Yusuke Tanaka

Research on Jerk Reduction Route Planning Method for Autonomous Driving Using Vehicle Forward Information

Takumi KOMIYA, Yoshio Kano, Makoto Yamakado, Y. Sato et autres

Abstract We propose a forward-gazing model for path planning (Preview Path-Planning model) as the most basic model that provides insight to people who share the paradigm of human-like path-planning modeling. The basic concept is to apply a low-pass filter to changes in …

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Tackling simulation inconsistencies in the robot design process by selective empirical evaluation

Anwesha Chattoraj, Eric Vin, Yusuke Tanaka, Jillian Naldrien Pantig et autres

We present a computational design pipeline that allows evaluation of the robot and environment parameters in a robust manner, giving insight into interactions that can lead to mismatch between simulated behaviour and reality. Our pipeline evaluates robot designs across different design parameters …

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Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots

Yuki Shirai, Xuan Lin, Alexander Schperberg, Yusuke Tanaka et autres

While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously solving locomotion (e.g., centroidal dynamics), grasping (e.g., patch …

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An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights

Yusuke Tanaka, Yuki Shirai, Zachary Lacey, Xuan Lin et autres

Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can accommodate irregular and off-center objects through a whippletree mechanism, improving adaptability. We present a whippletree-based rigid under-actuated gripper …

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Quasi-simultaneous multi-focus imaging using a lock-in pixel image sensor and TAG lens

Kazuki Yamato, Yusuke Tanaka, Hiromasa Oku, Keita Yasutomi et autres

In this paper, a quasi-simultaneous multi-focus imaging technique named simulfocus imaging is reported. This technique was developed for measuring an entire object distributed in the depth direction beyond the depth of field (DOF) with high resolution in a single shot. Simulfocus imaging …

Validation of Driver Model Based Handling Quality Evaluation by Cerebral Blood Flow

Hiromi Arisaka, Yuya Hirota, Yusuke Tanaka, Takatoshi Tsukano et autres

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Latest developments of molding compound material for power semiconductors

Yusuke Tanaka, Itaru Watanabe

Toward realization of “Low-Carbon Society”, power semiconductors are becoming extremely important to use energy effectively. In recent years, application of SiC (Silicone Carbide) and GaN (Gallium Nitride) have been actively studied as a next generation semiconductor element. High heat resistance of epoxy …

1P1-J06 Construction of Fuzzy Inference-based Terrain Traversability Analysis Method for Mobile Robots

Yusuke Tanaka, Yonghoon Ji, Atsushi Yamashita, Hajime Asama

This paper describes a novel rough terrain traversability analysis method for a mobile robot navigation. We focused on the scenario of mobile robot operation in disaster environment with limited sensor data. The proposed method enables mobile robots to analyze terrain traversability of …

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Course Detection from Integrated 3D Environment Measurement by Multiple Mobile Robots

Yusuke Tanaka, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita et autres

This paper describes a novel selection method of course direction for a mobile robot. We focus on the scene when a mobile robot cannot select an appropriate course direction by its own sensor information. The proposed method enables appropriate selection of course …

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Development of Road's Gradient Anticipatory Algorithm for Hybrid Heavy Duty Truck

Hiroyuki Ishizaka, Kazuo Tanaka, Motoyasu Tanaka, Yusuke Tanaka

For the purpose of reducing fuel consumption, a hybrid heavy duty truck was considered. Generally, HV (Hybrid Vehicle)'s energy is regenerated from deceleration energy in urban area. Hybrid heavy duty truck's energy is regenerated from potential energy on highway. Under this circumstance, …

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408 A study on the estimation of passenger's behavior under a train collision

Shuhei Takahashi, Yusuke Tanaka, Tomoyuki Miyashita

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2403 An experimental study on the estimation of passenger's behavior in under a train collision

Yusuke Tanaka, Tomoyuki Miyashita

An experiment on the estimation of a large number of passenger's behavior in under a train collision is studied using small train model. Here, we treated the position of passenger paying attention to a seat for seven persons. As a result of …

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