Nakamura Yutaka

J-GLOBAL         Last updated: Nov 8, 2018 at 18:33
 
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Name
Nakamura Yutaka
E-mail
nakamurais.sys.es.osaka-u.ac.jp
Affiliation
Osaka University

Published Papers

 
A design of robotic spine composed of parallelogram actuation modules
Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura and Hiroshi Ishiguro
Artificial Life and Robotics   22(4) 477-482   Aug 2017   [Refereed]
Ahmed Hussain Qureshi,Yutaka Nakamura,Yuichiro Yoshikawa,Hiroshi Ishiguro
2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, May 29 - June 3, 2017   1639-1645   Jul 2017   [Refereed]
Yuya Okadome,Yutaka Nakamura,Hiroshi Ishiguro
Auton. Robots   41(4) 1013-1026   2017   [Refereed]
Takaaki Deguchi, Yoshiaki Taniguchi, Go Hasegawa, Yutaka Nakamura, Norimichi Ukita, Kazuhiro Matsuda, Morito Matsuoka,
IEICE Transactions on Communications   E99-B(2)    Feb 2016   [Refereed]
Array,Tomoyuki Yamamoto,Fabio Dalla Libera,Wenguo Liu, Yutaka Nakamura,Hiroshi Ishiguro
Swarm Intelligence   10(1) 1-31   Jan 2016   [Refereed]
Hideyuki Ryu,Yoshihiro Nakata,Yutaka Nakamura,Hiroshi Ishiguro
IEEE Robot. Automat. Mag.   23(3) 85-92   2016   [Refereed]
Hideyuki Ryu,Yoshihiro Nakata,Yuya Okadome,Yutaka Nakamura,Hiroshi Ishiguro
JRM   28(2) 226-233   2016   [Refereed]
Kazufumi Hosoda,Soichiro Tsuda, Yutaka Nakamura,Tadashi Nakano,Kojiro Ishii
Biosystems   140 28-34   2016   [Refereed]
Yoshiaki Taniguchi, Koji Suganuma, Takaaki Deguchi, Go Hasegawa, Yutaka Nakamura, Norimichi Ukita, Naoki Aizawa, Katsuhiko Shibata, Kazuhiro Matsuda, Morito Matsuoka
IEEE Transactions on Cloud Computing   99 1-13   2015   [Refereed]
K. Urai, Y. Okadome, Y. Nakata, Y. Nakamura, H. Ishiguro
Artificial Life and Robotics   19 193-200   2014   [Refereed]
Yuya Okadome, Kenji Urai, Yutaka Nakamura, Tetsuya Yomo, and Hiroshi Ishiguro
Artificial Life and Robotics   19(3) 220-226   2014   [Refereed]
Jumpei Yamanaka, Yutaka Nakamura, and Hiroshi Ishiguro
Artificial Life and Robotics,   19(3) 251-257   2014   [Refereed]
Eduardo Castello, Tomoyuki Yamamoto, Yutaka Nakamura, and Hiroshi Ishiguro
Advanced Robotics   28(20) 1343-1356   2014   [Refereed]
Yuya Okadome,Yutaka Nakamura,Hiroshi Ishiguro
Advanced Robotics   28(10) 647-657   2014   [Refereed]
Kin Chung Denny Fu, Yutaka Nakamura, Tomoyuki Yamamoto, and Hiroshi Ishiguro
International Journal of Automation and Computing,   10(6) 515-524   2013   [Refereed]
Yoshihiro Nakata,Atsuhiro Ide,Yutaka Nakamura,Katsuhiro Hirata,Hiroshi Ishiguro
JRM   25(1) 106-114   2013   [Refereed]
Noriko Takemura,Yutaka Nakamura,Yoshio Matsumoto,Hiroshi Ishiguro
IEEE Trans. Systems, Man, and Cybernetics, Part C   42(6) 1543-1554   2012   [Refereed]
Surya Girinatha Nurzaman,Yoshio Matsumoto,Yutaka Nakamura,Kazumichi Shirai,Hiroshi Ishiguro
Adaptive Behaviour   20(4) 225-236   2012   [Refereed]
S.G. Nurzaman, Y. Matsumoto, Y. Nakamura, K. Shirai, S. Koizumi, H. Ishiguro
PLoS ONE   6(2) e16168   2011   [Refereed]
Surya Girinatha Nurzaman,Yoshio Matsumoto,Yutaka Nakamura,Satoshi Koizumi,Hiroshi Ishiguro
Advanced Robotics   25(16) 2019-2037   2011   [Refereed]
N. Takemura, Y. Nakamura, Y. Matsumoto, and H. Ishiguro
Journal of artificial life and robotics   15 111-116   2010   [Refereed]
Atsushi Sugahara,Yutaka Nakamura,Ippei Fukuyori,Yoshio Matsumoto,Hiroshi Ishiguro
JRM   22(3) 315-321   2010   [Refereed]
