951 ) 25 - 00127 2025
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Stochastic parameter identification and control for LQR feedback control in robot periodic motion Reviewed
Kazuki WATANABE, Masafumi OKADA
Transactions of the JSME (in Japanese) 90 ( 940 ) 24 - 00171 2024.12
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Masafumi OKADA, Koki KUBOTA
Transactions of the JSME (in Japanese) 90 ( 937 ) 24 - 00148 2024.9
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Sequential updating of minimum set of dynamics parameters by stochastic identification
Masafumi OKADA, Kazuki WATANABE
Mechanical Engineering Journal 11 ( 3 ) 24 - 00120 2024.6
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Masafumi OKADA, Kohei IWANO
Mechanical Engineering Journal 10 ( 6 ) 23 - 00322 2023.12
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Dynamical modeling of excavation based on bucket workload and control of excavated soil weight Reviewed
Yutaka OKAMOTO, Masafumi OKADA
Mechanical Engineering Journal 10 ( 6 ) 23 - 00200 2023.12
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Optimal design of passive momentum exchange impact damper utilizing mechanical singularity Reviewed
Masafumi OKADA, Hiroaki KUROSU
Transactions of the JSME (in Japanese) 89 ( 920 ) 22 - 00291 2023.4
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Takeshi KOIKE, Masafumi OKADA
Transactions of the JSME (in Japanese) 89 ( 919 ) 22 - 00310 2023.3
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Masafumi OKADA, Kazuki WATANABE, Ken MASUYA
Transactions of the JSME (in Japanese) 88 ( 914 ) 22 - 00100 2022.10
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Masafumi OKADA, Takeshi KOIKE
Transactions of the JSME (in Japanese) 88 ( 913 ) 22 - 00088 2022.9
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Masafumi OKADA, Sogetsu MORIYAMA, Takeshi KOIKE
Transactions of the JSME (in Japanese) 88 ( 911 ) 22 - 00087 2022.7
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Masafumi OKADA, Yalun YOU, Ken MASUYA
Transactions of the JSME (in Japanese) 88 ( 912 ) 22 - 00012 2022.7
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Masafumi OKADA, Hiroaki KUROSU
Transactions of the JSME (in Japanese) 88 ( 906 ) 21 - 00317 2022.2
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Masafumi OKADA, Tomohaya TANEICHI
Mechanical Engineering Journal 9 ( 1 ) 21 - 00118 2022.1
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Masafumi OKADA, Kohei IWANO
Mechanical Engineering Journal 8 ( 6 ) 21 - 00127 2021.6
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Masafumi OKADA, Takahiro SEKIGUCHI
Mechanical Engineering Journal 8 ( 1 ) 20 - 00299 2021.1
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Semi-Autonomous Control of Leader-Follower Excavator Using Admittance Control for Synchronization and Autonomy with Bifurcation and Stagnation for Human Interface Reviewed
IWANO Kohei, OKADA Masafumi
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), 2020 (On-line, October 28) 2020.10
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Trajectory entrainment with human assistance of wheeled mobile system Reviewed
Masafumi OKADA, Yalun YOU, Ken MASUYA
Transactions of the JSME (in Japanese) 86 ( 889 ) 19 - 00268 2020.9
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Controller design for inverted pendulum stabilizing on equilibrium manifold based on vector field Reviewed
Masafumi OKADA, Yutaka OKAMOTO
Transactions of the JSME (in Japanese) 86 ( 884 ) 19 - 00167 2020.4
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Masafumi OKADA, Yutaka OKAMOTO, Ken MASUYA
Transactions of the JSME (in Japanese) 86 ( 884 ) 19 - 00320 2020.4
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Controller design for inverted pendulum stabilizing on equilibrium manifold based on vector field Reviewed
Masafumi OKADA, Yutaka OKAMOTO
Transactions of the JSME (in Japanese) 86 ( 884 ) 19 - 00167 2020.4
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Masafumi OKADA, Yutaka OKAMOTO, Ken MASUYA
Transactions of the JSME (in Japanese) 86 ( 884 ) 19 - 00320 2020.4
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Robust throwing design based on dynamic sensitivity analysis Reviewed
Masafumi OKADA, Shota ONIWA, Wataru HIJIKATA
Mechanical Engineering Journal 5 ( 1 ) 17 - 00442 2018.1
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Masafumi OKADA, Shun KAYASHIMA
Mechanical Engineering Journal 3 ( 3 ) 15 - 00155 2016.3
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Optimal design of gear ratio using non-circular gear for jumping robot Reviewed
Masafumi OKADA, Yushi TAKEDA
Mechanical Engineering Journal 3 ( 1 ) 14 - 00511 2015.12
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Trajectory Design for Object Throwing based on Sensitivity for Model Uncertainties Reviewed
Masafumi Okada, Alexander Pekarovskiy, Martin Buss
2015 IEEE International Conference on Robotics and Automation (ICRA 2015) 2015.5
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Hierarchical Robustness Approach for Nonprehensile Catching for Rigid Objects Reviewed
Alexander Pekarovskiy, Masafumi Okada, Martin Buss
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) 2014.9
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Optimal layout of exhibits for congestion reduction in open-plan exhibition Reviewed
Masafumi OKADA, Yuichi MOTEGI
Transactions of the JSME (in Japanese) 80 ( 811 ) 2014.3
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Visitors' Model in Exhibition Space and Amenity Space Design Reviewed
Masafumi OKADA, Yuichi MOTEGI, Ko YAMAMOTO
Jounal of Robotics Society of Japan 32 ( 1 ) 45 - 54 2014.1
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Motion Design of Multi Degrees of Freedom Robot with Dynamical Consistency Using Motion Reduction Reviewed
Masafumi Okada, Tetsuro Miyazaki
