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2018  2-Dimensional Dynamical Modeling and Control of Spherical Robot Driven by Inner Car  共同  2018/12/15 
IEEE International Conference on Robotics and Biomimetics  , IEEE  , 1846-1851   

概要(Abstract) Spherical robots have been studied by many researchers because of its high mobility and robustness against the surrounding environments due to the symmetric shapes and
sealed driving mechanisms. The major driving techniques are the moving weight and reaction torques ones, most of which need the complex mechanisms easy to be at fault. On other hand, the inner car driving technique exceptionally results in simple mechanism, where the cars are used only to change the center of mass to generate the gravitational driving forces. In this paper, the 2-dimensional modeling and control of the spherical robot which is directly driven by the inner car with the wheel’s torque. In the modeling, the rolling constraints between the outer sphere, the inner car’s wheel and the ground are
considered while the geometric constraint to support the car on the sphere is also considered. In the control, a linear regulation controller of the sphere’s position with stabilizing the inner car's orientation is derived based on the reduced system, which are given by eliminating the constraint forces from the equations of
motion of the whole system. The effectiveness of the controller is shown by a numerical simulation where the original system is considered. 

備考(Remarks) Authors: Akira Nakashima, Sotaro Maruo, Ryoma Nagai and Noboru Sakamoto 

2017  A Motion Planning for Grasp and Manipulation System based on Rolling Motion  単独  2017/08/28 
IEEE Conference on Control Technology and Applications  , IEEE  , 167-174   

概要(Abstract) This paper proposes a motion planning method to manipulate a grasped object by a two-fingered robot hand based on the nonholonomy of rolling contacts. A grasped rectangular object is regulated to a target configuration through regulating the contact coordinates between the fingers and object using the holonomy generated by closed paths on semi-spherical fingertips. The parameters of the closed paths are determined by solving an optimization problem with the constraints which consist of the limitations on the fingertip surfaces and configurations. The proposed method is verified by a numerical simulation. 

備考(Remarks)  

2016  A Motion Planning of Dual Arm-Hand Manipulators for Origami-Folding Based on a Probabilistic Model of Constraint Transitions within Human Behavior  共同  2016/12/04 
IEEE International Conference on Robotics and Biomimetics  , IEEE  , Proceeding of IEEE ROBIO2016  , pp.562-569   

概要(Abstract)  

備考(Remarks) Authors: Akira Nakashima, Yoshihiro Iwanaga, Yoshikazu Hayakawa 

2015  Ball's Trajectory Planning in Serving Task for Table Tennis Robot  共同  2015/07/30 
SICE Annual Conference 2015  , 1803-1808   

概要(Abstract)  

備考(Remarks) Authors: Yoshikazu Hayakawa, Satoshi Itoh, Yuki Nakai, Akira Nakashima 

2015  Contact Transition Modelling on Planar Manipulation System with LuGre Friction Model  共同  2015/07/08 
10th International Workshop on Robot Motion and Control  , 300-307   

概要(Abstract)  

備考(Remarks) Authors: Akira Nakashima, Yoshiyuki Ooka, Yoshikazu Hayakawa 

2015  New DXHS Algorithm for Periodic Vibration Control - Numerical Simulation and Experimental Results  共同  2015/06 
10th Asian Control Conference  , Asian Control Association   

概要(Abstract)  

備考(Remarks) Authors: Yoshikazu Hayakawa, Akira Nakashima, Hao-han Tsui, Takayoshi Yasuda, Hiroyuki Ichikawa 

2014  A Learning Method for Returning Ball in Robotic Table Tennis  共同  2014/09 
2014 IEEE International Conference on Multisensor Fusion and Information Integration  , CDROM(#36)   

概要(Abstract)  

備考(Remarks) Authors: Akira Nakashima, Kota Takayanagi, Yoshikazu Hayakawa; Full paper review 

2014  Motion Planning for Origami by Dual Arms and Multi-fingered Robots Based on Human’s Behavior  共同  2014/09 
SICE Annual Conference 2014  , pp. 1543-1548   

概要(Abstract)  

備考(Remarks) Authors: Yoshihiro Iwanaga, Akira Nakashima, Yoshikazu Hayakawa; Extended abstruct review 

2014  A New Adaptive Algorithm for Periodic Noise Control and Its Stability Analysis  共同  2014/08 
The 19th IFAC World Congress  , pp. 12086-12091   

概要(Abstract)  

備考(Remarks) Authors: Yoshikazu Hayakawa, Akira Nakashima, Takayoshi Yasuda, Hiroyuki Ichikawa; Full paper review 

2014  An Online Estimation of Rotational Velocity of Flying Ball Via Aerodynamics  共同  2014/08 
The 19th IFAC World Congress  , pp. 7176-7181   

概要(Abstract)  

備考(Remarks) Authors: Akira Nakashima, Takeshi Okamoto, Yoshikazu Hayakawa; Full paper review 

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