細田耕

J-GLOBALへ         更新日: 18/10/10 16:03
 
アバター
研究者氏名
細田耕
 
ホソダ コウ
URL
http://kaken.nii.ac.jp/d/r/10252610.ja.html
所属
大阪大学
部署
大学院・基礎工学研究科
職名
教授
学位
博士(工学)(京都大学)
科研費研究者番号
10252610
ORCID ID
0000-0001-8392-1021

研究分野

 

経歴

 
2014年4月
 - 
現在
大阪大学 大学院・基礎工学研究科 教授
 
2010年4月
 - 
2014年3月
大阪大学 大学院・情報科学研究科 教授
 
2005年11月
 - 
2011年3月
JST ERATO 浅田共生知能プロジェクト グループリーダー
 
1997年2月
 - 
2010年3月
大阪大学 大学院・工学研究科 准教授
 
1993年4月
 - 
1997年1月
大阪大学 工学部 助手
 

学歴

 
1990年4月
 - 
1993年3月
京都大学 工学研究科 機械工学専攻
 
1988年4月
 - 
1990年3月
京都大学 工学研究科 応用システム科学専攻
 
1984年4月
 - 
1988年3月
京都大学 工学部 精密工学科
 

Misc

 
Daisuke Ishii, Masahiro Shimizu, Hitoshi Asanuma, Koh Hosoda
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017   2018-January 13-18   2018年3月
© 2017 IEEE. For investigating the movement of living organisms, we can use a bio-machine hybrid system that replaces a part of a living body with a machine. This study focuses on frogs and their swimming behavior using the legs, and develops a fr...
Hirofumi Shin, Shuhei Ikemoto, Koh Hosoda
Advanced Robotics   32 202-214   2018年2月
© 2018 Taylor & Francis and The Robotics Society of Japan. Several factors affect the performance of humanoid walking. One factor is the complex nature of lower limbs, especially the muscles around the pelvis that contribute significantly to the...
Masahiro Shimizu, Daisuke Ishii, Hitoshi Aonuma, Koh Hosoda
2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017   2018-January 73-76   2018年1月
© 2017 IEEE. This paper shows a frog cyborg Xenopus-noid with webbed feet based on the anatomical structure of feet of X. laevis. Locomotion of an animal is generated through interactions among the nervous system, the musculo-skeletal system and t...
Maziar Ahmad Sharbafi, Maziar Ahmad Sharbafi, Hirofumi Shin, Guoping Zhao, Koh Hosoda, Andre Seyfarth
Actuators   6    2017年12月
© 2017 by the authors. A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, ...
Koh Hosoda, Maarten Weckx, Mazia A. Sharbafi, Ioannis Poulakakis
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications   506-526   2017年11月
Koh Hosoda
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications   613-622   2017年11月
Maziar A. Sharbafi, Maziar A. Sharbafi, André Seyfarth, Koh Hosoda, Thomas G. Sugar
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications   640-657   2017年11月
Koh Hosoda, Christian Rode, Tobias Siebert, Bram Vanderborght, Maarten Weckx, D. Lefeber
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications   563-564   2017年11月
© 2017 Elsevier Inc. All rights reserved. How the actuation provides energy to the body governs resultant locomotion. This chapter describes actuation in legged locomotion, both in natural and artificial, for understanding how the muscle-like actu...
Maziar A. Sharbafi, David Lee, Thomas G. Sugar, Jeffrey Ward, Kevin W. Hollander, Koh Hosoda, André Seyfarth
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications   623-624   2017年11月
© 2017 Elsevier Inc. All rights reserved. As the conclusion of the book, state-of-the-art research regarding legged locomotion and the application to daily activities are presented in this chapter. By comparing engineered legged systems with anima...
Ioannis Poulakakis, Madhusudhan Venkadesan, Shreyas Mandre, Mahesh M. Bandi, Jonathan E. Clark, Koh Hosoda, Maarten Weckx, Bram Vanderborght, Maziar A. Sharbafi
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications   457-460   2017年11月
© 2017 Elsevier Inc. All rights reserved. This chapter discusses how biologically inspired principles and mechanisms can be transferred in the engineering domain with the purpose of designing legged robots capable of reproducing animal locomotion ...
Kohta Ito, Koh Hosoda, Masahiro Shimizu, Shuhei Ikemoto, Takeo Nagura, Hiroyuki Seki, Masateru Kitashiro, Nobuaki Imanishi, Sadakazu Aiso, Masahiro Jinzaki, Naomichi Ogihara
Royal Society Open Science   4    2017年10月
© 2017 The Authors. The anatomical design of the human foot is considered to facilitate generation of bipedal walking. However, how the morphology and structure of the human foot actually contribute to generation of bipedal walking remains unclear...
Kohta Ito, Koh Hosoda, Masahiro Shimizu, Shuhei Ikemoto, Takeo Nagura, Hiroyuki Seki, Masateru Kitashiro, Masahiro Jinzaki, Nobuaki Imanishi, Sadakazu Aiso, Naomichi Ogihara
Footwear Science   9    2017年6月
Tetsuya Kinugasa, Koh Hosoda, Masatsugu Iribe, Fumihiko Asano, Yasuhiro Sugimoto
Journal of Robotics and Mechatronics   29 455   2017年6月
Kohta Ito, Kosuke Maeda, Ikumi Fujiwara, Koh Hosoda, Takeo Nagura, Taeyong Lee, Naomichi Ogihara
