YOSHIDA Morio 吉田守夫

Researcher Number	20455372
Affiliation (based on the past Project Information) *help	2011: 独立行政法人理化学研究所, その他部局等, 研究員 2009 – 2011: 独立行政法人理化学研究所, ロボット制御研究チーム, 基幹研究所研究員 2010: 独立行政法人理化学研究所, 環境適応ロボットシステム研究チーム, 研究員 2009: 独立行政法人理化学研究所, 理研-東海ゴム人間共存ロボット連携センター, 研究員 2008: 九州大学, 理化学研究所・環境適応ロボットシステム研究チーム, 研究員
Review Section/Research Field	Principal Investigator Intelligent mechanics/Mechanical systems Except Principal Investigator Perception information processing/Intelligent robotics / Intelligent mechanics/Mechanical systems
Keywords	Principal Investigator 転がり拘束 / 数値シミュレーション / ロボットハンド Except Principal Investigator 全身マニピュレーション / 移乗介助 / 触覚情報処理 / 触覚フィードバック / 触覚センサ / 介護支援ロボット / 力 … More / トルク平衡 / カ / 外界センサーレス把持 / 任意形状物体 / リーマン距離 / 3本指ロボット / 力/トルク平衡 / ポートハミルトン系 / 柔軟指 / 動的物体把持 / ダイナミクス / 柔軟モデル / ロボットハンド / ロボティクス Less

転がり拘束下で任意形状を考慮した物体操作の解明Principal Investigator
- Principal Investigator
  
  吉田守夫
- Project Period (FY)
  2011 – 2012
- Research Category
  
  Grant-in-Aid for Young Scientists (B)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  The Institute of Physical and Chemical Research
Patient Transfer by Nursing-Care Robots Using Tactile Feedback
- Principal Investigator
  
  MUKAI Toshiharu
- Project Period (FY)
  2009 – 2011
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Research Field
  
  Perception information processing/Intelligent robotics
- Research Institution
  The Institute of Physical and Chemical Research
Dynamic contact modeling of a soft fingertip and realization of dynamic object grasping for a multi-fingered robotic hand
- Principal Investigator
  
  TAHARA Kenji
- Project Period (FY)
  2008 – 2010
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Kyushu University

All 2011 2010 2009 2008

All Journal Article Presentation Book

[Book] Robot Vision2010
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto
- Total Pages
  614
- Publisher
  Computational modeling, visualization, and control of 2-D and 3-D grasping under rolling contacts
- Data Source
  KAKENHI-PROJECT-20360117
[Book] Computational modeling, visualization, and control of 2-D and 3-D grasping under rolling contacts2010
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto
- Publisher
  Robot Vision
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] 柔軟3指ハンドによる仮想フレームを用いた把持物体の外界センサレス位置・姿勢制御2011
- Author(s)
  田原健二, 有本卓, 吉田守夫
- Journal Title
  
  日本ロボット学会誌
  
  Volume: 29-1 Pages: 89-98
- NAID
  10027648611
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] 柔軟3指ハンドによる仮想フレームを用いた把持物体の外界センサレス位置・姿勢制御2011
- Author(s)
  田原健二, 有本卓, 吉田守夫
- Journal Title
  
  日本ロボット学会誌 vol.29, no.1
  
  Pages: 89-98
- NAID
  10027648611
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] 対象と全身接触を行う介護支援ロボットのための触覚情報を用いた繰り動作2011
- Author(s)
  向井利春,平野慎也,中島弘道,吉田守夫,郭士傑,早川義一
- Journal Title
  
  日本機械学会論文集(C編)
  
  Volume: Vol.77, No.782 Pages: 252-265
- NAID
  130001433461
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-21300077
[Journal Article] 駆動の順序が無い鞍関節をもつ柔軟指ロボット一対のモデル化と制御2011
- Author(s)
  吉田守夫,有本卓,田原健二,杉山博之
- Journal Title
  
  日本ロボット学会誌
  
  Volume: 29 Pages: 943-953
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-23760249
[Journal Article] A Riemannian-geometric approach for intelligent control and fingertip design of multi-fingered hands2010
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, J.-H.Bae
- Journal Title
  
  Advanced Robotics (To be published)
- NAID
  10028168046
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes : A Riemannian-Geometry Approach2010
- Author(s)
  S.Arimoto, M.Yoshida
- Journal Title
  
  Journal of Robotics
  
  Volume: 2010
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] A Riemannian-geometry approach for control of robotic systems under constraints2009
- Author(s)
  S. Arimoto, M. Yoshida, M. Sekimoto, K. Tahara
- Journal Title
  
  SICE J. of Control, Measurement, and System In tegration 2-2(in press)
- NAID
  10031152629
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] Modeling and control of 2-D grasping of an object with arbitrary shape under rolling contact2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara
- Journal Title
  
