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FUJIMOTO Yasutaka
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【Published Thesis】 Bilateral Drive Gear-A Highly Backdrivable Reduction Gearbox for Robotic Actuators 2019.12
【Published Thesis】 Development and analysis of a high thrust force direct-drive linear actuator 2009.01
【Published Thesis】 Simulation of an autonomous biped walking robot including environmental force interaction 1998.06
【Published Thesis】 Bilateral Drive Gear-A Highly Backdrivable Reduction Gearbox for Robotic Actuators 2019.12
【Published Thesis】 A Robotic Cane for Balance Maintenance Assistance 2019.06
【Published Thesis】 Design of Two-channel Bilateral Control Systems by a Transfer-Function-Based Approach 2018.07
【Published Thesis】 Enactment Based Direct-Drive Test of a Novel Radial-Gap Helical RotLin Machine 2018.03
【Published Thesis】 A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback 2016.12
Yokohama National University Department of Electrical and Computer Engineering Doctor Course Completed
Yokohama National University Department of Electrical and Computer Engineering Graduated
Doctor of Engineering - Yokohama National University
Duty Yokohama National UniversityFaculty of Engineering Division of Intelligent Systems Engineering Professor
Duty Yokohama National UniversityFaculty of Engineering Division of Intelligent Systems Engineering Associate Professor
Duty Yokohama National UniversityFaculty of Engineering Division of Intelligent Systems Engineering Associate Professor
Duty Yokohama National UniversityFaculty of Engineering Division of Intelligent Systems Engineering Lecturer
Duty Yokohama National UniversitySchool of Engineering Lecturer
Keio University, Japan Department of Electrical Engineering, Research Assistant
Research Fellow, Japan Society for the Promotion of Science Special researcher of the Japan Society for the Promotion of Science
INFORMS
Society of Automotive Engineers of Japan
The Institute of Electronics, Information and Communication Engineers
The Society of Instrument and Control Engineers
The Robotics Society of Japan
Others / Others / Electric Machine
Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering
Others / Others / Robotics
High Thrust Linear Actuators
Project Year：
Humanoid Robots
Project Year：
Discrete Event Systems and Manufacturing Automation
Project Year：
Production Systems and Logistics
Project Year：
藤本 康孝, 赤津 観（ Role： Joint author）
コロナ社 （ ISBN:978-4-339-00936-1 ）
Total pages：224 Language：Japanese Book type：Scholarly book
Recent Progress in Motion Control for High-Performance
A.Kato,K.Tsuchiya,T.Shimono,H.Asai,Y.Hatta,Y.Fujimoto,Y.Kanai,K.Natori,M.Chiba,Y.Urakawa,Y.Yoshiura,Y.Yokokura,K.Yubai,Y.Asano,Y.Uchimura,T.Zanma,S.Katsura,N.Motoi,D.Yashiro,S.Yabui,J.Ohaki,N.Oda,S.Sakaino,H.Fujimoto,T.Enmei,D.Matsuka（ Role： Joint author）
IEE of Japan
Total pages：94 Responsible for pages：4 Language：Japanese Book type：Report
Robot Control Handbook
F. Matsuno, et al.（ Role： Joint author）
Kindai kagaku sha Co.,Ltd （ ISBN:9784764904736 ）
Total pages：1024 Responsible for pages：15.5.5章, 17.2.2章 Language：Japanese Book type：Scholarly book
Dynamics Analysis: Equations of Motion
Tomomichi Sugihara,Yasutaka Fujimoto（ Role： Joint author）
Springer International Publishing
Language：English Book type：Scholarly book
Motion Control for Innovative Industrial Infrastructure
IEEJ Cooperative R&D Committee on Motion Control for Innovative Industrial Infrastructure（ Role： Joint author）
IEE of Japan
Responsible for pages：3 Language：Japanese Book type：Other
Study on Biped Walking Robot with Environmental Force Interaction
1998.3
Doctoral Thesis Single Work
スライディングモードを有する２自由度ロバスト制御と２足歩行ロボットへの応用
藤本 康孝
1995.3
Master Thesis Single Work
横浜国立大学（修士）
２自由度制御にスライディングモードを組み込んだ新しいロバスト制御法を提案し，２足歩行ロボットの関節サーボ制御に応用し，有効性を示した。
High Accuracy Real-Time 6D SLAM with Feature Extraction Using a Neural Network
Wang Jiayi, Fujimoto Yasutaka