Journal of the Mechanical Behavior of Biomedical Materials   69 249-256   2017年5月
© 2017 To clarify the mechanism underlying the development of foot disorders such as diabetic ulcers and deformities, it is important to understand how the foot surface elongates and contracts during gait. Such information is also helpful for impr...
Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda
IEEE/ASME Transactions on Mechatronics   22 487-497   2017年2月
© 2016 IEEE. Many mechanisms reduce the number of inputs for their target motions by restricting the motions of pairs of joints. This study designs a novel constraint mechanism using a pair of noncircular pulleys and a wire. The wire restricts the...
Koh Hosoda, Hajime Saito, Shuhei Ikemoto
2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016      2017年1月
© 2016 IEEE. Humans are supposed to use body image representation for realizing adaptive behavior in dynamically changing environment. This paper describes a newly developed muscular-skeletal humanoid robot with local reflexes for approaching how ...
Shuhei Ikemoto, Fabio DallaLibera, Koh Hosoda
Neurocomputing      2017年1月
© 2017 Elsevier B.V. Stochastic resonance (SR) is a phenomenon by which the input signal of a nonlinear system, with magnitude too small to affect the output, becomes observable by adding a non-zero level of noise to the system. SR is known to ass...
Xiangxiao Liu, Yu Duan, Andre Rosendo, Shuhei Ikemoto, Koh Hosoda
Advances in Intelligent Systems and Computing   531 343-356   2017年1月
© Springer International Publishing AG 2017. The complex of human foot plays an important role in the locomotion. Properly replicating the human foot characteristics on the humanoid robot foot design is supposed to improve the robot locomotion per...
Ippei Tashiro, Masahiro Shimizu, Koh Hosoda
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   10384 LNAI 626-630   2017年1月
© Springer International Publishing AG 2017. Recently, micro robots driven by muscle cells attract a lot of attention. The shape of the robot can be controlled by modifying the growing of cells. This paper proposes a new cell patterning method by ...
Takuya Urino, Shuhei Ikemoto, Koh Hosoda
Advances in Intelligent Systems and Computing   531 77-89   2017年1月
© Springer International Publishing AG 2017. This paper presents a master–slave finger exoskeleton developed to allow subjects whose brain activity is being measured by functional magnetic resonance imaging (fMRI) to remotely perform tasks. The MR...
Hirofumi Shin, Hajime Saitoh, Takahiko Kawakami, Satoshi Yamanishi, Shuhei Ikemoto, Koh Hosoda
Artificial Life and Robotics   21 486-492   2016年12月
© 2016, ISAROB. Spinal reflexes greatly contribute to the control of fast physical interactions (e.g., catching a moving ball) without the influence of higher level control systems involved in human motor control. Therefore, to realize the interac...
Shuhei Ikemoto, Fabio Dalla Libera, Koh Hosoda
Proceedings of the International Joint Conference on Neural Networks   2016-October 2603-2608   2016年10月
© 2016 IEEE. Stochastic resonance (SR) is a phenomenon occurring in some nonlinear systems by which a signal provided as input that is too small in magnitude to normally influence the system's output can actually influence the system's output once...
Koh Hosoda
Cognitive Neuroscience Robotics A: Synthetic Approaches to Human Understanding   1-23   2016年1月
© Springer Japan 2016. No one denies that the brain is the main organ for cognition. However, the brain has evolved with the body. We cannot really understand how the brain works unless we understand the function of the body. In this chapter, we r...
Koki Maekawa, Naoki Inoue, Masahiro Shimizu, Yoshihiro Isobe, Taro Saku, Koh Hosoda
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   9793 467-471   2016年1月
© Springer International Publishing Switzerland 2016. This paper focus on bio-robots driven by cardiomyocyte powered actuators. Towards biomaterial-based robotic actuators that exhibit co-operative motion, this study intends to deal with mutual en...
Keiji Seki, Masahiro Shimizu, Kota Miyasaka, Toshihiko Ogura, Koh Hosoda
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016   1197-1202   2016年1月
© 2016 IEEE. Muscle cell actuators are composed of skeletal muscle cells and collagen intercellular matrix. Muscle cells adhere to collagen fibers and contraction along with the direction of collagen fiber. Collagen fibers in a muscle cell actuato...
Kazuya Yanagisawa, Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda
Advances in Intelligent Systems and Computing   302 1159-1171   2016年1月