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013) 2013.11
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Synthesis and Evaluation of Non-circular Gear that Realizes Optimal Gear Ratio for Jumping Robot Reviewed
Masafumi Okada, Yushi Takeda
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013) 2013.11
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Control of Swarm Behavior in Crossing Pedestrians Based on Temporal/Spatial Frequencies Reviewed
Ko Yamamoto, Masafumi Okada
Robotics and Autonomous Systems 61 ( 9 ) 1036 - 1048 2013.9
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Motion Pattern Design Satisfying Dynamical Consistency and Differential Relations between Position, Velocity and Acceleration Reviewed
Tetsuro Miyazaki, Masafumi Okada
SICE Annual Conference 2013 2013.9
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Dynamic Position Control and Dimensional Extension of Dynamics Based on Orbit Attractor Reviewed
Masafumi OKADA, Masaaki WATANABE
Transactions of the Japan Society of Mechanical Engineers, Series C 79 ( 804 ) 2854 - 2863 2013.8
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Pseudo-reference based on autonomous control system with an orbit attractor Reviewed
Masafumi Okada, Masaaki Watanabe
Transactions of the Japan Society of Mechanical Engineers, Series C 79 ( 803 ) 2250 - 2258 2013.7
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Motion Transformation with Dynamic Consistency Using Nonlinear State-Space Mapping Reviewed
Masafumi OKADA, Tetsuro MIYAZAKI
Transactions of the Japan Society of Mechanical Engineers, Series C 179 ( 800 ) 1913 - 1922 2013.6
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Motion Instruction of First Aid Chest Compressions Using Pseudo-Reference and Its Evaluation Reviewed
Masafumi OKADA, Shun KAYASHIMA
Transactions of the Japan Society of Mechanical Engineers, Series C 79 ( 800 ) 1090 - 1101 2013.4
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Optimal Design of Nonlinear Series Elastic Actuator for Minimization of Actuator Power Reviewed
Nicolas Schmi, Masafumi Okada
2nd IFToMM Asian Conference on Mechanism and Machine Science (ASIAN-MMS2012) 2012.11
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Optimal Design of Nonlinear Profile of Gear Ratio Using Non-Circular Gear for Jumping Robot Reviewed
Masafumi OKADA, Yushi Takeda
IEEE International Conference on Robotics and Automation (ICRA2012) 1958 - 1963 2012.5
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Simultaneous Optimization of Robot Trajectory and Nonlinear Springs to Minimize Actuator Torque Reviewed
Nicolas Schmi, Masafumi Okada
IEEE International Conference on Robotics and Automation (ICRA2012) 2806 - 2811 2012.5
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Controller Reduction for Pseudo-Reference in High-Degree of Freedom Control System Reviewed
Masaaki WATANABE, Masafumi OKADA, Dong Dung, NGYUEN
21st International Conference on Artificial Reality and Telexistence (ICAT2011) 88 - 93 2011.11
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Human Swarm Modeling in Exhibition Space and Space Design Reviewed
Masafumi OKADA, Yuichi MOTEGI, Ko YAMAMOTO
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011) 5021 - 5026 2011.9
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Synthesis of a Non-Circular Cable Spool to Realize a Nonlinear Rotational Spring Reviewed
Nicolas SCHMIT, Masafumi Okada
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011) 762 - 767 2011.9
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Optimization of Personal Distribution for Evacuation Guidance Based on Vector Field Reviewed
Masafumi OKADA, Teruhisa ANDO
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011) 3673 - 3678 2011.9
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Continuum Model of Crossing Pedestrian Flows and Swarm Control Based on Temporal/Spatial Frequency Reviewed
Ko YAMAMOTO, Masafumi OKADA
IEEE International Conference on Robotics and Automation (ICRA2011) 3352 - 3357 2011.5
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Pseudo-reference for Motion Transfer based on Autonomous Control System with an Orbit Attractor Reviewed
Masafumi Okada, Masaaki Watanabe
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010) 1297 - 1302 2010
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Similarity Evaluation Of Motion Based On Orbit Attractor Reviewed
Masaaki WATANABE, Masafumi OKADA
13th International Conference on Mechatronics Technology (ICMT 2009) 2010
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Kineto-static Mechanical Synthesis for Nonlinear Property Design of Passive Stiffness using Closed Kinematic Chain Reviewed
Masafumi OKADA, Jun TAKEISHI
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010) 2010
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Amenity Design for Congestion Reduction based on Continuum Model of Swarm Reviewed
Masafumi OKADA, Yoshiyuki HOMMA
13th International Conference on Mechatronics Technology (ICMT 2009) 2010
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Development of an Elastic Redundant Closed-Loop Robot Manipulator and Its Flexibility Control Reviewed
Daisuke Matsuura, Nobuyuki Iwatsuki, Masafumi Okada
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 351 - 356 2009
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Controller Decomposition and Combination Design of Body/Motion Elements based on Orbit Attractor Reviewed
Masafumi Okada, Masaaki Watanabe
IEEE International Conference on Robotics and Automation (ICRA'09) 1364 - 1369 2009
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Robot communication principal by motion synchronization using orbit attractor Reviewed
Masafumi Okada, Kenji Murakami
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 2564 - + 2007
