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Robot Systems Integration Transformative Research and Robotics Kazuhiro Kosuge Distinguished Professor Department of Robotics Tohoku University 2020 IEEE Vice President-elect for Technical Activities IEEE Fellow, JSME Fellow, SICE Fellow, RSJ Fellow, JSAE Fellow My brief history • March 1978 Bachelor of Engineering, Department of Control Engineering, Tokyo Institute of Technology • Marcy 1980 Master of Engineering, Department of Control Engineering, Tokyo Institute of Technology • April 1980 Research staff, Department of Production Engineering Nippondenso (Denso) Corporation • October 1982 Research Associate, Tokyo Institute of Technology • July 1988 Dr. of Engineering, Tokyo Institute of Technology • September 1989 - August 1990 Visiting Research Scientist, Department of Mechanical Engineering, Massachusetts Institute of Technology • September 1990 Associate Professor, Faculty of Engineering, Nagoya University • March 1995 Professor, School of Engineering, Tohoku University • April 1997 Professor, Graduate School of Engineering, Tohoku University • December 2018 Tohoku University Distinguished Professor 略 歴 • 1978年3月 東京工業大学工学部制御工学科卒業 • 1980年3月 東京工業大学大学院理工学研究科修士課程修了(制御工学専攻，工学修士) • 1980年４月 日本電装株式会社（現 株式会社デンソー） • 1982年10月 東京工業大学工学部制御工学科助手（工学部） • 1988年7月 東京工業大学大学院理工学研究科 工学博士(制御工学専攻) • 1989年9月-1990年8月 米国マサチューセッツ工科大学機械工学科客員研究員 (Visiting Research Scientist, Department of Mechanical Engineering, Massachusetts Institute of Technology) • 1990年 9月 名古屋大学 助教授（工学部） • 1995年 3月 東北大学 教授（工学部） • 1997年 4月 東北大学 教授（工学研究科）大学院重点化による配置換 • 2018年12月 東北大学 Distinguished Professor My another history • Select Fellow, Center for Research and Development Strategy, Japan Science and Technology Agency, FY2005 - FY2011 • Review Board Member, PE7, ERC Advance Grant, 2008, 2010, 2012, 2014, 2019 • Senior Program Officer JSPA • Senior Program Office, Research Center for Science Systems, Japan Society of Promotion of Science, FY2007 - FY2009 • Science Officer, Research Promotion Bureau, Ministry of Education, Culture, Sports, Science and Technology, FY2010 - FY2013 • President, IEEE Robotics and Automation Society, FY2010 - FY2011 • Director & Delegate, Division X, IEEE Board of Directors, FY2015 - FY 2016 • 2020 IEEE Vice President for Technical Activities，FY2020 もう一つの略歴 • 科学技術振興機構, 研究開発戦略センター 特任フェロー，FY2005 - FY2011 • Review Board Member, PE7, FP7，ERC Advance Grant, 2008, 2010, 2012, 2014 • 日本学術振興会 学術システム研究センター 主任研究員, FY2007 - FY2009 • 文部科学省 研究振興局 科学官 FY2010 - FY2013 • President, IEEE Robotics and Automation Society, FY2010 - FY2011 • Director & Delegate, Division X, IEEE Board of Directors, FY2015 - FY 2016 – Member, IEEE Public Visibility Committee, FY2015 - FY2016 – Member, IEEE TAB Nominations and Appointments Committee, FY2015 - FY2016 – Member, IEEE Ad Hoc Committee on StrateGic PlanninG, FY2015, FY2016 • 2020 IEEE Vice President for Technical Activities，FY2020 Outline • Some of my research in robotics • Robot Systems Integration • Physical Human-Robot Interaction – Human robot collaboration through interaction – Co-worker robot • Universal Manipulation – Issues and visual servoing for program-free robot • Conclusions Impedance Controller Design Based on Virtual Internal Model Cooperation of Humans for Handling an Object Coordination of dualCoordination arms of both arms Coordination of Manipulators Single-Master Multi-Slaves System (1989) K. Kosuge, J. Ishikawa, K. Furuta, M. Sakai, “Control of Single-Master Multi-Slave Manipulator Using VIM,” Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990, 1172-1177. Coordination of Manipulators Single-Master Multi-Slaves System (1989) K. Kosuge, J. Ishikawa, K. Furuta, M. Sakai, “Control of Single-Master Multi-Slave Manipulator Using VIM,” Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990, 1172-1177. Assembly of Two Parts (1994) K. Kosuge, H. Yoshida, T. Fukuda, Masaru Sakai, K. Kanitani, K. Hariki, ”Unified Control for Dynamic Cooperative Manipulation”, Proceedings of the 1994 IEEE/RSJ International Workshop on Intelligent Robotics and Systems, 1994, 1042-1047. Assembly of Two Parts (1994) K. Kosuge, H. Yoshida, T. Fukuda, Masaru Sakai, K. Kanitani, K. Hariki, ”Unified Control for Dynamic Cooperative Manipulation”, Proceedings of the 1994 IEEE/RSJ International Workshop on Intelligent Robotics and Systems, 1994, 1042-1047. Bilateral Feedback of Master-slave Manipulator System Ordinary bilateral feedback Passivity-based realization of bilateral feedback Segment Assembly System (1996) Segment Assembly System for Tunnel Shield Machine K. Kosuge, K. Takeo, D. Taguchi, T. Fukuda, H. Murakami, “Task-Oriented Force Control of Parallel Link Robot for the