© Springer International Publishing Switzerland 2016. To realize both grasp stability and manipulation dexterity is a central problem in the development of robot hands. In recent years, many underactuated robot hands have been developed that flexi...
Shuhei Ikemoto, Yuya Kimoto, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   2015-December 1546-1551   2015年12月
© 2015 IEEE. The aim of this research is to develop a musculoskeletal robot arm, which has a similar mechanical structure to that of a human, to simply make the robot move similarly to a human based on his/her electromyographic signals. In recent ...
Hirofumi Shin, Shuhei Ikemoto, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   2015-December 3894-3899   2015年12月
© 2015 IEEE. Humans can walk stably and adaptively in the presence of various environmental changes. Their bodies have very complex musculoskeletal structures that contribute to their walking stability and adaptability. In this paper, we focus on ...
Shuhei Ikemoto, Yuya Kimoto, Koh Hosoda
Bioinspiration and Biomimetics   10    2015年11月
© 2015 IOP Publishing Ltd. The shoulder complex in the human body consists of the scapula, clavicle, humerus, and thorax and bears the load imposed by arm movements while at the same time realizing a wide range of motions. To mimic and exploit its...
Kohta Ito, Koh Hosoda, Masahiro Shimizu, Shuhei Ikemoto, Shinnosuke Kume, Takeo Nagura, Nobuaki Imanishi, Sadakazu Aiso, Masahiro Jinzaki, Naomichi Ogihara
Journal of Foot and Ankle Research   8    2015年6月
© 2015 Ito et al. Background: Quantifying detailed 3-dimensional (3D) kinematics of the foot in contact with the ground during locomotion is crucial for understanding the biomechanical functions of the complex musculoskeletal structure of the foot...
Andre Rosendo, Xiangxiao Liu, Masahiro Shimizu, Koh Hosoda
Bioinspiration and Biomimetics   10    2015年2月
© 2015 IOP Publishing Ltd. When humans hop, attitude recovery can be observed in both the sagittal and frontal planes. While it is agreed that the brain plays an important role in leg placement, the role of low-level feedback (the stretch reflex) ...
Nagisa Koyama, Shuhei Ikemoto, Koh Hosoda
Journal of Robotics and Mechatronics   27 251-257   2015年1月
© 2015, Fuji Technology Press. All rights reserved. Stochastic resonance (SR) is a phenomenon by which the addition of random noise improves the detection of weak signals. Thus far, this phenomenon has been extensively studied with the aim of impr...
Takahiko Kawakami, Koh Hosoda, Koh Hosoda
2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015   535-540   2015年1月
© 2015 IEEE. This paper proposes a new design of a robotic foot with an oblique mid-foot joint for stable bipedal walking. While a lot of humanoid robots are developed so far, their walking is not as adaptive as that of humans. For realizing such ...
Ryo Sakai, Masahiro Shimizu, Hitoshi Aonuma, Koh Hosoda
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   9222 97-100   2015年1月
© Springer International Publishing Switzerland 2015. Frogs can swim adaptively in the water dexterously utilizing interactions between body biomechanics and fluid dynamics. We have been developing an aquatic frog robot, Xenopus-noid, which has si...
Xiangxiao Liu, Andre Rosendo, Masahiro Shimizu, Koh Hosoda
IEEE-RAS International Conference on Humanoid Robots   2015-February 658-663   2015年1月
© 2014 IEEE. Animals have several peripheral feedback control networks such as stretch reflexes that are supposed to be contributing to stability of their behavior. In this paper, we focus on rolling stability of hopping of a biped robot, and inve...
Kazuaki Mori, Masahiro Shimizu, Kota Miyasaka, Toshihiko Ogura, Koh Hosoda
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   9222 227-230   2015年1月
© Springer International Publishing Switzerland 2015. A muscle cell actuator has been attracting a lot of attention since it is a key technology for realizing bio-machine hybrid systems. This study especially intend to deal with micro robot driven...
Kuniaki Kawabata, Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda, Yasuhiro Sugimoto, Jianru Xue
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014   949-954   2014年4月
© 2014 IEEE. This paper describes about experimental verifications on the cricket's response against frequent interactions and how it changes in time development. In order to investigate behavior modification, we took the approach to utilize autom...
Hirofumi Shin, Shuhei Ikemoto, Koh Hosoda
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014   1487-1492   2014年4月