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Redundancy optimization of hyper redundant robots based on movability and assistability Reviewed
Daisuke Matsuura, Nobuyuki Watsuki, Masafumi Okada
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 2540 - 2545 2007
Books
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システム制御の基礎と応用 －メカトロニクス系制御のために－
数理工学社 2007
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Human frendly computing robotics
Ohmsha 2004
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JSMEテキストシリーズ「演習制御工学」
日本機械学会 2004
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人と共存するコンピュータ・ロボット学
オーム社 2004
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JSME Textbook Series Problems in Control Engineering
Japan society of mechanical engineering 2004
MISC
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Development of energy-accumulating shock-absorbing floor for human fall
Masafumi OKADA, Ryo KIHARA, Atsushi TAKATA
2025 JSME Conference on Robotics and Mechatronics 1A2-K10 2025.6
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Autonomous soil weight control of excavation by changing penetrating length and depth in incline terrain
Hinata ABEKAWA, Atsushi TAKATA, Masafumi OKADA
2025 JSME Conference on Robotics and Mechatronics 1A1-A02 2025.6
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Motion Optimization of Throwing Robot Based on Its Power Using Snap of the End-effector as a Design Parameter
Kosuke OGAWA, Atsushi TAKATA, Masafumi OKADA
2025 JSME Conference on Robotics and Mechatronics, 1A2-I10 2025.6
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Design of passive link for measurement and sensor fusion of end-effector position measurement for precision control of robot
Morito SATO, Atsushi TAKATA, Masafumi OKADA
2025 JSME Conference on Robotics and Mechatronics 1A2-F09 2025.6
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Kinematic Design of General 1-DoF 7R Closed Linkage Using Screw Theory
Atsushi TAKATA, Megzer ITGEL, Masafumi OKADA
2025 JSME Conference on Robotics and Mechatronics 2A1-H01 2025.6
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Semi-autonomous excavation support interface based on operator intent estimation and initiative transfer between human and autonomous system
Atsushi TAKATA, Wataru Ooba, Masafumi OKADA
2025 JSME Conference on Robotics and Mechatronics 2A2-T07 2025.6
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Semi-Autonomous Excavation of Continuous Regions Based on Trajectory Interpolation of Globally Stable Attractors
LI XISHEN, Atsushi TAKATA, Masafumi OKADA
2025 JSME Conference on Robotics and Mechatronics 1A1-A09 2025.6
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Semi-autonomous excavation using multi-dimensional multi-helix attractor including torus space
REN YEQIANG, Atsushi TAKATA, Masafumi OKADA
2025 JSME Conference on Robotics and Mechatronics 1A1-A11 2025.6
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Data outlier detection and removal based on sensitivity analysis and its application to robot parameter identification
Toshiki GOTO, Atsushi TAKATA, Masafumi OKADA
2025 JSME Conference on Robotics and Mechatronics 1A1-K0 2025.6
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Robot parameter identification and control for dynamic controllers based on sensitivity analysis
Morito SATO, Masafumi OKADA
2024 JSME Conference on Robotics and Mechatronics 2P1-L01 2024.5
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Modeling and parameterization of human motin for standing assistance robots
Mizuki TAKEMATSU, Masafumi OKADA
2024 JSME Conference on Robotics and Mechatronics 1P1-E07 2024.5
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Leader-follower semi-autonomous excavation with different dimensions presenting real-world information
Wataru OHBA, Masafumi OKADA
2024 JSME Conference on Robotics and Mechatronics 2A1-B08 2024.5
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Semi-optimization of mechanism and control based on sensitivity
Kosuke OGAWA, Masafumi OKADA
2024 JSME Conference on Robotics and Mechatronics 2A1-K0 2024.5
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Development of shock absorbing floor based on mechanical singularity and mechanical energy exchange for impact isolation
Ryo KIHARA, Masafumi OKADA
2024 JSME Conference on Robotics and Mechatronics 2P2-O10 2024.5
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Structural identification of un-modeled dynamics in periodic motion of robot and control system design
Masafumi OKADA, Koki KUBOTA
2024 JSME Conference on Robotics and Mechatronics 2A1-N09 2024.5
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Velocity Control of Semi-Autonomous Excavation Using Orbit Attractor with Global Stability
Xishen LI, Masafumi OKADA
2024 JSME Conference on Robotics and Mechatronics 2A2-C02 2024.5
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Multi-helical attractor design for sequential excavation in semi-autonomous control
Kazuaki SHIODA, Yutaka OKAMOTO, Masafumi OKADA
2024 JSME Conference on Robotics and Mechatronics 2P1-B09 2024.5
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エネルギー効率向上のための目標掘削量を実現する自律制御系の実験検証
岡本 裕, 岡田昌史
第41回日本ロボット学会学術講演会 3G4-05 2023.9
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操作力のスペクトル解析とメンバーシップ関数を用いた半自律掘削のオンライン軌道変形
岩野航平, 岡田昌史
第41回日本ロボット学会学術講演会 3F3-0 2023.9
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Leader-follower synchronization for semi-autonomous excavation by model predictive control considering communication latency
Kota MORIMOTO, Masafumi OKADA
2023 JSME Conference on Robotics and Mechatronics 2A2-D18 2023.6
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Online Trajectory Deformation based on Spectral Analysis of Operational Force in Semi-autonomous Excavation using an Attractor
Kohei IWANO, Masafumi OKADA
2023 JSME Conference on Robotics and Mechatronics 1A1-D13 2023.6