K. Makino, Y. Nakamura, T. Shibata, and S. Ishii.
Journal of Artificial Life and Robotics   12(1-2) 129-132   2008   [Refereed]
Yutaka Nakamura,Takeshi Mori,Masa-aki Sato,Shin Ishii
Neural Networks   20(6) 723-735   2007   [Refereed]
MORI Takeshi, NAKAMURA Yutaka, ISHII Shin
The IEICE transactions on information and systems   89(5) 954-966   May 2006
近年,方策こう配法に基づく強化学習法の一種であるNatural Actor-Critic法(NAC)が提案された.この手法は,actorの学習に自然方策こう配法,criticの学習にLSTD-Q(λ)法を用いたもので,高次元の力学系に対する比較的効率の良いモデルフリー強化学習法として注目されている.しかしながら,NACは方策オン型,すなわち現在の方策に依存した学習法であることにより,二つの問題点がある.第一に,方策こう配の推定には,現在の方策のもとで生成したサンプル系列が必要であり,過去の...
Kentarou Hitomi, Yutaka Nakamura,Shin Ishii
Robotics and Autonomous Systems   54(12) 982-988   2006   [Refereed]
MORI Takeshi, NAKAMURA Yutaka, ISHII Shin
The IEICE transactions on information and systems Pt. 2   88(6) 1080-1089   Jun 2005
近年, 「方策こう配法に基づくactor-critic法」が開発された. この手法では, 方策パラメータによって決まる基底関数の線形和によって価値関数の近似を行うため, 価値関数の学習が比較的容易であり, ロボット制御などの大きな状態空間をもつ実問題に対して有用であると考えられる. 我々は以前, 生物を規範とした運動制御機構であるCPGコントローラに対する強化学習モデルとして, CPG-actor-criticモデルを提案したが, この手法は状態行動空間上に与えられる価値関数を学習するもの...
NISHIMURA Masaya, YOSHIMOTO Junichiro, TOKITA Yoichi, NAKAMURA Yutaka, ISHII Shin
The IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences (Japanese edition) A   88(5) 646-657   May 2005
アクロボットは2リンク2関節からなる劣駆動マニピュレータであり, その制御設計は困難な非線形問題であることが知られている.本研究では, 制御理論及び機械学習の分野で得られた知見を統合することにより, 実アクロボットに対する適応的制御設計法を提案する.提案手法では, まず, システム同定法によって近似されたシステム方程式に基づいて部分問題を解くための制御器を複数個設計する.そして, 各制御器を適用すべき部分状態空間が強化学習法によって適応的に決定される.提案手法を実装したところ, 実アクロボ...
Yutaka Nakamura,Takeshi Mori,Yoichi Tokita,Tomohiro Shibata,Shin Ishii
JRM   17(6) 636-644   2005   [Refereed]
NAKAMURA Yutaka, SATO Masa-aki, ISHII Shin
The Transactions of the Institute of Electronics,Information and Communication Engineers.   87(3) 893-902   Mar 2004
歩行などの生物の運動は,周期的な信号を生成する中枢パターン生成器(CPG)と呼ばれる神経回路によって制御されていることが示唆されている.このような生物の制御機構を参考にして,周期的な運動に対するCPGを用いた制御法の研究が行われてきた.我々は,CPGコントローラを用いた自律的な学習制御の枠組みとして,CPG-actor-criticモデルと呼ばれる新しい強化学習法を提案する.我々は2足歩行ロボットの自律的な歩行運動の獲得課題に対する計算機シミュレーションを行い,提案手法により安定した2足歩...
