Intelligent System Control

Research Staff

  • Prof. Kenji Sugimoto

    Prof.
    Kenji Sugimoto

  • Assist.Prof. Takamitsu Matsubara

    Assist.Prof.
    Takamitsu Matsubara

E-mail { kenji, takam-m }[at] is.naist.jp

Research Area

1. Control systems design

Advanced mechatronics control (Figs. 1, 2, 3) We investigate control theory for periodic motions (such as repetitive and delayed feedback control) and its application to power-assisted control for electric bicycles and analysis of passive dynamic walking.

Vehicle control using robust control theory (Fig. 3) We conduct theoretical and experimental studies on motion control for vehicles

2. Sensing & signal processing

Visual feedback and sensor networks By regarding sensing technology as a component of a control system, we work on visual feedback control and sensor networks for mobile robots.

Learning/Adaptive theory applied to various systems (Fig. 5) We study intelligent signal processing such as independent component analysis and feedback error learning. We also study their applications to system identification for control.

3. Machine learning for robotics

Motor skill learning for humanoid robots (Fig. 4) We are developing novel methods that enable robots to learn complex motor skills (e.g., biped walking, T-shirt wearing and clothing assistance) by optimal control and reinforcement learning.

Constructing practical myoelectric interfaces for robot control (Fig. 5) We construct a myoelectric interfaces robust to postural changes, sweating, and muscular fatigue, using a surface electromyograms (sEMG) via modern machine learning methods.

Key Features

We welcome motivated students from various fields including mechanical/electrical engineering, mathematical/physical science, as well as computer science. The faculty staff guides students individually, taking into account their backgrounds, and assists them in mastering mathematical system approaches by the end of their course. Thereby they acquire a wide range of technical skills from fundamental theories to applications. The students in our lab are highly-motivated hard-workers, cooperative and eager to learn from others. We anxiously await such students, both from Japan and from abroad.

Fig.1 Entertainer robot "SOMENOSUKE"

Fig.1 Entertainer robot "SOMENOSUKE"

Fig.2 Power assist control for electric bicycles

Fig.2 Power assist control for electric bicycles

Fig.3 McKibben pneumatic artificial muscle system and collision avoidance of vehicles

Fig.3 McKibben pneumatic artificial muscle system and collision avoidance of vehicles

Fig.4 Dual arm/hand robot and electromyographs

Fig.4 Dual arm/hand robot and electromyographs

Fig.5 Acquired table-tennis skills and two-link manipulator

Fig.5 Acquired table-tennis skills and two-link manipulator