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Design of leader-follower bilateral control with different dimensions in semi-autonomous excavation
Wataru OHBA, Kohei IWANO, Masafumi OKADA
2023 JSME Conference on Robotics and Mechatronics 1A2-B07 2023.6
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Trajectory optimization and control for moving handrail based on human dynamical model
Masafumi OKADA, Ge YU
2023 JSME Conference on Robotics and Mechatronics 1P1-D21 2023.6
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Structural identification of un-modeled dynamics in periodic motion
Koki KUBOTA, Kazuki WATANABE, Masafumi OKADA
2023 JSME Conference on Robotics and Mechatronics 2A1-D17 2023.6
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Optimal design of shock absorbing floor mechanism based on mechanical singularity and mechanical energy exchange
Ryo KIHARA, Masafumi OKADA
2023 JSME Conference on Robotics and Mechatronics 2A1-I19 2023.6
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Design of state-feedback for improvement of robust performance with respect to parameter errors
Kazuki WATANABE, Masafumi OKADA
2023 JSME Conference on Robotics and Mechatronics 2A2-D17 2023.6
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OKADA Masafumi
Systems, control and information 54 ( 1 ) 22 - 27 2010
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OKADA Masafumi
Systems, control and information 54 ( 1 ) 22 - 27 2010
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Devlopment of CoarseFine Hybrid Positioner for Active Forceps
2004 JSME conference on robotics and mechatoronics 2P1-H-66 2004
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Design of the Wire Driven Ankle Mechanism with High Backdrivability
2004 JSME conference on robotics and mechatoronics 2P2-L1-12 2004
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Autonomous motion generation and control based on the attractor in the state space of the humanoid robots
2004 JSME conference on robotics and mechatoronics 1P1-L1-18 2004
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二重球面肩関節を持つヒューマノイドロボット
山本裕介, 中野道樹, 岡田昌史, 中村仁彦
第21回日本ロボット学会学術講演会予稿集 1L27 2004
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力学的情報処理における自己組織的シンボル獲得と運動生成
中村大介, 岡田昌史, 中村仁彦
第18回人工知能学会全国大会(JSAI2004) 2B2-02 2004
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能動鉗子のための粗動・細動ハイブリッドポジショナの開発
山本江, 岡田昌史, 中村仁彦
日本機械学会ロボティクス・メカトロニクス講演会'04 2P1-H-66 2004
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ワイヤを用いたバックドライバブルな足首駆動機構の設計
中野道樹, 岡田昌史, 中村仁彦
日本機械学会ロボティクス・メカトロニクス講演会'04 2P2-L1-12 2004
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ヒューマノイドロボットの状態空間におけるアトラクタ設計と自律運動の生成・制御
大里健太, 岡田昌史, 中村仁彦
日本機械学会ロボティクス・メカトロニクス講演会'04 1P1-L1-18 2004
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Surgery Robot System consisuts of Passive Positioner and Small Active Mechanism
村井昭彦, 岡田昌史, 中村仁彦
日本ロボット学会学術講演会予稿集(CD-ROM) 20th 2L16 2002.10
Presentations
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Motion Emergence of Humanoid Robots by an Attractor Design of a Nonlinear Dynamics
2005
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Attractor Design of Nonlinear Dynamics based on Energy Distance in State Space
2005
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Design of the Continuous Symbol Space for the Intelligent Robots using the Dynamics-based Information Processing System
2004
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Self-Organizing Symbol Acquisition and Motion Generation Based on Dynamics-based Information Processing System
2004
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Design of the Continuous Symbol Space for the Intelligent Robots using the Dynamics-based Information Processing System
2004
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環境との力学的相互作用のための足部蹴りだし機構の開発
2005
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二足歩行ロボットのための重心補正機能を有する二重球面股関節の設計
2005
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状態空間のエネルギー距離に基づく力学系のアトラクタ設計法
2005
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Motion Emergence of Humanoid Robots by an Attractor Design of a Nonlinear Dynamics
2005
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軌道アトラクタに基づく身体・運動記号の設計とその物理的意味表現
第25回 日本ロボット学会学術講演会 2007
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構造的特異性を利用した受動可変剛性を持つトルク伝達機構
日本機械学会ロボティクス・メカトロニクス講演会'07 2007
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Robot Communication Principal by Motion Synchronization using Orbit Attractor
IEEE International Conference on Robotics and Automation 2007
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Redundancy Utilization of Hyper Redundant Robots Based on Movability and Assistability
IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems (IROS2007) 2007
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Design and Embodiment of Body/Motion Symbol based on Orbit Attractor Design
2007
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Robot Communication Principal by Motion Synchronization using Orbit Attractor
IEEE International Conference on Robotics and Automation 2007
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弾性冗長閉ループロボットの剛性分布制御
日本機械学会2008年度年次大会 2008
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群の連続体モデルに基づく混雑緩和のためのアメニティ設計
第26回日本ロボット学会学術講演会 2008
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軌道アトラクタに基づくコントローラの身体・運動要素への分解と組み合わせによる設計
第26回日本ロボット学会学術講演会 2008
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弾性要素を有する超多自由度閉ループロボットの柔軟性制御
第26回日本ロボット学会学術講演会 2008
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Attractor Design of Nonlinear Dynamics based on Energy Distance in State Space
2005
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Similarity Evaluation Of Motion Based On Orbit Attractor
Proc. of 13th International Conference on Mechatronics Technology (ICMT 2009) 2009