Ahmed Hussain Qureshi, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Neural Networks   107 23-33   Nov 2018   [Refereed]

Misc

 
Tatsuya Nakamura,Tomu Tominaga,Miki Watanabe,Nattapong Thammasan,Kenji Urai,Yutaka Nakamura,Kazufumi Hosoda,Takahiro Hara,Yoshinori Hijikata
Proceedings of the International Conference on Web Intelligence, Leipzig, Germany, August 23-26, 2017   434-441   2017   [Refereed]
Andrei S. Ramalho,Yutaka Nakamura,Yoshihiro Nakata,Hiroshi Ishiguro
16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016, Cancun, Mexico, November 15-17, 2016   312-317   2016   [Refereed]
Ahmed Hussain Qureshi,Yutaka Nakamura,Yuichiro Yoshikawa,Hiroshi Ishiguro
16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016, Cancun, Mexico, November 15-17, 2016   745-751   2016   [Refereed]
Yuya Tarutani,Kazuyuki Hashimoto,Go Hasegawa,Yutaka Nakamura,Takumi Tamura,Kazuhiro Matsuda,Morito Matsuoka
2016 IEEE International Conference on Cloud Engineering, IC2E 2016, Berlin, Germany, April 4-8, 2016   226-227   2016   [Refereed]
Hideyuki Ryu,Yoshihiro Nakata,Yutaka Nakamura,Hiroshi Ishiguro
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016   2069-2074   2016   [Refereed]
AZUMA Yoshiki, SHIKAUCHI Yumi, Nakamura Yutaka, HIRAYAMA Jun-ichiro, ISHII Shin
IEICE technical report. Neurocomputing   114(515) 199-204   Mar 2015
We proposed a new reconstruction model to reconstruct multi-finger movements from MEG signals. We extracted features of brain activities by ICA and classified brain states with HMM. The new reconstruction model yielded better performance with fewe...
AZUMA Yoshiki, SHIKAUCHI Yumi, Nakamura Yutaka, HIRAYAMA Jun-ichiro, ISHII Shin
IEICE technical report. ME and bio cybernetics   114(514) 199-204   Mar 2015
We proposed a new reconstruction model to reconstruct multi-finger movements from MEG signals. We extracted features of brain activities by ICA and classified brain states with HMM. The new reconstruction model yielded better performance with fewe...
Yuya Okadome,Yutaka Nakamura,Kenji Urai,Yoshihiro Nakata,Hiroshi Ishiguro
15th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2015, Seoul, South Korea, November 3-5, 2015   676-683   2015   [Refereed]
Yuya Okadome,Yutaka Nakamura,Kenji Urai,Yoshihiro Nakata,Hiroshi Ishiguro
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, September 14-18, 2014   661-666   2014   [Refereed]
Tadashi Nakano,Kazufumi Hosoda,Yutaka Nakamura,Kojiro Ishii
8th International Conference on Body Area Networks, BODYNETS 2013, Boston, MA, USA, September 30 - October 2, 2013   484-487   2013   [Refereed]
Yuya Okadome,Yutaka Nakamura,Yumi Shikauchi,Shin Ishii,Hiroshi Ishiguro
Artificial Neural Networks and Machine Learning - ICANN 2013 - 23rd International Conference on Artificial Neural Networks, Sofia, Bulgaria, September 10-13, 2013. Proceedings   17-25   2013   [Refereed]
Kin Chung Denny Fu,Yutaka Nakamura,Tomoyuki Yamamoto,Hiroshi Ishiguro
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, December 11-14, 2012   808-813   2012   [Refereed]
Hiroki Matsumoto,Yoshio Iwai,Yutaka Nakamura,Hiroshi Ishiguro
Design, User Experience, and Usability. Theory, Methods, Tools and Practice - First International Conference, DUXU 2011, Held as Part of HCI International 2011, Orlando, FL, USA, July 9-14, 2011, Proceedings, Part II   608-615   2011   [Refereed]
Noriko Takemura,Yutaka Nakamura,Hiroshi Ishiguro
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011   2867-2872   2011   [Refereed]
Noriko Takemura,Yutaka Nakamura,Yoshio Matsumoto,Hiroshi Ishiguro
Artificial Neural Networks - ICANN 2010 - 20th International Conference, Thessaloniki, Greece, September 15-18, 2010, Proceedings, Part III   407-410   2010   [Refereed]