© 2014 IEEE. Vertical ground reaction force(vGRF) has been widely known as a qualitative features of human walking. While a human walks, the vGRF exhibits a double peak profile in which two maximal values appear from the heel contact to the toe of...
Shogo Nakatsu, Andre Rosendo, Masahiro Shimizu, Koh Hosoda
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014   779-784   2014年4月
© 2014 IEEE. Adaptability of quadruped animals is not solely reached by brain control, but by the interaction between its body, environment, and control. Especially, morphology of the body is supposed to contribute largely to the adaptability. We ...
Andre Rosendo, Shogo Nakatsu, Xiangxiao Liu, Masahiro Shimizu, Koh Hosoda
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014   773-778   2014年4月
© 2014 IEEE. Cyclical locomotion, such as walking, hopping and running, is known to be generated at the spinal cord, guiding human and animal strides over different gaits. Over the last years, many researchers concentrated their study on the origi...
A. Rosendo, S. Nakatsu, K. Narioka, K. Hosoda
Advanced Robotics   28 351-365   2014年3月
Studies on decerebrate walking cats have shown that phase transition is strongly related to muscular sensory signals at limbs. To further investigate the role of such signals terminating the stance phase, we developed a biomimetic feline platform....
Andre Rosendo, Xiangxiao Liu, Shogo Nakatsu, Masahiro Shimizu, Koh Hosoda
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8608 LNAI 417-419   2014年1月
Quadruped animals combine the versatility of legged locomotion with extra stability from the additional number of limbs. Cats and dogs can walk in different gait patterns, outperforming current robotic technology while exploiting interactions betw...
Shuhei Ikemoto, Fabio DallaLibera, Koh Hosoda, Hiroshi Ishiguro
Communications in Nonlinear Science and Numerical Simulation   19 3611-3616   2014年1月
Stochastic resonance (SR) is a counterintuitive phenomenon, observed in a wide variety of nonlinear systems, for which the addition of noise of opportune magnitude can improve signal detection. Tuning the noise for maximizing the SR effect is impo...
Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   3886-3891   2014年1月
© 2014 IEEE. Recently, the tendon-driven mechanism with variable joint stiffness has received attention for use in the development of a humanoid robot operated in an uncertain environment with physical contact. In this paper, we propose a mechanis...
Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8608 LNAI 284-295   2014年1月
This paper proposes a trajectory control strategy for a tendon-driven robotic finger based on the musculoskeletal system of the human finger. First, we analyzed the relationship between the stereotypical trajectory of the human finger and joint to...
Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda
International Journal of Robotics Research   33 677-693   2014年1月
Our paper proposes a tendon-driven robotic finger based on an anatomical model of a human finger and a suitable method for its analysis. Our study aims to realize an anthropomorphic robotic hand that has the same characteristics and dexterity as t...
Ryo Sakai, Masahiro Shimizu, Hitoshi Aonuma, Koh Hosoda
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8608 LNAI 420-422   2014年1月
An adaptive swimming locomotion of Xenopus laevis are mainly generated through hydrodynamic interaction between its musculoskeletal system and water environments. To understand the mechanism of frog locomotion, therefore, it is a promising approac...
Shouhei Shirafuji, Koh Hosoda
Robotics and Autonomous Systems   62 46-52   2014年1月
In dexterous robotic manipulation, it is essential to control the force exerted by the robot hands while grasping. This paper describes a method by which robot hands can be controlled on the basis of previous experience of slippage of objects held...
Shuhei Ikemoto, Yuji Kayano, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   4612-4617   2014年1月
© 2014 IEEE. Direct teaching is suitable for generating motions of robot arms which have complex kinematics. So far, we have proposed a direct teaching method specialized for musculoskeletal robot arms actuated by pneumatic artificial muscles (PAM...
Naoki Inoue, Masahiro Shimizu, Koh Hosoda
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8608 LNAI 402-404   2014年1月
In this presentation, we intend to spontaneously realize a joint by utilizing self-organization of cardiomyocytes. The function of the joint is provided by mechanical structure and cell aggregation. The robot was built by culturing neonatal rat ca...