Assembly of Segments of a Shield Tunnel Excavation System,” IEEE/ASME Transactions on Mechatronics, 1 (3), (1996), 250-258. Parts-mating Theory (2001) K. Kosuge, M. Shimizu, “Planar Parts-mating Using Structured Compliance,” Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, (2001), 1477-1482. M. Shimizu, K. Kosuge, “An Admittance Design Method for General Spatial Parts Mating,” Proceedings of the 2004 IEEE International Conference on Robotics and Automation, (2004), 3571-3576. Robot System for Dish Washing Machine (2009.3.) K. Kosuge, Y. Hirata, J. Lee, A. Kawamura, K. Hashimoto, S. Kagami, Y. Hayashi, N. Yokoshima, H. Miyazawa, R. Teranaka, Y. Natsuizaka, K. Sakai, “Development of an Automatic Dishwashing Robot System,” Proceedings of the 2009 International Conference on Mechatronics and Automation, (2009), 43-48. Cooperation of Humans for Handling an Object Coordination of multiple humans Multiple Mobile Manipulator Coordination (2001) Y. Kume, Y. Hirata, Z. D. Wang, K. Kosuge, ”Decentralized Control of Multiple Mobile Manipulators Handling a Single Object in Coordination”, Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, 2758-2763. Y. Hirata, Y. Kume, Z. D. Wang, K. Kosuge, ”Decentralized Control of Multiple Mobile Manipulators Based on Virtual 3-D Caster Motion for Handling an Object in Cooperation with a Human”, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003, 938-943. Cooperation of Mobile Dual Manipulators (2003) Y. Hirata, Y. Kume, T. Sawada, Z. D. Wang, K. Kosuge, ”Handling of an Object by Multiple Mobile Manipulators in Coordination based on Caster-like Dynamics”, Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004, 807-812. Mechanical Parking Systems Elevator Parking Systems Convey Parking Systems Shuttle Parking Systems Mechanical Parking Systems Users are required to position their cars in a narrow space. Mechanical Parking Systems • A parking system is required to have a caretaker. • Each driver is required to park his/her car in a narrow space precisely, which is not easy for a novice driver. iCART Concept Intelligent Cooperative Autonomous Robot Transporters iCART (intelligent Cooperative Autonomous Robot Transporters) M. Endo, K. Hirose, Y. Hirata, K. Kosuge, T. Kanbayashi, M. Oomoto, K. Akune, H. Arai, H. Shinoduka, K. Suzuki, “A Car Transportation System by Multiple Mobile Robots -iCART-”, Proceedings of 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, 2795-2801. Demonstration of iCARTII Concept Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami and Kenichi Nakamura, “Cooperative Transportation Control in Consideration of not only Internal Force but also External Force Applied to “MRWheel,” Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics, (2012), 1867-1873. in Germany https://www.youtube.com/watch?v=Gnypt72F20Q Outline • Some of my research in robotics • Robot Systems Integration • Physical Human-Robot Interaction – Human robot collaboration through interaction – Co-worker robot • Universal Manipulation – Issues and visual servoing for program-free robot • Conclusions Robotics and Societal Values • Societal Level Societal Values • Service Level – Service enablers Services • Fundamental Technologies Level Foundations CRDS, JST, 2009, Modified by Kosuge, August, 2011 Societal Values • For Individuals ★Quality of Life • For Communities ★Industrial Competitiveness – For Families – For Industries – For Local Government – For Nations • For the Globe ★Global Issues CRDS, JST, 2009, Modified by Kosuge, August, 2011 Challenges and Opportunities in Robotics Social Value Global Level Community Level Quality of Life •Government Robotics oriented Service/Application •Environmental Monitoring •Utilities •Medicine •Security Service •Natural Resources Exploration •Retailer/Wholesaler •Therapy •Mobility •Agriculture •Transportation •Daily Life Assist •Shopping and Development •Forestry •Communication •Healthcare •Hobby •Space Exploration •Fishery Services •Service Industries •Rehabilitation •Entertainment •Mining •Deep Undersea and Underground •Medicine •Mental care •Sports •Manufacturing Exploration •Education •Learning •Comfort Life •Construction •Anti-terrorism ･Rescue Operation •Research and •Child care •Watch •Wastes Treatment/ Development •HouseKeeping •Communication •Prevention of Infectious Diseases Management •Cyborg (Cybernetic organism) •Software framework - •Stochasticity in Robotics •Social Concerns Emerging •Performance evaluation and Benchmarking •Functional Safety •Ambient intelligence •Nano-micro Robotics Technology •Autonomous Robots •Human Modeling Foundations Robotics •Teleoperation •Wearable Technology
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