IEEJ Journal of Industry Applications 10 ( 5 ) 512 - 519 2021.9 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Publisher：一般社団法人 電気学会 Joint Work
<p>We present a method for three-dimensional (3D), point cloud-based, six-dimensional (6D) simultaneous localization and mapping (SLAM) with high accuracy and very low computational cost. The two key points of our high accuracy and real-time SLAM process are feature extraction and scan matching optimization. For the 3D laser-based SLAM using the iterative closest point algorithm, we consider correct corresponding point pair searching for achieving high accuracy. Therefore, we propose extracting feature points from 3D point clouds for correct corresponding point pair searching. To extract features such as edges and corners in real-time, we propose the use of a trained neural network (NN). The NN used in our feature extraction scheme is a simple backpropagation (BP) NN with two hidden layers, which allows building a real-time system for 6D SLAM. To optimize the scan matching, we propose the use of particle swam optimization (PSO) and the extracted feature points. The PSO increases the accuracy of the estimated position by matching the most features with a global map stitched with all features. Compared with the state-of-art methods, the proposed method achieved the best performance for the KITTI Odometry Benchmark.</p>
Other Link： https://ci.nii.ac.jp/naid/130008082786
Hybrid 3K Compound Planetary Reduction Gearbox with a Roller Transmission Mechanism
Satoru Oba, Yasutaka Fujimoto
IEEE/ASME Transactions on Mechatronics 2021.8 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
KAWAMURA Takumi, FUJIMOTO Yasutaka
Transactions of the JSME (in Japanese) 87 ( 898 ) 21 - 00161-21-00161 2021.6 [Reviewed]
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers Joint Work
<p>In this study, how to improve usability and quality of the remote participation experience using remote-controlled robots to support the active social participation of people who have mobility issues were investigated. Specifically, to reduce the prediction error caused when using remote-controlled robots revealed in the previous study and thus the burden of the remote operation, a series of experimental results was discussed. In these experiments, the error between the stop position of the robot that cannot be directly seen on the robotic perspective image and the target position was measured. The results show that (1) the zooming image from the robotic perspective during the execution phase induces a negative prediction error. The error might be caused when the information of the current position of the robot is inconsistent with that of the stop position. This result is an extension of our previous study. (2) The above situation needs to be considered because it is assumed in the application of remote operations using robots, such as the need to observe the target information in detail like face-to-face communication. (3) Depth cognition is important for remote control using images from the robotic perspective, and it was found that the information of the optic flow, which was thought to affect the depth motion perception involuntarily, significantly affected the size cue regarding the target position.</p>
Other Link： https://ci.nii.ac.jp/naid/130008057113
Numerical Techniques for Optimization of Gait Generation
Carnier Rodrigo Matos, Fujimoto Yasutaka
IEEJ JOURNAL OF INDUSTRY APPLICATIONS 10 ( 2 ) 236 - 246 2021.3 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Publisher：一般社団法人 電気学会 Joint Work