Shuhei Ikemoto, Yosuke Inoue, Masahiro Shimizu, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   343-348   2013年12月
Sarcomere is a functional unit constituting a skeletal muscle, which can only contract and relax in response to changes in Ca+ concentration. In order from the simple to the most complex, it builds structures corresponding to myofibrils, muscle fi...
Kuniaki Kawabata, Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda, Jianru Xue
Robotics and Autonomous Systems   61 1529-1538   2013年12月
This paper describes about a prototype system for active interaction experiment to a cricket by utilizing an operated micro mobile robot. It is also able to measure/collect behavior data of the cricket on-line. The behavior selection of the cricke...
Andre Rosendo, Shogo Nakatsu, Kenichi Narioka, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   1452-1457   2013年12月
Feline locomotion combines great acrobatic proficiency, unparalleled balance and higher accelerations than other animals. Capable of accelerating from 0 to 100 km h-1 in three seconds, the cheetah (Acinonyx jubatus) is still a mystery which intrig...
Kosuke Minzan, Masahiro Shimizu, Kota Miyasaka, Toshihiko Ogura, Junichi Nakai, Masamichi Ohkura, Koh Hosoda
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8064 LNAI 409-411   2013年8月
The authors aim to realize a "Cell Tactile Sensor" which is integrated tactile receptors built by cultured cells. We regard the cells cultured on the PDMS membrane as the force receptors. We here report on interesting experimental results as follo...
Kenichi Narioka, Toshiyuki Homma, Koh Hosoda
At-Automatisierungstechnik   61 4-15   2013年3月
In this paper, we investigate how the roll-over characteristic of a passivity-based walking robot with flat feet is created and affected by its musculoskeletal structure, which is easily modeled by an agonistic and antagonistic pair of muscles. We...
Andre Rosendo, Shogo Nakatsu, Kenichi Narioka, Koh Hosoda
2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013   879-884   2013年1月
Although robotic locomotion have greatly advanced over the past years, the abyss that separates such locomotion from even the simplest animal locomotions prompt us to approach robotic locomotion taking cues from animals. The animal musculoskeletal...
Kuniaki Kawabata, Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda, Jianru Xue
Journal of Robotics and Mechatronics   25 333-339   2013年1月
This paper describes our trials in developing automated interaction systems with crickets by using a micro mobile robot for attracting pheromone behavior. The cricket Gryllus bimaculatus modifies its behavior based on experience that is based on p...
Kuniaki Kawabata, Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda, Jianru Xue
2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013   1347-1352   2013年1月
This paper describes an automated interaction for triggering the cricket's pheromone behavior by controlling a micro mobile robot based on pose estimation. In our developing systems a micro mobile robot: Ecobe mounted a cricket s head is introduce...
Masahiro Shimizu, Kota Miyasaka, Koichiro Miyamoto, Toshifumi Asano, Tatsuo Yoshinobu, Hiromu Yawo, Toshihiko Ogura, Akio Ishiguro, Koh Hosoda
Procedia CIRP   5 169-174   2013年1月
The authors aim to develop muscle cell actuators driven by a photostimulation. Recently, bioactuators that exhibit self-organization have been attracting a lot of attention, because biological devices are expected to have significant abilities suc...
Shogo Nakatsu, Andre Rosendo, Kenichi Narioka, Koh Hosoda
2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013   1813-1818   2013年1月
In contrast to the high movement adaptability of quadruped animals in many environmental conditions, it is hard for conventional quadruped robots to operate in complex environment conditions. We investigate the adaptability of animals' musculo-ske...
Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda, Jianru Xue
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest   1615-1620   2012年12月
This paper describes about a prototype of active interaction experiment system between a cricket and an operated micro mobile robot and measured/collected data in real-time by using the system. The behavior selection of the cricket (Gyllus bimacul...
Kenichi Narioka, Toshiyuki Homma, Koh Hosoda
IEEE-RAS International Conference on Humanoid Robots   15-20   2012年12月