  SICE J. of Control, Measurement, and System Integration 2
  
  Pages: 379-386
- NAID
  10031152665
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under constraints2009
- Author(s)
  S. Arimoto, M. Yoshida, M. Sekimoto, K. Tahara
- Journal Title
  
  Journal of Robotics Article ID : 892801
  
  Pages: 16-16
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] A Riemannian-geometry approach for control of robotic systems under constraints, SICE2009
- Author(s)
  S.Arimoto M.Yoshida M.Sekimoto, K.Tahara
- Journal Title
  
  J.of Control, Measurement, and System Integration vol.2
  
  Pages: 107-116
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] Modeling and control of 2-D grasping of an object with arbitrary shape under rolling contact, STOP2009
- Author(s)
  S.Arimoto M.Yoshida M.Sekimoto, K.Tahara
- Journal Title
  
  J.of Control, Measurement, and System Integration vol.2
  
  Pages: 379-386
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] A Riemannian-geometry approach for control of robotic systems under constraints2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara,
- Journal Title
  
  SICE J. of Control, Measurement, and System Integration 2
  
  Pages: 107-116
- NAID
  10031152629
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under constraints2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara
- Journal Title
  
  Journal of Robotics 2009
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] Stability of two-dimensional blind grasping under the gravity effect and rolling constraints2008
- Author(s)
  S. Arimoto, M. Yoshida, J. -H. Bae
- Journal Title
  
  Robotica 25
  
  Pages: 255-266
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] A Computational Model of 3D Object Grasping with Smooth Geometry under Rolling Contact2011
- Author(s)
  吉田守夫
- Organizer
  SICE Annual Conference 2011
- Place of Presentation
  早稲田大学(東京都)
- Data Source
  KAKENHI-PROJECT-23760249
[Presentation] Tactile-Based Motion Adjustment for the Nursing-Care Assistant Robot RIBA2011
- Author(s)
  T. Mukai, S. Hirano, M. Yoshida, H. Nakashima, S. Guo, and Y. Hayakawa
- Organizer
  IEEE International Conference on Robotics and Automation
- Data Source
  KAKENHI-PROJECT-21300077
[Presentation] Whole-Body Contact Manipulation Using Tactile Information for the Nursing-Care Assistant Robot RIBA2011
- Author(s)
  T. Mukai, S. Hirano, M. Yoshida, H. Nakashima, S. Guo, and Y. Hayakawa
- Organizer
  IEEE/RSJ International Conference on Intelligent Robots and Systems
- Data Source
  KAKENHI-PROJECT-21300077
[Presentation] Modeling and Computer Simulation of a Thumb Robot with Rolling Contacting on Smooth 3D Object2011
- Author(s)
  吉田守夫
- Organizer
  Multibody Dynamics　2011
- Place of Presentation
  Universite catholique de Louvain (Brussels, Belgium)
- Data Source
  KAKENHI-PROJECT-23760249
[Presentation] Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand2010
- Author(s)
  K.Tahara, S.Arimoto, M.Yoshida
- Organizer
  IEEE Int.Conf.Robot.Automat.
- Place of Presentation
  Anchorage, AK
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] A Riemannian-geometry approach for dynamics and control of object manipulation under constraints2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara
- Organizer
  Proc.of the 2009 IEEE Int.Conf.on Robotics and Automation
- Place of Presentation
  Kobe, Japan
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints2009
- Author(s)
  M.Yoshida, S.Arimoto, K.Tahara
- Organizer
  IEEE/RSJ Int.Conf.Intell.Robots, Syst.
- Place of Presentation
  St.Louis, MO
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Modeling and control for 2-D grasping of an object with arbitrary shape under rolling contact2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara, J.-H.Bae
- Organizer
  Proc.of the 9th Int.Symp. on Robot Control
- Place of Presentation
  Gifu, Japan
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Modeling and control of a pair of robot fingers with saddle joint under orderless actuations2009
- Author(s)
  M.Yoshida, S.Arimoto, K.Tahara
- Organizer
  Proc.IEEE Int.Conf.Robot.Automat.
- Place of Presentation
  Kobe, Japan
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Modeling and control of pinching 2D object with arbitrary shape by a pair of robot fingers under rolling constraints2009
- Author(s)
  M.Yoshida, S.Arimoto, K.Tahara
- Organizer
  Proc. Multibody Dynamics, ECCOMAS Thematic Conf.
- Place of Presentation
  Warsaw, Poland
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Dynamic force/torque equilibrium for stable grasping by a triple robotic fingers system2009
- Author(s)
  K.Tahara, S.Arimoto, M.Yoshida
- Organizer
  Proc.IEEE/RSJ Int.Conf.Intell.Robots, Syst.
- Place of Presentation
  St.Louis, MO
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] A Riemannian-geometry approach for dynamics and control of object manipulation under constraints2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara
- Organizer
  IEEE Int.Conf.on Robot.Automat.
- Place of Presentation
  Kobe, Japan
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 3本指ロボットを用いた物体把持における動的力/トルク平衡の実現2009
- Author(s)
  田原健二, 有本卓, 吉田守夫
- Organizer
  第14回ロボティクス・シンポジア
- Place of Presentation
  登別
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Pinching 2D object with arbitrary shape by two robot fingers under roiling constraints2009
- Author(s)
  M.Yoshida, S.Arimoto, K.Tahara
- Organizer
  Proc.IEEE/RSJ Int.Conf.Intell.Robots, Syst.
- Place of Presentation
  St.Louis, MO
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Dynamic object grasping by a triple-fingered robotic hand2008
- Author(s)
  K. Tahara, S. Arimoto, M. Yoshida
- Organizer
  Proc. of 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Place of Presentation
  Nice, France
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] ころがり接触する2次元任意形状物体の把持と操作の動的モデルの導出と制御法2008
- Author(s)
  吉田守夫, 有本卓, 田原健二
- Organizer
  第9回計測自動制御学会システムインテグレーション部門講演会
- Place of Presentation
  岐阜
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 順序関係が無い鞍関節と柔軟な指先を有する2本指ロボットを用いた安定把持制御2008
- Author(s)
  吉田守夫, 有本卓, 田原健二
- Organizer
  第26回日本ロボット学会学術講演会
- Place of Presentation
  神戸
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 柔軟3本指ロボットによる物体の動的把持と操作2008
- Author(s)
  田原健二, 有本卓, 吉田守夫
- Organizer
  第26回日本ロボット学会学術講演会
- Place of Presentation
  神戸
- Data Source
  KAKENHI-PROJECT-20360117

