研究者詳細

学術論文
分割表示   全件表示 >>

12 件中 1 - 10 件目

年度
Year
論文題目名
Title of the articles
共著区分
Collaboration
   Classification
NeoCILIUS
   請求番号/資料ID
Request No
掲載誌名 Journal name,出版機関名 Publishing organization,巻/号 Vol./no.,頁数 Page nos.,発行年月(日) Date
2017  配位座標の制限を伴う2指ハンドによる転がり接触の非ホロノミック性に基づく把持対象物の操り制御  単著   
計測自動制御学会論文集  , 計測自動制御学会  , 54/3  , pp.320-330  , 2018/03   

概要(Abstract) This paper proposes a motion planning method to manipulate an grasped object by a two-fingered robot hand based on the nonholonomy of the rolling contacts. A cubic grasped 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 spherical finger-tips. The parameters of the closed paths are determined by solving an optimization problem with the constraints which consist of the limitations on the finger-tip/object surfaces and the finger joint configurations. The proposed method is verified by a numerical simulation, where the planned motion is impossible without using the nonholonomy. 

備考(Remarks)  

2015  Ball Trajectory Planning in Serving Task for Table Tennis Robot  共著   
SICE Journal of Control, Measurement, and System Integration  , 計測自動制御学会  , 9/2  , pp. 50-59  , 2016/03   

概要(Abstract) This paper considers the serving task for the table tennis robot. Based on the physical models, the ball trajectory is formulated where the ball is hit by the racket and rebounds on the table in own court and in the opponent's courts. Then the paper clarifies which variables among the ball's position, translational and rotational velocities can be controlled independently by the serving racket. Some numerical simulations verify the results work approximately well. 

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

2013  Racket Control for a Table Tennis Robot to Return a Ball  共著   
SICE Journal of Control, Measurement, and System Integration  , 計測自動制御学会  , 6/4  , pp. 259-266  , 2013/07   

概要(Abstract) This paper mainly proposes a racket control method for returning a table tennis ball to a desired position with a desired rotational velocity. The method determines the racket's state, i.e., the racket's striking posture and translational velocity by using two physical models: the racket rebound model and the aerodynamics model. The algorithm of determining the racket's state is derived by solving nonlinear equations and solving a two-point boundary value problem of a differential equation. But this is not suitable for a real-time process because of large computing time. The paper proposed a modified algorithm which could be used for a real-time process by introducing a simple aerodynamics model. Numerical simulations and experimental results show effectiveness of the proposed methods. 

備考(Remarks) Authors: Chufang Liu, Yoshikazu Hayakawa, Akira Nakashima 

2012  An On-Line Algorithm for Measuring the Translational and Rotational Velocities of a Table Tennis Ball  共著   
SICE Journal of Control, Measurement, and System Integration  , 計測自動制御学会  , 5/4  , pp. 233-241  , 2012/07   

概要(Abstract) This paper proposes an on-line method for estimating both translational and rotational velocities of a table tennis ball by using only a few consecutive frames of image data which are sensed by two high speed cameras. In order to estimate the translational velocity, three-dimensional (3D) position of the ball’s center at each instant of camera frame is obtained, where the on-line method of reconstructing the 3D position from the two-dimensional (2D) image data of two cameras is proposed without the pattern matching process. The proposed method of estimating the rotational velocity belongs to the image registration methods, where in order to avoid the pattern matching process too, a rotation model of the ball is used to make an estimated image data from an image data sensed at the previous instant of camera frame and then the estimated image data are compared with the image data sensed at the next instant of camera frame to obtain the most plausible rotational velocity by using the least square and the conjugate gradient method. The effectiveness of the proposed method is shown by some experimental results in the case of a ball rotated by a rotation machine as well as in the case of a flying ball shot from a catapult machine. 

備考(Remarks) Authors: Chufang Liu, Yoshikazu Hayakawa, Akira Nakashima 

2009  A Hybrid Damper Composed of Elastomer and Piezo Ceramic for Multi-Mode Vibration Control  共著   
Journal of System Design and Dynamics  , 日本機械学会  , 4/1  , pp. 91-102  , 2010/01   

概要(Abstract) This study develops a hybrid damper for multi-modal vibration by combining an elastomer and a piezo ceramic element. The basic idea is to obtain satisfactory damping in the low frequency range, where elastomer does not work well, by introducing a piezoelectric element. In this hybrid damper, the elastomer comprises a dynamic absorber with a metal plate of small mass that deals with higher-frequency vibration, while piezo ceramic comprises a shunt damper with an electric shunt circuit that works for lower-frequency vibration. The effectiveness of this approach is examined through vibration control of a cantilever beam. The aim is to suppress the 1st mode vibration with the shunt damper and the 2nd mode with the dynamic absorber. With appropriate tuning procedures for the control parameters, vibration suppression of more than 10dB is attained in each mode. 