<p> Optimization of robotic bipedal walking widely uses simplified dynamical models to minimize the computational cost and generate fast solutions, but this poses the problem of modeling errors and increased inaccuracy. Moreover, direct methods of optimization are almost always used; however, most are not implemented to satisfy Pontryagin's Principle, which can lead to suboptimal solutions. This study presents the optimization of planar robotic bipedal walking using exact dynamics. We apply pseudospectral optimal control to optimize gait generation using two accuracy requirements: nonlinear multi-degree-of-freedom whole-body dynamics and satisfied conditions of optimality according to Pontryagin's Principle. In order to consistently achieve solvability of optimization in this type of problem, we present a novel methodology consisting of synergic techniques that address well-known numerical difficulties of optimization.</p>
Other Link： https://ci.nii.ac.jp/naid/130007993702
Koyama Masato, Fujimoto Yasutaka
IEEJ JOURNAL OF INDUSTRY APPLICATIONS 10 ( 2 ) 178 - 183 2021.3 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Publisher：一般社団法人 電気学会 Joint Work
<p>This paper presents the external force estimation for helical motors contain the magnetic levitation system. The helical shape of helical motors induces a wide inductive gap; thus, their thrust density is 1.5 times higher than that of general cylindrical linear motors. Furthermore, by magnetically levitating the mover, the motor can be directly driven. However, owing to the variations in the magnetic attractive force acting on the mover, the accuracy of external force estimation is lower than that of cylindrical motors. To solve this problem, this study proposed the combination of the thrust and torque disturbance observers of this motor for external force estimation irrespective of the magnetic attractive force. Numerical simulations and experimental results demonstrated that the proposed method can achieve the highest precision.</p>
Other Link： https://ci.nii.ac.jp/naid/130007993779
IEEJ Transactions on Industry Applications 139 ( 11 ) NL11_3 - NL11_3 2019.11
Language：Japanese Publishing type：Other Publisher：The Institute of Electrical Engineers of Japan Single Work
藤本 康孝, 宮島 孝幸, 中野 郁太
電気学会論文誌Ｄ（産業応用部門誌） 139 ( 7 ) NL7_9 - NL7_10 2019.7
Language：Japanese Publishing type：Other Publisher：一般社団法人 電気学会 Joint Work
Activities of Technical Committee on Industrial Instrumentation and Control
Yasutaka Fujimoto
IEEJ Transactions on Industry Applications 138 ( 3 ) NL3_1 - NL3_1 2018
Language：Japanese Publishing type：Other Single Work
Challenges in Human-friendly Mechatronics
Yasutaka Fujimoto
The 4th International Conference on Engineering and ICT 5 - 6 2016.4
Language：English Publishing type：Lecture material (seminar, tutorial, course, lecture, etc.) Single Work
最新ロボット事情40 スパイラルモータのロボット応用
藤本康孝
ロボコンマガジン ( 92 ) 104 - 107 2014.3
Language：Japanese Publishing type：Article, review, commentary, editorial, etc. (scientific journal) Single Work
スパイラルモータの基本原理とそのロボット応用について解説を行った。
電気機械エネルギー変換装置
藤本 康孝
Applicant：国立大学法人横浜国立大学
Application no：2015-163392 Date applied：2015.8.21
Announcement no：2017-041996 Date announced：2017.2.23
Country of applicant：Domestic
遊星歯車装置及びその設計方法
藤本 康孝, 西岡 利恭
Applicant：国立大学法人横浜国立大学
Application no：2015-164100 Date applied：2015.8.21
Announcement no：2017-040348 Date announced：2017.2.23
Country of applicant：Domestic
電力供給装置、及び電力供給システム
野崎貴裕, 藤本康孝, 下野誠通, 水島清也, 永井栄寿
Applicant：国立大学法人横浜国立大学
Application no：2015-011613 Date applied：2015.1.23
Announcement no：2016-136821 Date announced：2016.7.28
Country of applicant：Domestic
遊星歯車装置及びその設計方法
藤本 康孝
Applicant：国立大学法人横浜国立大学
Application no：2014-259621 Date applied：2014.12.24
Announcement no：2016-118283 Date announced：2016.6.30
Country of applicant：Domestic
磁気ねじアクチュエータ
藤本 康孝
Applicant：国立大学法人横浜国立大学
Application no：2014-146925 Date applied：2014.7.17
Announcement no：2016-025700 Date announced：2016.2.8
Country of applicant：Domestic
電気学会 部門活動功労賞
2019.8 電気学会 平成30年部門大会実行副委員長としての貢献
Individual or group name of awards： 藤本康孝
IEEE ECCE2016 Best Paper Award
2016.9
電気学会 産業応用部門 部門活動功労賞
2016.8 電気学会
Individual or group name of awards： 藤本康孝
電気学会 産業応用部門 部門活動功労賞
2015.9 電気学会
Individual or group name of awards： 藤本康孝
エネルギー回生可能な革新的双方向アクチュエータの実現
2021.4 - 2024.3
科学研究費補助金 Grant-in-Aid for Scientific Research(A)
Investigator(s)：藤本康孝