Surya Girinatha Nurzaman,Yoshio Matsumoto,Yutaka Nakamura,Kazumichi Shirai,Satoshi Koizumi,Hiroshi Ishiguro
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei, Taiwan   1927-1934   2010   [Refereed]
Ippei Fukuyori,Yutaka Nakamura,Yoshio Matsumoto,Hiroshi Ishiguro
4th International Conference on Autonomous Robots and Agents, ICARA 2009, Wellington, New Zealand, February 10-12, 2009   618-623   2009   [Refereed]
Kazumichi Shirai,Yoshio Matsumoto,Yutaka Nakamura,Satoshi Koizumi,Hiroshi Ishiguro
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA   1043-1048   2009   [Refereed]
Surya Girinatha Nurzaman,Yoshio Matsumoto,Yutaka Nakamura,Satoshi Koizumi,Hiroshi Ishiguro
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA   142-147   2009   [Refereed]
Eri Takano,Takenobu Chikaraishi,Yoshio Matsumoto,Yutaka Nakamura,Hiroshi Ishiguro,Kazuomi Sugamoto
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA   3721-3726   2009   [Refereed]
NAKAMURA Yutaka
IEICE technical report   107(542) 343-348   Mar 2008
Stochastic policy gradient methods are a type of reinforcement learning method, where the parameter of the policy parameter is updated according to the gradient with respect to called policy gradient. In this report, I propose a learning method fo...
Surya Girinatha Nurzaman,Yoshio Matsumoto,Yutaka Nakamura,Satoshi Koizumi,Hiroshi Ishiguro
IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, February 22-25, 2009, Bangkok, Thailand   806-811   2008   [Refereed]
Eri Takano,Yoshio Matsumoto,Yutaka Nakamura,Hiroshi Ishiguro,Kazuomi Sugamoto
8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, Daejeon, South Korea, December 1-3, 2008   635-639   2008   [Refereed]
Eri Takano,Yoshio Matsumoto,Yutaka Nakamura,Hiroshi Ishiguro,Kazuomi Sugamoto
Experimental Robotics, The Eleventh International Symposium, ISER 2008, July 13-16, 2008, Athens, Greece   221-228   2008   [Refereed]
Tomoki Harada,Yutaka Nakamura,Yoshio Matsumoto,Hiroshi Ishiguro
IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, February 22-25, 2009, Bangkok, Thailand   756-761   2008   [Refereed]
Ippei Fukuyori,Yutaka Nakamura,Yoshio Matsumoto,Hiroshi Ishiguro
From Animals to Animats 10, 10th International Conference on Simulation of Adaptive Behavior, SAB 2008, Osaka, Japan, July 7-12, 2008. Proceedings   22-31   2008   [Refereed]
UENO Tsuyoshi, NAKAMURA Yutaka, TAKUMA Takashi, SHIBATA Tomohiro, HOSODA Koh, ISHII Shin
IEICE technical report   106(588) 197-202   Mar 2007
Recently, many researchers on humanoid robotics are interested in Quasi-Passive Dynamic Walking (Quasi-PDW), which is similar to human walking. It is desirable that control parameters in Quasi-PDW are automatically adjusted because robots often su...
MAKINO Kenji, NAKAMURA Yutaka, SHIBATA Tomohiro, ISHII Shin
IEICE technical report   106(588) 203-208   Mar 2007
Adaptability to the environment is crucial for mobile robots, because the circumstance, including the body of the robot, may change. A robot with a large number of degrees of freedom possesses potential to adapt to such circumstances, but it is di...
FUJITA Hajime, NAKAMURA Yutaka, ISHII Shin
IEICE technical report   106(102) 13-18   Jun 2006
We propose a feature extraction technique for decision-theoretic planning problems in partially observable stochastic domains and show a novel approach for solving them. To maximize an expected future reward in unknown environment, all the agent h...
TOKITA Yoichi, NAKAMURA Yutaka, YOSHIMOTO Junichiro, ISHII Shin
IEICE technical report   105(659) 19-24   Mar 2006
Because reinforcement learning (RL) methods have an advantage such that a control rule can be obtained autonomously without any knowledge of the target system. RL methods have been successfully applied to automatic control of various robots such a...