備考(Remarks) Authors: Kazuhiko Oshima, Daiyu Inagaki, Akira Nakashima, Yoshikazu Hayakawa, Keiji Tagatani, Teruaki Yuoka 

2008  Control of Grasp and Manipulation by Soft Fingers with 3-Dimensional Deformation  共著   
SICE Journal of Control, Measurement, and System Integration  , 計測自動制御学会  , 2/2  , pp. 78-87  , 2009/03   

概要(Abstract) In this paper, we consider control of grasp and manipulation of an object in 3-dimensional space by a 3-fingered hand robot with soft finger-tips. We firstly propose a 3-dimensional deformation model of a semispherical soft finger tip and verify its relevance by experimental data. Second, we derive the contact kinematics and the dynamical equations of the fingers and the object where the 3-dimensional deformation is considered. For the system, we thirdly propose a method to regulate the object and the internal force with the information of the hand, the object and the deformation. A simulation is shown to prove the effectiveness of the control method. 

備考(Remarks) Authors: Akira Nakashima, Takeshi Shibata, Yoshikazu Hayakawa 

2005  測定ノイズを考慮した力覚センサによる接触点位置の推定  共著   
日本ロボット学会誌  , 日本ロボット学会  , 23/6  , pp. 725-731  , 2005/09   

概要(Abstract) This paper considers a method of estimating a contact point between a robot hand and an object by using a force sensor with measurement noise. The estimation problem is formulated as a problem of nonlinear constraint optimization, in which the cost function represents the estimation error against the measurement noise and the constraints require the contact point being on the fingertip surface and the fingertip force directing inward.
Although problems of nonlinear constraint optimization can be only solved by numerical optimization in general, it is shown that the optimization problem for the estimation can be solved analytically in this case. Experimental results are shown to prove the efficiency of the proposed method. 

備考(Remarks) 著者:長瀬賢二,吉永光介,中島明,早川義一 

2005  自由度が制限された2指ハンドによる転がり接触を用いた対象物の把握・操りと接触点の同時制御  共著   
計測自動制御学会論文集  , 計測自動制御学会  , 41/6  , pp. 481-490  , 2005/06   

概要(Abstract) This paper considers simultaneous control of grasp/manipulation and contact points of an object with the pure rolling contact by two-fingered robot hand. We consider the case where the number of the degrees of freedom (DOF) of each finger is constrained. First, we derive a relationship between the rolling velocity and the motion of the fingers and the object, which determines the number of the DOF of the system. Second, we provide explicit expressions of the contact force and the motion of the fingers and the object, which can be directly used for the simultaneous control. Utilizing the results, we provide a general formulation of a linearizing compensator for the simultaneous control. Controlling the contact points can be realized by making the rolling velocity follow the appropriate trajectory with the nonholonomy of rolling. A numerical example shows the effectiveness of the method. 

備考(Remarks) 著者:中島明,長瀬賢二,早川義一,三田将貴 

2004  転がり量に制限を有する平面を転がる球の接触点の制御  共著   
計測自動制御学会論文集  , 計測自動制御学会  , 40/11  , pp. 1088-1097  , 2004/11   

概要(Abstract) In this paper, we discuss control of contact coordinates for a contact point between a sphere and a plane with pure rolling contact by using iterative closed paths on the sphere with constraint on range of rolling motion. First, we analyze the boundary of the reachable area by the closed path with constraint on range of rolling motion. Utilizing the result, we propose a method which brings all the contact coordinates to a target point by the iteration of a finite number of the closed paths. A numerical example where the rolling motion is restricted to the area on the semisphere shows the effectiveness of the proposed method. 

備考(Remarks) 著者:中島明,長瀬賢二,早川義一 

2004  ソフトフィンガーを用いた対象物の把握・操りの制御  共著   
計測自動制御学会論文集  , 計測自動制御学会  , 40/5  , pp. 518-527  , 2004/05   

概要(Abstract) This paper considers grasping and manipulation of an object by two-fingered robot hand with soft finger-tips. Each finger has two degrees of freedom, and the motion of the object is assumed to be in a plane. We first provide a formulation of the soft finger-tips,and derive the equations of motion of the whole system. For the system, we propose a method to regulate the motion of the object and the internal force with the information of the hand, the finger-tips and the object. We also consider the case where the information concerning the finger-tips and the object is replaced by its estimates from the information of the hand. In this case, we show that the motion of the object and the internal force is converged with some steady-state error caused by the estimation error. Numerical simulations and experiments are shown to prove the efficiency. 

備考(Remarks) 著者:長瀬賢二,中島明,早川義一,傍嶋幸之助 

Page: [<<PREV] [1] [2] [NEXT>>]