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Amenity Design for Congestion Reduction based on Continuum Model of Swarm
Proc. of 13th International Conference on Mechatronics Technology (ICMT 2009) 2009
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Nonlinear State Space Mapping That Uniforms Motion Dynamics and Controller Desigin based on Analogy
2009
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Pseudo-Reference for Motion Segmentation based on Orbit Attractor
2009
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Personal Distribution for Evacuation Guidance by the Optimization of Vector Field
2009
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Amenity Design for Congestion Reduction and Its Application to the Mobile Robot
2009
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Design of Nonlinearity of Passive Stiffness using Closed Kinematic Chain for Impact Absoption
Proc. of JSME International Conference on Motion and Power Transmissions(MPT2009) 2009
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Controller Decomposition and Combination Design of Body/Motion Elements based on Orbit Attractor
Proc. of the IEEE International Conference on Robotics and Automation (ICRA'09) 2009
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Controller Decomposition and Combination Design of Body/Motion Elements based on Orbit Attractor
Proc. of the IEEE International Conference on Robotics and Automation (ICRA'09) 2009
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人の交差流の連続体モデルとその制御
2010
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Modeling and Control of Crossing Swarm Behavior Based on Continuum Model
2010
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Optimization of Personal Distribution for Evacuation Guidance and Its Application for Swarm Robot
2010
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Pseudo-reference for Motion Transfer based on Autonomous Control System with an Orbit Attractor
2010
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避難誘導のための人員配置最適化と群ロボットへの応用
2010
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軌道アトラクタを用いた自律制御系に基づく運動伝達のための擬似目標値
2010
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ヒューマノイドロボット設計における重量軽減化を目的としたアクチュエータ数の低減化
2008
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Nonlinear Passive Stiffness using Mechanical Singularity and Its application for Four-legged Robot
Seventeenth CISM-IFToMM Symposium (Romansy17) 2008
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場の重ね合わせと状態空間写像に基づくロボットの運動創発
2008
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機構的優位性を持つヒューマノイドの身体進化
2008
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非線形ばね機構を用いた四脚ロボットの運動制御 ― 構造的特異性による硬さと柔らかさの両立 ―
2008
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Torque Transmission Mechanism with Nonlinear Passive Stiffness using Mechanical Singularity
IEEE International Conference on Robotics and Automation (ICRA'08) 2008
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Stiffness Distribution Control of Elastic Redundant Parallel Robot
Mechanical Engineering Conference, 2008 Japan 2008
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Nonlinear Passive Stiffness using Mechanical Singularity and Its application for Four-legged Robot
Seventeenth CISM-IFToMM Symposium (Romansy17) 2008
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Torque Transmission Mechanism with Nonlinear Passive Stiffness using Mechanical Singularity
IEEE International Conference on Robotics and Automation (ICRA'08) 2008
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Similarity Evaluation Of Motion Based On Orbit Attractor
Proc. of 13th International Conference on Mechatronics Technology (ICMT 2009) 2009
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Amenity Design for Congestion Reduction based on Continuum Model of Swarm
Proc. of 13th International Conference on Mechatronics Technology (ICMT 2009) 2009
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運動特性を保存した非線形状態空間写像とアナロジーに基づくコントローラ設計
日本機械学会 機械力学・計測制御部門 Dynamics and Design Conference 2009 2009
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軌道アトラクタに基づく運動の分節化のための仮想目標値
第27回日本ロボット学会学術講演会 2009
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場の最適化による避難誘導のための人員配置
第27回日本ロボット学会学術講演会 2009
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混雑緩和のためのアメニティ設計と移動ロボットへの応用
第27回日本ロボット学会学術講演会 2009
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閉リンク系を用いた非線形剛性のための機構総合と衝撃吸収への応用
2009
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運動の力学的意味を考慮したコントローラの身体・運動要素への分解と運動の類似性評価
2009
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機構的優位性によるヒューマノイドロボットのモデル化と運動制御の容易化
2009
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自律移動型群ロボットの開発と場に基づく制御
2009
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Design of Nonlinearity of Passive Stiffness using Closed Kinematic Chain for Impact Absoption
Proc. of JSME International Conference on Motion and Power Transmissions(MPT2009) 2009
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Robot Motion Emergence by Orbit Attractor Design for Tapping Dance Robot Control - Experimental Evaluation with Drastic Change of Dynamics Property -
Proc. of The 10th International Conference on Mechatronics Technology (ICMT2006) 2006
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Redundancy Utilization of Hyper Redundant Robots Based on Movability and Assistability
IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems (IROS2007) 2007
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Robot Motion Emergence by Orbit Attractor Design for Tapping Dance Robot Control - Experimental Evaluation with Drastic Change of Dynamics Property -
Proc. of The 10th International Conference on Mechatronics Technology (ICMT2006) 2006
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軌道アトラクタを用いたロボットの同調運動制御とコミュニケーションの表現