Hajime Fujita,Yutaka Nakamura,Shin Ishii
Artificial Neural Networks - ICANN 2006, 16th International Conference, Athens, Greece, September 10-14, 2006. Proceedings, Part I   820-829   2006   [Refereed]
Tsuyoshi Ueno,Yutaka Nakamura,Takashi Takuma,Tomohiro Shibata,Koh Hosoda,Shin Ishii
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China   5226-5231   2006   [Refereed]
MORI Takeshi, NAKAMURA Yutaka, ISHII Shin
IEICE technical report. Neurocomputing   105(211) 25-30   Jul 2005
Recently-developed Natural Actor-Critic (NAC), which employs natural policy gradient learning for the actor and LSTD-Q(λ) for the critic, has provided a good model-free reinforcement learning scheme applicable to high-dimensional systems. Since NA...
HITOMI Kentarou, SHIBATA Tomohiro, NAKAMURA Yutaka, ISHII Shin
IEICE technical report. Neurocomputing   105(211) 31-36   Jul 2005
A class of biped locomotion called Passive Dynamic Walking (PDW) has been recognized to be efficient in energy consumption and a key to understand human walking. Although PDW is sensitive to the initial condition and disturbances, some studies of ...
NAKAMURA Yutaka, ISHII Shin
IEICE technical report. Neurocomputing   104(759) 131-136   Mar 2005
There has been a problem called "exploration-exploitation problem" in the field of reinforcement learning. That is, the agent must determine whether to explore better action which may not necessarily exist, or to exploit many rewards by taking the...
Yutaka Nakamura,Takeshi Mori,Shin Ishii
Artificial Neural Networks: Formal Models and Their Applications - ICANN 2005, 15th International Conference, Warsaw, Poland, September 11-15, 2005, Proceedings, Part II   431-436   2005   [Refereed]
Kentarou Hitomi,Tomohiro Shibata,Yutaka Nakamura,Shin Ishii
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, August 2-6, 2005   3803-3808   2005   [Refereed]
NAKAMURA Yutaka, ISHII Shin
IEICE technical report. Neurocomputing   104(140) 29-34   Jun 2004
There are many studies on partially observable Markov decision processes, which employ "belief state" that represents the state of the environment, in order to estimate the value function. However, it is often intractable to obtain the value funct...
MORI Takeshi, NAKAMURA Yutaka, ISHII Shin
IEICE technical report. Neurocomputing   103(734) 73-78   Mar 2004
Recently, an actor-critic method utilizing a lower dimensional projection of the value function based on a policy gradient method has been proposed. In this actor-critic method, the approximation of the value function is relatively easy, because t...
Takeshi Mori,Yutaka Nakamura,Masa-aki Sato,Shin Ishii
Proceedings of the Nineteenth National Conference on Artificial Intelligence, Sixteenth Conference on Innovative Applications of Artificial Intelligence, July 25-29, 2004, San Jose, California, USA   623-630   2004   [Refereed]
Yutaka Nakamura,Takeshi Mori,Shin Ishii
Parallel Problem Solving from Nature - PPSN VIII, 8th International Conference, Birmingham, UK, September 18-22, 2004, Proceedings   972-981   2004   [Refereed]
Shuichi Fukunaga,Yutaka Nakamura,Kazuaki Aso,Shin Ishii
2004 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2004, December 1-3, 2004, Singapore   909-914   2004   [Refereed]
NAKAMURA Yutaka, OBA Shigeyuki, YOSHIMOTO Junichiro, ISHII Shin
IEICE technical report. Neurocomputing   102(729) 149-153   Mar 2003
Human motions have been studied for gesture recognition, computer graphics, robot control with referring human motions, and so on. A linear state space model is often used for modeling and analyzing such motions. In this report, we present an syst...
NAKAMURA Yutaka, ISHII Shin, SATO Masa-aki
IEIC Technical Report (Institute of Electronics, Information and Communication Engineers)   101(735) 183-190   Mar 2002
Animal rhythmic movements such as locomotion are considered to be controlled by neural circuits called central pattern generators (CPGs), which generate oscillatory signals. Motivated by such a control mechanism, rhythmic movements controlled by C...
Masa-aki Sato,Yutaka Nakamura,Shin Ishii
Artificial Neural Networks - ICANN 2002, International Conference, Madrid, Spain, August 28-30, 2002, Proceedings   777-782   2002   [Refereed]