In this paper, we propose a design of a robotic ankle-foot complex based on the human functional-anatomic ankle-foot structure. The proposed foot consists of three links, two joints, and four plantar muscles, whose mechanical stiffness can be cont...
Nagisa Koyama, Shuhei Ikemoto, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   139-144   2012年12月
Stochastic resonance (SR) is a phenomenon by which the immeasurable input signals of a non-linear system can be observed in the output signals by adding a non-zero level of noise. So far, this phenomenon has been intensively studied, but no method...
Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest   372-377   2012年12月
The flexor digitorum profundus, extensor digitorum communis and lumbrical muscle of the human hand play a significant role in the movement of the finger. The structure consisting of these muscles and tendons is important to consider an anthropomor...
Kenichi Narioka, Andre Rosendo, Alexander Sproewitz, Koh Hosoda
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest   307-311   2012年12月
In this paper, we describe the development of the quadruped robot 'Ken' with the minimalistic and lightweight body design for achieving fast locomotion. We use McKibben pneumatic artificial muscles as actuators, providing high frequency and wide s...
Masahiro Shimizu, Keiko Suzuki, Kenichi Narioka, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   1264-1269   2012年12月
Human's spinal reflexes response rapidly to the change of states of muscles, therefore, they are supposed to play an important role for dynamic motion. In order to realize three dimensional stable jumping, rapid control system is indispensable. In...
Andre Rosendo, Kenichi Narioka, Koh Hosoda
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest   1050-1055   2012年12月
Cats, from tiny domestic cats (Felix Catus) to big tigers (Panthera Tigris), are well known for their great acrobatic skills and hunting ability. Aiming to better understand how the feline family interacts with the environment, we adopt a biomimet...
Shuhei Ikemoto, Fumiya Kannou, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   4892-4897   2012年12月
In recent years, musculoskeletal robots are being intensively studied to exploit the advantages of biological musculoskeletal systems for robot developments. In these robots, it is very important to assure engineering, biomechanical, and anatomica...
Shuhei Ikemoto, Yoichi Nishigori, Koh Hosoda, Koh Hosoda
Artificial Life and Robotics   17 63-69   2012年10月
© ISAROB 2012. Morphological computation is the concept for which a well-designed hardware can bear part of the computational cost required for robot’s control and perception. So far, many musculoskeletal robots have been developed by taking inspi...
Fabio Dallalibera, Shuhei Ikemoto, Hiroshi Ishiguro, Koh Hosoda
Artificial Life and Robotics   17 42-46   2012年10月
© ISAROB 2012. Elementary living beings, like bacteria, are able to reach food sources using only limited and very noisy sensory information. In this paper, we describe a very simple algorithm inspired from bacteria chemotaxis. We present a Markov...
Fumiya Iida, Koh Hosoda, Rolf Pfeifer, Yasuo Kunioshi
Advanced Robotics   26 689-691   2012年3月
Koh Hosoda, Shunsuke Sekimoto, Yoichi Nishigori, Shinya Takamuku, Shuhei Ikemoto
Advanced Robotics   26 729-744   2012年3月
In this paper, we describe an anthropomorphic muscular-skeletal robotic upper limb and focus on its soft interaction with the environment. Two experiments are conducted to demonstrate the ability of the system: object recognition by dynamic touch ...
Koh Hosoda
Advanced Robotics   26 233   2012年3月
Shuhei Ikemoto, Fabio Dallalibera, Koh Hosoda, Hiroshi Ishiguro
Physical Review E - Statistical, Nonlinear, and Soft Matter Physics   85    2012年2月
Animals are able to cope with the noise, uncertainties, and complexity of the real world. Often even elementary living beings, equipped with very limited sensory organs, are able to reach regions favorable to their existence, using simple stochast...
Shuhei Ikemoto, Yoichi Nishigori, Koh Hosoda
Proceedings - IEEE International Conference on Robotics and Automation   3185-3191   2012年1月
This paper presents a direct teaching method for musculoskeletal robots driven by pneumatic artificial muscles (PAMs). In order to reproduce motions which are directly taught by a human, it is necessary to reproduce the lengths of PAMs because the...
Keita Ogawa, Kenichi Narioka, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   4838-4843   2011年12月
