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Keigo Kobayashi

dblp:71/3832 · DBLP profile ↗
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5ranked-venue papers
4as first author
0since 2021 · last 2002
0000-0003-0609-9438ORCID · corroborated

Domains — the database's venue-derived domains; a paper can count in several

Human-computer interaction and ubiquitous computing · 3 · 3 first-authorApplied, interdisciplinary, general and emerging computing · 3 · 3 first-authorArtificial intelligence and machine learning · 2 · 1 first-authorSystems, architecture and hardware · 2 · 1 first-author

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 100%

Topics — the 3 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control
trajectory optimization		 0.012000
Design of a Desirable Trajectory and Convergent Control for 3-D.O.F. Manipulator with a Nonholonomic Constraint · ICRA 2000
Robotics › Motion planning and robot control
robot control		 0.012000
Design of a Desirable Trajectory and Convergent Control for 3-D.O.F. Manipulator with a Nonholonomic Constraint · ICRA 2000
Robotics › Motion planning and robot control › robot control › underactuated systems
underactuated manipulator control		 0.012000
Design of a Desirable Trajectory and Convergent Control for 3-D.O.F. Manipulator with a Nonholonomic Constraint · ICRA 2000

Methods — techniques the papers use, named apart from their topics

nonlinear control · 0.0nonholonomic system analysis · 0.0
YearPublicationVenuePosition
2002 Motion planning for humanoid robots using timed Petri net and modular state net
abstract
We propose a supervisory control system for motion planning of humanoid robots. The proposed system is hierarchically structured into two levels. The lower level controls and monitors the robots using modular state nets. The upper level generates an optimal sequence of motion for user's requirements using timed Petri nets.
Keigo Kobayashi, Atsuhito Nakatani, Hideyuki Takahashi, Toshimitsu Ushio
 SMC1
2001 LLP supervisory control with timed Petri net models in mobile robots
abstract
This paper deals with the high level control of robot systems. We abstract the robot system as timed Petri net and give a high level controller which consists of a limited lookahead policy (LLP) supervisor. A simple application of the control system to a mobile robot system is given.
Keigo Kobayashi, Kengo Inoue, Toshimistu Ushio
 SMC1
2000 Design of a Desirable Trajectory and Convergent Control for 3-D.O.F. Manipulator with a Nonholonomic Constraint
abstract
This paper deals with the control of a 3-link planar underactuated manipulator whose most distal joint is unactuated. This system is known as a second order nonholonomic system. In a previous paper (1996), we proposed a control law that guarantees the convergence of its state to a given desirable trajectory and to any desired final point, and we also gave a design method of the desirable trajectory. However, this method has a limitation on the location of the initial state. In this paper, we propose a design method of a desirable trajectory that starts from any given initial point, converges to any given desired final point, and on the way passes through any given desired passing point that can be specified rather freely. By this new design method, one can derive a desirable trajectory that satisfies given requirements much better than the previous method.
Tsuneo Yoshikawa, Keigo Kobayashi, Tetsuyou Watanabe
 ICRA2
2000 Controllability of under-actuated planar manipulators with one unactuated joint
abstract
This paper is concerned with the analysis of controllability for a class of nonholonomic systems. We discuss the controllability of under-actuated planar manipulators with one unactuated joint. We show that these systems are completely controllable if the first joint (in the base side) is actuated. In order to prove this, we use a kind of bi-directional approach.
Keigo Kobayashi, Tsuneo Yoshikawa
 IROS1
2000 An application of LLP supervisory control with Petri net models in mobile robots
abstract
This paper is concerned with high level control of robot systems. We abstract the robot system as a discrete event system and present a high level controller which consists of a limited lookahead policy (LLP) supervisor and a Petri nets model. We show its simple application to a mobile robot system.
Keigo Kobayashi, Toshimitsu Ushio
 SMC1