日本機械学会ロボティクス・メカトロニクス講演会'06 2006
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棒渡り式平面移動ロボットの運動制御
日本設計工学会平成18年度春季大会研究発表講演会 2006
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水熱合成法によるマイクロ繊毛アクチュエータの圧電薄膜の形成
第12回日本IFToMM会議シンポジウム 2006
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軌道アトラクタ設計によるロボットの運動創発とタップダンスロボットの制御 - 力学特性の大きな変化を伴う運動への適用 -
第12回日本IFToMM会議シンポジウム 2006
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軌道アトラクタによるロボットの運動記号と身体記号の設計
第24回日本ロボット学会学術講演会 2006
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超多自由度ロボットの自由度の有効使用の評価と運動制御への適用
日本機械学会2006年度年次大会 2006
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平面棒渡り移動ロボットの軌道生成
日本機械学会2006年度年次大会 2006
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Self-Organizing Symbol Acquisition and Motion Generation Based on Dynamics-based Information Processing System
2004
Works
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生物的適応性を応用したロボットの長期的進化と短期的学習のダイナミクス表現の開発
2006 - 2007
Awards
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he 5th Excellent Research and Technology Award (2024)
2024.9 The Robotics Society of Japan
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Robotics and Mechatronics Division, Certificate of Merit for ROBOMECH Outstanding Research Activity
2023.6 JSME
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Robotics and Mechatronics Division, Certificate of Merit for ROBOMECH Outstanding Research Activity
2022.6 JSME
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Robotics and Mechatronics Division, Certificate of Merit for Excellent Paper
2021.6 JSME
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JSME Medal for Outstanding Paper
2017.4 JSME
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Finalist of Best Paper Award
2013.3 The 18th Robotics Symposia Motion Optimization for First Aid Chest Compression Consistent with Body Parameter
Shun Kayashima, Masafumi Okada
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Tejima Research Award, Siro Fujino Prize
2013.2 Tejima Seiichi Commemorative Foundation Amenity Space Design based on Human-Environmental Collaboration
Masafumi OKADA
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The Commendation for Science and Technology by the Minister of Education, Culture, Sports, Science and Technology, The Young Scientists' Prize
2008 Research on an artistic motion that information and mechanism present as a nonlinear phenomenon in the real world
Masafumi OKADA
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Best paper awards
2004 The Robotics Society of Japan Motion-Cancelling Robot System for Minimally Invasive Cardiac Surgery
Yoshihiko NAKAMURA, Kousuke KISHI, Masafumi OKADA
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Finalist, Best Conference Paper Award
2002 IEEE International Conference on Robotics and Automation Polynomial Design of the Nonlinear Dynamics for the Brain-like Information Processing of Whole Body Motion
Masafumi OKADA, Koji TATANI and Yoshihiko NAKAMURA
Research Projects
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Human-Machine Cooperative Control based on Vector Field
Grant number：23K20922 2021.4 - 2025.3
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)
Grant amount：\17030000 （ Direct Cost: \13100000 、 Indirect Cost：\3930000 ）
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Human-Machine Cooperative Control based on Vector Field
Grant number：21H01283 2021.4 - 2025.3
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)
Grant amount：\17030000 （ Direct Cost: \13100000 、 Indirect Cost：\3930000 ）
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Throwing optimization based on sensitivity analysis and motion instruction
Grant number：16K01654 2016.4 - 2019.3
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
Okada Masafumi, HIJIKATA Wataru, MASUYA Ken, TANAKA Yoshihisa, KOBAYASHI Ryo, ONIWA Shota, OKAMOTO Yutaka, YAMANAKA Yuta, NAKATSUKA Daiki, YOU Yalen
Grant amount：\4680000 （ Direct Cost: \3600000 、 Indirect Cost：\1080000 ）
In this research, based on the sensitivity analysis, we designed an appropriate motion that has small influence of errors. Appling the proposed method to throwing, optimal motions with high accuracy have been designed, and verified it by experiments using a throwing robot. Moreover, for the purpose of presenting and guiding the obtained motion to human, an autonomous-based control is divided into the role sharing between man and machine, and man-machine cooperation system has been designed so that the human can easily generate and continue the work.
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Motion optimization for chest compression by elementally school students
Grant number：25540116 2013.4 - 2015.3
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research
OKADA Masafumi
Grant amount：\3770000 （ Direct Cost: \2900000 、 Indirect Cost：\870000 ）
The chest compression is one of the most important actions for first-aid cardiopulmonary resuscitation. Because it requires large torque/force to be generated, the performers have to take an energy saving position and motion until advanced life support providers take over. The energy saving motion strictly depends on the body weight and height of the performers. In this research, the chest compression is optimized from kinematic and dynamic point of view. By using Pseudo-differential and zero-phase filter, the angular velocity and acceleration are derived from a motion capture data, and generative force is calculated by inverse dynamic computation. Based on an evaluation function and constraints, the chest compression is optimized kinematically, dynamically and temporally. Moreover, for the chest compression of a child with light weight, a motion aid is optimized. The effectiveness of the proposed method is evaluated based on a physical load of the performers by measuring heart rate.