The human musculoskeletal system is supposed to play an important role in doing various static and dynamic tasks. From this standpoint, some musculoskeletal humanoid robots have been developed in recent years. However, existing musculoskeletal rob...
Shouhei Shirafuji, Koh Hosoda
IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011   459-464   2011年12月
In dexterous robotic manipulation it is essential to control the force exerted by the robot hands while grasping. This paper describes a method by which robot hands can be controlled on the basis of previous experience of slippage of objects held ...
Kenichi Narioka, Koh Hosoda, Koh Hosoda
Proceedings - IEEE International Conference on Robotics and Automation   963-968   2011年12月
This paper aims to clarify the mechanism of an infant's locomotive development from the viewpoint of cognitive developmental robotics. We built up an infant-sized muscu-loskeletal robot driven by McKibben pneumatic actuators, which enable the robo...
Koh Hosoda
Neuromorphic and Brain-Based Robots   11-22   2011年1月
© Cambridge University Press 2011. Introduction We can easily manipulate a variety of objects with our hands. When exploring an object, we gather rich sensory information through both haptics and vision. The haptic and visual information obtained ...
Tetsunari Inamura, Tomohiro Shibata, Hideaki Sena, Takashi Hashimoto, Nobuyuki Kawai, Takahiro Miyashita, Yoshiki Sakurai, Masahiro Shimizu, Mihoko Otake, Koh Hosoda, Satoshi Umeda, Kentaro Inui, Yuichiro Yoshikawa
2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings   212-217   2010年12月
Understanding mechanisms of intelligence of human beings and animals is one of the most important approaches to develop intelligent robot systems. Since the mechanisms of such real-life intelligent systems are so complex, physical interactions bet...
Koh Hosoda, Tomoki Iwase
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings   1236-1241   2010年12月
This paper describes learning of robust haptic recognition by Bionic Hand, a human-like robot hand, through dynamic interaction with the object. Bionic hand is a human-like hand that has soft skin with distributed receptors and is driven by artifi...
Koh Hosoda, Yoichiro Ishii
2010 IEEE 9th International Conference on Development and Learning, ICDL-2010 - Conference Program   317-322   2010年11月
Many researchers are interested in the onset and learning of bipedal walking, but still not much is known how a human (and even a robot) can acquire the ability. In this paper, we hypothesize that external rotation of the hip joint plays an essent...
Rodrigo da Silva Guerra, Hitoshi Aonuma, Koh Hosoda, Koh Hosoda, Minoru Asada, Minoru Asada
Journal of Neuroscience Methods   191 138-144   2010年8月
This paper proposes a novel robot/insect mixed society setup which enhances the possibilities for insect behavioral research and can be used as a powerful tool for interdisciplinary studies on insect behavior. Micro-robots are equipped with decoys...
Koh Hosoda, Yuki Sakaguchi, Hitoshi Takayama, Takashi Takuma
Autonomous Robots   28 307-316   2010年4月
Human muscular skeleton structure plays an important role for adaptive locomotion. Understanding of its mechanism is expected to be used for realizing adaptive locomotion of a humanoid robot as well. In this paper, a jumping robot driven by pneuma...
Kenichi Narioka, Shinpei Tsugawa, Koh Hosoda
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009   4676-4681   2009年12月
Most of traditional biped walkers based on passive dynamic walking have arc feet and locked ankle joints. In this paper, we propose the method to substitute the arc feet with flat feet. We hypothesize that the shape of the arc feet corresponds to ...
Minoru Asada, Koh Hosoda, Hiroshi Ishiguro, Yasuo Kuniyoshi, Toshio Inui
2009 IEEE 8th International Conference on Development and Learning, ICDL 2009      2009年11月
Cognitive developmental robotics (CDR) [1] has been tackling the issue of how human cognitive functions develop by means of a synthetic approach that developmentally constructs cognitive functions. "Physical embodiment" is the core idea of CDR, an...
Minoru Asada, Minoru Asada, Koh Hosoda, Koh Hosoda, Yasuo Kuniyoshi, Yasuo Kuniyoshi, Hiroshi Ishiguro, Hiroshi Ishiguro, Toshio Inui, Toshio Inui, Yuichiro Yoshikawa, Masaki Ogino, Chisato Yoshida
IEEE Transactions on Autonomous Mental Development   1 12-34   2009年5月
Cognitive developmental robotics (CDR) aims to provide new understanding of how human's higher cognitive functions develop by means of a synthetic approach that developmentally constructs cognitive functions. The core idea of CDR is physical embod...
Koh Hosoda, Hitoshi Aonuma