1. TAHARA Kenji (80392033)

# of Collaborated Projects: 1 results

# of Collaborated Products: 23 results
2. ARTMOTO Suguri (00029399)

# of Collaborated Projects: 1 results

# of Collaborated Products: 28 results
3. NISHIDA Gou (80435669)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
4. MUKAI Toshiharu (80281632)

# of Collaborated Projects: 1 results

# of Collaborated Products: 3 results
5. NAKASHIMA Hiromichi (30360605)

# of Collaborated Projects: 1 results

# of Collaborated Products: 3 results
6. HIRANO Shinya (60443016)

# of Collaborated Projects: 1 results

# of Collaborated Products: 3 results

YOSHIDA Morio 吉田 守夫

Research Projects

Research Products

Co-Researchers

転がり拘束下で任意形状を考慮した物体操作の解明Principal Investigator

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Patient Transfer by Nursing-Care Robots Using Tactile Feedback

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Dynamic contact modeling of a soft fingertip and realization of dynamic object grasping for a multi-fingered robotic hand

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

[Book] Robot Vision2010

Author(s)

Total Pages

Publisher

Data Source

[Book] Computational modeling, visualization, and control of 2-D and 3-D grasping under rolling contacts2010

Author(s)

Publisher

Data Source

[Journal Article] 柔軟3指ハンドによる仮想フレームを用いた把持物体の外界センサレス位置・姿勢制御2011

Author(s)

Journal Title

NAID

Data Source

[Journal Article] 柔軟3指ハンドによる仮想フレームを用いた把持物体の外界センサレス位置・姿勢制御2011

Author(s)

Journal Title

NAID

Data Source

[Journal Article] 対象と全身接触を行う介護支援ロボットのための触覚情報を用いた繰り動作2011

Author(s)

Journal Title

NAID

Data Source

[Journal Article] 駆動の順序が無い鞍関節をもつ柔軟指ロボット一対のモデル化と制御2011

Author(s)

Journal Title

Data Source

[Journal Article] A Riemannian-geometric approach for intelligent control and fingertip design of multi-fingered hands2010

Author(s)

Journal Title

NAID

Data Source

[Journal Article] Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes : A Riemannian-Geometry Approach2010

Author(s)

Journal Title

Data Source

[Journal Article] A Riemannian-geometry approach for control of robotic systems under constraints2009

Author(s)

Journal Title

NAID

Data Source

[Journal Article] Modeling and control of 2-D grasping of an object with arbitrary shape under rolling contact2009

Author(s)

Journal Title

NAID

Data Source

[Journal Article] A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under constraints2009

Author(s)

Journal Title

Data Source

[Journal Article] A Riemannian-geometry approach for control of robotic systems under constraints, SICE2009

Author(s)

Journal Title

Data Source

[Journal Article] Modeling and control of 2-D grasping of an object with arbitrary shape under rolling contact, STOP2009

Author(s)

Journal Title

YOSHIDA Morio 吉田守夫