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個体行動の要素化モデル構築と群のマクロな動的挙動および制御
2007 - 2013
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Mutual Progression of Robot Body and Intelligence from Dynamics Point of View
2006 - 2008
Grant-in-Aid for Scientific Research
Grant type：Competitive
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力学的観点に立ったロボットの身体と知能の相互発達と運動の創発
2006 - 2008
科学研究費補助金
Grant type：Competitive
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Joint Design of symbol space and motion space via dynamics-based information processing system
2004 - 2005
Grant type：Competitive
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力学的情報処理による記号空間と運動空間の結合設計
2004 - 2005
Grant type：Competitive
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Deployment of Dynamics-Based Information Processing Model of Intelligence
Grant number：15100002 2003 - 2007
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (S)
NAKAMURA Yoshihiko, YAMANE Katsu, SUGIHARA Tomomichi, OKADA Masafumi, SEKIGUCHI Akinori
Grant amount：\122070000 （ Direct Cost: \93900000 、 Indirect Cost：\28170000 ）
1. Dynamical Information Processing Theory We have established two methods for designing dynamical information processing mechanisms based on polynomials and physical dynamics systems. We also introduced a parameter representing the plasticity of dynamical systems and developed learning and development model based on the plasticity. A communication model was realized utilizing the attractors of the dynamical system.
2. Mathematical Model of Mirror Neurons We established a mathematical model and its computational algorithms for modeling mirror neurons using Hidden Markov Models (HMM). Based on hierarchical HMMs, we realized the abstract ion of behaviors. We also combined the hierarchical mirror neuron model with language analysis system equipped with a common sense database.
3. Experimental Study on Perception and Generation of Behaviors through Humanoid Robots We designed and built a humanoid robot that moves in accordance with the gravity. We also developed a method for acquiring motion patterns and controllers by measuring human motions. Finally, we performed several experiments combining the humanoid robot with the dynamical information processing system, language analysis system, and behavior perception and generation system.
4. Simulation of Large-Scale Sensor-Motor System through Detailed Human Musculo-Skeletal Models We developed algorithms for estimating the muscle tensions and simulation human motions based on motion capture data. We accelerated the algorithms for detailed human model by employing parallel processing. A large-scale model was developed for simulating the sensor-motor system of the human body and combined with the dynamical information processing system. -
力学的情報処理の階層化に基づく知能ロボットのリアルタイムカーネルの構築
Grant number：15017219 2003
日本学術振興会 科学研究費助成事業 特定領域研究
岡田 昌史, 中村 仁彦
Grant amount：\5400000 （ Direct Cost: \5400000 ）
これまで,ロボットの行動決定のための情報処理系はオートマトンやモジュールのネットワークとして記述される離散事象システムとして表現されてきた.ここでは,各ノードやモジュールが個々の処理を行い,せいぜいこれらの組み合わせの数の情報処理しか実現できない.これはフレーム問題として,実世界に対応した情報処理系の実現に向けた大きな問題となっている.これに対し,生体内における力学現象から力学系と知能の密接な関係が注目されるようになり,力学系を用いた情報処理系の設計が行われるようになってきた.本研究では,力学的情報処理系を基礎として,これを扱う記号空間の構成法を以下の二つの手法によって示す.
(1)関数空間の設計による記号空間の設計
運動を決定する運動空間のベクトル場を定める上層の空間が存在し,この中の点が力学系に従って移動することにより,運動空間でのベクトル場が連続的に変わり,ロボットの運動の生成と遷移を実現をする.1つの運動を記号空間での1点として表現し,これが時空間的に連続に動くことでロボットの運動を定める構造となっている.
(2)自己組織的にシンボルを獲得する空間の設計
自己組織化マップを用いることで,力学系を連続的に配置する機構を設計する.従来の自己組織化マップでは時系列信号を陽に扱うことは困難であったため,ここではDBSOM(Dynamics-based Self Organizing MaP)を開発し,運動の記憶と再生を可能とする記号空間を設計する. -
手術室環境を占有しない手術支援小型マスタースレーブロボットシステムの開発
Grant number：14655097 2002 - 2003
日本学術振興会 科学研究費助成事業 萌芽研究
岡田 昌史, 中村 仁彦
Grant amount：\2800000 （ Direct Cost: \2800000 ）
我々はこれまでに能動鉗子を用いたマスタスレーブ型小型手術ロボットシステムを開発した.このシステムは手術空間を占有しないことを目的とし,能動鉗子,マニピュレータを小型化し,駆動系を含めて腹壁近くに配置するシステムとなっている.これらは多自由度ポジショナによって支持され,手術に適した位置と姿勢で固定される.ポジショナは4つの球面ジョイントを持つ多関節アームで,静止時は機械的にロックされ,位置決めを行う際には圧縮空気の注入によりロックがはずされフリーになる.これらのパッシブな機構により,ロボットの位置決めを自由に行い,機械的ロックによって固定することが迅速なセッティング,安全性といった観点から必要であろう.また,手術時のロボットのセッティングにおいて,鉗子をトロカールに通して体腔内に挿入する際,組織を傷つけないよう注意しながらトロカール中心軸方向に鉗子を挿入しなければならない.この動きには鉗子を術部に正確に近づけること,内視鏡を適確に術部に向けること,鉗子や内視鏡の挿入のための大きな動きを迅速に行うことが要求される.しかし,現在用いているポジショナを使って鉗子を挿入する場合,可動範囲の狭さ,自由度の制約,鉗子軸方向に生じる振れから挿入時に臓器を傷つける可能性があること,細かな位置決めが容易でないことといった問題点を有している.このことから,能動鉗子のためのトロカール中心軸方向1自由度の位置決め機構が必要であろう.さらに,操作性に注目した場合,鉗子挿入の際は大きく動き,腹腔内では鉗子先端の微調整ができる機構が適している.したがって,このような能動鉗子のための1自由度位置決め機構としては粗動・細動の切り替えが簡単に出来ることが望ましい.本研究では,アクチュエータを用いずに粗動・細動の切り替えが可能なハイブリッドポジショナを開発し,それを用いて能動鉗子の位置決めをすることで手術時の初期配置における時間の短縮と安全性の向上を目指す.