Grant type：Competitive
高周波電気機械エネルギー変換工学の開拓
2017.6 - 2021.3
科学研究費補助金 Grant-in-Aid for Challenging Research (Pioneering)
Investigator(s)：藤本康孝
Grant type：Competitive
スパイラルモータに基づくゼロ剛性ソフトマニピュレータの基盤技術開発
2016.4 - 2019.3
科学研究費補助金 Grant-in-Aid for Scientific Research(A)
Investigator(s)：藤本康孝
Grant type：Competitive
小型・高効率を実現する複合遊星歯車機構
2015.4 - 2017.3
科学研究費補助金 Grant-in-Aid for challenging Exploratory Research
Investigator(s)：藤本康孝
Grant type：Competitive
Human-friendly human-support motion systems based on helical motors
2012.4 - 2016.3
Grant-in-Aid for Scientific Research Grant-in-Aid for Scientific Research(A)
Investigator(s)：Yasutaka Fujimoto
Grant type：Competitive
ロボットアームによる身体知能獲得のための機械学習アルゴリズムの開発
2020.4 - 2022.3
Investigator(s)：藤本康孝
歩行支援杖型ロボットの開発
2018.6 - 2019.3
Investigator(s)：藤本康孝
高効率・高減速ギヤを備えた高出力アクチュエータの研究開発
2015.7 - 2020.3
次世代人工知能・ロボット中核技術開発
Investigator(s)：藤本康孝
大出力超伝導回転機器に向けたキーハードの研究
2010.4 - 2014.3
Japan Science and Technology Agency 研究成果展開事業 戦略的イノベーション創出推進プログラム
環境情報の構造化と獲得情報量の最大化を規範とした学習制御の研究
2007.4 - 2008.3
立石科学技術振興財団 研究助成
Investigator(s)：藤本康孝
Analysis of Force Generation in Microwave Motors
IEEJ Int. Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON)
Event date： 2021.3
Language：English Presentation type：Oral presentation (general)
Experimental Validation of Interface Aiding Human Depth Prediction on Images in terms of Usability
IEEE International Conference on Mechatronics (ICM)
Event date： 2021.3
Language：English Presentation type：Oral presentation (general)
Modeling of Malware Propagation in IoT Network and Mitigation in Area Based on Local Routing Depth
IEEJ Int. Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON)
Event date： 2021.3
Language：English Presentation type：Oral presentation (general)
Mathematical Modeling, Finite Element Analysis, and Experimental Verification of Cross-Coupled 2-DOF Tubular SPMSM
IEEJ Int. Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON)
Event date： 2021.3
Language：English Presentation type：Oral presentation (general)
Postural Control of 3D Inverted Pendulum Through Wearable-CMG Using the Hybrid Method
IEEJ Int. Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON)
Event date： 2021.3
Language：English Presentation type：Oral presentation (general)
Motion Control and Robotics
System Optimization
High Thrust Linear Actuator
歩行支援杖型ロボット
Offer organization: 神奈川県産業技術総合研究所、株式会社タクマ精工 Cooperative Research within Japan
Project Year： 2018.6 - 2019.3
High-efficiency, High-power-density, and High-reduction-ratio Actuators
Funded Research on Investiment
Project Year： 2015.7 - 2020.2
Superconducting motor
Funded Research on Investiment
Project Year： 2010.4 - 2014.3
2021 エネルギー・制御実習
Graduate school of Engineering Science
2021 システム制御情報特論
Graduate school of Engineering Science
2021 先端制御・エネルギーシステム実証F
Graduate school of Engineering Science
2021 先端制御・エネルギーシステム実証S
Graduate school of Engineering Science
2021 先端制御・エネルギーシステム設計F
Graduate school of Engineering Science
電気学会 産業応用部門 研究調査運営委員会
2021.4 - 2023.3 副委員長
Committee type：Academic society
自動制御の多分野応用小委員会
2021.3 - 2023.9 委員
Committee type：Other
かわさき・神奈川ロボットビジネス協議会 役員会
2019.7 - 2021.6 理事
Committee type：Academic society
電気学会 SAMCON2020実行委員会
2019.5 - 2020.3 組織委員長
Committee type：Academic society
日本電機工業会 ネットワーク認証特別委員会
2019.4 - 2022.3 委員長
Committee type：Academic society
神奈川県高度技術活用研修
Role(s)： Lecturer
神奈川県立産業技術総合研究所 神奈川県海老名市 2020.12
Audience： Company
Type：Seminar, workshop
神奈川県高度技術活用研修
Role(s)： Lecturer
神奈川県立産業技術総合研究所 神奈川県海老名市 2019.11
Audience： Company
Type：Seminar, workshop
モータ技術シンポジウム
Role(s)： Lecturer
2019.4
Audience： Researchers, General public, Company
Type：Lecture
動力効率よく伝える小型ギア 横国大
Role(s)： Filming support
日経新聞 2019.2
Audience： General public
Type：Newspaper, magazine
日経新聞 (2019年2月24日)「動力効率よく伝える小型ギア 横国大」
世界初、100:1の減速比でも逆駆動可能なギヤ NEDOと横浜国大が共同開発 ロボットの関節やEVの変速機への展開期待
Role(s)： Filming support
電波新聞 2019.2
Audience： General public
Type：Newspaper, magazine
電波新聞 (2019年2月7日)「世界初、100:1の減速比でも逆駆動可能なギヤ NEDOと横浜国大が共同開発 ロボットの関節やEVの変速機への展開期待」