Advanced Robotics   23 481-482   2009年3月
Koh Hosoda, Hitoshi Takayama, Takashi Takuma
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS   3083-3088   2008年12月
Structure of a human's muscular-skeleton system is supposed to play an essential role for realizing dynamic locomotion such as jumping and running. This paper investigates the effectiveness of the human-like morphology for dynamic bouncing. We des...
Shinya Takamuku, Atsushi Fukuda, Koh Hosoda
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS   3212-3217   2008年12月
Skin is an essential component of artificial hands. It enables the use of object affordance for recognition and control, but due to its intrinsic locality and low density of current tactile sensors, stable and proper manual contacts with the objec...
Takashi Takuma, Shinji Hayashi, Koh Hosoda
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS   1097-1102   2008年12月
It is expected that variation of leg compliance, that is determined not only by joint compliance but by joint angle, contributes to provide multi-modal locomotion such as walking, jumping and running by single robot. This paper describes a design ...
Shinya Takamuku, Tomoki Iwase, Koh Hosoda
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS   3977-3982   2008年12月
Thermal sense plays an important role in object recognition. The idea to identify materials by heat flow from the skin to the touched materials have been introduced to artificial thermal sensors and proved effective. Moreover, the addition of tact...
Koh Hosoda, Hitoshi Aonuma
Advanced Robotics   22 1603-1604   2008年10月
Gordon Cheng, Koh Hosoda, Giulio Sandini
Advanced Robotics   22 1025-1026   2008年6月
Shinya Takamuku, Koh Hosoda, Minoru Asada
Advanced Robotics   22 1143-1154   2008年6月
The acquisition of object categories which underlie the human lexicon is a prerequisite for domestic robots to communicate with users in a human-like manner. The theory of J. J. Gibson inspires the approach to obtain shared categories through inte...
Kenichi Narioka, Koh Hosoda
Advanced Robotics   22 1107-1123   2008年6月
Our body consists of many body parts that are compliantly connected with each other by muscles and ligaments, and their behavior emerges out of the synergy of the whole-body dynamics. Such synergistic behavior generation is supposed to contribute ...
Koh Hosoda, Takashi Takuma, Atsushi Nakamoto, Shinji Hayashi
Robotics and Autonomous Systems   56 46-53   2008年1月
An antagonistic muscle mechanism that regulates joint compliance contributes enormously to human dynamic locomotion. Antagonism is considered to be the key for realizing more than one locomotion mode. In this paper, we demonstrate how antagonistic...
Takashi Takuma, Koh Hosoda
IEEE International Conference on Intelligent Robots and Systems   2975-2980   2007年12月
The passive dynamic walker (PDW) has a remarkable characteristic that it realizes cyclic locomotion without planning the joint trajectories. However, it cannot control the walking behavior because it is dominated by the fixed body dynamics. Observ...
Koh Hosoda, Kenichi Narioka
IEEE International Conference on Intelligent Robots and Systems   470-475   2007年12月
Human walking emerges from synergy of whole body dynamics: not only legs, but also a torso, arms, and a head are compliantly connected with each other by antagonistic muscles. Although change of activation of a muscle affects whole body motion, su...
Shinya Takamuku, Gabriel Gómez, Koh Hosoda, Rolf Pfeifer
2007 IEEE 6th International Conference on Development and Learning, ICDL   1-6   2007年12月
One of the key aspects of understanding human intelligence is to investigate how humans interact with their environment. Performing articulated movement and manipulation tasks in a constantly changing environment, have proven more difficult than e...

書籍等出版物

 
池本 周平, 小川 浩平, 細田 耕, 吉川 雄一郎 (担当:共著)
大阪大学出版会   2018年3月   ISBN:4872595246
Bioinspired Legged Locomotion
細田耕 (担当:共著, 範囲:chapters 7, 8, and 9)
Elsevier   2017年   ISBN:978-0-12-803766-9
Rolf Pfeifer, Josh Bongard (担当:共訳)
共立出版   2010年3月   ISBN:4320122461
ロルフ ファイファー, クリスチャン シャイアー (担当:共訳)
共立出版   2001年11月   ISBN:4320120329

講演・口頭発表等

 
組泰樹, 池本周平, 細田耕
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018年6月1日   
小林広希, 清水正宏, 山口美悠, 細田耕
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018年6月1日   
進寛史, 池本周平, 細田耕
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018年6月1日   
池本周平, DUAN Yu, 細田耕
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018年6月1日   
嘉納秀一, CHEN Tsung‐Yuan, 高山仁志, 細田耕
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018年6月1日