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ミラーニューロンの計算モデルに基づく行動と言語の相互発達の情報処理
Grant number：14019024 2002
日本学術振興会 科学研究費助成事業 特定領域研究
岡田 昌史, 中村 仁彦
Grant amount：\3100000 （ Direct Cost: \3100000 ）
近年,見まねによるヒューマノイドの行動獲得手法に関する研究が注目されている.しかしながら従来研究では,行動の時系列データを単純に座標変換するだけであったり,教示者からの見本行動が失われると行動が生成できないものが多く存在した.この問題への対処として,本研究ではサルやヒトの脳において発見されたミラーニューロンの働きに注目する.ミラーニューロンは他者の行動の理解と自己の行動の生成の双方において発火するニューロン群であり,言語野と非常に近い部位に存在していることから,行動の模倣とシンボル生成との間を強く結び付ける器官であり,この存在がヒトの高次知能の元となるシンボル操作能力を生み出したとする仮説が注目されている.本研究では隠れマルコフモデルと力学的情報処理系を用いてミラーニューロンを工学的にモデル化し,言語発達の問題と行動発達の問題を統一的な工学モデルで実現することを目的としている.
隠れマルコフモデルを用いるアプローチでは,連続型隠れマルコフモデルによって,行動の表現に使用される基本的な行動要素と,シンボル操作を実現するための基本要素となる原始シンボルの双方を同時に獲得する手法を提案し,ヒューマノイドロボットにおいてその有効性を確認した.
また,力学的情報処理系のアプローチでは,シンボルの概念を力学系のアトラクタとして実装する設計論を展開し,それをベースとして複数の力学系アトラクタ間を遷移する上位の力学系の設計法を提案した.この階層的な力学系を用いることによって,内部状態であるシンボルを力学的に遷移することによるヒューマノイドロボットの行動生成を実現した. -
Research on Design of Hybrid Compliance in Frequency Domain for Humanoid Robot
Grant number：13650246 2001 - 2002
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
NAKAMURA Yoshihiko, OKADA Masafumi
Grant amount：\3300000 （ Direct Cost: \3300000 ）
For the improvement of the mobile performance and the safety of humanoid robots that share the environment with human, use of hardware characteristic of elasticity is effective. However it is difficult to represent the relationship between task execution and softness. In this paper, we represent the required characteristic of elasticity as dynamic compliance in frequency domain and realize it by active compliance (controlled compliance) using H_∞ control theory and passive compliance using mechanical compliant member. This result causes the design concept of the compliance characteristic and systematic design method of compliance controller. On the other hand, by the effective use of compliance, the humanoid robots have special mobile performance such that by releasing the kinetic energy that is accumulated in compliant members, it obtains the higher power than using only electrical actuators. In this paper, we proposed the design method of 'Skill of Compliance' by controlling charging and discharging of the kinetic energy in compliant members and showed design method of reference trajectory for the skill of compliance.
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Development of O(logN) Forward Dynamics Algorithm for Large-Scale Structure-Varying Kinematic Chains and Its Application to Computer Graphics Production
Grant number：13555062 2001 - 2002
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)
NAKAMURA Yoshihiko, IMAGAWA Hirotaka, NOJI Suma, OKADA Masafumi
Grant amount：\12600000 （ Direct Cost: \12600000 ）
The research results are summarized by the following four points :
1. We developed an efficient forward dynamics computation algorithm for large-scale structure varying kinematic chains such as multiple human figures. The algorithm only requires O(N) computation for the forward dynamics of N articulated bodies. The computation time can be further reduced to O(logN) by applying parallel computation. The algorithm is as efficient as the most advanced forward dynamics algorithms and also applicable to structure-varying kinematic chains.
2. We developed an inverse kinematics algorithm that computes a whole-body posture from the user-specified positions of a few links, and applied it to CG animation software package. The algorithm enables the users to create animations much easier than using existing CG software packages.
3. We developed several methods for generating physically feasible motions of human figures by combining the above forward dynamics and the inverse kinematics algorithms. The users can generate physically natural motions through the simple interface.
4. We developed an interface for game applications utilizing dynamics simulation. Our approach proved to be efficient for such motions as circus and acrobatic ones that are inherently difficult to be captured from human performance.